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Fix trajectory display. #2828

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@kpwelsh kpwelsh commented May 13, 2024

Description

The RViz plugin for displaying planned trajectories handles elapsed time incorrectly. Probably sometime in the last few years the dt passed to Update was switched from "s" to "ns," and this plugin wasn't updated.

Also, the plugin doesn't show the last pose in the trajectory. When we are on the last pose in the trajectory, we call displaying_trajectory_message_->getWayPointDurationFromPrevious(current_state_ + 1); to determine how long to display the pose for. This returns 0 and we accordingly display it for 0s.

Instead, I chose to put in a constant 1s display time (scaled by the user's trajectory playback rate) at the end of each trajectory so it will pause at the end briefly before looping back to the start, or disappearing.

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kpwelsh and others added 4 commits May 13, 2024 17:37
Handle change from s to ns in clock time.
Display the last trajectory position for a fixed time before looping back around.
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Thank you! Can you retarget this change to 'main'? That is what we use as development head. We can backport any bugfixes to humble or other stable branches.

@sjahr sjahr changed the base branch from humble to main June 18, 2024 15:18
@sjahr sjahr changed the base branch from main to humble June 18, 2024 15:18
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github-actions bot commented Aug 5, 2024

This PR is stale because it has been open for 45 days with no activity. Please tag a maintainer for help on completing this PR, or close it if you think it has become obsolete.

@github-actions github-actions bot added the stale Inactive issues and PRs are marked as stale and may be closed automatically. label Aug 5, 2024
@github-actions github-actions bot removed the stale Inactive issues and PRs are marked as stale and may be closed automatically. label Aug 9, 2024
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This PR is stale because it has been open for 45 days with no activity. Please tag a maintainer for help on completing this PR, or close it if you think it has become obsolete.

@github-actions github-actions bot added the stale Inactive issues and PRs are marked as stale and may be closed automatically. label Sep 27, 2024
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mergify bot commented Sep 27, 2024

Please target the main branch for development, we will backport the changes to humble for you if approved and if they don't break API.

@github-actions github-actions bot removed the stale Inactive issues and PRs are marked as stale and may be closed automatically. label Oct 8, 2024
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2 participants