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Fix namespaced robot descriptions in RViz #3812

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Fix namespaced robot descriptions in RViz #3812

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9 changes: 8 additions & 1 deletion moveit_ros/planning/rdf_loader/src/synchronized_string_parameter.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -36,6 +36,8 @@

#include <moveit/rdf_loader/synchronized_string_parameter.hpp>

#include <cctype>

namespace rdf_loader
{
std::string SynchronizedStringParameter::loadInitialValue(const std::shared_ptr<rclcpp::Node>& node,
Expand Down Expand Up @@ -120,7 +122,12 @@ bool SynchronizedStringParameter::shouldPublish()

bool SynchronizedStringParameter::waitForMessage(const rclcpp::Duration& timeout)
{
const auto nd_name = std::string(node_->get_name()).append("_ssp_").append(name_);
auto nd_name = std::string(node_->get_name()).append("_ssp_").append(name_);
for (char& character : nd_name)
{
if (!std::isalnum(static_cast<unsigned char>(character)) && character != '_')
character = '_';
}
const auto temp_node = std::make_shared<rclcpp::Node>(nd_name, node_->get_namespace());
string_subscriber_ = temp_node->create_subscription<std_msgs::msg::String>(
name_,
Expand Down
3 changes: 3 additions & 0 deletions ...ng_scene_rviz_plugin/include/moveit/planning_scene_rviz_plugin/planning_scene_display.hpp
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Expand Up @@ -119,6 +119,9 @@ class MOVEIT_PLANNING_SCENE_RVIZ_PLUGIN_CORE_EXPORT PlanningSceneDisplay : publi
void clearJobs();

const std::string getMoveGroupNS() const;
/// Return the robot description name resolved against the Move Group namespace.
/// Absolute names are returned unchanged.
const std::string getRobotDescription() const;
const moveit::core::RobotModelConstPtr& getRobotModel() const;

/// wait for robot state more recent than t
Expand Down
11 changes: 10 additions & 1 deletion moveit_ros/visualization/planning_scene_rviz_plugin/src/planning_scene_display.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -302,6 +302,15 @@ const std::string PlanningSceneDisplay::getMoveGroupNS() const
return move_group_ns_property_->getStdString();
}

const std::string PlanningSceneDisplay::getRobotDescription() const
{
const std::string robot_description = robot_description_property_->getStdString();
if (getMoveGroupNS().empty() || robot_description.empty() || robot_description.front() == '/')
return robot_description;

return rclcpp::names::append(getMoveGroupNS(), robot_description);
}

const moveit::core::RobotModelConstPtr& PlanningSceneDisplay::getRobotModel() const
{
if (planning_scene_monitor_)
Expand Down Expand Up @@ -539,7 +548,7 @@ void PlanningSceneDisplay::unsetLinkColor(rviz_default_plugins::robot::Robot* ro
// ******************************************************************************************
planning_scene_monitor::PlanningSceneMonitorPtr PlanningSceneDisplay::createPlanningSceneMonitor()
{
auto rml = moveit::planning_interface::getSharedRobotModelLoader(node_, robot_description_property_->getStdString());
auto rml = moveit::planning_interface::getSharedRobotModelLoader(node_, getRobotDescription());
return std::make_shared<planning_scene_monitor::PlanningSceneMonitor>(node_, rml,
getNameStd() + "_planning_scene_monitor");
}
Expand Down