Fix to show TF on load

ros-industrial-attic · May 16, 2016 · 70b2b44 · 70b2b44
1 parent ee4f583
commit 70b2b44
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Showing 4 changed files with 25 additions and 8 deletions.
diff --git a/urdf_editor/include/urdf_editor/urdf_property.h b/urdf_editor/include/urdf_editor/urdf_property.h
@@ -45,6 +45,7 @@ namespace urdf_editor
     void on_propertyWidget_linkValueChanged(LinkProperty *property);
 
     void on_unsavedChanges();
+    void on_unsavedChanges(JointProperty *property);
 
   private:
     bool redrawRobotModel();
@@ -54,6 +55,7 @@ namespace urdf_editor
     QWidget *browser_parent_;
     urdf_editor::MyRviz *rviz_widget_;
     boost::shared_ptr<URDFTransformer> tf_transformer_;
+    bool loading_;
   };
 }
 

diff --git a/urdf_editor/include/urdf_editor/urdf_property_tree.h b/urdf_editor/include/urdf_editor/urdf_property_tree.h
@@ -59,12 +59,12 @@ namespace urdf_editor
     void valueChanged();
 
     // Link SIGNALS
-    void linkAddition();
+    void linkAddition(LinkProperty *property);
     void linkDeletion();
     void linkValueChanged(LinkProperty *property);
 
     // Joint SIGNALS
-    void jointAddition();
+    void jointAddition(JointProperty *property);
     void jointDeletion();
     void jointNameChanged(JointProperty *property, QString current_name, QString new_name);
     void jointParentLinkChanged(JointProperty *property, QString current_name, QString new_name);

diff --git a/urdf_editor/src/urdf_property.cpp b/urdf_editor/src/urdf_property.cpp
@@ -66,11 +66,11 @@ namespace urdf_editor
     connect(property_editor_.get(), SIGNAL(customContextMenuRequested(QPoint)),
               this, SLOT(on_propertyWidget_customContextMenuRequested(QPoint)));
 
-    connect(tree_widget_, SIGNAL(jointAddition()), SLOT(on_unsavedChanges()));
+    connect(tree_widget_, SIGNAL(jointAddition(JointProperty*)), SLOT(on_unsavedChanges(JointProperty*)));
 
     connect(tree_widget_, SIGNAL(jointDeletion()), SLOT(on_unsavedChanges()));
 
-    connect(tree_widget_, SIGNAL(linkAddition()), SLOT(on_unsavedChanges()));
+    connect(tree_widget_, SIGNAL(linkAddition(LinkProperty*)), SLOT(on_unsavedChanges()));
 
     connect(tree_widget_, SIGNAL(linkDeletion()), SLOT(on_unsavedChanges()));
 
@@ -93,6 +93,7 @@ namespace urdf_editor
 
   bool URDFProperty::loadURDF(QString file_path)
   {
+    loading_ = true;
     urdf::ModelInterfaceSharedPtr model = urdf::parseURDFFile(file_path.toStdString());
 
     if (!tree_widget_->loadRobotModel(model))
@@ -103,6 +104,8 @@ namespace urdf_editor
 
     rviz_widget_->updateBaseLink(model->getRoot()->name);
 
+    loading_ = false;
+
     return true;
   }
 
@@ -477,9 +480,18 @@ namespace urdf_editor
   }
 
 
+  void URDFProperty::on_unsavedChanges(JointProperty *property)
+  {
+    if (!loading_)
+      unsavedChanges = true;
+
+    tf_transformer_->updateLink(property);
+  }
+
   void URDFProperty::on_unsavedChanges()
   {
-    unsavedChanges = true;
+    if (!loading_)
+      unsavedChanges = true;
   }
 
   void URDFProperty::on_propertyWidget_jointParentLinkChanged(JointProperty *property, QString current_name, QString new_name)

diff --git a/urdf_editor/src/urdf_property_tree.cpp b/urdf_editor/src/urdf_property_tree.cpp
@@ -280,6 +280,9 @@ namespace urdf_editor
     link_names_.append(item->getName());
 
     parent->addChild(item);
+
+    emit linkAddition(item->getProperty().get());
+
     return item;
   }
 
@@ -347,6 +350,9 @@ namespace urdf_editor
     joint_names_.append(item->getName());
 
     parent->addChild(item);
+
+    emit jointAddition(item->getProperty().get());
+
     return item;
   }
 
@@ -418,7 +424,6 @@ namespace urdf_editor
     QTreeWidgetItem *sel = getSelectedItem();
     URDFPropertyTreeLinkItem *new_link = addLinkTreeItem(sel, addModelLink());
     sel->setExpanded(true);
-    emit linkAddition();
 
     if (link_names_.count() > 2 && !isLinkRoot(sel->parent()))
     {
@@ -429,15 +434,13 @@ namespace urdf_editor
       URDFPropertyTreeJointItem *new_joint = addJointTreeItem(parent, joint);
       parent->setExpanded(true);
       new_link->assignJoint(new_joint);
-      emit jointAddition();
     }
     else if (link_names_.count() == 2 || isLinkRoot(sel->parent()))
     {
       urdf::JointSharedPtr joint = addModelJoint(new_link->getName());
       URDFPropertyTreeJointItem *new_joint = addJointTreeItem(joint_root_, joint);
       joint_root_->setExpanded(true);
       new_link->assignJoint(new_joint);
-      emit jointAddition();
     }
   }