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Fix #1826: jitter in Map display updates #1828

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merged 1 commit into from
May 15, 2024
Merged

Fix #1826: jitter in Map display updates #1828

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22 changes: 9 additions & 13 deletions src/rviz/default_plugin/map_display.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -219,12 +219,9 @@ void Swatch::updateData()
}


MapDisplay::MapDisplay() : Display(), loaded_(false), resolution_(0.0f), width_(0), height_(0)
MapDisplay::MapDisplay()
: Display(), loaded_(false), map_updated_(false), resolution_(0.0f), width_(0), height_(0)
{
// HACK: Using a direct connection triggers a segfault on NVIDIA hardware (#1793) when rendering
// *and* having performed a depth rendering before (e.g. due to raycasting for selections)
// A queued connection delays the update of renderables after the current VisualizationManager::onUpdate() call
connect(this, &MapDisplay::mapUpdated, this, &MapDisplay::showMap, Qt::QueuedConnection);
topic_property_ = new RosTopicProperty(
"Topic", "", QString::fromStdString(ros::message_traits::datatype<nav_msgs::OccupancyGrid>()),
"nav_msgs::OccupancyGrid topic to subscribe to.", this, &MapDisplay::updateTopic);
Expand Down Expand Up @@ -548,6 +545,7 @@ void MapDisplay::clear()
}

loaded_ = false;
map_updated_ = false;
}

bool validateFloats(const nav_msgs::OccupancyGrid& msg)
Expand All @@ -561,9 +559,8 @@ bool validateFloats(const nav_msgs::OccupancyGrid& msg)
void MapDisplay::incomingMap(const nav_msgs::OccupancyGrid::ConstPtr& msg)
{
current_map_ = *msg;
// updated via signal in case ros spinner is in a different thread
Q_EMIT mapUpdated();
loaded_ = true;
map_updated_ = true;
}


Expand All @@ -589,8 +586,7 @@ void MapDisplay::incomingUpdate(const map_msgs::OccupancyGridUpdate::ConstPtr& u
memcpy(&current_map_.data[(update->y + y) * current_map_.info.width + update->x],
&update->data[y * update->width], update->width);
}
// updated via signal in case ros spinner is in a different thread
Q_EMIT mapUpdated();
map_updated_ = true;
}

void MapDisplay::createSwatches()
Expand Down Expand Up @@ -653,7 +649,7 @@ void MapDisplay::createSwatches()
}
}

void MapDisplay::showMap()
void MapDisplay::updateMap()
{
if (current_map_.data.empty())
{
Expand Down Expand Up @@ -758,9 +754,7 @@ void MapDisplay::showMap()
position_property_->setVector(position);
orientation_property_->setQuaternion(orientation);

transformMap();

context_->queueRender();
map_updated_ = false;
}

void MapDisplay::updatePalette()
Expand Down Expand Up @@ -843,6 +837,8 @@ void MapDisplay::setTopic(const QString& topic, const QString& /*datatype*/)

void MapDisplay::update(float /*wall_dt*/, float /*ros_dt*/)
{
if (map_updated_)
updateMap();
transformMap();
}

Expand Down
12 changes: 4 additions & 8 deletions src/rviz/default_plugin/map_display.h
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Original file line number Diff line number Diff line change
Expand Up @@ -122,17 +122,12 @@ class MapDisplay : public Display

void setTopic(const QString& topic, const QString& datatype) override;

Q_SIGNALS:
/** @brief Emitted when a new map is received*/
void mapUpdated();

protected Q_SLOTS:
void updateAlpha();
void updateTopic();
void updateDrawUnder();
void updatePalette();
/** @brief Show current_map_ in the scene. */
void showMap();
void updateMap();
void transformMap();

protected:
Expand All @@ -144,10 +139,10 @@ protected Q_SLOTS:
virtual void unsubscribe();
void update(float wall_dt, float ros_dt) override;

/** @brief Copy msg into current_map_ and call showMap(). */
/** @brief Copy msg into current_map_ and set flag map_updated_ */
void incomingMap(const nav_msgs::OccupancyGrid::ConstPtr& msg);

/** @brief Copy update's data into current_map_ and call showMap(). */
/** @brief Copy update's data into current_map_ and set flag map_updated_ */
void incomingUpdate(const map_msgs::OccupancyGridUpdate::ConstPtr& update);

void clear();
Expand All @@ -158,6 +153,7 @@ protected Q_SLOTS:
std::vector<Ogre::TexturePtr> palette_textures_;
std::vector<bool> color_scheme_transparency_;
bool loaded_;
bool map_updated_;

std::string topic_;
float resolution_;
Expand Down
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