Search and Grouping Feature

README.md

@@ -15,6 +15,21 @@ frame editor rqt-plugin
 
 ![The rqt plugin frame_editor](/frame_editor/etc/img/rqt_frame_editor.png "The rqt plugin frame_editor")
 
+* Feature: Moving frames
+
+![Moving Frames](/frame_editor/etc/img/moving_frames.gif "Feature: Moving frames")
+
+
+* Feature: Add Frames and Change their respective parents
+
+![Parent Frames](/frame_editor/etc/img/parent_frames.gif "Feature: Parent frames")
+
+* Feature: Filter and Delete Frames
+
+![Filter and Delete Frames](/frame_editor/etc/img/filter_delete_frames.gif "Feature: Filter and Delete Frames")
+
+
+
 ![The rviz view](/frame_editor/etc/img/rviz.png "Using an interactive marker to manipulated a tf-frame")
 
 ### Installation:

frame_editor/CHANGELOG.rst

@@ -2,6 +2,19 @@
 Changelog for package frame_editor
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+Forthcoming
+------------------
+* Bug fix: Deleted Frames not beeing able to be reused
+* Feature: Clear Frame Buffer and Added loading animation for tf frame list when pressing either refresh button or deleting frames
+* Feature: Automatically Update TF Frame List when adding/duplicating frames (without clearing the frame buffer)
+* Chore: Moved from prints to rospy logging
+* Feature: Added search bar for both tf and frame list (style: `grey` out or `hide` frames with argument `--filter_style`)
+* Feature: Add Grouping Option for frames by setting the `group` attribute in the yaml file
+* Feature: TF Frame list is automatically grouped by self-defined (`Frames`) and external frames (`Other`)
+* Feature: Autosave Functionality
+* Performance: Use Static Transform Publisher instead of Dynamic.
+* Contributors: Jan Krieglstein, Daniel Bargmann
+
 1.1.1 (2022-05-19)
 ------------------
 * Bug fix: Empty frame list on noetic now gets displayed

frame_editor/etc/frames.yaml

@@ -4,11 +4,13 @@ frames:
     parent: world
     position: {x: 0.5, y: 0.5, z: 0.5}
     style: none
+    group: frames_1
   frame_axis:
     orientation: {w: 0.0, x: 0.0, y: 0.0, z: 1.0}
     parent: frame1
     position: {x: -0.47346997261047363, y: 0.20000000298023224, z: 0.30000001192092896}
     style: none
+    group: frames_1
   frame_cube:
     orientation: {w: 0.0, x: 0.0, y: 0.0, z: 1.0}
     parent: frame1

frame_editor/launch/frame_editor.launch

@@ -2,7 +2,7 @@
 
 <launch>
     <node pkg="rqt_gui" type="rqt_gui" name="frame_editor"
-        args="--standalone frame_editor --args --load '$(find frame_editor)/etc/frames.yaml' --rate 200"
+        args="--standalone frame_editor --args --load '$(find frame_editor)/etc/frames.yaml' --rate 200 --filter_style grey"
         output="screen"/>
 
     <node pkg="rviz" type="rviz" name="rviz" args="-d $(find frame_editor)/etc/frame_editor.rviz"/>

frame_editor/src/frame_editor/FrameEditorGUI.ui

@@ -38,6 +38,13 @@
         <string>Frames</string>
        </property>
        <layout class="QVBoxLayout" name="verticalLayout_2">
+        <item>
+         <widget class="QLineEdit" name="searchLine">
+          <property name="placeholderText">
+           <string>Search ...</string>
+          </property>
+         </widget>
+        </item>
         <item>
          <widget class="QSplitter" name="splitter">
           <property name="orientation">
@@ -64,10 +71,21 @@
             </property>
             <layout class="QVBoxLayout" name="verticalLayout_5">
              <item>
-              <widget class="QListWidget" name="list_frames">
+              <widget class="QTreeWidget" name="list_frames">
                <property name="verticalScrollBarPolicy">
                 <enum>Qt::ScrollBarAlwaysOn</enum>
                </property>
+               <property name="dragDropMode">
+                <enum>QAbstractItemView::NoDragDrop</enum>
+               </property>
+               <property name="headerHidden">
+                <bool>true</bool>
+               </property>
+               <column>
+                <property name="text">
+                 <string notr="true">1</string>
+                </property>
+               </column>
               </widget>
              </item>
              <item>
@@ -873,10 +891,25 @@
            </property>
            <layout class="QVBoxLayout" name="verticalLayout_6">
             <item>
-             <widget class="QListWidget" name="list_tf">
+             <widget class="QLineEdit" name="search_tf">
+              <property name="placeholderText">
+               <string>Search ...</string>
+              </property>
+             </widget>
+            </item>
+            <item>
+             <widget class="QTreeWidget" name="list_tf">
               <property name="verticalScrollBarPolicy">
                <enum>Qt::ScrollBarAlwaysOn</enum>
               </property>
+              <property name="headerHidden">
+               <bool>true</bool>
+              </property>
+              <column>
+               <property name="text">
+                <string notr="true">1</string>
+               </property>
+              </column>
              </widget>
             </item>
             <item>

frame_editor/src/frame_editor/commands.py

@@ -379,17 +379,17 @@ def __init__(self, editor, element, style):
         self.old_element = element
 
         if style == "plane":
-            self.new_element = Object_Plane(element.name, element.position, element.orientation, element.parent)
+            self.new_element = Object_Plane(element.name, element.position, element.orientation, element.parent, group=element.group)
         elif style == "cube":
-            self.new_element = Object_Cube(element.name, element.position, element.orientation, element.parent)
+            self.new_element = Object_Cube(element.name, element.position, element.orientation, element.parent, group=element.group)
         elif style == "sphere":
-            self.new_element = Object_Sphere(element.name, element.position, element.orientation, element.parent)
+            self.new_element = Object_Sphere(element.name, element.position, element.orientation, element.parent, group=element.group)
         elif style == "axis":
-            self.new_element = Object_Axis(element.name, element.position, element.orientation, element.parent)
+            self.new_element = Object_Axis(element.name, element.position, element.orientation, element.parent, group=element.group)
         elif style == "mesh":
-            self.new_element = Object_Mesh(element.name, element.position, element.orientation, element.parent)
+            self.new_element = Object_Mesh(element.name, element.position, element.orientation, element.parent, group=element.group)
         else:
-            self.new_element = Frame(element.name, element.position, element.orientation, element.parent)
+            self.new_element = Frame(element.name, element.position, element.orientation, element.parent, group=element.group)
 
         if editor.active_frame is element:
             self.was_active = True

frame_editor/src/frame_editor/editor.py

@@ -47,6 +47,7 @@ def __init__(self):
         self.namespace = "frame_editor"
         self.full_file_path = None
         self.hz = 200
+        self.filter_style = "hide"
 
 
     def get_file_name(self):
@@ -98,7 +99,7 @@ def tf_dict():
         if isinstance(d, dict):
             return d
         else:
-            rospy.logwarn('Got invalid yaml from tf2: '+y)
+            rospy.logwarn('Got invalid yaml from tf2: {}'.format(y))
             return {}
 
     @staticmethod
@@ -119,7 +120,7 @@ def iter_frames(self, include_temp=True):
     ## PRINT ##
     ##
     def print_all(self):
-        print("> Printing all frames")
+        rospy.loginfo("> Printing all frames")
 
         for frame in self.frames:
             frame.print_all()
@@ -129,7 +130,7 @@ def print_all(self):
     ##
     def load_file(self, file_name):
         if file_name:
-            print("> Loading file")
+            rospy.loginfo("> Loading file")
             data = rosparam.load_file(file_name, self.namespace)[0][0]
             self.load_data(data)
         else:
@@ -143,7 +144,7 @@ def load_file(self, file_name):
 
     def load_params(self, namespace):
         if not rosparam.list_params(namespace):
-            print("> No data to load")
+            rospy.logwarn("> No data to load")
         else:
             data = rosparam.get_param(namespace)
             self.load_data(data)
@@ -161,6 +162,11 @@ def load_data(self, data):
                 style = frame["style"]
             else:
                 style = "none"
+
+            if "group" in frame:
+                group = frame["group"]
+            else:
+                group = ""
 
             if "data" in frame:
                 dat = frame["data"]
@@ -190,13 +196,13 @@ def load_data(self, data):
                 f = Object_Mesh(name, position, orientation, frame["parent"], dat["package"], dat["path"], dat["scale"])
                 f.set_color(color)
             else:
-                f = Frame(name, position, orientation, frame["parent"])
+                f = Frame(name, position, orientation, frame["parent"], group=group)
 
             self.command(Command_AddElement(self, f))
 
         self.undo_stack.endMacro()
 
-        print("> Loading done")
+        rospy.loginfo("> Loading done")
 
     def save_file(self, filename):
 
@@ -222,6 +228,7 @@ def save_file(self, filename):
             f["orientation"] = o
 
             f["style"] = frame.style
+            f["group"] = frame.group
 
             if frame.style == "plane":
                 f["data"] = { "length": frame.length, "width":frame.width, "color": frame.color }
@@ -245,14 +252,14 @@ def save_file(self, filename):
 
         ## To parameter server
         rospy.set_param(self.namespace, data)
-        print(rospy.get_param(self.namespace))
+        rospy.loginfo(rospy.get_param(self.namespace))
 
         ## Dump param to file
         if filename == '':
             filename = self.full_file_path
-        print("Saving to file {}".format(filename))
+        rospy.loginfo("Saving to file {}".format(filename))
         rosparam.dump_params(filename, self.namespace)
-        print("Saving done")
+        rospy.loginfo("Saving done")
 
         self.full_file_path = filename
         return True
@@ -277,7 +284,7 @@ def update_file_format(self, frame):
                     QtWidgets.QMessageBox.Yes)
 
                     if reply == QtWidgets.QMessageBox.Yes:
-                        print("Saving: package: {} + relative path: {}".format(rospackage, rel_path))
+                        rospy.loginfo("Saving: package: {} + relative path: {}".format(rospackage, rel_path))
                         frame.package = rospackage
                         frame.path = rel_path
                         return
@@ -289,7 +296,7 @@ def update_file_format(self, frame):
             pass
 
     def run(self):
-        print("> Going for some spins")
+        rospy.loginfo("> Going for some spins")
         rate = rospy.Rate(self.hz) # hz
         while not rospy.is_shutdown():
             self.broadcast()
@@ -309,39 +316,51 @@ def parse_args(self, argv):
                       dest="file",
                       help="Load a file at startup. [rospack filepath/file]")
         parser.add_argument("-r", "--rate", type=int)
-
+        parser.add_argument(
+            "--filter_style",  
+            type=str,  
+            choices=["grey", "hide"],  
+            help="Choose the filter style: 'grey' or 'hide' (default: 'hide')",
+            default="hide",  
+        )        
+
         args, unknowns = parser.parse_known_args(argv)
-        print('arguments: {}'.format(args))
+        rospy.loginfo('arguments: {}'.format(args))
         if unknowns:
-            print('unknown parameters found: {}'.format(unknowns))
+            rospy.logwarn('unknown parameters found: {}'.format(unknowns))
 
         if args.rate:
             self.hz = args.rate
+        else:
+            self.hz = 100
+
+        if args.filter_style:
+            self.filter_style = args.filter_style
 
         ## Load file ##
         if args.file:
             arg_path = args.file[0].split()
             if len(arg_path) == 1:
                 #load file
                 filename = arg_path[0]
-                print("Loading {}".format(filename))
+                rospy.loginfo("Loading {}".format(filename))
                 success = self.load_file(str(filename))
             elif len(arg_path) == 2:
                 #load rospack
                 rospack = rospkg.RosPack()
                 filename = os.path.join(rospack.get_path(arg_path[0]), arg_path[1])
-                print("Loading {}".format(filename))
+                rospy.loginfo("Loading {}".format(filename))
                 success = self.load_file(str(filename))
             else:
-                print("Load argument not understood! --load {}".format(arg_path))
-                print("Please use --load 'myRosPackage pathInMyPackage/myYaml.yaml'")
-                print("or use --load 'fullPathToMyYaml.yaml'")
+                rospy.logwarn("Load argument not understood! --load {}".format(arg_path))
+                rospy.logwarn("Please use --load 'myRosPackage pathInMyPackage/myYaml.yaml'")
+                rospy.logwarn("or use --load 'fullPathToMyYaml.yaml'")
                 success = None
 
             if success:
                 return filename
             elif success == False:
-                print("ERROR LOADING FILE")
+                rospy.logerr("ERROR LOADING FILE")
             return ''
 
     def init_views(self):
@@ -361,7 +380,7 @@ def init_views(self):
     editor.parse_args(sys.argv[1:])
     editor.init_views()
 
-    print("Frame editor ready!")
+    rospy.loginfo("Frame editor ready!")
     editor.run()
 
 # eof

frame_editor/src/frame_editor/interface_gui.py

@@ -63,7 +63,6 @@ def __init__(self, frame_editor):
         self.layout.addWidget(self.color_label, 5, 0)
         self.layout.addWidget(self.color_button, 5, 1)
 
-        print("init")
         self.update_widget(None)
 
     def get_widget(self):
@@ -170,19 +169,17 @@ def btn_open_mesh_clicked(self):
             if rospackage is None:
                 QtWidgets.QMessageBox.warning(self.widget, "Saving absolute path to mesh",
                 "Cannot find rospackage with selected mesh in it!\nSaving absolute path to mesh instead!")
-                #print("WARNING cannot find rospackage with mesh in it, saving absolute path")
                 self.editor.command(Command_SetGeometry(self.editor, self.editor.active_frame, "package", ""))
                 self.editor.command(Command_SetGeometry(self.editor, self.editor.active_frame, "path", path))
             else:
                 rel_path = os.path.relpath(path , rospkg.RosPack().get_path(rospackage))
-                print("Saving: package: {} + relative path: {}".format(rospackage, rel_path))
+                rospy.loginfo("Saving: package: {} + relative path: {}".format(rospackage, rel_path))
                 self.editor.command(Command_SetGeometry(self.editor, self.editor.active_frame, "package", rospackage))
                 self.editor.command(Command_SetGeometry(self.editor, self.editor.active_frame, "path", rel_path))
         except:
             QtWidgets.QMessageBox.warning(self.widget, "Saving absolute path to mesh",
             "The found rospackage with selected mesh in it is not sourced in your ROS workspace!\n"+
             "Cannot resolve the packagepath\nSaving absolute path to mesh instead!")
-            #print("The package found is not sourced withing the current workspace, saving absolute path instead!")
             self.editor.command(Command_SetGeometry(self.editor, self.editor.active_frame, "package", ""))
             self.editor.command(Command_SetGeometry(self.editor, self.editor.active_frame, "path", path))