updated motion_graph_inspector.py

SemRoCo · Sep 6, 2024 · 54a38f1 · 54a38f1
1 parent 4f8607f
commit 54a38f1
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Showing 2 changed files with 10 additions and 8 deletions.
diff --git a/scripts/tools/motion_graph_inspector.py b/scripts/tools/motion_graph_inspector.py
@@ -128,7 +128,7 @@ def on_topic_selector_clicked(self) -> None:
     def on_topic_selected(self, index: int) -> None:
         topic_name = self.topic_selector.currentText()
         if topic_name:
-            rospy.Subscriber(topic_name, ExecutionState, self.on_new_message_received)
+            rospy.Subscriber(topic_name, ExecutionState, self.on_new_message_received, queue_size=20)
 
     def on_new_message_received(self, msg: ExecutionState) -> None:
         if len(self.goals) > 0:
@@ -157,8 +157,9 @@ def display_graph(self, goal_index: int, message_index: int, update_position_lab
         # Display the graph based on goal and message index
         goal_id = self.goals[goal_index]
         graph = self.graphs_by_goal[goal_id][message_index]
-        svg_path = '../../../rqt_giskard/scripts/graph.svg'
+        svg_path = 'graph.svg'
         graph.write_svg(svg_path)
+        graph.write_pdf('graph.pdf')
         with QMutexLocker(self.svg_widget.mutex):  # Lock the mutex during SVG loading
             self.svg_widget.load(svg_path)
 

diff --git a/src/giskardpy/tree/behaviors/plot_motion_graph.py b/src/giskardpy/tree/behaviors/plot_motion_graph.py
@@ -16,18 +16,19 @@
 from giskardpy.utils.decorators import record_time, catch_and_raise_to_blackboard
 from giskardpy.utils.utils import create_path, json_str_to_kwargs
 
-MyBLUE = '#0000B4'
+MyBLUE = '#0000DD'
 MyGREEN = '#006600'
 MyORANGE = '#996900'
 MyRED = '#993000'
 MyGRAY = '#E0E0E0'
-MonitorTrueGreen = '#CDEACD'
-MonitorFalseRed = '#EACDCD'
+MonitorTrueGreen = '#B6E5A0'
+MonitorFalseRed = '#FF8961'
 FONT = 'sans-serif'
 LineWidth = 6
 ArrowSize = 1.5
 Fontsize = 25
 ConditionFont = 'monospace'
+NotStartedColor = '#9F9F9F'
 
 
 def extract_monitor_names_from_condition(condition: str) -> List[str]:
@@ -39,21 +40,21 @@ def search_for_monitor(monitor_name: str, execution_state: ExecutionState) -> gi
 
 
 task_state_to_color: Dict[TaskState, Tuple[str, str]] = {
-    TaskState.not_started: ('black', MyGRAY),
+    TaskState.not_started: (NotStartedColor, MyGRAY),
     TaskState.running: (MyBLUE, MyGRAY),
     TaskState.on_hold: (MyORANGE, MyGRAY),
     TaskState.succeeded: (MyGREEN, MyGRAY),
     TaskState.failed: ('red', MyGRAY)
 }
 
 monitor_state_to_color: Dict[Tuple[TaskState, int], Tuple[str, str]] = {
-    (TaskState.not_started, 1): ('black', MonitorTrueGreen),
+    (TaskState.not_started, 1): (NotStartedColor, MonitorTrueGreen),
     (TaskState.running, 1): (MyBLUE, MonitorTrueGreen),
     (TaskState.on_hold, 1): (MyORANGE, MonitorTrueGreen),
     (TaskState.succeeded, 1): (MyGREEN, MonitorTrueGreen),
     (TaskState.failed, 1): ('red', MonitorTrueGreen),
 
-    (TaskState.not_started, 0): ('black', MonitorFalseRed),
+    (TaskState.not_started, 0): (NotStartedColor, MonitorFalseRed),
     (TaskState.running, 0): (MyBLUE, MonitorFalseRed),
     (TaskState.on_hold, 0): (MyORANGE, MonitorFalseRed),
     (TaskState.succeeded, 0): (MyGREEN, MonitorFalseRed),