Merge pull request #93 from marrts/feat/configurable_trajectory_names

Pass description field to trajectory objects
tesseract-robotics · Feb 19, 2024 · 92e208d · 92e208d
2 parents 9fe4768 + bd74fbe
commit 92e208d
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Showing 2 changed files with 7 additions and 2 deletions.
diff --git a/tesseract_rosutils/src/utils.cpp b/tesseract_rosutils/src/utils.cpp
@@ -1725,6 +1725,8 @@ void toMsg(const tesseract_msgs::msg::EnvironmentState::SharedPtr& state_msg,
 
 void toMsg(tesseract_msgs::msg::JointTrajectory& traj_msg, const tesseract_common::JointTrajectory& traj)
 {
+  traj_msg.description = traj.description;
+
   for (const auto& js : traj)
   {
     assert(js.joint_names.size() == static_cast<unsigned>(js.position.size()));
@@ -1752,6 +1754,7 @@ void toMsg(tesseract_msgs::msg::JointTrajectory& traj_msg, const tesseract_commo
 tesseract_common::JointTrajectory fromMsg(const tesseract_msgs::msg::JointTrajectory& traj_msg)
 {
   tesseract_common::JointTrajectory trajectory;
+  trajectory.description = traj_msg.description;
   for (const auto& js_msg : traj_msg.states)
   {
     assert(js_msg.joint_names.size() == static_cast<unsigned>(js_msg.position.size()));

diff --git a/tesseract_rviz/src/joint_trajectory_monitor_properties.cpp b/tesseract_rviz/src/joint_trajectory_monitor_properties.cpp
@@ -98,9 +98,11 @@ struct JointTrajectoryMonitorProperties::Implementation
       {
         tesseract_common::JointTrajectory joint_trajectory = tesseract_rosutils::fromMsg(joint_trajectory_msg);
         trajectory_set.appendJointTrajectory(joint_trajectory);
-        tesseract_gui::events::JointTrajectoryAdd event(component_info, trajectory_set);
-        QApplication::sendEvent(qApp, &event);
       }
+
+      trajectory_set.setDescription(msg->description);
+      tesseract_gui::events::JointTrajectoryAdd event(component_info, trajectory_set);
+      QApplication::sendEvent(qApp, &event);
     }
     catch (...)
     {