[Personalrobots-commit] SF.net SVN: personalrobots:[5925] pkg/trunk

[<jfa...@us...>]

Revision: 5925
          http://personalrobots.svn.sourceforge.net/personalrobots/?rev=5925&view=rev
Author:   jfaustwg
Date:     2008-10-29 18:29:17 +0000 (Wed, 29 Oct 2008)

Log Message:
-----------
 r11000@lan-dhcp-121:  jfaust | 2008-10-28 18:45:11 -0700
 Allow the visualizer to reset itself when time jumps backwards (generally means the simulator has restarted, or a log file is being replayed).
 
 Also misc. bug fixes

Modified Paths:
--------------
    pkg/trunk/visualization/ogre_tools/src/ogre_tools/point_cloud.cpp
    pkg/trunk/visualization/ogre_visualizer/CMakeLists.txt
    pkg/trunk/visualization/ogre_visualizer/src/ogre_visualizer/helpers/robot.cpp
    pkg/trunk/visualization/ogre_visualizer/src/ogre_visualizer/properties/property_manager.cpp
    pkg/trunk/visualization/ogre_visualizer/src/ogre_visualizer/properties/property_manager.h
    pkg/trunk/visualization/ogre_visualizer/src/ogre_visualizer/visualization_manager.cpp
    pkg/trunk/visualization/ogre_visualizer/src/ogre_visualizer/visualization_manager.h
    pkg/trunk/visualization/ogre_visualizer/src/ogre_visualizer/visualizer_base.h
    pkg/trunk/visualization/ogre_visualizer/src/ogre_visualizer/visualizers/laser_scan_visualizer.cpp
    pkg/trunk/visualization/ogre_visualizer/src/ogre_visualizer/visualizers/laser_scan_visualizer.h
    pkg/trunk/visualization/ogre_visualizer/src/ogre_visualizer/visualizers/map_visualizer.cpp
    pkg/trunk/visualization/ogre_visualizer/src/ogre_visualizer/visualizers/map_visualizer.h
    pkg/trunk/visualization/ogre_visualizer/src/ogre_visualizer/visualizers/marker_visualizer.cpp
    pkg/trunk/visualization/ogre_visualizer/src/ogre_visualizer/visualizers/marker_visualizer.h
    pkg/trunk/visualization/ogre_visualizer/src/ogre_visualizer/visualizers/octree_visualizer.cpp
    pkg/trunk/visualization/ogre_visualizer/src/ogre_visualizer/visualizers/octree_visualizer.h
    pkg/trunk/visualization/ogre_visualizer/src/ogre_visualizer/visualizers/point_cloud_visualizer.cpp
    pkg/trunk/visualization/ogre_visualizer/src/ogre_visualizer/visualizers/point_cloud_visualizer.h
    pkg/trunk/visualization/ogre_visualizer/src/ogre_visualizer/visualizers/robot_base2d_pose_visualizer.cpp
    pkg/trunk/visualization/ogre_visualizer/src/ogre_visualizer/visualizers/robot_base2d_pose_visualizer.h
    pkg/trunk/visualization/ogre_visualizer/src/ogre_visualizer/visualizers/robot_model_visualizer.cpp
    pkg/trunk/visualization/ogre_visualizer/src/ogre_visualizer/visualizers/robot_model_visualizer.h
    pkg/trunk/visualization/ogre_visualizer/src/ogre_visualizer/visualizers/tf_visualizer.cpp
    pkg/trunk/visualization/ogre_visualizer/src/ogre_visualizer/visualizers/tf_visualizer.h

Property Changed:
----------------
    pkg/trunk/


Property changes on: pkg/trunk
___________________________________________________________________
Modified: svk:merge
   - 920d6130-5740-4ec1-bb1a-45963d5fd813:/frameidpr:7015
920d6130-5740-4ec1-bb1a-45963d5fd813:/users/josh-pr:10971
920d6130-5740-4ec1-bb1a-45963d5fd813:/wgpkgtrunk:5865
f5854215-dd47-0410-b2c4-cdd35faa7885:/pkg/branches/rosbus:261
   + 920d6130-5740-4ec1-bb1a-45963d5fd813:/frameidpr:7015
920d6130-5740-4ec1-bb1a-45963d5fd813:/users/josh-pr:11000
920d6130-5740-4ec1-bb1a-45963d5fd813:/wgpkgtrunk:5865
f5854215-dd47-0410-b2c4-cdd35faa7885:/pkg/branches/rosbus:261

Modified: pkg/trunk/visualization/ogre_tools/src/ogre_tools/point_cloud.cpp
===================================================================
--- pkg/trunk/visualization/ogre_tools/src/ogre_tools/point_cloud.cpp	2008-10-29 18:28:31 UTC (rev 5924)
+++ pkg/trunk/visualization/ogre_tools/src/ogre_tools/point_cloud.cpp	2008-10-29 18:29:17 UTC (rev 5925)
@@ -104,6 +104,13 @@
   point_count_ = 0;
   bounding_box_.setExtents( -10000.0f, -10000.0f, -10000.0f, 10000.0f, 10000.0f, 10000.0f );
   bounding_radius_ = 30000.0f;
+
+  V_BillboardSet::iterator bbs_it = billboard_sets_.begin();
+  V_BillboardSet::iterator bbs_end = billboard_sets_.end();
+  for ( ; bbs_it != bbs_end; ++bbs_it )
+  {
+    (*bbs_it)->setVisible( false );
+  }
 }
 
 void PointCloud::setCloudVisible( bool visible )

Modified: pkg/trunk/visualization/ogre_visualizer/CMakeLists.txt
===================================================================
--- pkg/trunk/visualization/ogre_visualizer/CMakeLists.txt	2008-10-29 18:28:31 UTC (rev 5924)
+++ pkg/trunk/visualization/ogre_visualizer/CMakeLists.txt	2008-10-29 18:29:17 UTC (rev 5925)
@@ -2,8 +2,8 @@
 include(rosbuild)
 include(FindPkgConfig)
 
-#set(ROS_BUILD_TYPE RelWithDebInfo)
-set(ROS_BUILD_TYPE Debug)
+set(ROS_BUILD_TYPE RelWithDebInfo)
+#set(ROS_BUILD_TYPE Debug)
 
 rospack(ogre_visualizer)
 

Modified: pkg/trunk/visualization/ogre_visualizer/src/ogre_visualizer/helpers/robot.cpp
===================================================================
--- pkg/trunk/visualization/ogre_visualizer/src/ogre_visualizer/helpers/robot.cpp	2008-10-29 18:28:31 UTC (rev 5924)
+++ pkg/trunk/visualization/ogre_visualizer/src/ogre_visualizer/helpers/robot.cpp	2008-10-29 18:29:17 UTC (rev 5925)
@@ -599,6 +599,10 @@
 
 void Robot::update( tf::TransformListener* tf, const std::string& target_frame )
 {
+  typedef std::vector<std::string> V_string;
+  V_string frames;
+  tf->getFrameStrings( frames );
+
   M_NameToLinkInfo::iterator link_it = links_.begin();
   M_NameToLinkInfo::iterator link_end = links_.end();
   for ( ; link_it != link_end; ++link_it )
@@ -606,14 +610,17 @@
     const std::string& name = link_it->first;
     LinkInfo* info = link_it->second;
 
+    if ( std::find( frames.begin(), frames.end(), name ) == frames.end() )
+    {
+      ROS_ERROR( "Frame '%s' does not exist in the TF frame list", name.c_str() );
+      continue;
+    }
+
     tf::Stamped<tf::Pose> pose( btTransform( btQuaternion( 0, 0, 0 ), btVector3( 0, 0, 0 ) ), ros::Time(0), name );
 
     try
     {
-      if ( name != target_frame )
-      {
-        tf->transformPose( target_frame, pose, pose );
-      }
+      tf->transformPose( target_frame, pose, pose );
     }
     catch(tf::TransformException& e)
     {

Modified: pkg/trunk/visualization/ogre_visualizer/src/ogre_visualizer/properties/property_manager.cpp
===================================================================
--- pkg/trunk/visualization/ogre_visualizer/src/ogre_visualizer/properties/property_manager.cpp	2008-10-29 18:28:31 UTC (rev 5924)
+++ pkg/trunk/visualization/ogre_visualizer/src/ogre_visualizer/properties/property_manager.cpp	2008-10-29 18:29:17 UTC (rev 5925)
@@ -87,17 +87,27 @@
   M_Property::iterator found_it = properties_.find( std::make_pair( prefix, name ) );
   ROS_ASSERT( found_it != properties_.end() );
 
+  // search for any children of this property, and delete them as well
+  deleteChildren( found_it->second );
+
+  delete found_it->second;
+
+  properties_.erase( found_it );
+}
+
+void PropertyManager::deleteChildren( PropertyBase* property )
+{
   std::set<PropertyBase*> to_delete;
-  // search for any children of this property, and delete them as well
+
   M_Property::iterator prop_it = properties_.begin();
   M_Property::iterator prop_end = properties_.end();
   for ( ; prop_it != prop_end; ++prop_it )
   {
-    PropertyBase* property = prop_it->second;
+    PropertyBase* child = prop_it->second;
 
-    if ( property->getParent() == found_it->second )
+    if ( child->getParent() == property )
     {
-      to_delete.insert( property );
+      to_delete.insert( child );
     }
   }
 
@@ -107,10 +117,6 @@
   {
     deleteProperty( *del_it );
   }
-
-  delete found_it->second;
-
-  properties_.erase( found_it );
 }
 
 void PropertyManager::deleteByUserData( void* user_data )

Modified: pkg/trunk/visualization/ogre_visualizer/src/ogre_visualizer/properties/property_manager.h
===================================================================
--- pkg/trunk/visualization/ogre_visualizer/src/ogre_visualizer/properties/property_manager.h	2008-10-29 18:28:31 UTC (rev 5924)
+++ pkg/trunk/visualization/ogre_visualizer/src/ogre_visualizer/properties/property_manager.h	2008-10-29 18:29:17 UTC (rev 5925)
@@ -115,6 +115,11 @@
    * @param user_data The user data to compare against
    */
   void deleteByUserData( void* user_data );
+  /**
+   * \brief Delete all the children of a property
+   * @param property The property whose children to delete
+   */
+  void deleteChildren( PropertyBase* property );
 
   /**
    * \brief Called when a property in the property grid is changing.

Modified: pkg/trunk/visualization/ogre_visualizer/src/ogre_visualizer/visualization_manager.cpp
===================================================================
--- pkg/trunk/visualization/ogre_visualizer/src/ogre_visualizer/visualization_manager.cpp	2008-10-29 18:28:31 UTC (rev 5924)
+++ pkg/trunk/visualization/ogre_visualizer/src/ogre_visualizer/visualization_manager.cpp	2008-10-29 18:29:17 UTC (rev 5925)
@@ -63,6 +63,7 @@
 VisualizationManager::VisualizationManager( VisualizationPanel* panel )
 : ogre_root_( Ogre::Root::getSingletonPtr() )
 , vis_panel_( panel )
+, needs_reset_( false )
 {
   initializeCommon();
   registerFactories( this );
@@ -111,10 +112,14 @@
 
   setTargetFrame( "base" );
   setFixedFrame( "map" );
+
+  ros_node_->subscribe( "/time", time_message_, &VisualizationManager::incomingROSTime, this, 1 );
 }
 
 VisualizationManager::~VisualizationManager()
 {
+  ros_node_->unsubscribe( "/time", &VisualizationManager::incomingROSTime, this );
+
   Disconnect( wxEVT_TIMER, update_timer_->GetId(), wxTimerEventHandler( VisualizationManager::onUpdate ), NULL, this );
   delete update_timer_;
 
@@ -194,6 +199,13 @@
   updateRelativeNode();
 
   vis_panel_->getCurrentCamera()->update();
+
+  if ( needs_reset_ )
+  {
+    needs_reset_ = false;
+    resetVisualizers();
+    tf_->clear();
+  }
 }
 
 void VisualizationManager::addVisualizer( VisualizerBase* visualizer, bool allow_deletion, bool enabled )
@@ -223,6 +235,18 @@
   vis_panel_->getPropertyGrid()->Refresh();
 }
 
+void VisualizationManager::resetVisualizers()
+{
+  V_VisualizerInfo::iterator vis_it = visualizers_.begin();
+  V_VisualizerInfo::iterator vis_end = visualizers_.end();
+  for ( ; vis_it != vis_end; ++vis_it )
+  {
+    VisualizerBase* visualizer = vis_it->visualizer_;
+
+    visualizer->reset();
+  }
+}
+
 inline void createParticle( Ogre::ParticleSystem* particle_sys, const Ogre::Vector3& position, float size )
 {
   Ogre::Particle* p = particle_sys->createParticle();
@@ -575,4 +599,16 @@
   target_relative_node_->setOrientation( orientation );
 }
 
+void VisualizationManager::incomingROSTime()
+{
+  static ros::Time last_time = ros::Time(0);
+
+  if ( time_message_.rostime < last_time )
+  {
+    needs_reset_ = true;
+  }
+
+  last_time = time_message_.rostime;
+}
+
 } // namespace ogre_vis

Modified: pkg/trunk/visualization/ogre_visualizer/src/ogre_visualizer/visualization_manager.h
===================================================================
--- pkg/trunk/visualization/ogre_visualizer/src/ogre_visualizer/visualization_manager.h	2008-10-29 18:28:31 UTC (rev 5924)
+++ pkg/trunk/visualization/ogre_visualizer/src/ogre_visualizer/visualization_manager.h	2008-10-29 18:29:17 UTC (rev 5925)
@@ -39,6 +39,8 @@
 #include <vector>
 #include <map>
 
+#include <rostools/Time.h>
+
 namespace ogre_tools
 {
 class wxOgreRenderWindow;
@@ -201,6 +203,8 @@
 
   Ogre::SceneNode* getTargetRelativeNode() { return target_relative_node_; }
 
+  void resetVisualizers();
+
 protected:
   /**
    * \brief Add a visualizer to be managed by this panel
@@ -220,6 +224,8 @@
 
   void updateRelativeNode();
 
+  void incomingROSTime();
+
   Ogre::Root* ogre_root_;                                 ///< Ogre Root
   Ogre::SceneManager* scene_manager_;                     ///< Ogre scene manager associated with this panel
   Ogre::RaySceneQuery* ray_scene_query_;                  ///< Used for querying the scene based on the mouse location
@@ -257,6 +263,9 @@
   VisualizerSignal visualizer_state_;
 
   Ogre::SceneNode* target_relative_node_;
+
+  rostools::Time time_message_;
+  bool needs_reset_;
 };
 
 }

Modified: pkg/trunk/visualization/ogre_visualizer/src/ogre_visualizer/visualizer_base.h
===================================================================
--- pkg/trunk/visualization/ogre_visualizer/src/ogre_visualizer/visualizer_base.h	2008-10-29 18:28:31 UTC (rev 5924)
+++ pkg/trunk/visualization/ogre_visualizer/src/ogre_visualizer/visualizer_base.h	2008-10-29 18:29:17 UTC (rev 5925)
@@ -158,6 +158,11 @@
    */
   virtual const char* getType() = 0;
 
+  /**
+   * \brief Called to tell the visualizer to clear its state
+   */
+  virtual void reset() {}
+
 protected:
   /// Derived classes override this to do the actual work of enabling themselves
   virtual void onEnable() = 0;

Modified: pkg/trunk/visualization/ogre_visualizer/src/ogre_visualizer/visualizers/laser_scan_visualizer.cpp
===================================================================
--- pkg/trunk/visualization/ogre_visualizer/src/ogre_visualizer/visualizers/laser_scan_visualizer.cpp	2008-10-29 18:28:31 UTC (rev 5924)
+++ pkg/trunk/visualization/ogre_visualizer/src/ogre_visualizer/visualizers/laser_scan_visualizer.cpp	2008-10-29 18:29:17 UTC (rev 5925)
@@ -173,11 +173,13 @@
 {
   RenderAutoLock renderLock( this );
 
-  cloud_->setCloudVisible( false );
   cloud_->clear();
   points_.clear();
   point_times_.clear();
   cloud_messages_.clear();
+
+  intensity_min_ = 9999999.0f;
+  intensity_max_ = -9999999.0f;
 }
 
 void LaserScanVisualizer::onEnable()
@@ -191,6 +193,8 @@
   unsubscribe();
 
   clear();
+
+  cloud_->setCloudVisible( false );
 }
 
 void LaserScanVisualizer::subscribe()
@@ -302,8 +306,6 @@
 
   float diff_intensity = intensity_max_ - intensity_min_;
 
-
-
   points_.push_back( V_Point() );
   V_Point& points = points_.back();
   points.resize( point_count_ );
@@ -430,4 +432,9 @@
                                                                               boost::bind( &LaserScanVisualizer::setCloudTopic, this, _1 ), parent_category_, this );
 }
 
+void LaserScanVisualizer::reset()
+{
+  clear();
+}
+
 } // namespace ogre_vis

Modified: pkg/trunk/visualization/ogre_visualizer/src/ogre_visualizer/visualizers/laser_scan_visualizer.h
===================================================================
--- pkg/trunk/visualization/ogre_visualizer/src/ogre_visualizer/visualizers/laser_scan_visualizer.h	2008-10-29 18:28:31 UTC (rev 5924)
+++ pkg/trunk/visualization/ogre_visualizer/src/ogre_visualizer/visualizers/laser_scan_visualizer.h	2008-10-29 18:29:17 UTC (rev 5925)
@@ -125,6 +125,7 @@
   virtual void targetFrameChanged() {}
   virtual void fixedFrameChanged();
   virtual void createProperties();
+  virtual void reset();
 
   static const char* getTypeStatic() { return "Laser Scan"; }
   virtual const char* getType() { return getTypeStatic(); }

Modified: pkg/trunk/visualization/ogre_visualizer/src/ogre_visualizer/visualizers/map_visualizer.cpp
===================================================================
--- pkg/trunk/visualization/ogre_visualizer/src/ogre_visualizer/visualizers/map_visualizer.cpp	2008-10-29 18:28:31 UTC (rev 5924)
+++ pkg/trunk/visualization/ogre_visualizer/src/ogre_visualizer/visualizers/map_visualizer.cpp	2008-10-29 18:29:17 UTC (rev 5925)
@@ -251,6 +251,8 @@
   }
 
   loaded_ = true;
+
+  causeRender();
 }
 
 void MapVisualizer::transformMap()
@@ -311,4 +313,9 @@
   transformMap();
 }
 
+void MapVisualizer::reset()
+{
+  clear();
+}
+
 } // namespace ogre_vis

Modified: pkg/trunk/visualization/ogre_visualizer/src/ogre_visualizer/visualizers/map_visualizer.h
===================================================================
--- pkg/trunk/visualization/ogre_visualizer/src/ogre_visualizer/visualizers/map_visualizer.h	2008-10-29 18:28:31 UTC (rev 5924)
+++ pkg/trunk/visualization/ogre_visualizer/src/ogre_visualizer/visualizers/map_visualizer.h	2008-10-29 18:29:17 UTC (rev 5925)
@@ -70,6 +70,7 @@
   virtual void fixedFrameChanged();
   virtual void createProperties();
   virtual void update( float dt );
+  virtual void reset();
 
   static const char* getTypeStatic() { return "Map"; }
   virtual const char* getType() { return getTypeStatic(); }

Modified: pkg/trunk/visualization/ogre_visualizer/src/ogre_visualizer/visualizers/marker_visualizer.cpp
===================================================================
--- pkg/trunk/visualization/ogre_visualizer/src/ogre_visualizer/visualizers/marker_visualizer.cpp	2008-10-29 18:28:31 UTC (rev 5924)
+++ pkg/trunk/visualization/ogre_visualizer/src/ogre_visualizer/visualizers/marker_visualizer.cpp	2008-10-29 18:29:17 UTC (rev 5925)
@@ -332,4 +332,9 @@
   clearMarkers();
 }
 
+void MarkerVisualizer::reset()
+{
+  clearMarkers();
+}
+
 } // namespace ogre_vis

Modified: pkg/trunk/visualization/ogre_visualizer/src/ogre_visualizer/visualizers/marker_visualizer.h
===================================================================
--- pkg/trunk/visualization/ogre_visualizer/src/ogre_visualizer/visualizers/marker_visualizer.h	2008-10-29 18:28:31 UTC (rev 5924)
+++ pkg/trunk/visualization/ogre_visualizer/src/ogre_visualizer/visualizers/marker_visualizer.h	2008-10-29 18:29:17 UTC (rev 5925)
@@ -106,6 +106,7 @@
 
   virtual void targetFrameChanged() {}
   virtual void fixedFrameChanged();
+  virtual void reset();
 
   static const char* getTypeStatic() { return "Markers"; }
   virtual const char* getType() { return getTypeStatic(); }

Modified: pkg/trunk/visualization/ogre_visualizer/src/ogre_visualizer/visualizers/octree_visualizer.cpp
===================================================================
--- pkg/trunk/visualization/ogre_visualizer/src/ogre_visualizer/visualizers/octree_visualizer.cpp	2008-10-29 18:28:31 UTC (rev 5924)
+++ pkg/trunk/visualization/ogre_visualizer/src/ogre_visualizer/visualizers/octree_visualizer.cpp	2008-10-29 18:29:17 UTC (rev 5925)
@@ -252,4 +252,9 @@
                                                                               boost::bind( &OctreeVisualizer::setOctreeTopic, this, _1 ), parent_category_, this );
 }
 
+void OctreeVisualizer::reset()
+{
+  manual_object_->clear();
 }
+
+}

Modified: pkg/trunk/visualization/ogre_visualizer/src/ogre_visualizer/visualizers/octree_visualizer.h
===================================================================
--- pkg/trunk/visualization/ogre_visualizer/src/ogre_visualizer/visualizers/octree_visualizer.h	2008-10-29 18:28:31 UTC (rev 5924)
+++ pkg/trunk/visualization/ogre_visualizer/src/ogre_visualizer/visualizers/octree_visualizer.h	2008-10-29 18:29:17 UTC (rev 5925)
@@ -79,6 +79,7 @@
   virtual void createProperties();
 
   virtual void update( float dt );
+  virtual void reset();
 
   static const char* getTypeStatic() { return "Octree"; }
   virtual const char* getType() { return getTypeStatic(); }

Modified: pkg/trunk/visualization/ogre_visualizer/src/ogre_visualizer/visualizers/point_cloud_visualizer.cpp
===================================================================
--- pkg/trunk/visualization/ogre_visualizer/src/ogre_visualizer/visualizers/point_cloud_visualizer.cpp	2008-10-29 18:28:31 UTC (rev 5924)
+++ pkg/trunk/visualization/ogre_visualizer/src/ogre_visualizer/visualizers/point_cloud_visualizer.cpp	2008-10-29 18:29:17 UTC (rev 5925)
@@ -321,4 +321,11 @@
                                                                               boost::bind( &PointCloudVisualizer::setTopic, this, _1 ), parent_category_, this );
 }
 
+void PointCloudVisualizer::reset()
+{
+  RenderAutoLock renderLock( this );
+
+  cloud_->clear();
+}
+
 } // namespace ogre_vis

Modified: pkg/trunk/visualization/ogre_visualizer/src/ogre_visualizer/visualizers/point_cloud_visualizer.h
===================================================================
--- pkg/trunk/visualization/ogre_visualizer/src/ogre_visualizer/visualizers/point_cloud_visualizer.h	2008-10-29 18:28:31 UTC (rev 5924)
+++ pkg/trunk/visualization/ogre_visualizer/src/ogre_visualizer/visualizers/point_cloud_visualizer.h	2008-10-29 18:29:17 UTC (rev 5925)
@@ -108,6 +108,7 @@
   virtual void targetFrameChanged() {}
   virtual void fixedFrameChanged();
   virtual void createProperties();
+  virtual void reset();
 
   static const char* getTypeStatic() { return "Point Cloud"; }
   virtual const char* getType() { return getTypeStatic(); }

Modified: pkg/trunk/visualization/ogre_visualizer/src/ogre_visualizer/visualizers/robot_base2d_pose_visualizer.cpp
===================================================================
--- pkg/trunk/visualization/ogre_visualizer/src/ogre_visualizer/visualizers/robot_base2d_pose_visualizer.cpp	2008-10-29 18:28:31 UTC (rev 5924)
+++ pkg/trunk/visualization/ogre_visualizer/src/ogre_visualizer/visualizers/robot_base2d_pose_visualizer.cpp	2008-10-29 18:29:17 UTC (rev 5925)
@@ -49,7 +49,7 @@
 : VisualizerBase( name, manager )
 , topic_( "odom" )
 , color_( 1.0f, 0.1f, 0.0f )
-, position_tolerance_( 0.01 )
+, position_tolerance_( 0.1 )
 , angle_tolerance_( 0.1 )
 , color_property_( NULL )
 , topic_property_( NULL )
@@ -285,4 +285,9 @@
   queue_mutex_.unlock();
 }
 
+void RobotBase2DPoseVisualizer::reset()
+{
+  clear();
+}
+
 } // namespace ogre_vis

Modified: pkg/trunk/visualization/ogre_visualizer/src/ogre_visualizer/visualizers/robot_base2d_pose_visualizer.h
===================================================================
--- pkg/trunk/visualization/ogre_visualizer/src/ogre_visualizer/visualizers/robot_base2d_pose_visualizer.h	2008-10-29 18:28:31 UTC (rev 5924)
+++ pkg/trunk/visualization/ogre_visualizer/src/ogre_visualizer/visualizers/robot_base2d_pose_visualizer.h	2008-10-29 18:29:17 UTC (rev 5925)
@@ -82,6 +82,7 @@
   virtual void createProperties();
   virtual void update( float dt );
   virtual bool isObjectPickable( const Ogre::MovableObject* object ) const { return true; }
+  virtual void reset();
 
   static const char* getTypeStatic() { return "RobotBase2DPose"; }
   virtual const char* getType() { return getTypeStatic(); }

Modified: pkg/trunk/visualization/ogre_visualizer/src/ogre_visualizer/visualizers/robot_model_visualizer.cpp
===================================================================
--- pkg/trunk/visualization/ogre_visualizer/src/ogre_visualizer/visualizers/robot_model_visualizer.cpp	2008-10-29 18:28:31 UTC (rev 5924)
+++ pkg/trunk/visualization/ogre_visualizer/src/ogre_visualizer/visualizers/robot_model_visualizer.cpp	2008-10-29 18:29:17 UTC (rev 5925)
@@ -255,5 +255,10 @@
   robot_->setPropertyManager( property_manager_, parent_category_ );
 }
 
+void RobotModelVisualizer::reset()
+{
+  has_new_transforms_ = true;
+}
+
 } // namespace ogre_vis
 

Modified: pkg/trunk/visualization/ogre_visualizer/src/ogre_visualizer/visualizers/robot_model_visualizer.h
===================================================================
--- pkg/trunk/visualization/ogre_visualizer/src/ogre_visualizer/visualizers/robot_model_visualizer.h	2008-10-29 18:28:31 UTC (rev 5924)
+++ pkg/trunk/visualization/ogre_visualizer/src/ogre_visualizer/visualizers/robot_model_visualizer.h	2008-10-29 18:29:17 UTC (rev 5925)
@@ -113,6 +113,7 @@
   virtual void fixedFrameChanged() {}
   virtual void createProperties();
   virtual bool isObjectPickable( const Ogre::MovableObject* object ) const { return true; }
+  virtual void reset();
 
   static const char* getTypeStatic() { return "Robot Model"; }
   virtual const char* getType() { return getTypeStatic(); }

Modified: pkg/trunk/visualization/ogre_visualizer/src/ogre_visualizer/visualizers/tf_visualizer.cpp
===================================================================
--- pkg/trunk/visualization/ogre_visualizer/src/ogre_visualizer/visualizers/tf_visualizer.cpp	2008-10-29 18:28:31 UTC (rev 5924)
+++ pkg/trunk/visualization/ogre_visualizer/src/ogre_visualizer/visualizers/tf_visualizer.cpp	2008-10-29 18:29:17 UTC (rev 5925)
@@ -109,6 +109,8 @@
 
   frames_.clear();
 
+  property_manager_->deleteChildren( tree_category_ );
+
   update_timer_ = 0.0f;
 }
 
@@ -289,11 +291,11 @@
 
   try
   {
-    tf_->transformPose( target_frame_, pose, pose );
+    tf_->transformPose( fixed_frame_, pose, pose );
   }
   catch(tf::TransformException& e)
   {
-    ROS_ERROR( "Error transforming frame '%s' to frame '%s'\n", frame->name_.c_str(), target_frame_.c_str() );
+    ROS_ERROR( "Error transforming frame '%s' to frame '%s'\n", frame->name_.c_str(), fixed_frame_.c_str() );
   }
 
   frame->position_ = Ogre::Vector3( pose.getOrigin().x(), pose.getOrigin().y(), pose.getOrigin().z() );
@@ -341,11 +343,11 @@
 
       try
       {
-        tf_->transformPose( target_frame_, parent_pose, parent_pose );
+        tf_->transformPose( fixed_frame_, parent_pose, parent_pose );
       }
       catch(tf::TransformException& e)
       {
-        ROS_ERROR( "Error transforming frame '%s' to frame '%s'\n", frame->parent_.c_str(), target_frame_.c_str() );
+        ROS_ERROR( "Error transforming frame '%s' to frame '%s'\n", frame->parent_.c_str(), fixed_frame_.c_str() );
       }
 
       Ogre::Vector3 parent_position = Ogre::Vector3( parent_pose.getOrigin().x(), parent_pose.getOrigin().y(), parent_pose.getOrigin().z() );
@@ -440,5 +442,10 @@
   update_timer_ = update_rate_;
 }
 
+void TFVisualizer::reset()
+{
+  clear();
+}
+
 } // namespace ogre_vis
 

Modified: pkg/trunk/visualization/ogre_visualizer/src/ogre_visualizer/visualizers/tf_visualizer.h
===================================================================
--- pkg/trunk/visualization/ogre_visualizer/src/ogre_visualizer/visualizers/tf_visualizer.h	2008-10-29 18:28:31 UTC (rev 5924)
+++ pkg/trunk/visualization/ogre_visualizer/src/ogre_visualizer/visualizers/tf_visualizer.h	2008-10-29 18:29:17 UTC (rev 5925)
@@ -118,6 +118,7 @@
   virtual void fixedFrameChanged() {}
   virtual void createProperties();
   virtual bool isObjectPickable( const Ogre::MovableObject* object ) const { return true; }
+  virtual void reset();
 
   static const char* getTypeStatic() { return "TF"; }
   virtual const char* getType() { return getTypeStatic(); }


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