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Gracefully handle loops in TF tree #1820

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merged 1 commit into from
Apr 17, 2024
Merged

Gracefully handle loops in TF tree #1820

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15 changes: 15 additions & 0 deletions src/rviz/default_plugin/tf_display.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -556,6 +556,17 @@ Ogre::ColourValue lerpColor(const Ogre::ColourValue& start, const Ogre::ColourVa
return start * t + end * (1 - t);
}

bool hasLoop(rviz::Property* child, rviz::Property* parent, rviz::Property* root)
{
while (child != root)
{
if (child == parent)
return true;
child = child->getParent();
}
return false;
}

void TFDisplay::updateFrame(FrameInfo* frame)
{
auto tf = context_->getTF2BufferPtr();
Expand Down Expand Up @@ -736,7 +747,11 @@ void TFDisplay::updateFrame(FrameInfo* frame)
// Retrieve tree property to add the new child at
rviz::Property* parent_tree_property;
if (parent && parent->tree_property_) // parent already created
{
parent_tree_property = parent->tree_property_;
if (hasLoop(parent_tree_property, frame->tree_property_, tree_category_))
parent_tree_property = tree_category_; // insert loops at root node
}
else // create (temporarily) at root
parent_tree_property = tree_category_;

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