Alternative methods for visualizing joint trajectories

[marip8]

When a new trajectory is received by the joint trajectory monitor, it always appends the trajectory to the visualization using the event linked below.

tesseract_ros2/tesseract_rviz/src/joint_trajectory_monitor_properties.cpp

Line 108 in 3b7e8b0

tesseract_gui::events::JointTrajectoryAdd event(component_info, trajectory_set);

This can be problematic for displaying the results of online planning (as in the example) because the computer will quickly run out of memory stashing all the trajectories.

We should consider adding a mechanism to the existing widget to allow a trajectory (maybe with the same namespace and identifier) to be overwritten rather than appended to the list of trajectories. Alternatively, we might also think about making a display specifically for joint trajectories that doesn't stash all trajectories

[rjoomen]

I agree, and overwriting when namespace and identifier match seems like the simplest and most logical solution.

[Levi-Armstrong]

This should now be addressed but you need port changes from a PR recently merged into tesseract_ros repository.

[marip8]

This should now be addressed but you need port changes from a PR recently merged into tesseract_ros repository.

Linking to the PR for reference

[marip8]

On a related note, would it be difficult to visualize all individual states of the trajectory at once? That would also be a nice feature for the online demo so you could watch how all the states change as new trajectories are planned

[marip8]

Closing; addressed in #131