Fixes from testing

Author: amalnanavati

feedingwebapp/public/robot_state_imgs/table.svg

@@ -29,6 +29,7 @@ MOVING_STATE_ICON_DICT[MEAL_STATE.R_MovingFromMouth] = '/robot_state_imgs/move_t
 MOVING_STATE_ICON_DICT[MEAL_STATE.R_MovingToMouth] = '/robot_state_imgs/move_to_mouth_position.svg'
 MOVING_STATE_ICON_DICT[MEAL_STATE.R_StowingArm] = '/robot_state_imgs/stowing_arm_position.svg'
 export { MOVING_STATE_ICON_DICT }
+export const TABLE_ICON = '/robot_state_imgs/table.svg'
 
 // The names of the ROS topic(s)
 export const CAMERA_FEED_TOPIC = '/local/camera/color/image_raw/compressed'
@@ -122,7 +123,7 @@ export const GET_PARAMETERS_SERVICE_NAME = 'ada_feeding_action_servers/get_param
 export const GET_PARAMETERS_SERVICE_TYPE = 'rcl_interfaces/srv/GetParameters'
 export const SET_PARAMETERS_SERVICE_NAME = 'ada_feeding_action_servers/set_parameters_atomically'
 export const SET_PARAMETERS_SERVICE_TYPE = 'rcl_interfaces/srv/SetParametersAtomically'
-export const PLANNING_SCENE_GET_PARAMETERS_SERVICE_NAME = 'ada_feeding_action_servers/get_parameters'
+export const PLANNING_SCENE_GET_PARAMETERS_SERVICE_NAME = 'ada_planning_scene/get_parameters'
 export const PLANNING_SCENE_GET_PARAMETERS_SERVICE_TYPE = 'rcl_interfaces/srv/GetParameters'
 
 // The names of parameters users can change in the settings menu

feedingwebapp/src/Pages/Constants.js

@@ -20,7 +20,8 @@ import {
   MOVING_STATE_ICON_DICT,
   REGULAR_CONTAINER_ID,
   SET_PARAMETERS_SERVICE_NAME,
-  SET_PARAMETERS_SERVICE_TYPE
+  SET_PARAMETERS_SERVICE_TYPE,
+  TABLE_ICON
 } from '../Constants'
 
 /**
@@ -189,7 +190,7 @@ const Main = () => {
     },
     {
       title: 'Planning Scene',
-      icon: null,
+      icon: TABLE_ICON,
       onClick: () => onClickSettingsPage(SETTINGS_STATE.PLANNING_SCENE)
     }
   ]

feedingwebapp/src/Pages/Settings/Main.jsx

@@ -1,6 +1,5 @@
 // React imports
 import React, { useCallback, useEffect, useMemo, useRef, useState } from 'react'
-import { useMediaQuery } from 'react-responsive'
 import ButtonGroup from 'react-bootstrap/ButtonGroup'
 import Dropdown from 'react-bootstrap/Dropdown'
 import DropdownButton from 'react-bootstrap/DropdownButton'
@@ -20,10 +19,6 @@ const PlanningScene = () => {
   // Get relevant global state variables
   const setSettingsState = useGlobalState((state) => state.setSettingsState)
 
-  // Flag to check if the current orientation is portrait
-  const isPortrait = useMediaQuery({ query: '(orientation: portrait)' })
-  // Indicator of how to arrange screen elements based on orientation
-  let dimension = isPortrait ? 'column' : 'row'
   // Rendering variables
   let textFontSize = '3.5vh'
 
@@ -42,19 +37,24 @@ const PlanningScene = () => {
     createROSService(ros.current, PLANNING_SCENE_GET_PARAMETERS_SERVICE_NAME, PLANNING_SCENE_GET_PARAMETERS_SERVICE_TYPE)
   )
   const [planningSceneNamespaces, setPlanningSceneNamespaces] = useState([])
-  useEffect(() => {
+  const getPlanningSceneNamespaces = useCallback(() => {
     let service = getParametersService.current
     let request = createROSServiceRequest({
       names: ['namespaces']
     })
+    console.log('PlanningScene: Requesting planning scene namespaces', service, request)
     service.callService(request, (response) => {
+      console.log('PlanningScene: Received planning scene namespaces', request, response)
       if (response.values.length > 0 && response.values[0].type === 9) {
         setPlanningSceneNamespaces(getValueFromParameter(response.values[0]))
       } else {
         console.error('PlanningScene: Error getting planning scene namespaces')
       }
     })
   }, [getParametersService, setPlanningSceneNamespaces])
+  useEffect(() => {
+    getPlanningSceneNamespaces()
+  }, [getPlanningSceneNamespaces])
 
   // Render the settings for the planning scene
   const renderPlanningSceneSettings = useCallback(() => {
@@ -79,13 +79,14 @@ const PlanningScene = () => {
         <View
           style={{
             flex: 1,
-            flexDirection: dimension,
+            flexDirection: 'column',
             justifyContent: 'center',
             alignItems: 'center',
             width: '100%',
             height: '100%'
           }}
         >
+          <h5 style={{ textAlign: 'center', fontSize: textFontSize }}>Select Planning Scene:</h5>
           <DropdownButton
             as={ButtonGroup}
             key='planningSceneOptions'
@@ -94,6 +95,11 @@ const PlanningScene = () => {
             variant='secondary'
             title={currentParams[0]}
             size='lg'
+            onClick={() => {
+              if (planningSceneNamespaces.length === 0) {
+                getPlanningSceneNamespaces()
+              }
+            }}
           >
             {planningSceneNamespaces.map((namespace) => (
               <Dropdown.Item key={namespace} onClick={() => setCurrentParams([namespace])} active={namespace === currentParams[0]}>
@@ -104,7 +110,7 @@ const PlanningScene = () => {
         </View>
       )
     }
-  }, [currentParams, dimension, planningSceneNamespaces, setCurrentParams, textFontSize])
+  }, [currentParams, planningSceneNamespaces, getPlanningSceneNamespaces, setCurrentParams, textFontSize])
 
   return (
     <SettingsPageParent