Behavior Tree RViz Panel Performance Fix (#291)

* Save rviz

* Performance imrpvoements

* Enable save zoom setting

* Enable save zoom setting

Author: andrewjong

CLAUDE.md

@@ -0,0 +1,127 @@
+# CLAUDE.md
+
+This file provides guidance to Claude Code (claude.ai/code) when working with code in this repository.
+
+## Project Overview
+
+AirStack is a comprehensive autonomous aerial robotics stack developed by AirLab CMU. It provides a complete end-to-end system for autonomous drone operations including simulation, robot control, and ground control station.
+
+## Key Components
+
+The repository is organized into four main components:
+
+- **robot/**: Onboard autonomy stack for drones (ROS 2 based)
+- **simulation/**: Isaac Sim integration and simulation environments
+- **gcs/**: Ground Control Station for mission planning and monitoring
+- **common/**: Shared ROS packages and utilities used across components
+
+## Development Commands
+
+### AirStack CLI Tool
+The project uses a custom CLI tool `./airstack.sh` for common operations:
+
+```bash
+# Setup and installation
+./airstack setup          # Configure AirStack and add to PATH
+./airstack install        # Install Docker and dependencies
+
+# Container management
+./airstack up [service]    # Start services with Docker Compose
+./airstack stop [service]  # Stop services
+./airstack status          # Show container status
+./airstack connect [name]  # Connect to running container (supports partial names)
+./airstack logs [name]     # View container logs
+
+# Development tasks
+./airstack build          # Build the workspace
+./airstack test           # Run tests
+./airstack docs           # Build documentation
+```
+
+### ROS 2 Build Commands
+Inside robot containers, use these aliases:
+- `bws`: Build the ROS workspace (`colcon build`)
+- `sws`: Source the workspace (`source install/setup.bash`)
+
+### VSCode Integration
+The repository includes VSCode tasks:
+- **Build ros_ws Debug**: Builds ROS workspace in debug mode using `bws --cmake-args '-DCMAKE_BUILD_TYPE=Debug'`
+
+## Architecture
+
+### Robot Autonomy Stack (robot/ros_ws/src/autonomy/)
+
+The autonomy stack follows a layered architecture with numbered modules:
+
+- **0_interface/**: Robot hardware interface and safety monitors
+  - `mavros_interface`: Communication with flight controller
+  - `drone_safety_monitor`: Safety monitoring and emergency handling
+  - `robot_interface`: High-level robot abstraction
+
+- **1_sensors/**: Sensor integration and processing
+  - `camera_param_server`: Camera calibration management
+  - `gimbal_stabilizer`: Gimbal control and stabilization
+  - `sensor_interfaces`: Common sensor message definitions
+
+- **2_perception/**: State estimation and environment perception
+  - `macvo_ros2`: Visual-inertial odometry system
+
+- **3_local/**: Local planning and control
+  - `a_world_models/`: Local world representation
+    - `disparity_expansion`: Obstacle detection from stereo
+    - `disparity_graph`: Graph-based obstacle representation
+    - `cost_map_interface`: Cost map utilities
+  - `b_planners/`: Local motion planning
+    - `droan_local_planner`: DROAN obstacle avoidance planner
+    - `takeoff_landing_planner`: Specialized takeoff/landing
+    - `trajectory_library`: Trajectory generation utilities
+  - `c_controls/`: Low-level control
+    - `trajectory_controller`: Trajectory tracking controller
+    - `attitude_controller`: Attitude control
+    - `pid_controller`: PID control utilities
+
+- **4_global/**: Global planning and mapping
+  - `a_world_models/`: Global world representation
+    - `vdb_mapping_ros2`: VDB-based 3D mapping
+  - `b_planners/`: Global path planning
+    - `random_walk`: Random exploration planner
+    - `ensemble_planner`: Multi-planner coordination
+
+- **5_behavior/**: High-level mission execution
+  - `behavior_tree`: Behavior tree framework
+  - `behavior_executive`: Mission execution engine
+  - `rqt_behavior_tree_command`: GUI for behavior tree control
+
+### Docker Architecture
+
+Each component has its own Docker setup:
+- `robot/docker/`: Robot container with ROS 2 and autonomy stack
+- `simulation/isaac-sim/docker/`: Isaac Sim simulation environment
+- `gcs/docker/`: Ground control station container
+- `docs/docker/`: Documentation building container
+
+The main `docker-compose.yaml` includes all component compose files for unified management.
+
+## Common Patterns
+
+### ROS 2 Launch Files
+- Bringup packages (`*_bringup/`) contain launch files for each subsystem
+- Launch files are organized by functionality and can be composed
+- Example: `ros2 launch robot_bringup robot.launch.py`
+
+### Configuration Management
+- Parameters stored in `config/` directories within packages
+- YAML files for node parameters and launch configurations
+- Environment variables configured in `.env` file
+
+### Testing
+- Test files located in `test/` directories within packages
+- Integration tests in `tests/` at repository root
+
+## Important Notes
+
+- The project uses ROS 2 Humble
+- Primary development is done in Docker containers
+- Documentation is built with MkDocs and hosted at docs.theairlab.org
+- The autonomy stack supports both simulation (SITL) and hardware deployment
+- Container networking uses custom bridge network (172.31.0.0/24)

common/ros_packages/rviz_behavior_tree_panel/include/rviz_behavior_tree_panel/behavior_tree_panel.hpp

@@ -48,10 +48,25 @@
 #include <xdot_cpp/ui/dot_widget.h>
 #include <behavior_tree_msgs/msg/graph_viz_xdot.hpp>
 #include <behavior_tree_msgs/msg/graph_viz_xdot_compressed.hpp>
+#include <unordered_set>
+#include <unordered_map>
 
 namespace rviz_behavior_tree_panel
 {
 
+struct GraphDiff {
+  std::unordered_set<std::string> added_nodes;
+  std::unordered_set<std::string> removed_nodes;
+  std::unordered_set<std::string> modified_nodes;
+  std::unordered_set<std::string> added_edges;
+  std::unordered_set<std::string> removed_edges;
+
+  bool hasChanges() const {
+    return !added_nodes.empty() || !removed_nodes.empty() || !modified_nodes.empty() ||
+           !added_edges.empty() || !removed_edges.empty();
+  }
+};
+
 class BehaviorTreePanel : public rviz_common::Panel
 {
   Q_OBJECT
@@ -72,10 +87,15 @@ class BehaviorTreePanel : public rviz_common::Panel
   void updateAvailableTopics();
   void subscribeToTopic(const std::string& topic_name);
 
+  GraphDiff computeGraphDiff(const std::string& old_graph, const std::string& new_graph);
+  std::unordered_set<std::string> extractNodes(const std::string& graph_data);
+  std::unordered_set<std::string> extractEdges(const std::string& graph_data);
+
 private slots:
   void onTopicChanged();
   void onTopicTextChanged(const QString & text);
   void onRefreshTopics();
+  void onThrottledUpdate();
 
 private:
   QVBoxLayout * layout_;
@@ -86,9 +106,15 @@ private slots:
   QLabel * status_label_;
   xdot_cpp::ui::DotWidget * dot_widget_;
   QTimer * topic_refresh_timer_;
-  
+  QTimer * update_throttle_timer_;
+
   std::string previous_graphviz_;
+  std::string pending_graphviz_;
   std::string current_topic_;
+  bool has_pending_update_;
+  double saved_zoom_factor_;
+
+  static constexpr int UPDATE_INTERVAL_MS = 100;
 };
 
 }  // namespace rviz_behavior_tree_panel