Add support for compressed point-cloud topics in pcl2 display dropdowns

Author: Emre Karincali

rviz_default_plugins/include/rviz_default_plugins/displays/pointcloud/point_cloud_transport_display.hpp

@@ -58,7 +58,12 @@ class PointCloud2TransportDisplay : public rviz_common::_RosTopicDisplay
   : messages_received_(0)
   {
     QString message_type = QString::fromStdString(rosidl_generator_traits::name<MessageType>());
-    topic_property_->setMessageType(message_type);
+    std::vector<QString> supported_types = {
+      "sensor_msgs/msg/PointCloud2",
+      "point_cloud_intefaces/msg/CompressedPointCloud2"
+    };
+      
+    topic_property_->setMessageTypes(supported_types);
     topic_property_->setDescription(message_type + " topic to subscribe to.");
   }