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

Emre Karincali · Emre Karincali · commit 73f5c2af1e1a · 2025-10-01T10:07:58.000Z
diff --git a/rviz_default_plugins/include/rviz_default_plugins/displays/pointcloud/point_cloud_transport_display.hpp b/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.");
   }
 

Original file line number	Diff line number	Diff line change
`@@ -58,7 +58,12 @@ class PointCloud2TransportDisplay : public rviz_common::_RosTopicDisplay`
`58`	`58`	`: messages_received_(0)`
`59`	`59`	`{`
`60`	`60`	`QString message_type = QString::fromStdString(rosidl_generator_traits::name<MessageType>());`
`61`		`- topic_property_->setMessageType(message_type);`
	`61`	`+ std::vector<QString> supported_types = {`
	`62`	`+ "sensor_msgs/msg/PointCloud2",`
	`63`	`+ "point_cloud_intefaces/msg/CompressedPointCloud2"`
	`64`	`+ };`
	`65`	`+`
	`66`	`+ topic_property_->setMessageTypes(supported_types);`
`62`	`67`	`topic_property_->setDescription(message_type + " topic to subscribe to.");`
`63`	`68`	`}`
`64`	`69`