improve support for compressed image topics in image display dropdowns

Author: Emre Karincali

rviz_common/include/rviz_common/properties/ros_topic_property.hpp

@@ -30,6 +30,7 @@
 #define RVIZ_COMMON__PROPERTIES__ROS_TOPIC_PROPERTY_HPP_
 
 #include <string>
+#include <vector>
 
 #include "rviz_common/properties/editable_enum_property.hpp"
 #include "rviz_common/ros_integration/ros_node_abstraction_iface.hpp"
@@ -58,8 +59,13 @@ class RVIZ_COMMON_PUBLIC RosTopicProperty : public EditableEnumProperty
 
   void setMessageType(const QString & message_type);
 
+  void setMessageTypes(const std::vector<QString> & message_types);
+  
   QString getMessageType() const
-  {return message_type_;}
+  {return message_types_.front();}
+
+  std::vector<QString> getMessageTypes() const
+  {return message_types_;}
 
   QString getTopic() const
   {return getValue().toString();}
@@ -75,7 +81,7 @@ protected Q_SLOTS:
 
 private:
   ros_integration::RosNodeAbstractionIface::WeakPtr rviz_ros_node_;
-  QString message_type_;
+  std::vector<QString> message_types_;
 };
 
 class RVIZ_COMMON_PUBLIC RosFilteredTopicProperty

rviz_common/src/rviz_common/properties/ros_topic_property.cpp

@@ -51,7 +51,7 @@ RosTopicProperty::RosTopicProperty(
   QObject * receiver)
 : EditableEnumProperty(name, default_value, description, parent, changed_slot, receiver),
   rviz_ros_node_(),
-  message_type_(message_type)
+  message_types_({message_type})
 {
   connect(
     this, SIGNAL(requestOptions(EditableEnumProperty*)),
@@ -65,23 +65,31 @@ void RosTopicProperty::initialize(ros_integration::RosNodeAbstractionIface::Weak
 
 void RosTopicProperty::setMessageType(const QString & message_type)
 {
-  message_type_ = message_type;
+  message_types_.clear();
+  message_types_.push_back(message_type);
+}
+
+void RosTopicProperty::setMessageTypes(const std::vector<QString> & message_types)
+{
+  message_types_ = message_types;
 }
 
 void RosTopicProperty::fillTopicList()
 {
   QApplication::setOverrideCursor(QCursor(Qt::WaitCursor));
   clearOptions();
 
-  std::string std_message_type = message_type_.toStdString();
   std::map<std::string, std::vector<std::string>> published_topics =
     rviz_ros_node_.lock()->get_topic_names_and_types();
 
   for (const auto & topic : published_topics) {
-    // Only add topics whose type matches.
     for (const auto & type : topic.second) {
-      if (type == std_message_type || (type == "sensor_msgs/msg/CompressedImage" && std_message_type == "sensor_msgs/msg/Image")) {
-        addOptionStd(topic.first);
+      for (const auto & message_type : message_types_) {
+        std::string std_message_type = message_type.toStdString();
+        if (type == std_message_type) {
+          addOptionStd(topic.first);
+          break;
+        }
       }
     }
   }

rviz_default_plugins/include/rviz_default_plugins/displays/image/image_transport_display.hpp

@@ -60,7 +60,14 @@ class ImageTransportDisplay : 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/Image",
+      "sensor_msgs/msg/CompressedImage",
+      "ffmpeg_image_transport/msg/FFMPEGPacket",
+      "theora_image_transport/msg/Packet"
+    };
+
+    topic_property_->setMessageTypes(supported_types);
     topic_property_->setDescription(message_type + " topic to subscribe to.");
   }