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mjforanmjforan
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first draft and devcontainer
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‎.devcontainer/devcontainer.json‎

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// For format details, see https://aka.ms/devcontainer.json. For config options, see the
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// README at: https://github.com/devcontainers/templates/tree/main/src/docker-existing-dockerfile
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{
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"name": "rviz_rolling",
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"image": "ros:rolling-ros-base"
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// Features to add to the dev container. More info: https://containers.dev/features.
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// "features": {},
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// Use 'forwardPorts' to make a list of ports inside the container available locally.
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// "forwardPorts": [],
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// Uncomment the next line to run commands after the container is created.
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// "postCreateCommand": "cat /etc/os-release",
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// Configure tool-specific properties.
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// "customizations": {}
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// Uncomment to connect as an existing user other than the container default. More info: https://aka.ms/dev-containers-non-root.
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// "remoteUser": "devcontainer"
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"workspaceMount": "source=${~/ros2_rolling},target=/ros2_rolling,type=bind",
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"workspaceFolder": "/ros2_rolling/src/ros2/rviz",
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//"overrideCommand": false
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"runArgs": [
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"--network=host"
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]
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}

‎rviz_common/include/rviz_common/properties/ros_topic_multi_property.hpp‎

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// Copyright (c) 2012, Willow Garage, Inc.
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// All rights reserved.
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//
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// Redistribution and use in source and binary forms, with or without
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// modification, are permitted provided that the following conditions are met:
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//
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// * Redistributions of source code must retain the above copyright
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// notice, this list of conditions and the following disclaimer.
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//
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// * Redistributions in binary form must reproduce the above copyright
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// notice, this list of conditions and the following disclaimer in the
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// documentation and/or other materials provided with the distribution.
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//
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// * Neither the name of the copyright holder nor the names of its
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// contributors may be used to endorse or promote products derived from
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// this software without specific prior written permission.
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//
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// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
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// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
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// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
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// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
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// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
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// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
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// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
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// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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// POSSIBILITY OF SUCH DAMAGE.
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#ifndef RVIZ_COMMON__PROPERTIES__ROS_TOPIC_MULTI_PROPERTY_HPP_
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#define RVIZ_COMMON__PROPERTIES__ROS_TOPIC_MULTI_PROPERTY_HPP_
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#include <string>
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#include <unordered_set>
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#include "rviz_common/properties/ros_topic_property.hpp"
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#include "rviz_common/ros_integration/ros_node_abstraction_iface.hpp"
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#include "rviz_common/visibility_control.hpp"
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namespace rviz_common
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{
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namespace properties
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{
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class RVIZ_COMMON_PUBLIC RosTopicMultiProperty : public RosTopicProperty
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{
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Q_OBJECT
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public:
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void setMessageTypes(const std::unordered_set<QString> & message_types);
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std::unordered_set<QString> getMessageTypes() const
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{return message_types_;}
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protected Q_SLOTS:
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virtual void fillTopicList() override;
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private:
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// hide the parent class methods which only take a single type
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using RosTopicProperty::setMessageType;
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using RosTopicProperty::getMessageType;
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std::unordered_set<QString> message_types_; // TODO is there a QT-friendly type?
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};
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} // end namespace properties
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} // end namespace rviz_common
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#endif // RVIZ_COMMON__PROPERTIES__ROS_TOPIC_MULTI_PROPERTY_HPP_

‎rviz_common/include/rviz_common/properties/ros_topic_property.hpp‎

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@@ -76,7 +76,7 @@ class RVIZ_COMMON_PUBLIC RosTopicProperty : public EditableEnumProperty
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protected Q_SLOTS:
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virtual void fillTopicList();
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private:
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protected:
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ros_integration::RosNodeAbstractionIface::WeakPtr rviz_ros_node_;
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QString message_type_;
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};

‎rviz_common/src/rviz_common/properties/ros_topic_multi_property.cpp‎

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// Copyright (c) 2012, Willow Garage, Inc.
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// All rights reserved.
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//
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// Redistribution and use in source and binary forms, with or without
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// modification, are permitted provided that the following conditions are met:
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//
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// * Redistributions of source code must retain the above copyright
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// notice, this list of conditions and the following disclaimer.
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//
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// * Redistributions in binary form must reproduce the above copyright
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// notice, this list of conditions and the following disclaimer in the
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// documentation and/or other materials provided with the distribution.
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//
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// * Neither the name of the copyright holder nor the names of its
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// contributors may be used to endorse or promote products derived from
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// this software without specific prior written permission.
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//
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// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
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// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
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// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
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// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
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// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
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// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
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// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
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// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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// POSSIBILITY OF SUCH DAMAGE.
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#include <map>
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#include <string>
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#include <QApplication> // NOLINT: cpplint can't handle Qt imports
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#include "rviz_common/properties/ros_topic_multi_property.hpp"
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#include "rviz_common/ros_integration/ros_node_abstraction_iface.hpp"
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namespace rviz_common
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{
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namespace properties
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{
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void RosTopicMultiProperty::setMessageTypes(const std::unordered_set<QString> & message_types)
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{
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message_types_ = message_types;
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}
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void RosTopicMultiProperty::fillTopicList()
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{
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QApplication::setOverrideCursor(QCursor(Qt::WaitCursor));
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clearOptions();
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std::map<std::string, std::vector<std::string>> published_topics =
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rviz_ros_node_.lock()->get_topic_names_and_types();
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for (const auto & topic : published_topics) {
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// Only add topics whose type matches.
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for (const auto & type : topic.second) {
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if (message_types_.find(QString::fromStdString(type)) != message_types_.end()) {
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addOptionStd(topic.first);
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}
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}
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}
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sortOptions();
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QApplication::restoreOverrideCursor();
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}
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} // end namespace properties
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} // end namespace rviz_common

‎rviz_default_plugins/CMakeLists.txt‎

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find_package(gz-math REQUIRED)
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find_package(image_transport REQUIRED)
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find_package(image_transport_plugins REQUIRED)
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find_package(interactive_markers REQUIRED)
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find_package(laser_geometry REQUIRED)
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find_package(map_msgs REQUIRED)
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target_link_libraries(rviz_default_plugins PUBLIC
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${geometry_msgs_TARGETS}
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image_transport::image_transport
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${image_transport_plugins_TARGETS}
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interactive_markers::interactive_markers
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laser_geometry::laser_geometry
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${map_msgs_TARGETS}
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ament_export_dependencies(
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geometry_msgs
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image_transport
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image_transport_plugins
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interactive_markers
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laser_geometry
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map_msgs

‎rviz_default_plugins/include/rviz_default_plugins/displays/image/image_display.hpp‎

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# include "rviz_common/properties/bool_property.hpp"
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# include "rviz_common/properties/float_property.hpp"
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# include "rviz_common/properties/int_property.hpp"
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# include "rviz_common/properties/enum_property.hpp"
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# include "rviz_default_plugins/displays/image/ros_image_texture_iface.hpp"
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# include "rviz_default_plugins/visibility_control.hpp"
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#include "rviz_default_plugins/displays/image/image_transport_display.hpp"
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# include "rviz_default_plugins/displays/image/image_transport_display.hpp"
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# include <sensor_msgs/msg/image.hpp>
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# include <sensor_msgs/msg/compressed_image.hpp>
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//# include <theora_image_transport/msg/packet.hpp>
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#endif
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void update(float wall_dt, float ros_dt) override;
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void reset() override;
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QString getTransport();
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std::string getTransportStd();
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public Q_SLOTS:
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virtual void updateNormalizeOptions();
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bool setTransport(const QString & str);
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bool setTransportStd(const std::string & std_str);
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protected:
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// overrides from Display
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void onEnable() override;
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void onDisable() override;
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void subscribe() override;
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void unsubscribe() override;
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void incomingMessage(const sensor_msgs::msg::Image::ConstSharedPtr & img_msg);
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/* This is called by incomingMessage(). */
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void processMessage(sensor_msgs::msg::Image::ConstSharedPtr msg) override;
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image_transport::Subscriber subscription_;
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rviz_common::properties::EnumProperty* image_transport_property_;
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const std::unordered_map<QString, QString> transport_message_types_ =
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{
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{"raw", QString::fromStdString(rosidl_generator_traits::name<sensor_msgs::msg::Image>())},
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{"compressed", QString::fromStdString(rosidl_generator_traits::name<sensor_msgs::msg::CompressedImage>())},
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/*{"theora", QString::fromStdString(rosidl_generator_traits::name<theora_image_transport::msg::Packet>())}*/
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};
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protected Q_SLOTS:
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void updateTransport();
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private:
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void setupScreenRectangle();
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void setupRenderPanel();

‎rviz_default_plugins/package.xml‎

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<depend>geometry_msgs</depend>
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<depend>gz_math_vendor</depend>
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<depend>image_transport</depend>
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<depend>image_transport_plugins</depend>
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<depend>interactive_markers</depend>
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<depend>laser_geometry</depend>
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<depend>nav_msgs</depend>

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