add support for ffmpeg_image_transport and point_cloud_transport (#1568)

Co-authored-by: Emre Karincali <[email protected]>
(cherry picked from commit a33b5e9)

# Conflicts:
#	rviz_default_plugins/src/rviz_default_plugins/displays/pointcloud/get_transport_from_topic.cpp

Author: lreiher

rviz_default_plugins/src/rviz_default_plugins/displays/camera/camera_display.cpp

@@ -67,6 +67,7 @@
 #include "rviz_common/display_context.hpp"
 #include "rviz_common/load_resource.hpp"
 
+#include "rviz_default_plugins/displays/image/get_transport_from_topic.hpp"
 #include "rviz_default_plugins/displays/image/ros_image_texture.hpp"
 
 namespace rviz_default_plugins
@@ -163,7 +164,6 @@ void CameraDisplay::onInitialize()
   this->addChild(visibility_property_, 0);
 }
 
-
 void CameraDisplay::setupSceneNodes()
 {
   background_scene_node_ = scene_node_->createChildSceneNode();
@@ -323,7 +323,7 @@ void CameraDisplay::createCameraInfoSubscription()
     // TODO(anyone) Store this in a member variable
 
     std::string camera_info_topic = image_transport::getCameraInfoTopic(
-      topic_property_->getTopicStd());
+      getBaseTopicFromTopic(topic_property_->getTopicStd()));
 
     rclcpp::SubscriptionOptions sub_opts;
     sub_opts.event_callbacks.message_lost_callback =
@@ -386,7 +386,7 @@ void CameraDisplay::clear()
   current_caminfo_.reset();
 
   std::string camera_info_topic =
-    image_transport::getCameraInfoTopic(topic_property_->getTopicStd());
+    image_transport::getCameraInfoTopic(getBaseTopicFromTopic(topic_property_->getTopicStd()));
 
   setStatus(
     StatusLevel::Warn, CAM_INFO_STATUS,
@@ -432,7 +432,7 @@ bool CameraDisplay::updateCamera()
 
   if (!info) {
     std::string camera_info_topic = image_transport::getCameraInfoTopic(
-      topic_property_->getTopicStd());
+      getBaseTopicFromTopic(topic_property_->getTopicStd()));
 
     setStatus(
       StatusLevel::Warn, CAM_INFO_STATUS,

rviz_default_plugins/src/rviz_default_plugins/displays/image/get_transport_from_topic.cpp

@@ -39,8 +39,10 @@ namespace displays
 bool isRawTransport(const std::string & topic)
 {
   std::string last_subtopic = topic.substr(topic.find_last_of('/') + 1);
-  return last_subtopic != "compressed" && last_subtopic != "compressedDepth" &&
-         last_subtopic != "theora";
+  return last_subtopic != "compressed" &&
+         last_subtopic != "compressedDepth" &&
+         last_subtopic != "theora" &&
+         last_subtopic != "ffmpeg";
 }
 
 std::string getTransportFromTopic(const std::string & topic)

rviz_default_plugins/src/rviz_default_plugins/displays/pointcloud/get_transport_from_topic.cpp

@@ -0,0 +1,65 @@
+// Copyright (c) 2023, Open Source Robotics Foundation, Inc.
+// All rights reserved.
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+//    * Redistributions of source code must retain the above copyright
+//      notice, this list of conditions and the following disclaimer.
+//
+//    * Redistributions in binary form must reproduce the above copyright
+//      notice, this list of conditions and the following disclaimer in the
+//      documentation and/or other materials provided with the distribution.
+//
+//    * Neither the name of the copyright holder nor the names of its
+//      contributors may be used to endorse or promote products derived from
+//      this software without specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+
+
+#include <string>
+
+#include "rviz_default_plugins/displays/pointcloud/get_transport_from_topic.hpp"
+
+namespace rviz_default_plugins
+{
+namespace displays
+{
+
+bool isPointCloud2RawTransport(const std::string & topic)
+{
+  std::string last_subtopic = topic.substr(topic.find_last_of('/') + 1);
+  return last_subtopic != "draco" && last_subtopic != "zlib" &&
+         last_subtopic != "pcl" && last_subtopic != "zstd" &&
+         last_subtopic != "cloudini";
+}
+
+std::string getPointCloud2TransportFromTopic(const std::string & topic)
+{
+  if (isPointCloud2RawTransport(topic)) {
+    return "raw";
+  }
+  return topic.substr(topic.find_last_of('/') + 1);
+}
+
+std::string getPointCloud2BaseTopicFromTopic(const std::string & topic)
+{
+  if (isPointCloud2RawTransport(topic)) {
+    return topic;
+  }
+  return topic.substr(0, topic.find_last_of('/'));
+}
+
+}  //  end namespace displays
+}  //  end namespace rviz_default_plugins