Add support for ffmpeg_image_transport to Image/Camera displays and point_cloud_transport/cloudini to PointCloud2 display (backport #1568) (#1572)

Signed-off-by: Alejandro Hernandez Cordero <[email protected]>
Co-authored-by: Lennart Reiher <[email protected]>
Co-authored-by: Alejandro Hernandez Cordero <[email protected]>

Author: 3 people

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)