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Update ROS node graph API (#387)
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* Handle new ROS type name format

If there are only two parts to a type name, log a warning and insert the 'msg' namespace.
This is under the assumption that all plugins are supporting types in the 'msg' namespace.

* Add subnamespace to type name for default plugins

Signed-off-by: Jacob Perron <jacob@openrobotics.org>
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@jacobperron
jacobperron committed May 10, 2019
1 parent ea1a390 commit 08ec705
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Showing 2 changed files with 40 additions and 22 deletions.
18 changes: 18 additions & 0 deletions rviz_common/src/rviz_common/add_display_dialog.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -587,6 +587,24 @@ void TopicDisplayWidget::findPlugins(DisplayFactory * factory)
for (const auto & plugin : plugins) {
QSet<QString> topic_types = factory->getMessageTypes(plugin.id);
Q_FOREACH (QString topic_type, topic_types) {
// Check if the type name is fully qualified (e.g. in 'msg' namespace).
// If not, then insert 'msg' and log a warning.
// For now, we assume that all types supported by plugins have the form
// "<pkg_name>/msg/<type_name>", though in the future zero or more namespaces may be
// permitted.
QRegExp delim("/");
QStringList topic_type_parts = topic_type.split(delim);
if (topic_type_parts.size() == 2) {
topic_type = topic_type_parts.at(0) + "/msg/" + topic_type_parts.at(1);
RVIZ_COMMON_LOG_WARNING_STREAM(
"The plugin '" << plugin.id.toStdString() <<
"' message type may not be in a fully qualified namespace. " << std::endl <<
"Assuming that the type is in the 'msg' namespace with resultant type '" <<
topic_type.toStdString() << "'." << std::endl <<
"Please update the plugin description as this assumption will not be made in a " <<
"future release."
);
}
datatype_plugins_.insertMulti(topic_type, plugin.id);
}
}
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44 changes: 22 additions & 22 deletions rviz_default_plugins/plugins_description.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -10,8 +10,8 @@
<description>
Displays an image from a camera, with the visualized world rendered behind it. &lt;a href="http://www.ros.org/wiki/rviz/DisplayTypes/Camera"&gt;More Information&lt;/a&gt;.
</description>
<message_type>sensor_msgs/Image</message_type>
<message_type>sensor_msgs/CompressedImage</message_type>
<message_type>sensor_msgs/msg/Image</message_type>
<message_type>sensor_msgs/msg/CompressedImage</message_type>
</class>

<class
Expand All @@ -32,7 +32,7 @@
<description>
Displays data from a nav_msgs::GridCells message as billboards. &lt;a href="http://www.ros.org/wiki/rviz/DisplayTypes/GridCells"&gt;More Information&lt;/a&gt;.
</description>
<message_type>nav_msgs/GridCells</message_type>
<message_type>nav_msgs/msg/GridCells</message_type>
</class>

<class
Expand All @@ -43,7 +43,7 @@
<description>
Displays data from a sensor_msgs::FluidPressure as pointcloud with one point
</description>
<message_type>sensor_msgs/FluidPressure</message_type>
<message_type>sensor_msgs/msg/FluidPressure</message_type>
</class>

<class
Expand All @@ -54,7 +54,7 @@
<description>
Displays data from a sensor_msgs::Illuminance as pointcloud with one point
</description>
<message_type>sensor_msgs/Illuminance</message_type>
<message_type>sensor_msgs/msg/Illuminance</message_type>
</class>

<class
Expand All @@ -65,7 +65,7 @@
<description>
The Image display creates a new rendering window with an image.
</description>
<message_type>sensor_msgs/Image</message_type>
<message_type>sensor_msgs/msg/Image</message_type>
</class>

<class
Expand All @@ -76,7 +76,7 @@
<description>
Displays the data from a sensor_msgs::LaserScan message as points in the world, drawn as points, billboards, or cubes. &lt;a href="http://www.ros.org/wiki/rviz/DisplayTypes/LaserScan"&gt;More Information&lt;/a&gt;.
</description>
<message_type>sensor_msgs/LaserScan</message_type>
<message_type>sensor_msgs/msg/LaserScan</message_type>
</class>

<class name="rviz_default_plugins/Map"
Expand All @@ -86,7 +86,7 @@
<description>
Displays an occupancy grid on the ground plane from a nav_msgs::OccupancyGrid. &lt;a href="http://www.ros.org/wiki/rviz/DisplayTypes/Map"&gt;More Information&lt;/a&gt;.
</description>
<message_type>nav_msgs/OccupancyGrid</message_type>
<message_type>nav_msgs/msg/OccupancyGrid</message_type>
</class>

<class
Expand All @@ -97,7 +97,7 @@
<description>
The Point Cloud display shows data from a (legacy) sensor_msgs/PointCloud message.
</description>
<message_type>sensor_msgs/PointCloud</message_type>
<message_type>sensor_msgs/msg/PointCloud</message_type>
</class>

<class
Expand All @@ -108,7 +108,7 @@
<description>
The Point Cloud2 display shows data from a (recommended) sensor_msgs/PointCloud2 message.
</description>
<message_type>sensor_msgs/PointCloud2</message_type>
<message_type>sensor_msgs/msg/PointCloud2</message_type>
</class>

<class
Expand All @@ -119,7 +119,7 @@
<description>
Displays data from a geometry_msgs::PolygonStamped message as lines. &lt;a href="http://www.ros.org/wiki/rviz/DisplayTypes/Polygon"&gt;More Information&lt;/a&gt;.
</description>
<message_type>geometry_msgs/PolygonStamped</message_type>
<message_type>geometry_msgs/msg/PolygonStamped</message_type>
</class>

<class
Expand All @@ -130,7 +130,7 @@
<description>
Displays a geometry_msgs::PoseStamped message. &lt;a href="http://www.ros.org/wiki/rviz/DisplayTypes/Pose"&gt;More Information&lt;/a&gt;.
</description>
<message_type>geometry_msgs/PoseStamped</message_type>
<message_type>geometry_msgs/msg/PoseStamped</message_type>
</class>

<class
Expand All @@ -141,7 +141,7 @@
<description>
Displays the data from sensor_msgs::Range messages as cones. &lt;a href="http://www.ros.org/wiki/rviz/DisplayTypes/Range"&gt;More Information&lt;/a&gt;
</description>
<message_type>sensor_msgs/Range</message_type>
<message_type>sensor_msgs/msg/Range</message_type>
</class>

<class
Expand All @@ -152,7 +152,7 @@
<description>
Displays the data from sensor_msgs::RelativeHumidity messages as point cloud with one point
</description>
<message_type>sensor_msgs/RelativeHumidity</message_type>
<message_type>sensor_msgs/msg/RelativeHumidity</message_type>
</class>

<class
Expand All @@ -173,7 +173,7 @@
<description>
Displays the data from sensor_msgs::Temperature messages as point cloud with one point
</description>
<message_type>sensor_msgs/Temperature</message_type>
<message_type>sensor_msgs/msg/Temperature</message_type>
</class>

<class
Expand All @@ -184,7 +184,7 @@
<description>
Displays the TF transform hierarchy. &lt;a href="http://www.ros.org/wiki/rviz/DisplayTypes/TF"&gt;More Information&lt;/a&gt;.
</description>
<message_type>tf2_msgs/TFMessage</message_type>
<message_type>tf2_msgs/msg/TFMessage</message_type>
</class>

<class
Expand All @@ -195,7 +195,7 @@
<description>
Displays visualization_msgs::Marker messages. &lt;a href="http://www.ros.org/wiki/rviz/DisplayTypes/Marker"&gt;More Information&lt;/a&gt;.
</description>
<message_type>visualization_msgs/Marker</message_type>
<message_type>visualization_msgs/msg/Marker</message_type>
</class>

<class
Expand All @@ -206,7 +206,7 @@
Displays visualization_msgs::MarkerArray messages without presuming the topic name ends in "_array".
<a href="http://www.ros.org/wiki/rviz/DisplayTypes/Marker">More Information</a>.
</description>
<message_type>visualization_msgs/MarkerArray</message_type>
<message_type>visualization_msgs/msg/MarkerArray</message_type>
</class>

<class
Expand All @@ -217,7 +217,7 @@
<description>
Accumulates and displays poses from a nav_msgs::Odometry message. &lt;a href="http://www.ros.org/wiki/rviz/DisplayTypes/Odometry"&gt;More Information&lt;/a&gt;
</description>
<message_type>nav_msgs/Odometry</message_type>
<message_type>nav_msgs/msg/Odometry</message_type>
</class>

<class
Expand All @@ -228,7 +228,7 @@
<description>
The Pose Array display shows a geometry_msgs/PoseArray message, as a collection of arrows. &lt;a href="http://www.ros.org/wiki/rviz/DisplayTypes/PoseArray"&gt;More Information&lt;/a&gt;.
</description>
<message_type>geometry_msgs/PoseArray</message_type>
<message_type>geometry_msgs/msg/PoseArray</message_type>
</class>

<class
Expand All @@ -239,7 +239,7 @@
<description>
Displays data from a nav_msgs::Path message as lines. &lt;a href="http://www.ros.org/wiki/rviz/DisplayTypes/Path"&gt;More Information&lt;/a&gt;.
</description>
<message_type>nav_msgs/Path</message_type>
<message_type>nav_msgs/msg/Path</message_type>
</class>

<class
Expand All @@ -250,7 +250,7 @@
<description>
Displays from geometry_msgs/PointStamped message
</description>
<message_type>geometry_msgs/PointStamped</message_type>
<message_type>geometry_msgs/msg/PointStamped</message_type>
</class>

<!-- Tool plugins -->
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