Restore icons throughout RViz2 (#235)

* Move icons to rviz_common or rviz_default_plugins

* Unify installs in CMakeLists

* Install icons

* Reenable loading of PixMaps using ament_index_cpp

* Rename plugins in plugin_description and classes

- This is necessary to be able to find icons (name=path)

* Adapt names so that all icons are found

* Change names in default config

- Otherwise using the default config can't load classes anymore

* Reenable image loading for cursor icons

- this does not functionally reenable different cursors

* Improve error message in loading from ament_index_cpp

* Set cursor for RenderWindow

* Fix rviz crash for invalid config file

By catching the exception rviz will start with a visibly broken config
so that the user can fix the config manually.

* Switch to using resource_retriever

* Add simple mechanism to automatically convert old configs

rviz_common/CMakeLists.txt

@@ -30,6 +30,7 @@ find_package(Qt5 REQUIRED COMPONENTS Widgets)
 find_package(geometry_msgs REQUIRED)
 find_package(pluginlib REQUIRED)
 find_package(rclcpp REQUIRED)
+find_package(resource_retriever REQUIRED)
 find_package(rviz_assimp_vendor REQUIRED)
 find_package(rviz_rendering REQUIRED)
 find_package(rviz_yaml_cpp_vendor REQUIRED)
@@ -227,6 +228,7 @@ target_link_libraries(rviz_common
 ament_target_dependencies(rviz_common
   geometry_msgs
   rclcpp
+  resource_retriever
   rviz_assimp_vendor
   rviz_yaml_cpp_vendor
   sensor_msgs
@@ -274,6 +276,11 @@ install(FILES default.rviz
   DESTINATION share/${PROJECT_NAME}
 )
 
+install(
+  DIRECTORY "${CMAKE_SOURCE_DIR}/icons"
+  DESTINATION "share/${PROJECT_NAME}"
+)
+
 # TODO(wjwwood): reenable tests for Windows after resolving building problems
 if(BUILD_TESTING AND NOT WIN32)
   # TODO(wjwwood): replace this with ament_lint_auto() and/or add the copyright linter back

rviz_common/default.rviz

@@ -1,5 +1,5 @@
 Panels:
-  - Class: rviz/Displays
+  - Class: rviz_common/Displays
     Help Height: 78
     Name: Displays
     Property Tree Widget:
@@ -18,7 +18,7 @@ Panels:
   #     - /Publish Point1
   #   Name: Tool Properties
   #   Splitter Ratio: 0.588679
-  - Class: rviz/Views
+  - Class: rviz_common/Views
     Expanded:
       - /Current View1
     Name: Views
@@ -32,7 +32,7 @@ Visualization Manager:
   Displays:
     - Alpha: 0.5
       Cell Size: 1
-      Class: rviz/Grid
+      Class: rviz_default_plugins/Grid
       Color: 160; 160; 164
       Enabled: true
       Line Style:
@@ -57,7 +57,7 @@ Visualization Manager:
     # TODO(wjwwood): restore these tools when ported
     # - Class: rviz/Interact
     #   Hide Inactive Objects: true
-    - Class: rviz/MoveCamera
+    - Class: rviz_default_plugins/MoveCamera
     # - Class: rviz/Select
     # - Class: rviz/FocusCamera
     # - Class: rviz/Measure
@@ -71,7 +71,7 @@ Visualization Manager:
   Value: true
   Views:
     Current:
-      Class: rviz/Orbit
+      Class: rviz_default_plugins/Orbit
       Distance: 10
       Focal Point:
         X: 0

rviz_common/src/rviz_common/add_display_dialog.cpp

@@ -412,7 +412,7 @@ void DisplayTypeTree::onCurrentItemChanged(
 
 void DisplayTypeTree::fillTree(Factory * factory)
 {
-  QIcon default_package_icon = loadPixmap("package://rviz/icons/default_package_icon.png");
+  QIcon default_package_icon = loadPixmap("package://rviz_common/icons/default_package_icon.png");
 
   QStringList classes = factory->getDeclaredClassIds();
   classes.sort();

rviz_common/src/rviz_common/config.cpp

@@ -32,6 +32,8 @@
 
 #include <QLocale>
 
+#include "rviz_common/logging.hpp"
+
 namespace rviz_common
 {
 
@@ -285,11 +287,30 @@ bool Config::isValid() const
   return node_.get() != NULL;
 }
 
+// TODO(Martin-Idel-SI): This is just a temporary helper to convert old rviz2 configs.
+// Remove after next release.
+QVariant correctClassNames(const QVariant & value)
+{
+  auto string_representation = value.toString();
+  if (string_representation.contains(QString("rviz/"))) {
+    RVIZ_COMMON_LOG_WARNING("Your config contains obsolete class name " +
+      value.toString().toStdString() + ". Please save your config to correct it.");
+    if (string_representation == "rviz/Displays" ||
+      string_representation == "rviz/Views" ||
+      string_representation == "rviz/DisplayGroup")
+    {
+      return string_representation.replace(0, 4, "rviz_common");
+    }
+    return string_representation.replace(0, 4, "rviz_default_plugins");
+  }
+  return value;
+}
+
 void Config::setValue(const QVariant & value)
 {
   makeValid();
   node_->setType(Value);
-  *node_->data_.value = value;
+  *node_->data_.value = correctClassNames(value);
 }
 
 QVariant Config::getValue() const

rviz_common/src/rviz_common/display_factory.cpp

@@ -49,8 +49,7 @@ static Display * newDisplayGroup()
 DisplayFactory::DisplayFactory()
 : PluginlibFactory<Display>("rviz_common", "rviz_common::Display")
 {
-  addBuiltInClass("rviz", "Group", "A container for Displays", &newDisplayGroup);
-  // addBuiltInClass("rviz", "RobotModel", "robot model display", &newRobotModelDisplay);
+  addBuiltInClass("rviz_common", "Group", "A container for Displays", &newDisplayGroup);
 }
 
 Display * DisplayFactory::makeRaw(const QString & class_id, QString * error_return)

rviz_common/src/rviz_common/failed_display.cpp

@@ -44,7 +44,7 @@ FailedDisplay::FailedDisplay(const QString & desired_class_id, const QString & e
 : error_message_(error_message)
 {
   setClassId(desired_class_id);
-  setIcon(loadPixmap("package://rviz/icons/failed_display.png"));
+  setIcon(loadPixmap("package://rviz_common/icons/failed_display.png"));
 }
 
 QVariant FailedDisplay::getViewData(int column, int role) const

rviz_common/src/rviz_common/load_resource.cpp

@@ -30,65 +30,56 @@
 
 #include "rviz_common/load_resource.hpp"
 
-// #include <boost/filesystem.hpp>
-// #include <ros/package.h>
-// #include <ros/ros.h>
+#include <string>
 
-#include <QPixmapCache>
-#include <QPainter>
+#include <QFile>  // NOLINT: cpplint cannot handle the include order here
+#include <QPainter>  // NOLINT: cpplint cannot handle the include order here
+#include <QPixmapCache>  // NOLINT: cpplint cannot handle the include order here
+
+#include "ament_index_cpp/get_package_share_directory.hpp"
+#include "ament_index_cpp/get_package_prefix.hpp"
+#include "resource_retriever/retriever.h"
 
 #include "rviz_common/logging.hpp"
 
 namespace rviz_common
 {
 
-// TODO(wjwwood): replace this with ROS 2 and boost-free version
-// boost::filesystem::path getPath(QString url)
-// {
-//   boost::filesystem::path path;
-
-//   if (url.indexOf("package://", 0, Qt::CaseInsensitive) == 0) {
-//     QString package_name = url.section('/', 2, 2);
-//     QString file_name = url.section('/', 3);
-//     path = ros::package::getPath(package_name.toStdString());
-//     path = path / file_name.toStdString();
-//   } else if (url.indexOf("file://", 0, Qt::CaseInsensitive) == 0) {
-//     path = url.section('/', 2).toStdString();
-//   } else {
-//     ROS_ERROR("Invalid or unsupported URL: '%s'", url.toStdString().c_str() );
-//   }
-
-//   return path;
-// }
+resource_retriever::MemoryResource getResource(const std::string & resource_path)
+{
+  resource_retriever::Retriever retriever;
+  resource_retriever::MemoryResource res;
+  try {
+    res = retriever.get(resource_path);
+  } catch (resource_retriever::Exception & e) {
+    RVIZ_COMMON_LOG_DEBUG(e.what());
+    return resource_retriever::MemoryResource();
+  }
 
+  return res;
+}
 
 QPixmap loadPixmap(QString url, bool fill_cache)
 {
   QPixmap pixmap;
 
-  // TODO(wjwwood): reenable this, or in the meantime add a placeholder pixmap
-  Q_UNUSED(url);
-  Q_UNUSED(fill_cache);
-  // RVIZ_COMMON_LOG_WARNING_STREAM("did not load pixmap at " << url.toStdString());
-  // // if it's in the cache, no need to locate
-  // if (QPixmapCache::find(url, &pixmap) ) {
-  //   return pixmap;
-  // }
-
-  // boost::filesystem::path path = getPath(url);
-
-  // // If something goes wrong here, we go on and store the empty pixmap,
-  // // so the error won't appear again anytime soon.
-  // if (boost::filesystem::exists(path) ) {
-  //   ROS_DEBUG_NAMED("load_resource", "Loading '%s'", path.string().c_str() );
-  //   if (!pixmap.load(QString::fromStdString(path.string() ) ) ) {
-  //     ROS_ERROR("Could not load pixmap '%s'", path.string().c_str() );
-  //   }
-  // }
-
-  // if (fill_cache) {
-  //   QPixmapCache::insert(url, pixmap);
-  // }
+  // if it's in the cache, no need to locate
+  if (QPixmapCache::find(url, &pixmap)) {
+    return pixmap;
+  }
+
+  RVIZ_COMMON_LOG_DEBUG("Load pixmap at " + url.toStdString());
+
+  auto image = getResource(url.toStdString());
+  if (image.size != 0) {
+    if (!pixmap.loadFromData(image.data.get(), static_cast<uint32_t>(image.size))) {
+      RVIZ_COMMON_LOG_ERROR("Could not load pixmap " + url.toStdString());
+    }
+  }
+
+  if (fill_cache) {
+    QPixmapCache::insert(url, pixmap);
+  }
 
   return pixmap;
 }
@@ -101,39 +92,25 @@ QCursor getDefaultCursor(bool fill_cache)
 
 QCursor makeIconCursor(QString url, bool fill_cache)
 {
-  // TODO(wjwwood): reenable this
-  Q_UNUSED(url);
-  Q_UNUSED(fill_cache);
-  // RVIZ_COMMON_LOG_WARNING_STREAM("did not load icon as cursor at " << url.toStdString());
-  return QCursor(Qt::ArrowCursor);
-#if 0
   QPixmap icon = loadPixmap(url, fill_cache);
   if (icon.width() == 0 || icon.height() == 0) {
-    ROS_ERROR("Could not load pixmap '%s' -- using default cursor instead.",
-      url.toStdString().c_str() );
+    RVIZ_COMMON_LOG_ERROR_STREAM("Could not load pixmap " << url.toStdString() << " -- "
+      "using default cursor instead.");
     return getDefaultCursor();
   }
   QString cache_key = url + ".cursor";
   return makeIconCursor(icon, cache_key, fill_cache);
-#endif
 }
 
 QCursor makeIconCursor(QPixmap icon, QString cache_key, bool fill_cache)
 {
-  // TODO(wjwwood): reenable this
-  Q_UNUSED(icon);
-  Q_UNUSED(cache_key);
-  Q_UNUSED(fill_cache);
-  // RVIZ_COMMON_LOG_WARNING_STREAM("did not make icon into cursor at " << cache_key.toStdString());
-  return QCursor(Qt::ArrowCursor);
-#if 0
   // if it's in the cache, no need to locate
   QPixmap cursor_img;
   if (QPixmapCache::find(cache_key, &cursor_img) ) {
     return QCursor(cursor_img, 0, 0);
   }
 
-  QPixmap base_cursor = loadPixmap("package://rviz/icons/cursor.svg", fill_cache);
+  QPixmap base_cursor = loadPixmap("package://rviz_common/icons/cursor.svg", fill_cache);
 
   const int cursor_size = 32;
 
@@ -162,7 +139,6 @@ QCursor makeIconCursor(QPixmap icon, QString cache_key, bool fill_cache)
   }
 
   return QCursor(cursor_img, 1, 1);
-#endif
 }
 
 }  // namespace rviz_common

rviz_common/src/rviz_common/new_object_dialog.cpp

@@ -126,7 +126,7 @@ QSize NewObjectDialog::sizeHint() const
 
 void NewObjectDialog::fillTree(QTreeWidget * tree)
 {
-  QIcon default_package_icon = loadPixmap("package://rviz/icons/default_package_icon.png");
+  QIcon default_package_icon = loadPixmap("package://rviz_common/icons/default_package_icon.png");
 
   QStringList classes = factory_->getDeclaredClassIds();
   classes.sort();

rviz_common/src/rviz_common/panel_factory.cpp

@@ -52,20 +52,20 @@ static Panel * newViewsPanel() {return new ViewsPanel();}
 PanelFactory::PanelFactory(const std::string & node_name)
 : PluginlibFactory<Panel>("rviz_common", "rviz_common::Panel")
 {
-  addBuiltInClass("rviz", "Displays",
+  addBuiltInClass("rviz_common", "Displays",
     "Show and edit the list of Displays",
     [&node_name]() -> Panel * {
       return new DisplaysPanel(node_name, nullptr);
     });
-  // addBuiltInClass("rviz", "Help",
+  // addBuiltInClass("rviz_common", "Help",
   //   "Show the key and mouse bindings", &newHelpPanel);
-  // addBuiltInClass("rviz", "Selection",
+  // addBuiltInClass("rviz_common", "Selection",
   //   "Show properties of selected objects", &newSelectionPanel);
-  // addBuiltInClass("rviz", "Time",
+  // addBuiltInClass("rviz_common", "Time",
   //   "Show the current time", &newTimePanel);
-  // addBuiltInClass("rviz", "Tool Properties",
+  // addBuiltInClass("rviz_common", "Tool Properties",
   //   "Show and edit properties of tools", &newToolPropertiesPanel);
-  addBuiltInClass("rviz", "Views",
+  addBuiltInClass("rviz_common", "Views",
     "Show and edit viewpoints", &newViewsPanel);
 }
 

rviz_common/src/rviz_common/pluginlib_factory.hpp

@@ -132,7 +132,7 @@ class PluginlibFactory : public ClassIdRecordingFactory<Type>
     if (icon.isNull()) {
       icon = loadPixmap("package://" + package + "/icons/classes/" + class_name + ".png");
       if (icon.isNull()) {
-        icon = loadPixmap("package://rviz/icons/default_class_icon.png");
+        icon = loadPixmap("package://rviz_common/icons/default_class_icon.png");
       }
     }
     return icon;

rviz_common/src/rviz_common/properties/status_property.cpp

@@ -51,9 +51,9 @@ StatusProperty::StatusProperty(
   level_(level)
 {
   setShouldBeSaved(false);
-  status_icons_[0] = loadPixmap("package://rviz/icons/ok.png");
-  status_icons_[1] = loadPixmap("package://rviz/icons/warning.png");
-  status_icons_[2] = loadPixmap("package://rviz/icons/error.png");
+  status_icons_[0] = loadPixmap("package://rviz_common/icons/ok.png");
+  status_icons_[1] = loadPixmap("package://rviz_common/icons/warning.png");
+  status_icons_[2] = loadPixmap("package://rviz_common/icons/error.png");
 }
 
 bool StatusProperty::setValue(const QVariant & new_value)

rviz_common/src/rviz_common/splash_screen.cpp

@@ -52,7 +52,7 @@ SplashScreen::SplashScreen(const QPixmap & pixmap)
 
   painter.drawPixmap(QPoint(0, 0), pixmap);
 
-  QPixmap overlay = loadPixmap("package://rviz/images/splash_overlay.png");
+  QPixmap overlay = loadPixmap("package://rviz_common/images/splash_overlay.png");
   painter.drawTiledPixmap(QRect(0, pixmap.height() - overlay.height(), pixmap.width(),
     pixmap.height() ), overlay);
 

rviz_common/src/rviz_common/tool_manager.cpp

@@ -78,11 +78,11 @@ void ToolManager::initialize()
   QStringList class_ids = factory_->getDeclaredClassIds();
   // define a list of preferred tool names (they will be listed first in the toolbar)
   std::vector<const char *> preferred_tool_names = {
-    "rviz/MoveCamera",
-    "rviz/Interact",
-    "rviz/Select",
-    "rviz/SetInitialPose",
-    "rviz/SetGoal",
+    "rviz_default_plugins/MoveCamera",
+    "rviz_default_plugins/Interact",
+    "rviz_default_plugins/Select",
+    "rviz_default_plugins/SetInitialPose",
+    "rviz_default_plugins/SetGoal",
   };
   // attempt to load each preferred tool in order
   for (const auto & preferred_tool_name : preferred_tool_names) {
@@ -272,7 +272,7 @@ Tool * ToolManager::addTool(const QString & class_id)
 
   return tool;
 #else
-  if (class_id == "rviz/MoveCamera") {
+  if (class_id == "rviz_default_plugins/MoveCamera") {
     Tool * tool = new rviz_common::MoveTool();
     tools_.append(tool);
     tool->setName(addSpaceToCamelCase("MoveTool"));