use image_transport to subscribe to image messages (#523)

* use image_transport to subscribe to image messages use image_transport in camera_display and image_display use image_transport to get camera_info_topic * update README after reenabling image transport * Add image transport dependency to package.xml Signed-off-by: Audrow <audrow.nash@gmail.com> * Update headers to fix macOS warnings Signed-off-by: Audrow Nash <audrow.nash@gmail.com> Co-authored-by: Martin Idel <martin.idel@googlemail.com> * Add Macros to fix linking in Windows Signed-off-by: Audrow Nash <audrow.nash@gmail.com> Co-authored-by: Martin Idel <martin.idel@googlemail.com> * Move Windows visibility macros to header files Signed-off-by: Audrow Nash <audrow.nash@gmail.com> Co-authored-by: ketatam <mohamed.amine.ketata@tngtech.com> Co-authored-by: Audrow <audrow.nash@gmail.com> Co-authored-by: Martin Idel <martin.idel@googlemail.com>
ros2 · May 7, 2021 · 731f24d · 731f24d
1 parent c74ca56
commit 731f24d
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Showing 12 changed files with 440 additions and 24 deletions.
diff --git a/.gitignore b/.gitignore
@@ -4,3 +4,4 @@ bin
 build
 lib
 *.sublime-workspace
+**/.idea/**
diff --git a/README.md b/README.md
@@ -50,7 +50,6 @@ These features have not been ported to `ros2/rviz` yet.
 | Effort        |
 
 Other features:
-- Image transport features
 - Stereo
 
 In case you wished to see those features in RViz for ROS 2, feel free to add a pull request.

diff --git a/rviz_default_plugins/CMakeLists.txt b/rviz_default_plugins/CMakeLists.txt
@@ -59,6 +59,7 @@ find_package(rviz_ogre_vendor REQUIRED)
 find_package(Qt5 REQUIRED COMPONENTS Widgets Test)
 
 find_package(geometry_msgs REQUIRED)
+find_package(image_transport REQUIRED)
 find_package(interactive_markers REQUIRED)
 find_package(laser_geometry REQUIRED)
 find_package(map_msgs REQUIRED)
@@ -79,7 +80,9 @@ set(rviz_default_plugins_headers_to_moc
   include/rviz_default_plugins/displays/grid/grid_display.hpp
   include/rviz_default_plugins/displays/grid_cells/grid_cells_display.hpp
   include/rviz_default_plugins/displays/illuminance/illuminance_display.hpp
+  include/rviz_default_plugins/displays/image/get_transport_from_topic.hpp
   include/rviz_default_plugins/displays/image/image_display.hpp
+  include/rviz_default_plugins/displays/image/image_transport_display.hpp
   include/rviz_default_plugins/displays/laser_scan/laser_scan_display.hpp
   include/rviz_default_plugins/displays/map/map_display.hpp
   include/rviz_default_plugins/displays/marker/marker_common.hpp
@@ -132,6 +135,7 @@ set(rviz_default_plugins_source_files
   src/rviz_default_plugins/displays/grid_cells/grid_cells_display.cpp
   src/rviz_default_plugins/displays/fluid_pressure/fluid_pressure_display.cpp
   src/rviz_default_plugins/displays/illuminance/illuminance_display.cpp
+  src/rviz_default_plugins/displays/image/get_transport_from_topic.cpp
   src/rviz_default_plugins/displays/image/image_display.cpp
   src/rviz_default_plugins/displays/image/ros_image_texture.cpp
   src/rviz_default_plugins/displays/interactive_markers/integer_action.cpp
@@ -252,6 +256,7 @@ ament_target_dependencies(rviz_default_plugins
   tf2_ros
   urdf
   visualization_msgs
+  image_transport
 )
 
 ament_export_include_directories(include)
@@ -362,6 +367,13 @@ if(BUILD_TESTING)
     ament_target_dependencies(frame_info_test ${TEST_TARGET_DEPENDENCIES})
   endif()
 
+  ament_add_gmock(get_transport_from_topic_test
+    test/rviz_default_plugins/displays/image/get_transport_from_topic_test.cpp)
+  if(TARGET get_transport_from_topic_test)
+    target_include_directories(get_transport_from_topic_test PUBLIC ${TEST_INCLUDE_DIRS} ${rviz_common_INCLUDE_DIRS})
+    target_link_libraries(get_transport_from_topic_test ${TEST_LINK_LIBRARIES} ${rviz_common})
+  endif()
+
   ament_add_gmock(grid_cells_display_test
     test/rviz_default_plugins/displays/grid_cells/grid_cells_display_test.cpp
     ${SKIP_DISPLAY_TESTS})
@@ -1014,3 +1026,4 @@ if(BUILD_TESTING)
 endif()
 
 ament_package()
+
diff --git a/rviz_default_plugins/include/rviz_default_plugins/displays/camera/camera_display.hpp b/rviz_default_plugins/include/rviz_default_plugins/displays/camera/camera_display.hpp
@@ -1,6 +1,7 @@
 /*
  * Copyright (c) 2009, Willow Garage, Inc.
  * Copyright (c) 2018, Bosch Software Innovations GmbH.
+ * Copyright (c) 2020, TNG Technology Consulting GmbH.
  * All rights reserved.
  *
  * Redistribution and use in source and binary forms, with or without
@@ -47,10 +48,11 @@
 
 # include "sensor_msgs/msg/camera_info.hpp"
 
-# include "rviz_rendering/render_window.hpp"
-# include "rviz_common/message_filter_display.hpp"
+# include "rviz_default_plugins/displays/image/image_transport_display.hpp"
 # include "rviz_default_plugins/displays/image/ros_image_texture_iface.hpp"
 # include "rviz_default_plugins/visibility_control.hpp"
+# include "rviz_rendering/render_window.hpp"
+
 #endif
 
 namespace Ogre
@@ -65,17 +67,16 @@ namespace rviz_common
 {
 
 class QueueSizeProperty;
+
 class RenderPanel;
 
 namespace properties
 {
-
 class EnumProperty;
 class FloatProperty;
 class IntProperty;
 class RosTopicProperty;
 class DisplayGroupVisibilityProperty;
-
 }  // namespace properties
 }  // namespace rviz_common
 
@@ -96,7 +97,7 @@ struct ImageDimensions
  *
  */
 class RVIZ_DEFAULT_PLUGINS_PUBLIC CameraDisplay
-  : public rviz_common::MessageFilterDisplay<sensor_msgs::msg::Image>,
+  : public rviz_default_plugins::displays::ImageTransportDisplay<sensor_msgs::msg::Image>,
   public Ogre::RenderTargetListener
 {
   Q_OBJECT
@@ -197,7 +198,9 @@ private Q_SLOTS:
   bool force_render_;
 
   uint32_t vis_bit_;
+
   void setupSceneNodes();
+
   void setupRenderPanel();
 };
 

diff --git a/..._default_plugins/include/rviz_default_plugins/displays/image/get_transport_from_topic.hpp b/..._default_plugins/include/rviz_default_plugins/displays/image/get_transport_from_topic.hpp
@@ -0,0 +1,52 @@
+/*
+ * Copyright (c) 2020, TNG Technology Consulting GmbH.
+ * 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 OWNER 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.
+ */
+
+#ifndef RVIZ_DEFAULT_PLUGINS__DISPLAYS__IMAGE__GET_TRANSPORT_FROM_TOPIC_HPP_
+#define RVIZ_DEFAULT_PLUGINS__DISPLAYS__IMAGE__GET_TRANSPORT_FROM_TOPIC_HPP_
+
+#include <string>
+
+#include "rviz_default_plugins/visibility_control.hpp"
+
+namespace rviz_default_plugins
+{
+namespace displays
+{
+
+RVIZ_DEFAULT_PLUGINS_PUBLIC
+std::string getTransportFromTopic(const std::string & topic);
+
+RVIZ_DEFAULT_PLUGINS_PUBLIC
+std::string getBaseTopicFromTopic(const std::string & topic);
+
+
+}  //  end namespace displays
+}  //  end namespace rviz_default_plugins
+
+#endif  //  RVIZ_DEFAULT_PLUGINS__DISPLAYS__IMAGE__GET_TRANSPORT_FROM_TOPIC_HPP_
diff --git a/rviz_default_plugins/include/rviz_default_plugins/displays/image/image_display.hpp b/rviz_default_plugins/include/rviz_default_plugins/displays/image/image_display.hpp
@@ -1,6 +1,7 @@
 /*
  * Copyright (c) 2012, Willow Garage, Inc.
  * Copyright (c) 2017, Bosch Software Innovations GmbH.
+ * Copyright (c) 2020, TNG Technology Consulting GmbH.
  * All rights reserved.
  *
  * Redistribution and use in source and binary forms, with or without
@@ -49,6 +50,7 @@
 
 # include "rviz_default_plugins/displays/image/ros_image_texture_iface.hpp"
 # include "rviz_default_plugins/visibility_control.hpp"
+#include "rviz_default_plugins/displays/image/image_transport_display.hpp"
 #endif
 
 
@@ -68,7 +70,7 @@ namespace displays
  *
  */
 class RVIZ_DEFAULT_PLUGINS_PUBLIC ImageDisplay : public
-  rviz_common::MessageFilterDisplay<sensor_msgs::msg::Image>
+  rviz_default_plugins::displays::ImageTransportDisplay<sensor_msgs::msg::Image>
 {
   Q_OBJECT