Re-implemented setName for tools

[fmauch]

In the migration towards RViz2 dynamically setting a tool name seems to got dropped. This PR adds this feature again.

We use one central RViz instance in a multi-mobile-robot application where we have a NavGoal tool for each robot. Not being able to rename the tools is a bit hard to use as you'll have to memorize the actual order.

I don't know whether there is a specific reason why this got dropped, but I think this is valid and useful to keep.

As we currently use ROS 2 Humble, I think this should also be backported to Humble. I can open a second PR if desired.

[ahcorde]

uncrustify https://build.ros2.org/job/Rpr__rviz__ubuntu_jammy_amd64/177/

[fmauch]

@ahcorde should be fixed now.

[ahcorde]

@fmauch, can you share a gif or explain how this feature work?

[fmauch]

Sorry for being so brief, I was assuming that this got kicked out when migrating to RViz2 so I didn't add much explanation. Reading back, it might be that the changes were added to RViz1 in December 2020 after RViz2 was forked out.

Basically, this goes back to this issue and this PR for ROS1 RViz. Reasoning for the changes is well explained in ros-visualization/rviz#1570 (comment).

TLDR: calls to setName() after the tool has been created doesn't have any effect in RViz 2.

I've created a custom tool with a name property, so that we can set its name manually, similar to the action namespace
of the goal tool. Changing the property works fine and it gets saved to the RViz configuration, but it is never applied to the actual tool. The following screenshot shows the tool (the one with the green flag) with its properties opened below. As you can see, the name got applied correctly, the tool also shows up under the new name in the properties view. However, in the toolbar the tool still has the default name "2D Nav Goal".

Basically, our initialization looks as follows:

void NavGoalTool::onInitialize()
{
  PoseTool::onInitialize();
  setName(m_name_ptr->getString());
  
// ... more unrelated stuff here...
}

where m_name_ptr has been initialized with

  m_name_ptr.reset(new rviz_common::properties::StringProperty(
    "Name", "2D Nav Goal", "The display name", getPropertyContainer(), SLOT(updateName()), this));

The updateName() method looks like this:

void NavGoalTool::updateName()
{
  setName(m_name_ptr->getString());
}

The docs of setName() suggest that the name can be altered lateron, as well which is not completely wrong, as the actual tool gets renamed in the properties view.

With the changes from this PR applied, the same screenshot with an RViz2 started from the same config looks like this:

With this modification we can at least copy the tools inside the config file and rename them so we get a goal tool for each robot:

[clalancette]

Thanks for the detailed explanation @fmauch . In short, this looks good to me, so I'll run CI on it next.

[clalancette]

CI:

• Linux
• Linux-aarch64
• Windows

[fmauch]

Thank you for merging. Is there any chance this could get backported to Humble?

[ahcorde]

https://github.com/Mergifyio backport iron humble

[mergify]

backport iron humble

✅ Backports have been created

• #997 Re-implemented setName for tools (backport #989) has been created for branch iron
• #998 Re-implemented setName for tools (backport #989) has been created for branch humble