Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Jump to bottom

Allow to select tranport hints in Image display #1005

Open
wants to merge 1 commit into
base: rolling
Choose a base branch
from
Open

Allow to select tranport hints in Image display #1005

Changes from all commits
Commits
Show all changes
1 commit
Select commit
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
109 changes: 105 additions & 4 deletions rviz_default_plugins/include/rviz_default_plugins/displays/image/image_transport_display.hpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -37,15 +37,39 @@
#include <memory>

#include "get_transport_from_topic.hpp"
#include "image_transport/image_transport.hpp"
#include "image_transport/subscriber_filter.hpp"
#include "rviz_common/ros_topic_display.hpp"
#include <image_transport/image_transport.hpp>
#include <image_transport/camera_common.hpp>
#include <image_transport/publisher_plugin.hpp>
#include <image_transport/subscriber_plugin.hpp>
#include <image_transport/subscriber_filter.hpp>
#include <pluginlib/class_loader.hpp>
#include <rviz_common/properties/enum_property.hpp>
#include <rviz_common/properties/ros_topic_property.hpp>
#include <rviz_common/ros_topic_display.hpp>

#include <sensor_msgs/msg/compressed_image.hpp>

namespace rviz_default_plugins
{
namespace displays
{

enum PluginStatus {SUCCESS, CREATE_FAILURE, LIB_LOAD_FAILURE, DOES_NOT_EXIST};

/// \cond
struct TransportDesc
{
TransportDesc()
: pub_status(DOES_NOT_EXIST), sub_status(DOES_NOT_EXIST)
{}

std::string package_name;
std::string pub_name;
PluginStatus pub_status;
std::string sub_name;
PluginStatus sub_status;
};

template<class MessageType>
class ImageTransportDisplay : public rviz_common::_RosTopicDisplay
{
Expand All @@ -62,6 +86,50 @@ class ImageTransportDisplay : public rviz_common::_RosTopicDisplay
QString message_type = QString::fromStdString(rosidl_generator_traits::name<MessageType>());
topic_property_->setMessageType(message_type);
topic_property_->setDescription(message_type + " topic to subscribe to.");

image_transport_type_property_ = new rviz_common::properties::EnumProperty(
"Transport hints", "raw", "Preferred method of sending images.",
this, SLOT(updateTopic()));

pluginlib::ClassLoader<image_transport::PublisherPlugin> pub_loader(
"image_transport", "image_transport::PublisherPlugin");
pluginlib::ClassLoader<image_transport::SubscriberPlugin> sub_loader(
"image_transport", "image_transport::SubscriberPlugin");
typedef std::map<std::string, TransportDesc> StatusMap;
StatusMap transports;

for (const std::string & lookup_name : pub_loader.getDeclaredClasses()) {
std::string transport_name = image_transport::erase_last_copy(lookup_name, "_pub");
transports[transport_name].pub_name = lookup_name;
transports[transport_name].package_name = pub_loader.getClassPackage(lookup_name);
try {
auto pub = pub_loader.createUniqueInstance(lookup_name);
transports[transport_name].pub_status = SUCCESS;
} catch (const pluginlib::LibraryLoadException &) {
transports[transport_name].pub_status = LIB_LOAD_FAILURE;
} catch (const pluginlib::CreateClassException &) {
transports[transport_name].pub_status = CREATE_FAILURE;
}
}

for (const std::string & lookup_name : sub_loader.getDeclaredClasses()) {
std::string transport_name = image_transport::erase_last_copy(lookup_name, "_sub");
transports[transport_name].sub_name = lookup_name;
transports[transport_name].package_name = sub_loader.getClassPackage(lookup_name);
try {
auto sub = sub_loader.createUniqueInstance(lookup_name);
transports[transport_name].sub_status = SUCCESS;
} catch (const pluginlib::LibraryLoadException &) {
transports[transport_name].sub_status = LIB_LOAD_FAILURE;
} catch (const pluginlib::CreateClassException &) {
transports[transport_name].sub_status = CREATE_FAILURE;
}
}
for (const StatusMap::value_type & value : transports) {
std::vector<std::string> tokens = split(
value.first, '/');
image_transport_type_property_->addOption(tokens[1].c_str());
}
}

/**
Expand Down Expand Up @@ -90,9 +158,34 @@ class ImageTransportDisplay : public rviz_common::_RosTopicDisplay
topic_property_->setString(topic);
}

std::vector<std::string> split(const std::string& target, char c)
{
std::string temp;
std::stringstream stringstream { target };
std::vector<std::string> result;

while (std::getline(stringstream, temp, c)) {
result.push_back(temp);
}

return result;
}


protected:
void updateTopic() override
{
if (image_transport_type_property_->getStdString() == "raw")
{
QString message_type =
QString::fromStdString(rosidl_generator_traits::name<sensor_msgs::msg::Image>());
topic_property_->setMessageType(message_type);
} else if (image_transport_type_property_->getStdString() == "compressed")
{
QString message_type =
QString::fromStdString(rosidl_generator_traits::name<sensor_msgs::msg::CompressedImage>());
topic_property_->setMessageType(message_type);
}
resetSubscription();
}

Expand Down Expand Up @@ -177,7 +270,6 @@ class ImageTransportDisplay : public rviz_common::_RosTopicDisplay
processMessage(msg);
}


/// Implement this to process the contents of a message.
/**
* This is called by incomingMessage().
Expand All @@ -188,6 +280,15 @@ class ImageTransportDisplay : public rviz_common::_RosTopicDisplay

std::shared_ptr<image_transport::SubscriberFilter> subscription_;
message_filters::Connection subscription_callback_;

rviz_common::properties::EnumProperty * image_transport_type_property_;

private Q_SLOTS:
void updateChoice()
{
std::cerr << "updateChoice" << '\n';
}

};

} // end namespace displays
Expand Down