Update ROS node graph API

The node function get_topic_names_and_types() now returns a vector for each type name containing the parts of the fully qualified name. Signed-off-by: Jacob Perron <[email protected]>
ros2 · Mar 27, 2019 · 802c765 · 802c765
1 parent 3344a8e
commit 802c765
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Showing 5 changed files with 13 additions and 11 deletions.
diff --git a/rviz_common/include/rviz_common/ros_integration/ros_node_abstraction.hpp b/rviz_common/include/rviz_common/ros_integration/ros_node_abstraction.hpp
@@ -79,7 +79,7 @@ class RosNodeAbstraction : public RosNodeAbstractionIface
    * \return map of topic names and their types
    */
   RVIZ_COMMON_PUBLIC
-  std::map<std::string, std::vector<std::string>>
+  std::map<std::string, std::vector<std::vector<std::string>>>
   get_topic_names_and_types() const override;
 
   // TODO(wjwwood): think about a suitable way to extend the abstraction to also cover subscriptions

diff --git a/rviz_common/include/rviz_common/ros_integration/ros_node_abstraction_iface.hpp b/rviz_common/include/rviz_common/ros_integration/ros_node_abstraction_iface.hpp
@@ -60,7 +60,7 @@ class RosNodeAbstractionIface
 
   virtual std::string get_node_name() const = 0;
 
-  virtual std::map<std::string, std::vector<std::string>>
+  virtual std::map<std::string, std::vector<std::vector<std::string>>>
   get_topic_names_and_types() const = 0;
 
   // TODO(anhosi): remove once the RosNodeAbstraction is extended to handle subscriptions

diff --git a/rviz_common/src/rviz_common/add_display_dialog.cpp b/rviz_common/src/rviz_common/add_display_dialog.cpp
@@ -145,25 +145,26 @@ void getPluginGroups(
   std::vector<std::string> * unvisualizable,
   ros_integration::RosNodeAbstractionIface::WeakPtr rviz_ros_node)
 {
-  std::map<std::string, std::vector<std::string>> topic_names_and_types =
+  std::map<std::string, std::vector<std::vector<std::string>>> topic_names_and_types =
     rviz_ros_node.lock()->get_topic_names_and_types();
 
   for (const auto & map_pair : topic_names_and_types) {
     QString topic = QString::fromStdString(map_pair.first);
-    if (map_pair.second.empty()) {
-      throw std::runtime_error("topic '" + map_pair.first + "' unexpectedly has not types.");
+    if (map_pair.second.empty() || map_pair.second[0].empty()) {
+      throw std::runtime_error("topic '" + map_pair.first + "' unexpectedly has no types.");
     }
+    std::string datatype_stdstring = map_pair.second[0].front() + "/" + map_pair.second[0].back();
     if (map_pair.second.size() > 1) {
       std::stringstream ss;
       ss << "topic '" << map_pair.first <<
         "' has more than one types associated, rviz will arbitrarily use the type '" <<
-        map_pair.second[0] << "' -- all types for the topic:";
+        datatype_stdstring << "' -- all types for the topic:";
       for (const auto & topic_type_name : map_pair.second) {
-        ss << " '" << topic_type_name << "'";
+        ss << " '" << topic_type_name.front() << "/" << topic_type_name.back() << "'";
       }
       RVIZ_COMMON_LOG_WARNING(ss.str());
     }
-    QString datatype = QString::fromStdString(map_pair.second[0]);
+    QString datatype = QString::fromStdString(datatype_stdstring);
 
     if (datatype_plugins.contains(datatype)) {
       if (groups->empty() ||

diff --git a/rviz_common/src/rviz_common/properties/ros_topic_property.cpp b/rviz_common/src/rviz_common/properties/ros_topic_property.cpp
@@ -73,12 +73,13 @@ void RosTopicProperty::fillTopicList()
   clearOptions();
 
   std::string std_message_type = message_type_.toStdString();
-  std::map<std::string, std::vector<std::string>> published_topics =
+  std::map<std::string, std::vector<std::vector<std::string>>> published_topics =
     rviz_ros_node_.lock()->get_topic_names_and_types();
 
   for (const auto & topic : published_topics) {
     // Only add topics whose type matches.
-    for (const auto & type : topic.second) {
+    for (const auto & type_parts : topic.second) {
+      std::string type = type_parts.front() + "/" + type_parts.back();
       // TODO(Martin-Idel-SI): revisit after message_traits become available.
       // We only want to show the types of the topic we subscribe to, however, currently we can't
       // get the type, so std_message_type will always be empty --> show all topics instead

diff --git a/rviz_common/src/rviz_common/ros_integration/ros_node_abstraction.cpp b/rviz_common/src/rviz_common/ros_integration/ros_node_abstraction.cpp
@@ -53,7 +53,7 @@ RosNodeAbstraction::get_node_name() const
   return raw_node_->get_name();
 }
 
-std::map<std::string, std::vector<std::string>>
+std::map<std::string, std::vector<std::vector<std::string>>>
 RosNodeAbstraction::get_topic_names_and_types() const
 {
   return raw_node_->get_topic_names_and_types();