From 188eb9203d0fad3728cafb15503dc02101fbe8b6 Mon Sep 17 00:00:00 2001
From: Matthew Foran <matthewjforan@gmail.com>
Date: Thu, 10 Oct 2024 08:49:31 -0400
Subject: [PATCH 01/18] first draft and devcontainer

---
 .devcontainer/devcontainer.json               | 28 ++++++
 .../properties/ros_topic_multi_property.hpp   | 69 +++++++++++++++
 .../properties/ros_topic_property.hpp         |  2 +-
 .../properties/ros_topic_multi_property.cpp   | 70 +++++++++++++++
 rviz_default_plugins/CMakeLists.txt           |  3 +
 .../displays/image/image_display.hpp          | 28 +++++-
 rviz_default_plugins/package.xml              |  1 +
 .../displays/image/image_display.cpp          | 86 ++++++++++++++++++-
 8 files changed, 283 insertions(+), 4 deletions(-)
 create mode 100644 .devcontainer/devcontainer.json
 create mode 100644 rviz_common/include/rviz_common/properties/ros_topic_multi_property.hpp
 create mode 100644 rviz_common/src/rviz_common/properties/ros_topic_multi_property.cpp

diff --git a/.devcontainer/devcontainer.json b/.devcontainer/devcontainer.json
new file mode 100644
index 000000000..5885a6d63
--- /dev/null
+++ b/.devcontainer/devcontainer.json
@@ -0,0 +1,28 @@
+// For format details, see https://aka.ms/devcontainer.json. For config options, see the
+// README at: https://github.com/devcontainers/templates/tree/main/src/docker-existing-dockerfile
+{
+	"name": "rviz_rolling",
+    "image": "ros:rolling-ros-base"
+
+	// Features to add to the dev container. More info: https://containers.dev/features.
+	// "features": {},
+
+	// Use 'forwardPorts' to make a list of ports inside the container available locally.
+	// "forwardPorts": [],
+
+	// Uncomment the next line to run commands after the container is created.
+	// "postCreateCommand": "cat /etc/os-release",
+
+	// Configure tool-specific properties.
+	// "customizations": {}
+
+
+	// Uncomment to connect as an existing user other than the container default. More info: https://aka.ms/dev-containers-non-root.
+	// "remoteUser": "devcontainer"
+	"workspaceMount": "source=${~/ros2_rolling},target=/ros2_rolling,type=bind",
+	"workspaceFolder": "/ros2_rolling/src/ros2/rviz",
+	//"overrideCommand": false
+	"runArgs": [
+		"--network=host"
+	]
+}
diff --git a/rviz_common/include/rviz_common/properties/ros_topic_multi_property.hpp b/rviz_common/include/rviz_common/properties/ros_topic_multi_property.hpp
new file mode 100644
index 000000000..e65365126
--- /dev/null
+++ b/rviz_common/include/rviz_common/properties/ros_topic_multi_property.hpp
@@ -0,0 +1,69 @@
+// Copyright (c) 2012, Willow Garage, Inc.
+// 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 HOLDER 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_COMMON__PROPERTIES__ROS_TOPIC_MULTI_PROPERTY_HPP_
+#define RVIZ_COMMON__PROPERTIES__ROS_TOPIC_MULTI_PROPERTY_HPP_
+
+#include <string>
+#include <unordered_set>
+
+#include "rviz_common/properties/ros_topic_property.hpp"
+#include "rviz_common/ros_integration/ros_node_abstraction_iface.hpp"
+#include "rviz_common/visibility_control.hpp"
+
+namespace rviz_common
+{
+namespace properties
+{
+
+class RVIZ_COMMON_PUBLIC RosTopicMultiProperty : public RosTopicProperty
+{
+  Q_OBJECT
+public:
+
+  void setMessageTypes(const std::unordered_set<QString> & message_types);
+
+  std::unordered_set<QString> getMessageTypes() const
+  {return message_types_;}
+
+protected Q_SLOTS:
+  virtual void fillTopicList() override;
+
+private:
+  // hide the parent class methods which only take a single type
+  using RosTopicProperty::setMessageType;
+  using RosTopicProperty::getMessageType;
+
+  std::unordered_set<QString> message_types_; // TODO is there a QT-friendly type?
+};
+
+}  // end namespace properties
+}  // end namespace rviz_common
+
+#endif  // RVIZ_COMMON__PROPERTIES__ROS_TOPIC_MULTI_PROPERTY_HPP_
diff --git a/rviz_common/include/rviz_common/properties/ros_topic_property.hpp b/rviz_common/include/rviz_common/properties/ros_topic_property.hpp
index ede824a45..b52b2fbce 100644
--- a/rviz_common/include/rviz_common/properties/ros_topic_property.hpp
+++ b/rviz_common/include/rviz_common/properties/ros_topic_property.hpp
@@ -76,7 +76,7 @@ class RVIZ_COMMON_PUBLIC RosTopicProperty : public EditableEnumProperty
 protected Q_SLOTS:
   virtual void fillTopicList();
 
-private:
+protected:
   ros_integration::RosNodeAbstractionIface::WeakPtr rviz_ros_node_;
   QString message_type_;
 };
diff --git a/rviz_common/src/rviz_common/properties/ros_topic_multi_property.cpp b/rviz_common/src/rviz_common/properties/ros_topic_multi_property.cpp
new file mode 100644
index 000000000..53cd5a673
--- /dev/null
+++ b/rviz_common/src/rviz_common/properties/ros_topic_multi_property.cpp
@@ -0,0 +1,70 @@
+// Copyright (c) 2012, Willow Garage, Inc.
+// 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 HOLDER 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.
+
+
+#include <map>
+#include <string>
+
+#include <QApplication>  // NOLINT: cpplint can't handle Qt imports
+
+#include "rviz_common/properties/ros_topic_multi_property.hpp"
+#include "rviz_common/ros_integration/ros_node_abstraction_iface.hpp"
+
+namespace rviz_common
+{
+namespace properties
+{
+
+void RosTopicMultiProperty::setMessageTypes(const std::unordered_set<QString> & message_types)
+{
+  message_types_ = message_types;
+}
+
+void RosTopicMultiProperty::fillTopicList()
+{
+  QApplication::setOverrideCursor(QCursor(Qt::WaitCursor));
+  clearOptions();
+
+  std::map<std::string, 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) {
+      if (message_types_.find(QString::fromStdString(type)) != message_types_.end()) {
+        addOptionStd(topic.first);
+      }
+    }
+  }
+  sortOptions();
+  QApplication::restoreOverrideCursor();
+}
+
+}  // end namespace properties
+}  // end namespace rviz_common
diff --git a/rviz_default_plugins/CMakeLists.txt b/rviz_default_plugins/CMakeLists.txt
index 1bdc96b17..09f775a9a 100644
--- a/rviz_default_plugins/CMakeLists.txt
+++ b/rviz_default_plugins/CMakeLists.txt
@@ -65,6 +65,7 @@ find_package(gz_math_vendor REQUIRED)
 find_package(gz-math REQUIRED)
 
 find_package(image_transport REQUIRED)
+find_package(image_transport_plugins REQUIRED)
 find_package(interactive_markers REQUIRED)
 find_package(laser_geometry REQUIRED)
 find_package(map_msgs REQUIRED)
@@ -246,6 +247,7 @@ target_include_directories(rviz_default_plugins PUBLIC
 target_link_libraries(rviz_default_plugins PUBLIC
   ${geometry_msgs_TARGETS}
   image_transport::image_transport
+  ${image_transport_plugins_TARGETS}
   interactive_markers::interactive_markers
   laser_geometry::laser_geometry
   ${map_msgs_TARGETS}
@@ -284,6 +286,7 @@ ament_export_targets(rviz_default_plugins HAS_LIBRARY_TARGET)
 ament_export_dependencies(
   geometry_msgs
   image_transport
+  image_transport_plugins
   interactive_markers
   laser_geometry
   map_msgs
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
index d29106434..4c4520d7b 100644
--- 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
@@ -48,10 +48,15 @@
 # include "rviz_common/properties/bool_property.hpp"
 # include "rviz_common/properties/float_property.hpp"
 # include "rviz_common/properties/int_property.hpp"
+# include "rviz_common/properties/enum_property.hpp"
 
 # 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"
+# include "rviz_default_plugins/displays/image/image_transport_display.hpp"
+
+# include <sensor_msgs/msg/image.hpp>
+# include <sensor_msgs/msg/compressed_image.hpp>
+//# include <theora_image_transport/msg/packet.hpp>
 #endif
 
 
@@ -85,17 +90,38 @@ class RVIZ_DEFAULT_PLUGINS_PUBLIC ImageDisplay : public
   void update(float wall_dt, float ros_dt) override;
   void reset() override;
 
+  QString getTransport();
+  std::string getTransportStd();
+
 public Q_SLOTS:
   virtual void updateNormalizeOptions();
+  bool setTransport(const QString & str);
+  bool setTransportStd(const std::string & std_str);
 
 protected:
   // overrides from Display
   void onEnable() override;
   void onDisable() override;
+  void subscribe() override;
+  void unsubscribe() override;
+
+  void incomingMessage(const sensor_msgs::msg::Image::ConstSharedPtr & img_msg);
 
   /* This is called by incomingMessage(). */
   void processMessage(sensor_msgs::msg::Image::ConstSharedPtr msg) override;
 
+  image_transport::Subscriber subscription_;
+  rviz_common::properties::EnumProperty* image_transport_property_;
+  const std::unordered_map<QString, QString> transport_message_types_ =
+  {
+      {"raw",        QString::fromStdString(rosidl_generator_traits::name<sensor_msgs::msg::Image>())},
+      {"compressed", QString::fromStdString(rosidl_generator_traits::name<sensor_msgs::msg::CompressedImage>())},
+      /*{"theora",     QString::fromStdString(rosidl_generator_traits::name<theora_image_transport::msg::Packet>())}*/
+  };
+
+protected Q_SLOTS:
+  void updateTransport();
+
 private:
   void setupScreenRectangle();
   void setupRenderPanel();
diff --git a/rviz_default_plugins/package.xml b/rviz_default_plugins/package.xml
index f4fcf6444..77d4047cd 100644
--- a/rviz_default_plugins/package.xml
+++ b/rviz_default_plugins/package.xml
@@ -40,6 +40,7 @@
   <depend>geometry_msgs</depend>
   <depend>gz_math_vendor</depend>
   <depend>image_transport</depend>
+  <depend>image_transport_plugins</depend>
   <depend>interactive_markers</depend>
   <depend>laser_geometry</depend>
   <depend>nav_msgs</depend>
diff --git a/rviz_default_plugins/src/rviz_default_plugins/displays/image/image_display.cpp b/rviz_default_plugins/src/rviz_default_plugins/displays/image/image_display.cpp
index afcae40a4..c9fe3ac38 100644
--- a/rviz_default_plugins/src/rviz_default_plugins/displays/image/image_display.cpp
+++ b/rviz_default_plugins/src/rviz_default_plugins/displays/image/image_display.cpp
@@ -48,6 +48,8 @@
 #include <QString>  // NOLINT: cpplint is unable to handle the include order here
 
 #include "sensor_msgs/image_encodings.hpp"
+#include "image_transport/image_transport.hpp"
+#include "image_transport/subscriber.hpp"
 
 #include "rviz_common/display_context.hpp"
 #include "rviz_common/frame_manager_iface.hpp"
@@ -60,6 +62,7 @@
 #include "rviz_default_plugins/displays/image/ros_image_texture.hpp"
 #include "rviz_default_plugins/displays/image/image_display.hpp"
 #include "rviz_default_plugins/displays/image/ros_image_texture_iface.hpp"
+#include "rviz_default_plugins/displays/image/get_transport_from_topic.hpp"
 
 namespace rviz_default_plugins
 {
@@ -72,6 +75,17 @@ ImageDisplay::ImageDisplay()
 ImageDisplay::ImageDisplay(std::unique_ptr<ROSImageTextureIface> texture)
 : texture_(std::move(texture))
 {
+
+  image_transport_property_ = new rviz_common::properties::EnumProperty(
+    "Image Transport Hint",
+    "raw",
+    "What type of image transport to use.",
+    topic_property_, SLOT(updateTransport()),
+    this);
+
+  for (const auto& [key, value] : transport_message_types_)
+    image_transport_property_->addOption(key);
+
   normalize_property_ = new rviz_common::properties::BoolProperty(
     "Normalize Range",
     true,
@@ -122,15 +136,57 @@ ImageDisplay::~ImageDisplay() = default;
 
 void ImageDisplay::onEnable()
 {
-  ITDClass::subscribe();
+  subscribe();
 }
 
 void ImageDisplay::onDisable()
 {
-  ITDClass::unsubscribe();
+  unsubscribe();
   clear();
 }
 
+// Need a signature with pass by reference for image_transport_.subscribe
+void ImageDisplay::incomingMessage(const sensor_msgs::msg::Image::ConstSharedPtr & img_msg){
+  ImageDisplay::incomingMessage(img_msg);
+}
+
+void ImageDisplay::subscribe(){
+  if (!isEnabled()) {
+    return;
+  }
+  if (topic_property_->isEmpty()) {
+    setStatus(
+      rviz_common::properties::StatusProperty::Error, "Topic",
+      QString("Error subscribing: Empty topic name"));
+    return;
+  }
+
+  try {
+    rclcpp::Node::SharedPtr node = rviz_ros_node_.lock()->get_raw_node();
+    image_transport::ImageTransport image_transport_(node);
+    // This part differs from the parent class. ImageTransportDisplay uses an
+    // image_transport::SubscriberFilter, which requires a different callback for each transport
+    // type. image_transport::Subscriber only requires one callback for "raw" and the other types
+    // are automatically converted.
+    subscription_ = image_transport_.subscribe(
+      rviz_default_plugins::displays::getBaseTopicFromTopic(topic_property_->getTopicStd()),
+      (uint32_t)qos_profile.get_rmw_qos_profile().depth, // TODO try without cast
+      &ImageDisplay::incomingMessage,
+      this,
+      new image_transport::TransportHints(node.get(),getTransportStd(),"image_transport"));
+
+    setStatus(rviz_common::properties::StatusProperty::Ok, "Topic", "OK");
+  } catch (rclcpp::exceptions::InvalidTopicNameError & e) {
+    setStatus(
+      rviz_common::properties::StatusProperty::Error, "Topic",
+      QString("Error subscribing: ") + e.what());
+  }
+}
+
+void ImageDisplay::unsubscribe(){
+  subscription_.shutdown();
+}
+
 void ImageDisplay::updateNormalizeOptions()
 {
   if (got_float_image_) {
@@ -152,6 +208,14 @@ void ImageDisplay::updateNormalizeOptions()
   }
 }
 
+bool ImageDisplay::setTransport(const QString & str){
+  return image_transport_property_->setValue(str.toLower());
+}
+
+bool ImageDisplay::setTransportStd(const std::string & std_str){
+  return image_transport_property_->setValue(QString::fromStdString(std_str).toLower());
+}
+
 void ImageDisplay::clear()
 {
   texture_->clear();
@@ -194,6 +258,14 @@ void ImageDisplay::reset()
   clear();
 }
 
+QString ImageDisplay::getTransport(){
+  return image_transport_property_->getString();
+}
+
+std::string ImageDisplay::getTransportStd(){
+  return image_transport_property_->getStdString();
+}
+
 /* This is called by incomingMessage(). */
 void ImageDisplay::processMessage(sensor_msgs::msg::Image::ConstSharedPtr msg)
 {
@@ -209,6 +281,16 @@ void ImageDisplay::processMessage(sensor_msgs::msg::Image::ConstSharedPtr msg)
   texture_->addMessage(msg);
 }
 
+void ImageDisplay::updateTransport(){
+  topic_property_->setMessageType(
+    transport_message_types_.at(image_transport_property_->getString()));
+
+  // If topic does not match desired transport, clear it.
+  if (getTransportFromTopic(topic_property_->getStdString()) !=
+  image_transport_property_->getStdString())
+    topic_property_->setString("");
+}
+
 void ImageDisplay::setupScreenRectangle()
 {
   static int count = 0;

From d2e32898047ec440020eabb8f19f0e970af949be Mon Sep 17 00:00:00 2001
From: Matthew Foran <matthewjforan@gmail.com>
Date: Thu, 10 Oct 2024 13:56:28 +0000
Subject: [PATCH 02/18] devcontainer working, compressed image working

---
 .devcontainer/Dockerfile                      | 24 +++++++++++++++++++
 .devcontainer/devcontainer.json               |  8 +++++--
 .../displays/image/image_display.cpp          |  2 +-
 3 files changed, 31 insertions(+), 3 deletions(-)
 create mode 100644 .devcontainer/Dockerfile

diff --git a/.devcontainer/Dockerfile b/.devcontainer/Dockerfile
new file mode 100644
index 000000000..70f2c8bb6
--- /dev/null
+++ b/.devcontainer/Dockerfile
@@ -0,0 +1,24 @@
+FROM ubuntu:noble
+ENV DEBIAN_FRONTEND=noninteractive
+RUN apt update && apt install -y locales && locale-gen en_US en_US.UTF-8 && update-locale LC_ALL=en_US.UTF-8 LANG=en_US.UTF-8
+ENV LANG=en_US.UTF-8
+RUN apt install -y software-properties-common && add-apt-repository universe
+RUN apt update && apt install -y curl && curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg
+RUN echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(. /etc/os-release && echo $UBUNTU_CODENAME) main" > /etc/apt/sources.list.d/ros2.list
+RUN apt update && apt install -y \
+        python3-flake8-blind-except \
+        python3-flake8-class-newline \
+        python3-flake8-deprecated \
+        python3-mypy \
+        python3-pip \
+        python3-pytest \
+        python3-pytest-cov \
+        python3-pytest-mock \
+        python3-pytest-repeat \
+        python3-pytest-rerunfailures \
+        python3-pytest-runner \
+        python3-pytest-timeout \
+        ros-dev-tools
+WORKDIR /ros2_rolling
+RUN mkdir src && vcs import --input https://raw.githubusercontent.com/ros2/ros2/rolling/ros2.repos src
+RUN apt upgrade -y && rosdep init && rosdep update && rosdep install --from-paths src --ignore-src -y --skip-keys "fastcdr rti-connext-dds-6.0.1 urdfdom_headers"
\ No newline at end of file
diff --git a/.devcontainer/devcontainer.json b/.devcontainer/devcontainer.json
index 5885a6d63..a6e77dd6f 100644
--- a/.devcontainer/devcontainer.json
+++ b/.devcontainer/devcontainer.json
@@ -2,7 +2,11 @@
 // README at: https://github.com/devcontainers/templates/tree/main/src/docker-existing-dockerfile
 {
 	"name": "rviz_rolling",
-    "image": "ros:rolling-ros-base"
+	"build": {
+		// Sets the run context to one level up instead of the .devcontainer folder.
+		// Update the 'dockerFile' property if you aren't using the standard 'Dockerfile' filename.
+		"dockerfile": "Dockerfile"
+	},
 
 	// Features to add to the dev container. More info: https://containers.dev/features.
 	// "features": {},
@@ -19,7 +23,7 @@
 
 	// Uncomment to connect as an existing user other than the container default. More info: https://aka.ms/dev-containers-non-root.
 	// "remoteUser": "devcontainer"
-	"workspaceMount": "source=${~/ros2_rolling},target=/ros2_rolling,type=bind",
+	"workspaceMount": "source=${localWorkspaceFolder},target=/ros2_rolling/src/ros2/rviz,type=bind",
 	"workspaceFolder": "/ros2_rolling/src/ros2/rviz",
 	//"overrideCommand": false
 	"runArgs": [
diff --git a/rviz_default_plugins/src/rviz_default_plugins/displays/image/image_display.cpp b/rviz_default_plugins/src/rviz_default_plugins/displays/image/image_display.cpp
index c9fe3ac38..07e7fe2c5 100644
--- a/rviz_default_plugins/src/rviz_default_plugins/displays/image/image_display.cpp
+++ b/rviz_default_plugins/src/rviz_default_plugins/displays/image/image_display.cpp
@@ -147,7 +147,7 @@ void ImageDisplay::onDisable()
 
 // Need a signature with pass by reference for image_transport_.subscribe
 void ImageDisplay::incomingMessage(const sensor_msgs::msg::Image::ConstSharedPtr & img_msg){
-  ImageDisplay::incomingMessage(img_msg);
+  ImageTransportDisplay<sensor_msgs::msg::Image>::incomingMessage(img_msg);
 }
 
 void ImageDisplay::subscribe(){

From 3f3296d9ed1cd81ee5502a9109a3f628f7e17cb3 Mon Sep 17 00:00:00 2001
From: Matthew Foran <matthewjforan@gmail.com>
Date: Thu, 10 Oct 2024 19:56:43 +0000
Subject: [PATCH 03/18] topic-multi property working (segfaults on close)

---
 rviz_common/CMakeLists.txt                    |  2 +
 .../properties/ros_topic_multi_property.hpp   | 19 +++-
 .../properties/ros_topic_multi_property.cpp   | 19 +++-
 .../displays/image/image_display.hpp          | 15 ---
 .../displays/image/image_display.cpp          | 94 ++++++++++++-------
 5 files changed, 90 insertions(+), 59 deletions(-)

diff --git a/rviz_common/CMakeLists.txt b/rviz_common/CMakeLists.txt
index 7741c400b..b77a8a8e2 100644
--- a/rviz_common/CMakeLists.txt
+++ b/rviz_common/CMakeLists.txt
@@ -104,6 +104,7 @@ set(rviz_common_headers_to_moc
   include/rviz_common/properties/property_tree_with_help.hpp
   include/rviz_common/properties/qos_profile_property.hpp
   include/rviz_common/properties/ros_topic_property.hpp
+  include/rviz_common/properties/ros_topic_multi_property.hpp
   include/rviz_common/properties/status_list.hpp
   include/rviz_common/properties/status_property.hpp
   include/rviz_common/properties/string_property.hpp
@@ -183,6 +184,7 @@ set(rviz_common_source_files
   src/rviz_common/properties/property_tree_with_help.cpp
   src/rviz_common/properties/property.cpp
   src/rviz_common/properties/ros_topic_property.cpp
+  src/rviz_common/properties/ros_topic_multi_property.cpp
   src/rviz_common/properties/quaternion_property.cpp
   src/rviz_common/properties/qos_profile_property.cpp
   src/rviz_common/properties/regex_filter_property.cpp
diff --git a/rviz_common/include/rviz_common/properties/ros_topic_multi_property.hpp b/rviz_common/include/rviz_common/properties/ros_topic_multi_property.hpp
index e65365126..55a042523 100644
--- a/rviz_common/include/rviz_common/properties/ros_topic_multi_property.hpp
+++ b/rviz_common/include/rviz_common/properties/ros_topic_multi_property.hpp
@@ -31,7 +31,7 @@
 #define RVIZ_COMMON__PROPERTIES__ROS_TOPIC_MULTI_PROPERTY_HPP_
 
 #include <string>
-#include <unordered_set>
+#include <vector>
 
 #include "rviz_common/properties/ros_topic_property.hpp"
 #include "rviz_common/ros_integration/ros_node_abstraction_iface.hpp"
@@ -46,21 +46,30 @@ class RVIZ_COMMON_PUBLIC RosTopicMultiProperty : public RosTopicProperty
 {
   Q_OBJECT
 public:
+  explicit RosTopicMultiProperty(
+    const QString & name = QString(),
+    const QString & default_value = QString(),
+    const std::vector<QString> & message_types = std::vector<QString>(),
+    const QString & description = QString(),
+    Property * parent = nullptr,
+    const char * changed_slot = nullptr,
+    QObject * receiver = nullptr);
 
-  void setMessageTypes(const std::unordered_set<QString> & message_types);
+  void setMessageTypes(const std::vector<QString> & message_types);
 
-  std::unordered_set<QString> getMessageTypes() const
+  std::vector<QString> getMessageTypes() const
   {return message_types_;}
 
 protected Q_SLOTS:
   virtual void fillTopicList() override;
 
 private:
-  // hide the parent class methods which only take a single type
+  // Hide the parent class methods which only take a single type
   using RosTopicProperty::setMessageType;
   using RosTopicProperty::getMessageType;
 
-  std::unordered_set<QString> message_types_; // TODO is there a QT-friendly type?
+  // Instead of one message type, store a list of allowed types
+  std::vector<QString> message_types_;
 };
 
 }  // end namespace properties
diff --git a/rviz_common/src/rviz_common/properties/ros_topic_multi_property.cpp b/rviz_common/src/rviz_common/properties/ros_topic_multi_property.cpp
index 53cd5a673..c439dce11 100644
--- a/rviz_common/src/rviz_common/properties/ros_topic_multi_property.cpp
+++ b/rviz_common/src/rviz_common/properties/ros_topic_multi_property.cpp
@@ -30,6 +30,7 @@
 
 #include <map>
 #include <string>
+#include <algorithm>
 
 #include <QApplication>  // NOLINT: cpplint can't handle Qt imports
 
@@ -41,7 +42,19 @@ namespace rviz_common
 namespace properties
 {
 
-void RosTopicMultiProperty::setMessageTypes(const std::unordered_set<QString> & message_types)
+RosTopicMultiProperty::RosTopicMultiProperty(
+  const QString & name,
+  const QString & default_value,
+  const std::vector<QString> & message_types,
+  const QString & description,
+  Property * parent,
+  const char * changed_slot,
+  QObject * receiver)
+: RosTopicProperty(name, default_value, "", description, parent, changed_slot, receiver),
+  message_types_(message_types)
+{}
+
+void RosTopicMultiProperty::setMessageTypes(const std::vector<QString> & message_types)
 {
   message_types_ = message_types;
 }
@@ -57,9 +70,9 @@ void RosTopicMultiProperty::fillTopicList()
   for (const auto & topic : published_topics) {
     // Only add topics whose type matches.
     for (const auto & type : topic.second) {
-      if (message_types_.find(QString::fromStdString(type)) != message_types_.end()) {
+      if (std::find(message_types_.begin(), message_types_.end(), QString::fromStdString(type))
+      != message_types_.end())
         addOptionStd(topic.first);
-      }
     }
   }
   sortOptions();
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
index 4c4520d7b..c460c53f8 100644
--- 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
@@ -85,18 +85,13 @@ class RVIZ_DEFAULT_PLUGINS_PUBLIC ImageDisplay : public
   ImageDisplay();
   ~ImageDisplay() override;
 
-  // Overrides from Display
   void onInitialize() override;
   void update(float wall_dt, float ros_dt) override;
   void reset() override;
 
-  QString getTransport();
-  std::string getTransportStd();
 
 public Q_SLOTS:
   virtual void updateNormalizeOptions();
-  bool setTransport(const QString & str);
-  bool setTransportStd(const std::string & std_str);
 
 protected:
   // overrides from Display
@@ -111,16 +106,6 @@ public Q_SLOTS:
   void processMessage(sensor_msgs::msg::Image::ConstSharedPtr msg) override;
 
   image_transport::Subscriber subscription_;
-  rviz_common::properties::EnumProperty* image_transport_property_;
-  const std::unordered_map<QString, QString> transport_message_types_ =
-  {
-      {"raw",        QString::fromStdString(rosidl_generator_traits::name<sensor_msgs::msg::Image>())},
-      {"compressed", QString::fromStdString(rosidl_generator_traits::name<sensor_msgs::msg::CompressedImage>())},
-      /*{"theora",     QString::fromStdString(rosidl_generator_traits::name<theora_image_transport::msg::Packet>())}*/
-  };
-
-protected Q_SLOTS:
-  void updateTransport();
 
 private:
   void setupScreenRectangle();
diff --git a/rviz_default_plugins/src/rviz_default_plugins/displays/image/image_display.cpp b/rviz_default_plugins/src/rviz_default_plugins/displays/image/image_display.cpp
index 07e7fe2c5..9b0352d76 100644
--- a/rviz_default_plugins/src/rviz_default_plugins/displays/image/image_display.cpp
+++ b/rviz_default_plugins/src/rviz_default_plugins/displays/image/image_display.cpp
@@ -32,6 +32,8 @@
 #include <memory>
 #include <string>
 #include <utility>
+#include <algorithm>
+#include <vector>
 
 #include <OgreCamera.h>
 #include <OgreManualObject.h>
@@ -56,6 +58,7 @@
 #include "rviz_common/render_panel.hpp"
 #include "rviz_common/validate_floats.hpp"
 #include "rviz_common/uniform_string_stream.hpp"
+#include "rviz_common/properties/ros_topic_multi_property.hpp"
 #include "rviz_rendering/material_manager.hpp"
 #include "rviz_rendering/render_window.hpp"
 
@@ -64,6 +67,8 @@
 #include "rviz_default_plugins/displays/image/ros_image_texture_iface.hpp"
 #include "rviz_default_plugins/displays/image/get_transport_from_topic.hpp"
 
+#include <rviz_common/logging.hpp> // TODO remove when done
+
 namespace rviz_default_plugins
 {
 namespace displays
@@ -75,16 +80,17 @@ ImageDisplay::ImageDisplay()
 ImageDisplay::ImageDisplay(std::unique_ptr<ROSImageTextureIface> texture)
 : texture_(std::move(texture))
 {
+  delete this->topic_property_;
+  this->topic_property_ = new rviz_common::properties::RosTopicMultiProperty(
+    "Topic",
+    "",
+    std::vector<QString>(),
+    "Image transport topic to subscribe to.",
+    this,
+    SLOT(updateTopic()));
 
-  image_transport_property_ = new rviz_common::properties::EnumProperty(
-    "Image Transport Hint",
-    "raw",
-    "What type of image transport to use.",
-    topic_property_, SLOT(updateTransport()),
-    this);
-
-  for (const auto& [key, value] : transport_message_types_)
-    image_transport_property_->addOption(key);
+  delete this->qos_profile_property_;
+  this->qos_profile_property_ = new rviz_common::properties::QosProfileProperty(this->topic_property_, rclcpp::QoS(5));
 
   normalize_property_ = new rviz_common::properties::BoolProperty(
     "Normalize Range",
@@ -154,6 +160,45 @@ void ImageDisplay::subscribe(){
   if (!isEnabled()) {
     return;
   }
+
+  // TODO this should really be in onInitialize but setStatus does not work there
+  // Populate topic message types based on installed image_transport plugins
+  image_transport::ImageTransport image_transport_(rviz_ros_node_.lock()->get_raw_node());
+  std::vector<std::string> transports = image_transport_.getLoadableTransports();
+  std::vector<QString> message_types;
+  // Map to message types
+  const std::unordered_map<std::string, std::string> transport_message_types_ =
+  {
+      {"raw",             "sensor_msgs/msg/Image"},
+      {"compressed",      "sensor_msgs/msg/CompressedImage"},
+      {"compressedDepth", "sensor_msgs/msg/CompressedImage"},
+      {"theora",          "theora_image_transport/msg/Packet"},
+      {"zstd",            "sensor_msgs/msg/CompressedImage"},
+  };
+  std::string transports_str = "";
+  rviz_common::properties::StatusProperty::Level transports_status_level =
+    rviz_common::properties::StatusProperty::Ok;
+  for (std::string & transport : transports){
+    transport = transport.substr(transport.find_last_of('/') + 1);
+    try{
+      message_types.push_back(QString::fromStdString(transport_message_types_.at(transport)));
+      transports_str += transport + ", ";
+    }
+    catch (const std::out_of_range & e){
+      transports_status_level = rviz_common::properties::StatusProperty::Warn;
+      transports_str += "(unknown: " + transport + "), ";
+    }
+  }
+  setStatusStd(
+      transports_status_level,
+      "Image Transports",
+      transports_str);
+  // Remove duplicates
+  message_types.erase(std::unique(message_types.begin(), message_types.end() ), message_types.end());
+  // Update the message types to allow in the topic_property_
+  ((rviz_common::properties::RosTopicMultiProperty*)topic_property_)->setMessageTypes(message_types);
+
+  RVIZ_COMMON_LOG_INFO("subscribe");
   if (topic_property_->isEmpty()) {
     setStatus(
       rviz_common::properties::StatusProperty::Error, "Topic",
@@ -173,7 +218,10 @@ void ImageDisplay::subscribe(){
       (uint32_t)qos_profile.get_rmw_qos_profile().depth, // TODO try without cast
       &ImageDisplay::incomingMessage,
       this,
-      new image_transport::TransportHints(node.get(),getTransportStd(),"image_transport"));
+      new image_transport::TransportHints(
+        node.get(),
+        getTransportFromTopic(topic_property_->getStdString()),
+        "image_transport"));
 
     setStatus(rviz_common::properties::StatusProperty::Ok, "Topic", "OK");
   } catch (rclcpp::exceptions::InvalidTopicNameError & e) {
@@ -208,14 +256,6 @@ void ImageDisplay::updateNormalizeOptions()
   }
 }
 
-bool ImageDisplay::setTransport(const QString & str){
-  return image_transport_property_->setValue(str.toLower());
-}
-
-bool ImageDisplay::setTransportStd(const std::string & std_str){
-  return image_transport_property_->setValue(QString::fromStdString(std_str).toLower());
-}
-
 void ImageDisplay::clear()
 {
   texture_->clear();
@@ -258,14 +298,6 @@ void ImageDisplay::reset()
   clear();
 }
 
-QString ImageDisplay::getTransport(){
-  return image_transport_property_->getString();
-}
-
-std::string ImageDisplay::getTransportStd(){
-  return image_transport_property_->getStdString();
-}
-
 /* This is called by incomingMessage(). */
 void ImageDisplay::processMessage(sensor_msgs::msg::Image::ConstSharedPtr msg)
 {
@@ -281,16 +313,6 @@ void ImageDisplay::processMessage(sensor_msgs::msg::Image::ConstSharedPtr msg)
   texture_->addMessage(msg);
 }
 
-void ImageDisplay::updateTransport(){
-  topic_property_->setMessageType(
-    transport_message_types_.at(image_transport_property_->getString()));
-
-  // If topic does not match desired transport, clear it.
-  if (getTransportFromTopic(topic_property_->getStdString()) !=
-  image_transport_property_->getStdString())
-    topic_property_->setString("");
-}
-
 void ImageDisplay::setupScreenRectangle()
 {
   static int count = 0;

From f8bb97e255fbc119d8225b29f8749395869e80e0 Mon Sep 17 00:00:00 2001
From: Matthew Foran <mjforan@vt.edu>
Date: Fri, 11 Oct 2024 16:55:45 +0000
Subject: [PATCH 04/18] remove image transport plugins as dependency

---
 .devcontainer/Dockerfile                                      | 1 +
 rviz_default_plugins/CMakeLists.txt                           | 3 ---
 rviz_default_plugins/package.xml                              | 1 -
 .../src/rviz_default_plugins/displays/image/image_display.cpp | 4 +++-
 4 files changed, 4 insertions(+), 5 deletions(-)

diff --git a/.devcontainer/Dockerfile b/.devcontainer/Dockerfile
index 70f2c8bb6..2542b5667 100644
--- a/.devcontainer/Dockerfile
+++ b/.devcontainer/Dockerfile
@@ -20,5 +20,6 @@ RUN apt update && apt install -y \
         python3-pytest-timeout \
         ros-dev-tools
 WORKDIR /ros2_rolling
+ENV ROS_DISTRO="rolling"
 RUN mkdir src && vcs import --input https://raw.githubusercontent.com/ros2/ros2/rolling/ros2.repos src
 RUN apt upgrade -y && rosdep init && rosdep update && rosdep install --from-paths src --ignore-src -y --skip-keys "fastcdr rti-connext-dds-6.0.1 urdfdom_headers"
\ No newline at end of file
diff --git a/rviz_default_plugins/CMakeLists.txt b/rviz_default_plugins/CMakeLists.txt
index 09f775a9a..1bdc96b17 100644
--- a/rviz_default_plugins/CMakeLists.txt
+++ b/rviz_default_plugins/CMakeLists.txt
@@ -65,7 +65,6 @@ find_package(gz_math_vendor REQUIRED)
 find_package(gz-math REQUIRED)
 
 find_package(image_transport REQUIRED)
-find_package(image_transport_plugins REQUIRED)
 find_package(interactive_markers REQUIRED)
 find_package(laser_geometry REQUIRED)
 find_package(map_msgs REQUIRED)
@@ -247,7 +246,6 @@ target_include_directories(rviz_default_plugins PUBLIC
 target_link_libraries(rviz_default_plugins PUBLIC
   ${geometry_msgs_TARGETS}
   image_transport::image_transport
-  ${image_transport_plugins_TARGETS}
   interactive_markers::interactive_markers
   laser_geometry::laser_geometry
   ${map_msgs_TARGETS}
@@ -286,7 +284,6 @@ ament_export_targets(rviz_default_plugins HAS_LIBRARY_TARGET)
 ament_export_dependencies(
   geometry_msgs
   image_transport
-  image_transport_plugins
   interactive_markers
   laser_geometry
   map_msgs
diff --git a/rviz_default_plugins/package.xml b/rviz_default_plugins/package.xml
index 77d4047cd..f4fcf6444 100644
--- a/rviz_default_plugins/package.xml
+++ b/rviz_default_plugins/package.xml
@@ -40,7 +40,6 @@
   <depend>geometry_msgs</depend>
   <depend>gz_math_vendor</depend>
   <depend>image_transport</depend>
-  <depend>image_transport_plugins</depend>
   <depend>interactive_markers</depend>
   <depend>laser_geometry</depend>
   <depend>nav_msgs</depend>
diff --git a/rviz_default_plugins/src/rviz_default_plugins/displays/image/image_display.cpp b/rviz_default_plugins/src/rviz_default_plugins/displays/image/image_display.cpp
index 9b0352d76..1e97dd547 100644
--- a/rviz_default_plugins/src/rviz_default_plugins/displays/image/image_display.cpp
+++ b/rviz_default_plugins/src/rviz_default_plugins/displays/image/image_display.cpp
@@ -69,6 +69,9 @@
 
 #include <rviz_common/logging.hpp> // TODO remove when done
 
+// TODO This may have introduced a segfault upon closing the program, but it is infrequent.
+// It's possible this existed before my changes.
+
 namespace rviz_default_plugins
 {
 namespace displays
@@ -198,7 +201,6 @@ void ImageDisplay::subscribe(){
   // Update the message types to allow in the topic_property_
   ((rviz_common::properties::RosTopicMultiProperty*)topic_property_)->setMessageTypes(message_types);
 
-  RVIZ_COMMON_LOG_INFO("subscribe");
   if (topic_property_->isEmpty()) {
     setStatus(
       rviz_common::properties::StatusProperty::Error, "Topic",

From 5928cd9a46f15f5c08ca046b97aac4fd6ac529ec Mon Sep 17 00:00:00 2001
From: Matthew Foran <mjforan@vt.edu>
Date: Fri, 11 Oct 2024 16:59:57 +0000
Subject: [PATCH 05/18] segfault was not my fault

---
 .../rviz_default_plugins/displays/image/image_display.cpp    | 5 -----
 1 file changed, 5 deletions(-)

diff --git a/rviz_default_plugins/src/rviz_default_plugins/displays/image/image_display.cpp b/rviz_default_plugins/src/rviz_default_plugins/displays/image/image_display.cpp
index 1e97dd547..f74e43da0 100644
--- a/rviz_default_plugins/src/rviz_default_plugins/displays/image/image_display.cpp
+++ b/rviz_default_plugins/src/rviz_default_plugins/displays/image/image_display.cpp
@@ -67,11 +67,6 @@
 #include "rviz_default_plugins/displays/image/ros_image_texture_iface.hpp"
 #include "rviz_default_plugins/displays/image/get_transport_from_topic.hpp"
 
-#include <rviz_common/logging.hpp> // TODO remove when done
-
-// TODO This may have introduced a segfault upon closing the program, but it is infrequent.
-// It's possible this existed before my changes.
-
 namespace rviz_default_plugins
 {
 namespace displays

From fcdf0229499db130eadd1003a69f9983af26b730 Mon Sep 17 00:00:00 2001
From: Matthew Foran <mjforan@vt.edu>
Date: Tue, 15 Oct 2024 14:32:01 +0000
Subject: [PATCH 06/18] minor cleanup and comments

---
 .../properties/ros_topic_multi_property.hpp     | 10 ++++++++--
 .../properties/ros_topic_multi_property.cpp     | 17 -----------------
 .../displays/image/image_display.hpp            |  4 ----
 .../displays/image/image_display.cpp            |  2 ++
 4 files changed, 10 insertions(+), 23 deletions(-)

diff --git a/rviz_common/include/rviz_common/properties/ros_topic_multi_property.hpp b/rviz_common/include/rviz_common/properties/ros_topic_multi_property.hpp
index 55a042523..ae65879e3 100644
--- a/rviz_common/include/rviz_common/properties/ros_topic_multi_property.hpp
+++ b/rviz_common/include/rviz_common/properties/ros_topic_multi_property.hpp
@@ -42,6 +42,7 @@ namespace rviz_common
 namespace properties
 {
 
+// Like RosTopicProperty but can accept multiple message types
 class RVIZ_COMMON_PUBLIC RosTopicMultiProperty : public RosTopicProperty
 {
   Q_OBJECT
@@ -53,9 +54,14 @@ class RVIZ_COMMON_PUBLIC RosTopicMultiProperty : public RosTopicProperty
     const QString & description = QString(),
     Property * parent = nullptr,
     const char * changed_slot = nullptr,
-    QObject * receiver = nullptr);
+    QObject * receiver = nullptr):
+  RosTopicProperty(name, default_value, "", description, parent, changed_slot, receiver),
+  message_types_(message_types)
+  {}
+
+  void setMessageTypes(const std::vector<QString> & message_types)
+  {message_types_ = message_types;}
 
-  void setMessageTypes(const std::vector<QString> & message_types);
 
   std::vector<QString> getMessageTypes() const
   {return message_types_;}
diff --git a/rviz_common/src/rviz_common/properties/ros_topic_multi_property.cpp b/rviz_common/src/rviz_common/properties/ros_topic_multi_property.cpp
index c439dce11..506eb3519 100644
--- a/rviz_common/src/rviz_common/properties/ros_topic_multi_property.cpp
+++ b/rviz_common/src/rviz_common/properties/ros_topic_multi_property.cpp
@@ -42,23 +42,6 @@ namespace rviz_common
 namespace properties
 {
 
-RosTopicMultiProperty::RosTopicMultiProperty(
-  const QString & name,
-  const QString & default_value,
-  const std::vector<QString> & message_types,
-  const QString & description,
-  Property * parent,
-  const char * changed_slot,
-  QObject * receiver)
-: RosTopicProperty(name, default_value, "", description, parent, changed_slot, receiver),
-  message_types_(message_types)
-{}
-
-void RosTopicMultiProperty::setMessageTypes(const std::vector<QString> & message_types)
-{
-  message_types_ = message_types;
-}
-
 void RosTopicMultiProperty::fillTopicList()
 {
   QApplication::setOverrideCursor(QCursor(Qt::WaitCursor));
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
index c460c53f8..c8e8ef63c 100644
--- 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
@@ -55,8 +55,6 @@
 # include "rviz_default_plugins/displays/image/image_transport_display.hpp"
 
 # include <sensor_msgs/msg/image.hpp>
-# include <sensor_msgs/msg/compressed_image.hpp>
-//# include <theora_image_transport/msg/packet.hpp>
 #endif
 
 
@@ -89,12 +87,10 @@ class RVIZ_DEFAULT_PLUGINS_PUBLIC ImageDisplay : public
   void update(float wall_dt, float ros_dt) override;
   void reset() override;
 
-
 public Q_SLOTS:
   virtual void updateNormalizeOptions();
 
 protected:
-  // overrides from Display
   void onEnable() override;
   void onDisable() override;
   void subscribe() override;
diff --git a/rviz_default_plugins/src/rviz_default_plugins/displays/image/image_display.cpp b/rviz_default_plugins/src/rviz_default_plugins/displays/image/image_display.cpp
index f74e43da0..4a0041159 100644
--- a/rviz_default_plugins/src/rviz_default_plugins/displays/image/image_display.cpp
+++ b/rviz_default_plugins/src/rviz_default_plugins/displays/image/image_display.cpp
@@ -78,6 +78,8 @@ ImageDisplay::ImageDisplay()
 ImageDisplay::ImageDisplay(std::unique_ptr<ROSImageTextureIface> texture)
 : texture_(std::move(texture))
 {
+  // Remove the default single-type topic and replace with a multi-type topic property
+  // This allows us to display image and compressed image topics in the topic list
   delete this->topic_property_;
   this->topic_property_ = new rviz_common::properties::RosTopicMultiProperty(
     "Topic",

From ef95ae803d9d1412b1e3028ea6adbc8ad8e22c09 Mon Sep 17 00:00:00 2001
From: Matthew Foran <mjforan@vt.edu>
Date: Thu, 24 Oct 2024 14:09:08 +0000
Subject: [PATCH 07/18] code style

---
 .../properties/ros_topic_multi_property.hpp   |  29 ++--
 .../properties/ros_topic_property.hpp         |  35 ++---
 .../properties/ros_topic_multi_property.cpp   |  14 +-
 .../displays/image/image_display.hpp          |  49 +++----
 .../displays/image/image_display.cpp          | 133 +++++++-----------
 5 files changed, 107 insertions(+), 153 deletions(-)

diff --git a/rviz_common/include/rviz_common/properties/ros_topic_multi_property.hpp b/rviz_common/include/rviz_common/properties/ros_topic_multi_property.hpp
index ae65879e3..4572dac4c 100644
--- a/rviz_common/include/rviz_common/properties/ros_topic_multi_property.hpp
+++ b/rviz_common/include/rviz_common/properties/ros_topic_multi_property.hpp
@@ -46,33 +46,32 @@ namespace properties
 class RVIZ_COMMON_PUBLIC RosTopicMultiProperty : public RosTopicProperty
 {
   Q_OBJECT
+
 public:
   explicit RosTopicMultiProperty(
-    const QString & name = QString(),
-    const QString & default_value = QString(),
+    const QString & name = QString(), const QString & default_value = QString(),
     const std::vector<QString> & message_types = std::vector<QString>(),
-    const QString & description = QString(),
-    Property * parent = nullptr,
-    const char * changed_slot = nullptr,
-    QObject * receiver = nullptr):
-  RosTopicProperty(name, default_value, "", description, parent, changed_slot, receiver),
-  message_types_(message_types)
-  {}
+    const QString & description = QString(), Property * parent = nullptr,
+    const char * changed_slot = nullptr, QObject * receiver = nullptr)
+  : RosTopicProperty(name, default_value, "", description, parent, changed_slot, receiver),
+    message_types_(message_types)
+  {
+  }
 
   void setMessageTypes(const std::vector<QString> & message_types)
-  {message_types_ = message_types;}
-
+  {
+    message_types_ = message_types;
+  }
 
-  std::vector<QString> getMessageTypes() const
-  {return message_types_;}
+  std::vector<QString> getMessageTypes() const {return message_types_;}
 
 protected Q_SLOTS:
-  virtual void fillTopicList() override;
+  void fillTopicList() override;
 
 private:
   // Hide the parent class methods which only take a single type
-  using RosTopicProperty::setMessageType;
   using RosTopicProperty::getMessageType;
+  using RosTopicProperty::setMessageType;
 
   // Instead of one message type, store a list of allowed types
   std::vector<QString> message_types_;
diff --git a/rviz_common/include/rviz_common/properties/ros_topic_property.hpp b/rviz_common/include/rviz_common/properties/ros_topic_property.hpp
index b52b2fbce..5308ad5d1 100644
--- a/rviz_common/include/rviz_common/properties/ros_topic_property.hpp
+++ b/rviz_common/include/rviz_common/properties/ros_topic_property.hpp
@@ -49,29 +49,21 @@ class RVIZ_COMMON_PUBLIC RosTopicProperty : public EditableEnumProperty
 
 public:
   explicit RosTopicProperty(
-    const QString & name = QString(),
-    const QString & default_value = QString(),
-    const QString & message_type = QString(),
-    const QString & description = QString(),
-    Property * parent = nullptr,
-    const char * changed_slot = nullptr,
-    QObject * receiver = nullptr);
+    const QString & name = QString(), const QString & default_value = QString(),
+    const QString & message_type = QString(), const QString & description = QString(),
+    Property * parent = nullptr, const char * changed_slot = nullptr, QObject * receiver = nullptr);
 
   void initialize(ros_integration::RosNodeAbstractionIface::WeakPtr rviz_ros_node);
 
   void setMessageType(const QString & message_type);
 
-  QString getMessageType() const
-  {return message_type_;}
+  QString getMessageType() const {return message_type_;}
 
-  QString getTopic() const
-  {return getValue().toString();}
+  QString getTopic() const {return getValue().toString();}
 
-  std::string getTopicStd() const
-  {return getValue().toString().toStdString();}
+  std::string getTopicStd() const {return getValue().toString().toStdString();}
 
-  bool isEmpty() const
-  {return getTopicStd().empty();}
+  bool isEmpty() const {return getTopicStd().empty();}
 
 protected Q_SLOTS:
   virtual void fillTopicList();
@@ -81,20 +73,15 @@ protected Q_SLOTS:
   QString message_type_;
 };
 
-class RVIZ_COMMON_PUBLIC RosFilteredTopicProperty
-  : public rviz_common::properties::RosTopicProperty
+class RVIZ_COMMON_PUBLIC RosFilteredTopicProperty : public rviz_common::properties::RosTopicProperty
 {
   Q_OBJECT
 
 public:
   RosFilteredTopicProperty(
-    const QString & name = QString(),
-    const QString & default_value = QString(),
-    const QString & message_type = QString(),
-    const QString & description = QString(),
-    const QRegExp & filter = QRegExp(),
-    Property * parent = 0,
-    const char * changed_slot = 0,
+    const QString & name = QString(), const QString & default_value = QString(),
+    const QString & message_type = QString(), const QString & description = QString(),
+    const QRegExp & filter = QRegExp(), Property * parent = 0, const char * changed_slot = 0,
     QObject * receiver = 0);
 
   void enableFilter(bool enabled);
diff --git a/rviz_common/src/rviz_common/properties/ros_topic_multi_property.cpp b/rviz_common/src/rviz_common/properties/ros_topic_multi_property.cpp
index 506eb3519..3a722d963 100644
--- a/rviz_common/src/rviz_common/properties/ros_topic_multi_property.cpp
+++ b/rviz_common/src/rviz_common/properties/ros_topic_multi_property.cpp
@@ -27,14 +27,13 @@
 // ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 // POSSIBILITY OF SUCH DAMAGE.
 
+#include "rviz_common/properties/ros_topic_multi_property.hpp"
 
+#include <QApplication>  // NOLINT: cpplint can't handle Qt imports
+#include <algorithm>
 #include <map>
 #include <string>
-#include <algorithm>
 
-#include <QApplication>  // NOLINT: cpplint can't handle Qt imports
-
-#include "rviz_common/properties/ros_topic_multi_property.hpp"
 #include "rviz_common/ros_integration/ros_node_abstraction_iface.hpp"
 
 namespace rviz_common
@@ -53,9 +52,12 @@ void RosTopicMultiProperty::fillTopicList()
   for (const auto & topic : published_topics) {
     // Only add topics whose type matches.
     for (const auto & type : topic.second) {
-      if (std::find(message_types_.begin(), message_types_.end(), QString::fromStdString(type))
-      != message_types_.end())
+      if (
+        std::find(message_types_.begin(), message_types_.end(), QString::fromStdString(type)) !=
+        message_types_.end())
+      {
         addOptionStd(topic.first);
+      }
     }
   }
   sortOptions();
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
index c8e8ef63c..39e9b251f 100644
--- 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
@@ -29,40 +29,37 @@
 // 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__IMAGE_DISPLAY_HPP_
 #define RVIZ_DEFAULT_PLUGINS__DISPLAYS__IMAGE__IMAGE_DISPLAY_HPP_
 
 #ifndef Q_MOC_RUN  // See: https://bugreports.qt-project.org/browse/QTBUG-22829
-# include <memory>
-# include <string>
-
-# include <QObject>  // NOLINT cpplint cannot handle include order here
-
-# include <OgreMaterial.h>
-# include <OgreRenderTargetListener.h>
-# include <OgreSharedPtr.h>
-
-# include "rviz_common/message_filter_display.hpp"
-# include "rviz_common/render_panel.hpp"
-# include "rviz_common/properties/bool_property.hpp"
-# include "rviz_common/properties/float_property.hpp"
-# include "rviz_common/properties/int_property.hpp"
-# include "rviz_common/properties/enum_property.hpp"
-
-# 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"
-
-# include <sensor_msgs/msg/image.hpp>
+#include <OgreMaterial.h>
+#include <OgreRenderTargetListener.h>
+#include <OgreSharedPtr.h>
+
+#include <QObject>  // NOLINT cpplint cannot handle include order here
+
+#include <memory>
+#include <string>
+
+#include <sensor_msgs/msg/image.hpp>
+
+#include "rviz_common/message_filter_display.hpp"
+#include "rviz_common/properties/bool_property.hpp"
+#include "rviz_common/properties/enum_property.hpp"
+#include "rviz_common/properties/float_property.hpp"
+#include "rviz_common/properties/int_property.hpp"
+#include "rviz_common/render_panel.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"
 #endif
 
-
 namespace Ogre
 {
 class SceneNode;
 class Rectangle2D;
-}
+}  // namespace Ogre
 
 namespace rviz_default_plugins
 {
@@ -73,8 +70,8 @@ namespace displays
  * \class ImageDisplay
  *
  */
-class RVIZ_DEFAULT_PLUGINS_PUBLIC ImageDisplay : public
-  rviz_default_plugins::displays::ImageTransportDisplay<sensor_msgs::msg::Image>
+class RVIZ_DEFAULT_PLUGINS_PUBLIC ImageDisplay
+  : public rviz_default_plugins::displays::ImageTransportDisplay<sensor_msgs::msg::Image>
 {
   Q_OBJECT
 
diff --git a/rviz_default_plugins/src/rviz_default_plugins/displays/image/image_display.cpp b/rviz_default_plugins/src/rviz_default_plugins/displays/image/image_display.cpp
index 4a0041159..786f10ca5 100644
--- a/rviz_default_plugins/src/rviz_default_plugins/displays/image/image_display.cpp
+++ b/rviz_default_plugins/src/rviz_default_plugins/displays/image/image_display.cpp
@@ -28,12 +28,7 @@
 // ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 // POSSIBILITY OF SUCH DAMAGE.
 
-
-#include <memory>
-#include <string>
-#include <utility>
-#include <algorithm>
-#include <vector>
+#include "rviz_default_plugins/displays/image/image_display.hpp"
 
 #include <OgreCamera.h>
 #include <OgreManualObject.h>
@@ -49,23 +44,26 @@
 
 #include <QString>  // NOLINT: cpplint is unable to handle the include order here
 
-#include "sensor_msgs/image_encodings.hpp"
+#include <algorithm>
+#include <memory>
+#include <string>
+#include <utility>
+#include <vector>
+
 #include "image_transport/image_transport.hpp"
 #include "image_transport/subscriber.hpp"
-
 #include "rviz_common/display_context.hpp"
 #include "rviz_common/frame_manager_iface.hpp"
+#include "rviz_common/properties/ros_topic_multi_property.hpp"
 #include "rviz_common/render_panel.hpp"
-#include "rviz_common/validate_floats.hpp"
 #include "rviz_common/uniform_string_stream.hpp"
-#include "rviz_common/properties/ros_topic_multi_property.hpp"
-#include "rviz_rendering/material_manager.hpp"
-#include "rviz_rendering/render_window.hpp"
-
+#include "rviz_common/validate_floats.hpp"
+#include "rviz_default_plugins/displays/image/get_transport_from_topic.hpp"
 #include "rviz_default_plugins/displays/image/ros_image_texture.hpp"
-#include "rviz_default_plugins/displays/image/image_display.hpp"
 #include "rviz_default_plugins/displays/image/ros_image_texture_iface.hpp"
-#include "rviz_default_plugins/displays/image/get_transport_from_topic.hpp"
+#include "rviz_rendering/material_manager.hpp"
+#include "rviz_rendering/render_window.hpp"
+#include "sensor_msgs/image_encodings.hpp"
 
 namespace rviz_default_plugins
 {
@@ -82,42 +80,28 @@ ImageDisplay::ImageDisplay(std::unique_ptr<ROSImageTextureIface> texture)
   // This allows us to display image and compressed image topics in the topic list
   delete this->topic_property_;
   this->topic_property_ = new rviz_common::properties::RosTopicMultiProperty(
-    "Topic",
-    "",
-    std::vector<QString>(),
-    "Image transport topic to subscribe to.",
-    this,
+    "Topic", "", std::vector<QString>(), "Image transport topic to subscribe to.", this,
     SLOT(updateTopic()));
 
   delete this->qos_profile_property_;
-  this->qos_profile_property_ = new rviz_common::properties::QosProfileProperty(this->topic_property_, rclcpp::QoS(5));
+  this->qos_profile_property_ =
+    new rviz_common::properties::QosProfileProperty(this->topic_property_, rclcpp::QoS(5));
 
   normalize_property_ = new rviz_common::properties::BoolProperty(
-    "Normalize Range",
-    true,
+    "Normalize Range", true,
     "If set to true, will try to estimate the range of possible values from the received images.",
-    this,
-    SLOT(updateNormalizeOptions()));
+    this, SLOT(updateNormalizeOptions()));
 
   min_property_ = new rviz_common::properties::FloatProperty(
-    "Min Value",
-    0.0,
-    "Value which will be displayed as black.",
-    this,
+    "Min Value", 0.0, "Value which will be displayed as black.", this,
     SLOT(updateNormalizeOptions()));
 
   max_property_ = new rviz_common::properties::FloatProperty(
-    "Max Value",
-    1.0,
-    "Value which will be displayed as white.",
-    this,
+    "Max Value", 1.0, "Value which will be displayed as white.", this,
     SLOT(updateNormalizeOptions()));
 
   median_buffer_size_property_ = new rviz_common::properties::IntProperty(
-    "Median window",
-    5,
-    "Window size for median filter used for computing min/max.",
-    this,
+    "Median window", 5, "Window size for median filter used for computing min/max.", this,
     SLOT(updateNormalizeOptions()));
 
   got_float_image_ = false;
@@ -133,17 +117,12 @@ void ImageDisplay::onInitialize()
   setupRenderPanel();
 
   render_panel_->getRenderWindow()->setupSceneAfterInit(
-    [this](Ogre::SceneNode * scene_node) {
-      scene_node->attachObject(screen_rect_.get());
-    });
+    [this](Ogre::SceneNode * scene_node) {scene_node->attachObject(screen_rect_.get());});
 }
 
 ImageDisplay::~ImageDisplay() = default;
 
-void ImageDisplay::onEnable()
-{
-  subscribe();
-}
+void ImageDisplay::onEnable() {subscribe();}
 
 void ImageDisplay::onDisable()
 {
@@ -152,51 +131,49 @@ void ImageDisplay::onDisable()
 }
 
 // Need a signature with pass by reference for image_transport_.subscribe
-void ImageDisplay::incomingMessage(const sensor_msgs::msg::Image::ConstSharedPtr & img_msg){
+void ImageDisplay::incomingMessage(const sensor_msgs::msg::Image::ConstSharedPtr & img_msg)
+{
   ImageTransportDisplay<sensor_msgs::msg::Image>::incomingMessage(img_msg);
 }
 
-void ImageDisplay::subscribe(){
+void ImageDisplay::subscribe()
+{
   if (!isEnabled()) {
     return;
   }
 
-  // TODO this should really be in onInitialize but setStatus does not work there
+  // TODO(mjforan) this should really be in onInitialize but setStatus does not work there
   // Populate topic message types based on installed image_transport plugins
   image_transport::ImageTransport image_transport_(rviz_ros_node_.lock()->get_raw_node());
   std::vector<std::string> transports = image_transport_.getLoadableTransports();
   std::vector<QString> message_types;
   // Map to message types
-  const std::unordered_map<std::string, std::string> transport_message_types_ =
-  {
-      {"raw",             "sensor_msgs/msg/Image"},
-      {"compressed",      "sensor_msgs/msg/CompressedImage"},
-      {"compressedDepth", "sensor_msgs/msg/CompressedImage"},
-      {"theora",          "theora_image_transport/msg/Packet"},
-      {"zstd",            "sensor_msgs/msg/CompressedImage"},
+  const std::unordered_map<std::string, std::string> transport_message_types_ = {
+    {"raw", "sensor_msgs/msg/Image"},
+    {"compressed", "sensor_msgs/msg/CompressedImage"},
+    {"compressedDepth", "sensor_msgs/msg/CompressedImage"},
+    {"theora", "theora_image_transport/msg/Packet"},
+    {"zstd", "sensor_msgs/msg/CompressedImage"},
   };
   std::string transports_str = "";
   rviz_common::properties::StatusProperty::Level transports_status_level =
     rviz_common::properties::StatusProperty::Ok;
-  for (std::string & transport : transports){
+  for (std::string & transport : transports) {
     transport = transport.substr(transport.find_last_of('/') + 1);
-    try{
+    try {
       message_types.push_back(QString::fromStdString(transport_message_types_.at(transport)));
       transports_str += transport + ", ";
-    }
-    catch (const std::out_of_range & e){
+    } catch (const std::out_of_range & e) {
       transports_status_level = rviz_common::properties::StatusProperty::Warn;
       transports_str += "(unknown: " + transport + "), ";
     }
   }
-  setStatusStd(
-      transports_status_level,
-      "Image Transports",
-      transports_str);
+  setStatusStd(transports_status_level, "Image Transports", transports_str);
   // Remove duplicates
-  message_types.erase(std::unique(message_types.begin(), message_types.end() ), message_types.end());
+  message_types.erase(std::unique(message_types.begin(), message_types.end()), message_types.end());
   // Update the message types to allow in the topic_property_
-  ((rviz_common::properties::RosTopicMultiProperty*)topic_property_)->setMessageTypes(message_types);
+  ((rviz_common::properties::RosTopicMultiProperty *)topic_property_)
+  ->setMessageTypes(message_types);
 
   if (topic_property_->isEmpty()) {
     setStatus(
@@ -214,13 +191,10 @@ void ImageDisplay::subscribe(){
     // are automatically converted.
     subscription_ = image_transport_.subscribe(
       rviz_default_plugins::displays::getBaseTopicFromTopic(topic_property_->getTopicStd()),
-      (uint32_t)qos_profile.get_rmw_qos_profile().depth, // TODO try without cast
-      &ImageDisplay::incomingMessage,
-      this,
+      (uint32_t)qos_profile.get_rmw_qos_profile().depth,  // TODO(mjforan) try without cast
+      &ImageDisplay::incomingMessage, this,
       new image_transport::TransportHints(
-        node.get(),
-        getTransportFromTopic(topic_property_->getStdString()),
-        "image_transport"));
+        node.get(), getTransportFromTopic(topic_property_->getStdString()), "image_transport"));
 
     setStatus(rviz_common::properties::StatusProperty::Ok, "Topic", "OK");
   } catch (rclcpp::exceptions::InvalidTopicNameError & e) {
@@ -230,9 +204,7 @@ void ImageDisplay::subscribe(){
   }
 }
 
-void ImageDisplay::unsubscribe(){
-  subscription_.shutdown();
-}
+void ImageDisplay::unsubscribe() {subscription_.shutdown();}
 
 void ImageDisplay::updateNormalizeOptions()
 {
@@ -255,15 +227,12 @@ void ImageDisplay::updateNormalizeOptions()
   }
 }
 
-void ImageDisplay::clear()
-{
-  texture_->clear();
-}
+void ImageDisplay::clear() {texture_->clear();}
 
 void ImageDisplay::update(float wall_dt, float ros_dt)
 {
-  (void) wall_dt;
-  (void) ros_dt;
+  (void)wall_dt;
+  (void)ros_dt;
   try {
     texture_->update();
 
@@ -300,7 +269,8 @@ void ImageDisplay::reset()
 /* This is called by incomingMessage(). */
 void ImageDisplay::processMessage(sensor_msgs::msg::Image::ConstSharedPtr msg)
 {
-  bool got_float_image = msg->encoding == sensor_msgs::image_encodings::TYPE_32FC1 ||
+  bool got_float_image =
+    msg->encoding == sensor_msgs::image_encodings::TYPE_32FC1 ||
     msg->encoding == sensor_msgs::image_encodings::TYPE_16UC1 ||
     msg->encoding == sensor_msgs::image_encodings::TYPE_16SC1 ||
     msg->encoding == sensor_msgs::image_encodings::MONO16;
@@ -328,8 +298,7 @@ void ImageDisplay::setupScreenRectangle()
   material_->setDepthWriteEnabled(false);
   material_->setDepthCheckEnabled(false);
 
-  Ogre::TextureUnitState * tu =
-    material_->getTechnique(0)->getPass(0)->createTextureUnitState();
+  Ogre::TextureUnitState * tu = material_->getTechnique(0)->getPass(0)->createTextureUnitState();
   tu->setTextureName(texture_->getName());
   tu->setTextureFiltering(Ogre::TFO_NONE);
   tu->setTextureAddressingMode(Ogre::TextureUnitState::TAM_CLAMP);

From 0becd68ee895e008907531676afdac6f727d4e17 Mon Sep 17 00:00:00 2001
From: Matthew Foran <mjforan@vt.edu>
Date: Thu, 24 Oct 2024 15:02:04 +0000
Subject: [PATCH 08/18] add other image types

---
 rviz_default_plugins/plugins_description.xml | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/rviz_default_plugins/plugins_description.xml b/rviz_default_plugins/plugins_description.xml
index 0b5039577..d87244bb0 100644
--- a/rviz_default_plugins/plugins_description.xml
+++ b/rviz_default_plugins/plugins_description.xml
@@ -120,6 +120,8 @@
       The Image display creates a new rendering window with an image.
     </description>
     <message_type>sensor_msgs/msg/Image</message_type>
+    <message_type>sensor_msgs/msg/CompressedImage</message_type>
+    <message_type>theora_image_transport/msg/Packet</message_type>
   </class>
 
   <class

From 64d0ef4d722a9958f3c78382252657a8f01601d4 Mon Sep 17 00:00:00 2001
From: Matthew Foran <mjforan@vt.edu>
Date: Thu, 24 Oct 2024 11:04:43 -0400
Subject: [PATCH 09/18] remove docker stuff

---
 .devcontainer/Dockerfile        | 25 -------------------------
 .devcontainer/devcontainer.json | 32 --------------------------------
 2 files changed, 57 deletions(-)
 delete mode 100644 .devcontainer/Dockerfile
 delete mode 100644 .devcontainer/devcontainer.json

diff --git a/.devcontainer/Dockerfile b/.devcontainer/Dockerfile
deleted file mode 100644
index 2542b5667..000000000
--- a/.devcontainer/Dockerfile
+++ /dev/null
@@ -1,25 +0,0 @@
-FROM ubuntu:noble
-ENV DEBIAN_FRONTEND=noninteractive
-RUN apt update && apt install -y locales && locale-gen en_US en_US.UTF-8 && update-locale LC_ALL=en_US.UTF-8 LANG=en_US.UTF-8
-ENV LANG=en_US.UTF-8
-RUN apt install -y software-properties-common && add-apt-repository universe
-RUN apt update && apt install -y curl && curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg
-RUN echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(. /etc/os-release && echo $UBUNTU_CODENAME) main" > /etc/apt/sources.list.d/ros2.list
-RUN apt update && apt install -y \
-        python3-flake8-blind-except \
-        python3-flake8-class-newline \
-        python3-flake8-deprecated \
-        python3-mypy \
-        python3-pip \
-        python3-pytest \
-        python3-pytest-cov \
-        python3-pytest-mock \
-        python3-pytest-repeat \
-        python3-pytest-rerunfailures \
-        python3-pytest-runner \
-        python3-pytest-timeout \
-        ros-dev-tools
-WORKDIR /ros2_rolling
-ENV ROS_DISTRO="rolling"
-RUN mkdir src && vcs import --input https://raw.githubusercontent.com/ros2/ros2/rolling/ros2.repos src
-RUN apt upgrade -y && rosdep init && rosdep update && rosdep install --from-paths src --ignore-src -y --skip-keys "fastcdr rti-connext-dds-6.0.1 urdfdom_headers"
\ No newline at end of file
diff --git a/.devcontainer/devcontainer.json b/.devcontainer/devcontainer.json
deleted file mode 100644
index a6e77dd6f..000000000
--- a/.devcontainer/devcontainer.json
+++ /dev/null
@@ -1,32 +0,0 @@
-// For format details, see https://aka.ms/devcontainer.json. For config options, see the
-// README at: https://github.com/devcontainers/templates/tree/main/src/docker-existing-dockerfile
-{
-	"name": "rviz_rolling",
-	"build": {
-		// Sets the run context to one level up instead of the .devcontainer folder.
-		// Update the 'dockerFile' property if you aren't using the standard 'Dockerfile' filename.
-		"dockerfile": "Dockerfile"
-	},
-
-	// Features to add to the dev container. More info: https://containers.dev/features.
-	// "features": {},
-
-	// Use 'forwardPorts' to make a list of ports inside the container available locally.
-	// "forwardPorts": [],
-
-	// Uncomment the next line to run commands after the container is created.
-	// "postCreateCommand": "cat /etc/os-release",
-
-	// Configure tool-specific properties.
-	// "customizations": {}
-
-
-	// Uncomment to connect as an existing user other than the container default. More info: https://aka.ms/dev-containers-non-root.
-	// "remoteUser": "devcontainer"
-	"workspaceMount": "source=${localWorkspaceFolder},target=/ros2_rolling/src/ros2/rviz,type=bind",
-	"workspaceFolder": "/ros2_rolling/src/ros2/rviz",
-	//"overrideCommand": false
-	"runArgs": [
-		"--network=host"
-	]
-}

From b658026866e5d8355f5a6f0727fb31c9ab1abd04 Mon Sep 17 00:00:00 2001
From: Matthew Foran <mjforan@vt.edu>
Date: Thu, 24 Oct 2024 11:08:56 -0400
Subject: [PATCH 10/18] update README

---
 README.md | 58 +++++++++++++++++++++++++++----------------------------
 1 file changed, 29 insertions(+), 29 deletions(-)

diff --git a/README.md b/README.md
index 4367f51ed..63b2ff7d3 100644
--- a/README.md
+++ b/README.md
@@ -12,35 +12,35 @@ These features have already been ported from `ros-visualization/rviz` to `ros2/r
 The basic documentation can still be found on the RViz [wiki page](http://www.ros.org/wiki/rviz).
 For some displays, the [documentation is updated](docs/FEATURES.md).
 
-| Displays              | Tools         | View Controller       | Panels          |
-| --------------------- | ------------- | --------------------- | --------------- |
-| Axes                  | Move Camera   | Orbit                 | Displays        |
-| Camera                | Focus Camera  | XY Orbit              | Help            |
-| DepthCloud            | Measure       | First Person          | Selections      |
-| Effort                | Select        | Third Person Follower | Time            |
-| Fluid                 | 2D Nav Goal   | Top Down Orthographic | Tool Properties |
-| Grid                  | Publish Point |                       | Views           |
-| Grid Cells            | Initial Pose  |
-| Illuminance           | Interact      |
-| Image                 |
-| Interactive Marker    |
-| Laser Scan            |
-| Map                   |
-| Marker                |
-| Marker Array          |
-| Odometry              |
-| Point Cloud (1 and 2) |
-| Point                 |
-| Polygon               |
-| Pose                  |
-| Pose Array            |
-| Pose With Covariance  |
-| Range                 |
-| Relative Humidity     |
-| Robot Model           |
-| Temperature           |
-| TF                    |
-| Wrench                |
+| Displays                            | Tools         | View Controller       | Panels          |
+| ----------------------------------- | ------------- | --------------------- | --------------- |
+| Axes                                | Move Camera   | Orbit                 | Displays        |
+| Camera                              | Focus Camera  | XY Orbit              | Help            |
+| DepthCloud                          | Measure       | First Person          | Selections      |
+| Effort                              | Select        | Third Person Follower | Time            |
+| Fluid                               | 2D Nav Goal   | Top Down Orthographic | Tool Properties |
+| Grid                                | Publish Point |                       | Views           |
+| Grid Cells                          | Initial Pose  |
+| Illuminance                         | Interact      |
+| Image (and `image_transport` types) |
+| Interactive Marker                  |
+| Laser Scan                          |
+| Map                                 |
+| Marker                              |
+| Marker Array                        |
+| Odometry                            |
+| Point Cloud (1 and 2)               |
+| Point                               |
+| Polygon                             |
+| Pose                                |
+| Pose Array                          |
+| Pose With Covariance                |
+| Range                               |
+| Relative Humidity                   |
+| Robot Model                         |
+| Temperature                         |
+| TF                                  |
+| Wrench                              |
 
 
 ### Not yet ported

From 5d7eebc7f5811a9e892e042f70d369f782499bf7 Mon Sep 17 00:00:00 2001
From: Matthew Foran <mjforan@vt.edu>
Date: Thu, 24 Oct 2024 11:17:09 -0400
Subject: [PATCH 11/18] remove unnecessary cast

---
 .../src/rviz_default_plugins/displays/image/image_display.cpp   | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/rviz_default_plugins/src/rviz_default_plugins/displays/image/image_display.cpp b/rviz_default_plugins/src/rviz_default_plugins/displays/image/image_display.cpp
index 786f10ca5..8f819e5a0 100644
--- a/rviz_default_plugins/src/rviz_default_plugins/displays/image/image_display.cpp
+++ b/rviz_default_plugins/src/rviz_default_plugins/displays/image/image_display.cpp
@@ -191,7 +191,7 @@ void ImageDisplay::subscribe()
     // are automatically converted.
     subscription_ = image_transport_.subscribe(
       rviz_default_plugins::displays::getBaseTopicFromTopic(topic_property_->getTopicStd()),
-      (uint32_t)qos_profile.get_rmw_qos_profile().depth,  // TODO(mjforan) try without cast
+      qos_profile.get_rmw_qos_profile().depth,
       &ImageDisplay::incomingMessage, this,
       new image_transport::TransportHints(
         node.get(), getTransportFromTopic(topic_property_->getStdString()), "image_transport"));

From 752fa4357e62084a73007b086c71e6783e9ae832 Mon Sep 17 00:00:00 2001
From: Matthew Foran <mjforan@vt.edu>
Date: Thu, 7 Nov 2024 15:56:06 +0000
Subject: [PATCH 12/18] property to override transport,  make sure transport is
 installed before subscribing

---
 .../displays/image/image_display.hpp          |  6 ++-
 .../displays/image/image_display.cpp          | 46 ++++++++++++++++---
 2 files changed, 45 insertions(+), 7 deletions(-)

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
index 39e9b251f..3cc7d2ad0 100644
--- 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
@@ -87,10 +87,13 @@ class RVIZ_DEFAULT_PLUGINS_PUBLIC ImageDisplay
 public Q_SLOTS:
   virtual void updateNormalizeOptions();
 
+protected Q_SLOTS:
+  void updateTopic() override;
+  void subscribe() override;
+
 protected:
   void onEnable() override;
   void onDisable() override;
-  void subscribe() override;
   void unsubscribe() override;
 
   void incomingMessage(const sensor_msgs::msg::Image::ConstSharedPtr & img_msg);
@@ -113,6 +116,7 @@ public Q_SLOTS:
 
   std::unique_ptr<rviz_common::RenderPanel> render_panel_;
 
+  rviz_common::properties::EnumProperty * transport_override_property_;
   rviz_common::properties::BoolProperty * normalize_property_;
   rviz_common::properties::FloatProperty * min_property_;
   rviz_common::properties::FloatProperty * max_property_;
diff --git a/rviz_default_plugins/src/rviz_default_plugins/displays/image/image_display.cpp b/rviz_default_plugins/src/rviz_default_plugins/displays/image/image_display.cpp
index 8f819e5a0..7849bc212 100644
--- a/rviz_default_plugins/src/rviz_default_plugins/displays/image/image_display.cpp
+++ b/rviz_default_plugins/src/rviz_default_plugins/displays/image/image_display.cpp
@@ -87,6 +87,12 @@ ImageDisplay::ImageDisplay(std::unique_ptr<ROSImageTextureIface> texture)
   this->qos_profile_property_ =
     new rviz_common::properties::QosProfileProperty(this->topic_property_, rclcpp::QoS(5));
 
+  transport_override_property_ = new rviz_common::properties::EnumProperty(
+    "Transport Override", "", "By default this display uses the topic name to determine the" +
+    " image_transport type. If this is not possible, use this field to manually set the transport.",
+    this->topic_property_, SLOT(subscribe()), this
+  );
+
   normalize_property_ = new rviz_common::properties::BoolProperty(
     "Normalize Range", true,
     "If set to true, will try to estimate the range of possible values from the received images.",
@@ -136,16 +142,16 @@ void ImageDisplay::incomingMessage(const sensor_msgs::msg::Image::ConstSharedPtr
   ImageTransportDisplay<sensor_msgs::msg::Image>::incomingMessage(img_msg);
 }
 
-void ImageDisplay::subscribe()
+void ImageDisplay::updateTopic()
 {
   if (!isEnabled()) {
     return;
   }
+  transport_override_property_->setStdString("");
 
-  // TODO(mjforan) this should really be in onInitialize but setStatus does not work there
   // Populate topic message types based on installed image_transport plugins
   image_transport::ImageTransport image_transport_(rviz_ros_node_.lock()->get_raw_node());
-  std::vector<std::string> transports = image_transport_.getLoadableTransports();
+  std::vector<std::string> loadable_transports = image_transport_.getLoadableTransports();
   std::vector<QString> message_types;
   // Map to message types
   const std::unordered_map<std::string, std::string> transport_message_types_ = {
@@ -158,10 +164,13 @@ void ImageDisplay::subscribe()
   std::string transports_str = "";
   rviz_common::properties::StatusProperty::Level transports_status_level =
     rviz_common::properties::StatusProperty::Ok;
-  for (std::string & transport : transports) {
+  // Populate topic message types and transport override options
+  transport_override_property_->addOptionStd("");
+  for (std::string & transport : loadable_transports) {
     transport = transport.substr(transport.find_last_of('/') + 1);
     try {
       message_types.push_back(QString::fromStdString(transport_message_types_.at(transport)));
+      transport_override_property_->addOptionStd(transport);
       transports_str += transport + ", ";
     } catch (const std::out_of_range & e) {
       transports_status_level = rviz_common::properties::StatusProperty::Warn;
@@ -175,13 +184,21 @@ void ImageDisplay::subscribe()
   ((rviz_common::properties::RosTopicMultiProperty *)topic_property_)
   ->setMessageTypes(message_types);
 
+  rviz_default_plugins::displays::ImageTransportDisplay<sensor_msgs::msg::Image>::updateTopic();
+}
+
+void ImageDisplay::subscribe()
+{
+  if (!isEnabled()) {
+    return;
+  }
+
   if (topic_property_->isEmpty()) {
     setStatus(
       rviz_common::properties::StatusProperty::Error, "Topic",
       QString("Error subscribing: Empty topic name"));
     return;
   }
-
   try {
     rclcpp::Node::SharedPtr node = rviz_ros_node_.lock()->get_raw_node();
     image_transport::ImageTransport image_transport_(node);
@@ -189,12 +206,29 @@ void ImageDisplay::subscribe()
     // image_transport::SubscriberFilter, which requires a different callback for each transport
     // type. image_transport::Subscriber only requires one callback for "raw" and the other types
     // are automatically converted.
+    std::vector<std::string> transports = image_transport_.getLoadableTransports();
+    // Strip down to basic transport names
+    for (std::string & transport : transports) {
+      transport = transport.substr(transport.find_last_of('/') + 1);
+    }
+    // Use override property for transport hint if set, otherwise deduce from topic name
+    std::string transport_hint = transport_override_property_->getStdString();
+    if (transport_hint.empty()) {
+      transport_hint = getTransportFromTopic(topic_property_->getStdString());
+    }
+    // Check if the specified transport is in the list of loadable transports
+    if (std::find(transports.begin(), transports.end(), transport_hint) == transports.end()) {
+      setStatus(
+      rviz_common::properties::StatusProperty::Error, "Topic",
+      QString("Error subscribing: Specified image transport is not installed"));
+      return;
+    }
     subscription_ = image_transport_.subscribe(
       rviz_default_plugins::displays::getBaseTopicFromTopic(topic_property_->getTopicStd()),
       qos_profile.get_rmw_qos_profile().depth,
       &ImageDisplay::incomingMessage, this,
       new image_transport::TransportHints(
-        node.get(), getTransportFromTopic(topic_property_->getStdString()), "image_transport"));
+        node.get(), transport_hint, "image_transport"));
 
     setStatus(rviz_common::properties::StatusProperty::Ok, "Topic", "OK");
   } catch (rclcpp::exceptions::InvalidTopicNameError & e) {

From b1638dcc605fc6236990a3a025fa5f2f88156270 Mon Sep 17 00:00:00 2001
From: Matthew Foran <mjforan@vt.edu>
Date: Thu, 7 Nov 2024 18:12:59 +0000
Subject: [PATCH 13/18] fix build server compilation error

---
 .../rviz_default_plugins/displays/image/image_display.cpp    | 5 +++--
 1 file changed, 3 insertions(+), 2 deletions(-)

diff --git a/rviz_default_plugins/src/rviz_default_plugins/displays/image/image_display.cpp b/rviz_default_plugins/src/rviz_default_plugins/displays/image/image_display.cpp
index 7849bc212..0c2931f76 100644
--- a/rviz_default_plugins/src/rviz_default_plugins/displays/image/image_display.cpp
+++ b/rviz_default_plugins/src/rviz_default_plugins/displays/image/image_display.cpp
@@ -88,8 +88,9 @@ ImageDisplay::ImageDisplay(std::unique_ptr<ROSImageTextureIface> texture)
     new rviz_common::properties::QosProfileProperty(this->topic_property_, rclcpp::QoS(5));
 
   transport_override_property_ = new rviz_common::properties::EnumProperty(
-    "Transport Override", "", "By default this display uses the topic name to determine the" +
-    " image_transport type. If this is not possible, use this field to manually set the transport.",
+    "Transport Override", "", QString("By default this display uses the topic name to ") +
+    QString("determine the image_transport type. If this is not possible, use this ") +
+    QString("field to manually set the transport."),
     this->topic_property_, SLOT(subscribe()), this
   );
 

From 7063d9f81d444bade9bd4f191a70015d3999f65f Mon Sep 17 00:00:00 2001
From: Matthew Foran <mjforan@vt.edu>
Date: Fri, 8 Nov 2024 14:36:06 +0000
Subject: [PATCH 14/18] fix duplicate transport override items

---
 .../properties/ros_topic_multi_property.hpp   |  2 +
 .../displays/image/image_display.hpp          |  1 -
 .../displays/image/image_display.cpp          | 48 ++++++++-----------
 3 files changed, 21 insertions(+), 30 deletions(-)

diff --git a/rviz_common/include/rviz_common/properties/ros_topic_multi_property.hpp b/rviz_common/include/rviz_common/properties/ros_topic_multi_property.hpp
index 4572dac4c..df4f248a8 100644
--- a/rviz_common/include/rviz_common/properties/ros_topic_multi_property.hpp
+++ b/rviz_common/include/rviz_common/properties/ros_topic_multi_property.hpp
@@ -30,6 +30,8 @@
 #ifndef RVIZ_COMMON__PROPERTIES__ROS_TOPIC_MULTI_PROPERTY_HPP_
 #define RVIZ_COMMON__PROPERTIES__ROS_TOPIC_MULTI_PROPERTY_HPP_
 
+#include <QString>
+
 #include <string>
 #include <vector>
 
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
index 3cc7d2ad0..f1deaf2d8 100644
--- 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
@@ -88,7 +88,6 @@ public Q_SLOTS:
   virtual void updateNormalizeOptions();
 
 protected Q_SLOTS:
-  void updateTopic() override;
   void subscribe() override;
 
 protected:
diff --git a/rviz_default_plugins/src/rviz_default_plugins/displays/image/image_display.cpp b/rviz_default_plugins/src/rviz_default_plugins/displays/image/image_display.cpp
index 0c2931f76..1976b641c 100644
--- a/rviz_default_plugins/src/rviz_default_plugins/displays/image/image_display.cpp
+++ b/rviz_default_plugins/src/rviz_default_plugins/displays/image/image_display.cpp
@@ -41,6 +41,7 @@
 #include <OgreTechnique.h>
 #include <OgreTextureManager.h>
 #include <OgreViewport.h>
+#include <QString>
 
 #include <QString>  // NOLINT: cpplint is unable to handle the include order here
 
@@ -117,40 +118,14 @@ ImageDisplay::ImageDisplay(std::unique_ptr<ROSImageTextureIface> texture)
 void ImageDisplay::onInitialize()
 {
   ITDClass::onInitialize();
-
   updateNormalizeOptions();
   setupScreenRectangle();
-
   setupRenderPanel();
 
   render_panel_->getRenderWindow()->setupSceneAfterInit(
     [this](Ogre::SceneNode * scene_node) {scene_node->attachObject(screen_rect_.get());});
-}
-
-ImageDisplay::~ImageDisplay() = default;
-
-void ImageDisplay::onEnable() {subscribe();}
-
-void ImageDisplay::onDisable()
-{
-  unsubscribe();
-  clear();
-}
-
-// Need a signature with pass by reference for image_transport_.subscribe
-void ImageDisplay::incomingMessage(const sensor_msgs::msg::Image::ConstSharedPtr & img_msg)
-{
-  ImageTransportDisplay<sensor_msgs::msg::Image>::incomingMessage(img_msg);
-}
 
-void ImageDisplay::updateTopic()
-{
-  if (!isEnabled()) {
-    return;
-  }
-  transport_override_property_->setStdString("");
-
-  // Populate topic message types based on installed image_transport plugins
+  // Populate message types and transport overrides based on installed image_transport plugins
   image_transport::ImageTransport image_transport_(rviz_ros_node_.lock()->get_raw_node());
   std::vector<std::string> loadable_transports = image_transport_.getLoadableTransports();
   std::vector<QString> message_types;
@@ -165,7 +140,7 @@ void ImageDisplay::updateTopic()
   std::string transports_str = "";
   rviz_common::properties::StatusProperty::Level transports_status_level =
     rviz_common::properties::StatusProperty::Ok;
-  // Populate topic message types and transport override options
+  transport_override_property_->clearOptions();
   transport_override_property_->addOptionStd("");
   for (std::string & transport : loadable_transports) {
     transport = transport.substr(transport.find_last_of('/') + 1);
@@ -178,14 +153,29 @@ void ImageDisplay::updateTopic()
       transports_str += "(unknown: " + transport + "), ";
     }
   }
+  // TODO(mjforan) setStatus doesn't work in onInitialize or updateTopic
   setStatusStd(transports_status_level, "Image Transports", transports_str);
   // Remove duplicates
   message_types.erase(std::unique(message_types.begin(), message_types.end()), message_types.end());
   // Update the message types to allow in the topic_property_
   ((rviz_common::properties::RosTopicMultiProperty *)topic_property_)
   ->setMessageTypes(message_types);
+}
 
-  rviz_default_plugins::displays::ImageTransportDisplay<sensor_msgs::msg::Image>::updateTopic();
+ImageDisplay::~ImageDisplay() = default;
+
+void ImageDisplay::onEnable() {subscribe();}
+
+void ImageDisplay::onDisable()
+{
+  unsubscribe();
+  clear();
+}
+
+// Need a signature with pass by reference for image_transport_.subscribe
+void ImageDisplay::incomingMessage(const sensor_msgs::msg::Image::ConstSharedPtr & img_msg)
+{
+  ImageTransportDisplay<sensor_msgs::msg::Image>::incomingMessage(img_msg);
 }
 
 void ImageDisplay::subscribe()

From 60a69d2a2834a2db84935cdda8dc8cc6ec6f5cd2 Mon Sep 17 00:00:00 2001
From: Matthew Foran <mjforan@vt.edu>
Date: Tue, 12 Nov 2024 16:10:19 +0000
Subject: [PATCH 15/18] use custom QoS

---
 .../src/rviz_default_plugins/displays/image/image_display.cpp   | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/rviz_default_plugins/src/rviz_default_plugins/displays/image/image_display.cpp b/rviz_default_plugins/src/rviz_default_plugins/displays/image/image_display.cpp
index 1976b641c..dd291d166 100644
--- a/rviz_default_plugins/src/rviz_default_plugins/displays/image/image_display.cpp
+++ b/rviz_default_plugins/src/rviz_default_plugins/displays/image/image_display.cpp
@@ -216,7 +216,7 @@ void ImageDisplay::subscribe()
     }
     subscription_ = image_transport_.subscribe(
       rviz_default_plugins::displays::getBaseTopicFromTopic(topic_property_->getTopicStd()),
-      qos_profile.get_rmw_qos_profile().depth,
+      qos_profile.get_rmw_qos_profile(),
       &ImageDisplay::incomingMessage, this,
       new image_transport::TransportHints(
         node.get(), transport_hint, "image_transport"));

From 0bc298d498ae2c34c33df5d704bebad2d2cbc190 Mon Sep 17 00:00:00 2001
From: Matthew Foran <mjforan@vt.edu>
Date: Wed, 20 Nov 2024 15:02:37 +0000
Subject: [PATCH 16/18] combine image_transport_display and image_display

---
 .../displays/camera/camera_display.hpp        |   4 +-
 .../displays/image/image_display.hpp          |  39 ++-
 .../image/image_transport_display.hpp         | 227 ------------------
 .../displays/camera/camera_display.cpp        |   8 +-
 .../displays/image/image_display.cpp          | 140 ++++++++---
 5 files changed, 139 insertions(+), 279 deletions(-)
 delete mode 100644 rviz_default_plugins/include/rviz_default_plugins/displays/image/image_transport_display.hpp

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
index e23ddd3fe..2666c19b5 100644
--- 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
@@ -53,7 +53,7 @@
 # include "sensor_msgs/msg/camera_info.hpp"
 # include "tf2_ros/message_filter.h"
 
-# include "rviz_default_plugins/displays/image/image_transport_display.hpp"
+# include "rviz_default_plugins/displays/image/image_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"
@@ -102,7 +102,7 @@ struct ImageDimensions
  *
  */
 class RVIZ_DEFAULT_PLUGINS_PUBLIC CameraDisplay
-  : public rviz_default_plugins::displays::ImageTransportDisplay<sensor_msgs::msg::Image>,
+  : public ImageDisplay,
   public Ogre::RenderTargetListener
 {
   Q_OBJECT
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
index f1deaf2d8..3f62ca1d6 100644
--- 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
@@ -38,9 +38,11 @@
 #include <OgreSharedPtr.h>
 
 #include <QObject>  // NOLINT cpplint cannot handle include order here
+#include <QString>  // NOLINT cpplint cannot handle include order here
 
 #include <memory>
 #include <string>
+#include <unordered_map>
 
 #include <sensor_msgs/msg/image.hpp>
 
@@ -50,9 +52,12 @@
 #include "rviz_common/properties/float_property.hpp"
 #include "rviz_common/properties/int_property.hpp"
 #include "rviz_common/render_panel.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 "get_transport_from_topic.hpp"
+#include "image_transport/image_transport.hpp"
+#include "image_transport/subscriber_filter.hpp"
+#include "rviz_common/ros_topic_display.hpp"
 #endif
 
 namespace Ogre
@@ -70,8 +75,7 @@ namespace displays
  * \class ImageDisplay
  *
  */
-class RVIZ_DEFAULT_PLUGINS_PUBLIC ImageDisplay
-  : public rviz_default_plugins::displays::ImageTransportDisplay<sensor_msgs::msg::Image>
+class RVIZ_DEFAULT_PLUGINS_PUBLIC ImageDisplay : public rviz_common::_RosTopicDisplay
 {
   Q_OBJECT
 
@@ -81,26 +85,41 @@ class RVIZ_DEFAULT_PLUGINS_PUBLIC ImageDisplay
   ~ImageDisplay() override;
 
   void onInitialize() override;
-  void update(float wall_dt, float ros_dt) override;
+  void update(float wall_dt, float ros_dt);
   void reset() override;
 
 public Q_SLOTS:
   virtual void updateNormalizeOptions();
 
 protected Q_SLOTS:
-  void subscribe() override;
+  virtual void subscribe();
 
 protected:
   void onEnable() override;
   void onDisable() override;
-  void unsubscribe() override;
-
+  virtual void unsubscribe();
+  void updateTopic() override;
+  void transformerChangedCallback() override;
+  void resetSubscription();
   void incomingMessage(const sensor_msgs::msg::Image::ConstSharedPtr & img_msg);
+  void setTopic(const QString & topic, const QString & datatype) override;
 
   /* This is called by incomingMessage(). */
-  void processMessage(sensor_msgs::msg::Image::ConstSharedPtr msg) override;
-
-  image_transport::Subscriber subscription_;
+  virtual void processMessage(sensor_msgs::msg::Image::ConstSharedPtr msg);
+
+  std::shared_ptr<image_transport::SubscriberFilter> subscription_;
+  uint32_t messages_received_;
+  rclcpp::Time subscription_start_time_;
+  message_filters::Connection subscription_callback_;
+  const std::unordered_map<std::string, std::string> transport_message_types_ = {
+    /* *INDENT-OFF* */
+    {"raw",             "sensor_msgs/msg/Image"},
+    {"compressed",      "sensor_msgs/msg/CompressedImage"},
+    {"compressedDepth", "sensor_msgs/msg/CompressedImage"},
+    {"theora",          "theora_image_transport/msg/Packet"},
+    {"zstd",            "sensor_msgs/msg/CompressedImage"},
+    /* *INDENT-ON* */
+  };
 
 private:
   void setupScreenRectangle();
diff --git a/rviz_default_plugins/include/rviz_default_plugins/displays/image/image_transport_display.hpp b/rviz_default_plugins/include/rviz_default_plugins/displays/image/image_transport_display.hpp
deleted file mode 100644
index 7067291d8..000000000
--- a/rviz_default_plugins/include/rviz_default_plugins/displays/image/image_transport_display.hpp
+++ /dev/null
@@ -1,227 +0,0 @@
-// 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
-// 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 HOLDER 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__IMAGE_TRANSPORT_DISPLAY_HPP_
-#define RVIZ_DEFAULT_PLUGINS__DISPLAYS__IMAGE__IMAGE_TRANSPORT_DISPLAY_HPP_
-
-#include <memory>
-#include <string>
-
-#include <QString>  // NOLINT: cpplint is unable to handle the include order here
-
-#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"
-
-namespace rviz_default_plugins
-{
-namespace displays
-{
-
-template<class MessageType>
-class ImageTransportDisplay : public rviz_common::_RosTopicDisplay
-{
-// No Q_OBJECT macro here, moc does not support Q_OBJECT in a templated class.
-
-public:
-/// Convenience typedef so subclasses don't have to use
-/// the long templated class name to refer to their super class.
-  typedef ImageTransportDisplay<MessageType> ITDClass;
-
-  ImageTransportDisplay()
-  : messages_received_(0)
-  {
-    QString message_type = QString::fromStdString(rosidl_generator_traits::name<MessageType>());
-    topic_property_->setMessageType(message_type);
-    topic_property_->setDescription(message_type + " topic to subscribe to.");
-  }
-
-/**
-* When overriding this method, the onInitialize() method of this superclass has to be called.
-* Otherwise, the ros node will not be initialized.
-*/
-  void onInitialize() override
-  {
-    _RosTopicDisplay::onInitialize();
-  }
-
-  ~ImageTransportDisplay() override
-  {
-    unsubscribe();
-  }
-
-  void reset() override
-  {
-    Display::reset();
-    messages_received_ = 0;
-  }
-
-  void setTopic(const QString & topic, const QString & datatype) override
-  {
-    (void) datatype;
-    topic_property_->setString(topic);
-  }
-
-protected:
-  void updateTopic() override
-  {
-    resetSubscription();
-  }
-
-  virtual void subscribe()
-  {
-    if (!isEnabled()) {
-      return;
-    }
-
-    if (topic_property_->isEmpty()) {
-      setStatus(
-        rviz_common::properties::StatusProperty::Error, "Topic",
-        QString("Error subscribing: Empty topic name"));
-      return;
-    }
-
-    try {
-      subscription_ = std::make_shared<image_transport::SubscriberFilter>();
-      rclcpp::Node::SharedPtr node = rviz_ros_node_.lock()->get_raw_node();
-      subscription_->subscribe(
-        node.get(),
-        getBaseTopicFromTopic(topic_property_->getTopicStd()),
-        getTransportFromTopic(topic_property_->getTopicStd()),
-        qos_profile.get_rmw_qos_profile());
-      subscription_start_time_ = node->now();
-      subscription_callback_ = subscription_->registerCallback(
-        std::bind(
-          &ImageTransportDisplay<MessageType>::incomingMessage, this, std::placeholders::_1));
-      setStatus(rviz_common::properties::StatusProperty::Ok, "Topic", "OK");
-    } catch (rclcpp::exceptions::InvalidTopicNameError & e) {
-      setStatus(
-        rviz_common::properties::StatusProperty::Error, "Topic",
-        QString("Error subscribing: ") + e.what());
-    }
-  }
-
-  void transformerChangedCallback() override
-  {
-    resetSubscription();
-  }
-
-  void resetSubscription()
-  {
-    unsubscribe();
-    reset();
-    subscribe();
-    context_->queueRender();
-  }
-
-  virtual void unsubscribe()
-  {
-    subscription_.reset();
-  }
-
-  void onEnable() override
-  {
-    subscribe();
-  }
-
-  void onDisable() override
-  {
-    unsubscribe();
-    reset();
-  }
-
-/// Incoming message callback.
-/**
-* Checks if the message pointer
-* is valid, increments messages_received_, then calls
-* processMessage().
-*/
-  void incomingMessage(const typename MessageType::ConstSharedPtr msg)
-  {
-    if (!msg) {
-      return;
-    }
-
-    ++messages_received_;
-    QString topic_str = QString::number(messages_received_) + " messages received";
-    rviz_common::properties::StatusProperty::Level topic_status_level =
-      rviz_common::properties::StatusProperty::Ok;
-    // Append topic subscription frequency if we can lock rviz_ros_node_.
-    std::shared_ptr<rviz_common::ros_integration::RosNodeAbstractionIface> node_interface =
-      rviz_ros_node_.lock();
-    if (node_interface != nullptr) {
-      try {
-        const double duration =
-          (node_interface->get_raw_node()->now() - subscription_start_time_).seconds();
-        const double subscription_frequency =
-          static_cast<double>(messages_received_) / duration;
-        topic_str += " at " + QString::number(subscription_frequency, 'f', 1) + " hz.";
-      } catch (const std::runtime_error & e) {
-        if (std::string(e.what()).find("can't subtract times with different time sources") !=
-          std::string::npos)
-        {
-          topic_status_level = rviz_common::properties::StatusProperty::Warn;
-          topic_str += ". ";
-          topic_str += e.what();
-        } else {
-          throw;
-        }
-      }
-    }
-    setStatus(
-      topic_status_level,
-      "Topic",
-      topic_str);
-
-    processMessage(msg);
-  }
-
-
-/// Implement this to process the contents of a message.
-/**
-* This is called by incomingMessage().
-*/
-  virtual void processMessage(typename MessageType::ConstSharedPtr msg) = 0;
-
-  uint32_t messages_received_;
-
-  std::shared_ptr<image_transport::SubscriberFilter> subscription_;
-  rclcpp::Time subscription_start_time_;
-  message_filters::Connection subscription_callback_;
-};
-
-}  //  end namespace displays
-}  // end namespace rviz_default_plugins
-
-
-#endif  // RVIZ_DEFAULT_PLUGINS__DISPLAYS__IMAGE__IMAGE_TRANSPORT_DISPLAY_HPP_
diff --git a/rviz_default_plugins/src/rviz_default_plugins/displays/camera/camera_display.cpp b/rviz_default_plugins/src/rviz_default_plugins/displays/camera/camera_display.cpp
index 053d03510..de31fe28f 100644
--- a/rviz_default_plugins/src/rviz_default_plugins/displays/camera/camera_display.cpp
+++ b/rviz_default_plugins/src/rviz_default_plugins/displays/camera/camera_display.cpp
@@ -167,7 +167,7 @@ CameraDisplay::~CameraDisplay()
 
 void CameraDisplay::onInitialize()
 {
-  ITDClass::onInitialize();
+  ImageDisplay::onInitialize();
 
   setupSceneNodes();
   setupRenderPanel();
@@ -311,7 +311,7 @@ void CameraDisplay::fixedFrameChanged()
 
 void CameraDisplay::subscribe()
 {
-  ITDClass::subscribe();
+  ImageDisplay::subscribe();
 
   if (!subscription_) {
     return;
@@ -380,7 +380,7 @@ void CameraDisplay::createCameraInfoSubscription()
 
 void CameraDisplay::unsubscribe()
 {
-  ITDClass::unsubscribe();
+  ImageDisplay::unsubscribe();
   caminfo_sub_.reset();
   tf_filter_.reset();
 }
@@ -671,7 +671,7 @@ void CameraDisplay::processMessage(sensor_msgs::msg::Image::ConstSharedPtr msg)
 
 void CameraDisplay::reset()
 {
-  ITDClass::reset();
+  ImageDisplay::reset();
   clear();
 }
 
diff --git a/rviz_default_plugins/src/rviz_default_plugins/displays/image/image_display.cpp b/rviz_default_plugins/src/rviz_default_plugins/displays/image/image_display.cpp
index dd291d166..b08df6c61 100644
--- a/rviz_default_plugins/src/rviz_default_plugins/displays/image/image_display.cpp
+++ b/rviz_default_plugins/src/rviz_default_plugins/displays/image/image_display.cpp
@@ -48,6 +48,7 @@
 #include <algorithm>
 #include <memory>
 #include <string>
+#include <unordered_map>
 #include <utility>
 #include <vector>
 
@@ -66,6 +67,7 @@
 #include "rviz_rendering/render_window.hpp"
 #include "sensor_msgs/image_encodings.hpp"
 
+
 namespace rviz_default_plugins
 {
 namespace displays
@@ -75,7 +77,8 @@ ImageDisplay::ImageDisplay()
 : ImageDisplay(std::make_unique<ROSImageTexture>()) {}
 
 ImageDisplay::ImageDisplay(std::unique_ptr<ROSImageTextureIface> texture)
-: texture_(std::move(texture))
+: messages_received_(0),
+  texture_(std::move(texture))
 {
   // Remove the default single-type topic and replace with a multi-type topic property
   // This allows us to display image and compressed image topics in the topic list
@@ -115,9 +118,17 @@ ImageDisplay::ImageDisplay(std::unique_ptr<ROSImageTextureIface> texture)
   got_float_image_ = false;
 }
 
+// Need to override this method because of the new type RosTopicMultiProperty
+void ImageDisplay::setTopic(const QString & topic, const QString & datatype)
+{
+  (void) datatype;
+  ((rviz_common::properties::RosTopicMultiProperty *)topic_property_)
+  ->setString(topic);
+}
+
 void ImageDisplay::onInitialize()
 {
-  ITDClass::onInitialize();
+  _RosTopicDisplay::onInitialize();
   updateNormalizeOptions();
   setupScreenRectangle();
   setupRenderPanel();
@@ -130,16 +141,6 @@ void ImageDisplay::onInitialize()
   std::vector<std::string> loadable_transports = image_transport_.getLoadableTransports();
   std::vector<QString> message_types;
   // Map to message types
-  const std::unordered_map<std::string, std::string> transport_message_types_ = {
-    {"raw", "sensor_msgs/msg/Image"},
-    {"compressed", "sensor_msgs/msg/CompressedImage"},
-    {"compressedDepth", "sensor_msgs/msg/CompressedImage"},
-    {"theora", "theora_image_transport/msg/Packet"},
-    {"zstd", "sensor_msgs/msg/CompressedImage"},
-  };
-  std::string transports_str = "";
-  rviz_common::properties::StatusProperty::Level transports_status_level =
-    rviz_common::properties::StatusProperty::Ok;
   transport_override_property_->clearOptions();
   transport_override_property_->addOptionStd("");
   for (std::string & transport : loadable_transports) {
@@ -147,37 +148,78 @@ void ImageDisplay::onInitialize()
     try {
       message_types.push_back(QString::fromStdString(transport_message_types_.at(transport)));
       transport_override_property_->addOptionStd(transport);
-      transports_str += transport + ", ";
     } catch (const std::out_of_range & e) {
-      transports_status_level = rviz_common::properties::StatusProperty::Warn;
-      transports_str += "(unknown: " + transport + "), ";
+      // This case will be handled in subscribe
     }
   }
-  // TODO(mjforan) setStatus doesn't work in onInitialize or updateTopic
-  setStatusStd(transports_status_level, "Image Transports", transports_str);
   // Remove duplicates
-  message_types.erase(std::unique(message_types.begin(), message_types.end()), message_types.end());
+  message_types.erase(
+    std::unique(message_types.begin(), message_types.end()), message_types.end());
   // Update the message types to allow in the topic_property_
   ((rviz_common::properties::RosTopicMultiProperty *)topic_property_)
   ->setMessageTypes(message_types);
 }
 
-ImageDisplay::~ImageDisplay() = default;
+ImageDisplay::~ImageDisplay()
+{
+  unsubscribe();
+}
 
 void ImageDisplay::onEnable() {subscribe();}
 
 void ImageDisplay::onDisable()
 {
   unsubscribe();
-  clear();
+  reset();
 }
 
-// Need a signature with pass by reference for image_transport_.subscribe
+/// Incoming message callback.
+/**
+* Checks if the message pointer
+* is valid, increments messages_received_, then calls
+* processMessage().
+*/
 void ImageDisplay::incomingMessage(const sensor_msgs::msg::Image::ConstSharedPtr & img_msg)
 {
-  ImageTransportDisplay<sensor_msgs::msg::Image>::incomingMessage(img_msg);
+  if (!img_msg) {
+    return;
+  }
+
+  ++messages_received_;
+  QString topic_str = QString::number(messages_received_) + " messages received";
+  rviz_common::properties::StatusProperty::Level topic_status_level =
+    rviz_common::properties::StatusProperty::Ok;
+  // Append topic subscription frequency if we can lock rviz_ros_node_.
+  std::shared_ptr<rviz_common::ros_integration::RosNodeAbstractionIface> node_interface =
+    rviz_ros_node_.lock();
+  if (node_interface != nullptr) {
+    try {
+      const double duration =
+        (node_interface->get_raw_node()->now() - subscription_start_time_).seconds();
+      const double subscription_frequency =
+        static_cast<double>(messages_received_) / duration;
+      topic_str += " at " + QString::number(subscription_frequency, 'f', 1) + " hz.";
+    } catch (const std::runtime_error & e) {
+      if (std::string(e.what()).find("can't subtract times with different time sources") !=
+        std::string::npos)
+      {
+        topic_status_level = rviz_common::properties::StatusProperty::Warn;
+        topic_str += ". ";
+        topic_str += e.what();
+      } else {
+        throw;
+      }
+    }
+  }
+  setStatus(
+    topic_status_level,
+    "Topic",
+    topic_str);
+
+  processMessage(img_msg);
 }
 
+
 void ImageDisplay::subscribe()
 {
   if (!isEnabled()) {
@@ -193,15 +235,22 @@ void ImageDisplay::subscribe()
   try {
     rclcpp::Node::SharedPtr node = rviz_ros_node_.lock()->get_raw_node();
     image_transport::ImageTransport image_transport_(node);
-    // This part differs from the parent class. ImageTransportDisplay uses an
-    // image_transport::SubscriberFilter, which requires a different callback for each transport
-    // type. image_transport::Subscriber only requires one callback for "raw" and the other types
-    // are automatically converted.
+    // Check which image_transport plugins are installed
     std::vector<std::string> transports = image_transport_.getLoadableTransports();
-    // Strip down to basic transport names
+    std::string transports_str = "";
+    rviz_common::properties::StatusProperty::Level transports_status_level =
+      rviz_common::properties::StatusProperty::Ok;
+    // Strip down to basic transport names, construct string for status display
     for (std::string & transport : transports) {
       transport = transport.substr(transport.find_last_of('/') + 1);
+      if (transport_message_types_.find(transport) == transport_message_types_.end()) {
+        transports_status_level = rviz_common::properties::StatusProperty::Warn;
+        transports_str += "(unknown: " + transport + "), ";
+      } else {
+        transports_str += transport + ", ";
+      }
     }
+    setStatusStd(transports_status_level, "Image Transports Installed", transports_str);
     // Use override property for transport hint if set, otherwise deduce from topic name
     std::string transport_hint = transport_override_property_->getStdString();
     if (transport_hint.empty()) {
@@ -214,13 +263,19 @@ void ImageDisplay::subscribe()
       QString("Error subscribing: Specified image transport is not installed"));
       return;
     }
-    subscription_ = image_transport_.subscribe(
-      rviz_default_plugins::displays::getBaseTopicFromTopic(topic_property_->getTopicStd()),
-      qos_profile.get_rmw_qos_profile(),
-      &ImageDisplay::incomingMessage, this,
-      new image_transport::TransportHints(
-        node.get(), transport_hint, "image_transport"));
-
+    // image_transport::Subscriber only requires one callback for "raw" and the other types are
+    // automatically converted.
+    subscription_ = std::make_shared<image_transport::SubscriberFilter>();
+    subscription_->subscribe(
+      node.get(),
+      getBaseTopicFromTopic(topic_property_->getTopicStd()),
+      transport_hint,
+      qos_profile.get_rmw_qos_profile());
+    subscription_start_time_ = node->now();
+    subscription_callback_ = subscription_->registerCallback(
+      std::bind(
+        &rviz_default_plugins::displays::ImageDisplay::incomingMessage,
+        this, std::placeholders::_1));
     setStatus(rviz_common::properties::StatusProperty::Ok, "Topic", "OK");
   } catch (rclcpp::exceptions::InvalidTopicNameError & e) {
     setStatus(
@@ -229,7 +284,19 @@ void ImageDisplay::subscribe()
   }
 }
 
-void ImageDisplay::unsubscribe() {subscription_.shutdown();}
+void ImageDisplay::updateTopic() {resetSubscription();}
+
+void ImageDisplay::transformerChangedCallback() {resetSubscription();}
+
+void ImageDisplay::resetSubscription()
+{
+  unsubscribe();
+  reset();
+  subscribe();
+  context_->queueRender();
+}
+
+void ImageDisplay::unsubscribe() {subscription_.reset();}
 
 void ImageDisplay::updateNormalizeOptions()
 {
@@ -287,7 +354,8 @@ void ImageDisplay::update(float wall_dt, float ros_dt)
 
 void ImageDisplay::reset()
 {
-  ITDClass::reset();
+  Display::reset();
+  messages_received_ = 0;
   clear();
 }
 

From 40711b70e54ce955cfb84a9e95063682d0e5476a Mon Sep 17 00:00:00 2001
From: Matthew Foran <mjforan@vt.edu>
Date: Wed, 20 Nov 2024 22:47:01 +0000
Subject: [PATCH 17/18] add test for compressed image display

---
 rviz_default_plugins/CMakeLists.txt           |  4 +
 rviz_default_plugins/package.xml              |  2 +
 .../image/image_display_visual_test.cpp       | 19 ++++-
 .../publishers/compressed_image_publisher.hpp | 84 +++++++++++++++++++
 4 files changed, 108 insertions(+), 1 deletion(-)
 create mode 100644 rviz_default_plugins/test/rviz_default_plugins/publishers/compressed_image_publisher.hpp

diff --git a/rviz_default_plugins/CMakeLists.txt b/rviz_default_plugins/CMakeLists.txt
index 1bdc96b17..1e2d73f64 100644
--- a/rviz_default_plugins/CMakeLists.txt
+++ b/rviz_default_plugins/CMakeLists.txt
@@ -883,6 +883,9 @@ if(BUILD_TESTING)
     ${SKIP_VISUAL_TESTS}
     TIMEOUT 180)
   if(TARGET image_display_visual_test)
+    find_package(OpenCV REQUIRED)
+    find_package(image_transport_plugins REQUIRED)
+    include_directories(${OpenCV_INCLUDE_DIRS})
     target_include_directories(image_display_visual_test PRIVATE test)
     target_link_libraries(image_display_visual_test
       Qt5::Test
@@ -890,6 +893,7 @@ if(BUILD_TESTING)
       rclcpp::rclcpp
       ${sensor_msgs_TARGETS}
       ${std_msgs_TARGETS}
+      ${OpenCV_LIBRARIES}
     )
   endif()
 
diff --git a/rviz_default_plugins/package.xml b/rviz_default_plugins/package.xml
index f4fcf6444..be676a9b2 100644
--- a/rviz_default_plugins/package.xml
+++ b/rviz_default_plugins/package.xml
@@ -64,6 +64,8 @@
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>rviz_rendering_tests</test_depend>
   <test_depend>rviz_visual_testing_framework</test_depend>
+  <test_depend>image_transport_plugins</test_depend>
+  <test_depend>vision_opencv</test_depend>
 
   <export>
     <build_type>ament_cmake</build_type>
diff --git a/rviz_default_plugins/test/rviz_default_plugins/displays/image/image_display_visual_test.cpp b/rviz_default_plugins/test/rviz_default_plugins/displays/image/image_display_visual_test.cpp
index a2ef35fbb..e40e2a958 100644
--- a/rviz_default_plugins/test/rviz_default_plugins/displays/image/image_display_visual_test.cpp
+++ b/rviz_default_plugins/test/rviz_default_plugins/displays/image/image_display_visual_test.cpp
@@ -36,9 +36,11 @@
 
 #include "../../page_objects/image_display_page_object.hpp"
 #include "../../publishers/image_publisher.hpp"
+#include "../../publishers/compressed_image_publisher.hpp"
+
 
 TEST_F(VisualTestFixture, test_image_display_with_published_image) {
-  auto path_publisher = std::make_unique<VisualTestPublisher>(
+  auto image_publisher = std::make_unique<VisualTestPublisher>(
     std::make_shared<nodes::ImagePublisher>(), "image_frame");
 
   setCamPose(Ogre::Vector3(0, 0, 16));
@@ -51,3 +53,18 @@ TEST_F(VisualTestFixture, test_image_display_with_published_image) {
 
   assertScreenShotsIdentity();
 }
+
+TEST_F(VisualTestFixture, test_compressed_image_display_with_published_image) {
+  auto compressed_image_publisher = std::make_unique<VisualTestPublisher>(
+    std::make_shared<nodes::CompressedImagePublisher>(), "image_frame");
+
+  setCamPose(Ogre::Vector3(0, 0, 16));
+  setCamLookAt(Ogre::Vector3(0, 0, 0));
+
+  auto image_display = addDisplay<ImageDisplayPageObject>();
+  image_display->setTopic("/image");
+
+  captureRenderWindow(image_display);
+
+  assertScreenShotsIdentity();
+}
diff --git a/rviz_default_plugins/test/rviz_default_plugins/publishers/compressed_image_publisher.hpp b/rviz_default_plugins/test/rviz_default_plugins/publishers/compressed_image_publisher.hpp
new file mode 100644
index 000000000..858866f4f
--- /dev/null
+++ b/rviz_default_plugins/test/rviz_default_plugins/publishers/compressed_image_publisher.hpp
@@ -0,0 +1,84 @@
+// Copyright (c) 2018, Bosch Software Innovations 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 HOLDER 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__PUBLISHERS__COMPRESSED_IMAGE_PUBLISHER_HPP_
+#define RVIZ_DEFAULT_PLUGINS__PUBLISHERS__COMPRESSED_IMAGE_PUBLISHER_HPP_
+
+#include <cmath>
+#include <iostream>
+#include <string>
+#include <vector>
+
+#include <opencv2/opencv.hpp>
+#include "rclcpp/rclcpp.hpp"
+#include "rclcpp/clock.hpp"
+#include "sensor_msgs/msg/compressed_image.hpp"
+#include "std_msgs/msg/header.hpp"
+
+using namespace std::chrono_literals;  // NOLINT
+
+namespace nodes
+{
+
+class CompressedImagePublisher : public rclcpp::Node
+{
+public:
+  explicit CompressedImagePublisher(const std::string & topic_name = "image")
+  : Node("compressed_image_publisher")
+  {
+    publisher = this->create_publisher<sensor_msgs::msg::CompressedImage>(topic_name, 10);
+    timer = this->create_wall_timer(100ms,
+        std::bind(&CompressedImagePublisher::timer_callback, this));
+  }
+
+private:
+  void timer_callback()
+  {
+    auto message = sensor_msgs::msg::CompressedImage();
+    message.header = std_msgs::msg::Header();
+    message.header.frame_id = "image_frame";
+    message.header.stamp = rclcpp::Clock().now();
+
+    cv::Mat image(200, 300, CV_8UC3, cv::Scalar(0, 255, 0));
+    std::vector<uchar> compressed_image;
+    cv::imencode(".jpg", image, compressed_image);
+
+    message.data.assign(compressed_image.begin(), compressed_image.end());
+    message.format = "jpeg";
+    publisher->publish(message);
+  }
+
+  rclcpp::TimerBase::SharedPtr timer;
+  rclcpp::Publisher<sensor_msgs::msg::CompressedImage>::SharedPtr publisher;
+};
+
+}  // namespace nodes
+
+#endif  // RVIZ_DEFAULT_PLUGINS__PUBLISHERS__COMPRESSED_IMAGE_PUBLISHER_HPP_

From 287e57a30ac92d36546cf8a69831f773881a2e82 Mon Sep 17 00:00:00 2001
From: Matthew Foran <mjforan@vt.edu>
Date: Fri, 10 Jan 2025 17:45:47 +0000
Subject: [PATCH 18/18] remove duplicate image texture

---
 .../rviz_default_plugins/displays/camera/camera_display.hpp | 3 ---
 .../rviz_default_plugins/displays/image/image_display.hpp   | 6 ++----
 .../rviz_default_plugins/displays/camera/camera_display.cpp | 1 -
 3 files changed, 2 insertions(+), 8 deletions(-)

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
index 2666c19b5..479ef47f0 100644
--- 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
@@ -192,9 +192,6 @@ private Q_SLOTS:
   std::shared_ptr<tf2_ros::MessageFilter<sensor_msgs::msg::Image,
     rviz_common::transformation::FrameTransformer>> tf_filter_;
 
-  std::unique_ptr<ROSImageTextureIface> texture_;
-  std::unique_ptr<rviz_common::RenderPanel> render_panel_;
-
   std::shared_ptr<message_filters::Cache<sensor_msgs::msg::Image>> cache_images_;
 
   rviz_common::properties::FloatProperty * alpha_property_;
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
index 3f62ca1d6..672f3c57e 100644
--- 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
@@ -120,6 +120,8 @@ protected Q_SLOTS:
     {"zstd",            "sensor_msgs/msg/CompressedImage"},
     /* *INDENT-ON* */
   };
+  std::unique_ptr<ROSImageTextureIface> texture_;
+  std::unique_ptr<rviz_common::RenderPanel> render_panel_;
 
 private:
   void setupScreenRectangle();
@@ -130,10 +132,6 @@ protected Q_SLOTS:
   std::unique_ptr<Ogre::Rectangle2D> screen_rect_;
   Ogre::MaterialPtr material_;
 
-  std::unique_ptr<ROSImageTextureIface> texture_;
-
-  std::unique_ptr<rviz_common::RenderPanel> render_panel_;
-
   rviz_common::properties::EnumProperty * transport_override_property_;
   rviz_common::properties::BoolProperty * normalize_property_;
   rviz_common::properties::FloatProperty * min_property_;
diff --git a/rviz_default_plugins/src/rviz_default_plugins/displays/camera/camera_display.cpp b/rviz_default_plugins/src/rviz_default_plugins/displays/camera/camera_display.cpp
index de31fe28f..72720bc9d 100644
--- a/rviz_default_plugins/src/rviz_default_plugins/displays/camera/camera_display.cpp
+++ b/rviz_default_plugins/src/rviz_default_plugins/displays/camera/camera_display.cpp
@@ -121,7 +121,6 @@ static Ogre::Vector4 calculateScreenCorners(
 
 CameraDisplay::CameraDisplay()
 : tf_filter_(nullptr),
-  texture_(std::make_unique<ROSImageTexture>()),
   new_caminfo_(false),
   caminfo_ok_(false),
   force_render_(false)