refactor(rviz): reuse shared overlay utility

Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>

Author: satoshi-ota

autoware_overlay_rviz_plugin/autoware_topic_text_overlay_rviz_plugin/package.xml

@@ -16,6 +16,8 @@
   <depend>autoware_internal_debug_msgs</depend>
   <depend>pluginlib</depend>
   <depend>rclcpp</depend>
+  <depend>rviz_2d_overlay_msgs</depend>
+  <depend>rviz_2d_overlay_plugins</depend>
   <depend>rviz_common</depend>
   <depend>rviz_ogre_vendor</depend>
   <depend>rviz_rendering</depend>

autoware_overlay_rviz_plugin/autoware_topic_text_overlay_rviz_plugin/src/jsk_overlay_utils.cpp

@@ -28,6 +28,7 @@
 #include <QTimer>
 #include <QVBoxLayout>
 #include <pluginlib/class_list_macros.hpp>
+#include <rviz_rendering/render_system.hpp>
 
 #include <autoware_internal_debug_msgs/msg/bool_stamped.hpp>
 #include <autoware_internal_debug_msgs/msg/float32_multi_array_stamped.hpp>
@@ -240,8 +241,8 @@ void TopicTextOverlayPanel::onInitialize()
   static int count = 0;
   std::ostringstream overlay_name;
   overlay_name << "TopicTextOverlayPanelObject" << count++;
-  overlay_ = std::make_shared<OverlayObject>(
-    getDisplayContext()->getSceneManager(), raw_node_->get_logger(), overlay_name.str());
+  rviz_rendering::RenderSystem::get()->prepareOverlays(getDisplayContext()->getSceneManager());
+  overlay_ = std::make_shared<rviz_2d_overlay_plugins::OverlayObject>(overlay_name.str());
   overlay_->show();
 
   refreshTopics();

autoware_overlay_rviz_plugin/autoware_topic_text_overlay_rviz_plugin/src/jsk_overlay_utils.hpp

@@ -15,10 +15,9 @@
 #ifndef AUTOWARE_TOPIC_TEXT_OVERLAY_RVIZ_PLUGIN__TOPIC_TEXT_OVERLAY_PANEL_HPP_
 #define AUTOWARE_TOPIC_TEXT_OVERLAY_RVIZ_PLUGIN__TOPIC_TEXT_OVERLAY_PANEL_HPP_
 
-#include "jsk_overlay_utils.hpp"
-
 #include <QColor>
 #include <rclcpp/rclcpp.hpp>
+#include <rviz_2d_overlay_plugins/overlay_utils.hpp>
 #include <rviz_common/config.hpp>
 #include <rviz_common/display_context.hpp>
 #include <rviz_common/panel.hpp>
@@ -107,7 +106,7 @@ private Q_SLOTS:
 
   rviz_common::ros_integration::RosNodeAbstractionIface::WeakPtr rviz_ros_node_;
   rclcpp::Node::SharedPtr raw_node_;
-  OverlayObject::Ptr overlay_;
+  rviz_2d_overlay_plugins::OverlayObject::SharedPtr overlay_;
 
   QCheckBox * enable_overlay_;
   QListWidget * topic_list_;