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Support image transport lifecycle #1472

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Merged
ahcorde merged 5 commits into from
Aug 21, 2025
Merged

Support image transport lifecycle #1472

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9cc6328
Support image transport lifecycle
ahcorde May 28, 2025
566fda9
Merge remote-tracking branch 'origin/rolling' into ahcorce/rolling/im…
ahcorde Jul 3, 2025
05bf0f4
Simplify API calls
ahcorde Jul 3, 2025
62f7324
Merge remote-tracking branch 'origin/rolling' into ahcorce/rolling/im…
ahcorde Jul 17, 2025
e8decb5
Merge remote-tracking branch 'origin/rolling' into ahcorce/rolling/im…
ahcorde Jul 22, 2025
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2 changes: 1 addition & 1 deletion rviz_default_plugins/include/rviz_default_plugins/displays/image/image_transport_display.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -115,7 +115,7 @@ class ImageTransportDisplay : public rviz_common::_RosTopicDisplay
subscription_ = std::make_shared<image_transport::SubscriberFilter>();
rclcpp::Node::SharedPtr node = rviz_ros_node_.lock()->get_raw_node();
subscription_->subscribe(
node.get(),
*node,
getBaseTopicFromTopic(topic_property_->getTopicStd()),
getTransportFromTopic(topic_property_->getTopicStd()),
qos_profile);
Expand Down
8 changes: 4 additions & 4 deletions rviz_default_plugins/src/rviz_default_plugins/displays/depth_cloud/depth_cloud_display.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -204,9 +204,9 @@ void DepthCloudDisplay::onInitialize()
auto rviz_ros_node_ = context_->getRosNodeAbstraction().lock();

depthmap_it_ = std::make_unique<image_transport::ImageTransport>(
rviz_ros_node_->get_raw_node());
*rviz_ros_node_->get_raw_node());
rgb_it_ = std::make_unique<image_transport::ImageTransport>(
rviz_ros_node_->get_raw_node());
*rviz_ros_node_->get_raw_node());

// Instantiate PointCloudCommon class for displaying point clouds
pointcloud_common_ = std::make_unique<PointCloudCommon>(this);
Expand Down Expand Up @@ -342,7 +342,7 @@ void DepthCloudDisplay::subscribe()
if (!depthmap_topic.empty() && !depthmap_transport.empty()) {
// subscribe to depth map topic
depthmap_sub_->subscribe(
rviz_ros_node_->get_raw_node().get(),
*rviz_ros_node_->get_raw_node(),
depthmap_topic,
depthmap_transport,
qos_profile_);
Expand Down Expand Up @@ -386,7 +386,7 @@ void DepthCloudDisplay::subscribe()
if (!color_topic.empty() && !color_transport.empty()) {
// subscribe to color image topic
rgb_sub_->subscribe(
rviz_ros_node_->get_raw_node().get(),
*rviz_ros_node_->get_raw_node(),
color_topic, color_transport, qos_profile_);

// connect message filters to synchronizer
Expand Down