Merge branch 'ros2:rolling' into patch-11

rviz2/CHANGELOG.rst

@@ -2,6 +2,15 @@
 Changelog for package rviz2
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+14.3.1 (2024-10-11)
+-------------------
+
+14.3.0 (2024-10-03)
+-------------------
+
+14.2.6 (2024-08-28)
+-------------------
+
 14.2.5 (2024-07-29)
 -------------------
 * Detect wayland and make sure X rendering is used. (`#1253 <https://github.com/ros2/rviz/issues/1253>`_)

rviz2/package.xml

@@ -4,7 +4,7 @@
   schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="2">
   <name>rviz2</name>
-  <version>14.2.5</version>
+  <version>14.3.1</version>
   <description>
     3D visualization tool for ROS.
   </description>

rviz_assimp_vendor/CHANGELOG.rst

@@ -2,6 +2,15 @@
 Changelog for package rviz_assimp_vendor
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+14.3.1 (2024-10-11)
+-------------------
+
+14.3.0 (2024-10-03)
+-------------------
+
+14.2.6 (2024-08-28)
+-------------------
+
 14.2.5 (2024-07-29)
 -------------------
 * Revert "Update ASSIMP_VENDOR CMakeLists.txt (`#1226 <https://github.com/ros2/rviz/issues/1226>`_)" (`#1249 <https://github.com/ros2/rviz/issues/1249>`_)

rviz_assimp_vendor/package.xml

@@ -4,7 +4,7 @@
   schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="2">
   <name>rviz_assimp_vendor</name>
-  <version>14.2.5</version>
+  <version>14.3.1</version>
   <description>
     Wrapper around assimp, providing nothing but a dependency on assimp, on some systems.
     On others, it provides a fixed CMake module or even an ExternalProject build of assimp.

rviz_common/CHANGELOG.rst

@@ -2,6 +2,20 @@
 Changelog for package rviz_common
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+14.3.1 (2024-10-11)
+-------------------
+* Handle time source exception (`#1285 <https://github.com/ros2/rviz/issues/1285>`_)
+* Contributors: Matthew Foran
+
+14.3.0 (2024-10-03)
+-------------------
+
+14.2.6 (2024-08-28)
+-------------------
+* Fully handle `Tool::processKeyEvent` return value (`#1270 <https://github.com/ros2/rviz/issues/1270>`_)
+* Handle `Tool::Finished` returned by `processKeyEvent` (`#1257 <https://github.com/ros2/rviz/issues/1257>`_)
+* Contributors: Patrick Roncagliolo
+
 14.2.5 (2024-07-29)
 -------------------
 * Added more time to copyright on Windwos (`#1252 <https://github.com/ros2/rviz/issues/1252>`_)

rviz_common/include/rviz_common/message_filter_display.hpp

@@ -33,6 +33,7 @@
 
 #include <tf2_ros/message_filter.h>
 #include <memory>
+#include <string>
 
 #include <message_filters/subscriber.hpp>
 
@@ -207,19 +208,33 @@ class MessageFilterDisplay : public _RosTopicDisplay
     auto msg = std::static_pointer_cast<const MessageType>(type_erased_msg);
 
     ++messages_received_;
+    rviz_common::properties::StatusProperty::Level topic_status_level =
+      rviz_common::properties::StatusProperty::Ok;
     QString topic_str = QString::number(messages_received_) + " messages received";
     // Append topic subscription frequency if we can lock rviz_ros_node_.
     std::shared_ptr<ros_integration::RosNodeAbstractionIface> node_interface =
       rviz_ros_node_.lock();
     if (node_interface != nullptr) {
-      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.";
+      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(
-      properties::StatusProperty::Ok,
+      topic_status_level,
       "Topic",
       topic_str);
 

rviz_common/include/rviz_common/ros_topic_display.hpp

@@ -264,18 +264,32 @@ class RosTopicDisplay : public _RosTopicDisplay
 
     ++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<ros_integration::RosNodeAbstractionIface> node_interface =
       rviz_ros_node_.lock();
     if (node_interface != nullptr) {
-      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.";
+      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(
-      properties::StatusProperty::Ok,
+      topic_status_level,
       "Topic",
       topic_str);
 

rviz_common/include/rviz_common/tool_manager.hpp

@@ -138,7 +138,7 @@ class ToolManager : public QObject
   QStringList getToolClasses();
 
   /// Function to handle a key event.
-  void handleChar(QKeyEvent * event, RenderPanel * panel);
+  [[nodiscard]] int handleChar(QKeyEvent * event, RenderPanel * panel);
 
   PluginlibFactory<Tool> * getFactory();
 

rviz_common/package.xml

@@ -4,7 +4,7 @@
   schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="2">
   <name>rviz_common</name>
-  <version>14.2.5</version>
+  <version>14.3.1</version>
   <description>
     Common rviz API, used by rviz plugins and applications.
   </description>

rviz_common/src/rviz_common/tool_manager.cpp

@@ -144,12 +144,12 @@ bool ToolManager::toKey(QString const & str, uint & key)
   }
 }
 
-void ToolManager::handleChar(QKeyEvent * event, RenderPanel * panel)
+int ToolManager::handleChar(QKeyEvent * event, RenderPanel * panel)
 {
   // if the incoming key is ESC fallback to the default tool
   if (event->key() == Qt::Key_Escape) {
     setCurrentTool(getDefaultTool());
-    return;
+    return 0;
   }
 
   // check if the incoming key triggers the activation of another tool
@@ -158,6 +158,7 @@ void ToolManager::handleChar(QKeyEvent * event, RenderPanel * panel)
     tool = shortkey_to_tool_map_[event->key()];
   }
 
+  int flags = 0;
   if (tool) {
     // if there is a incoming tool check if it matches the current tool
     if (current_tool_ == tool) {
@@ -167,7 +168,7 @@ void ToolManager::handleChar(QKeyEvent * event, RenderPanel * panel)
       // if no, check if the current tool accesses all key events
       if (current_tool_->accessAllKeys()) {
         // if yes, pass the key
-        current_tool_->processKeyEvent(event, panel);
+        flags = current_tool_->processKeyEvent(event, panel);
       } else {
         // if no, switch the tool
         setCurrentTool(tool);
@@ -176,8 +177,10 @@ void ToolManager::handleChar(QKeyEvent * event, RenderPanel * panel)
   } else {
     // if the incoming key triggers no other tool,
     // just hand down the key event
-    current_tool_->processKeyEvent(event, panel);
+    flags = current_tool_->processKeyEvent(event, panel);
   }
+
+  return flags;
 }
 
 void ToolManager::setCurrentTool(Tool * tool)

rviz_common/src/rviz_common/visualization_manager.cpp

@@ -641,7 +641,16 @@ void VisualizationManager::handleChar(QKeyEvent * event, RenderPanel * panel)
   if (event->key() == Qt::Key_Escape) {
     Q_EMIT escapePressed();
   }
-  tool_manager_->handleChar(event, panel);
+
+  int flags = tool_manager_->handleChar(event, panel);
+
+  if (flags & Tool::Render) {
+    queueRender();
+  }
+
+  if (flags & Tool::Finished) {
+    tool_manager_->setCurrentTool(tool_manager_->getDefaultTool());
+  }
 }
 
 void VisualizationManager::notifyConfigChanged()

rviz_default_plugins/CHANGELOG.rst

@@ -2,6 +2,22 @@
 Changelog for package rviz_default_plugins
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+14.3.1 (2024-10-11)
+-------------------
+* Handle time source exception (`#1285 <https://github.com/ros2/rviz/issues/1285>`_)
+* Contributors: Matthew Foran
+
+14.3.0 (2024-10-03)
+-------------------
+* replace deprecated encodings 'yuv422' and 'yuv422_yuy2' (`#1276 <https://github.com/ros2/rviz/issues/1276>`_)
+* Contributors: Christian Rauch
+
+14.2.6 (2024-08-28)
+-------------------
+* Update urdf model.h deprecation (`#1266 <https://github.com/ros2/rviz/issues/1266>`_)
+* Enabling manual space width for TextViewFacingMarker (`#1261 <https://github.com/ros2/rviz/issues/1261>`_)
+* Contributors: Alejandro Hernández Cordero, Tom Moore
+
 14.2.5 (2024-07-29)
 -------------------
 * Added more time to copyright on Windwos (`#1252 <https://github.com/ros2/rviz/issues/1252>`_)

rviz_default_plugins/include/rviz_default_plugins/displays/effort/effort_display.hpp

@@ -31,7 +31,6 @@
 #ifndef RVIZ_DEFAULT_PLUGINS__DISPLAYS__EFFORT__EFFORT_DISPLAY_HPP_
 #define RVIZ_DEFAULT_PLUGINS__DISPLAYS__EFFORT__EFFORT_DISPLAY_HPP_
 
-#include <urdf/model.h>
 
 #include <deque>
 #include <map>
@@ -48,6 +47,7 @@
 #include <rviz_rendering/objects/effort_visual.hpp>
 #include <sensor_msgs/msg/joint_state.hpp>
 #include <std_msgs/msg/string.hpp>
+#include <urdf/model.hpp>
 
 #include "rviz_default_plugins/visibility_control.hpp"
 

rviz_default_plugins/include/rviz_default_plugins/displays/image/image_transport_display.hpp

@@ -34,6 +34,7 @@
 #define RVIZ_DEFAULT_PLUGINS__DISPLAYS__IMAGE__IMAGE_TRANSPORT_DISPLAY_HPP_
 
 #include <memory>
+#include <string>
 
 #include "get_transport_from_topic.hpp"
 #include "image_transport/image_transport.hpp"
@@ -171,18 +172,32 @@ class ImageTransportDisplay : public rviz_common::_RosTopicDisplay
 
     ++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) {
-      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.";
+      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(
-      rviz_common::properties::StatusProperty::Ok,
+      topic_status_level,
       "Topic",
       topic_str);
 

rviz_default_plugins/include/rviz_default_plugins/displays/image/ros_image_texture.hpp

@@ -128,8 +128,8 @@ class ROSImageTexture : public ROSImageTextureIface
     const T * data_ptr, size_t num_elements, T & min_value, T & max_value);
   template<typename T>
   ImageData convertTo8bit(const uint8_t * data_ptr, size_t data_size_in_bytes);
-  ImageData convertYUV422ToRGBData(const uint8_t * data_ptr, size_t data_size_in_bytes);
-  ImageData convertYUV422_YUY2ToRGBData(const uint8_t * data_ptr, size_t data_size_in_bytes);
+  ImageData convertUYVYToRGBData(const uint8_t * data_ptr, size_t data_size_in_bytes);
+  ImageData convertYUYVToRGBData(const uint8_t * data_ptr, size_t data_size_in_bytes);
 
   ImageData setFormatAndNormalizeDataIfNecessary(
     const std::string & encoding, const uint8_t * data_ptr, size_t data_size_in_bytes);

rviz_default_plugins/include/rviz_default_plugins/displays/pointcloud/point_cloud_transport_display.hpp

@@ -32,6 +32,7 @@
 #define RVIZ_DEFAULT_PLUGINS__DISPLAYS__POINTCLOUD__POINT_CLOUD_TRANSPORT_DISPLAY_HPP_
 
 #include <memory>
+#include <string>
 
 #include "get_transport_from_topic.hpp"
 #include "point_cloud_transport/point_cloud_transport.hpp"
@@ -168,18 +169,32 @@ class PointCloud2TransportDisplay : public rviz_common::_RosTopicDisplay
 
     ++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) {
-      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.";
+      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(
-      rviz_common::properties::StatusProperty::Ok,
+      topic_status_level,
       "Topic",
       topic_str);
 

rviz_default_plugins/include/rviz_default_plugins/robot/robot.hpp

@@ -39,7 +39,7 @@
 #include <OgreQuaternion.h>
 #include <OgreAny.h>
 
-#include "urdf/model.h"  // can be replaced later by urdf_model/types.h
+#include "urdf/model.hpp"  // can be replaced later by urdf_model/types.h
 
 #include "rviz_default_plugins/robot/link_updater.hpp"
 #include "rviz_default_plugins/visibility_control.hpp"