#378 solution for the OGRE problem.

atom_calibration/src/atom_calibration/calibration/visualization.py

@@ -154,7 +154,7 @@ def setupVisualization(dataset, args, selected_collection_key):
     # graphics['ros']['tf_broadcaster'] = tf.TransformBroadcaster()
     graphics['ros']['tf_broadcaster'] = tf2_ros.TransformBroadcaster()
 
-    rospy.sleep(0.2)  # Sleep a litle to make sure the time.now() returns a correct time.
+    rospy.sleep(0.2)  # Sleep a little to make sure the time.now() returns a correct time.
     now = rospy.Time.now()
 
     graphics['ros']['publisher_models'] = rospy.Publisher('~robot_meshes', MarkerArray, queue_size=0, latch=True)

atom_rviz_plugins/image_display_with_click/CMakeLists.txt

@@ -61,6 +61,7 @@ link_directories(${catkin_LIBRARY_DIRS})
 # source codes #
 set(HEADERS
   include/image_display_with_click/image_display_with_click.h
+  include/image_display_with_click/image_display_with_click_base.h
   include/image_display_with_click/mouse_watcher.h
   )
 #qt5_wrap_ui(UIC_FILES
@@ -70,12 +71,15 @@ set(HEADERS
 set(SOURCE_FILES
         src/plugin_load.cpp
         src/image_display_with_click.cpp
+        src/image_display_with_click_base.cpp
         src/mouse_watcher.cpp
   )
 
 add_library(${PROJECT_NAME} SHARED ${SOURCE_FILES} ${HEADERS} ${UIC_FILES})
+# add_library(${PROJECT_NAME} ${SOURCE_FILES})
 set_target_properties(${PROJECT_NAME} PROPERTIES VERSION "${${PROJECT_NAME}_VERSION}")
 target_include_directories(${PROJECT_NAME} PRIVATE "${OGRE_PREFIX_DIR}/include")
+# target_link_libraries(${PROJECT_NAME} ${QT_LIBRARIES} ${catkin_LIBRARIES})
 
 
 

atom_rviz_plugins/image_display_with_click/include/image_display_with_click/image_display_with_click.h

@@ -22,6 +22,7 @@
 #include "std_msgs/String.h"
 
 #include <image_display_with_click/mouse_watcher.h>
+#include <image_display_with_click/image_display_with_click_base.h>
 
 namespace Ogre
 {
@@ -30,10 +31,11 @@ namespace Ogre
 } // namespace Ogre
 
 using namespace std;
+using namespace rviz;
 
 namespace atom_rviz
 {
-    class ImageDisplayWithClick : public rviz::ImageDisplayBase
+    class ImageDisplayWithClick : public atom_rviz::ImageDisplayWithClickBase
     {
     Q_OBJECT
     public:

atom_rviz_plugins/image_display_with_click/include/image_display_with_click/image_display_with_click_base.h

@@ -0,0 +1,112 @@
+#ifndef IMAGE_DISPLAY_WITH_CLICK_BASE_H
+#define IMAGE_DISPLAY_WITH_CLICK_BASE_H
+
+#include <QObject>
+
+#ifndef Q_MOC_RUN // See: https://bugreports.qt-project.org/browse/QTBUG-22829
+#include <message_filters/subscriber.h>
+#include <tf2_ros/message_filter.h>
+#include <sensor_msgs/Image.h>
+
+#include <image_transport/image_transport.h>
+#include <image_transport/subscriber_filter.h>
+
+#include "rviz/display_context.h"
+#include "rviz/frame_manager.h"
+#include "rviz/properties/ros_topic_property.h"
+#include "rviz/properties/enum_property.h"
+#include "rviz/properties/int_property.h"
+
+#include "rviz/display.h"
+#include "rviz/rviz_export.h"
+#endif
+
+using namespace rviz;
+
+namespace atom_rviz
+{
+/** @brief Display subclass for subscribing and displaying to image messages.
+ *
+ * This class brings together some common things used for subscribing and displaying image messages in
+ * Display
+ * types.  It has a tf2_ros::MessageFilter and image_tranport::SubscriberFilter to filter incoming image
+ * messages, and
+ * it handles subscribing and unsubscribing when the display is
+ * enabled or disabled.  */
+
+class RVIZ_EXPORT ImageDisplayWithClickBase : public Display
+{
+  Q_OBJECT
+public:
+  /** @brief Constructor. */
+  ImageDisplayWithClickBase();
+  ~ImageDisplayWithClickBase() override;
+
+  void setTopic(const QString& topic, const QString& datatype) override;
+
+protected Q_SLOTS:
+  /** @brief Update topic and resubscribe */
+  virtual void updateTopic();
+
+  /** @brief Update queue size of tf filter  */
+  virtual void updateQueueSize();
+
+  /** @brief Fill list of available and working transport options */
+  void fillTransportOptionList(EnumProperty* property);
+
+protected:
+  void onInitialize() override;
+
+  /** @brief Reset display. */
+  void reset() override;
+
+  /** @brief Enabling TF filtering by defining a target frame. */
+  void enableTFFilter(std::string& targetFrame)
+  {
+    targetFrame_ = targetFrame;
+    reset();
+  }
+
+  /** @brief ROS topic management. */
+  virtual void subscribe();
+  virtual void unsubscribe();
+
+  void fixedFrameChanged() override;
+
+  /** @brief Incoming message callback.  Checks if the message pointer
+   * is valid, increments messages_received_, then calls
+   * processMessage(). */
+  void incomingMessage(const sensor_msgs::Image::ConstPtr& msg);
+
+  /** @brief Callback for messages, whose frame_id cannot resolved */
+  void failedMessage(const sensor_msgs::Image::ConstPtr& msg, tf2_ros::FilterFailureReason reason);
+
+  /** @brief Implement this to process the contents of a message.
+   *
+   * This is called by incomingMessage(). */
+  virtual void processMessage(const sensor_msgs::Image::ConstPtr& msg) = 0;
+
+  void scanForTransportSubscriberPlugins();
+
+  boost::scoped_ptr<image_transport::ImageTransport> it_;
+  boost::shared_ptr<image_transport::SubscriberFilter> sub_;
+  boost::shared_ptr<tf2_ros::MessageFilter<sensor_msgs::Image> > tf_filter_;
+
+  std::string targetFrame_;
+
+  uint32_t messages_received_;
+
+  RosTopicProperty* topic_property_;
+  EnumProperty* transport_property_;
+  IntProperty* queue_size_property_;
+
+  std::string transport_;
+
+  std::set<std::string> transport_plugin_types_;
+
+  BoolProperty* unreliable_property_;
+};
+
+} // end namespace rviz
+
+#endif // IMAGE_DISPLAY_BASE_H

atom_rviz_plugins/image_display_with_click/package.xml

@@ -51,7 +51,7 @@
 
   <depend>class_loader</depend>
   <depend>pluginlib</depend>
-  <depend>rviz</depend>
+<!--  <depend>rviz</depend>-->
   <depend>qtbase5-dev</depend>
   <buildtool_depend>catkin</buildtool_depend>
   <build_depend>atom_msgs</build_depend>
@@ -67,6 +67,8 @@
   <exec_depend>rospy</exec_depend>
   <exec_depend>std_msgs</exec_depend>
 
+  <build_depend>rviz</build_depend>
+  <exec_depend>rviz</exec_depend>
   <export>
     <rviz plugin="${prefix}/plugin_description.xml"/>
   </export>

atom_rviz_plugins/image_display_with_click/src/image_display_with_click.cpp

@@ -27,7 +27,7 @@ using namespace rviz;
 
 namespace atom_rviz
 {
-    ImageDisplayWithClick::ImageDisplayWithClick() : ImageDisplayBase(), texture_()
+    ImageDisplayWithClick::ImageDisplayWithClick() : ImageDisplayWithClickBase(), texture_()
     {
         cout << "Called ImageDisplay::ImageDisplay()" << endl;
         normalize_property_ = new BoolProperty(
@@ -56,9 +56,12 @@ namespace atom_rviz
     {
 
         cout << "Called ImageDisplay::onInitialize()" << endl;
-        ImageDisplayBase::onInitialize();
+        ImageDisplayWithClickBase::onInitialize();
         {
-            static uint32_t count = 0;
+            static uint32_t count = 10000; //NOTE this must start with a different number than 0, otherwise it will
+            // collide with the scene managers created by ImageDisplay
+            // https://github.com/lardemua/atom/issues/378#issuecomment-1091711581
+
             std::stringstream ss;
             ss << "ImageDisplay" << count++;
             img_scene_manager_ = Ogre::Root::getSingleton().createSceneManager(Ogre::ST_GENERIC, ss.str());
@@ -136,7 +139,7 @@ namespace atom_rviz
     void ImageDisplayWithClick::onDisable()
     {
         render_panel_->getRenderWindow()->setActive(false);
-        ImageDisplayBase::unsubscribe();
+        ImageDisplayWithClickBase::unsubscribe();
         reset();
     }
 
@@ -210,7 +213,7 @@ namespace atom_rviz
 
     void ImageDisplayWithClick::reset()
     {
-        ImageDisplayBase::reset();
+        ImageDisplayWithClickBase::reset();
         texture_.clear();
         render_panel_->getCamera()->setPosition(Ogre::Vector3(999999, 999999, 999999));
     }