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Add support for ROS2 topic type #28

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Add support for ROS2 topic type #28

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19 changes: 17 additions & 2 deletions rosshow/rosshow.py
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Original file line number Diff line number Diff line change
Expand Up @@ -21,6 +21,7 @@

VIEWER_MAPPING = {

# ROS1.
"nav_msgs/Odometry": ("rosshow.viewers.nav_msgs.OdometryViewer", "OdometryViewer", {}),
"nav_msgs/OccupancyGrid": ("rosshow.viewers.nav_msgs.OccupancyGridViewer", "OccupancyGridViewer", {}),
"nav_msgs/Path": ("rosshow.viewers.nav_msgs.PathViewer", "PathViewer", {}),
Expand Down Expand Up @@ -49,6 +50,14 @@
"geometry_msgs/Twist": ("rosshow.viewers.generic.MultiPlotViewer", "MultiPlotViewer", {"data_fields": ["linear.x", "linear.y", "linear.z", "angular.x", "angular.y", "angular.z"]}),
}

# ROS2, e.g. nav_msgs/Odometry -> nav_msgs/msg/Odometry.
_viewer_mapping_ros2 = {}
for k, v in VIEWER_MAPPING.items():
message_package, message_name = k.split("/", 2)
_viewer_mapping_ros2[f'{message_package}/msg/{message_name}'] = v
VIEWER_MAPPING.update(_viewer_mapping_ros2)


def capture_key_loop(viewer):
global getch
while True:
Expand Down Expand Up @@ -114,7 +123,7 @@ def main():
sys.exit(0)

if topic_types[TOPIC] not in VIEWER_MAPPING:
print("Unsupported message type.")
print(f"Unsupported message type '{topic_types[TOPIC]}'.")
exit()

# Create the canvas and viewer accordingly
Expand All @@ -127,7 +136,13 @@ def main():
viewer_class = getattr(__import__(module_name, fromlist=(class_name)), class_name)
viewer = viewer_class(canvas, title = TOPIC, **viewer_kwargs)

message_package, message_name = topic_types[TOPIC].split("/", 2)
try:
# ROS1.
message_package, message_name = topic_types[TOPIC].split("/", 2)
except ValueError:
# ROS2.
message_package, _, message_name = topic_types[TOPIC].split("/", 3)

message_class = getattr(__import__(message_package + ".msg", fromlist=(message_name)), message_name)

# Subscribe to the topic so the viewer actually gets the data
Expand Down