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Unreliable option on image, camera and map #976

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merged 1 commit into from
Mar 18, 2016
Merged

Unreliable option on image, camera and map #976

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12 changes: 11 additions & 1 deletion src/rviz/default_plugin/map_display.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -112,6 +112,11 @@ MapDisplay::MapDisplay()
"Orientation of the map. (not editable)",
this );
orientation_property_->setReadOnly( true );

unreliable_property_ = new BoolProperty( "Unreliable", false,
"Prefer UDP topic transport",
this,
SLOT( updateTopic() ));
}

MapDisplay::~MapDisplay()
Expand Down Expand Up @@ -343,7 +348,12 @@ void MapDisplay::subscribe()
{
try
{
map_sub_ = update_nh_.subscribe( topic_property_->getTopicStd(), 1, &MapDisplay::incomingMap, this );
if(unreliable_property_->getBool())
{
map_sub_ = update_nh_.subscribe( topic_property_->getTopicStd(), 1, &MapDisplay::incomingMap, this, ros::TransportHints().unreliable());
}else{
map_sub_ = update_nh_.subscribe( topic_property_->getTopicStd(), 1, &MapDisplay::incomingMap, this, ros::TransportHints().reliable() );
}
setStatus( StatusProperty::Ok, "Topic", "OK" );
}
catch( ros::Exception& e )
Expand Down
2 changes: 2 additions & 0 deletions src/rviz/default_plugin/map_display.h
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Original file line number Diff line number Diff line change
Expand Up @@ -142,6 +142,8 @@ protected Q_SLOTS:
FloatProperty* alpha_property_;
Property* draw_under_property_;
EnumProperty* color_scheme_property_;

BoolProperty* unreliable_property_;
};

} // namespace rviz
Expand Down
19 changes: 17 additions & 2 deletions src/rviz/image/image_display_base.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -67,6 +67,11 @@ ImageDisplayBase::ImageDisplayBase() :

transport_property_->setStdString("raw");

unreliable_property_ = new BoolProperty( "Unreliable", false,
"Prefer UDP topic transport",
this,
SLOT( updateTopic() ));

}

ImageDisplayBase::~ImageDisplayBase()
Expand Down Expand Up @@ -152,8 +157,18 @@ void ImageDisplayBase::subscribe()

if (!topic_property_->getTopicStd().empty() && !transport_property_->getStdString().empty() )
{
sub_->subscribe(*it_, topic_property_->getTopicStd(), (uint32_t)queue_size_property_->getInt(),
image_transport::TransportHints(transport_property_->getStdString()));

// Determine UDP vs TCP transport for user selection.
if (unreliable_property_->getBool())
{
sub_->subscribe(*it_, topic_property_->getTopicStd(), (uint32_t)queue_size_property_->getInt(),
image_transport::TransportHints(transport_property_->getStdString(), ros::TransportHints().unreliable()));
}
else{
sub_->subscribe(*it_, topic_property_->getTopicStd(), (uint32_t)queue_size_property_->getInt(),
image_transport::TransportHints(transport_property_->getStdString()));
}


if (targetFrame_.empty())
{
Expand Down
2 changes: 2 additions & 0 deletions src/rviz/image/image_display_base.h
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Original file line number Diff line number Diff line change
Expand Up @@ -124,6 +124,8 @@ protected Q_SLOTS:
std::string transport_;

std::set<std::string> transport_plugin_types_;

BoolProperty* unreliable_property_;
};

} // end namespace rviz
Expand Down