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Append measured subscription frequency to topic status (backport #1113) #1129

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merged 1 commit into from
Jan 25, 2024
Merged

Append measured subscription frequency to topic status (backport #1113) #1129

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20 changes: 17 additions & 3 deletions rviz_common/include/rviz_common/message_filter_display.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -119,16 +119,18 @@ class MessageFilterDisplay : public _RosTopicDisplay
}

try {
rclcpp::Node::SharedPtr node = rviz_ros_node_.lock()->get_raw_node();
subscription_ = std::make_shared<message_filters::Subscriber<MessageType>>(
rviz_ros_node_.lock()->get_raw_node(),
node,
topic_property_->getTopicStd(),
qos_profile.get_rmw_qos_profile());
subscription_start_time_ = node->now();
tf_filter_ =
std::make_shared<tf2_ros::MessageFilter<MessageType, transformation::FrameTransformer>>(
*context_->getFrameManager()->getTransformer(),
fixed_frame_.toStdString(),
static_cast<uint32_t>(message_queue_property_->getInt()),
rviz_ros_node_.lock()->get_raw_node());
node);
tf_filter_->connectInput(*subscription_);
tf_filter_->registerCallback(
std::bind(
Expand Down Expand Up @@ -204,10 +206,21 @@ class MessageFilterDisplay : public _RosTopicDisplay
auto msg = std::static_pointer_cast<const MessageType>(type_erased_msg);

++messages_received_;
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.";
}
setStatus(
properties::StatusProperty::Ok,
"Topic",
QString::number(messages_received_) + " messages received");
topic_str);

processMessage(msg);
}
Expand All @@ -219,6 +232,7 @@ class MessageFilterDisplay : public _RosTopicDisplay
virtual void processMessage(typename MessageType::ConstSharedPtr msg) = 0;

typename std::shared_ptr<message_filters::Subscriber<MessageType>> subscription_;
rclcpp::Time subscription_start_time_;
std::shared_ptr<tf2_ros::MessageFilter<MessageType, transformation::FrameTransformer>> tf_filter_;
uint32_t messages_received_;
properties::IntProperty * message_queue_property_;
Expand Down
18 changes: 16 additions & 2 deletions rviz_common/include/rviz_common/ros_topic_display.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -215,12 +215,14 @@ class RosTopicDisplay : public _RosTopicDisplay
};

// TODO(anhosi,wjwwood): replace with abstraction for subscriptions once available
rclcpp::Node::SharedPtr node = rviz_ros_node_.lock()->get_raw_node();
subscription_ =
rviz_ros_node_.lock()->get_raw_node()->template create_subscription<MessageType>(
node->template create_subscription<MessageType>(
topic_property_->getTopicStd(),
qos_profile,
[this](const typename MessageType::ConstSharedPtr message) {incomingMessage(message);},
sub_opts);
subscription_start_time_ = node->now();
setStatus(properties::StatusProperty::Ok, "Topic", "OK");
} catch (rclcpp::exceptions::InvalidTopicNameError & e) {
setStatus(
Expand Down Expand Up @@ -260,10 +262,21 @@ class RosTopicDisplay : public _RosTopicDisplay
}

++messages_received_;
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.";
}
setStatus(
properties::StatusProperty::Ok,
"Topic",
QString::number(messages_received_) + " messages received");
topic_str);

processMessage(msg);
}
Expand All @@ -274,6 +287,7 @@ class RosTopicDisplay : public _RosTopicDisplay
virtual void processMessage(typename MessageType::ConstSharedPtr msg) = 0;

typename rclcpp::Subscription<MessageType>::SharedPtr subscription_;
rclcpp::Time subscription_start_time_;
uint32_t messages_received_;
};

Expand Down
18 changes: 16 additions & 2 deletions 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 @@ -111,11 +111,13 @@ class ImageTransportDisplay : public rviz_common::_RosTopicDisplay

try {
subscription_ = std::make_shared<image_transport::SubscriberFilter>();
rclcpp::Node::SharedPtr node = rviz_ros_node_.lock()->get_raw_node();
subscription_->subscribe(
rviz_ros_node_.lock()->get_raw_node().get(),
node.get(),
getBaseTopicFromTopic(topic_property_->getTopicStd()),
getTransportFromTopic(topic_property_->getTopicStd()),
qos_profile.get_rmw_qos_profile());
subscription_start_time_ = node->now();
subscription_callback_ = subscription_->registerCallback(
std::bind(
&ImageTransportDisplay<MessageType>::incomingMessage, this, std::placeholders::_1));
Expand Down Expand Up @@ -169,10 +171,21 @@ class ImageTransportDisplay : public rviz_common::_RosTopicDisplay
}

++messages_received_;
QString topic_str = QString::number(messages_received_) + " messages received";
// 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.";
}
setStatus(
rviz_common::properties::StatusProperty::Ok,
"Topic",
QString::number(messages_received_) + " messages received");
topic_str);

processMessage(msg);
}
Expand All @@ -187,6 +200,7 @@ class ImageTransportDisplay : public rviz_common::_RosTopicDisplay
uint32_t messages_received_;

std::shared_ptr<image_transport::SubscriberFilter> subscription_;
rclcpp::Time subscription_start_time_;
message_filters::Connection subscription_callback_;
};

Expand Down
1 change: 1 addition & 0 deletions rviz_default_plugins/include/rviz_default_plugins/displays/map/map_display.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -173,6 +173,7 @@ protected Q_SLOTS:

rclcpp::Subscription<map_msgs::msg::OccupancyGridUpdate>::SharedPtr update_subscription_;
rclcpp::QoS update_profile_;
rclcpp::Time subscription_start_time_;

rviz_common::properties::RosTopicProperty * update_topic_property_;
rviz_common::properties::QosProfileProperty * update_profile_property_;
Expand Down
17 changes: 15 additions & 2 deletions rviz_default_plugins/src/rviz_default_plugins/displays/map/map_display.cpp
View file
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Original file line number Diff line number Diff line change
Expand Up @@ -232,14 +232,16 @@ void MapDisplay::subscribeToUpdateTopic()
QString(sstm.str().c_str()));
};

rclcpp::Node::SharedPtr node = rviz_ros_node_.lock()->get_raw_node();
update_subscription_ =
rviz_ros_node_.lock()->get_raw_node()->
node->
template create_subscription<map_msgs::msg::OccupancyGridUpdate>(
update_topic_property_->getTopicStd(), update_profile_,
[this](const map_msgs::msg::OccupancyGridUpdate::ConstSharedPtr message) {
incomingUpdate(message);
},
sub_opts);
subscription_start_time_ = node->now();
setStatus(rviz_common::properties::StatusProperty::Ok, "Update Topic", "OK");
} catch (rclcpp::exceptions::InvalidTopicNameError & e) {
setStatus(
Expand Down Expand Up @@ -328,10 +330,21 @@ void MapDisplay::incomingUpdate(const map_msgs::msg::OccupancyGridUpdate::ConstS
}

++update_messages_received_;
QString topic_str = QString::number(messages_received_) + " update messages received";
// 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.";
}
setStatus(
rviz_common::properties::StatusProperty::Ok,
"Topic",
QString::number(update_messages_received_) + " update messages received");
topic_str);

if (updateDataOutOfBounds(update)) {
setStatus(
Expand Down