Feature: Load config service #1618
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Signed-off-by: Crola1702 <[email protected]>
Signed-off-by: Crola1702 <[email protected]>
Signed-off-by: Crola1702 <[email protected]>
ahcorde
requested changes
Nov 5, 2025
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| #include <rclcpp/service.hpp> | ||
| #include <rviz_resource_interfaces/srv/load_config.hpp> | ||
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| #include "rviz_common/config.hpp" | ||
| #include "rviz_rendering/render_window.hpp" | ||
| #include "rviz_common/window_manager_interface.hpp" | ||
| #include "rviz_common/ros_integration/ros_node_abstraction_iface.hpp" |
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Suggested change
| #include <rclcpp/service.hpp> | |
| #include "rviz_common/config.hpp" | |
| #include "rviz_common/window_manager_interface.hpp" | |
| #include "rviz_common/ros_integration/ros_node_abstraction_iface.hpp" | |
| #include "rviz_rendering/render_window.hpp" | |
| #include <rviz_resource_interfaces/srv/load_config.hpp> |
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| void | ||
| loadDisplayConfigService( | ||
| const std::shared_ptr<LoadConfig::Request> request, |
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| #include <rclcpp/service.hpp> | ||
| #include <rviz_resource_interfaces/srv/load_config.hpp> | ||
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| #include "rclcpp/clock.hpp" | ||
| #include "tf2_ros/buffer.hpp" | ||
| #include "tf2_ros/transform_listener.hpp" | ||
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| #include "rviz_common/load_resource.hpp" | ||
| #include "rviz_common/logging.hpp" | ||
| #include "rviz_common/panel.hpp" | ||
| #include "rviz_common/panel_dock_widget.hpp" | ||
| #include "rviz_common/render_panel.hpp" | ||
| #include "rviz_common/tool.hpp" | ||
| #include "rviz_common/yaml_config_reader.hpp" | ||
| #include "rviz_common/yaml_config_writer.hpp" | ||
| #include "rviz_rendering/render_window.hpp" |
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Suggested change
| #include "rclcpp/clock.hpp" | |
| #include <rclcpp/service.hpp> | |
| #include "tf2_ros/buffer.hpp" | |
| #include "tf2_ros/transform_listener.hpp" | |
| #include "rviz_common/load_resource.hpp" | |
| #include "rviz_common/logging.hpp" | |
| #include "rviz_common/panel.hpp" | |
| #include "rviz_common/panel_dock_widget.hpp" | |
| #include "rviz_common/render_panel.hpp" | |
| #include "rviz_common/tool.hpp" | |
| #include "rviz_common/yaml_config_reader.hpp" | |
| #include "rviz_common/yaml_config_writer.hpp" | |
| #include "rviz_rendering/render_window.hpp" | |
| #include <rviz_resource_interfaces/srv/load_config.hpp> |
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| /// Load display settings from the given file. | ||
| /** | ||
| * \param path The full path of the config file to load from. |
Signed-off-by: Crola1702 <[email protected]>
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Comments addressed @ahcorde. Thank you! |
ahcorde
requested changes
Nov 6, 2025
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ahcorde
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cpplint is failing /tmp/ws/src/rviz/rviz_common/src/rviz_common/visualization_frame.cpp:734: At least two spaces is best between code and comments [whitespace/comments] [2]
clalancette
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Nov 6, 2025
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clalancette
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I have two large questions about this feature.
- Do we need this at all? I know the original issue asked for a way to reload configurations without restarting rviz, but I think we have that already. If you click on File->Open and open a config, it will replace the last config. That said, there currently isn't a programmatic way to do it. But before we add more features, I think it would be good to ask the original reporter whether using the GUI would work for them.
- If we do need this, I think that we should split up the implementation of loading the config more. In particular, I think we should have a method
loadDisplayConfigFromYamlwhich takes in aYamlConfigReader. The service can setup a YamlConfigReader from the string, then call this function. We would leave the existing overload ofloadDisplayConfigthat takes a filename, and this would open aYamlConfigReaderwith the file, then callloadDisplayConfigFromYaml. Does that make sense?
Member
I think that we discussed this in person at the hackathon, but I hadn't had a chance to follow-up on a review here yet. |
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Description
These changes implement the feature requested in #1594, by creating the service when the visualization frame is initialized.
Changes:
loadDisplayConfigwhich now receives a string that can be a path to a configuration file or the configuration yaml stringloadDisplayConfigrviz_resource_interfaces