feat: update msg name and add topic option update (#13)

Signed-off-by: ktro2828 <[email protected]>

awviz/config/awviz.param.yaml

@@ -19,47 +19,47 @@
 
     topic_options:
       /sensing/lidar/concatenated/pointcloud:
-        type: PointCloud
+        type: sensor_msgs/msg/PointCloud2
         entity: /topics/sensing/lidar/concatenated/pointcloud
       /sensing/camera/camera0/image_rect_color/compressed:
-        type: CompressedImage
+        type: sensor_msgs/msg/CompressedImage
         entity: /topics/sensing/camera/camera0/image_rect_color/compressed
       /sensing/camera/camera0/camera_info:
-        type: CameraInfo
+        type: sensor_msgs/msg/CameraInfo
         entity: /topics/sensing/camera/camera0/image_rect_color/compressed
       /sensing/camera/camera1/image_rect_color/compressed:
-        type: CompressedImage
+        type: sensor_msgs/msg/CompressedImage
         entity: /topics/sensing/camera/camera1/image_rect_color/compressed
       /sensing/camera/camera1/camera_info:
-        type: CameraInfo
+        type: sensor_msgs/msg/CameraInfo
         entity: /topics/sensing/camera/camera1/image_rect_color/compressed
       /sensing/camera/camera2/image_rect_color/compressed:
-        type: CompressedImage
+        type: sensor_msgs/msg/CompressedImage
         entity: /topics/sensing/camera/camera2/image_rect_color/compressed
       /sensing/camera/camera2/camera_info:
-        type: CameraInfo
+        type: sensor_msgs/msg/CameraInfo
         entity: /topics/sensing/camera/camera2/image_rect_color/compressed
       /sensing/camera/camera3/image_rect_color/compressed:
-        type: CompressedImage
+        type: sensor_msgs/msg/CompressedImage
         entity: /topics/sensing/camera/camera3/image_rect_color/compressed
       /sensing/camera/camera3/camera_info:
-        type: CameraInfo
+        type: sensor_msgs/msg/CameraInfo
         entity: /topics/sensing/camera/camera3/image_rect_color/compressed
       /sensing/camera/camera4/image_rect_color/compressed:
-        type: CompressedImage
+        type: sensor_msgs/msg/CompressedImage
         entity: /topics/sensing/camera/camera4/image_rect_color/compressed
       /sensing/camera/camera4/camera_info:
-        type: CameraInfo
+        type: sensor_msgs/msg/CameraInfo
         entity: /topics/sensing/camera/camera4/image_rect_color/compressed
       /sensing/camera/camera5/image_rect_color/compressed:
-        type: CompressedImage
+        type: sensor_msgs/msg/CompressedImage
         entity: /topics/sensing/camera/camera5/image_rect_color/compressed
       /sensing/camera/camera5/camera_info:
-        type: CameraInfo
+        type: sensor_msgs/msg/CameraInfo
         entity: /topics/sensing/camera/camera5/image_rect_color/compressed
       /perception/object_recognition/detection/objects:
-        type: DetectedObjects
+        type: autoware_perception_msgs/msg/DetectedObjects
         entity: /topics/perception/object_recognition/detection/objects
       /perception/object_recognition/tracking/objects:
-        type: TrackedObjects
+        type: autoware_perception_msgs/msg/TrackedObjects
         entity: /topics/perception/object_recognition/tracking/objects

awviz/include/awviz/topic_option.hpp

@@ -29,7 +29,7 @@ namespace awviz
  */
 enum MsgType {
   Unknown,
-  PointCloud,
+  PointCloud2,
   CameraInfo,
   Image,
   CompressedImage,
@@ -44,17 +44,17 @@ enum MsgType {
  */
 MsgType nameToMsgType(const std::string & name)
 {
-  if (name == "PointCloud") {
-    return MsgType::PointCloud;
-  } else if (name == "CameraInfo") {
+  if (name == "sensor_msgs/msg/PointCloud2") {
+    return MsgType::PointCloud2;
+  } else if (name == "sensor_msgs/msg/CameraInfo") {
     return MsgType::CameraInfo;
-  } else if (name == "Image") {
+  } else if (name == "sensor_msgs/msg/Image") {
     return MsgType::Image;
-  } else if (name == "CompressedImage") {
+  } else if (name == "sensor_msgs/msg/CompressedImage") {
     return MsgType::CompressedImage;
-  } else if (name == "DetectedObjects") {
+  } else if (name == "autoware_perception_msgs/msg/DetectedObjects") {
     return MsgType::DetectedObjects;
-  } else if (name == "TrackedObjects") {
+  } else if (name == "autoware_perception_msgs/msg/TrackedObjects") {
     return MsgType::TrackedObjects;
   } else {
     return MsgType::Unknown;

awviz/src/rerun_logger_node.cpp

@@ -20,6 +20,7 @@
 #include "rclcpp/subscription.hpp"
 #include "tf2/exceptions.h"
 
+#include <algorithm>
 #include <chrono>
 
 namespace awviz
@@ -41,15 +42,27 @@ RerunLoggerNode::RerunLoggerNode(const rclcpp::NodeOptions & node_options)
     100ms, [&]() -> void { createSubscriptions(); }, parallel_callback_group_);
 }
 
+void RerunLoggerNode::updateTopicOptions()
+{
+  for (const auto & [topic_name, topic_types] : get_topic_names_and_types()) {
+    const auto topic_type = nameToMsgType(topic_types.front());
+    if (std::find_if(topic_options_.cbegin(), topic_options_.cend(), [&](const auto & option) {
+          return option.topic() == topic_name && option.type() == topic_type;
+        }) == topic_options_.cend()) {
+      topic_options_.emplace_back(topic_name, topic_type);
+    }
+  }
+}
+
 void RerunLoggerNode::createSubscriptions()
 {
-  // TODO(ktro2828): use rclcpp::Node::get_topic_names_and_types()
+  updateTopicOptions();
   for (const auto & option : topic_options_) {
     if (topic_to_subscription_.find(option.topic()) != topic_to_subscription_.end()) {
       continue;
     }
 
-    if (option.type() == MsgType::PointCloud) {
+    if (option.type() == MsgType::PointCloud2) {
       topic_to_subscription_[option.topic()] = createPointCloudSubscription(option);
     } else if (option.type() == MsgType::CameraInfo) {
       topic_to_subscription_[option.topic()] = createCameraInfoSubscription(option);

awviz/src/rerun_logger_node.hpp

@@ -45,6 +45,11 @@ class RerunLoggerNode : public rclcpp::Node
   explicit RerunLoggerNode(const rclcpp::NodeOptions & node_options);
 
 private:
+  /**
+   * @brief Update topic option container if the topic has not registered yet.
+   */
+  void updateTopicOptions();
+
   /**
    * @brief Create subscribers.
    */