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Only add to display dialog if publisher > 0 #1701

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8 changes: 8 additions & 0 deletions rviz_common/include/rviz_common/ros_integration/ros_node_abstraction.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -85,6 +85,14 @@ class RosNodeAbstraction : public RosNodeAbstractionIface
std::map<std::string, std::vector<std::string>>
get_topic_names_and_types() const override;

/// Count the number of publishers for a given topic.
/**
* \param topic_name the name of the topic to count publishers for
* \return the number of publishers for the given topic
*/
RVIZ_COMMON_PUBLIC
size_t count_publishers(const std::string & topic_name) const override;

/// Return a map with service names mapped to a list of types for that service.
/**
* The node name is what was given when initializing this API.
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2 changes: 2 additions & 0 deletions rviz_common/include/rviz_common/ros_integration/ros_node_abstraction_iface.hpp
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Expand Up @@ -56,6 +56,8 @@ class RosNodeAbstractionIface
virtual std::map<std::string, std::vector<std::string>>
get_topic_names_and_types() const = 0;

virtual size_t count_publishers(const std::string & topic_name) const = 0;

virtual std::map<std::string, std::vector<std::string>>
get_service_names_and_types() const = 0;

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5 changes: 5 additions & 0 deletions rviz_common/src/rviz_common/add_display_dialog.cpp
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Expand Up @@ -168,6 +168,11 @@ void getPluginGroups(
}
QString datatype = QString::fromStdString(map_pair.second[0]);

// Check if there is a publisher for this topic, if not we skip it
if (!rviz_ros_node.lock()->count_publishers(map_pair.first)) {
continue;
}

if (datatype_plugins.contains(datatype)) {
if (
groups->empty() ||
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5 changes: 5 additions & 0 deletions rviz_common/src/rviz_common/ros_integration/ros_node_abstraction.cpp
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Expand Up @@ -62,6 +62,11 @@ RosNodeAbstraction::get_topic_names_and_types() const
return raw_node_->get_topic_names_and_types();
}

size_t RosNodeAbstraction::count_publishers(const std::string & topic_name) const
{
return raw_node_->count_publishers(topic_name);
}

std::map<std::string, std::vector<std::string>>
RosNodeAbstraction::get_service_names_and_types() const
{
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