perf: reduce transitive includes to improve build times

rviz_common/include/rviz_common/ros_integration/ros_node_abstraction.hpp

@@ -37,7 +37,11 @@
 #include <string>
 #include <vector>
 
-#include "rclcpp/rclcpp.hpp"
+// Use targeted headers instead of rclcpp/rclcpp.hpp:
+//   rclcpp/node.hpp       — for rclcpp::Node::SharedPtr
+//   rclcpp/node_options.hpp — for rclcpp::NodeOptions constructor parameter
+#include "rclcpp/node.hpp"
+#include "rclcpp/node_options.hpp"
 
 #include "rviz_common/ros_integration/ros_node_abstraction_iface.hpp"
 #include "rviz_common/visibility_control.hpp"

rviz_common/include/rviz_common/ros_integration/ros_node_abstraction_iface.hpp

@@ -37,7 +37,9 @@
 #include <string>
 #include <vector>
 
-#include "rclcpp/rclcpp.hpp"
+// Only rclcpp::Node::SharedPtr is needed here — use the narrow header
+// instead of rclcpp/rclcpp.hpp to minimize transitive includes for all consumers.
+#include "rclcpp/node.hpp"
 
 namespace rviz_common
 {

rviz_common/include/rviz_common/view_controller.hpp

@@ -42,8 +42,8 @@
 #include <QString>  // NOLINT: cpplint is unable to handle the include order here
 #include <Qt>  // NOLINT: cpplint is unable to handle the include order here
 #include <QVariant>  // NOLINT: cpplint is unable to handle the include order here
-#include <rclcpp/service.hpp>
-#include <std_srvs/srv/empty.hpp>
+// rclcpp/service.hpp and std_srvs are intentionally excluded from this public header.
+// reset_time_srv_ is stored as std::shared_ptr<void> and cast in view_controller.cpp.
 
 #include "rviz_common/properties/property.hpp"
 #include "rviz_common/visibility_control.hpp"
@@ -286,12 +286,9 @@ private Q_SLOTS:
   // Default cursors for the most common actions
   QMap<CursorType, QCursor> standard_cursors_;
 
-  rclcpp::Service<std_srvs::srv::Empty>::SharedPtr reset_time_srv_;
-
-  void resetService(
-    const std::shared_ptr<rmw_request_id_t>,
-    const std::shared_ptr<std_srvs::srv::Empty::Request>,
-    const std::shared_ptr<std_srvs::srv::Empty::Response>);
+  // Type-erased service handle — concrete type is rclcpp::Service<std_srvs::srv::Empty>.
+  // Stored as void to avoid pulling rclcpp/service.hpp + std_srvs into this public header.
+  std::shared_ptr<void> reset_time_srv_;
 };
 
 }  // namespace rviz_common

rviz_common/include/rviz_common/visualization_manager.hpp

@@ -38,8 +38,10 @@
 #include <QString>  // NOLINT: cpplint is unable to handle the include order here
 
 #include "rclcpp/clock.hpp"
+#include "rclcpp/executors/single_threaded_executor.hpp"
 #include "rclcpp/time.hpp"
-#include "tf2_ros/transform_listener.hpp"
+// tf2_ros/transform_listener.hpp is not included here — TransformListener only
+// appears in a doc comment. Include it in the .cpp file if needed.
 
 #include "rviz_common/bit_allocator.hpp"
 #include "rviz_common/config.hpp"

rviz_common/src/rviz_common/view_controller.cpp

@@ -28,7 +28,6 @@
 // ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 // POSSIBILITY OF SUCH DAMAGE.
 
-
 #include "rviz_common/view_controller.hpp"
 
 #include <string>
@@ -43,6 +42,9 @@
 
 #include "rviz_rendering/render_window.hpp"
 
+#include "rclcpp/service.hpp"
+#include "std_srvs/srv/empty.hpp"
+
 #include "rviz_common/display_context.hpp"
 #include "rviz_common/load_resource.hpp"
 #include "rviz_common/properties/bool_property.hpp"
@@ -132,11 +134,16 @@ void ViewController::initialize(DisplayContext * context)
   auto ros_node_abstraction = context_->getRosNodeAbstraction().lock();
   if (ros_node_abstraction) {
     auto node = ros_node_abstraction->get_raw_node();
+    // Store as std::shared_ptr<void> so rclcpp/service.hpp stays out of the public header.
     reset_time_srv_ = node->create_service<std_srvs::srv::Empty>(
       ros_node_abstraction->get_node_name() + "/reset_time",
-      std::bind(
-        &ViewController::resetService, this,
-        std::placeholders::_1, std::placeholders::_2, std::placeholders::_3));
+      [this](
+        const std::shared_ptr<rmw_request_id_t>,
+        const std::shared_ptr<std_srvs::srv::Empty::Request>,
+        const std::shared_ptr<std_srvs::srv::Empty::Response>)
+      {
+        resetTime();
+      });
   }
 }
 
@@ -251,14 +258,6 @@ void ViewController::handleKeyEvent(QKeyEvent * event, RenderPanel * panel)
   }
 }
 
-void ViewController::resetService(
-  const std::shared_ptr<rmw_request_id_t>,
-  const std::shared_ptr<std_srvs::srv::Empty::Request>,
-  const std::shared_ptr<std_srvs::srv::Empty::Response>)
-{
-  resetTime();
-}
-
 void ViewController::resetTime()
 {
   rviz_common::VisualizationManager * vis_manager =

rviz_default_plugins/CMakeLists.txt

@@ -247,6 +247,7 @@ set(rviz_default_plugins_source_files
   src/rviz_default_plugins/view_controllers/orbit/orbit_view_controller.cpp
   src/rviz_default_plugins/view_controllers/ortho/fixed_orientation_ortho_view_controller.cpp
   src/rviz_default_plugins/view_controllers/xy_orbit/xy_orbit_view_controller.cpp
+  src/rviz_default_plugins/view_controllers/view_controller_registration.cpp
 )
 
 add_library(rviz_default_plugins SHARED

rviz_default_plugins/include/rviz_default_plugins/tools/focus/focus_tool.hpp

@@ -31,6 +31,8 @@
 #ifndef RVIZ_DEFAULT_PLUGINS__TOOLS__FOCUS__FOCUS_TOOL_HPP_
 #define RVIZ_DEFAULT_PLUGINS__TOOLS__FOCUS__FOCUS_TOOL_HPP_
 
+#include <OgreVector.h>  // Ogre::Vector3 used in processMouseEvent/setStatusFrom signatures
+
 #include <QCursor>
 
 #include "rviz_common/tool.hpp"

rviz_default_plugins/include/rviz_default_plugins/transformation/tf_wrapper.hpp

@@ -35,14 +35,29 @@
 #include <string>
 #include <vector>
 
-#include "tf2_ros/buffer.hpp"
-#include "tf2_ros/create_timer_ros.hpp"
-#include "tf2_ros/transform_listener.hpp"
-#include "tf2_geometry_msgs/tf2_geometry_msgs.hpp"
+// Minimal tf2 headers — only what the public API actually needs.
+// Heavy impl headers (buffer.hpp, transform_listener.hpp, create_timer_ros.hpp,
+// tf2_geometry_msgs.hpp) are included in tf_wrapper.cpp only.
+#include "geometry_msgs/msg/pose_stamped.hpp"
+#include "geometry_msgs/msg/transform_stamped.hpp"
+#include "tf2/time.hpp"
+#include "tf2_ros/async_buffer_interface.hpp"  // TransformStampedFuture, TransformReadyCallback
 
 #include "rviz_common/transformation/frame_transformer.hpp"
 #include "rviz_default_plugins/visibility_control.hpp"
 
+namespace tf2_ros
+{
+class Buffer;
+class TransformListener;
+}  // namespace tf2_ros
+
+namespace rclcpp
+{
+class Clock;
+class Node;
+}  // namespace rclcpp
+
 namespace rviz_default_plugins
 {
 namespace transformation

rviz_default_plugins/src/rviz_default_plugins/displays/laser_scan/laser_scan_display.cpp

@@ -35,7 +35,7 @@
 
 #include <QString>  // NOLINT: cpplint is unable to handle the include order here
 
-#include "tf2_ros/buffer.hpp"
+#include "tf2/exceptions.hpp"
 
 #include "rviz_common/properties/int_property.hpp"
 #include "rviz_common/properties/status_property.hpp"

rviz_default_plugins/src/rviz_default_plugins/displays/robot_model/robot_model_display.cpp

@@ -40,7 +40,7 @@
 
 #include <QString>  // NOLINT: cpplint is unable to handle the include order here
 
-#include "tf2_ros/transform_listener.hpp"
+// tf2_ros/transform_listener.hpp removed: no tf2_ros:: types used directly here.
 
 #include "rviz_common/display_context.hpp"
 #include "rviz_common/properties/enum_property.hpp"

rviz_default_plugins/src/rviz_default_plugins/displays/tf/tf_display.cpp

@@ -48,7 +48,9 @@
 #include <QString>  // NOLINT: cpplint is unable to handle the include order here
 #include <QToolTip>  // NOLINT: cpplint cannot handle the include order here
 
-#include "tf2_ros/transform_listener.hpp"
+// tf2_ros/buffer.hpp needed: getBuffer() returns shared_ptr<tf2_ros::Buffer> which
+// is assigned to shared_ptr<tf2::BufferCore> — requires full inheritance knowledge.
+// tf2_ros/transform_listener.hpp removed: no TransformListener types used here.
 #include "tf2_ros/buffer.hpp"
 
 #include "rviz_rendering/objects/arrow.hpp"

rviz_default_plugins/src/rviz_default_plugins/transformation/tf_wrapper.cpp

@@ -35,6 +35,15 @@
 #include <string>
 #include <vector>
 
+// Full tf2 implementation headers — intentionally kept out of tf_wrapper.hpp.
+#include "tf2_geometry_msgs/tf2_geometry_msgs.hpp"
+#include "tf2_ros/buffer.hpp"
+#include "tf2_ros/create_timer_ros.hpp"
+#include "tf2_ros/transform_listener.hpp"
+
+#include "rclcpp/clock.hpp"
+#include "rclcpp/node.hpp"
+
 namespace rviz_default_plugins
 {
 namespace transformation

rviz_default_plugins/src/rviz_default_plugins/view_controllers/follower/third_person_follower_view_controller.cpp

@@ -58,9 +58,3 @@ void ThirdPersonFollowerViewController::updateTargetSceneNode()
 
 }  // namespace view_controllers
 }  // namespace rviz_default_plugins
-
-#include <pluginlib/class_list_macros.hpp>  // NOLINT(build/include_order)
-
-PLUGINLIB_EXPORT_CLASS(
-  rviz_default_plugins::view_controllers::ThirdPersonFollowerViewController,
-  rviz_common::ViewController)

rviz_default_plugins/src/rviz_default_plugins/view_controllers/fps/fps_view_controller.cpp

@@ -260,7 +260,3 @@ void FPSViewController::move(float x, float y, float z)  // NOLINT (this is not
 }
 }  // namespace view_controllers
 }  // namespace rviz_default_plugins
-
-#include <pluginlib/class_list_macros.hpp>  // NOLINT(build/include_order)
-PLUGINLIB_EXPORT_CLASS(
-  rviz_default_plugins::view_controllers::FPSViewController, rviz_common::ViewController)

rviz_default_plugins/src/rviz_default_plugins/view_controllers/frame/frame_view_controller.cpp

@@ -165,7 +165,3 @@ void FrameViewController::onTargetFrameChanged(
 
 }  // namespace view_controllers
 }  // namespace rviz_default_plugins
-
-#include <pluginlib/class_list_macros.hpp>  // NOLINT(build/include_order)
-PLUGINLIB_EXPORT_CLASS(
-  rviz_default_plugins::view_controllers::FrameViewController, rviz_common::ViewController)

rviz_default_plugins/src/rviz_default_plugins/view_controllers/orbit/orbit_view_controller.cpp

@@ -394,7 +394,3 @@ void OrbitViewController::move(float x, float y, float z)  // NOLINT(build/inclu
 
 }  // namespace view_controllers
 }  // namespace rviz_default_plugins
-
-#include <pluginlib/class_list_macros.hpp>  // NOLINT(build/include_order)
-PLUGINLIB_EXPORT_CLASS(
-  rviz_default_plugins::view_controllers::OrbitViewController, rviz_common::ViewController)

rviz_default_plugins/src/rviz_default_plugins/view_controllers/ortho/fixed_orientation_ortho_view_controller.cpp

@@ -232,8 +232,3 @@ void FixedOrientationOrthoViewController::move(float dx, float dy)
 
 }  // namespace view_controllers
 }  // namespace rviz_default_plugins
-
-#include <pluginlib/class_list_macros.hpp>  // NOLINT(build/include_order)
-PLUGINLIB_EXPORT_CLASS(
-  rviz_default_plugins::view_controllers::FixedOrientationOrthoViewController,
-  rviz_common::ViewController)

rviz_default_plugins/src/rviz_default_plugins/view_controllers/view_controller_registration.cpp

@@ -0,0 +1,57 @@
+// Copyright (c) 2024, Open Source Robotics Foundation, Inc.
+// All rights reserved.
+//
+// Redistribution and use in source and binary forms, with or without
+// modification, are permitted provided that the following conditions are met:
+//
+//    * Redistributions of source code must retain the above copyright
+//      notice, this list of conditions and the following disclaimer.
+//
+//    * Redistributions in binary form must reproduce the above copyright
+//      notice, this list of conditions and the following disclaimer in the
+//      documentation and/or other materials provided with the distribution.
+//
+//    * Neither the name of the copyright holder nor the names of its
+//      contributors may be used to endorse or promote products derived from
+//      this software without specific prior written permission.
+//
+// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
+// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
+// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
+// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+// POSSIBILITY OF SUCH DAMAGE.
+
+// Consolidated pluginlib exports for all view controllers.
+// Keeping PLUGINLIB_EXPORT_CLASS in a single TU means pluginlib/class_list_macros.hpp
+// (~347 headers) is parsed exactly once instead of once per view controller .cpp file.
+
+#include "rviz_default_plugins/view_controllers/follower/third_person_follower_view_controller.hpp"
+#include "rviz_default_plugins/view_controllers/fps/fps_view_controller.hpp"
+#include "rviz_default_plugins/view_controllers/frame/frame_view_controller.hpp"
+#include "rviz_default_plugins/view_controllers/orbit/orbit_view_controller.hpp"
+#include "rviz_default_plugins/view_controllers/ortho/fixed_orientation_ortho_view_controller.hpp"
+#include "rviz_default_plugins/view_controllers/xy_orbit/xy_orbit_view_controller.hpp"
+
+#include <pluginlib/class_list_macros.hpp>  // NOLINT(build/include_order)
+
+PLUGINLIB_EXPORT_CLASS(
+  rviz_default_plugins::view_controllers::ThirdPersonFollowerViewController,
+  rviz_common::ViewController)
+PLUGINLIB_EXPORT_CLASS(
+  rviz_default_plugins::view_controllers::FPSViewController, rviz_common::ViewController)
+PLUGINLIB_EXPORT_CLASS(
+  rviz_default_plugins::view_controllers::FrameViewController, rviz_common::ViewController)
+PLUGINLIB_EXPORT_CLASS(
+  rviz_default_plugins::view_controllers::OrbitViewController, rviz_common::ViewController)
+PLUGINLIB_EXPORT_CLASS(
+  rviz_default_plugins::view_controllers::FixedOrientationOrthoViewController,
+  rviz_common::ViewController)
+PLUGINLIB_EXPORT_CLASS(
+  rviz_default_plugins::view_controllers::XYOrbitViewController,
+  rviz_common::ViewController)

rviz_default_plugins/src/rviz_default_plugins/view_controllers/xy_orbit/xy_orbit_view_controller.cpp

@@ -230,8 +230,3 @@ void XYOrbitViewController::handleMouseEvent(rviz_common::ViewportMouseEvent & e
 
 }  // namespace view_controllers
 }  // namespace rviz_default_plugins
-
-#include <pluginlib/class_list_macros.hpp>  // NOLINT
-PLUGINLIB_EXPORT_CLASS(
-  rviz_default_plugins::view_controllers::XYOrbitViewController,
-  rviz_common::ViewController)

rviz_visual_testing_framework/include/rviz_visual_testing_framework/visual_test_fixture.hpp

@@ -34,18 +34,16 @@
 #include <string>
 #include <vector>
 
-#include "rclcpp/rclcpp.hpp"
-#include "rclcpp/clock.hpp"
-#include "std_msgs/msg/header.hpp"
-#include "geometry_msgs/msg/transform_stamped.hpp"
-#include "tf2/LinearMath/Quaternion.hpp"
-#include "tf2_ros/static_transform_broadcaster.hpp"
+// NOTE: rclcpp, tf2_ros, geometry_msgs, std_msgs are NOT included here intentionally.
+// VisualTestFixture itself uses none of those types. Tests that publish messages
+// should include visual_test_publisher.hpp or transform_publisher.hpp directly.
 
 #include "rviz_visual_testing_framework/internal/display_handler.hpp"
 #include "rviz_visual_testing_framework/internal/executor.hpp"
 #include "rviz_visual_testing_framework/internal/visual_test.hpp"
 #include "rviz_visual_testing_framework/page_objects/page_object_with_window.hpp"
 
+
 class VisualTestFixture : public testing::Test
 {
 public: