Removed _buf_cpu topic from Image display selection

rviz_common/CMakeLists.txt

@@ -213,6 +213,7 @@ set(rviz_common_source_files
   src/rviz_common/ros_integration/ros_client_abstraction.cpp
   src/rviz_common/ros_integration/ros_node_abstraction.cpp
   src/rviz_common/ros_topic_display.cpp
+  src/rviz_common/ros_topic_utils.cpp
   src/rviz_common/scaled_image_widget.cpp
   src/rviz_common/screenshot_dialog.cpp
   src/rviz_common/selection_panel.cpp
@@ -387,6 +388,7 @@ if(BUILD_TESTING)
     test/properties/qos_profile_property_test.cpp
     test/visualizer_app_test.cpp
     test/ros_node_abstraction_test.cpp
+    test/ros_topic_utils_test.cpp
     test/transformation/identity_frame_transformer_test.cpp
     ${TEST_SUPPORT_OBJECTS}
     ${SKIP_DISPLAY_TESTS}

rviz_common/include/rviz_common/ros_topic_utils.hpp

@@ -0,0 +1,54 @@
+// Copyright (c) 2026, 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.
+
+#ifndef RVIZ_COMMON__ROS_TOPIC_UTILS_HPP_
+#define RVIZ_COMMON__ROS_TOPIC_UTILS_HPP_
+
+#include <string>
+
+#include "rviz_common/visibility_control.hpp"
+
+namespace rviz_common
+{
+
+/// Return true if the given topic or service name is hidden.
+/**
+ * Following the ROS 2 naming conventions, a name is hidden if any of its
+ * '/'-separated tokens starts with an underscore, e.g. the internal
+ * "<topic>/_buf_cpu" channels created by buffer-aware rmw implementations or
+ * the "<action>/_action/feedback" topics used by actions.
+ * This mirrors rclpy's topic_or_service_is_hidden(), which is what
+ * "ros2 topic list" uses to hide such names by default.
+ */
+RVIZ_COMMON_PUBLIC
+bool isTopicOrServiceHidden(const std::string & name);
+
+}  // namespace rviz_common
+
+#endif  // RVIZ_COMMON__ROS_TOPIC_UTILS_HPP_

rviz_common/src/rviz_common/add_display_dialog.cpp

@@ -34,6 +34,7 @@
 
 #include <algorithm>
 #include <format>  // NOLINT(build/include_order) cpplint predates C++20 headers
+#include <iostream>
 #include <map>
 #include <memory>
 #include <string>
@@ -60,6 +61,7 @@
 #include "rviz_common/load_resource.hpp"
 #include "rviz_common/logging.hpp"
 #include "rviz_common/ros_integration/ros_node_abstraction.hpp"
+#include "rviz_common/ros_topic_utils.hpp"
 
 namespace rviz_common
 {
@@ -152,6 +154,10 @@ void getPluginGroups(
   std::map<std::string, std::vector<std::string>> topic_names_and_types =
     rviz_ros_node.lock()->get_topic_names_and_types();
 
+  std::erase_if(
+    topic_names_and_types,
+    [](const auto & map_pair) {return isTopicOrServiceHidden(map_pair.first);});
+
   for (const auto & map_pair : topic_names_and_types) {
     QString topic = QString::fromStdString(map_pair.first);
     if (map_pair.second.empty()) {

rviz_common/src/rviz_common/properties/ros_topic_multi_type_property.cpp

@@ -35,6 +35,8 @@
 #include <string>
 #include <vector>
 
+#include "rviz_common/ros_topic_utils.hpp"
+
 namespace rviz_common
 {
 namespace properties
@@ -49,6 +51,9 @@ void RosTopicMultiTypeProperty::fillTopicList()
     rviz_ros_node_.lock()->get_topic_names_and_types();
 
   for (const auto & topic : published_topics) {
+    if (isTopicOrServiceHidden(topic.first)) {
+      continue;
+    }
     // Only add topics whose type matches one of the allowed types.
     for (const auto & type : topic.second) {
       if (message_types_.contains(QString::fromStdString(type))) {

rviz_common/src/rviz_common/properties/ros_topic_property.cpp

@@ -37,6 +37,7 @@
 
 #include "rviz_common/properties/ros_topic_property.hpp"
 #include "rviz_common/ros_integration/ros_node_abstraction_iface.hpp"
+#include "rviz_common/ros_topic_utils.hpp"
 
 namespace rviz_common
 {
@@ -80,6 +81,9 @@ void RosTopicProperty::fillTopicList()
     rviz_ros_node_.lock()->get_topic_names_and_types();
 
   for (const auto & topic : published_topics) {
+    if (isTopicOrServiceHidden(topic.first)) {
+      continue;
+    }
     // Only add topics whose type matches.
     for (const auto & type : topic.second) {
       if (type == std_message_type) {

rviz_common/src/rviz_common/ros_topic_utils.cpp

@@ -0,0 +1,53 @@
+// Copyright (c) 2026, 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.
+
+#include "rviz_common/ros_topic_utils.hpp"
+
+#include <string>
+
+namespace rviz_common
+{
+
+bool isTopicOrServiceHidden(const std::string & name)
+{
+  size_t start = 0;
+  while (start < name.size()) {
+    size_t end = name.find('/', start);
+    if (end == std::string::npos) {
+      end = name.size();
+    }
+    if (end > start && name[start] == '_') {
+      return true;
+    }
+    start = end + 1;
+  }
+  return false;
+}
+
+}  // namespace rviz_common

rviz_common/test/ros_topic_utils_test.cpp

@@ -0,0 +1,56 @@
+// Copyright (c) 2026, 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.
+
+
+#include <gmock/gmock.h>
+
+#include "rviz_common/ros_topic_utils.hpp"
+
+using rviz_common::isTopicOrServiceHidden;
+
+TEST(IsTopicOrServiceHidden, regular_topics_are_not_hidden) {
+  EXPECT_FALSE(isTopicOrServiceHidden("/camera/image"));
+  EXPECT_FALSE(isTopicOrServiceHidden("/camera/image/compressed"));
+  EXPECT_FALSE(isTopicOrServiceHidden("relative/topic"));
+  EXPECT_FALSE(isTopicOrServiceHidden(""));
+  EXPECT_FALSE(isTopicOrServiceHidden("/"));
+}
+
+TEST(IsTopicOrServiceHidden, underscore_inside_a_token_is_not_hidden) {
+  EXPECT_FALSE(isTopicOrServiceHidden("/foo_bar/baz"));
+  EXPECT_FALSE(isTopicOrServiceHidden("/foo/bar_baz"));
+}
+
+TEST(IsTopicOrServiceHidden, token_starting_with_underscore_is_hidden) {
+  EXPECT_TRUE(isTopicOrServiceHidden("/camera/image/_buf_cpu"));
+  EXPECT_TRUE(isTopicOrServiceHidden("/_private/topic"));
+  EXPECT_TRUE(isTopicOrServiceHidden("/fibonacci/_action/feedback"));
+  EXPECT_TRUE(isTopicOrServiceHidden("relative/_hidden"));
+  EXPECT_TRUE(isTopicOrServiceHidden("_hidden"));
+}