Fix Add topic camera transport type

rviz_common/include/rviz_common/message_type_provider.hpp

@@ -0,0 +1,73 @@
+// 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__MESSAGE_TYPE_PROVIDER_HPP_
+#define RVIZ_COMMON__MESSAGE_TYPE_PROVIDER_HPP_
+
+#include <QMap>  // NOLINT: cpplint cannot handle include order here
+#include <QSet>  // NOLINT: cpplint cannot handle include order here
+#include <QString>  // NOLINT: cpplint cannot handle include order here
+
+namespace rviz_common
+{
+
+/// Pluginlib interface to register message types for display classes.
+/**
+ * A display's supported message types are normally declared statically with
+ * <message_type> tags in its plugin description xml.  Displays whose
+ * supported types are only known at runtime (e.g. the Image display, which
+ * discovers them from the installed image_transport plugins) can export a
+ * MessageTypeProvider plugin instead.  The DisplayFactory loads all declared
+ * providers before the message types are first queried, so that dialogs like
+ * "Add display by topic" know about these types before any instance of the
+ * display exists.
+ *
+ * Export implementations with
+ * PLUGINLIB_EXPORT_CLASS(..., rviz_common::MessageTypeProvider) and declare
+ * them with base_class_type="rviz_common::MessageTypeProvider" in the plugin
+ * description xml.
+ */
+class MessageTypeProvider
+{
+public:
+  virtual ~MessageTypeProvider() = default;
+
+  /// Return the supported message types per display class id.
+  /**
+   * The map key is the display class id (e.g. "rviz_default_plugins/Image"),
+   * the value is the set of fully qualified message types
+   * (e.g. "sensor_msgs/msg/Image") to register for it.  The returned types
+   * are merged with the statically declared ones.
+   */
+  virtual QMap<QString, QSet<QString>> getMessageTypes() = 0;
+};
+
+}  // namespace rviz_common
+
+#endif  // RVIZ_COMMON__MESSAGE_TYPE_PROVIDER_HPP_

rviz_common/src/rviz_common/display_factory.cpp

@@ -31,6 +31,7 @@
 
 #include "display_factory.hpp"
 
+#include <memory>
 #include <string>
 
 #include <tinyxml2.h>  // NOLINT: cpplint is unable to handle the include order here
@@ -70,8 +71,39 @@ void DisplayFactory::updatePluginMessageTypes(
   message_type_cache_[class_id] = message_types;
 }
 
+void DisplayFactory::loadMessageTypeProviders()
+{
+  if (message_type_providers_loaded_) {
+    return;
+  }
+  message_type_providers_loaded_ = true;
+
+  try {
+    message_type_provider_loader_ = std::make_unique<pluginlib::ClassLoader<MessageTypeProvider>>(
+      "rviz_common", "rviz_common::MessageTypeProvider");
+  } catch (const pluginlib::PluginlibException & e) {
+    RVIZ_COMMON_LOG_ERROR_STREAM("Failed to create MessageTypeProvider loader: " << e.what());
+    return;
+  }
+
+  for (const std::string & lookup_name : message_type_provider_loader_->getDeclaredClasses()) {
+    try {
+      auto provider = message_type_provider_loader_->createUniqueInstance(lookup_name);
+      const QMap<QString, QSet<QString>> types_by_class = provider->getMessageTypes();
+      for (auto it = types_by_class.cbegin(); it != types_by_class.cend(); ++it) {
+        message_type_cache_[it.key()].unite(it.value());
+      }
+    } catch (const pluginlib::PluginlibException & e) {
+      RVIZ_COMMON_LOG_ERROR_STREAM(
+        "Failed to load MessageTypeProvider '" << lookup_name << "': " << e.what());
+    }
+  }
+}
+
 QSet<QString> DisplayFactory::getMessageTypes(const QString & class_id)
 {
+  loadMessageTypeProviders();
+
   // lookup in cache
   if (message_type_cache_.contains(class_id)) {
     return message_type_cache_[class_id];

rviz_common/src/rviz_common/display_factory.hpp

@@ -34,14 +34,18 @@
 
 #include <tinyxml2.h>
 
+#include <memory>
 #include <string>
 
 #include <QMap>  // NOLINT: cpplint cannot handle include order here
 #include <QSet>  // NOLINT: cpplint cannot handle include order here
 #include <QString>  // NOLINT: cpplint cannot handle include order here
 
+#include "pluginlib/class_loader.hpp"
+
 #include "rviz_common/factory/pluginlib_factory.hpp"
 #include "rviz_common/display.hpp"
+#include "rviz_common/message_type_provider.hpp"
 
 namespace rviz_common
 {
@@ -65,6 +69,10 @@ class DisplayFactory : public PluginlibFactory<Display>
   QMap<QString, QSet<QString>> message_type_cache_;
 
 private:
+  /// Load all declared MessageTypeProvider plugins once and merge their
+  /// message types into the cache.
+  void loadMessageTypeProviders();
+
   bool hasRootNode(tinyxml2::XMLElement * root_element, const std::string & xml_file);
   bool hasLibraryRoot(tinyxml2::XMLElement * root_element, const std::string & xml_file);
   void fillCacheForAllClassElements(tinyxml2::XMLElement * library);
@@ -73,6 +81,9 @@ class DisplayFactory : public PluginlibFactory<Display>
   std::string lookupClassId(
     const tinyxml2::XMLElement * class_element, const std::string & derived_class) const;
   std::string lookupDerivedClass(const tinyxml2::XMLElement * class_element) const;
+
+  std::unique_ptr<pluginlib::ClassLoader<MessageTypeProvider>> message_type_provider_loader_;
+  bool message_type_providers_loaded_ = false;
 };
 
 }  // namespace rviz_common

rviz_default_plugins/CMakeLists.txt

@@ -167,6 +167,8 @@ set(rviz_default_plugins_source_files
   src/rviz_default_plugins/displays/illuminance/illuminance_display.cpp
   src/rviz_default_plugins/displays/image/get_transport_from_topic.cpp
   src/rviz_default_plugins/displays/image/image_display.cpp
+  src/rviz_default_plugins/displays/image/image_message_type_provider.cpp
+  src/rviz_default_plugins/displays/image/image_transport_discovery.cpp
   src/rviz_default_plugins/displays/image/ros_image_texture.cpp
   src/rviz_default_plugins/displays/interactive_markers/integer_action.cpp
   src/rviz_default_plugins/displays/interactive_markers/interactive_marker_control.cpp
@@ -442,6 +444,14 @@ if(BUILD_TESTING)
     target_link_libraries(grid_cells_display_test ${TEST_FIXTURE_WITH_MOCK_LIBRARIES} rviz_default_plugins ogre_testing_environment)
   endif()
 
+  ament_add_gmock(image_message_type_provider_test
+    test/rviz_default_plugins/displays/image/image_message_type_provider_test.cpp
+    ${TEST_FIXTURE_OBJECTS})
+  if(TARGET image_message_type_provider_test)
+    target_include_directories(image_message_type_provider_test PRIVATE test)
+    target_link_libraries(image_message_type_provider_test ${TEST_FIXTURE_WITH_MOCK_LIBRARIES} rviz_default_plugins ogre_testing_environment)
+  endif()
+
   ament_add_gmock(image_display_test
     test/rviz_default_plugins/displays/image/image_display_test.cpp
     ${TEST_FIXTURE_OBJECTS}

rviz_default_plugins/include/rviz_default_plugins/displays/image/image_message_type_provider.hpp

@@ -0,0 +1,59 @@
+// 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_DEFAULT_PLUGINS__DISPLAYS__IMAGE__IMAGE_MESSAGE_TYPE_PROVIDER_HPP_
+#define RVIZ_DEFAULT_PLUGINS__DISPLAYS__IMAGE__IMAGE_MESSAGE_TYPE_PROVIDER_HPP_
+
+#include <QMap>  // NOLINT: cpplint cannot handle include order here
+#include <QSet>  // NOLINT: cpplint cannot handle include order here
+#include <QString>  // NOLINT: cpplint cannot handle include order here
+
+#include "rviz_common/message_type_provider.hpp"
+#include "rviz_default_plugins/visibility_control.hpp"
+
+namespace rviz_default_plugins
+{
+namespace displays
+{
+
+/// Registers the message types of the installed image_transport plugins for
+/// the image based displays (Image, Camera and DepthCloud), so that they are
+/// known (e.g. to the "Add display by topic" dialog) before any instance of
+/// these displays exists.
+class RVIZ_DEFAULT_PLUGINS_PUBLIC ImageMessageTypeProvider
+  : public rviz_common::MessageTypeProvider
+{
+public:
+  QMap<QString, QSet<QString>> getMessageTypes() override;
+};
+
+}  // namespace displays
+}  // namespace rviz_default_plugins
+
+#endif  // RVIZ_DEFAULT_PLUGINS__DISPLAYS__IMAGE__IMAGE_MESSAGE_TYPE_PROVIDER_HPP_

rviz_default_plugins/include/rviz_default_plugins/displays/image/image_transport_discovery.hpp

@@ -0,0 +1,58 @@
+// 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_DEFAULT_PLUGINS__DISPLAYS__IMAGE__IMAGE_TRANSPORT_DISCOVERY_HPP_
+#define RVIZ_DEFAULT_PLUGINS__DISPLAYS__IMAGE__IMAGE_TRANSPORT_DISCOVERY_HPP_
+
+#include <string>
+#include <vector>
+
+#include "rviz_default_plugins/visibility_control.hpp"
+
+namespace rviz_default_plugins
+{
+namespace displays
+{
+
+struct ImageTransportPluginInfo
+{
+  std::string transport_name;
+  /// Fully qualified message type, empty if the manifest does not declare one.
+  std::string message_type;
+};
+
+/// List the installed image_transport subscriber plugins with their transport
+/// names and message types, as declared in their plugin manifests.
+RVIZ_DEFAULT_PLUGINS_PUBLIC
+std::vector<ImageTransportPluginInfo> discoverImageTransportSubscriberPlugins();
+
+}  // namespace displays
+}  // namespace rviz_default_plugins
+
+#endif  // RVIZ_DEFAULT_PLUGINS__DISPLAYS__IMAGE__IMAGE_TRANSPORT_DISCOVERY_HPP_

rviz_default_plugins/plugins_description.xml

@@ -121,6 +121,17 @@
     <message_type>sensor_msgs/msg/Image</message_type>
   </class>
 
+  <class
+    name="rviz_default_plugins/ImageMessageTypeProvider"
+    type="rviz_default_plugins::displays::ImageMessageTypeProvider"
+    base_class_type="rviz_common::MessageTypeProvider"
+  >
+    <description>
+      Registers the message types of the installed image_transport plugins
+      for the Image, Camera and DepthCloud displays.
+    </description>
+  </class>
+
   <class
     name="rviz_default_plugins/InteractiveMarkers"
     type="rviz_default_plugins::displays::InteractiveMarkerDisplay"

rviz_default_plugins/src/rviz_default_plugins/displays/depth_cloud/depth_cloud_display.cpp

@@ -65,6 +65,8 @@
 #include <sensor_msgs/msg/image.hpp>
 #include <tf2_ros/message_filter.hpp>
 
+#include "rviz_default_plugins/displays/image/get_transport_from_topic.hpp"
+
 namespace rviz_default_plugins
 {
 namespace displays
@@ -245,15 +247,11 @@ DepthCloudDisplay::~DepthCloudDisplay()
 
 void DepthCloudDisplay::setTopic(const QString & topic, const QString & datatype)
 {
-  if (datatype == "sensor_msgs::msgs::Image") {
-    depth_transport_property_->setStdString("raw");
-    depth_topic_property_->setString(topic);
-  } else {
-    setStatus(
-      rviz_common::properties::StatusProperty::Warn,
-      "Message",
-      "Expected topic type of 'sensor_msgs/msg/Image', saw topic type '" + datatype + "'");
-  }
+  (void) datatype;
+  // The topic may be an image_transport subtopic, e.g. <base>/compressedDepth.
+  const std::string topic_std = topic.toStdString();
+  depth_transport_property_->setStdString(getTransportFromTopic(topic_std));
+  depth_topic_property_->setString(QString::fromStdString(getBaseTopicFromTopic(topic_std)));
 }
 
 void DepthCloudDisplay::updateQueueSize()

rviz_default_plugins/src/rviz_default_plugins/displays/image/image_display.cpp

@@ -69,6 +69,7 @@
 #include "rviz_common/uniform_string_stream.hpp"
 #include "rviz_common/validate_floats.hpp"
 #include "rviz_default_plugins/displays/image/get_transport_from_topic.hpp"
+#include "rviz_default_plugins/displays/image/image_transport_discovery.hpp"
 #include "rviz_default_plugins/displays/image/ros_image_texture.hpp"
 #include "rviz_default_plugins/displays/image/ros_image_texture_iface.hpp"
 #include "rviz_rendering/material_manager.hpp"
@@ -154,21 +155,15 @@ void ImageDisplay::onInitialize()
 
   // Populate transport->message type map dynamically from installed image_transport plugins
 
-  pluginlib::ClassLoader<image_transport::SubscriberPlugin> sub_loader(
-    "image_transport", "image_transport::SubscriberPlugin");
   transport_override_property_->clearOptions();
   transport_override_property_->addOptionStd("");
   QSet<QString> message_types;
-  for (const std::string & plugin_class : sub_loader.getDeclaredClasses()) {
-    const std::string message_type = image_transport::get_message_type_from_manifest(
-      sub_loader.getPluginManifestPath(plugin_class), plugin_class);
-    const std::string transport_name = image_transport::get_transport_name_from_manifest(
-      sub_loader.getPluginManifestPath(plugin_class), plugin_class);
-    if (!message_type.empty()) {
-      transport_override_property_->addOptionStd(transport_name);
-      message_types.insert(QString::fromStdString(message_type));
+  for (const auto & plugin : discoverImageTransportSubscriberPlugins()) {
+    if (!plugin.message_type.empty()) {
+      transport_override_property_->addOptionStd(plugin.transport_name);
+      message_types.insert(QString::fromStdString(plugin.message_type));
     } else {
-      unknown_transports_.insert(transport_name);
+      unknown_transports_.insert(plugin.transport_name);
     }
   }
   // Update the message types to allow in the topic_property_