Added PointCloud2 transport type from Add topic display

rviz_default_plugins/CMakeLists.txt

@@ -205,6 +205,8 @@ set(rviz_default_plugins_source_files
   src/rviz_default_plugins/displays/pointcloud/transformers/xyz_pc_transformer.cpp
   src/rviz_default_plugins/displays/pointcloud/get_transport_from_topic.cpp
   src/rviz_default_plugins/displays/pointcloud/point_cloud_common.cpp
+  src/rviz_default_plugins/displays/pointcloud/point_cloud_message_type_provider.cpp
+  src/rviz_default_plugins/displays/pointcloud/point_cloud_transport_discovery.cpp
   src/rviz_default_plugins/displays/pointcloud/point_cloud_to_point_cloud2.cpp
   src/rviz_default_plugins/displays/pointcloud/point_cloud_transformer.cpp
   src/rviz_default_plugins/displays/pointcloud/point_cloud_transformer_factory.cpp
@@ -452,6 +454,14 @@ if(BUILD_TESTING)
     target_link_libraries(image_message_type_provider_test ${TEST_FIXTURE_WITH_MOCK_LIBRARIES} rviz_default_plugins ogre_testing_environment)
   endif()
 
+  ament_add_gmock(point_cloud_message_type_provider_test
+    test/rviz_default_plugins/displays/pointcloud/point_cloud_message_type_provider_test.cpp
+    ${TEST_FIXTURE_OBJECTS})
+  if(TARGET point_cloud_message_type_provider_test)
+    target_include_directories(point_cloud_message_type_provider_test PRIVATE test)
+    target_link_libraries(point_cloud_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/pointcloud/point_cloud_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__POINTCLOUD__POINT_CLOUD_MESSAGE_TYPE_PROVIDER_HPP_
+#define RVIZ_DEFAULT_PLUGINS__DISPLAYS__POINTCLOUD__POINT_CLOUD_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 point_cloud_transport plugins
+/// for the PointCloud2 display, so that they are known (e.g. to the
+/// "Add display by topic" dialog) before any PointCloud2Display instance
+/// exists.
+class RVIZ_DEFAULT_PLUGINS_PUBLIC PointCloudMessageTypeProvider
+  : public rviz_common::MessageTypeProvider
+{
+public:
+  QMap<QString, QSet<QString>> getMessageTypes() override;
+};
+
+}  // namespace displays
+}  // namespace rviz_default_plugins
+
+#endif  // RVIZ_DEFAULT_PLUGINS__DISPLAYS__POINTCLOUD__POINT_CLOUD_MESSAGE_TYPE_PROVIDER_HPP_

rviz_default_plugins/include/rviz_default_plugins/displays/pointcloud/point_cloud_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__POINTCLOUD__POINT_CLOUD_TRANSPORT_DISCOVERY_HPP_
+#define RVIZ_DEFAULT_PLUGINS__DISPLAYS__POINTCLOUD__POINT_CLOUD_TRANSPORT_DISCOVERY_HPP_
+
+#include <string>
+#include <vector>
+
+#include "rviz_default_plugins/visibility_control.hpp"
+
+namespace rviz_default_plugins
+{
+namespace displays
+{
+
+struct PointCloudTransportPluginInfo
+{
+  std::string transport_name;
+  /// Fully qualified message type, empty if the manifest does not declare one.
+  std::string message_type;
+};
+
+/// List the installed point_cloud_transport subscriber plugins with their
+/// transport names and message types, as declared in their plugin manifests.
+RVIZ_DEFAULT_PLUGINS_PUBLIC
+std::vector<PointCloudTransportPluginInfo> discoverPointCloudTransportSubscriberPlugins();
+
+}  // namespace displays
+}  // namespace rviz_default_plugins
+
+#endif  // RVIZ_DEFAULT_PLUGINS__DISPLAYS__POINTCLOUD__POINT_CLOUD_TRANSPORT_DISCOVERY_HPP_

rviz_default_plugins/plugins_description.xml

@@ -186,6 +186,17 @@
     <message_type>sensor_msgs/msg/PointCloud2</message_type>
   </class>
 
+  <class
+    name="rviz_default_plugins/PointCloudMessageTypeProvider"
+    type="rviz_default_plugins::displays::PointCloudMessageTypeProvider"
+    base_class_type="rviz_common::MessageTypeProvider"
+  >
+    <description>
+      Registers the message types of the installed point_cloud_transport
+      plugins for the PointCloud2 display.
+    </description>
+  </class>
+
   <class
     name="rviz_default_plugins/Polygon"
     type="rviz_default_plugins::displays::PolygonDisplay"

rviz_default_plugins/src/rviz_default_plugins/displays/pointcloud/point_cloud_message_type_provider.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 "rviz_default_plugins/displays/pointcloud/point_cloud_message_type_provider.hpp"
+
+#include "rviz_default_plugins/displays/pointcloud/point_cloud_transport_discovery.hpp"
+
+namespace rviz_default_plugins
+{
+namespace displays
+{
+
+QMap<QString, QSet<QString>> PointCloudMessageTypeProvider::getMessageTypes()
+{
+  QSet<QString> message_types;
+  for (const auto & plugin : discoverPointCloudTransportSubscriberPlugins()) {
+    if (!plugin.message_type.empty()) {
+      message_types.insert(QString::fromStdString(plugin.message_type));
+    }
+  }
+  return {{"rviz_default_plugins/PointCloud2", message_types}};
+}
+
+}  // namespace displays
+}  // namespace rviz_default_plugins
+
+#include <pluginlib/class_list_macros.hpp>  // NOLINT
+PLUGINLIB_EXPORT_CLASS(
+  rviz_default_plugins::displays::PointCloudMessageTypeProvider,
+  rviz_common::MessageTypeProvider)

rviz_default_plugins/src/rviz_default_plugins/displays/pointcloud/point_cloud_transport_discovery.cpp

@@ -0,0 +1,63 @@
+// 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_default_plugins/displays/pointcloud/point_cloud_transport_discovery.hpp"
+
+#include <string>
+#include <vector>
+
+#include "pluginlib/class_loader.hpp"
+#include "point_cloud_transport/point_cloud_common.hpp"
+#include "point_cloud_transport/subscriber_plugin.hpp"
+
+namespace rviz_default_plugins
+{
+namespace displays
+{
+
+std::vector<PointCloudTransportPluginInfo> discoverPointCloudTransportSubscriberPlugins()
+{
+  std::vector<PointCloudTransportPluginInfo> plugins;
+
+  pluginlib::ClassLoader<point_cloud_transport::SubscriberPlugin> sub_loader(
+    "point_cloud_transport", "point_cloud_transport::SubscriberPlugin");
+  for (const std::string & plugin_class : sub_loader.getDeclaredClasses()) {
+    const std::string manifest_path = sub_loader.getPluginManifestPath(plugin_class);
+    PointCloudTransportPluginInfo info;
+    info.transport_name =
+      point_cloud_transport::get_transport_name_from_manifest(manifest_path, plugin_class);
+    info.message_type =
+      point_cloud_transport::get_message_type_from_manifest(manifest_path, plugin_class);
+    plugins.push_back(info);
+  }
+  return plugins;
+}
+
+}  // namespace displays
+}  // namespace rviz_default_plugins

rviz_default_plugins/test/rviz_default_plugins/displays/pointcloud/point_cloud_message_type_provider_test.cpp

@@ -0,0 +1,45 @@
+// 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_default_plugins/displays/pointcloud/point_cloud_message_type_provider.hpp"
+
+TEST(PointCloudMessageTypeProviderTest, provides_message_types_for_the_point_cloud2_display) {
+  rviz_default_plugins::displays::PointCloudMessageTypeProvider provider;
+
+  const auto types_by_class = provider.getMessageTypes();
+
+  ASSERT_TRUE(types_by_class.contains("rviz_default_plugins/PointCloud2"));
+  // The 'raw' transport ships with point_cloud_transport itself, so its
+  // message type is always discoverable.
+  EXPECT_TRUE(
+    types_by_class["rviz_default_plugins/PointCloud2"].contains("sensor_msgs/msg/PointCloud2"));
+}