Adding a service to set the image topic.

CMakeLists.txt

@@ -2,7 +2,7 @@ cmake_minimum_required(VERSION 2.8.3)
 
 project(rqt_image_view)
 # Load catkin and all dependencies required for this package
-find_package(catkin REQUIRED COMPONENTS rqt_gui rqt_gui_cpp image_transport sensor_msgs geometry_msgs cv_bridge)
+find_package(catkin REQUIRED COMPONENTS cv_bridge rqt_gui rqt_gui_cpp geometry_msgs image_transport message_generation sensor_msgs)
 
 if("${qt_gui_cpp_USE_QT_MAJOR_VERSION} " STREQUAL "5 ")
   find_package(Qt5Widgets REQUIRED)
@@ -33,12 +33,22 @@ if(NOT EXISTS "${CATKIN_DEVEL_PREFIX}/${CATKIN_GLOBAL_INCLUDE_DESTINATION}")
   file(MAKE_DIRECTORY "${CATKIN_DEVEL_PREFIX}/${CATKIN_GLOBAL_INCLUDE_DESTINATION}")
 endif()
 
+add_service_files(DIRECTORY srv
+  FILES
+  SetImageTopic.srv
+)
+
+catkin_python_setup()
+
+generate_messages(
+  DEPENDENCIES
+)
+
 catkin_package(
   INCLUDE_DIRS ${rqt_image_view_INCLUDE_DIRECTORIES}
   LIBRARIES ${PROJECT_NAME}
-  CATKIN_DEPENDS rqt_gui rqt_gui_cpp image_transport sensor_msgs cv_bridge geometry_msgs
+  CATKIN_DEPENDS rqt_gui rqt_gui_cpp image_transport sensor_msgs cv_bridge geometry_msgs message_runtime
 )
-catkin_python_setup()
 
 if("${qt_gui_cpp_USE_QT_MAJOR_VERSION} " STREQUAL "5 ")
   qt5_wrap_cpp(rqt_image_view_MOCS ${rqt_image_view_HDRS})
@@ -67,6 +77,8 @@ endif()
 find_package(class_loader)
 class_loader_hide_library_symbols(${PROJECT_NAME})
 
+add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS})
+
 install(FILES plugin.xml
   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
 )
@@ -83,4 +95,4 @@ catkin_install_python(PROGRAMS scripts/rqt_image_view
 
 install(DIRECTORY include/${PROJECT_NAME}/
   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
-)
+)

include/rqt_image_view/image_view.h

@@ -37,11 +37,12 @@
 
 #include <ui_image_view.h>
 
+#include <geometry_msgs/Point.h>
 #include <image_transport/image_transport.h>
 #include <ros/package.h>
 #include <ros/macros.h>
+#include "rqt_image_view/SetImageTopic.h"
 #include <sensor_msgs/Image.h>
-#include <geometry_msgs/Point.h>
 
 #include <opencv2/core/core.hpp>
 
@@ -114,6 +115,9 @@ protected slots:
 
   virtual void callbackImage(const sensor_msgs::Image::ConstPtr& msg);
 
+  bool changeImageService(rqt_image_view::SetImageTopic::Request &req,
+         rqt_image_view::SetImageTopic::Response &res);
+
   virtual void invertPixels(int x, int y);
 
   QList<int> getGridIndices(int size) const;
@@ -151,6 +155,8 @@ protected slots:
   int num_gridlines_;
 
   RotateState rotate_state_;
+
+  ros::ServiceServer change_topic_service_;
 };
 
 }

package.xml

@@ -1,4 +1,4 @@
-<package>
+<package format="2">
   <name>rqt_image_view</name>
   <version>0.4.13</version>
   <description>rqt_image_view provides a GUI plugin for displaying images using image_transport.</description>
@@ -15,19 +15,15 @@
 
   <buildtool_depend>catkin</buildtool_depend>
 
-  <build_depend>cv_bridge</build_depend>
-  <build_depend>geometry_msgs</build_depend>
-  <build_depend>image_transport</build_depend>
-  <build_depend>qtbase5-dev</build_depend>
-  <build_depend>rqt_gui</build_depend>
-  <build_depend>rqt_gui_cpp</build_depend>
-  <build_depend>sensor_msgs</build_depend>
-  <run_depend>cv_bridge</run_depend>
-  <run_depend>geometry_msgs</run_depend>
-  <run_depend>image_transport</run_depend>
-  <run_depend>rqt_gui</run_depend>
-  <run_depend>rqt_gui_cpp</run_depend>
-  <run_depend>sensor_msgs</run_depend>
+  <depend>cv_bridge</depend>
+  <depend>geometry_msgs</depend>
+  <depend>image_transport</depend>
+  <depend>message_generation</depend>
+  <depend>qtbase5-dev</depend>
+  <depend>rqt_gui</depend>
+  <depend>rqt_gui_cpp</depend>
+  <depend>sensor_msgs</depend>
+  <depend>message_runtime</depend>
 
   <export>
     <rqt_gui plugin="${prefix}/plugin.xml"/>

src/rqt_image_view/image_view.cpp

@@ -112,12 +112,15 @@ void ImageView::initPlugin(qt_gui_cpp::PluginContext& context)
   hide_toolbar_action_->setCheckable(true);
   ui_.image_frame->addAction(hide_toolbar_action_);
   connect(hide_toolbar_action_, SIGNAL(toggled(bool)), this, SLOT(onHideToolbarChanged(bool)));
+
+  change_topic_service_ = getNodeHandle().advertiseService("/rqt_image_view/change_image_topic", &ImageView::changeImageService, this);
 }
 
 void ImageView::shutdownPlugin()
 {
   subscriber_.shutdown();
   pub_mouse_left_.shutdown();
+  change_topic_service_.shutdown();
 }
 
 void ImageView::saveSettings(qt_gui_cpp::Settings& plugin_settings, qt_gui_cpp::Settings& instance_settings) const
@@ -455,6 +458,15 @@ void ImageView::syncRotateLabel()
   }
 }
 
+bool ImageView::changeImageService(rqt_image_view::SetImageTopic::Request  &req,
+  rqt_image_view::SetImageTopic::Response &res)
+{
+  selectTopic( QString::fromStdString(req.image_topic) );
+  updateTopicList();
+
+  return true;
+}
+
 void ImageView::invertPixels(int x, int y)
 {
   // Could do 255-conversion_mat_.at<cv::Vec3b>(cv::Point(x,y))[i], but that doesn't work well on gray
@@ -625,4 +637,4 @@ void ImageView::callbackImage(const sensor_msgs::Image::ConstPtr& msg)
 }
 }
 
-PLUGINLIB_EXPORT_CLASS(rqt_image_view::ImageView, rqt_gui_cpp::Plugin)
+PLUGINLIB_EXPORT_CLASS(rqt_image_view::ImageView, rqt_gui_cpp::Plugin)

srv/SetImageTopic.srv

@@ -0,0 +1,2 @@
+string image_topic
+---