Use Rviz as a component

rviz_common/CMakeLists.txt

@@ -36,6 +36,7 @@ find_package(Qt5 REQUIRED COMPONENTS Widgets)
 find_package(geometry_msgs REQUIRED)
 find_package(pluginlib REQUIRED)
 find_package(rclcpp REQUIRED)
+find_package(rclcpp_components REQUIRED)
 find_package(resource_retriever REQUIRED)
 find_package(rviz_rendering REQUIRED)
 find_package(sensor_msgs REQUIRED)
@@ -239,6 +240,8 @@ target_link_libraries(rviz_common PUBLIC
   pluginlib::pluginlib
   Qt5::Widgets
   rclcpp::rclcpp
+  rclcpp_components::component
+  rclcpp_components::component_manager
   rviz_ogre_vendor::OgreMain
   rviz_ogre_vendor::OgreOverlay
   rviz_rendering::rviz_rendering

rviz_common/include/rviz_common/ros_integration/ros_component_manager.hpp

@@ -0,0 +1,59 @@
+/*
+ * Copyright (c) 2024, Open Source Robotics Foundation.
+ * 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 Willow Garage, Inc. 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 OWNER 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_INTEGRATION__ROS_COMPONENT_MANAGER_HPP_
+#define RVIZ_COMMON__ROS_INTEGRATION__ROS_COMPONENT_MANAGER_HPP_
+
+#include "rclcpp_components/component_manager.hpp"
+#include "rclcpp_components/node_instance_wrapper.hpp"
+#include "rviz_common/visibility_control.hpp"
+
+namespace rviz_common
+{
+namespace ros_integration
+{
+class RVIZ_COMMON_PUBLIC ComponentManager : public rclcpp_components::ComponentManager{
+public:
+    using rclcpp_components::ComponentManager::ComponentManager;
+
+    void
+    add_node_to_executor(
+        rclcpp_components::NodeInstanceWrapper & node)
+    {
+        auto node_id = unique_id_++;
+        node_wrappers_[node_id] = node;
+        if (auto exec = this->executor_.lock()) {
+            exec->add_node(node.get_node_base_interface(), true);
+        }
+    }
+};
+}  // namespace ros_integration
+}  // namespace rviz_common
+
+#endif  // RVIZ_COMMON__ROS_INTEGRATION__ROS_COMPONENT_MANAGER_HPP_

rviz_common/include/rviz_common/visualization_manager.hpp

@@ -44,6 +44,7 @@
 #include "rviz_common/display_context.hpp"
 #include "rviz_common/frame_manager_iface.hpp"
 #include "rviz_common/ros_integration/ros_node_abstraction_iface.hpp"
+#include "rviz_common/ros_integration/ros_component_manager.hpp"
 #include "rviz_common/transformation/transformation_manager.hpp"
 
 class QTimer;
@@ -399,6 +400,7 @@ private Q_SLOTS:
   rclcpp::executors::SingleThreadedExecutor::SharedPtr executor_;
   ros_integration::RosNodeAbstractionIface::WeakPtr rviz_ros_node_;
   rviz_common::transformation::TransformationManager * transformation_manager_;
+  std::shared_ptr<ros_integration::ComponentManager> mgr_;
 };
 
 }  // namespace rviz_common

rviz_common/package.xml

@@ -40,6 +40,7 @@
   <depend>geometry_msgs</depend>
   <depend>pluginlib</depend>
   <depend>rclcpp</depend>
+  <depend>rclcpp_components</depend>
   <depend>resource_retriever</depend>
   <depend>rviz_ogre_vendor</depend>
   <depend>rviz_rendering</depend>

rviz_common/src/rviz_common/ros_integration/ros_node_abstraction.cpp

@@ -44,7 +44,7 @@ namespace ros_integration
 {
 
 RosNodeAbstraction::RosNodeAbstraction(const std::string & node_name)
-: raw_node_(rclcpp::Node::make_shared(node_name))
+: raw_node_(rclcpp::Node::make_shared(node_name, rclcpp::NodeOptions().use_intra_process_comms(true)))
 {}
 
 std::string

rviz_common/src/rviz_common/visualization_manager.cpp

@@ -56,6 +56,7 @@
 
 #include "rclcpp/clock.hpp"
 #include "rclcpp/time.hpp"
+#include <rclcpp_components/node_instance_wrapper.hpp>
 #include "rviz_rendering/material_manager.hpp"
 #include "rviz_rendering/render_window.hpp"
 
@@ -225,7 +226,15 @@ VisualizationManager::VisualizationManager(
 
   connect(this, SIGNAL(timeJumped()), this, SLOT(resetTime()));
 
-  executor_->add_node(rviz_ros_node_.lock()->get_raw_node());
+  if (!mgr_) {
+    mgr_ = std::make_shared<ros_integration::ComponentManager>(executor_);
+    executor_->add_node(mgr_);
+
+    auto inst = rclcpp_components::NodeInstanceWrapper(
+      rviz_ros_node_.lock()->get_raw_node(),
+      std::bind(&rclcpp::Node::get_node_base_interface, rviz_ros_node_.lock()->get_raw_node()));
+    mgr_->add_node_to_executor(inst);
+  }
 
   display_factory_ = new DisplayFactory();