Merge branch 'ros2:rolling' into patch-8

Author: mosfet80

.gitignore

@@ -7,3 +7,4 @@ lib
 **/.idea/**
 *.project
 *.cproject
+.externalToolBuilders/*

.vscode/settings.json

@@ -0,0 +1,85 @@
+{
+    "files.associations": {
+        "cctype": "cpp",
+        "clocale": "cpp",
+        "cmath": "cpp",
+        "cstdarg": "cpp",
+        "cstddef": "cpp",
+        "cstdio": "cpp",
+        "cstdlib": "cpp",
+        "cstring": "cpp",
+        "ctime": "cpp",
+        "cwchar": "cpp",
+        "cwctype": "cpp",
+        "any": "cpp",
+        "array": "cpp",
+        "atomic": "cpp",
+        "strstream": "cpp",
+        "bit": "cpp",
+        "bitset": "cpp",
+        "cfenv": "cpp",
+        "charconv": "cpp",
+        "chrono": "cpp",
+        "cinttypes": "cpp",
+        "codecvt": "cpp",
+        "compare": "cpp",
+        "complex": "cpp",
+        "concepts": "cpp",
+        "condition_variable": "cpp",
+        "cstdint": "cpp",
+        "deque": "cpp",
+        "forward_list": "cpp",
+        "list": "cpp",
+        "map": "cpp",
+        "set": "cpp",
+        "string": "cpp",
+        "unordered_map": "cpp",
+        "unordered_set": "cpp",
+        "vector": "cpp",
+        "exception": "cpp",
+        "algorithm": "cpp",
+        "functional": "cpp",
+        "iterator": "cpp",
+        "memory": "cpp",
+        "memory_resource": "cpp",
+        "numeric": "cpp",
+        "optional": "cpp",
+        "random": "cpp",
+        "ratio": "cpp",
+        "regex": "cpp",
+        "source_location": "cpp",
+        "string_view": "cpp",
+        "system_error": "cpp",
+        "tuple": "cpp",
+        "type_traits": "cpp",
+        "utility": "cpp",
+        "hash_map": "cpp",
+        "hash_set": "cpp",
+        "format": "cpp",
+        "fstream": "cpp",
+        "future": "cpp",
+        "initializer_list": "cpp",
+        "iomanip": "cpp",
+        "iosfwd": "cpp",
+        "iostream": "cpp",
+        "istream": "cpp",
+        "limits": "cpp",
+        "mutex": "cpp",
+        "new": "cpp",
+        "numbers": "cpp",
+        "ostream": "cpp",
+        "semaphore": "cpp",
+        "shared_mutex": "cpp",
+        "span": "cpp",
+        "sstream": "cpp",
+        "stdexcept": "cpp",
+        "stdfloat": "cpp",
+        "stop_token": "cpp",
+        "streambuf": "cpp",
+        "thread": "cpp",
+        "typeindex": "cpp",
+        "typeinfo": "cpp",
+        "valarray": "cpp",
+        "variant": "cpp"
+    }
+}

README.md

@@ -17,9 +17,9 @@ For some displays, the [documentation is updated](docs/FEATURES.md).
 | Axes                  | Move Camera   | Orbit                 | Displays        |
 | Camera                | Focus Camera  | XY Orbit              | Help            |
 | DepthCloud            | Measure       | First Person          | Selections      |
-| Effort                | Select        | Third Person Follower | Time            |
-| Fluid                 | 2D Nav Goal   | Top Down Orthographic | Tool Properties |
-| Grid                  | Publish Point |                       | Views           |
+| Effort                | Select        | Frame Aligned         | Time            |
+| Fluid                 | 2D Nav Goal   | Third Person Follower | Tool Properties |
+| Grid                  | Publish Point | Top Down Orthographic | Views           |
 | Grid Cells            | Initial Pose  |
 | Illuminance           | Interact      |
 | Image                 |

rviz2/CHANGELOG.rst

@@ -2,6 +2,59 @@
 Changelog for package rviz2
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+15.1.9 (2025-09-04)
+-------------------
+* get rid of deprecated rclcpp::spin_some() (`#1567 <https://github.com/ros2/rviz/issues/1567>`_)
+* Contributors: Alejandro Hernández Cordero
+
+15.1.8 (2025-08-22)
+-------------------
+
+15.1.7 (2025-07-25)
+-------------------
+
+15.1.6 (2025-07-01)
+-------------------
+
+15.1.5 (2025-06-27)
+-------------------
+
+15.1.4 (2025-06-20)
+-------------------
+
+15.1.3 (2025-05-20)
+-------------------
+* feat: support both qt5 and qt6 (`#1187 <https://github.com/ros2/rviz/issues/1187>`_)
+* Contributors: Daisuke Nishimatsu
+
+15.1.2 (2025-05-14)
+-------------------
+
+15.1.1 (2025-05-05)
+-------------------
+
+15.1.0 (2025-04-25)
+-------------------
+
+15.0.0 (2025-04-25)
+-------------------
+
+14.4.4 (2025-03-20)
+-------------------
+* Expose the possibility to create ROS node with custom `NodeOptions` (`#1347 <https://github.com/ros2/rviz/issues/1347>`_)
+* Contributors: Patrick Roncagliolo
+
+14.4.3 (2025-02-27)
+-------------------
+* uniform CMAKE requirement (`#1335 <https://github.com/ros2/rviz/issues/1335>`_)
+* Contributors: mosfet80
+
+14.4.2 (2025-01-31)
+-------------------
+
+14.4.1 (2025-01-15)
+-------------------
+
 14.4.0 (2024-12-20)
 -------------------
 

rviz2/CMakeLists.txt

@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 3.5)
+cmake_minimum_required(VERSION 3.10)
 
 project(rviz2)
 
@@ -18,24 +18,25 @@ find_package(rviz_common REQUIRED)
 
 find_package(rviz_ogre_vendor REQUIRED)
 
-find_package(Qt5 REQUIRED COMPONENTS Widgets)
+find_package(QT NAMES Qt6 Qt5 REQUIRED COMPONENTS Widgets)
+find_package(Qt${QT_VERSION_MAJOR} REQUIRED COMPONENTS Widgets)
 # TODO(wjwwood): this block is to setup the windeployqt tool, could be removed later.
-if(Qt5_FOUND AND WIN32 AND TARGET Qt5::qmake AND NOT TARGET Qt5::windeployqt)
-  get_target_property(_qt5_qmake_location Qt5::qmake IMPORTED_LOCATION)
+if(Qt${QT_VERSION_MAJOR}_FOUND AND WIN32 AND TARGET Qt${QT_VERSION_MAJOR}::qmake AND NOT TARGET Qt${QT_VERSION_MAJOR}::windeployqt)
+  get_target_property(_qt_qmake_location Qt${QT_VERSION_MAJOR}::qmake IMPORTED_LOCATION)
 
   execute_process(
-    COMMAND "${_qt5_qmake_location}" -query QT_INSTALL_PREFIX
+    COMMAND "${_qt_qmake_location}" -query QT${QT_VERSION_MAJOR}_INSTALL_PREFIX
     RESULT_VARIABLE return_code
-    OUTPUT_VARIABLE qt5_install_prefix
+    OUTPUT_VARIABLE qt_install_prefix
     OUTPUT_STRIP_TRAILING_WHITESPACE
   )
 
-  set(imported_location "${qt5_install_prefix}/bin/windeployqt.exe")
+  set(imported_location "${qt_install_prefix}/bin/windeployqt.exe")
 
   if(EXISTS ${imported_location})
-    add_executable(Qt5::windeployqt IMPORTED)
+    add_executable(Qt${QT_VERSION_MAJOR}::windeployqt IMPORTED)
 
-    set_target_properties(Qt5::windeployqt PROPERTIES
+    set_target_properties(Qt${QT_VERSION_MAJOR}::windeployqt PROPERTIES
       IMPORTED_LOCATION ${imported_location}
     )
   endif()
@@ -48,21 +49,21 @@ target_link_libraries(${PROJECT_NAME}
   rviz_common::rviz_common
   rviz_ogre_vendor::OgreMain
   rviz_ogre_vendor::OgreOverlay
-  Qt5::Widgets
+  Qt${QT_VERSION_MAJOR}::Widgets
 )
 
 # TODO(wjwwood): find a way to make this optional or to run without "deploying" the
 #                necessary dlls and stuff to the bin folder.
 #                see:
 # https://stackoverflow.com/questions/41193584/deploy-all-qt-dependencies-when-building#41199492
-if(TARGET Qt5::windeployqt)
+if(TARGET Qt${QT_VERSION_MAJOR}::windeployqt)
   # execute windeployqt in a tmp directory after build
   add_custom_command(TARGET ${PROJECT_NAME}
     POST_BUILD
     COMMAND ${CMAKE_COMMAND} -E remove_directory "${CMAKE_CURRENT_BINARY_DIR}/windeployqt"
-    COMMAND set PATH=%PATH%$<SEMICOLON>${qt5_install_prefix}/bin
+    COMMAND set PATH=%PATH%$<SEMICOLON>${qt_install_prefix}/bin
     COMMAND
-    Qt5::windeployqt
+    Qt${QT_VERSION_MAJOR}::windeployqt
     --dir "${CMAKE_CURRENT_BINARY_DIR}/windeployqt"
     "$<TARGET_FILE_DIR:${PROJECT_NAME}>/$<TARGET_FILE_NAME:${PROJECT_NAME}>"
   )

rviz2/package.xml

@@ -4,7 +4,7 @@
   schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="2">
   <name>rviz2</name>
-  <version>14.4.0</version>
+  <version>15.1.9</version>
   <description>
     3D visualization tool for ROS.
   </description>

rviz2/src/main.cpp

@@ -86,7 +86,11 @@ int main(int argc, char ** argv)
   );
 
   rviz_common::VisualizerApp vapp(
-    std::make_unique<rviz_common::ros_integration::RosClientAbstraction>());
+    std::make_unique<rviz_common::ros_integration::RosClientAbstraction>(
+      // In custom setups, this is the injection point for ROS node options
+      rclcpp::NodeOptions()
+    )
+  );
   vapp.setApp(&qapp);
   if (vapp.init(argc, argv)) {
     return qapp.exec();

rviz2/test/tools/send_lots_of_points_node.cpp

@@ -63,6 +63,9 @@ int main(int argc, char ** argv)
   msg.points.resize(width * length);
   msg.header.frame_id = "world";
 
+  rclcpp::executors::SingleThreadedExecutor executor;
+  executor.add_node(node);
+
   int count = 0;
   while (rclcpp::ok() ) {
     width++;
@@ -90,7 +93,7 @@ int main(int argc, char ** argv)
 
     pub->publish(msg);
 
-    rclcpp::spin_some(node);
+    executor.spin_some();
     loop_rate.sleep();
     if (moving) {
       ++count;