From fc466fbd2798fe8feb46bb0e791b03f5d258ca58 Mon Sep 17 00:00:00 2001
From: AndyZe <andyz@utexas.edu>
Date: Tue, 9 Oct 2018 09:01:49 -0500
Subject: [PATCH 1/4] Adding a service to set the image topic.

---
 CMakeLists.txt                      | 20 ++++++++++++++++----
 include/rqt_image_view/image_view.h |  8 +++++++-
 package.xml                         | 24 ++++++++++--------------
 src/rqt_image_view/image_view.cpp   | 14 +++++++++++++-
 srv/SetImageTopic.srv               |  2 ++
 5 files changed, 48 insertions(+), 20 deletions(-)
 create mode 100644 srv/SetImageTopic.srv

diff --git a/CMakeLists.txt b/CMakeLists.txt
index e47e6e3..bfcd6cb 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -5,7 +5,7 @@ project(rqt_image_view)
 add_compile_options(-std=c++11)
 
 # 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("${qt_gui_cpp_USE_QT_MAJOR_VERSION} " STREQUAL "5 ")
   find_package(Qt5Widgets REQUIRED)
@@ -36,12 +36,22 @@ if(NOT EXISTS "${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 ${rqt_image_view_HDRS})
@@ -70,6 +80,8 @@ endif()
 find_package(class_loader)
 class_loader_hide_library_symbols(${PROJECT_NAME})
 
+add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS})
+
 install(FILES plugin.xml
   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
 )
@@ -86,4 +98,4 @@ catkin_install_python(PROGRAMS scripts/rqt_image_view
 
 install(DIRECTORY include/${PROJECT_NAME}/
   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
-)
+)
\ No newline at end of file
diff --git a/include/rqt_image_view/image_view.h b/include/rqt_image_view/image_view.h
index 06020e2..69d02e4 100644
--- a/include/rqt_image_view/image_view.h
+++ b/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>
 
@@ -116,6 +117,9 @@ 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;
@@ -153,6 +157,8 @@ protected slots:
   int num_gridlines_;
 
   RotateState rotate_state_;
+
+  ros::ServiceServer change_topic_service_;
 };
 
 }
diff --git a/package.xml b/package.xml
index 6469c38..6633103 100644
--- a/package.xml
+++ b/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"/>
diff --git a/src/rqt_image_view/image_view.cpp b/src/rqt_image_view/image_view.cpp
index a0dd199..c14fd21 100644
--- a/src/rqt_image_view/image_view.cpp
+++ b/src/rqt_image_view/image_view.cpp
@@ -115,12 +115,15 @@ 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
@@ -483,6 +486,15 @@ 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
@@ -662,4 +674,4 @@ 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)
\ No newline at end of file
diff --git a/srv/SetImageTopic.srv b/srv/SetImageTopic.srv
new file mode 100644
index 0000000..0045faa
--- /dev/null
+++ b/srv/SetImageTopic.srv
@@ -0,0 +1,2 @@
+string image_topic
+---
\ No newline at end of file

From 94dba83cb18cec9d699a0d5aecafbe8f7b1e813c Mon Sep 17 00:00:00 2001
From: George Stavrinos <gstavrinos@iit.demokritos.gr>
Date: Fri, 19 Oct 2018 19:36:48 +0300
Subject: [PATCH 2/4] Fixed multiple image views being run through the rqt gui.
 This does not fix the problem if you rosrun multiple image views

---
 CMakeLists.txt                    | 1 +
 src/rqt_image_view/image_view.cpp | 3 +--
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/CMakeLists.txt b/CMakeLists.txt
index bfcd6cb..c40ff2e 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -1,4 +1,5 @@
 cmake_minimum_required(VERSION 2.8.3)
+add_compile_options(-std=c++11)
 
 project(rqt_image_view)
 
diff --git a/src/rqt_image_view/image_view.cpp b/src/rqt_image_view/image_view.cpp
index c14fd21..6909ad5 100644
--- a/src/rqt_image_view/image_view.cpp
+++ b/src/rqt_image_view/image_view.cpp
@@ -115,8 +115,7 @@ 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);
+  change_topic_service_ = getNodeHandle().advertiseService( getNodeHandle().getNamespace() + std::to_string(context.serialNumber()) + "/change_image_topic", &ImageView::changeImageService, this);
 }
 
 void ImageView::shutdownPlugin()

From bd82bb7c1b756bb150d623170c19754b42ba526b Mon Sep 17 00:00:00 2001
From: AndyZe <andyz@utexas.edu>
Date: Wed, 20 Mar 2019 15:17:54 -0500
Subject: [PATCH 3/4] Address review from @dirk-thomas

---
 CMakeLists.txt                      | 1 -
 include/rqt_image_view/image_view.h | 2 +-
 src/rqt_image_view/image_view.cpp   | 7 ++++---
 srv/SetImageTopic.srv               | 2 +-
 4 files changed, 6 insertions(+), 6 deletions(-)

diff --git a/CMakeLists.txt b/CMakeLists.txt
index c40ff2e..f8d6cb3 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -45,7 +45,6 @@ add_service_files(DIRECTORY srv
 catkin_python_setup()
 
 generate_messages(
-  DEPENDENCIES
 )
 
 catkin_package(
diff --git a/include/rqt_image_view/image_view.h b/include/rqt_image_view/image_view.h
index 69d02e4..fb0075b 100644
--- a/include/rqt_image_view/image_view.h
+++ b/include/rqt_image_view/image_view.h
@@ -117,7 +117,7 @@ protected slots:
 
   virtual void callbackImage(const sensor_msgs::Image::ConstPtr& msg);
 
-  bool changeImageService(rqt_image_view::SetImageTopic::Request &req,
+  bool setImageService(rqt_image_view::SetImageTopic::Request &req,
          rqt_image_view::SetImageTopic::Response &res);
 
   virtual void invertPixels(int x, int y);
diff --git a/src/rqt_image_view/image_view.cpp b/src/rqt_image_view/image_view.cpp
index 6909ad5..27c2e01 100644
--- a/src/rqt_image_view/image_view.cpp
+++ b/src/rqt_image_view/image_view.cpp
@@ -115,7 +115,8 @@ 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( getNodeHandle().getNamespace() + std::to_string(context.serialNumber()) + "/change_image_topic", &ImageView::changeImageService, this);
+  change_topic_service_ = getNodeHandle().advertiseService(
+    getNodeHandle().getNamespace() + std::to_string(context.serialNumber()) + "/set_image_topic", &ImageView::setImageService, this);
 }
 
 void ImageView::shutdownPlugin()
@@ -485,7 +486,7 @@ void ImageView::syncRotateLabel()
   }
 }
 
-bool ImageView::changeImageService(rqt_image_view::SetImageTopic::Request  &req,
+bool ImageView::setImageService(rqt_image_view::SetImageTopic::Request &req,
   rqt_image_view::SetImageTopic::Response &res)
 {
   selectTopic( QString::fromStdString(req.image_topic) );
@@ -673,4 +674,4 @@ void ImageView::callbackImage(const sensor_msgs::Image::ConstPtr& msg)
 }
 }
 
-PLUGINLIB_EXPORT_CLASS(rqt_image_view::ImageView, rqt_gui_cpp::Plugin)
\ No newline at end of file
+PLUGINLIB_EXPORT_CLASS(rqt_image_view::ImageView, rqt_gui_cpp::Plugin)
diff --git a/srv/SetImageTopic.srv b/srv/SetImageTopic.srv
index 0045faa..c205b1f 100644
--- a/srv/SetImageTopic.srv
+++ b/srv/SetImageTopic.srv
@@ -1,2 +1,2 @@
 string image_topic
----
\ No newline at end of file
+---

From 613dba0266cb3e3ee434fd7704aab491ea93b352 Mon Sep 17 00:00:00 2001
From: Andy Zelenak <andyzelenak@verbsurgical.com>
Date: Fri, 12 Apr 2019 23:35:10 -0600
Subject: [PATCH 4/4] Touchups to package.xml, CMakeLists

---
 CMakeLists.txt | 3 +--
 package.xml    | 6 +++---
 2 files changed, 4 insertions(+), 5 deletions(-)

diff --git a/CMakeLists.txt b/CMakeLists.txt
index f8d6cb3..eae1dc0 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -1,5 +1,4 @@
 cmake_minimum_required(VERSION 2.8.3)
-add_compile_options(-std=c++11)
 
 project(rqt_image_view)
 
@@ -98,4 +97,4 @@ catkin_install_python(PROGRAMS scripts/rqt_image_view
 
 install(DIRECTORY include/${PROJECT_NAME}/
   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
-)
\ No newline at end of file
+)
diff --git a/package.xml b/package.xml
index 6633103..50930f5 100644
--- a/package.xml
+++ b/package.xml
@@ -18,12 +18,12 @@
   <depend>cv_bridge</depend>
   <depend>geometry_msgs</depend>
   <depend>image_transport</depend>
-  <depend>message_generation</depend>
-  <depend>qtbase5-dev</depend>
+  <build_depend>message_generation</build_depend>
+  <build_depend>qtbase5-dev</build_depend>
   <depend>rqt_gui</depend>
   <depend>rqt_gui_cpp</depend>
   <depend>sensor_msgs</depend>
-  <depend>message_runtime</depend>
+  <exec_depend>message_runtime</exec_depend>
 
   <export>
     <rqt_gui plugin="${prefix}/plugin.xml"/>