Add support for namespace-scoped DELETEALL action in Marker displays. (…

…ros-visualization#685) Signed-off-by: Michel Hidalgo <[email protected]>
130s · May 13, 2021 · f61c164 · f61c164
1 parent f810163
commit f61c164
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Showing 2 changed files with 43 additions and 1 deletion.
diff --git a/rviz_default_plugins/src/rviz_default_plugins/displays/marker/marker_common.cpp b/rviz_default_plugins/src/rviz_default_plugins/displays/marker/marker_common.cpp
@@ -204,7 +204,11 @@ void MarkerCommon::processMessage(const visualization_msgs::msg::Marker::ConstSh
       break;
 
     case visualization_msgs::msg::Marker::DELETEALL:
-      deleteAllMarkers();
+      if (!message->ns.empty()) {
+        deleteMarkersInNamespace(message->ns);
+      } else {
+        deleteAllMarkers();
+      }
       break;
 
     default:

diff --git a/rviz_default_plugins/test/rviz_default_plugins/displays/marker/marker_common_test.cpp b/rviz_default_plugins/test/rviz_default_plugins/displays/marker/marker_common_test.cpp
@@ -87,6 +87,20 @@ visualization_msgs::msg::Marker::SharedPtr createSharedPtrMessage(
   return std::make_shared<visualization_msgs::msg::Marker>(marker);
 }
 
+visualization_msgs::msg::Marker::SharedPtr createSharedPtrMessage(
+  int32_t action, int32_t type, const std::string & ns)
+{
+  auto marker = createSharedPtrMessage(action, type);
+  marker->ns = ns;
+  return marker;
+}
+
+visualization_msgs::msg::Marker::SharedPtr createSharedPtrMessage(
+  int32_t action, const std::string & ns)
+{
+  return createSharedPtrMessage(action, -1, ns);
+}
+
 TEST_F(MarkerCommonFixture, processMessage_creates_correct_marker_on_add_type) {
   mockValidTransform();
 
@@ -125,6 +139,30 @@ TEST_F(MarkerCommonFixture, processMessage_deletes_correct_marker_on_delete_type
   ASSERT_TRUE(rviz_default_plugins::findOnePointCloud(scene_manager_->getRootSceneNode()));
 }
 
+TEST_F(MarkerCommonFixture, processMessage_with_scoped_deleteall_deletes_correct_markers) {
+  mockValidTransform();
+
+  common_->processMessage(
+    createSharedPtrMessage(
+      visualization_msgs::msg::Marker::ADD,
+      visualization_msgs::msg::Marker::TEXT_VIEW_FACING,
+      "ns_a"));
+
+  common_->processMessage(
+    createSharedPtrMessage(
+      visualization_msgs::msg::Marker::ADD,
+      visualization_msgs::msg::Marker::POINTS,
+      "ns_b"));
+
+  common_->processMessage(
+    createSharedPtrMessage(
+      visualization_msgs::msg::Marker::DELETEALL,
+      "ns_a"));
+
+  ASSERT_FALSE(rviz_default_plugins::findOneMovableText(scene_manager_->getRootSceneNode()));
+  ASSERT_TRUE(rviz_default_plugins::findOnePointCloud(scene_manager_->getRootSceneNode()));
+}
+
 TEST_F(MarkerCommonFixture, processMessage_with_deleteall_deletes_all_markers) {
   mockValidTransform();