Work in progress using the new resource retriever apis

rviz_common/src/rviz_common/load_resource.cpp

@@ -47,18 +47,11 @@
 namespace rviz_common
 {
 
-resource_retriever::MemoryResource getResource(const std::string & resource_path)
+resource_retriever::ResourceSharedPtr getResource(const std::string & resource_path)
 {
+  RVIZ_COMMON_LOG_DEBUG("rviz_common::getResource() loading resource: " + resource_path);
   resource_retriever::Retriever retriever;
-  resource_retriever::MemoryResource res;
-  try {
-    res = retriever.get(resource_path);
-  } catch (resource_retriever::Exception & e) {
-    RVIZ_COMMON_LOG_DEBUG(e.what());
-    return resource_retriever::MemoryResource();
-  }
-
-  return res;
+  return retriever.get_shared(resource_path);
 }
 
 QPixmap loadPixmap(QString url, bool fill_cache)
@@ -73,8 +66,8 @@ QPixmap loadPixmap(QString url, bool fill_cache)
   RVIZ_COMMON_LOG_DEBUG("Load pixmap at " + url.toStdString());
 
   auto image = getResource(url.toStdString());
-  if (image.size != 0) {
-    if (!pixmap.loadFromData(image.data.get(), static_cast<uint32_t>(image.size))) {
+  if (image != nullptr && !image->data.empty()) {
+    if (!pixmap.loadFromData(image->data.data(), static_cast<uint32_t>(image->data.size()))) {
       RVIZ_COMMON_LOG_ERROR("Could not load pixmap " + url.toStdString());
     }
   }

rviz_default_plugins/CMakeLists.txt

@@ -73,6 +73,7 @@ find_package(pluginlib REQUIRED)
 find_package(point_cloud_transport REQUIRED)
 find_package(rclcpp REQUIRED)
 find_package(resource_retriever REQUIRED)
+find_package(rviz_resource_interfaces REQUIRED)
 find_package(sensor_msgs REQUIRED)
 find_package(tf2 REQUIRED)
 find_package(tf2_geometry_msgs REQUIRED)
@@ -230,6 +231,7 @@ set(rviz_default_plugins_source_files
   src/rviz_default_plugins/view_controllers/orbit/orbit_view_controller.cpp
   src/rviz_default_plugins/view_controllers/ortho/fixed_orientation_ortho_view_controller.cpp
   src/rviz_default_plugins/view_controllers/xy_orbit/xy_orbit_view_controller.cpp
+  src/rviz_default_plugins/ros_resource_retriever.cpp
 )
 
 add_library(rviz_default_plugins SHARED
@@ -262,11 +264,12 @@ target_link_libraries(rviz_default_plugins PUBLIC
   tf2_ros::tf2_ros
   urdf::urdf
   ${visualization_msgs_TARGETS}
+  resource_retriever::resource_retriever
+  ${rviz_resource_interfaces_TARGETS}
 )
 
 target_link_libraries(rviz_default_plugins PRIVATE
   gz-math::core
-  resource_retriever::resource_retriever
 )
 
 # Causes the visibility macros to use dllexport rather than dllimport,

rviz_default_plugins/include/rviz_default_plugins/displays/marker/marker_common.hpp

@@ -44,6 +44,7 @@
 
 #include <QString>  // NOLINT: cpplint is unable to handle the include order here
 
+#include "resource_retriever/retriever.hpp"
 #include "visualization_msgs/msg/marker.hpp"
 #include "visualization_msgs/msg/marker_array.hpp"
 
@@ -122,6 +123,8 @@ class RVIZ_DEFAULT_PLUGINS_PUBLIC MarkerCommon
   void setMarkerStatus(MarkerID id, StatusLevel level, const std::string & text);
   void deleteMarkerStatus(MarkerID id);
 
+  resource_retriever::Retriever * getResourceRetriever();
+
 private:
   /** @brief Delete all the markers within the given namespace. */
   void deleteMarkersInNamespace(const std::string & ns);
@@ -175,6 +178,8 @@ class RVIZ_DEFAULT_PLUGINS_PUBLIC MarkerCommon
   rviz_common::DisplayContext * context_;
   Ogre::SceneNode * scene_node_;
 
+  resource_retriever::Retriever retriever_;
+
   friend class MarkerNamespace;
 };
 

rviz_default_plugins/include/rviz_default_plugins/robot/robot_link.hpp

@@ -53,8 +53,9 @@
 
 #include <urdf/model.hpp>  // can be replaced later by urdf_model/types.h
 
-#include "rviz_rendering/objects/object.hpp"
+#include "resource_retriever/retriever.hpp"
 #include "rviz_common/interaction/forwards.hpp"
+#include "rviz_rendering/objects/object.hpp"
 
 #include "rviz_default_plugins/robot/robot_element_base_class.hpp"
 #include "rviz_default_plugins/visibility_control.hpp"
@@ -235,6 +236,8 @@ private Q_SLOTS:
   Ogre::SceneManager * scene_manager_;
   rviz_common::DisplayContext * context_;
 
+  mutable resource_retriever::Retriever retriever_;
+
   std::string parent_joint_name_;
   std::vector<std::string> child_joint_names_;
 

rviz_default_plugins/include/rviz_default_plugins/ros_resource_retriever.hpp

@@ -0,0 +1,88 @@
+// Copyright 2025 Open Source Robotics Foundation, Inc.
+// 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 copyright holder 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 HOLDER 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_DEFAULT_PLUGINS__ROS_RESOURCE_RETRIEVER_HPP_
+#define RVIZ_DEFAULT_PLUGINS__ROS_RESOURCE_RETRIEVER_HPP_
+
+#include <string>
+#include <string_view>
+#include <unordered_map>
+#include <utility>
+
+#include <rclcpp/callback_group.hpp>
+#include <rclcpp/client.hpp>
+#include <rclcpp/executors/single_threaded_executor.hpp>
+#include <rclcpp/logger.hpp>
+#include <rclcpp/node.hpp>
+#include <resource_retriever/memory_resource.hpp>
+#include <resource_retriever/plugins/retriever_plugin.hpp>
+#include <rviz_common/ros_integration/ros_node_abstraction_iface.hpp>
+#include <rviz_resource_interfaces/srv/get_resource.hpp>
+
+/// Plugin for resource_retriever that loads resources from a ROS interface.
+class RosResourceRetriever : public resource_retriever::plugins::RetrieverPlugin
+{
+  using GetResource = rviz_resource_interfaces::srv::GetResource;
+
+  RosResourceRetriever() = delete;
+
+  static constexpr std::string_view service_name = "/rviz/get_resource";
+
+public:
+  explicit RosResourceRetriever(
+    rviz_common::ros_integration::RosNodeAbstractionIface::WeakPtr weak_ros_iface);
+
+  ~RosResourceRetriever() override = default;
+
+  std::string name() override;
+
+  bool can_handle(const std::string & url) override;
+
+  resource_retriever::ResourceSharedPtr get_shared(const std::string & url) override;
+
+private:
+  // It should be safe to keep a shared pointer to the node here, because this
+  // plugin will be destroyed with the resource retriever in the marker display,
+  // which should be destroyed along before the node abstraction is destroyed.
+  // Also, since we're keeping callback groups and clients around, we need to
+  // ensure the node stays around too.
+  rclcpp::Node::SharedPtr ros_node_;
+  rclcpp::CallbackGroup::SharedPtr callback_group_;
+  rclcpp::Client<GetResource>::SharedPtr client_;
+  rclcpp::executors::SingleThreadedExecutor executor_;
+  rclcpp::Logger logger_;
+
+  // Map of the resource path to a pair with the etag value and the memory resource that is cached.
+  std::unordered_map<
+    std::string,
+    std::pair<std::string, resource_retriever::ResourceSharedPtr>
+  > cached_resources_;
+};
+
+#endif  // RVIZ_DEFAULT_PLUGINS__ROS_RESOURCE_RETRIEVER_HPP_

rviz_default_plugins/package.xml

@@ -48,6 +48,7 @@
   <depend>point_cloud_transport</depend>
   <depend>rclcpp</depend>
   <depend>resource_retriever</depend>
+  <depend>rviz_resource_interfaces</depend>
   <depend>rviz_common</depend>
   <depend>rviz_rendering</depend>
   <depend>tf2</depend>

rviz_default_plugins/src/rviz_default_plugins/displays/marker/marker_common.cpp

@@ -28,17 +28,18 @@
 // ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 // POSSIBILITY OF SUCH DAMAGE.
 
-
 #include "rviz_default_plugins/displays/marker/marker_common.hpp"
 
+#include <cinttypes>
 #include <memory>
 #include <set>
 #include <sstream>
 #include <string>
+#include <string_view>
 #include <utility>
 #include <vector>
 
-#include <QString>  // NOLINT: cpplint is unable to handle the include order here
+#include "QString"
 
 #include "rclcpp/duration.hpp"
 
@@ -49,6 +50,8 @@
 
 #include "rviz_default_plugins/displays/marker/markers/marker_factory.hpp"
 
+#include "rviz_default_plugins/ros_resource_retriever.hpp"
+
 namespace rviz_default_plugins
 {
 namespace displays
@@ -72,6 +75,13 @@ void MarkerCommon::initialize(rviz_common::DisplayContext * context, Ogre::Scene
   context_ = context;
   scene_node_ = scene_node;
 
+  resource_retriever::RetrieverVec plugins;
+  plugins.push_back(std::make_shared<RosResourceRetriever>(context_->getRosNodeAbstraction()));
+  for (const auto & plugin : resource_retriever::default_plugins()) {
+    plugins.push_back(plugin);
+  }
+  retriever_ = resource_retriever::Retriever(plugins);
+
   namespace_config_enabled_state_.clear();
 
   marker_factory_->initialize(this, context_, scene_node_);
@@ -148,6 +158,11 @@ void MarkerCommon::deleteMarkerStatus(MarkerID id)
   display_->deleteStatusStd(marker_name);
 }
 
+resource_retriever::Retriever * MarkerCommon::getResourceRetriever()
+{
+  return &this->retriever_;
+}
+
 void MarkerCommon::addMessage(const visualization_msgs::msg::Marker::ConstSharedPtr marker)
 {
   std::unique_lock<std::mutex> lock(queue_mutex_);

rviz_default_plugins/src/rviz_default_plugins/displays/marker/markers/mesh_resource_marker.cpp

@@ -109,7 +109,11 @@ void MeshResourceMarker::onNewMessage(
       return;
     }
 
-    if (!rviz_rendering::loadMeshFromResource(new_message->mesh_resource)) {
+    if (
+      !rviz_rendering::loadMeshFromResource(
+        owner_->getResourceRetriever(),
+        new_message->mesh_resource))
+    {
       printMeshLoadingError(new_message);
       return;
     }

rviz_default_plugins/src/rviz_default_plugins/displays/marker/markers/triangle_list_marker.cpp

@@ -44,7 +44,6 @@
 #include <OgreTextureManager.h>
 #include <OgreTechnique.h>
 
-#include "resource_retriever/retriever.hpp"
 #include "rviz_rendering/mesh_loader.hpp"
 #include "rviz_rendering/material_manager.hpp"
 #include "rviz_common/display_context.hpp"