From be15e7f800a293dda290d0d228afeada03c53bc7 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Jo=C3=A3o=20C=2E=20Monteiro?= <jcmonteiro92@gmail.com>
Date: Wed, 16 Dec 2020 16:38:25 +0100
Subject: [PATCH 1/2] [tool] emit a signal when the tool name is changed

---
 src/rviz/tool.cpp | 1 +
 src/rviz/tool.h   | 1 +
 2 files changed, 2 insertions(+)

diff --git a/src/rviz/tool.cpp b/src/rviz/tool.cpp
index 9e27df0a42..1acab1e697 100644
--- a/src/rviz/tool.cpp
+++ b/src/rviz/tool.cpp
@@ -73,6 +73,7 @@ void Tool::setName(const QString& name)
 {
   name_ = name;
   property_container_->setName(name_);
+  Q_EMIT nameChanged(this);
 }
 
 void Tool::setDescription(const QString& description)
diff --git a/src/rviz/tool.h b/src/rviz/tool.h
index 05a2be8ed6..e513d7e7b0 100644
--- a/src/rviz/tool.h
+++ b/src/rviz/tool.h
@@ -192,6 +192,7 @@ class RVIZ_EXPORT Tool : public QObject
 
 Q_SIGNALS:
   void close();
+  void nameChanged(Tool* tool);
 
 protected:
   /** Override onInitialize to do any setup needed after the

From a1ad870d2881a3266f40e0cba6a267220033827f Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Jo=C3=A3o=20C=2E=20Monteiro?= <jcmonteiro92@gmail.com>
Date: Thu, 17 Dec 2020 16:28:08 +0100
Subject: [PATCH 2/2] [tool] update the toolbar when nameChanged is emitted

---
 src/rviz/tool.cpp                |  7 ++++++-
 src/rviz/tool.h                  |  2 +-
 src/rviz/visualization_frame.cpp | 13 +++++++++++++
 src/rviz/visualization_frame.h   |  3 +++
 4 files changed, 23 insertions(+), 2 deletions(-)

diff --git a/src/rviz/tool.cpp b/src/rviz/tool.cpp
index 1acab1e697..4cc6cc9938 100644
--- a/src/rviz/tool.cpp
+++ b/src/rviz/tool.cpp
@@ -71,9 +71,14 @@ void Tool::setCursor(const QCursor& cursor)
 
 void Tool::setName(const QString& name)
 {
+  // Early return if the name did not change
+  if (name == name_)
+    return;
+
+  // Change the name and emit a signal to let slots know
   name_ = name;
   property_container_->setName(name_);
-  Q_EMIT nameChanged(this);
+  Q_EMIT nameChanged(name_);
 }
 
 void Tool::setDescription(const QString& description)
diff --git a/src/rviz/tool.h b/src/rviz/tool.h
index e513d7e7b0..6b6e393472 100644
--- a/src/rviz/tool.h
+++ b/src/rviz/tool.h
@@ -192,7 +192,7 @@ class RVIZ_EXPORT Tool : public QObject
 
 Q_SIGNALS:
   void close();
-  void nameChanged(Tool* tool);
+  void nameChanged(const QString& name);
 
 protected:
   /** Override onInitialize to do any setup needed after the
diff --git a/src/rviz/visualization_frame.cpp b/src/rviz/visualization_frame.cpp
index 0839998957..14c3fe36c6 100644
--- a/src/rviz/visualization_frame.cpp
+++ b/src/rviz/visualization_frame.cpp
@@ -1185,6 +1185,19 @@ void VisualizationFrame::addTool(Tool* tool)
   tool_to_action_map_[tool] = action;
 
   remove_tool_menu_->addAction(tool->getName());
+
+  QObject::connect(tool, &Tool::nameChanged, this, &VisualizationFrame::onToolNameChanged);
+}
+
+void VisualizationFrame::onToolNameChanged(const QString& name)
+{
+  // Early return if the tool is not present
+  auto it = tool_to_action_map_.find(qobject_cast<Tool*>(sender()));
+  if (it == tool_to_action_map_.end())
+    return;
+
+  // Change the name of the action
+  it->second->setIconText(name);
 }
 
 void VisualizationFrame::onToolbarActionTriggered(QAction* action)
diff --git a/src/rviz/visualization_frame.h b/src/rviz/visualization_frame.h
index 28177aceb0..4b8c707f79 100644
--- a/src/rviz/visualization_frame.h
+++ b/src/rviz/visualization_frame.h
@@ -227,6 +227,9 @@ protected Q_SLOTS:
    * the shortcut key, onToolbarActionTriggered() is called. */
   void addTool(Tool* tool);
 
+  /** @brief React to name changes of a tool, updating the name of the associated QAction */
+  void onToolNameChanged(const QString& name);
+
   /** @brief Remove the given tool from the frame's toolbar. */
   void removeTool(Tool* tool);