From c608239e111215169827d1f3bbace0b97c8e9f06 Mon Sep 17 00:00:00 2001
From: Robert Haschke <rhaschke@techfak.uni-bielefeld.de>
Date: Sun, 5 Nov 2023 10:53:54 +0100
Subject: [PATCH 1/3] Remove redundant check

Validity is checked in indexOf() as well.
---
 src/rviz/properties/property_tree_model.cpp | 4 ----
 1 file changed, 4 deletions(-)

diff --git a/src/rviz/properties/property_tree_model.cpp b/src/rviz/properties/property_tree_model.cpp
index 5cf2ab3d58..6c5b737775 100644
--- a/src/rviz/properties/property_tree_model.cpp
+++ b/src/rviz/properties/property_tree_model.cpp
@@ -108,10 +108,6 @@ QModelIndex PropertyTreeModel::parentIndex(const Property* child) const
     return QModelIndex();
   }
   Property* parent = child->getParent();
-  if (parent == root_property_ || !parent)
-  {
-    return QModelIndex();
-  }
   return indexOf(parent);
 }
 

From 66791ab91b9a7546a52d9300b400c7cef89adb5f Mon Sep 17 00:00:00 2001
From: Robert Haschke <rhaschke@techfak.uni-bielefeld.de>
Date: Sun, 5 Nov 2023 11:08:47 +0100
Subject: [PATCH 2/3] Don't hide rows of properties not within the model

---
 src/rviz/properties/property_tree_widget.cpp | 8 +++++++-
 1 file changed, 7 insertions(+), 1 deletion(-)

diff --git a/src/rviz/properties/property_tree_widget.cpp b/src/rviz/properties/property_tree_widget.cpp
index a935e29d63..7387eb6730 100644
--- a/src/rviz/properties/property_tree_widget.cpp
+++ b/src/rviz/properties/property_tree_widget.cpp
@@ -37,6 +37,7 @@
 #include <rviz/properties/status_list.h>
 
 #include <rviz/properties/property_tree_widget.h>
+#include <ros/console.h>
 
 namespace rviz
 {
@@ -122,7 +123,12 @@ void PropertyTreeWidget::propertyHiddenChanged(const Property* property)
 {
   if (model_)
   {
-    setRowHidden(property->rowNumberInParent(), model_->parentIndex(property), property->getHidden());
+    const auto& parent_index = model_->parentIndex(property);
+    if (parent_index.isValid())
+      setRowHidden(property->rowNumberInParent(), parent_index, property->getHidden());
+    else
+      ROS_WARN_STREAM("Trying to hide property '" << qPrintable(property->getName())
+                                                  << "' that is not part of the model.");
   }
 }
 

From df72fce669683e01a67156bec3f847f6449b30a7 Mon Sep 17 00:00:00 2001
From: Robert Haschke <rhaschke@techfak.uni-bielefeld.de>
Date: Sun, 5 Nov 2023 11:28:30 +0100
Subject: [PATCH 3/3] Postpone hiding of properties until insertion into model
 is finished

When disabling and re-enabling a RobotModelDisplay, its hidden properties
(e.g. Alpha of a link having no geometry), were not hidden anymore.
---
 src/rviz/properties/property.cpp | 4 +++-
 1 file changed, 3 insertions(+), 1 deletion(-)

diff --git a/src/rviz/properties/property.cpp b/src/rviz/properties/property.cpp
index 1c4fb32576..200ebe2133 100644
--- a/src/rviz/properties/property.cpp
+++ b/src/rviz/properties/property.cpp
@@ -34,6 +34,7 @@
 #include <QPalette>
 #include <QLineEdit>
 #include <QSpinBox>
+#include <QTimer>
 
 #include <rviz/properties/float_edit.h>
 #include <rviz/properties/property_tree_model.h>
@@ -395,7 +396,8 @@ void Property::setModel(PropertyTreeModel* model)
   model_ = model;
   if (model_ && hidden_)
   {
-    model_->emitPropertyHiddenChanged(this);
+    // process propertyHiddenChanged after insertion into model has finished
+    QTimer::singleShot(0, model_, [this]() { model_->emitPropertyHiddenChanged(this); });
   }
   int num_children = numChildren();
   for (int i = 0; i < num_children; i++)