RQT

[marcoag]

This is a sanity check to ensure that the GUI tools aren't fundamentally broken.

Configuration

• Build type: Binary
• DDS: FastDDS
• Chip set: AMD64
• OS: Ubuntu Noble 24.04

Links

• Repo URL

Process

Check RQT

Launch using the rqt command.

The rqt window should be generally usable and should be able to populate some of the discovered plugins.

Actions

# StdIn - terminal 1
ros2 launch dummy_robot_bringup dummy_robot_bringup_launch.py

# StdIn - terminal 2
rqt

In the RQT window, select 'Plugins > Visualization > Plot' in the dropdown menu. In the window that opens, set the Topic to /joint_states/position[0]. You should see a Sine wave.

With 'Plugins > Introspection > Node Graph' you should see a network of the nodes and topics that are being published and subscribed by the dummy robot.

With 'Plugins > Logging > Bag' you should be able record a ROS Bag file.

With 'Plugins > Topic > Topic Monitor' you should be able to check the /joint_states topic and view messages streaming in.

Expected Result

Rqt runs smoothly and the plugins work as expected.

[Kartik9250]

i would like to work on this

[Kartik9250]

I found the following issues with rqt:

1. Vizualization: The rqt window goes lagging and goes unresponsive, by pressing wait it continues but still lags.

2. Bag file Recording:

   • The terminal prompts some errors but it is able to save bag file. Though they are empty

   • Also, the ui doesn't has a stop or pause button, we straight away just have to save the bag file. or it might be disabled due to those errors though I am not sure.

3. Topic monitor: It works alright. But it takes a while to load data for the selected topic, it shows unknown for a few seconds at first. Data for four topics still can be seen as unknown, not sure if that's intended.

One more thing that I would like to add, I found resizing the window a bit laggy.

[samuel-ongzx]

Thanks @Kartik9250. Found similar result, except that rqt was not laggy on resizing.

Setup:

• Host Computer: AMD64
• Docker Container: 24.04 from ghcr.io/sloretz/ros-testing:jazzy-desktop
• Built Type Binary from Release Page
• FastDDS with apt install ros-jazzy-rmw-fastrtps-cpp

Additional Steps needed:

• Install python3-pyqt6

Test Result:

• [x] Plugins > Visualization > Plot (sine wave ok)
• [x] Plugins > Introspection > Node Graph (node graph ok)
• [x] Plugins > Topic > Topic Monitor (topics monitoring ok)
• [ ] Plugins > Logging > Bag (bag logging not ok)

Verification: Same rqt rosbag error described in #1470. Will wait for fix and validate this again.