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ros-navigation / navigation2

ROS 2 Navigation Framework and System
https://nav2.org/
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Dock panel #4458

Closed ajtudela closed 4 days ago

ajtudela commented 1 week ago

Basic Info

Info Please fill out this column
Ticket(s) this addresses
Primary OS tested on Ubuntu 22.04
Robotic platform tested on Morphia robot / Gazebo
Does this PR contain AI generated software? No

New panel for docking / undocking action, similar to Nav2 panel:

docking panel

panel_docking.webm

Description of documentation updates required from your changes

Future work that may be required in bullet points

For Maintainers:

SteveMacenski commented 1 week ago

Very cool, I love this! Can we get this in the Nav2 default rviz config? Maybe on the right side of the window since the left side is getting pretty crowded. Or I suppose I wouldn't be opposed to rearranging the panel setup in rviz to be less "default" for a Nav2 specific layout. Perhaps:

But just a suggestion! If we're going to have more of these plugins, its worth optimizing for them now! Maybe there's a configuration option to make the entire rviz window Nav2 blue... that would be cool... but dreams for another time

Only nitpick is to make the text align: Navigate to staging pose with the feedback stuff & "reached/unknown/active" with the feedback items as well.

Can you rebase to fix CI?

ajtudela commented 1 week ago

I personally use a config similar to this: rviz

ajtudela commented 1 week ago

So fixing the alignment for the docking panel, also fixed the alignment for the Nav2 panel!

rviz2

And I also noticed that the logo in the Nav2 panel doesn't show in some scenarios. I'll fix it in a separate PR.

SteveMacenski commented 1 week ago

Great! Let me know when you want me to look at it again! This is really quick turn around on this tool and its unquestionably valuable to have, thanks!

Can you try a layout where all the Nav2 stuff is on one side? It would be nice if it were grouped together!

ajtudela commented 1 week ago

Great! Let me know when you want me to look at it again! This is really quick turn around on this tool and its unquestionably valuable to have, thanks!

Can you try a layout where all the Nav2 stuff is on one side? It would be nice if it were grouped together!

You can review it now. I've fixed the log and the layout

SteveMacenski commented 1 week ago

Can you also push the updated rviz config to include the new panel + Nav2 panel groupings?

ajtudela commented 1 week ago

Can you try a layout where all the Nav2 stuff is on one side? It would be nice if it were grouped together!

The only option is to merge the panels in "tabs". You can see them at the bottom. Captura desde 2024-06-21 20-25-52

SteveMacenski commented 1 week ago

The only option is to merge the panels in "tabs". You can see them at the bottom.

Can't you move the top Displays panel to the right hand side where the Views are?

codecov[bot] commented 1 week ago

Codecov Report

All modified and coverable lines are covered by tests :white_check_mark:

ajtudela commented 1 week ago

The only option is to merge the panels in "tabs". You can see them at the bottom.

Can't you move the top Displays panel to the right hand side where the Views are?

After a bit of struggle, if have this: Captura desde 2024-06-21 20-45-17

SteveMacenski commented 1 week ago

Eh ok, you've convinced me about https://github.com/ros-navigation/navigation2/pull/4458#issuecomment-2183217347 can you push that one? I'll test and merge. My eyes glaze over with the Qt state machines and its easier just to hit all the buttons a bunch and check that they do what I expect :laughing:

ajtudela commented 1 week ago

Done!

SteveMacenski commented 1 week ago

Weird... basically all the tests failed. Trying again!

mergify[bot] commented 6 days ago

@ajtudela, your PR has failed to build. Please check CI outputs and resolve issues. You may need to rebase or pull in main due to API changes (or your contribution genuinely fails).

mergify[bot] commented 6 days ago

@ajtudela, your PR has failed to build. Please check CI outputs and resolve issues. You may need to rebase or pull in main due to API changes (or your contribution genuinely fails).

ajtudela commented 6 days ago

Weird... basically all the tests failed. Trying again!

Yeah, I thought CI was failing again. I made a rebase and now the tests passed.

SteveMacenski commented 4 days ago

Thanks! This looks great! Amazing tool to have now for users!