[rqt_controller_manager] Add hardware components (#1455)

(cherry picked from commit 7ffe1b7)

controller_manager/doc/userdoc.rst

@@ -127,6 +127,21 @@ There are two scripts to interact with controller manager from launch files:
  -c CONTROLLER_MANAGER, --controller-manager CONTROLLER_MANAGER
  Name of the controller manager ROS node
 
+rqt_controller_manager
+----------------------
+A GUI tool to interact with the controller manager services to be able to switch the lifecycle states of the controllers as well as the hardware components.
+
+.. image:: images/rqt_controller_manager.png
+
+It can be launched independently using the following command or as rqt plugin.
+
+.. code-block:: console
+
+ ros2 run rqt_controller_manager rqt_controller_manager
+
+ * Double-click on a controller or hardware component to show the additional info.
+ * Right-click on a controller or hardware component to show a context menu with options for lifecycle management.
+
 Using the Controller Manager in a Process
 -----------------------------------------
 

rqt_controller_manager/package.xml

@@ -12,11 +12,12 @@
  <url type="bugtracker">https://github.com/ros-controls/ros2_control/issues</url>
  <url type="repository">https://github.com/ros-controls/ros2_control</url>
 
+ <author email="adolfo.rodriguez@pal-robotics.com">Adolfo Rodríguez Tsouroukdissian</author>
  <author email="bence.magyar.robotics@gmail.com">Bence Magyar</author>
+ <author email="christoph.froehlich@ait.ac.at">Christoph Froehlich</author>
  <author email="enrique.fernandez.perdomo@gmail.com">Enrique Fernandez</author>
- <author email="mathias.luedtke@ipa.fraunhofer.de">Mathias Lüdtke</author>
  <author email="kphawkins@gatech.edu">Kelsey Hawkins</author>
- <author email="adolfo.rodriguez@pal-robotics.com">Adolfo Rodríguez Tsouroukdissian</author>
+ <author email="mathias.luedtke@ipa.fraunhofer.de">Mathias Lüdtke</author>
 
  <exec_depend>controller_manager</exec_depend>
  <exec_depend>controller_manager_msgs</exec_depend>

rqt_controller_manager/resource/controller_manager.ui

@@ -37,7 +37,7 @@
  <widget class="QComboBox" name="cm_combo"/>
  </item>
  <item>
- <widget class="QTableView" name="table_view">
+ <widget class="QTableView" name="ctrl_table_view">
  <property name="sizePolicy">
  <sizepolicy hsizetype="Expanding" vsizetype="Expanding">
  <horstretch>0</horstretch>
@@ -70,6 +70,40 @@
  </attribute>
  </widget>
  </item>
+ <item>
+ <widget class="QTableView" name="hw_table_view">
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="Expanding" vsizetype="Expanding">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ <property name="alternatingRowColors">
+ <bool>true</bool>
+ </property>
+ <property name="selectionMode">
+ <enum>QAbstractItemView::NoSelection</enum>
+ </property>
+ <property name="selectionBehavior">
+ <enum>QAbstractItemView::SelectRows</enum>
+ </property>
+ <property name="showGrid">
+ <bool>false</bool>
+ </property>
+ <property name="sortingEnabled">
+ <bool>false</bool>
+ </property>
+ <attribute name="horizontalHeaderCascadingSectionResizes">
+ <bool>false</bool>
+ </attribute>
+ <attribute name="horizontalHeaderStretchLastSection">
+ <bool>true</bool>
+ </attribute>
+ <attribute name="verticalHeaderVisible">
+ <bool>false</bool>
+ </attribute>
+ </widget>
+ </item>
  </layout>
  </widget>
  <resources/>

rqt_controller_manager/resource/controller_info.ui → rqt_controller_manager/resource/popup_info.ui

@@ -16,9 +16,6 @@
  <verstretch>0</verstretch>
  </sizepolicy>
  </property>
- <property name="windowTitle">
- <string>Controller Information</string>
- </property>
  <layout class="QVBoxLayout" name="verticalLayout">
  <item>
  <layout class="QFormLayout" name="formLayout">