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[rqt_controller_manager] Add hardware components #1455

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merged 18 commits into from
Jun 25, 2024
Merged

[rqt_controller_manager] Add hardware components #1455

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c2337b2
Initial ui change
christophfroehlich Mar 23, 2024
827516e
Fix rqt_cm for non-humble
christophfroehlich Mar 23, 2024
13f2139
Add cm as dependency
christophfroehlich Mar 18, 2024
82a2002
Use os.environ.get('ROS_DISTRO') instead
christophfroehlich Mar 23, 2024
b4e0685
Fix format
christophfroehlich Mar 23, 2024
f647d03
Working version for listing components
christophfroehlich Mar 23, 2024
835c439
Add tooltip
christophfroehlich Mar 23, 2024
778f337
Add the context menu options
christophfroehlich Mar 23, 2024
450e80d
Do not block if service is not responding
christophfroehlich Mar 23, 2024
6ac38d7
Implement shutdown transition and rename context menu
christophfroehlich Mar 23, 2024
1638e14
Rename ui file and set window title
christophfroehlich Mar 23, 2024
c203181
Remove timeout again
christophfroehlich Mar 23, 2024
990caf7
Add different timer for hw_components
christophfroehlich Mar 23, 2024
8fd2474
Add it to docs as well
christophfroehlich Mar 23, 2024
1c9019e
Apply suggestions for documentation
christophfroehlich Mar 25, 2024
deae520
Reuse code instead of duplicating
christophfroehlich Mar 25, 2024
457138e
Clean labeling of transitions
christophfroehlich Mar 25, 2024
2ce3f7e
Merge branch 'master' into rqt_cm_add_hw
christophfroehlich Mar 26, 2024
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Binary file added controller_manager/doc/images/rqt_controller_manager.png
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18 changes: 18 additions & 0 deletions controller_manager/doc/userdoc.rst
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Expand Up @@ -183,6 +183,24 @@ 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
----------------------
There exists a GUI tool to interact with the controller manager.
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.. image:: images/rqt_controller_manager.png

It can be launched independently
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.. code-block:: console

ros2 run rqt_controller_manager rqt_controller_manager

or as rqt plugin.

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* Double-click on a controller or hardware component shows additional info.
* Right-click on a controller or hardware component shows a context menu with options for lifecycle management.

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Using the Controller Manager in a Process
-----------------------------------------

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6 changes: 4 additions & 2 deletions rqt_controller_manager/package.xml
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Expand Up @@ -12,12 +12,14 @@
<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>
<exec_depend>rclpy</exec_depend>
<exec_depend>rqt_gui</exec_depend>
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36 changes: 35 additions & 1 deletion rqt_controller_manager/resource/controller_manager.ui
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Expand Up @@ -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>
Expand Down Expand Up @@ -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/>
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3 changes: 0 additions & 3 deletions ...oller_manager/resource/controller_info.ui → ...controller_manager/resource/popup_info.ui
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Expand Up @@ -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">
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