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[rqt_controller_manager] Add hardware components (backport #1455) #1586

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merged 3 commits into from
Oct 11, 2024
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[rqt_controller_manager] Add hardware components (backport #1455) #1586

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95494cd
[rqt_controller_manager] Add hardware components (#1455)
christophfroehlich Jun 25, 2024
48d68e5
Merge branch 'humble' into mergify/bp/humble/pr-1455
destogl Aug 15, 2024
5b49326
Merge branch 'humble' into mergify/bp/humble/pr-1455
christophfroehlich Oct 8, 2024
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Binary file added controller_manager/doc/images/rqt_controller_manager.png
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15 changes: 15 additions & 0 deletions controller_manager/doc/userdoc.rst
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Expand Up @@ -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
-----------------------------------------

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5 changes: 3 additions & 2 deletions rqt_controller_manager/package.xml
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Expand Up @@ -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>
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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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