RQT

[audrow]

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

Setup

• DDS vendor: FastDDS
• BuildType: Binary
• Chip: Amd64
• Os: Windows

Links

• Repo URL

Checks

• 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.

  details

  Try

  1. # User input in terminal 1
     ros2 launch dummy_robot_bringup dummy_robot_bringup.launch.py

  2. # User input in terminal 2
     rqt

  3. 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.

  4. 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.

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

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

  Expect

  1. Rqt runs smoothly and the plugins work as expected.

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You can find the code used to generate this test case here

[sloretz]

The Bag plugin slows rqt waaaaay down while recording: ros-visualization/rqt_bag#110

[sloretz]

plotting, the node, graph, and topic monitor all appear pretty smooth.