diff --git a/controller_manager/doc/images/rqt_controller_manager.png b/controller_manager/doc/images/rqt_controller_manager.png
new file mode 100644
index 0000000000..01c4f55bdf
Binary files /dev/null and b/controller_manager/doc/images/rqt_controller_manager.png differ
diff --git a/controller_manager/doc/userdoc.rst b/controller_manager/doc/userdoc.rst
index b9c057f571..9c2e3a5990 100644
--- a/controller_manager/doc/userdoc.rst
+++ b/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
-----------------------------------------
diff --git a/rqt_controller_manager/package.xml b/rqt_controller_manager/package.xml
index b4a7abfa9c..f411f3a1f2 100644
--- a/rqt_controller_manager/package.xml
+++ b/rqt_controller_manager/package.xml
@@ -12,11 +12,12 @@
https://github.com/ros-controls/ros2_control/issues
https://github.com/ros-controls/ros2_control
+ Adolfo Rodríguez Tsouroukdissian
Bence Magyar
+ Christoph Froehlich
Enrique Fernandez
- Mathias Lüdtke
Kelsey Hawkins
- Adolfo Rodríguez Tsouroukdissian
+ Mathias Lüdtke
controller_manager
controller_manager_msgs
diff --git a/rqt_controller_manager/resource/controller_manager.ui b/rqt_controller_manager/resource/controller_manager.ui
index 2ede975248..17031d9044 100644
--- a/rqt_controller_manager/resource/controller_manager.ui
+++ b/rqt_controller_manager/resource/controller_manager.ui
@@ -37,7 +37,7 @@
-
-
+
0
@@ -70,6 +70,40 @@
+ -
+
+
+
+ 0
+ 0
+
+
+
+ true
+
+
+ QAbstractItemView::NoSelection
+
+
+ QAbstractItemView::SelectRows
+
+
+ false
+
+
+ false
+
+
+ false
+
+
+ true
+
+
+ false
+
+
+
diff --git a/rqt_controller_manager/resource/controller_info.ui b/rqt_controller_manager/resource/popup_info.ui
similarity index 96%
rename from rqt_controller_manager/resource/controller_info.ui
rename to rqt_controller_manager/resource/popup_info.ui
index b8c03799a9..b910397a8d 100644
--- a/rqt_controller_manager/resource/controller_info.ui
+++ b/rqt_controller_manager/resource/popup_info.ui
@@ -16,9 +16,6 @@
0
-
- Controller Information
-
-
diff --git a/rqt_controller_manager/rqt_controller_manager/controller_manager.py b/rqt_controller_manager/rqt_controller_manager/controller_manager.py
index d142ea847b..3b4a9a7de1 100644
--- a/rqt_controller_manager/rqt_controller_manager/controller_manager.py
+++ b/rqt_controller_manager/rqt_controller_manager/controller_manager.py
@@ -20,12 +20,16 @@
from controller_manager.controller_manager_services import (
configure_controller,
list_controllers,
+ list_hardware_components,
+ set_hardware_component_state,
load_controller,
switch_controllers,
unload_controller,
)
+
from controller_manager_msgs.msg import ControllerState
from controller_manager_msgs.srv import SwitchController
+from lifecycle_msgs.msg import State
from python_qt_binding import loadUi
from python_qt_binding.QtCore import QAbstractTableModel, Qt, QTimer
from python_qt_binding.QtGui import QCursor, QFont, QIcon, QStandardItem, QStandardItemModel
@@ -60,7 +64,7 @@ def __init__(self, context):
# Pop-up that displays controller information
self._popup_widget = QWidget()
ui_file = os.path.join(
- get_package_share_directory("rqt_controller_manager"), "resource", "controller_info.ui"
+ get_package_share_directory("rqt_controller_manager"), "resource", "popup_info.ui"
)
loadUi(ui_file, self._popup_widget)
self._popup_widget.setObjectName("ControllerInfoUi")
@@ -78,7 +82,9 @@ def __init__(self, context):
# Initialize members
self._cm_name = "" # Name of the selected controller manager's node
self._controllers = [] # State of each controller
- self._table_model = None
+ self._hw_components = [] # State of each hw component
+ self._ctrl_table_model = None
+ self._hw_table_model = None
# Store reference to node
self._node = context.node
@@ -93,16 +99,26 @@ def __init__(self, context):
}
# Controllers display
- table_view = self._widget.table_view
- table_view.setContextMenuPolicy(Qt.CustomContextMenu)
- table_view.customContextMenuRequested.connect(self._on_ctrl_menu)
-
- table_view.doubleClicked.connect(self._on_ctrl_info)
-
- header = table_view.horizontalHeader()
- header.setSectionResizeMode(QHeaderView.ResizeToContents)
- header.setContextMenuPolicy(Qt.CustomContextMenu)
- header.customContextMenuRequested.connect(self._on_header_menu)
+ ctrl_table_view = self._widget.ctrl_table_view
+ ctrl_table_view.setContextMenuPolicy(Qt.CustomContextMenu)
+ ctrl_table_view.customContextMenuRequested.connect(self._on_ctrl_menu)
+ ctrl_table_view.doubleClicked.connect(self._on_ctrl_info)
+
+ ctrl_header = ctrl_table_view.horizontalHeader()
+ ctrl_header.setSectionResizeMode(QHeaderView.ResizeToContents)
+ ctrl_header.setContextMenuPolicy(Qt.CustomContextMenu)
+ ctrl_header.customContextMenuRequested.connect(self._on_ctrl_header_menu)
+
+ # Hardware components display
+ hw_table_view = self._widget.hw_table_view
+ hw_table_view.setContextMenuPolicy(Qt.CustomContextMenu)
+ hw_table_view.customContextMenuRequested.connect(self._on_hw_menu)
+ hw_table_view.doubleClicked.connect(self._on_hw_info)
+
+ hw_header = hw_table_view.horizontalHeader()
+ hw_header.setSectionResizeMode(QHeaderView.ResizeToContents)
+ hw_header.setContextMenuPolicy(Qt.CustomContextMenu)
+ hw_header.customContextMenuRequested.connect(self._on_hw_header_menu)
# Timer for controller manager updates
self._update_cm_list_timer = QTimer(self)
@@ -116,6 +132,12 @@ def __init__(self, context):
self._update_ctrl_list_timer.timeout.connect(self._update_controllers)
self._update_ctrl_list_timer.start()
+ # Timer for running hw components updates
+ self._update_hw_components_list_timer = QTimer(self)
+ self._update_hw_components_list_timer.setInterval(int(1000.0 / self._cm_update_freq))
+ self._update_hw_components_list_timer.timeout.connect(self._update_hw_components)
+ self._update_hw_components_list_timer.start()
+
# Signal connections
w = self._widget
w.cm_combo.currentIndexChanged[str].connect(self._on_cm_change)
@@ -148,6 +170,7 @@ def _on_cm_change(self, cm_name):
if cm_name:
self._update_controllers()
+ self._update_hw_components()
def _update_controllers(self):
@@ -191,20 +214,20 @@ def _list_controllers(self):
return []
def _show_controllers(self):
- table_view = self._widget.table_view
- self._table_model = ControllerTable(self._controllers, self._icons)
- table_view.setModel(self._table_model)
+ ctrl_table_view = self._widget.ctrl_table_view
+ self._ctrl_table_model = ControllerTable(self._controllers, self._icons)
+ ctrl_table_view.setModel(self._ctrl_table_model)
def _on_ctrl_menu(self, pos):
# Get data of selected controller
- row = self._widget.table_view.rowAt(pos.y())
+ row = self._widget.ctrl_table_view.rowAt(pos.y())
if row < 0:
return # Cursor is not under a valid item
ctrl = self._controllers[row]
# Show context menu
- menu = QMenu(self._widget.table_view)
+ menu = QMenu(self._widget.ctrl_table_view)
if ctrl.state == "active":
action_deactivate = menu.addAction(self._icons["inactive"], "Deactivate")
action_kill = menu.addAction(self._icons["finalized"], "Deactivate and Unload")
@@ -220,7 +243,7 @@ def _on_ctrl_menu(self, pos):
action_configure = menu.addAction(self._icons["inactive"], "Load and Configure")
action_activate = menu.addAction(self._icons["active"], "Load, Configure and Activate")
- action = menu.exec_(self._widget.table_view.mapToGlobal(pos))
+ action = menu.exec_(self._widget.ctrl_table_view.mapToGlobal(pos))
# Evaluate user action
if ctrl.state == "active":
@@ -254,6 +277,7 @@ def _on_ctrl_menu(self, pos):
def _on_ctrl_info(self, index):
popup = self._popup_widget
+ popup.setWindowTitle("Controller Information")
ctrl = self._controllers[index.row()]
popup.ctrl_name.setText(ctrl.name)
@@ -272,42 +296,186 @@ def _on_ctrl_info(self, index):
popup.move(QCursor.pos())
popup.show()
- def _on_header_menu(self, pos):
- header = self._widget.table_view.horizontalHeader()
+ def _on_ctrl_header_menu(self, pos):
+ ctrl_header = self._widget.ctrl_table_view.horizontalHeader()
+
+ # Show context menu
+ menu = QMenu(self._widget.ctrl_table_view)
+ action_toggle_auto_resize = menu.addAction("Toggle Auto-Resize")
+ action = menu.exec_(ctrl_header.mapToGlobal(pos))
+
+ # Evaluate user action
+ if action is action_toggle_auto_resize:
+ if ctrl_header.resizeMode(0) == QHeaderView.ResizeToContents:
+ ctrl_header.setSectionResizeMode(QHeaderView.Interactive)
+ else:
+ ctrl_header.setSectionResizeMode(QHeaderView.ResizeToContents)
+
+ def _update_hw_components(self):
+ if not self._cm_name:
+ return
+
+ # Find hw_components associated to the selected controller manager
+ hw_components = self._list_hw_components()
+
+ # Update controller display, if necessary
+ if self._hw_components != hw_components:
+ self._hw_components = hw_components
+ self._show_hw_components() # NOTE: Model is recomputed from scratch
+
+ def _list_hw_components(self):
+ """
+ List the hw_components associated to a controller manager node.
+
+ @return List of hw_components associated to a controller manager
+ node. Contains both stopped/running hw_components, as returned by
+ the C{list_hardware_components} service
+ @rtype [str]
+ """
+ # Add loaded hw_components first
+ try:
+ hw_components = list_hardware_components(
+ self._node, self._cm_name, 2.0 / self._cm_update_freq
+ ).component
+ return hw_components
+ except RuntimeError as e:
+ print(e)
+ return []
+
+ def _show_hw_components(self):
+ hw_table_view = self._widget.hw_table_view
+ self._hw_table_model = HwComponentTable(self._hw_components, self._icons)
+ hw_table_view.setModel(self._hw_table_model)
+
+ def _on_hw_menu(self, pos):
+ # Get data of selected controller
+ row = self._widget.hw_table_view.rowAt(pos.y())
+ if row < 0:
+ return # Cursor is not under a valid item
+
+ hw_component = self._hw_components[row]
+
+ # Show context menu
+ menu = QMenu(self._widget.hw_table_view)
+ if hw_component.state.label == "active":
+ action_deactivate = menu.addAction(self._icons["inactive"], "Deactivate")
+ action_cleanup = menu.addAction(self._icons["finalized"], "Deactivate and Cleanup")
+ elif hw_component.state.label == "inactive":
+ action_activate = menu.addAction(self._icons["active"], "Activate")
+ action_cleanup = menu.addAction(self._icons["unconfigured"], "Cleanup")
+ elif hw_component.state.label == "unconfigured":
+ action_configure = menu.addAction(self._icons["inactive"], "Configure")
+ action_spawn = menu.addAction(self._icons["active"], "Configure and Activate")
+
+ action = menu.exec_(self._widget.hw_table_view.mapToGlobal(pos))
+
+ # Evaluate user action
+ if hw_component.state.label == "active":
+ if action is action_deactivate:
+ self._set_inactive_hw_component(hw_component.name)
+ elif action is action_cleanup:
+ self._set_unconfigured_hw_component(hw_component.name)
+ elif hw_component.state.label == "inactive":
+ if action is action_activate:
+ self._set_active_hw_component(hw_component.name)
+ elif action is action_cleanup:
+ self._set_unconfigured_hw_component(hw_component.name)
+ elif hw_component.state.label == "unconfigured":
+ if action is action_configure:
+ self._set_inactive_hw_component(hw_component.name)
+ elif action is action_spawn:
+ self._set_active_hw_component(hw_component.name)
+
+ def _on_hw_info(self, index):
+ popup = self._popup_widget
+ popup.setWindowTitle("Hardware Component Info")
+
+ hw_component = self._hw_components[index.row()]
+ popup.ctrl_name.setText(hw_component.name)
+ popup.ctrl_type.setText(hw_component.type)
+
+ res_model = QStandardItemModel()
+ model_root = QStandardItem("Command Interfaces")
+ res_model.appendRow(model_root)
+ for command_interface in hw_component.command_interfaces:
+ hw_iface_item = QStandardItem(command_interface.name)
+ model_root.appendRow(hw_iface_item)
+
+ model_root = QStandardItem("State Interfaces")
+ res_model.appendRow(model_root)
+ for state_interface in hw_component.state_interfaces:
+ hw_iface_item = QStandardItem(state_interface.name)
+ model_root.appendRow(hw_iface_item)
+
+ popup.resource_tree.setModel(res_model)
+ popup.resource_tree.setItemDelegate(FontDelegate(popup.resource_tree))
+ popup.resource_tree.expandAll()
+ popup.move(QCursor.pos())
+ popup.show()
+
+ def _on_hw_header_menu(self, pos):
+ hw_header = self._widget.hw_table_view.horizontalHeader()
# Show context menu
- menu = QMenu(self._widget.table_view)
+ menu = QMenu(self._widget.hw_table_view)
action_toggle_auto_resize = menu.addAction("Toggle Auto-Resize")
- action = menu.exec_(header.mapToGlobal(pos))
+ action = menu.exec_(hw_header.mapToGlobal(pos))
# Evaluate user action
if action is action_toggle_auto_resize:
- if header.resizeMode(0) == QHeaderView.ResizeToContents:
- header.setSectionResizeMode(QHeaderView.Interactive)
+ if hw_header.resizeMode(0) == QHeaderView.ResizeToContents:
+ hw_header.setSectionResizeMode(QHeaderView.Interactive)
else:
- header.setSectionResizeMode(QHeaderView.ResizeToContents)
+ hw_header.setSectionResizeMode(QHeaderView.ResizeToContents)
def _activate_controller(self, name):
- switch_controllers(
- node=self._node,
- controller_manager_name=self._cm_name,
- deactivate_controllers=[],
- activate_controllers=[name],
- strict=SwitchController.Request.STRICT,
- activate_asap=False,
- timeout=0.3,
- )
+ self._switch_controllers([name], [])
def _deactivate_controller(self, name):
- switch_controllers(
- node=self._node,
- controller_manager_name=self._cm_name,
- deactivate_controllers=[name],
- activate_controllers=[],
- strict=SwitchController.Request.STRICT,
- activate_asap=False,
- timeout=0.3,
- )
+ self._switch_controllers([], [name])
+
+ def _switch_controllers(self, activate, deactivate):
+ try:
+ switch_controllers(
+ node=self._node,
+ controller_manager_name=self._cm_name,
+ activate_controllers=activate,
+ deactivate_controllers=deactivate,
+ strict=SwitchController.Request.STRICT,
+ activate_asap=False,
+ timeout=0.3,
+ )
+ except Exception as e:
+ print(e)
+
+ def _set_active_hw_component(self, name):
+ active_state = State()
+ active_state.id = State.PRIMARY_STATE_ACTIVE
+ active_state.label = "active"
+ self._set_state_hw_component(name, active_state)
+
+ def _set_inactive_hw_component(self, name):
+ inactive_state = State()
+ inactive_state.id = State.PRIMARY_STATE_INACTIVE
+ inactive_state.label = "inactive"
+ self._set_state_hw_component(name, inactive_state)
+
+ def _set_unconfigured_hw_component(self, name):
+ unconfigure_state = State()
+ unconfigure_state.id = State.PRIMARY_STATE_UNCONFIGURED
+ unconfigure_state.label = "unconfigured"
+ self._set_state_hw_component(name, unconfigure_state)
+
+ def _set_state_hw_component(self, name, state):
+ try:
+ set_hardware_component_state(
+ node=self._node,
+ controller_manager_name=self._cm_name,
+ component_name=name,
+ lifecyle_state=state,
+ )
+ except Exception as e:
+ print(e)
class ControllerTable(QAbstractTableModel):
@@ -361,6 +529,57 @@ def data(self, index, role):
return Qt.AlignCenter
+class HwComponentTable(QAbstractTableModel):
+ """
+ Model containing hardware component information for tabular display.
+
+ The model allows display of basic read-only information like component
+ name and state.
+ """
+
+ def __init__(self, hw_component_info, icons, parent=None):
+ QAbstractTableModel.__init__(self, parent)
+ self._data = hw_component_info
+ self._icons = icons
+
+ def rowCount(self, parent):
+ return len(self._data)
+
+ def columnCount(self, parent):
+ return 2
+
+ def headerData(self, col, orientation, role):
+ if orientation != Qt.Horizontal or role != Qt.DisplayRole:
+ return None
+ if col == 0:
+ return "component"
+ elif col == 1:
+ return "state"
+
+ def data(self, index, role):
+ if not index.isValid():
+ return None
+
+ hw_component = self._data[index.row()]
+
+ if role == Qt.DisplayRole:
+ if index.column() == 0:
+ return hw_component.name
+ elif index.column() == 1:
+ return hw_component.state.label or "not loaded"
+
+ if role == Qt.DecorationRole and index.column() == 0:
+ return self._icons.get(hw_component.state.label)
+
+ if role == Qt.FontRole and index.column() == 0:
+ bf = QFont()
+ bf.setBold(True)
+ return bf
+
+ if role == Qt.TextAlignmentRole and index.column() == 1:
+ return Qt.AlignCenter
+
+
class FontDelegate(QStyledItemDelegate):
"""
Simple delegate for customizing font weight and italization.