RQT

[tfoote]

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

Setup

• Rmw: Fastdds
• BuildType: Source
• Chip: Amd64
• Os: Rhel 9

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.

---

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

[danielcranston]

Setup is identical to #296 (comment)

I followed this to allow GUI applications inside the container: https://medium.com/@priyamsanodiya340/running-gui-applications-in-docker-containers-a-step-by-step-guide-335b54472e4b

$ xhost +local:docker
$ docker run -it --rm -e DISPLAY=$DISPLAY -v /tmp/.X11-unix:/tmp/.X11-unix  docker.io/library/almalinux:srcinstall # A tag I comitted manually after finishing #296
[root@1ec5867c3bea ~]# source ros2_kilted/install/setup.bash 
[root@1ec5867c3bea ~]# rqt
QStandardPaths: XDG_RUNTIME_DIR not set, defaulting to '/tmp/runtime-root'
MESA: error: Failed to query drm device.
glx: failed to create dri3 screen
failed to load driver: iris
error: XDG_RUNTIME_DIR is invalid or not set in the environment.
MESA: error: Failed to query drm device.
glx: failed to create dri3 screen
failed to load driver: iris

Some errors pop up, but the RQT window appears without issues.

Checks

• Check RQT

When adding the first plugin ( 'Plugins > Visualization > Plot' ), the RQT window remains unchanged and I get this error in the terminal running RQT;

PluginManager._load_plugin() could not load plugin "rqt_plot/Plot":
Traceback (most recent call last):
  File "/root/ros2_kilted/install/qt_gui/lib/python3.9/site-packages/qt_gui/plugin_handler.py", line 102, in load
    self._load()
  File "/root/ros2_kilted/install/qt_gui/lib/python3.9/site-packages/qt_gui/plugin_handler_direct.py", line 55, in _load
    self._plugin = self._plugin_provider.load(self._instance_id.plugin_id, self._context)
  File "/root/ros2_kilted/install/qt_gui/lib/python3.9/site-packages/qt_gui/composite_plugin_provider.py", line 72, in load
    instance = plugin_provider.load(plugin_id, plugin_context)
  File "/root/ros2_kilted/install/qt_gui/lib/python3.9/site-packages/qt_gui/composite_plugin_provider.py", line 72, in load
    instance = plugin_provider.load(plugin_id, plugin_context)
  File "/root/ros2_kilted/build/rqt_gui_py/src/rqt_gui_py/ros_py_plugin_provider.py", line 69, in load
    return super(RosPyPluginProvider, self).load(plugin_id, ros_plugin_context)
  File "/root/ros2_kilted/install/qt_gui/lib/python3.9/site-packages/qt_gui/composite_plugin_provider.py", line 72, in load
    instance = plugin_provider.load(plugin_id, plugin_context)
  File "/root/ros2_kilted/build/rqt_gui/src/rqt_gui/ros_plugin_provider.py", line 107, in load
    return class_ref(plugin_context)
  File "/root/ros2_kilted/build/rqt_plot/src/rqt_plot/plot.py", line 50, in __init__
    self._data_plot = DataPlot(self._widget)
  File "/root/ros2_kilted/build/rqt_plot/src/rqt_plot/data_plot/__init__.py", line 153, in __init__
    raise RuntimeError(
RuntimeError: No usable plot type found. Install at least one of: PyQtGraph, MatPlotLib (at least 1.4.0) or Python-Qwt5.

However dnf list implies that they exist:

# dnf list | grep -iE "matplotl|qtgraph|Qwt5"
python3-matplotlib.x86_64                                                                3.4.3-4.el9                          @epel              
python3-matplotlib-data.noarch                                                           3.4.3-4.el9                          @epel              
python3-matplotlib-data-fonts.noarch                                                     3.4.3-4.el9                          @epel              
python3-matplotlib-tk.x86_64                                                             3.4.3-4.el9                          @epel              
python3-matplotlib-doc.x86_64                                                            3.4.3-4.el9                          epel               
python3-matplotlib-gtk3.x86_64                                                           3.4.3-4.el9                          epel               
python3-matplotlib-inline.noarch                                                         0.1.5-1.el9                          epel               
python3-matplotlib-qt5.x86_64                                                            3.4.3-4.el9                          epel               
python3-matplotlib-test-data.x86_64                                                      3.4.3-4.el9                          epel               
python3-matplotlib-wx.x86_64                                                             3.4.3-4.el9                          epel               
python3-pyqtgraph.noarch                                                                 0.13.7-4.el9                         epel               
qt5-qtgraphicaleffects.i686                                                              5.15.9-1.el9                         appstream          
qt5-qtgraphicaleffects.x86_64                                                            5.15.9-1.el9                         appstream          
qt5-qtgraphicaleffects-doc.noarch                                                        5.15.9-1.el9                         appstream          
qt6-qtgraphs.x86_64                                                                      6.6.2-1.el9                          epel               
qt6-qtgraphs-devel.x86_64                                                                6.6.2-1.el9                          epel               
qt6-qtgraphs-examples.x86_64                                                             6.6.2-1.el9                          epel               
qwt5-qt5.x86_64                                                                          5.2.3a-12.20210522gita2b11e3.el9     epel               
qwt5-qt5-devel.x86_64                                                                    5.2.3a-12.20210522gita2b11e3.el9     epel               
qwt5-qt5-doc.noarch                                                                      5.2.3a-12.20210522gita2b11e3.el9     epel    

# pip list | grep -iE "matplotl|qtgraph|Qwt5"
matplotlib     
     
# python3
>>> import matplotlib
>>> matplotlib.__version__
'3.4.3'

This might be some artifact of me running this in a container though, so maybe it'd be better if some one who's running Rhel-9 "natively" tests this instead

[izzaaaatanishq]

@ahcorde tested, and working with some minor installation
1. Part 1, Plot of Joint State
We were supposed to install pip install pyqtgraph

We were able to view the plots then:

Also, an error is coming in the terminal despite the plot working.

2. Node Graph

3. Record Bag
same error as for plot of joint state (related to plots)

4. Topic Monitor
(why turtle 1 log got printed?)
Although topic was getting published properly

[danielcranston]

Thanks for testing @Tanishq30052002 ! So in summary there seems to be some incompatibility when the various python packages installed via dnf interplays, and pip install pyqtgraph at least gets things to a somewhat working state.

I'm happy to give you the assignee credit for this one, thanks again for the follow-up.

[izzaaaatanishq]

Thanks for testing @Tanishq30052002 ! So in summary there seems to be some incompatibility when the various python packages installed via dnf interplays, and pip install pyqtgraph at least gets things to a somewhat working state.

I'm happy to give you the assignee credit for this one, thanks again for the follow-up.

True