r2s_gw

Note: This is a fork of r2s designed to work with the Greenwave Monitor system. It has been renamed to r2s_gw to allow users to install it alongside the standard r2s package.

r2s_gw is a Text User Interface (TUI) for interacting with various aspects of a ROS 2 system. It is intended as a supplement to the ros2cli suite of command line tools.

r2s_gw is written in Python and utilizes Textual for building the UI.

Installing

This package is bundled with the Greenwave Monitor repository. See the main Greenwave Monitor README for installation instructions.

For standalone development:

cd r2s_gw
poetry install
poetry run r2s_gw

Development

To run in development mode:

poetry shell
textual run --dev r2s_gw.main:main

poetry shell
textual console

Roadmap

Currently, there are 2 primary widgets for visualizing information in a grid or as a stream of text logs.

• ROS 2
  • Visualize stream of ROS messages in the text log view (ros2 topic echo)
  • Visualize stream of ROS logs from a node (rosconsole)
  • Visualize system load of individual nodes (requires instrumentation to associate PID with node)
  • Publish messages on a topic (ros2 topic pub)
  • Advance lifecycle node states (ros2 lifecycle)
  • Visualize message definitions (ros2 interface)
  • Call Services (ros2 service)
• Colcon
  • List packages in a workspace (colon list/colcon graph)
  • Select and build multiple packages
  • View package build logs
  • View test logs
• Gazebo
  • Visualize topics/nodes
  • Port ROS functionality to gz-transport and gz-msgs