rig-reconfigure

Attempt of a RQT-reconfigure alternative based on Dear ImGui. Many thanks to ocornut for developing imgui, without, this project would not have been possible!

Why?

During the development of our autonomous racing car we struggled to become friends with the dynamic reconfigure plugin of RQT. One of the main features missing for us was the ability to group parameters according to their prefix. Apparently, a request for this feature has already been opened in the official rqt-reconfigure repository a while ago, but is still open.

We considered implementing the required features within the RQT environment, but due to a lack of experience with Qt-GUIs we switched our focus to a standalone application (hoping that this would be easier). Nevertheless, we would appreciate it if the features find their way back into the RQT environment. However, at least at the moment we are satisfied with the standalone application and hence won’t push further into this direction.

Features:

• allows only the selection of a single node (in our use-case selecting multiple nodes was not necessary and lead only to confusion)
• parameters are grouped based on their prefix (separation by /)
• the parameter tree can be filtered

The editor can be launched using ros2 run rig_reconfigure rig_reconfigure.

TODO List

The following features are not implemented yet, but would be nice to have. PRs are welcome!

• feedback about the success of modifying parameters (intended: directly behind the parameters, e.g. using spinners / checkmarks)
• support for array parameters
• consideration of limits specified in the parameter description

Known Issues

• CPU usage is high when using non-hardware-accelerated OpenGL implementation, which is usually the case in VNC connections
• vsync via glfw doesn’t work in VNC sessions (leading to even higher CPU usage), enable the manual frame rate limiting to reduce it

Usage example

Changelog for package rig_reconfigure

1.5.0 (2024-07-20)

• create config directory if it doesnt exist (#40)
• Persist window size via .ini file (#36)
• Replace linear node list with tree representation (#34)
• Fixes for default parameters (#33)
• Contributors: Dominik, Jonas Otto

1.4.0 (2023-12-27)

• Add dependency on ament_index_cpp to fix build on rolling (#29)
• Place imgui.ini within users home directory (#28)
• improved input handling of numeric values (#27)
• Contributors: Chris Lalancette, Dominik

1.3.2 (2023-09-01)

• add dominik as maintainer
• Contributors: Jonas Otto

1.3.1 (2023-09-01)

• remove git version information in info window (#24)
• Contributors: Jonas Otto

1.3.0 (2023-08-30)

• Only list nodes providing the parameter service (#23)
• Cleanup (#22)
• Info window (#21)
• Contributors: Dominik

1.2.0 (2023-08-11)

• Improvements for handling string parameters (sending update only once editing is complete)
• Add window icon
• Add desktop file
• Contributors: Dominik, Jonas Otto

1.1.0 (2023-04-24)

• Accept more parameter path separators
• allow scientific notation for float-parameters
• Manual FPS limiting for VNC sessions
• add support for string parameters
• allow clicking on node text for folding/unfolding
• added buttons for expanding / collapsing all parameter nodes
• sort node names in alphabetical order
• periodic node refreshing + warning about died nodes
• improved sizing of the list box
• Contributors: Dominik, Jonas Otto, Scott K Logan

1.0.0 (2023-02-25)

• initial release