RQT Wrapper

Overview

Wrap an rqt plugin so that it automagically goes down and comes up as a ROS master at the other end goes down and comes back up again. This solves the frustration of having to restart all of your rqt applications on your laptop/pc every time you teardown the robot and relaunch it again. Incidentally it will save time and effort as well.

WRQT Reconfigure - With ROS Core

WRQT Reconfigure - Absent ROS Core

The source code is released under a BSD 3-Clause license.

Status

Beta. Areas to be addressed:

• Desktop notifications instead of a dialog while ros is down, #4.
• Reflect all of the arguments that rqt programs usually let you handle, #5.

Usage

Just two lines. This example wraps the rqt_reconfigure plugin:

import rqt_wrapper
import sys

if __name__ == '__main__':
    rqt_wrapper = rqt_wrapper.RQTWrapper('rqt_reconfigure.param_plugin.ParamPlugin')
    sys.exit(rqt_wrapper.exec_())

Programs

Some of the common rqt programs are recreated here with the wrqt_xxx prefix and deposited into the global bin directory.

• wrqt_graph
• wrqt_reconfigure
• wrqt_robot_monitor

Changelog

0.1.4 (2017-03-01)

• update to handle QtGui->QtWidgets in pyqt5

0.1.2 (2016-06-18)

• wrapper script for rqt_py_trees
• wrapper script for rqt_reconfigure

0.1.1 (2016-03-16)

• send SIGINT, not SIGTERM
• wrap the entire rqt process