r2s

r2s 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 is written in Python and utilizes Textual for building the UI.

Installing

To run:

git clone https://github.com/mjcarroll/r2s.git
cd r2s
poetry install
poetry run r2s

Development

To run in development mode:

poetry shell
textual run --dev r2s.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