RQT1

Setup

In order to reproduce our setup first create a ROS2 workspace at ~/ros2_ws/ by following the instructions on the ros2 wiki at: installing ROS2 from source on Ubuntu 18.04

Note: RQT2 depends on the latest version of ROS2 repos. You must use https://raw.githubusercontent.com/ros2/ros2/master/ros2.repos instead of https://raw.githubusercontent.com/ros2/ros2/release-latest/ros2.repos

Build ROS2 and RQT2 From Source

Instlal PySide2 for Shiboken:

pip3 install -U --user pyside2
pip3 install -U --user pydot

Download ROS2 and RQT2 Repositories

cd ~/ros2_ws
wget https://raw.githubusercontent.com/PickNikRobotics/rqt2_setup/master/rqt2.repos
vcs import src --force < rqt2.repos

Install Dependencies

rosdep install --from-paths src --ignore-src --rosdistro bouncy -y --skip-keys "console_bridge fastcdr fastrtps libopensplice67 rti-connext-dds-5.3.1 urdfdom_headers"

If you are setting up your workspace as an overlay, then you will need to add your underlaid workspace to your paths like so:

rosdep install --from-paths src ~/ros2_ws/src/ --ignore-src --rosdistro bouncy -y --skip-keys "console_bridge fastcdr fastrtps libopensplice67 rti-connext-dds-5.3.1 urdfdom_headers"

Build ROS2 and RQT2

cd ~/ros2_ws/
colcon build

Advanced Colcon commands:

• Show verbose output:

   colcon build --event-handlers console_direct+
  

• Only build one package and its dependencies:

   colcon build --packages-up-to rqt_shell
  

Source your environment

. install/local_setup.bash

Install from Debian

TODO: Release when Crystal is released

Run Examples

Launching RQT Gui will bring up a window where you can load and unload RQT2 plugins.

ros2 run rqt_gui rqt_gui

Alternatively, you can run individual plugins.

• RQT Shell:

   ros2 run rqt_shell rqt_shell
  

• RQT Python Console

   ros2 run rqt_py_console rqt_py_console
  

To see the C++ plugin interface in action run rqt_image_view with the following commands:

• In one terminal:

   ros2 run rqt_image_view rqt_image_view
  

• In another terminal:

   ros2 run rqt_image_view image_publisher.py