Common components in ROS (3)-Qt toolbox
table of Contents
Overview
To facilitate visual debugging and display, ROS provides a Qt-based background graphics tool suite-rqt_common_plugins, which contains many useful tools.
Before use, you need to install the Qt toolbox using the following command:
sudo apt-get install ros-kinetic-rqt
sudo apt-get install ros-kinetic-rqt=common-plugins1. Log output tool (rqt_console)
The rqt_console tool is used to graphically display and filter all log messages in the running status of the ROS system, including logs at levels such as info, warn, and error. Use the following command to start the tool:
rqt_consoleWhen there are log messages of different levels in the system, the relevant content of these logs will be displayed in sequence in the interface of rqt_console, including log content, timestamp, level, etc. When there are many logs, you can also use this tool to filter and display.
2. Computational graph visualization tool (rqt_graph)
The rqt_graph tool can graphically display the calculation graph in the current ROS system. When the system is running, use the following command to start the tool:
rqt_graph3. Data plotting tool (rqt_plot)
rqt_plot is a two-dimensional numerical curve drawing tool, which can plot the data that needs to be displayed in the xy coordinate system. Use the following command to start the tool:
rqt_plotThen enter the topic message to be displayed in the Topic input box at the top of the interface. If you are not sure about the topic name, you can use the "rostopic list" command to view it in the terminal.
Four, parameter dynamic configuration tool (rqt_reconfigure)
The rqt_reconfigure tool can dynamically configure the parameters in the ROS system without restarting the system, but the use of this function requires setting the relevant attributes of the parameters in the code to support dynamic configuration. Use the following command to start the tool:
rosrun rqt_reeconfigure rqt_reconfigureThe interface after startup will display all dynamically configurable parameters in the current system. Use the input box, slide bar or drop-down box to set the parameters in the interface to achieve dynamic configuration of the parameters.