porting rqt_console to ros2

CMakeLists.txt

@@ -1,18 +1,25 @@
-cmake_minimum_required(VERSION 2.8.3)
+cmake_minimum_required(VERSION 3.5)
 project(rqt_console)
-# Load catkin and all dependencies required for this package
-find_package(catkin REQUIRED)
-catkin_package()
-catkin_python_setup()
+
+# Load ament and all dependencies required for this package
+find_package(ament_cmake REQUIRED)
+find_package(ament_cmake_python REQUIRED)
+# Note: This is needed for rcl_interfaces Log.msg
+find_package(rcl_interfaces REQUIRED)
+
+ament_python_install_package(${PROJECT_NAME}
+ PACKAGE_DIR src/${PROJECT_NAME})
 
 install(FILES plugin.xml
- DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+ DESTINATION share/${PROJECT_NAME}
 )
 
 install(DIRECTORY resource
- DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+ DESTINATION share/${PROJECT_NAME}
 )
 
 install(PROGRAMS scripts/rqt_console
- DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+ DESTINATION lib/${PROJECT_NAME}
 )
+
+ament_package()

package.xml

@@ -1,4 +1,4 @@
-<package>
+<package format="2">
  <name>rqt_console</name>
  <version>0.4.8</version>
  <description>rqt_console provides a GUI plugin for displaying and filtering ROS messages.</description>
@@ -12,19 +12,24 @@
  <url type="repository">https://github.com/ros-visualization/rqt_console</url>
  <url type="bugtracker">https://github.com/ros-visualization/rqt_console/issues</url>
 
- <buildtool_depend>catkin</buildtool_depend>
+ <buildtool_depend>ament_cmake</buildtool_depend>
 
- <run_depend>python-rospkg</run_depend>
- <run_depend version_gte="0.2.19">python_qt_binding</run_depend>
- <run_depend>roslib</run_depend>
- <run_depend>rospy</run_depend>
- <run_depend>rqt_gui</run_depend>
- <run_depend>rqt_gui_py</run_depend>
- <run_depend>rqt_logger_level</run_depend>
- <run_depend>rqt_py_common</run_depend>
+ <exec_depend>ament_index_python</exec_depend>
+ <exec_depend version_gte="0.2.19">python_qt_binding</exec_depend>
+ <exec_depend>rclpy</exec_depend>
+ <exec_depend>rqt_gui</exec_depend>
+ <exec_depend>rqt_gui_py</exec_depend>
+ <exec_depend>rqt_py_common</exec_depend>
+
+ <!-- TODO(mlautman): Replace once rqt_logger_level has been ported -->
+ <!-- <exec_depend>rqt_logger_level</exec_depend> -->
+
+ <!-- Note: This is needed for rcl_interfaces Log.msg -->
+ <exec_depend>rcl_interfaces</exec_depend>
 
  <export>
- <architecture_independent/>
+ <!-- <architecture_independent/> -->
  <rqt_gui plugin="${prefix}/plugin.xml"/>
+ <build_type>ament_cmake</build_type>
  </export>
 </package>

scripts/rqt_console

@@ -1,4 +1,4 @@
-#!/usr/bin/env python
+#!/usr/bin/env python3
 
 import sys
 

src/rqt_console/console.py

@@ -30,19 +30,19 @@
 # ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 # POSSIBILITY OF SUCH DAMAGE.
 
-from rosgraph_msgs.msg import Log
-import rospkg
-import rospy
+from rcl_interfaces.msg import Log
+
+import rclpy
 
 from python_qt_binding.QtCore import QMutex, QMutexLocker, QTimer
 
 from qt_gui.plugin import Plugin
 
-from .console_settings_dialog import ConsoleSettingsDialog
-from .console_widget import ConsoleWidget
-from .message import Message
-from .message_data_model import MessageDataModel
-from .message_proxy_model import MessageProxyModel
+from rqt_console.console_settings_dialog import ConsoleSettingsDialog
+from rqt_console.console_widget import ConsoleWidget
+from rqt_console.message import Message
+from rqt_console.message_data_model import MessageDataModel
+from rqt_console.message_proxy_model import MessageProxyModel
 
 
 class Console(Plugin):
@@ -60,13 +60,12 @@ def __init__(self, context):
  super(Console, self).__init__(context)
  self.setObjectName('Console')
 
- self._rospack = rospkg.RosPack()
-
+ self._context = context
  self._model = MessageDataModel()
  self._proxy_model = MessageProxyModel()
  self._proxy_model.setSourceModel(self._model)
 
- self._widget = ConsoleWidget(self._proxy_model, self._rospack)
+ self._widget = ConsoleWidget(self._proxy_model)
  if context.serial_number() > 1:
  self._widget.setWindowTitle(
  self._widget.windowTitle() + (' (%d)' % context.serial_number()))
@@ -100,8 +99,7 @@ def convert_rosgraph_log_message(log_msg):
  msg.message = log_msg.msg
  msg.severity = log_msg.level
  msg.node = log_msg.name
- msg.stamp = (log_msg.header.stamp.secs, log_msg.header.stamp.nsecs)
- msg.topics = sorted(log_msg.topics)
+ msg.stamp = (log_msg.header.stamp.sec, log_msg.header.stamp.nanosec)
  msg.location = log_msg.file + ':' + log_msg.function + ':' + str(log_msg.line)
  return msg
 
@@ -116,7 +114,7 @@ def insert_messages(self):
  self._model.insert_rows(msgs)
 
  def shutdown_plugin(self):
- self._subscriber.unregister()
+ self._context.node.destroy_subscription(self._subscriber)
  self._timer.stop()
  self._widget.cleanup_browsers_on_close()
 
@@ -127,9 +125,13 @@ def restore_settings(self, plugin_settings, instance_settings):
  self._widget.restore_settings(plugin_settings, instance_settings)
 
  def trigger_configuration(self):
- topics = [t for t in rospy.get_published_topics() if t[1] == 'rosgraph_msgs/Log']
+ topics = [
+ topic_name for topic_name, topic_types
+ in self._context.node.get_topic_names_and_types()
+ if 'rcl_interfaces/Log' in topic_types]
+
  topics.sort(key=lambda tup: tup[0])
- dialog = ConsoleSettingsDialog(topics, self._rospack)
+ dialog = ConsoleSettingsDialog(topics)
  (topic, message_limit) = dialog.query(self._topic, self._model.get_message_limit())
  if topic != self._topic:
  self._subscribe(topic)
@@ -138,6 +140,6 @@ def trigger_configuration(self):
 
  def _subscribe(self, topic):
  if self._subscriber:
- self._subscriber.unregister()
- self._subscriber = rospy.Subscriber(topic, Log, self.queue_message)
+ self._context.node.destroy_subscription(self._subscriber)
+ self._subscriber = self._node.create_subscription(Log, topic, self.queue_message)
  self._currenttopic = topic

src/rqt_console/console_settings_dialog.py

@@ -32,11 +32,14 @@
 
 import os
 
+from ament_index_python.resources import get_resource
+
 from python_qt_binding import loadUi
 from python_qt_binding.QtWidgets import QDialog
 
-from rqt_logger_level.logger_level_widget import LoggerLevelWidget
-from rqt_logger_level.logger_level_service_caller import LoggerLevelServiceCaller
+# TODO(mlautman): Restore this functionality once rqt_logger_level has been ported
+# from rqt_logger_level.logger_level_widget import LoggerLevelWidget
+# from rqt_logger_level.logger_level_service_caller import LoggerLevelServiceCaller
 
 
 class ConsoleSettingsDialog(QDialog):
@@ -45,21 +48,25 @@ class ConsoleSettingsDialog(QDialog):
  Dialog to change the subscribed topic and alter the message buffer size.
  """
 
- def __init__(self, topics, rospack):
+ def __init__(self, topics):
  """
  :param topics: list of topics to allow switching, ''list of string''
  :param limit: displayed in the message buffer size spin box, ''int''
  """
  super(ConsoleSettingsDialog, self).__init__()
+
+ pkg_name = 'rqt_console'
+ _, package_path = get_resource('packages', pkg_name)
  ui_file = os.path.join(
- rospack.get_path('rqt_console'), 'resource', 'console_settings_dialog.ui')
+ package_path, 'share', pkg_name, 'resource', 'console_settings_dialog.ui')
+
  loadUi(ui_file, self)
  for topic in topics:
  self.topic_combo.addItem(topic[0] + ' (' + topic[1] + ')', topic[0])
 
- self._service_caller = LoggerLevelServiceCaller()
- self._logger_widget = LoggerLevelWidget(self._service_caller)
- self.levelsLayout.addWidget(self._logger_widget)
+ # self._service_caller = LoggerLevelServiceCaller()
+ # self._logger_widget = LoggerLevelWidget(self._service_caller)
+ # self.levelsLayout.addWidget(self._logger_widget)
  self.adjustSize()
 
  def query(self, topic, buffer_size):

src/rqt_console/console_widget.py

@@ -32,6 +32,8 @@
 
 import os
 
+from ament_index_python.resources import get_resource
+
 from python_qt_binding import loadUi
 from python_qt_binding.QtGui import QCursor, QIcon
 from python_qt_binding.QtWidgets import (QApplication, QFileDialog, QHeaderView,
@@ -69,7 +71,7 @@ class ConsoleWidget(QWidget):
  Primary widget for the rqt_console plugin.
  """
 
- def __init__(self, proxy_model, rospack, minimal=False):
+ def __init__(self, proxy_model, minimal=False):
  """
  :param proxymodel: the proxy model to display in the widget,''QSortFilterProxyModel''
  :param minimal: if true the load, save and column buttons will be hidden as well as the
@@ -79,14 +81,16 @@ def __init__(self, proxy_model, rospack, minimal=False):
  self._proxy_model = proxy_model
  self._model = self._proxy_model.sourceModel()
  self._paused = False
- self._rospack = rospack
 
  # These are lists of Tuples = (,)
  self._exclude_filters = []
  self._highlight_filters = []
 
+ pkg_name = 'rqt_console'
+ _, package_path = get_resource('packages', pkg_name)
  ui_file = os.path.join(
- self._rospack.get_path('rqt_console'), 'resource', 'console_widget.ui')
+ package_path, 'share', pkg_name, 'resource', 'console_widget.ui')
+
  loadUi(ui_file, self)
 
  if minimal:
@@ -327,9 +331,9 @@ def _add_highlight_filter(self, filter_index=False):
  newfilter = self.filter_factory[filter_index][1]()
  if len(self.filter_factory[filter_index]) >= 4:
  newwidget = self.filter_factory[filter_index][2](
- newfilter, self._rospack, self.filter_factory[filter_index][3])
+ newfilter, self.filter_factory[filter_index][3])
  else:
- newwidget = self.filter_factory[filter_index][2](newfilter, self._rospack)
+ newwidget = self.filter_factory[filter_index][2](newfilter)
 
  # pack the new filter tuple onto the filter list
  self._highlight_filters.append((
@@ -384,9 +388,9 @@ def _add_exclude_filter(self, filter_index=False):
  newfilter = self.filter_factory[filter_index][1]()
  if len(self.filter_factory[filter_index]) >= 4:
  newwidget = self.filter_factory[filter_index][2](
- newfilter, self._rospack, self.filter_factory[filter_index][3])
+ newfilter, self.filter_factory[filter_index][3])
  else:
- newwidget = self.filter_factory[filter_index][2](newfilter, self._rospack)
+ newwidget = self.filter_factory[filter_index][2](newfilter)
 
  # pack the new filter tuple onto the filter list
  self._exclude_filters.append((
@@ -585,7 +589,7 @@ def _show_browsers(self):
  rowlist.append(self._proxy_model.mapToSource(current).row())
  browsetext = self._model.get_selected_text(rowlist)
  if browsetext is not None:
- self._browsers.append(TextBrowseDialog(browsetext, self._rospack))
+ self._browsers.append(TextBrowseDialog(browsetext))
  self._browsers[-1].show()
 
  def _handle_clear_button_clicked(self, checked):

src/rqt_console/filters/custom_filter_widget.py

@@ -31,7 +31,8 @@
 # POSSIBILITY OF SUCH DAMAGE.
 
 import os
-import rospkg
+
+from ament_index_python.resources import get_resource
 
 from python_qt_binding import loadUi
 from python_qt_binding.QtCore import Qt
@@ -43,10 +44,14 @@
 
 class CustomFilterWidget(QWidget):
 
- def __init__(self, parentfilter, rospack, item_providers):
+ def __init__(self, parentfilter, item_providers):
  super(CustomFilterWidget, self).__init__()
+
+ pkg_name = 'rqt_console'
+ _, package_path = get_resource('packages', pkg_name)
  ui_file = os.path.join(
- rospack.get_path('rqt_console'), 'resource/filters', 'custom_filter_widget.ui')
+ package_path, 'share', pkg_name, 'resource', 'filters', 'custom_filter_widget.ui')
+
  loadUi(ui_file, self)
  self.setObjectName('CustomFilterWidget')
  self._parentfilter = parentfilter # When data is changed it is stored in the parent filter

src/rqt_console/filters/filter_wrapper_widget.py

@@ -31,7 +31,8 @@
 # POSSIBILITY OF SUCH DAMAGE.
 
 import os
-import rospkg
+
+from ament_index_python.resources import get_resource
 
 from python_qt_binding import loadUi
 from python_qt_binding.QtGui import QIcon
@@ -51,9 +52,12 @@ def __init__(self, widget, filter_name):
  :param filter_name: the name to be placed on the label ''str''
  """
  super(FilterWrapperWidget, self).__init__()
- rp = rospkg.RosPack()
+
+ pkg_name = 'rqt_console'
+ _, package_path = get_resource('packages', pkg_name)
  ui_file = os.path.join(
- rp.get_path('rqt_console'), 'resource/filters', 'filter_wrapper_widget.ui')
+ package_path, 'share', pkg_name, 'resource', 'filters', 'filter_wrapper_widget.ui')
+
  loadUi(ui_file, self)
  self.setObjectName('FilterWrapperWidget')
  self.delete_button.setIcon(QIcon.fromTheme('list-remove'))

src/rqt_console/filters/list_filter_widget.py

@@ -31,7 +31,8 @@
 # POSSIBILITY OF SUCH DAMAGE.
 
 import os
-import rospkg
+
+from ament_index_python.resources import get_resource
 
 from python_qt_binding import loadUi
 from python_qt_binding.QtCore import Qt
@@ -48,15 +49,19 @@ class ListFilterWidget(QWidget):
  limited dynamic selections
  """
 
- def __init__(self, parentfilter, rospack, item_provider):
+ def __init__(self, parentfilter, item_provider):
  """
  :param parentfilter: The filter object, must implement set_list and
  contain _list ''QObject''
  :param item_provider: a function designed to provide a list or dict
  """
  super(ListFilterWidget, self).__init__()
+
+ pkg_name = 'rqt_console'
+ _, package_path = get_resource('packages', pkg_name)
  ui_file = os.path.join(
- rospack.get_path('rqt_console'), 'resource/filters', 'list_filter_widget.ui')
+ package_path, 'share', pkg_name, 'resource', 'filters', 'list_filter_widget.ui')
+
  loadUi(ui_file, self)
  self.setObjectName('ListFilterWidget')
  # When data is changed we need to store it in the parent filter