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rqt_graph in ros2

asked 2018-09-07 18:57:32 -0500

alsora gravatar image

Hi is it possible to visualize the ROS2 nodes graph using ROS1 rqt_graph package?

I have ROS1 kinetic and ROS2 bouncy installed on my pc. I tried to run the ROS2 example nodes publisher and subscriber, but I'm not visualizing them in the resulting graph.

I run the following (each command is in a separate terminal)

$ roscore

$ ros2 run ros1_bridge dynamic_bridge --bridge-all-2to1-topics

$ ros2 run examples_rclcpp_minimal_publisher publisher_lambda

$ ros2 run examples_rclcpp_minimal_subscriber subscriber_lambda

$ rosrun rqt_graph rqt_graph

The result is a graph where there is the ros bridge connected to the topic used by the ROS2 nodes, but they are not visualized.

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answered 2018-09-07 19:11:00 -0500

Dirk Thomas gravatar image

Using the ROS 1 rqt_graph will conceptionally not be able to introspect anything from ROS 2. It can only "see" up to the bridge.

Once rqt has been ported to ROS 2 (and rqt_graph) then you can use that tool to visualize the ROS 2 side of your graph (again the ROS 2 tool won't be able to see any ROS 1 nodes / topics either).

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Asked: 2018-09-07 18:57:32 -0500

Seen: 539 times

Last updated: Sep 07 '18