dheera / rosshow Goto Github PK

Visualize ROS topics inside a terminal with Unicode/ASCII art

License: BSD 3-Clause "New" or "Revised" License

Python 97.63% Shell 1.95% CMake 0.42%

rosshow's Introduction

rosshow: Visualize ROS topics in a terminal

Have you ever SSH'ed into a robot to debug whether sensors are outputting what they should, e.g. rostopic echo /camera/image_raw?

If so, rosshow is for you.

This displays various sensor messages in a useful fashion using Unicode Braille art in the terminal so you don't need to fire up port forwards, rviz, or any other shenanigans just to see if something is working. It currently only supports types from std_msgs and sensor_msgs but support for more types is coming. Contributions welcome!

Installation

Prerequisites:

sudo pip install numpy pillow requests

This package works with both ROS1 and ROS2. You can add it to either a catkin (ROS1) or colcon (ROS2) workspace and it should work.

Usage

If you installed it to the system:

rosshow <topicname>

If you're using it from a catkin or colcon workspace:

rosrun rosshow rosshow <topicname>      # ROS1
ros2 run rosshow rosshow <topicname>    # ROS2

Most visualizations use Unicode Braille characters to render visualizations. If your terminal supports only ASCII, you can use the -a option for a purely ASCII-art render:

rosshow -a <topicname>

You can also force 1-bit, 4-bit, or 24-bit color modes if your terminal type is not detected correctly. You may need these when using rosshow inside of a screen.

rosshow -c1 <topicname>
rosshow -c4 <topicname>
rosshow -c24 <topicname>

Screenshots

sensor_msgs/PointCloud2

You can rotate and tilt with the arrow keys, and zoom with the +/- keys. This has been tested with Velodyne data. PointClouds from devices that don't have "x", "y", and "z" fields are not supported.

sensor_msgs/Image, sensor_msgs/CompressedImage

sensor_msgs/LaserScan

You can zoom with the +/- keys.

sensor_msgs/Imu

sensor_msgs/NavSatFix

The NavSatFix visualization fetches map tiles from OpenStreetMaps, so your machine or robot needs to have internet access to be able to view those. Otherwise, you'll still be able to see a trace of points.

The ASCII-only "-a" option works for all types. Here's what the NavSatFix message looks like on pure ASCII:

std_msgs/Int32, std_msgs/Float32, etc.

For most std_msgs numeric types you will get a time series plot.

Neat trick: You can reduce your terminal font size to get slightly higher resolution. Here's a nav_msgs/OccupancyGrid:

Full list of supported types

nav_msgs

nav_msgs/OccupancyGrid
nav_msgs/Odometry
nav_msgs/Path

std_msgs

std_msgs/Bool
std_msgs/Float32
std_msgs/Float64
std_msgs/Int8
std_msgs/Int16
std_msgs/Int32
std_msgs/Int64
std_msgs/UInt8
std_msgs/UInt16
std_msgs/UInt32
std_msgs/UInt64

sensor_msgs

sensor_msgs/CompressedImage
sensor_msgs/FluidPressure
sensor_msgs/Illuminance
sensor_msgs/Image
sensor_msgs/Imu
sensor_msgs/LaserScan
sensor_msgs/NavSatFix
sensor_msgs/PointCloud2
sensor_msgs/Range
sensor_msgs/RelativeHumidity
sensor_msgs/Temperature

rosshow's People

Contributors

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iantheengineer procopiostein sergioramosjubierre bluetronics-india songjiaxina g-kumar 130s waywrong collector-m kartik17 miguelprada duckietown-chile imraj rahulsoibam fuath simmubhangu nikolaevarius bir-robotic cclauss ipa-lth tuandle asirobots robotics-upo acutronicrobotics kerkildc xepost raclab dionesiusap csvance rwbot robotics-and-robots jinny42 cobalt-robotics badrobot15 nxdefiant oxidation99 clalancette abelvdavid jastion mica-angeli mdleiton fmg-shehan shannonwarren cjds afakihcpr sumanth-nirmal kazimbalti zebradevs sfalexrog wanbaocheng zoltan3057 mkleox homer-robotics ros-robot-series belal-ibrahim ros2middleware shazib2t leidali bharadwaj1098 artivis jesryu marcos-seafloor davutcanakbas esy1234 kiwicampus galou lijian8 navrobot arslan-z saharobotik presunshine shupx gazeborobot tiryoh judestainz otomoov hazeezadebayo giangdao1402 peach-cn lucianzhong yschulz siliciuss

rosshow's Issues

[Feature] Add Odometry messages to view plots of pose/speed

May help in debugging EKFs or generally just odometry messages from encoders in a base. I will keep this in the back of my mind to implement if I have the cycles but wanted to get out in writing if I don't happen to get to it.

Issues installing

This package looks awesome, trying to get it working. The instructions were not as clear as I'd like for installation. I had the package.xml issue first so I realised I should copy the xml like this?
cp package.ros1.xml package.xml
and then I first I ran ./ros-install-this
and got this error:

-- +++ processing catkin package: 'rosshow'
-- ==> add_subdirectory(rosshow)
CMake Error at /opt/ros/melodic/share/catkin/cmake/catkin_workspace.cmake:121 (add_subdirectory):
  The source directory

    /tmp/ros-install-this.ilUctk/src/rosshow

  does not contain a CMakeLists.txt file.
Call Stack (most recent call first):
  CMakeLists.txt:69 (catkin_workspace)

what are the exact steps I should run to install this package?

text user interface for most rostopic/rosnode info functionality

I made ros_tui.py to more quickly do the equivalent of rostopic info or rosnode info and be able to for example follow a topic to a subscribing node to a topic published by that node and so on quicker than the cli equivalent so I could debug broken launch files where I've disconnected/renamed some topics. (It would be nice to color code topics by whether they publishers and no subscribers or the other way around, or if they have multiple publishers)

ros_tui.mp4

It uses asccimatics, but if there is interest maybe it could be adapted to use termgraphics here? It would be very nice to add a capability to select any topic and have the rosshow visualization pop up (or if no rosshow support it could just show the equivalent of rostopic echo).

Divide by zero when orientation norm is zero

Error Message:

⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀  File "/opt/ros/melodic/lib/python2.7/site-packages/rospy/topics.py", line 750, in _invoke_callback⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀    cb(msg)⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀
⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀  File "/Users/carroll/test_ws/src/rosshow/rosshow/src/librosshow/viewers/sensor_msgs/ImuViewer.py", line 120, in update⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀    a = data.orientation.x / norm⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀0⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀ZeroDivisionError: float division by zero⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀⠀

Steps to reproduce:

rostopic pub -r 1 /imu sensor_msgs/Imu '{angular_velocity: {x: 0, y: 0, z: 0}, linear_acceleration: {x: 0, y: 0, z: 0}, orientation: {x: 0, y: 0, z: 0, w: 0}}'

rosshow /imu

License of project?

I'm compiling a set of tasks for migrating ROS2 and I think this is something good enough to think about moving into a core CLI repo after being converted to ROS2.

To start that work, I'd need to know what license this is available under. I dont see a license in the git repo

Make it a ROS package

Instead of a standalone-manually-installable package, why not make it a ROS package?

It is a very useful tool I think! I can help on that and releasing it if you want.

Any plans to add this repo to ros distros?

@dheera Listing this repo on rosdistro may be helpful if someone wants to install apt install ros-<distro>-rosshow instead of building this from source. I can help set this up if you find it useful.

Ubuntu MATE arm7 Rpi

Hello,

Quite a nice package! I would be veeery nice to extract the info from Win10 through Putty.

Help a little bit a n00b in Ros and Linux.

1 - installation on Ros binaries din not worked, maybe there were some hidden steps?
2 - on a simple ros package installation, I get
Topic raspicam_node/camera_info does not appear to be published yet.

Cheers!

Add support of plotting individual variables inside a message

Hello, I'd like to say that this is a super awesome program!

There is one thing that I would love if you could support though: plotting individual variables from within messages.

For example:

~/catkin_ws/src$ rosshow /joint_states/effort[2] Topic /joint_states/effort[2] does not appear to be published yet.

Now, /joint_states message type is not supported, but the variable /joint_states/effort[2] points to an Int message, which should be supported right?

What do you think? :D

nav_msgs/OccupancyGrid

Hi @dheera, your work is just awesome!

Can you add this message? http://docs.ros.org/melodic/api/nav_msgs/html/msg/OccupancyGrid.html

It could be useful to show costmap or gridmap during slam!

Thank you!!!

Error: ROS time moved backwards

I have received this error:
[ERROR] [1554129332.456079]: ROS time moved backwards: 196.454957049s

I think rate.sleep() in main causes this error. This sleep function must be independent from ROS time. Because if I set use_sim_time to "true" and then publish /clock with 1/10 speed of world clock I would get 1.5 FPS. This would be a problem for rosbag and gazebo users.

You can use system's sleep() function here. Also max_fps would be an optional parameter to execute rosshow.

Sorry for not creating a pull request. I will try to do in this week if I can.