splintered-reality / py_trees_ros_viewer Goto Github PK

Implement similarly to what was done in splintered-reality/py_trees_js#113 for the py_trees_js demo viewer.

Victory Conditions

• Button that captures the web page view as a screenshot

Selection on the drop-down should do nothing yet.

Victory Conditions

• Drop-down widget exists
• Backend emits a signal for changes in discovered topics
• Drop-down is connected to the signal and kept up to date with the latest discoveries

Victory Conditions

• Stubs from #4 are fleshed out to cancel/create subscriptions
• Subscription callbacks are stubbed to merely print activity to the console when msgs are receieved

Victory Conditions

• Running on tutorial-eight
• Added to the README.

Hi, I'm Gilbert.

I'm developing behavior tree using py-trees-ros.

My environment is here:

• Linux Mint 19.3
• ROS2 Dashing
• py-trees-ros-viewer : release/0.1.x

I tried your quick start.

sudo apt install ros-dashing-py-trees-ros-tutorials
sudo apt install ros-dashing-py-trees-ros-viewer

py-trees-tree-viewer
ros2 run py_trees_ros_tutorials tutorial-eight-dynamic-application-loading

But, viewer show nothing.

Then, When I run the viewer, segmentation fault errors frequently occur.

Could you help me?

Thanks,
Gilbert

Victory Conditions

• Connected to ROS2, with a single threaded executor
• Has it's own spin-once method

Victory Conditions

• Tag
• Release branch
• Debian
• Added to py_trees/Readme.md

Victory Conditions

• Viewer starts with an anonymous name (avoids conflicts)

Victory Condition

• Simple tree publisher
• Discovery tests
• Conversion tests

Victory Conditions

• Last used selections are saved on app exit and loaded on app start
• When a drop-down item is manually changed, any existing subscriptions are cancelled and a new subscription is fired up
• When the drop-down is populated the first time, a new subscription is fired up for the last used (fallback: first) item in the list
• When an active selection disappears, it is kept alive and remains selected and visible in the drop-down. Other discovered channels are listed after the active one.

For now, cancelling and creating subscriptions are merely a stub (print to the console).

Currently looks like the latched snapshot is discarded while the page is loading. If it's streaming regularly, you don't miss it, but if the tree is not updating frequently (e.g. an application manager in idle mode), then you'll see nary but a black screen for a good while.

Victory Conditions

• As soon as a connection is made and page loaded, the first snapshot is shown

Victory Conditions

• Command line argument configures the desired connection
• Automagic discovery disabled
• Drop-down only ever provided a single option

Subscription management should be able to remain the same.

Victory Conditions

• Discovery triggered on startup and periodically thereafter
• Results of discovery are stored (keep in mind it can be a list)

This leaves more horizontal real estate for the web app.

Victory Conditions

• Current widgets are above the web app.

Victory Conditions

• Convert the incoming messages (msg->json)
• Send them to the web app
• Be grooty

Victory Conditions

• A sane method for permitting scale_content_to_fit to always be true
• Ability to toggle this state (e.g. when zooming) and retain that state