Disclaimer: This repository is in active development and still in an alpha version. Feel free to report bugs or contact me in case the application does not work for you.
It has only be tested on ROS2 Humble!
The aim of the 'ros_sequential_action_programmer' (short RSAP) is to provide a convenient way for sequential execution of ROS2 service and action calls. With a GUI, the user can look for available service and action servers and append them to the sequence. Within the app, the call request can be parameterized conveniently. Figure 1 gives an overview of how the application looks.
Figure 1: Overview of the RSAP GUI.
Some important features:
- Loading and saving sequences to a JSON file.
- Logging of the sequence execution (this can be configured in the settings).
- Stepping through the sequence or executing the whole sequence.
- Convenient calling of ROS2 services.
- Convenient calling of ROS2 actions (this is currently only working on the 'action-support' branch but will be merged to main in the near future).
- Displaying logs from all the ROS2 nodes.
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To run the ros_sequential_action_programmer, the installation of ROS2 (tested on Humble) is mandatory.
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To start the ros_sequential_action_programmer, ensure you have the following packages/libraries installed:
pip3 install PyQt6
sudo apt install libxcb-cursor0
- Open a terminal in the 'src' folder of your ROS workspace and clone the repository.
- Build your workspace.
- Make sure to source your terminal to be able to use the ROS package.
To start the application, execute the launch file.
ros2 launch ros_sequential_action_programmer rsap_app.launch.py
If you want to test the ros_sequential_action_programmer, you can experiment with the turtlesim example:
- First, launch a turtlesim robot.
ros2 run turtlesim turtlesim_node
Start the RSAP by launching rsap_app.launch.py.
Open the example sequence by clicking on File > Open Process and navigating to your_ros_workspace/src/ros_sequential_action_programmer/documentation/examples/turtle_sim_example.json.
Start the sequence by clicking on Run (the sequence will execute very quickly).
You can add new ROS service calls by clicking on Add Action > Services > Active Clients blk.
tbd