ROS 2 Dashing Support (#31)

Update swri_console to work on ROS 2 Dashing

Distro A, OPSEC #2893

Signed-off-by: P. J. Reed <[email protected]>
Co-authored-by: Jacob Hassold <[email protected]>

.gitignore

@@ -163,4 +163,4 @@ crashlytics-build.properties
 *.dSYM/
 
 # Created by .ignore support plugin (hsz.mobi)
-cmake-build-debug/
+cmake-build-*/

.ros2_build.sh

@@ -0,0 +1,10 @@
+#!/usr/bin/env bash
+
+apt-get update
+rosdep update
+apt-get install -y build-essential python3-colcon-ros
+
+cd /ws
+
+rosdep install src --from-paths -i -y
+colcon build

.travis.yml

@@ -1,15 +1,14 @@
-sudo: required
-dist: trusty
-notifications:
-  email:
-    on_success: always
-    on_failure: always
-env:
-  matrix:
-    - ROS_DISTRO="indigo"  USE_DEB="true"
-    - ROS_DISTRO="kinetic" USE_DEB="true"
-    - ROS_DISTRO="lunar"   USE_DEB="true"
-install:
-  - git clone https://github.com/ros-industrial/industrial_ci.git .ci_config
-script: 
-  - source .ci_config/travis.sh
+language: generic 
+
+
+services:
+  - docker
+
+jobs:
+  include:
+    - stage: compile
+      script:
+        - exec docker run -a STDOUT -a STDERR --rm -v $(pwd):/ws/src/mapviz ros:dashing /ws/src/mapviz/.ros2_build.sh
+    - stage: compile
+      script:
+        - exec docker run -a STDOUT -a STDERR --rm -v $(pwd):/ws/src/mapviz ros:eloquent /ws/src/mapviz/.ros2_build.sh

CMakeLists.txt

@@ -1,43 +1,35 @@
-cmake_minimum_required(VERSION 2.8.3)
+cmake_minimum_required(VERSION 3.10)
+
+if(NOT CMAKE_CXX_STANDARD)
+  set(CMAKE_CXX_STANDARD 14)
+endif()
+
+if (CMAKE_COMPILER_IS_GNUCXX OR CMAKE_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
 project(swri_console)
 
-find_package(catkin REQUIRED COMPONENTS rosbag_storage roscpp rosgraph_msgs)
+### ROS PACKAGES ###
+find_package(ament_cmake REQUIRED)
+# find_package(rosbag_storage REQUIRED)
+find_package(rclcpp REQUIRED)
+find_package(rcl_interfaces REQUIRED)
+
+### QT PACKAGES ###
 find_package(Qt5Core REQUIRED)
 find_package(Qt5Gui REQUIRED)
 find_package(Qt5Widgets REQUIRED)
-find_package(Boost COMPONENTS chrono REQUIRED)
 
-catkin_package(
-  INCLUDE_DIRS include
-  CATKIN_DEPENDS rosbag_storage roscpp rosgraph_msgs
-)
+find_package(Boost COMPONENTS chrono thread REQUIRED)
 
 set(CMAKE_INCLUDE_CURRENT_DIR ON)
-include_directories(include 
-  ${catkin_INCLUDE_DIRS} 
-  ${Qt5Core_INCLUDE_DIRS}
-  ${Qt5Gui_INCLUDE_DIRS}
-  ${Qt5Widgets_INCLUDE_DIRS}
-  ${Boost_INCLUDE_DIRS}
-)
-add_definitions(
-  ${Qt5Core_DEFINITIONS}
-  ${Qt5Gui_DEFINITIONS}
-  ${Qt5Widgets_DEFINITIONS}
-)
 
-set(QT_USE_QTCORE TRUE)
-set(QT_USE_QTGUI TRUE)
+include_directories(include)
 
-set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${Qt5Widgets_EXECUTABLE_COMPILE_FLAGS}")
-
-# Build mapviz node
-include_directories(${CMAKE_CURRENT_BINARY_DIR})
-include_directories(${CMAKE_CURRENT_SOURCE_DIR})
-include_directories(src)
-file (GLOB UI_FILES
+set(UI_FILES
   ui/console_window.ui)
-file (GLOB HEADER_FILES
+set(HEADER_FILES
   include/swri_console/bag_reader.h
   include/swri_console/console_master.h
   include/swri_console/console_window.h
@@ -48,16 +40,16 @@ file (GLOB HEADER_FILES
   include/swri_console/rosout_log_loader.h
   include/swri_console/ros_thread.h
   )
-file (GLOB SRC_FILES
+set(SRC_FILES
   src/bag_reader.cpp
   src/console_master.cpp
   src/console_window.cpp
   src/log_database.cpp
+  src/log_database_proxy_model.cpp
   src/node_click_handler.cpp
   src/node_list_model.cpp
-  src/log_database_proxy_model.cpp
-  src/ros_thread.cpp
   src/rosout_log_loader.cpp
+  src/ros_thread.cpp
   src/settings_keys.cpp
   )
 qt5_add_resources(RCC_SRCS resources/images.qrc)
@@ -66,24 +58,24 @@ qt5_wrap_cpp(SRC_FILES ${HEADER_FILES})
 
 add_executable(swri_console ${HEADER_FILES} ${SRC_FILES} ${RCC_SRCS} src/main.cpp)
 target_link_libraries(swri_console
-  ${Qt5Core_LIBRARIES}
-  ${Qt5Gui_LIBRARIES}
-  ${Qt5Widgets_LIBRARIES}
-  ${catkin_LIBRARIES}
-  ${Boost_LIBRARIES}
+  Qt5::Core
+  Qt5::Gui
+  Qt5::Widgets
+  Boost::chrono
+  Boost::thread
 )
 
-catkin_install_python(PROGRAMS  scripts/rosout_agg_recorder
-                    DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION})
-
-install(DIRECTORY include/${PROJECT_NAME}/
-  DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
-  FILES_MATCHING PATTERN "*.h"
+ament_target_dependencies(${PROJECT_NAME}
+  ament_cmake
+  rclcpp
+  rcl_interfaces
 )
 
 install(TARGETS ${PROJECT_NAME}
-  RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
-  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-  ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+  RUNTIME DESTINATION lib/${PROJECT_NAME}
+  LIBRARY DESTINATION lib
+  ARCHIVE DESTINATION lib
 )
 
+ament_export_dependencies(${RUNTIME_DEPS})
+ament_package()

README.md

@@ -4,4 +4,17 @@
 
 swri_console is an alternative to rqt_console for viewing the ROS console output.  swri_console was written to scale well to large systems with heavy console output.  It stays responsive under fire and allows users to quickly find information to track down problems.
 
-[![Build Status](https://travis-ci.org/swri-robotics/swri_console.svg?branch=master)](https://travis-ci.org/swri-robotics/swri_console)
+### Features
+
+- High performance; swri_console handles receiving thousands of logs per second and storing millions in memory while staying responsive
+- Ctrl or shift-click to quickly select which nodes you want to monitor
+- Hide or show log messages based on substring matches, or, if you need more power, regular expressions
+- Hide, show, and colorize log messages based on severity
+- Save and load log messages to text files
+- Save and load log messages directly from the `/rosout` topic in a bag file
+   - *Not supported in ROS 2 yet*
+- Right-click on nodes to dynamically set their logger levels
+   - *Not supported in ROS 2 yet*
+
+
+[![Build Status](https://travis-ci.org/swri-robotics/swri_console.svg?branch=dashing-devel)](https://travis-ci.org/swri-robotics/swri_console)

include/swri_console/bag_reader.h

@@ -35,7 +35,8 @@
 #include <QString>
 #include <QMetaType>
 
-#include <rosgraph_msgs/Log.h>
+#include <rclcpp/rclcpp.hpp>
+#include <rcl_interfaces/msg/log.hpp>
 
 namespace swri_console
 {
@@ -63,7 +64,7 @@ namespace swri_console
      * Emitted every time a log message is received.  This will likely be emitted several times
      * per bag file; finishedReading will be emitted when we're done.
      */
-    void logReceived(const rosgraph_msgs::LogConstPtr& msg);
+    void logReceived(const rcl_interfaces::msg::Log::ConstSharedPtr);
 
     /**
      * Emitted after we're completely done reading the bag file.

include/swri_console/console_master.h

@@ -35,16 +35,18 @@
 #include <QObject>
 #include <QList>
 #include <QFont>
-#include <rosgraph_msgs/Log.h>
+
+#include <rclcpp/rclcpp.hpp>
+#include <rcl_interfaces/msg/log.hpp>
+
 #include <swri_console/log_database.h>
 #include <swri_console/bag_reader.h>
 #include <swri_console/rosout_log_loader.h>
-
-#include "ros_thread.h"
+#include <swri_console/ros_thread.h>
 
 namespace swri_console
 {
-typedef std::vector<rosgraph_msgs::LogConstPtr> MessageList;
+typedef std::vector<rcl_interfaces::msg::Log::SharedPtr> MessageList;
 
 class ConsoleWindow;
 class ConsoleMaster : public QObject
@@ -53,7 +55,7 @@ class ConsoleMaster : public QObject
 
  public:  
   ConsoleMaster(int argc, char** argv);
-  virtual ~ConsoleMaster();
+  ~ConsoleMaster() override;
 
  public Q_SLOTS:
   void createNewWindow();

include/swri_console/console_window.h

@@ -37,7 +37,7 @@
 #include <QSettings>
 #include "ui_console_window.h"
 
-#include "node_click_handler.h"
+#include <swri_console/node_click_handler.h>
 
 namespace swri_console
 {

include/swri_console/log_database.h

@@ -34,15 +34,17 @@
 #include <QObject>
 #include <QAbstractListModel>
 #include <QStringList>
-#include <rosgraph_msgs/Log.h>
+
+#include <rclcpp/rclcpp.hpp>
+#include <rcl_interfaces/msg/log.hpp>
 #include <deque>
-#include <ros/time.h>
+#include <rclcpp/time.hpp>
 
 namespace swri_console
 {
 struct LogEntry
 {
-  ros::Time stamp;
+  rclcpp::Time stamp;
   uint8_t level;  
   std::string node;  
   std::string file;
@@ -58,11 +60,11 @@ class LogDatabase : public QObject
 
 public:
   LogDatabase();
-  ~LogDatabase();
+  ~LogDatabase() override = default;
 
   void clear();
   const std::deque<LogEntry>& log() { return log_; }
-  const ros::Time& minTime() const { return min_time_; }
+  const rclcpp::Time& minTime() const { return min_time_; }
 
   const std::map<std::string, size_t>& messageCounts() const { return msg_counts_; }
 
@@ -72,15 +74,15 @@ class LogDatabase : public QObject
   void minTimeUpdated();
 
 public Q_SLOTS:
-  void queueMessage(const rosgraph_msgs::LogConstPtr msg);
+  void queueMessage(const rcl_interfaces::msg::Log::ConstSharedPtr msg);
   void processQueue();
 
 private:  
   std::map<std::string, size_t> msg_counts_;
   std::deque<LogEntry> log_;
   std::deque<LogEntry> new_msgs_;
 
-  ros::Time min_time_;
+  rclcpp::Time min_time_;
 };  // class LogDatabase
 }  // namespace swri_console 
 #endif  // SWRI_CONSOLE_LOG_DATABASE_H_

include/swri_console/log_database_proxy_model.h

@@ -36,7 +36,7 @@
 #include <QStringList>
 #include <QRegExp>
 
-#include <stdint.h>
+#include <cstdint>
 #include <set>
 #include <string>
 #include <deque>
@@ -46,6 +46,7 @@ namespace swri_console
 
 class LogDatabase;
 struct LogEntry;
+
 class LogDatabaseProxyModel : public QAbstractListModel
 {
   Q_OBJECT
@@ -55,8 +56,8 @@ class LogDatabaseProxyModel : public QAbstractListModel
     ExtendedLogRole = Qt::UserRole + 0
   };
 
-  LogDatabaseProxyModel(LogDatabase *db);
-  ~LogDatabaseProxyModel();
+  explicit LogDatabaseProxyModel(LogDatabase *db);
+  ~LogDatabaseProxyModel() override = default;
 
   void setNodeFilter(const std::set<std::string> &names);
   void setSeverityFilter(uint8_t severity_mask);
@@ -71,11 +72,11 @@ class LogDatabaseProxyModel : public QAbstractListModel
   void setFatalColor(const QColor& fatal_color);
   bool isIncludeValid() const;
   bool isExcludeValid() const;
-  int getItemIndex(const QString searchText, int index, int increment);
+  int getItemIndex(const QString& searchText, int index, int increment);
   void clearSearchFailure();
 
-  virtual int rowCount(const QModelIndex &parent) const;
-  virtual QVariant data(const QModelIndex &index, int role) const;
+  int rowCount(const QModelIndex &parent) const override;
+  QVariant data(const QModelIndex &index, int role) const override;
 
   void reset();