While this plugin contains a significant amount of tests, it is still in beta stadium and bugs may be part of the experience. Be aware of this. I would not recommend using it in production systems without further testing.
If you are using this module in a scientific context, feel free to cite this paper:
@INPROCEEDINGS{fabian2021hri,
author = {Stefan Fabian and Oskar von Stryk},
title = {Open-Source Tools for Efficient ROS and ROS2-based 2D Human-Robot Interface Development},
year = {2021},
booktitle = {2021 European Conference on Mobile Robots (ECMR)},
}
Connects QML user interfaces to the Robot Operating System (ROS). For the ROS2 version click here.
Please be aware that this loses some of the semantic information that the type of a message would normally provide.
Currently, has support for the following:
Logging, Publisher, Subscriber, ImageTransportSubscriber, Service::call, ActionClient, TfTransform, ros::package and querying topics
Note: For full examples including ROS init calls and shutdown handling checkout the examples directory or the documentation.
Logging is now supported and correctly reports from which qml file and line the message came!
import Ros 1.0
Item {
function doesWork() {
Ros.debug("A debug message")
// Set the logging level to Debug (default is usually Info)
Ros.console.setLoggerLevel(Ros.console.defaultName, RosConsoleLevels.Debug);
Ros.debug("A debug message that is actually logged.")
Ros.info("I have some information")
Ros.warn("This is the last warning")
Ros.error("Great! Now there's an error.")
Ros.fatal("I'm dead")
Ros.info("Just so you know, fatal does not kill a node. Though they usually die after logging fatal")
}
// ...
}Can be used to subscribe to any topic and message type.
Usage example:
import Ros 1.0
Item {
width: 600
height: 400
Subscriber {
id: subscriber
topic: "/test"
onNewMessage: textField.text = message.data
}
Text {
text: "You can use the message directly: " + subscriber.message.data
}
Text {
id: textField
text: "Or you can use the newMessage signal."
}
}Can be used to stream camera images.
The default transport used is "compressed".
The stream is exposed to QML as a QObject with a QAbstractVideoSurface based videoSurface property
(see QML VideoOutput docs) and can be used
directly as source for the VideoOutput control.
New: Multiple ImageTransportSubscribers for the same topic now share a subscription to ensure the image is converted to a QML compatible format only once. Additionally, a throttleRate property was introduced to throttle the camera rate by subscribing for one frame and shutting down again at the given rate (see documentation).
Usage example:
import QtMultimedia 5.4
import Ros 1.0
Item {
width: 600
height: 400
ImageTransportSubscriber {
id: imageSubscriber
topic: "/front_rgb_cam"
throttleRate: 0.2 // 1 frame every 5 seconds
}
VideoOutput {
source: imageSubscriber
}
}
A singleton class that can be used to look up tf transforms.
Usage example:
import Ros 1.0
Item {
// ...
Connections {
target: TfTransformListener
onTransformChanged: {
var message = TfTransformListener.lookUpTransform("base_link", "world");
if (!message.valid) {
// Check message.exception and message.message for more info if it is available.
return;
}
var translation = message.transform.translation;
var orientation = message.transform.rotation;
// DO something with the information
}
}
}Explanation:
You can use the TfTransformListener.lookUpTransform (and canTransform) methods anywhere in your QML code.
However, they only do this look up once and return the result. If you want to continuously monitor the transform, you
have to either connect to the transformChanged signal or use the convenience component TfTransform.
The message structure is identical to the ROS message, except for an added valid field (message.valid) indicating if
the transform returned is valid or not. If it is not valid, there may be a field exception containing the name of the
exception that occured and a field message with the message of the exception.
A convenience component that watches a transform. Usage example:
import Ros 1.0
Item {
// ...
TfTransform {
id: tfTransform
sourceFrame: "base_link"
targetFrame: "world"
}
Text {
width: parent.width
// The translation and rotation can either be accessed using the message field as in the lookUpTransform case or,
// alternatively, using the convenience properties translation and rotation which resolve to the message fields.
// In either case, the message.valid field should NOT be ignored.
text: "- Position: " + tfTransform.message.transform.translation.x + ", " + tfTransform.translation.y + ", " + tfTransform.translation.z + "\n" +
"- Orientation: " + tfTransform.message.transform.rotation.w + ", " + tfTransform.rotation.x + ", " + tfTransform.rotation.y + ", " + tfTransform.rotation.z + "\n" +
"- Valid: " + tfTransform.message.valid + "\n" +
"- Exception: " + tfTransform.message.exception + "\n" +
"- Message: " + tfTransform.message.message
wrapMode: Text.WordWrap
}
}Explanation:
This component can be used to watch a transform. Whenever the transform changes, the message and the properties of the
TfTransform change and the changes are propagated by QML.
Clone this repo and its dependencies into your workspace. If you only require the module with your ROS workspace, you only have to build it with catkin and you're good to go.
Optionally, you can also install the module globally. This is usually not necessary and only required if you want to use the module without a catkin workspace sourced (ROS still needs to be sourced).
cd {REPO}
mkdir build
cd build
cmake .. -DGLOBAL_INSTALL=ON
# Replace 8 with the number of (virtual) cores on your machine
make -j8
sudo make installYou can find the documentation on readthedocs.io.
Alternatively, you can follow the steps below to build it yourself.
- Doxygen
- Sphinx
- sphinx_rtd_theme
- Breathe
Example for Ubuntu
Install dependencies
sudo apt install doxygen
pip3 install sphinx sphinx_rtd_theme breathecd REPO/docs
make html