Added nested subnamespaces and more options to hide or group topics. #13

EliteMasterEric · 2017-08-02T16:15:38Z

rqt_graph has had a long-standing problem; in real use cases, graphs quickly become unwieldy and unreadable, with dynamic reconfigure's parameter topics everywhere, and don't even start with images.

This pull request aims to solve these problems with several changes, including:

Added nested subnamespaces. The "Group Namespaces" checkbox has been replaced with a spin box, allowing users to enter the number of levels of grouping they desire.
Grouped topics (such as action topics) now display as 3D boxes.
Added a checkbox allowing the grouping of topics added by tf2 (from ros/geometry2) (i.e. /tf and /tf_static), in a manner similar to action topics.
Added a checkbox allowing the hiding of topics added by tf2 (from ros/geometry2) (i.e. /tf and /tf_static).
Added a checkbox allowing the grouping of topics added by image_transport (from ros-perception/image_common) (i.e. /, /compressed, /theora, and /compressedDepth), in a manner similar to action topics.
Added a checkbox allowing the hiding of topics added by dynamic_reconfigure (from ros/dynamic_reconfigure) (i.e. /parameter_descriptions and /parameter_updates).

These changes, originally implemented in #9, have been split into six separate commits, with formatting changes removed, for ease of review.

These changes are dependent on pull request ros-visualization/qt_gui_core#87.

Note that the Hide section of the toolbar has been shifted down to a new line, and margins have been changed as the creation of a new line caused spacing problems.

Three files are attached to this pull request; the launch file I used for testing, a before picture, and an after picture, displaying what rqt_graph looks like before and after the changes.
Attachments(1).zip

The "Group Namespaces" checkbox has been replaced with a numeric spinner, where the user can specify the desired layers of depth.

…ompressedDepth) image_fix

Parameter topics include /parameter_descriptions and /parameter_updates.

EliteMasterEric · 2017-08-24T15:02:43Z

@dirk-thomas These changes have gone 22 days since they have been revised and split into separate requests with no response. Overall, they provide significant improvements to the user experience and I would like them to be implemented as soon as possible.

dirk-thomas · 2017-10-24T16:58:08Z

These changes are dependent on pull request ros-visualization/qt_gui_core#87.

@mastereric The qt_gui_core PR still has pending comments and this PR can't be merged before the other one has been.

dirk-thomas

The new feature looks very nice on more complex graphs 👍

I added some comments inline - mostly nitpicks.

Beside them the toolbar looks a bit off for me:

the spacing between the three horizontal layouts is not equal
the second and third "row" seems to be indented (not sure if that was the case before already?)
the "highlight" and "fit" label in the second "row" is not aligned with the other options in that "row"

dirk-thomas · 2017-10-30T22:12:27Z

src/rqt_graph/dotcode.py

@@ -420,6 +428,136 @@ def _accumulate_action_topics(self, nodes_in, edges_in, node_connections):
            nodes.remove(n)
        return nodes, edges, action_nodes

+    def _populate_node_graph(self, cluster_namespaces_level, node_list, dotcode_factory, dotgraph, rank, orientation, simplify):
+        namespace_clusters = {}
+        if (cluster_namespaces_level > 0):


Please remove parenthesis around the condition.

Same below.

dirk-thomas · 2017-10-30T22:13:28Z

src/rqt_graph/dotcode.py

+        if (cluster_namespaces_level > 0):
+            for node in node_list:
+                if (str(node.strip()).count('/') > 2):
+                    for i in range(2, min(2+cluster_namespaces_level, len(node.strip().split('/')))):


Please add spaces around operators.

Same below.

dirk-thomas · 2017-10-30T22:15:14Z

src/rqt_graph/dotcode.py

+        for n in removal_nodes:
+            if n in nodes:
+                nodes.remove(n)
+        if len(tf_topic_edges_in) == 0 and len(tf_topic_edges_out) == 0:


More Pythonic: if not tf_topic_edges_in and not tf_topic_edges_out:

dirk-thomas · 2017-10-30T22:16:14Z

src/rqt_graph/dotcode.py

+                        parent_namespace = '/'.join(node.strip().split('/')[:i-1])
+                        if namespace not in namespace_clusters:
+                            if parent_namespace == '':
+                                namespace_clusters[namespace] = dotcode_factory.add_subgraph_to_graph(dotgraph, namespace, rank=rank, rankdir=orientation, simplify=simplify)        


Please remove trailing whitespace.

dirk-thomas · 2017-10-30T22:16:40Z

src/rqt_graph/dotcode.py

+        edges where the edges to tf topics have been removed, and
+        a map with all the connections to the resulting tf group node'''
+        removal_nodes = []
+        tf_nodes = {}


Assigned but never used?

dirk-thomas · 2017-10-30T22:19:01Z

src/rqt_graph/dotcode.py

+                                        edges,
+                                        node_connections,
+                                        hide_single_connection_topics,
+                                        hide_dead_end_topics)


Avoid arbitrary indentation (even though it was that way before your patch 😉). Either indent up to the open parenthesis or wrap directly after the parenthesis and indent all argument just one level / 4 spaces. The second option is preferred since it avoids the long indentation.

Same below.

dirk-thomas · 2017-10-30T22:20:06Z

src/rqt_graph/dotcode.py

+        namespace_clusters = self._populate_node_graph(cluster_namespaces_level, (nt_nodes or [])
+                                    + [action_prefix + ACTION_TOPICS_SUFFIX for (action_prefix, _) in action_nodes.items()]
+                                    + [image_prefix + IMAGE_TOPICS_SUFFIX for (image_prefix, _) in image_nodes.items()]
+                                    + nn_nodes if nn_nodes is not None else [],


Please wrap after the open parenthesis and make the operators trailing the previous lines.

dirk-thomas · 2017-10-30T22:22:50Z

src/rqt_graph/dotcode.py

+             # cluster topics with same namespace
+             if (cluster_namespaces_level > 0 and
+                n.strip().count('/') > 1 and
+                len(n.strip().split('/')[1]) > 0):


Currently the indentation level doesn't allow to distinguish the condition from the block. Instead use:

if ( cluster_namespaces_level > 0 and n.strip().count('/') > 1 and len(n.strip().split('/')[1]) > 0 ): ...

Same below.

dirk-thomas · 2017-10-30T22:23:58Z

src/rqt_graph/dotcode.py

+                else:
+                    namespace = '/'.join(n.strip().split('/')[:cluster_namespaces_level+1])
+                if namespace not in namespace_clusters:
+                    print("Namespace '"+namespace+"' not found.")


When does this happen? Is that an error?

Same below.

There were cases where namespace was not in namespace_clusters during testing; this line will be removed.

dirk-thomas · 2017-10-30T22:24:50Z

src/rqt_graph/dotcode.py

+                    print("Namespace '"+namespace+"' not found.")
+                self._add_topic_node_group('n'+n, dotcode_factory=dotcode_factory, dotgraph=namespace_clusters[namespace], quiet=quiet)
+            else:
+                self._add_topic_node_group('n'+n, dotcode_factory=dotcode_factory, dotgraph=dotgraph, quiet=quiet)


These three loops look partially very similar. Maybe the code would get shorter by refactoring some of this into a helper function?

Update: and a fourth time below.

dirk-thomas · 2017-10-30T22:43:56Z

This repo only has a single master branch used for all currently active ROS distros (Indigo, Kinetic, Lunar). ros-visualization/qt_gui_core#87 on the other hand is targeting the kinetic-devel branch.

I would rather not create separate branches in this repo for this feature but that would require to backport the qt_gui_core PR to Indigo / Qt 4. Is that something you would want to do after the qt_gui_core PR has been merged into kinetic-devel?

EliteMasterEric · 2018-02-26T17:23:47Z

Hey @dirk-thomas,
I was able to get the changes in this PR working on Indigo by using the changes I made a PR for in ros-visualization/qt_gui_core#111. Please test them out and, if you are able to merge those changes, finally merge these major changes to rqt_graph that I am sure everyone will appreciate.

EliteMasterEric · 2018-04-09T14:22:42Z

@dirk-thomas If the latest pull request ros-visualization/qt_gui_core#117 is approved promptly, do you think the changes to rqt_graph can be approved in time for the long-term supported Melodic release?

dirk-thomas · 2018-05-22T21:37:03Z

@ros-pull-request-builder retest this please

dirk-thomas · 2018-05-22T21:38:54Z

package.xml

@@ -23,7 +23,7 @@

  <run_depend version_gte="0.2.19">python_qt_binding</run_depend>
  <run_depend>python-rospkg</run_depend>
-  <run_depend>qt_dotgraph</run_depend>
+  <run_depend version_gte="0.3.8">qt_dotgraph</run_depend>


This version dependency won't work for Indigo where the next patch release will be 0.2.x. I will remove it from the patch.

dirk-thomas · 2018-05-22T23:02:52Z

With the qt_gui_core backport merged and released into Indigo this is good to go. I will make a new source release after the merge and release the patch version for Melodic.

Thank you for the contribution.

ros-visualization#13) * pyqtgraph < 0.10 fail to run `from pyqtgraph import __version__ `, use pkg_resources ``` $ rqt_plot /joint_state/position[0] Traceback (most recent call last): File "/opt/ros/kinetic/bin/rqt_plot", line 6, in <module> from rqt_plot.plot import Plot File "/opt/ros/kinetic/lib/python2.7/dist-packages/rqt_plot/plot.py", line 43, in <module> from .data_plot import DataPlot File "/opt/ros/kinetic/lib/python2.7/dist-packages/rqt_plot/data_plot/__init__.py", line 44, in <module> from .pyqtgraph_data_plot import PyQtGraphDataPlot File "/opt/ros/kinetic/lib/python2.7/dist-packages/rqt_plot/data_plot/pyqtgraph_data_plot.py", line 46, in <module> from pyqtgraph import __version__ as pyqtgraph_version File "/usr/lib/python2.7/dist-packages/pyqtgraph/__init__.py", line 13, in <module> from .Qt import QtGui File "/usr/lib/python2.7/dist-packages/pyqtgraph/Qt.py", line 104, in <module> from PyQt4 import QtGui, QtCore, uic RuntimeError: the PyQt4.QtCore and PyQt5.QtCore modules both wrap the QObject class ``` * cath RuntimeError and add a comment when it is expected to be raised.

EliteMasterEric added 6 commits August 2, 2017 12:13

Added nested subnamespaces.

7b5b440

The "Group Namespaces" checkbox has been replaced with a numeric spinner, where the user can specify the desired layers of depth.

Moved the Hide section of the toolbar to a new line

74eaef5

Grouped topics now display as 3d boxes.

973ade9

Added checkboxes to hide or group tf topics (/tf and /tf_static)

086a94c

Added checkbox to group image topics (/, /compressed, /theora, and /c…

d4ae23b

…ompressedDepth) image_fix

Added a checkbox to hide topics added by ros/dynamic_reconfigure.

a076ad7

Parameter topics include /parameter_descriptions and /parameter_updates.

EliteMasterEric changed the title ~~Added nested subnamespaces.~~ Added nested subnamespaces and more options to hide or group topics. Aug 2, 2017

This was referenced Aug 2, 2017

Multilayer namespace nesting, grouping for tf and image topics, hiding for tf and dynamic reconfigure #9

Closed

Option to group/ignore dynamic_reconfigure topics #4

Closed

More Topic Grouping support #3

Open

dirk-thomas reviewed Oct 30, 2017

View reviewed changes

EliteMasterEric added 2 commits November 3, 2017 13:59

Changed dependency version, removed annoying margins in window

4f9b5c8

Refactored lines to reduce redundancy, and minimize long lines of indent

5d2e8d1

dirk-thomas reviewed May 22, 2018

View reviewed changes

remove version dependency in order to work with Indigo

78c9937

dirk-thomas added the enhancement label May 22, 2018

dirk-thomas merged commit e1945ec into ros-visualization:master May 22, 2018

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Added nested subnamespaces and more options to hide or group topics. #13

Added nested subnamespaces and more options to hide or group topics. #13

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Added nested subnamespaces and more options to hide or group topics. #13

Added nested subnamespaces and more options to hide or group topics. #13

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