Make r2s_gw an optional dependency (#13)

r2s_gw requires a version of textual that the ubuntu noble Debians don't have, which makes getting into ros2 build farm annoying, so just make it it's own repo that is optional, and use curses UI as the primary.

Move r2s_gw into seperate repo, r2s_gw depends on greenwave_monitor, but no dependencies in the other direction.

Author: sgillen

.github/workflows/debian-packages.yml

@@ -151,10 +151,10 @@ jobs:
         ls -la debian_packages/${{ matrix.ros_distro }}/
 
         # Install the debian packages on top of ros-core
-        apt-get install -y ./debian_packages/${{ matrix.ros_distro }}/ros-${{ matrix.ros_distro }}-greenwave-monitor-interfaces_*.deb ./debian_packages/${{ matrix.ros_distro }}/ros-${{ matrix.ros_distro }}-greenwave-monitor_*.deb ./debian_packages/${{ matrix.ros_distro }}/ros-${{ matrix.ros_distro }}-r2s-gw_*.deb
+        apt-get install -y ./debian_packages/${{ matrix.ros_distro }}/ros-${{ matrix.ros_distro }}-greenwave-monitor-interfaces_*.deb ./debian_packages/${{ matrix.ros_distro }}/ros-${{ matrix.ros_distro }}-greenwave-monitor_*.deb
 
         # Verify packages are installed
-        dpkg -s ros-${{ matrix.ros_distro }}-r2s-gw ros-${{ matrix.ros_distro }}-greenwave-monitor ros-${{ matrix.ros_distro }}-greenwave-monitor-interfaces
+        dpkg -s ros-${{ matrix.ros_distro }}-greenwave-monitor ros-${{ matrix.ros_distro }}-greenwave-monitor-interfaces
       shell: bash
       env:
         DEBIAN_FRONTEND: noninteractive
@@ -173,8 +173,9 @@ jobs:
 
         # Run ncurses frontend with simulated terminal and quit command
         # Exit code 0 means clean exit (not 11 for SIGSEGV or 134 for SIGABRT)
+        # Set TERM=linux to provide basic terminal capabilities for curses
         set +e
-        timeout 10s script -qfec 'ros2 run greenwave_monitor ncurses_dashboard' /dev/null <<< $'q'
+        TERM=linux timeout 10s script -qfec 'ros2 run greenwave_monitor ncurses_dashboard' /dev/null <<< $'q'
         EXIT_CODE=$?
         set -e
 
@@ -202,24 +203,69 @@ jobs:
         kill -9 "$(cat /tmp/gwm_ncurses.pid)" 2>/dev/null || true
       shell: bash
 
+    - name: Clone r2s_gw repository for integration testing
+      run: |
+        # Install git if not available
+        apt-get update -qq
+        apt-get install -y git
+
+        # Try to clone the matching branch, fallback to main if it doesn't exist
+        # Use head_ref for PRs (actual branch name), ref_name for pushes
+        BRANCH_NAME="${{ github.head_ref || github.ref_name }}"
+        if git ls-remote --exit-code --heads https://github.com/NVIDIA-ISAAC-ROS/r2s_gw.git "$BRANCH_NAME" > /dev/null 2>&1; then
+          echo "Cloning r2s_gw branch: $BRANCH_NAME"
+          git clone --branch "$BRANCH_NAME" --depth 1 https://github.com/NVIDIA-ISAAC-ROS/r2s_gw.git
+        else
+          echo "Branch $BRANCH_NAME not found in r2s_gw, falling back to main"
+          git clone --branch main --depth 1 https://github.com/NVIDIA-ISAAC-ROS/r2s_gw.git
+        fi
+      shell: bash
+
     - name: Install Python dependencies for r2s_gw
       run: |
-        # Install Python dependencies (only needed for r2s_gw, not ncurses)
-        apt-get install -y python3-pip || true
+        # Install pip if not available
+        apt-get install -y python3-pip python3-colcon-common-extensions || true
+
+        # Install Python dependencies
         if [[ "${{ matrix.ros_distro }}" == "jazzy" || \
               "${{ matrix.ros_distro }}" == "kilted" || \
               "${{ matrix.ros_distro }}" == "rolling" ]]; then
-          python3 -m pip install -I textual --break-system-packages
+          pip3 install --break-system-packages --ignore-installed pygments textual
         else
-          python3 -m pip install textual
+          pip3 install --ignore-installed pygments textual
         fi
       shell: bash
 
-    - name: Test r2s_gw execution
+    - name: Build r2s_gw with colcon
+      run: |
+        source /opt/ros/${{ matrix.ros_distro }}/setup.bash
+        # Build r2s_gw to register it as a ROS package
+        colcon build --packages-select r2s_gw --base-paths .
+      shell: bash
+
+    - name: Test r2s_gw_dashboard execution
       run: |
         source /opt/ros/${{ matrix.ros_distro }}/setup.bash
-        timeout 10s bash -lc "script -qfec 'ros2 run r2s_gw r2s_gw' /dev/null <<< \$'q'" || true
-        timeout 10s bash -lc "script -qfec 'ros2 run greenwave_monitor r2s_gw_dashboard' /dev/null <<< \$'q'" || true
+        source install/local_setup.bash
+
+        echo "Testing r2s_gw_dashboard with debian-installed greenwave_monitor..."
+
+        # Test r2s_gw dashboard with proper terminal
+        # The dashboard script automatically starts the monitor node
+        set +e
+        TERM=linux timeout 10s script -qfec 'ros2 run r2s_gw r2s_gw_dashboard' /dev/null <<< $'q'
+        EXIT_CODE=$?
+        set -e
+
+        if [ $EXIT_CODE -eq 0 ]; then
+          echo "✓ r2s_gw_dashboard exited cleanly"
+        elif [ $EXIT_CODE -eq 124 ]; then
+          echo "✗ r2s_gw_dashboard timed out"
+          exit 1
+        else
+          echo "✗ r2s_gw_dashboard exited with unexpected code: $EXIT_CODE"
+          exit 1
+        fi
       shell: bash
 
     - name: Test greenwave_monitor execution

.github/workflows/ros-tests.yml

@@ -50,6 +50,26 @@ jobs:
     steps:
     - name: Checkout code
       uses: actions/checkout@v4
+      with:
+        path: greenwave_monitor
+
+    - name: Clone r2s_gw repository
+      run: |
+        # Install git if not already available
+        apt-get update -qq
+        apt-get install -y git
+
+        # Try to clone the matching branch, fallback to main if it doesn't exist
+        # Use head_ref for PRs (actual branch name), ref_name for pushes
+        BRANCH_NAME="${{ github.head_ref || github.ref_name }}"
+        if git ls-remote --exit-code --heads https://github.com/NVIDIA-ISAAC-ROS/r2s_gw.git "$BRANCH_NAME" > /dev/null 2>&1; then
+          echo "Cloning r2s_gw branch: $BRANCH_NAME"
+          git clone --branch "$BRANCH_NAME" --depth 1 https://github.com/NVIDIA-ISAAC-ROS/r2s_gw.git r2s_gw
+        else
+          echo "Branch $BRANCH_NAME not found in r2s_gw, falling back to main"
+          git clone --branch main --depth 1 https://github.com/NVIDIA-ISAAC-ROS/r2s_gw.git r2s_gw
+        fi
+      shell: bash
 
     - name: Setup ROS repository and install rosdep
       run: |
@@ -69,43 +89,46 @@ jobs:
       run: |
         rosdep init
         rosdep update --include-eol-distros
-        rosdep install --from-paths . --rosdistro ${{ matrix.ros_distro }} --ignore-src -r -y
+        rosdep install --from-paths greenwave_monitor --rosdistro ${{ matrix.ros_distro }} --ignore-src -r -y
       shell: bash
       env:
         DEBIAN_FRONTEND: noninteractive
 
-    - name: Install Python dependencies
+    - name: Build packages
+      run: |
+        source /opt/ros/${{ matrix.ros_distro }}/setup.bash
+        echo "Building and testing on ROS2 ${{ matrix.ros_distro }}"
+        colcon build --packages-up-to greenwave_monitor
+      shell: bash
+
+    - name: Install r2s_gw with pip
       run: |
+        source /opt/ros/${{ matrix.ros_distro }}/setup.bash
+        source install/setup.bash
+        cd r2s_gw
         if [[ "${{ matrix.ros_distro }}" == "jazzy" || \
               "${{ matrix.ros_distro }}" == "kilted" || \
               "${{ matrix.ros_distro }}" == "rolling" ]]; then
-          pip3 install --break-system-packages -I pygments textual
+          pip3 install --break-system-packages --ignore-installed pygments -e .
         else
-          pip3 install textual
+          pip3 install --ignore-installed pygments -e .
         fi
       shell: bash
 
-    - name: Build packages
-      run: |
-        source /opt/ros/${{ matrix.ros_distro }}/setup.bash
-        echo "Building and testing on ROS2 ${{ matrix.ros_distro }}"
-        colcon build --packages-up-to r2s_gw
-      shell: bash
-
     - name: Smoke test README commands
       run: |
         source /opt/ros/${{ matrix.ros_distro }}/setup.bash
         source install/setup.bash
         set -e
         timeout 10s bash -lc "script -qfec 'ros2 run greenwave_monitor ncurses_dashboard' /dev/null <<< \$'q'" || true
-        timeout 10s bash -lc "script -qfec 'ros2 run greenwave_monitor r2s_gw_dashboard' /dev/null <<< \$'q'" || true
+        timeout 10s bash -lc "script -qfec 'ros2 run r2s_gw r2s_gw_dashboard' /dev/null <<< \$'q'" || true
         timeout 5s ros2 launch greenwave_monitor hz.launch.py topics:='["/topic1"]' || true
       shell: bash
 
     - name: Run tests
       run: |
         source /opt/ros/${{ matrix.ros_distro }}/setup.bash
-        colcon test --event-handlers console_direct+ --return-code-on-test-failure --packages-up-to r2s_gw
+        colcon test --event-handlers console_direct+ --return-code-on-test-failure --packages-up-to greenwave_monitor
       shell: bash
 
     - name: Upload test results

README.md

@@ -53,11 +53,9 @@ source install/setup.bash
 
 ## Usage
 
-Greenwave monitor provides two dashboard frontends, a lightweight ncurses interface and a rich terminal interface (a fork of [r2s](https://github.com/mjcarroll/r2s)). Note we rename the fork r2s_gw to avoid conflicts with the original r2s package.
+Greenwave monitor provides a lightweight ncurses dashboard for monitoring topics. An optional rich TUI (r2s integration) with additional features is also available as a separate package.
 
-We have found that the r2s dashboard gets sluggish when there are many topics, so we recommend using the ncurses dashboard for large deployments.
-
-### ncurses Dashboard (Lightweight)
+### ncurses Dashboard
 
 After installing, you can launch the ncurses dashboard with:
 
@@ -71,27 +69,37 @@ You can also launch the dashboard with some demo publishers to see everything in
 ros2 run greenwave_monitor ncurses_dashboard --demo
 ```
 
-### r2s_gw Dashboard (Rich TUI)
+### Rich TUI (r2s integration) - Optional
+
+For users who want an advanced, feature-rich terminal interface, **r2s_gw** is available as a separate package. Built on the excellent [r2s](https://github.com/mjcarroll/r2s) TUI framework and powered by [Textual](https://github.com/textualize/textual/), r2s_gw provides a beautiful, modern interface with enhanced navigation and visualization capabilities.
 
-First you need to build the r2s_gw package and some additional dependencies, r2s_gw is included in the greenwave_monitor package.
+**r2s_gw** is perfect for interactive development and debugging sessions. For production deployments with many topics or minimal dependency requirements, the lightweight ncurses dashboard above is recommended.
 
+To use r2s_gw:
+
+1. Clone the r2s_gw repository into a workspace:
 ```bash
-cd ros_ws/
-colcon build --packages-up-to r2s_gw
-pip install -I textual # There is a requirements.txt file in the r2s_gw package, but in case you installed from debian and that's not handy ...
-source install/setup.bash
+mkdir -p ~/ros_ws/src
+cd ~/ros_ws/src
+git clone https://github.com/NVIDIA-ISAAC-ROS/r2s_gw.git
 ```
 
-Then you can launch the dashboard with the following. Use tab to navigate between different UI elements.
-
+2. Install dependencies and build:
 ```bash
-ros2 run greenwave_monitor r2s_gw_dashboard
+pip install --ignore-installed pygments -r r2s_gw/requirements.txt
+cd ~/ros_ws
+colcon build --packages-select r2s_gw
+source install/setup.bash
 ```
 
-Just like before, you can also launch the dashboard with some demo publishers to see everything in action.
+3. Launch the dashboard (use tab to navigate between UI elements):
+```bash
+ros2 run r2s_gw r2s_gw_dashboard
+```
 
+4. Or launch with demo publishers:
 ```bash
-ros2 run greenwave_monitor r2s_gw_dashboard -- --demo
+ros2 run r2s_gw r2s_gw_dashboard -- --demo
 ```
 
 ### Manual Launch (ros2 topic hz mode)

greenwave_monitor/CMakeLists.txt

@@ -67,7 +67,6 @@ install(
 # Install Python scripts
 install(
   PROGRAMS
-    scripts/r2s_gw_dashboard
     scripts/ncurses_dashboard
   DESTINATION lib/${PROJECT_NAME}
 )

greenwave_monitor/package.xml

@@ -50,8 +50,6 @@
   <test_depend>launch_testing</test_depend>
   <test_depend>launch_testing_ros</test_depend>
 
-  <!-- TODO add textual as dependency (need to host rosdep)-->
-
   <build_depend>rosidl_default_generators</build_depend>
   <exec_depend>rosidl_default_runtime</exec_depend>
   <member_of_group>rosidl_interface_packages</member_of_group>