Merge branch 'NVIDIA-ISAAC-ROS:main' into feature-registry-file

Author: 3473f

.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

@@ -18,8 +18,9 @@
 name: ROS2 Tests
 
 on:
-  push:
-    branches: [ "**" ]  # Run on all branches
+  pull_request:
+    branches: [ main ]
+    types: [ opened, synchronize, reopened, ready_for_review ]
 
 env:
   ROS_LOCALHOST_ONLY: 1
@@ -50,6 +51,26 @@ 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 +90,46 @@ 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

@@ -72,7 +72,6 @@ install(
 # Install Python scripts
 install(
   PROGRAMS
-    scripts/r2s_gw_dashboard
     scripts/ncurses_dashboard
   DESTINATION lib/${PROJECT_NAME}
 )

greenwave_monitor/greenwave_monitor/test_utils.py

@@ -30,11 +30,14 @@
 
 # Test configurations for various message types and frequencies
 # (message_type, expected_frequency, tolerance_hz)
+# NOTE: Tolerances and frequencies are set conservatively for reliable operation
+# on slow/loaded CI systems such as the ROS buildfarm. The 30% tolerance standard
+# ensures tests pass even under system load.
 TEST_CONFIGURATIONS = [
-    ('imu', 1.0, 0.5),
+    ('imu', 1.0, 0.3),
     ('imu', 100.0, 30.0),
-    ('imu', 5000.0, 250.0),
-    ('image', 10.0, 2.0),
+    ('imu', 500.0, 150.0),
+    ('image', 10.0, 3.0),
     ('string', 100.0, 30.0),
 ]
 
@@ -253,9 +256,10 @@ def verify_diagnostic_values(status: DiagnosticStatus,
             errors.append(
                 f'Message frequency {reported_frequency_msg} not within '
                 f'{tolerance_hz} Hz of expected {expected_frequency}')
-        if reported_latency_ms > 10:
+        # Relaxed to 50ms for slow/loaded CI systems (was 10ms)
+        if reported_latency_ms > 50:
             errors.append(
-                f'Latency should be <= 10 ms for non-string types, '
+                f'Latency should be <= 50 ms for non-string types, '
                 f'got {reported_latency_ms}')
 
     return errors

greenwave_monitor/package.xml

@@ -51,8 +51,6 @@
   <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>