try r2s as not a submodule

Author: sgillen

.github/workflows/debian-packages.yml

@@ -84,9 +84,6 @@ jobs:
     steps:
     - name: Checkout code
       uses: actions/checkout@v4
-      with:
-        submodules: recursive
-        token: ${{ secrets.GITHUB_TOKEN }}
 
     - name: Setup build environment
       run: |

.github/workflows/ros-tests.yml

@@ -38,9 +38,6 @@ jobs:
     steps:
     - name: Checkout code
       uses: actions/checkout@v4
-      with:
-        submodules: recursive
-        token: ${{ secrets.GITHUB_TOKEN }}
 
     - name: Setup ROS environment
       run: |

.gitmodules

@@ -1,35 +1,27 @@
 # Greenwave Monitor
 
-A high-performance diagnostic tool for ROS 2 that provides real-time monitoring of topic frame rates and latency metrics. The monitor node offers a significant performance improvement over the standard `ros2 topic hz` command. The dashboard is a terminal-based interface that provides a real-time view of the monitoring data, as well as displaying diagnostic data published by sensor drivers.
+A high-performance diagnostic tool for ROS 2 that provides real-time monitoring of topic frame rates and latency metrics. The monitor node is like a more performant `ros2 topic hz` with ROS2 Diagnostics output, and services to manage topics. The dashboard is a terminal-based interface that provides a real-time view of the monitoring data, as well as displaying diagnostic data published by sensor drivers.
 
-## Dashboard Interface
+The diagnostics messages follow conventions from [Isaac ROS NITROS](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_nitros), that means configured NITROS nodes can be monitored with the same tool without additional subscriber overhead. For example the drivers from [Isaac ROS NOVA](https://github.com/NVIDIA-ISAAC-ROS/isaac_ros_nova) can be monitored with the same tool (also, did you know you can enable all NITROS nodes to publish diagnostics? see the bottom of [this](https://nvidia-isaac-ros.github.io/repositories_and_packages/isaac_ros_nitros/isaac_ros_nitros/index.html) page).
 
-The Greenwave Monitor builds upon [r2s](https://github.com/mjcarroll/r2s) to provide an intuitive terminal interface that displays real-time statistics for all monitored topics:
+Finally, we provide monitoring code as a standalone C++ header, which can be integrated into your own nodes.
 
-![r2s_gw + Greenwave Monitor Dashboard](docs/images/greenwave_r2s_dashboard.png)
+## Dashboard Interface
 
-By integrating the r2s_gw TUI with the Greenwave Monitor, the dashboard retains all the information from r2s plus a list of:
-- Topic names
-- Message types
-- Message receive rates in Hz
-- Expected frequencies and acceptable tolerance
-- Topic statuses
+The Greenwave Monitor ships with a fork of [r2s](https://github.com/mjcarroll/r2s) to provide an intuitive terminal interface that displays real-time statistics for all monitored topics. Click around with your mouse and tab key, and see the bottom bar with keyboard shortcuts.
 
-The dashboard also enables the following runtime features:
-- Interactive controls for adding/removing topics from monitoring
-- Interactive controls for setting/clearing expected topic frequencies and acceptable tolerances
+![r2s_gw + Greenwave Monitor Dashboard](docs/images/greenwave_r2s_dashboard.png)
 
 ## Key Features
 
-- **High Performance**: Up to 10.35x more efficient than the built-in `ros2 topic hz` command
-- **Superior Throughput**: Handles topics with rates up to 10 kHz (the standard tool caps around 4.7 kHz)
-- **Accurate Measurements**: Reports precise 30.0 fps values for image_raw NITROS topics without dropping frames
+- **High Performance**: Up to 10x more CPU efficient than the built-in `ros2 topic hz` command
 - **Interactive Dashboard**: Real-time visualization of monitoring data with an easy-to-use terminal interface
 - **Dynamic Topic Management**: Add or remove topics from monitoring without restarting
 - **Topic Status Indicators**: Color-coded topic status to easily catch topics that are not working as expected
 - **Universal Compatibility**: Displays diagnostics from any source that publishes a compatible `/diagnostics` topic, including NVIDIA Nova sensors and other hardware drivers
 
 ## Installation
+TODO
 
 ```bash
 cd ros_ws/src
@@ -67,7 +59,7 @@ ros2 run greenwave_monitor r2s_gw_dashboard --log-dir /path/to/logs
 
 ### Manual Launch (ros2 topic hz mode)
 
-Alternatively, you can monitor specific topics by using the launch file:
+If you want to use the tool as C++ based ros2 topic hz, you can do so with the following:
 
 ```bash
 ros2 launch greenwave_monitor hz.launch.py topics:='["/topic1", "/topic2"]'

README.md

@@ -0,0 +1,22 @@
+
+name: Black format check
+
+on:
+  pull_request:
+    paths:
+      - '.github/workflows/black_format.yml'
+      - '**.py'
+
+jobs:
+  black-format-check:
+    runs-on: "ubuntu-latest"
+    steps:
+      - uses: actions/[email protected]
+      - name: Set up Python 3.12
+        uses: actions/[email protected]
+        with:
+          python-version: 3.12
+      - name: Install black
+        run: python -m pip install black==24.1.1
+      - name: Run black
+        run: black --check r2s_gw

r2s_gw

@@ -0,0 +1,35 @@
+# See https://pre-commit.com for more information
+# See https://pre-commit.com/hooks.html for more hooks
+repos:
+  - repo: https://github.com/pre-commit/pre-commit-hooks
+    rev: v4.3.0
+    hooks:
+      - id: check-ast  # simply checks whether the files parse as valid python
+      - id: check-builtin-literals  # requires literal syntax when initializing empty or zero python builtin types
+      - id: check-case-conflict  # checks for files that would conflict in case-insensitive filesystems
+      - id: check-merge-conflict  # checks for files that contain merge conflict strings
+      - id: check-json  # checks json files for parseable syntax
+      - id: check-toml  # checks toml files for parseable syntax
+      - id: check-yaml  # checks yaml files for parseable syntax
+        args: [ '--unsafe' ]  # Instead of loading the files, simply parse them for syntax.
+      - id: check-shebang-scripts-are-executable  # ensures that (non-binary) files with a shebang are executable
+      - id: check-vcs-permalinks  # ensures that links to vcs websites are permalinks
+      - id: end-of-file-fixer  # ensures that a file is either empty, or ends with one newline
+      - id: mixed-line-ending  # replaces or checks mixed line ending
+  - repo: https://github.com/pycqa/isort
+    rev: '5.13.2'
+    hooks:
+      - id: isort
+        name: isort (python)
+        language_version: '3.12'
+        args: ['--profile', 'black', '--filter-files']
+  - repo: https://github.com/psf/black
+    rev: '24.1.1'
+    hooks:
+      - id: black
+  - repo: https://github.com/hadialqattan/pycln  # removes unused imports
+    rev: v2.4.0
+    hooks:
+      - id: pycln
+        language_version: '3.12'
+        args: [--all]

r2s_gw/.github/workflows/black_format.yml

@@ -0,0 +1,58 @@
+# r2s_gw
+
+**Note: This is a fork of [r2s](https://github.com/mjcarroll/r2s) designed to work with the Greenwave Monitor system. It has been renamed to r2s_gw to allow users to install it alongside the standard r2s package.**
+
+r2s_gw is a _Text User Interface_ (TUI) for interacting with various aspects of a ROS 2 system.
+It is intended as a supplement to the [ros2cli](https://github.com/ros2/ros2cli) suite of command line tools.
+
+
+r2s_gw is written in Python and utilizes [Textual](https://github.com/textualize/textual/) for building the UI.
+
+![Alt Text](doc/r2s.gif)
+
+
+## Installing
+
+To run:
+
+```
+git clone https://github.com/mjcarroll/r2s.git
+cd r2s
+poetry install
+poetry run r2s_gw
+```
+
+## Development
+
+To run in development mode:
+
+```
+poetry shell
+textual run --dev r2s_gw.main:main
+```
+
+```
+poetry shell
+textual console
+```
+
+## Roadmap
+
+Currently, there are 2 primary widgets for visualizing information in a grid or as a stream of text logs.
+
+* ROS 2
+  * Visualize stream of ROS messages in the text log view (ros2 topic echo)
+  * Visualize stream of ROS logs from a node (rosconsole)
+  * Visualize system load of individual nodes (requires instrumentation to associate PID with node)
+  * Publish messages on a topic (ros2 topic pub)
+  * Advance lifecycle node states (ros2 lifecycle)
+  * Visualize message definitions (ros2 interface)
+  * Call Services (ros2 service)
+* Colcon
+  * List packages in a workspace (colon list/colcon graph)
+  * Select and build multiple packages
+  * View package build logs
+  * View test logs
+* Gazebo
+  * Visualize topics/nodes
+  * Port ROS functionality to gz-transport and gz-msgs

r2s_gw/.pre-commit-config.yaml

@@ -0,0 +1,27 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>r2s_gw</name>
+  <version>0.1.0</version>
+  <description>A TUI for ROS 2</description>
+  <maintainer email="[email protected]">Sean Gillen</maintainer>
+  <license>Apache License 2.0</license>
+
+  <buildtool_depend>python3-setuptools</buildtool_depend>
+
+  <depend>greenwave_monitor_interfaces</depend>
+  <depend>greenwave_monitor</depend>
+  <!-- TODO: Update debian package dependencies when available -->
+
+  <exec_depend>python3-psutil</exec_depend>
+  <exec_depend>python3-distro</exec_depend>
+
+  <test_depend>ament_copyright</test_depend>
+  <test_depend>ament_flake8</test_depend>
+  <test_depend>ament_pep257</test_depend>
+  <test_depend>python3-pytest</test_depend>
+
+  <export>
+    <build_type>ament_python</build_type>
+  </export>
+</package>