rtui2

TUI tool for ROS 2 Topic/Node debugging

Support

• Python
  • 3.10+
• ROS 2
  • Humble
  • Jazzy
• DDS Implementation
  • FastDDS Discovery Server mode supported
    • Compatible with centralized discovery architectures
    • Requires ROS_DISCOVERY_SERVER environment variable for discovery server endpoint
    • Automatically sets ROS_SUPER_CLIENT=true for enhanced discovery capabilities

Install

Via pipx (Recommended)

$ pipx install rtui2

Pip

$ pip3 install --user rtui2

Demo

demo.mp4

Usage

Usage: rtui2 [OPTIONS] COMMAND [ARGS]...

  Terminal User Interface for ROS User

Options:
  --help  Show this message and exit.

Commands:
  action   Inspect ROS actions
  node     Inspect ROS nodes (default)
  service  Inspect ROS services
  topic    Inspect ROS topics
  type     Inspect ROS types

• node/topic/service/action/type
  • get a list of nodes, topics, or etc.
  • get an information about specific node, topic, or etc.
  • mouse operation
    • click link of a node, a topic, or etc.
  • keyboard operation
    • b/f: Trace history backward and forward
    • r: Once more get list of nodes, topics or etc.
    • q: Terminate app
• Set ROS_DISCOVERY_SERVER environment variable to enable discovery server mode
  • e.g. export ROS_DISCOVERY_SERVER=127.0.0.1:11811

License

This project was developed by WHILL Inc. and is released under the Apache License, Version 2.0. See NOTICE for details.

Acknowledgements

This product is based on the "rtui" project (https://github.com/eduidl/rtui), which is licensed under the Apache License, Version 2.0.