joy_checker_rqml_plugins

This package contains some RQml plugins for visually checking/testing joysticks in ROS2.

The messages of the message types sensor_msgs/Joy and sensor_msgs/JoyFeedback are displayed in a user-friendly format. Additionally there is a plugin to publish messages of the sensor_msgs/JoyFeedback type.

See RQml for a description of the (required) awesome RQml package by Stefan Fabian.

The 'Joy Viewer' plugin was inspired by Josh Newans joy_tester package.

🔌 Plugins

This package provides the following RQml-plugins:

• Joy Viewer: A viewer for Joy message type messages.
• JoyFeedback Viewer: A viewer for JoyFeedback message type messages.
• JoyFeedback Publisher: A publisher for JoyFeedback message type messages.

🚀 Usage

Launch the RQml application with a single command:

rqml

Within the application select the required plugin(s) from the Plugins menu.

🔎 Joy Viewer

Displays the data (buttons and axes) from a Joy message type.

Upon activating the plugin, no data will initially be displayed. The data will be displayed when the first message is received.

Plugin is in the 'Topic viewer' group.

The relevant topic can either can be entered or can be selected in a fuzzy-select-dropdown from the (already) available topics of message type Joy. If there is only 1 availabe topic when the plugin is activated, that topic will be selected by default and the data will be displayed.

🔎 JoyFeedback Viewer

Displays the data (id and intensity, for each of the three types) from a JoyFeedback message type. Also the ROStime the message was received is displayed.

Plugin is in the 'Topic viewer' group.

The relevant topic can either can be entered or can be selected in a fuzzy-select-dropdown from the (already) available topics of message type JoyFeedback. If there is only 1 available topic when the plugin is activated, that topic will be selected by default and the data will be displayed.

✉️ JoyFeedback Publisher

Publishes a JoyFeedback message type. The type, id and intensity can be selected/entered.

Plugin is in the 'Communication' group.

The relevant topic can either can be entered or can be selected in a fuzzy-select-dropdown from the (already) available topics of message type JoyFeedback. If there is only 1 availabe topic when the plugin is activated, that topic will be selected by default.

Note

A 'JoyFeedback' message type could also be published using the MessagePublisher (default plugin from RQml).

📐 Managing Layouts

RQml allows you to save and load your workspace configurations. Arrange your plugins to your heart's content and save the layout to restore it later! 💾

Note

Use Ctrl+Shift+S to save your current config to one of the directories configured in the settings. Use Ctrl+R to quickly load one of your recently opened configurations or Ctrl+O to open a configuration from your config directories.

🛠️ Building from Source

1. Create a ROS 2 workspace (if you haven't already):

   mkdir -p ~/ros2_ws/src
   cd ~/ros2_ws/src

2. Clone the repository:

   git clone https://github.com/RbSCR/joy_checker_rqml_plugins.git

   (Replace <distro> with your ROS 2 distribution, e.g., jazzy, kilted, lyrical)

   [!NOTE] This package uses RQml, which uses qt6. Both RQml and qt6 should now be available in jazzy kilted and lyrical.

   In rolling it might not yet be available.

   This package is not available on a distro.

3. Install dependencies (using rosdep):

   cd ~/ros2_ws
   rosdep update
   rosdep install --from-paths src --ignore-src -r -y

4. Build the workspace:

   colcon build --symlink-install joy_checker_rqml_plugins

5. Source the workspace:

   source install/setup.bash

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Tested with:

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