rviz for orocos

Hello everybody!

For debugging purposes we created a script that generates 'some kind of' rviz overview of the connection between the orocos components.

So this script: https://amigo.wtb.tue.nl/svn/amigo/code/tue-ros-pkg/dev/tue_actuation_dev/orocos_components_dev/graph.sh

Uses this python script: https://amigo.wtb.tue.nl/svn/amigo/code/tue-ros-pkg/dev/tue_actuation_dev/orocos_components_dev/scripts/orocosgraph.py

To generate an image like attached from this ops file: https://amigo.wtb.tue.nl/svn/amigo/code/tue-ros-pkg/dev/tue_actuation_dev/amigo_base_controller_dev/deploy.ops

Feel free to try and to comment on it.

It's in an early stage so all suggestions are welcome :)

Tim

AttachmentSize
deploy.png112.37 KB

rviz for orocos

Hello Tim,
>
> For debugging purposes we created a script that generates 'some kind of'
> rviz overview of the connection between the orocos components.
>
> So this script:
> https://amigo.wtb.tue.nl/svn/amigo/code/tue-ros-pkg/dev/tue_actuation_dev/o
> rocos_components_dev/graph.sh
>
> Uses this python script:
> https://amigo.wtb.tue.nl/svn/amigo/code/tue-ros-pkg/dev/tue_actuation_dev/o
> rocos_components_dev/scripts/orocosgraph.py
>
> To generate an image like attached from this ops file:
> https://amigo.wtb.tue.nl/svn/amigo/code/tue-ros-pkg/dev/tue_actuation_dev/a
> migo_base_controller_dev/deploy.ops
>
> Feel free to try and to comment on it.

Thanks for this contribution.
I just think it should be made clear that the script will only look into te
deploy.ops file ... So the picture you create is in fact a picture of the
connection and components you would like to have .... not of the ones actual
present (connections can fail, components can fail to load , ...) (correct me
if I'm wrong).

Nevertheless I still think your program can be a handy tool.

Thanks again,

Tinne

rviz for orocos

2011/3/16 Tinne De Laet <tinne [dot] delaet [..] ...>

> Hello Tim,
> >
> > For debugging purposes we created a script that generates 'some kind of'
> > rviz overview of the connection between the orocos components.
> >
> > So this script:
> >
> https://amigo.wtb.tue.nl/svn/amigo/code/tue-ros-pkg/dev/tue_actuation_dev/o
> > rocos_components_dev/graph.sh
> >
> > Uses this python script:
> >
> https://amigo.wtb.tue.nl/svn/amigo/code/tue-ros-pkg/dev/tue_actuation_dev/o
> > rocos_components_dev/scripts/orocosgraph.py
> >
> > To generate an image like attached from this ops file:
> >
> https://amigo.wtb.tue.nl/svn/amigo/code/tue-ros-pkg/dev/tue_actuation_dev/a
> > migo_base_controller_dev/deploy.ops
> >
> > Feel free to try and to comment on it.
>
> Thanks for this contribution.
> I just think it should be made clear that the script will only look into te
> deploy.ops file ... So the picture you create is in fact a picture of the
> connection and components you would like to have .... not of the ones
> actual
> present (connections can fail, components can fail to load , ...) (correct
> me
> if I'm wrong).
>

Be aware that some connection may be done dynamically at run time. If you
wish to go further and display what is really deployed (and not what is in
the script), you might have everything you need to do so in the Orocos API.

I didn't look at the details, but I think you assert that the deployment is
only done in one file which is not necessarily the case in large systems.

>
> Nevertheless I still think your program can be a handy tool.
>

It is really nice to have, even with "restricted" functionalities, because
such a tool is a real miss when you have large scale systems.

>
> Thanks again,
>
> Tinne
> --
> Orocos-Users mailing list
> Orocos-Users [..] ...
> http://lists.mech.kuleuven.be/mailman/listinfo/orocos-users
>

rviz for orocos

On Mar 16, 2011, at 05:27 , Willy Lambert wrote:

>
>
> 2011/3/16 Tinne De Laet <tinne [dot] delaet [..] ...>
> Hello Tim,
> >
> > For debugging purposes we created a script that generates 'some kind of'
> > rviz overview of the connection between the orocos components.
> >
> > So this script:
> > https://amigo.wtb.tue.nl/svn/amigo/code/tue-ros-pkg/dev/tue_actuation_dev/o
> > rocos_components_dev/graph.sh
> >
> > Uses this python script:
> > https://amigo.wtb.tue.nl/svn/amigo/code/tue-ros-pkg/dev/tue_actuation_dev/o
> > rocos_components_dev/scripts/orocosgraph.py
> >
> > To generate an image like attached from this ops file:
> > https://amigo.wtb.tue.nl/svn/amigo/code/tue-ros-pkg/dev/tue_actuation_dev/a
> > migo_base_controller_dev/deploy.ops
> >
> > Feel free to try and to comment on it.
>
> Thanks for this contribution.
> I just think it should be made clear that the script will only look into te
> deploy.ops file ... So the picture you create is in fact a picture of the
> connection and components you would like to have .... not of the ones actual
> present (connections can fail, components can fail to load , ...) (correct me
> if I'm wrong).
>
> Be aware that some connection may be done dynamically at run time. If you wish to go further and display what is really deployed (and not what is in the script), you might have everything you need to do so in the Orocos API.
>
> I didn't look at the details, but I think you assert that the deployment is only done in one file which is not necessarily the case in large systems.
>
>
> Nevertheless I still think your program can be a handy tool.
>
> It is really nice to have, even with "restricted" functionalities, because such a tool is a real miss when you have large scale systems.

We have built a similar tool using PHP and graphviz that does deal with large systems. It basically flattens out all the included Orocos deployment XML files into one big XML file, and processes that in a similar manner to your Python script. It is an absolute life saver with large systems, particularly those that have several operational scenarios.

We too are only going off the static deployment files, which is definitely a good first start.
S

rviz for orocos

On Wednesday 16 March 2011 11:55:19 S Roderick wrote:
> On Mar 16, 2011, at 05:27 , Willy Lambert wrote:
>
>
>
> 2011/3/16 Tinne De Laet
> <tinne [dot] delaet [..] ...<mailto:tinne [dot] delaet [..] ...>>
> Hello Tim,
>
> > For debugging purposes we created a script that generates 'some kind of'
> > rviz overview of the connection between the orocos components.
> >
> > So this script:
> > https://amigo.wtb.tue.nl/svn/amigo/code/tue-ros-pkg/dev/tue_actuation_dev
> > /o rocos_components_dev/graph.sh
> >
> > Uses this python script:
> > https://amigo.wtb.tue.nl/svn/amigo/code/tue-ros-pkg/dev/tue_actuation_dev
> > /o rocos_components_dev/scripts/orocosgraph.py
> >
> > To generate an image like attached from this ops file:
> > https://amigo.wtb.tue.nl/svn/amigo/code/tue-ros-pkg/dev/tue_actuation_dev
> > /a migo_base_controller_dev/deploy.ops
> >
> > Feel free to try and to comment on it.
>
> Thanks for this contribution.
> I just think it should be made clear that the script will only look into te
> deploy.ops file ... So the picture you create is in fact a picture of the
> connection and components you would like to have .... not of the ones
> actual present (connections can fail, components can fail to load , ...)
> (correct me if I'm wrong).
>
> Be aware that some connection may be done dynamically at run time. If you
> wish to go further and display what is really deployed (and not what is in
> the script), you might have everything you need to do so in the Orocos
> API.
>
> I didn't look at the details, but I think you assert that the deployment is
> only done in one file which is not necessarily the case in large systems.
>
>
> Nevertheless I still think your program can be a handy tool.
>
> It is really nice to have, even with "restricted" functionalities, because
> such a tool is a real miss when you have large scale systems.
>
> We have built a similar tool using PHP and graphviz that does deal with
> large systems. It basically flattens out all the included Orocos
> deployment XML files into one big XML file, and processes that in a
> similar manner to your Python script. It is an absolute life saver with
> large systems, particularly those that have several operational scenarios.
>
> We too are only going off the static deployment files, which is definitely
> a good first start. S
Indeed.
I even believe so far there is no way to check at run time which of the
connections is actually establised. I think one can only check if a port is
connected or not, not to what it is connected ....

Tinne