|Note: This tutorial assumes that you have completed the previous tutorials: Command Line Tools.|
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Gateway GraphDescription: Visually monitoring a gateway network
Keywords: rocon, multimaster, gateway
Tutorial Level: BEGINNER
Sometimes it's convenient to get a graphical view of what is going on, particular once your gateway network gets complicated. The gateway graph is an rqt plugin in the same style as the original rxgraph tool that illustrates the connections and interfaces between gateways.
Can't see much without a running gateway network, so let's fire one up with three running gateways and flip/pull a few topics between them.
In four separate shells, launch the hub, a gateway system with tutorials running, and two empty gateway systems.
> roslaunch --port=11311 rocon_gateway_tutorials pirate_hub.launch
> roslaunch --port=11312 rocon_gateway_tutorials pirate_gateway_tutorials.launch
> roslaunch --port=11313 rocon_gateway_tutorials pirate_gateway.launch
> roslaunch --port=11314 rocon_gateway_tutorials pirate_gateway.launch
On the first gateway:
# flip the tutorials out > export ROS_MASTER_URI=http://localhost:11312 > rosrun rocon_gateway_tutorials flip_tutorials.py # Advertise /chatter publisher > rosrun rocon_gateway_tutorials advertise_tutorials.py --pubonly # Advertise /chatter subscriber > rosrun rocon_gateway_tutorials advertise_tutorials.py --subonly
On the second gateway:
# Pull the chatter publisher > export ROS_MASTER_URI=http://localhost:11313 > rosrun rocon_gateway_tutorials pull_tutorials.py --pubonly
On the third gateway:
# Pull the chatter subscriber > export ROS_MASTER_URI=http://localhost:11314 > rosrun rocon_gateway_tutorials pull_tutorials.py --subonly
Rqt Gateway Graph
Launch the gateway graph monitoring gui. You can launch from any ros system to get a view from the perspective of the system, here we'll launch from the first gateway:
> export ROS_MASTER_URI=http://localhost:11312 > rosrun rqt_gui rqt_gui -s "Gateway Graph" # OR for rocon_rqt_plugins > 0.2.0, you can directly call > rqt_gateway_graph
From the perspective of the first gateway, the gateway view:
Advertisements and pulled connections: