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# Setup
(1) Clone into your ROS workspace, for example:
```
cd ~/ros_ws/src
git clone git@code.umd.edu:robotics-at-maryland/qubo_gui.git
```
(2) Build your ROS workspace:
```
cd ~/ros_ws
colcon build
```
(3) Tell rqt to find our plugins (may have to do this if you create a new plugin, but otherwise should only need to do it once):
```
rqt --force-discover
```
(4) For now, run `rqt` from the commandline. Then load the plugins you want inside the rqt GUI.
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- Click "Plugins" in the menu bar.
- Find the plugin you want.
## Building and running the code
```
colcon build
```
# Development
## Adding or modifying a plugin
- Update `plugin.xml`
- You need one `<class>` tag per plugin.
- Make sure `type=` attribute has the correct Python import path to refer to your plugin class.
Suggested naming convention: Organize under a "Qubo" group, so that it is easy to find our custom plugins in rqt. For example:
```xml
...
<class ...>
...
<qtgui>
<group>
<label>Qubo Control</label>
</group>
<label>Thruster Control</label>
...
</qtgui>
</class>
```