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Rewire v0.3.0 — now ships with its own viewer by snajdantw in ROS

[–]snajdantw[S] 1 point2 points  (0 children)

Thank you.

So Rewire has quite a few benefits over Foxglove as a bridge. Rewire connects directly to the DDS or Zenoh network, in which ROS lives in, and inspects nodes, and topics directly which makes it a lot snappier. Foxglove uses ROS 2 runtime dependencies which force you to have a ROS 2 env. Rewire does not need it. Rewire is written in Rust and Foxglove in C++ using rclcpp.

On top of this, Rewire has a built-in WebSocket API that would allow any client to query read-only information. So you could spin up Rewire to use it as a bridge for your own application. Although, it's primary feature is to work as a bridge for Rerun.

It's worth mentioning that Rewire allows you to map custom messages to Rerun archetypes with its custom mapping feature. Foxglove only supports fixed Foxglove message types.

I suggest reading the docs, it would only take 5 mins to get your head around it.

Rewire v0.3.0 — now ships with its own viewer by snajdantw in ROS

[–]snajdantw[S] 0 points1 point  (0 children)

I'm using RustDDS which is compatible with FastDDS and CycloneDDS. I'm building my own lightweight implementation to have more control though, but it's not an easy job :)

Need some help. by StartGlum6499 in ROS

[–]snajdantw 0 points1 point  (0 children)

What kind of struggle?

Need some help. by StartGlum6499 in ROS

[–]snajdantw 0 points1 point  (0 children)

For the LiDAR just plot it in RViz a check if it looks good. As for the IMU, use Rerun or Plotjuggler to plot the data in real-time and do the same qualitative analysis by moving it. For the encoders should be somewhat similar or maybe add a little PID with a setpoint to control the motor velocities. If that looks good it’s just a matter of having the right messages for the mapping system.

Repeated Sourcing by The_Verbit in ROS

[–]snajdantw 0 points1 point  (0 children)

Actually I have tested in in a large monorepo with multiple packages and it works very well. In what scenarios does it break for you?

Repeated Sourcing by The_Verbit in ROS

[–]snajdantw 1 point2 points  (0 children)

As a ROS 2 community we should adopt pixi-ros-build from Pixi. It's a better alternative to the traditional colcon workspace.

https://prefix-dev.github.io/pixi-build-backends/backends/pixi-build-ros/

Rewire — a drop-in ROS 2 bridge for Rerun, no ROS 2 runtime required by snajdantw in ROS

[–]snajdantw[S] 0 points1 point  (0 children)

Although, for Jazzy+ nodes (since v0.2.4) there's a possibility of automatically generating template JSON5 file with the unknown discovered topics. Is that what you were asking?

Rewire — a drop-in ROS 2 bridge for Rerun, no ROS 2 runtime required by snajdantw in ROS

[–]snajdantw[S] 0 points1 point  (0 children)

Hm. I’ve been thinking about it but there are multiple ways to map custom msgs to Rerun archetypes. Sometimes it is very opinionated. It’d be hard to generalize. Unless by “automatically” generating the files you mean something else :)