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Add support for simulation interfaces in RViz2 #1
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Pull Request Overview
This PR introduces a comprehensive RViz2 plugin for simulation interfaces, transforming a standalone Qt application into a fully integrated RViz2 panel while maintaining standalone functionality. The changes include refactoring the service architecture to use async/sync patterns, adding interactive marker support for visual entity manipulation, and implementing proper plugin architecture.
Key changes:
- Refactored service architecture from synchronous to asynchronous pattern with timeout handling
- Added RViz2 panel integration with plugin export configuration
- Implemented interactive marker support for visual entity manipulation in 3D space
Reviewed Changes
Copilot reviewed 18 out of 19 changed files in this pull request and generated 9 comments.
Show a summary per file
| File | Description |
|---|---|
| src/vector_utils.hpp | New utility functions for converting between Qt strings and tf2::Vector3 |
| src/stringToKeys.h | Performance optimization changing std::map to std::unordered_map for lookups |
| src/standalone_main.cpp | New standalone application entry point with proper ROS node management |
| src/simulation_widget.hpp | Core widget header with service clients and interactive marker support |
| src/simulation_widget.cpp | Main widget implementation with async service calls and interactive markers |
| src/simulation_panel.cpp | RViz2 panel wrapper with automatic interactive marker display creation |
| src/service.h | Complete service architecture refactor with Expected pattern and async support |
| package.xml | Added RViz2 and plugin dependencies with proper export configuration |
| include/q_simulation_interfaces/simulation_panel.hpp | Public header for RViz2 panel class |
| CMakeLists.txt | Build system updates for library creation and plugin export |
Comments suppressed due to low confidence (1)
src/vector_utils.hpp:8
- [nitpick] Function name 'VectorToQstring' has inconsistent capitalization. It should be 'VectorToQString' to match Qt naming conventions.
inline QString VectorToQstring (const tf2::Vector3& v )
This commit introduces a new panel for simulation interfaces in RViz2, allowing users to interact with various simulation plugins. The changes include: - Addition of a new `SimulationInterfacesPanel` class. - Integration of the panel into the RViz2 interface. - Updates to the CMake build system to include the new panel. - New icons and configuration files for the panel. - Added standalone app. Signed-off-by: Michał Pełka <michal.pelka@robotec.ai>
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Co-authored-by: Copilot <175728472+Copilot@users.noreply.github.com>
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Signed-off-by: Michał Pełka <michal.pelka@robotec.ai>
Signed-off-by: Michał Pełka <michal.pelka@robotec.ai>
Signed-off-by: Michał Pełka <michal.pelka@robotec.ai>
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I built the code and tested it with ROS 2 Humble on Ubuntu 22.04.
It works as expected and I did not encounter any issues with the stability.
Few comments added to the review. The most important one is about a warning when building the package itself and the readme.
@norbertprokopiuk
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Most of my comments are just nitpicks or UI improvements (you can feel free to ignore it), but I cannot approve this PR without one important improvement. What I mean is customization of the services names. Currently those names are hard-coded but standard does not define names for services. It would be nice to allow user to change called service name without need to recompile the package. ROS 2 parameters probably would work here.
Signed-off-by: Michał Pełka <michal.pelka@robotec.ai>
Signed-off-by: Michał Pełka <michal.pelka@robotec.ai>
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@michalpelka What about changing services names without recompiling? Is it going to be added here or it is gonna be added as an issue for later?
@norbertprokopiuk create an issue with proposition how to do that.
norbertprokopiuk
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Aug 21, 2025
Issue for services names adjustment #3
@norbertprokopiuk
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You missed setting angle to degrees in line 454 in simulation_widget.cpp
Also right now, ui doesn't allow to set angle higher than 99.999. It doesn't allow more than two digits before .
Signed-off-by: Michał Pełka <michal.pelka@robotec.ai>
This commit introduces a new panel for simulation interfaces in RViz2, allowing users to interact with various simulation plugins. The changes include:
SimulationInterfacesPanelclass.