5.4.32. Building RQt from source¶
We’ve provided our development setup here to aid future users in easily extending RQt by creating their own plugins.
We encourage you to contribute those plugins back to the ros-visualization
GitHub repository!
5.4.32.1. System Requirements¶
These instructions are written for the target platforms for Crystal Clemmys (see REP).
Ubuntu Bionic Beaver 18.04 64-bit
Mac OSX Sierra 10.12.x
Windows 10 with Visual Studio 2017
5.4.32.1.1. Other Requirements¶
In ROS 2 Crystal the minimum Qt version is
Qt5
5.4.32.2. Building From Source¶
In order to build RQt from source, first create a ROS 2 workspace at ~/ros2_ws/
.
This is step is already covered in building ROS 2 from source instructions, so we skip it here.
5.4.32.2.1. Download RQt Repositories¶
cd ~/ros2_ws
vcs import --force --input https://raw.githubusercontent.com/PickNikRobotics/rqt2_setup/master/rqt2.repos src
As an alternative to the hosted .repos
file you can use rosinstall_generator
to generate a custom one:
rosinstall_generator --rosdistro crystal --upstream-development --repos python_qt_binding qt_gui_core rqt <more-repos-with-rqt-plugins> > rqt2.repos
vcs import --force src < rqt2.repos
5.4.32.2.2. Install Dependencies¶
For non-Linux platforms, see the macOS RQt source install page or the Windows 10 RQt source install page before continuing here.
rosdep install --from-paths src --ignore-src --rosdistro bouncy -y --skip-keys "console_bridge fastcdr fastrtps rti-connext-dds-6.0.1 urdfdom_headers"
5.4.32.2.3. Build The Workspace¶
Generally building a workspace is as simple as:
colcon build
For Windows, it is recommended to use the --merge-install
option.
colcon build --merge-install
Advanced Colcon usages:
Show verbose output on the console:
colcon build –event-handlers console_direct+
Only build one package and its dependencies:
colcon build –packages-up-to rqt_shell
5.4.32.2.4. Source your environment¶
Linux or macOS
. install/local_setup.bash
Windows
call install/local_setup.bat
5.4.32.3. Using RQt¶
See Overview of RQt.