├── README.md ├── fri └── LICENSE /README.md: -------------------------------------------------------------------------------- 1 | # fri - Fuzzy ROS2 Introspection 2 | 3 | This script is a wrapper around fzf to make it easier to use ROS2. 4 | 5 | ## Demo Video 6 | 7 | [![Demo Video](https://img.youtube.com/vi/S3CM47CnZ-0/mqdefault.jpg)](https://www.youtube.com/watch?v=S3CM47CnZ-0) 8 | 9 | ## Shortcuts 10 | 11 | | Key | Action | 12 | | ------------------ | --------------------------------------------------------------------- | 13 | | **Ctrl - a** | `ros2 node list` or `ros2 topic list` | 14 | | **Ctrl - r** | reload | 15 | | **Ctrl - e** | `ros2 topic echo --once ` or `ros2 service call ` | 16 | | **Ctrl - h** | `ros2 topic hz ` | 17 | | **Ctrl - i** | `ros2 topic info -v ` | 18 | | **Ctrl - b** | `ros2 topic bw ` | 19 | | **Ctrl - l** | `ros2 topic delay ` | 20 | | **Ctrl - t** | `ros2 interface show ` | 21 | | **Ctrl - y** | copy selection to clipboard* | 22 | | **Ctrl - v** | visualize topic* | 23 | 24 | ## Installation 25 | 26 | ### Dependencies 27 | 28 | * [ROS2](https://docs.ros.org/) (tested with Humble) 29 | * [fzf](https://github.com/junegunn/fzf) (command-line fuzzy finder) 30 | * [bat](https://github.com/sharkdp/bat) (A cat clone with wings) 31 | * [xclip](https://github.com/astrand/xclip) (*optional: copy selection to clipboard) 32 | * [rosshow](https://github.com/kiwicampus/rosshow) ([fork](https://github.com/xuyuan/rosshow)) (*optional: visualize topic) 33 | 34 | ### Install 35 | 36 | * download the [fri](./fri) script, make it executable and add it to your path 37 | 38 | ### Customization 39 | 40 | Themes can be customized by setting the following environment variables: 41 | 42 | ```bash 43 | FZF_DEFAULT_OPTS="--layout=reverse" 44 | BAT_THEME="Solarized (dark)" 45 | ``` -------------------------------------------------------------------------------- /fri: -------------------------------------------------------------------------------- 1 | #!/bin/bash 2 | 3 | ###################################################################### 4 | # fri - Fuzzy ROS2 Introspection 5 | # Version: 0.1.2 6 | # This script is a wrapper around fzf to make it easier to use ROS2. 7 | # License: Apache 2.0 8 | # Copyright (c) 2023-2024, Yuan Xu 9 | # Project: https://github.com/xuyuan/fri 10 | ###################################################################### 11 | 12 | THIS_SCRIPT="$0" 13 | POSITIONAL_ARGS=() 14 | USE_SIM_TIME="" 15 | 16 | function topic_info_by_node { 17 | if [ "$#" == "2" ] 18 | then 19 | echo $@ | awk -F: '{print $1}'| xargs $THIS_SCRIPT topic_info 20 | fi 21 | } 22 | 23 | function preview_topic_info_by_node { 24 | echo $@ | awk -F: '{print $1}'| xargs ros2 topic info -v | batcat -l=yaml --color=always --style=plain 25 | } 26 | 27 | function topic_echo { 28 | echo $@ | awk -F: '{print $1}'| xargs ros2 topic echo --once | batcat -l=yaml --color=always --style=plain 29 | } 30 | 31 | function node_info { 32 | ros2 node info $@ | batcat -l=yaml --color=always --style=plain | fzf --ansi --bind "enter:become($THIS_SCRIPT topic_info_by_node {}),ctrl-a:execute($THIS_SCRIPT node_list),ctrl-p:become($THIS_SCRIPT param_list {}),ctrl-s:execute($THIS_SCRIPT service_list),ctrl-y:execute-silent(xclip -selection clipboard {+1}),ctrl-e:preview($THIS_SCRIPT topic_echo {}),ctrl-h:preview(echo {} | awk -F: '{print \$1}' | xargs ros2 topic hz $USE_SIM_TIME),ctrl-i:preview($THIS_SCRIPT preview_topic_info_by_node {}),ctrl-b:preview(echo {} | awk -F: '{print \$1}' | xargs ros2 topic bw $USE_SIM_TIME),ctrl-l:preview(echo {} | awk -F: '{print \$1}' | xargs ros2 topic delay $USE_SIM_TIME),ctrl-t:preview(echo {} | awk -F: '{print \$1}' | xargs ros2 topic type | xargs ros2 interface show),ctrl-v:execute(echo {} | awk -F: '{print \$1}' | xargs $THIS_SCRIPT visualize)" --preview "$THIS_SCRIPT preview_topic_info_by_node {}" 33 | } 34 | 35 | function node_info_by_topic { 36 | if [ "$6" == "/" ] 37 | then 38 | $THIS_SCRIPT node_info "$6""$3" 39 | else 40 | $THIS_SCRIPT node_info "$6""/""$3" 41 | fi 42 | } 43 | 44 | function visualize { 45 | ros2 run rosshow rosshow $@ 2> /dev/null || ros2 topic echo $@ 46 | } 47 | 48 | function node_list { 49 | ros2 node list $USE_SIM_TIME | fzf --bind "enter:become($THIS_SCRIPT node_info {}),ctrl-a:execute($THIS_SCRIPT topic_list),ctrl-r:reload(ros2 node list),ctrl-p:become($THIS_SCRIPT param_list {}),ctrl-s:execute($THIS_SCRIPT service_list),ctrl-y:execute-silent(echo {} | xclip -selection clipboard)" --header 'ros2 node list:' --preview 'ros2 node info {} | batcat -l=yaml --color=always --style=plain' 50 | } 51 | 52 | function topic_info { 53 | ramtmp="$(mktemp -p /dev/shm/)" 54 | 55 | ros2 topic info -v $1 | batcat -l=yaml --color=always --style=plain >> $ramtmp 56 | 57 | perl -pe 'BEGIN{undef $/;} s/\n\n/\x0/g; s/\n$//g' $ramtmp | fzf --ansi --no-multi-line --bind "enter:become($THIS_SCRIPT node_info_by_topic {}),ctrl-a:execute($THIS_SCRIPT topic_list),ctrl-s:execute($THIS_SCRIPT service_list),ctrl-e:preview(ros2 topic echo --once $1 | batcat -l=yaml --color=always --style=plain),ctrl-h:preview(ros2 topic hz $USE_SIM_TIME $1),ctrl-i:preview($THIS_SCRIPT node_info_by_topic {}),ctrl-b:preview(ros2 topic bw $USE_SIM_TIME $1),ctrl-l:preview(ros2 topic delay $USE_SIM_TIME $1),ctrl-t:preview(ros2 topic type $1 | xargs ros2 interface show),ctrl-v:execute($THIS_SCRIPT visualize {})" --header "ros2 topic info $1:" --read0 --preview 'echo {} | batcat -l=yaml --color=always --style=plain' 58 | rm $ramtmp 59 | } 60 | 61 | function topic_list { 62 | ros2 topic list -t $USE_SIM_TIME | fzf --bind "enter:become($THIS_SCRIPT topic_info {+1}),ctrl-a:execute($THIS_SCRIPT node_list),ctrl-s:execute($THIS_SCRIPT service_list),ctrl-r:reload(ros2 topic list -v),ctrl-y:execute-silent(echo {+1} | xclip -selection clipboard),ctrl-e:preview(ros2 topic echo --once {+1} | batcat -l=yaml --color=always --style=plain),ctrl-h:preview(ros2 topic hz $USE_SIM_TIME {+1}),ctrl-i:preview(ros2 topic info -v {+1}),ctrl-b:preview(ros2 topic bw $USE_SIM_TIME {+1}),ctrl-l:preview(ros2 topic delay $USE_SIM_TIME {+1}),ctrl-t:preview(ros2 topic type {+1} | xargs ros2 interface show),ctrl-v:execute($THIS_SCRIPT visualize {+1})" --header 'ros2 topic list:' --preview 'ros2 topic info -v {+1} | batcat -l=yaml --color=always --style=plain' 63 | } 64 | 65 | function service_list { 66 | ros2 service list | fzf --bind "ctrl-a:execute($THIS_SCRIPT node_list),ctrl-r:reload(ros2 service list),ctrl-y:execute-silent(echo {} | xclip -selection clipboard)" \ 67 | --bind 'ctrl-e:preview(ros2 service type {} | xargs ros2 service call {})' \ 68 | --header 'ros2 service list:' --preview 'ros2 service type {} | batcat -l=yaml --color=always --style=plain' 69 | } 70 | 71 | function param_list { 72 | ros2 param list $1 | fzf --bind "ctrl-a:execute($THIS_SCRIPT node_list),ctrl-r:reload(ros2 param list $1),ctrl-y:execute-silent(echo {} | xclip -selection clipboard)" \ 73 | --bind "ctrl-e:execute($THIS_SCRIPT param_set $1 {})+preview(echo $1 {} | xargs ros2 param get | batcat -l=yaml --color=always --style=plain)" \ 74 | --header "ros2 param list $1:" --preview "echo $1 {} | xargs ros2 param get | batcat -l=yaml --color=always --style=plain" 75 | } 76 | 77 | function param_set { 78 | current_value="$(ros2 param get $1 $2 | cut -d ':' -f2 | xargs)" 79 | success=false 80 | while [ "$success" = false ] 81 | do 82 | read -e -p "ros2 param set $1 $2 " -i "$current_value" value 83 | ros2 param set $1 $2 "$value" | grep "success" && success=true 84 | done 85 | } 86 | 87 | function usage { 88 | if [ $# -gt 0 ] 89 | then 90 | echo "unknown usage: $@" 91 | fi 92 | echo "fri - Fuzzy ROS2 Introspection" 93 | echo "Usage: $THIS_SCRIPT [OPTION]... [COMMAND]..." 94 | echo "Options:" 95 | echo " -s, --use-sim-time use sim time for topic delay" 96 | echo " -h, --help display this help and exit" 97 | echo "Commands:" 98 | echo " node_list list nodes" 99 | echo " topic_list list topics" 100 | echo " service_list list services" 101 | echo " node_info show node info" 102 | echo " topic_info show topic info" 103 | echo "Shortcut keys:" 104 | echo " CTRL-a: ros2 node list or ros2 topic list" 105 | echo " CTRL-r: reload" 106 | echo " CTRL-y: copy selection to clipboard" 107 | echo " CTRL-e: ros2 topic echo --once or ros2 service call " 108 | echo " CTRL-h: ros2 topic hz " 109 | echo " CTRL-i: ros2 topic info -v or ros2 node info " 110 | echo " CTRL-b: ros2 topic bw " 111 | echo " CTRL-l: ros2 topic delay " 112 | echo " CTRL-t: ros2 topic type | xargs ros2 interface show" 113 | echo " CTRL-p: ros2 param list " 114 | echo " CTRL-v: visualize topic" 115 | echo "Visit https://github.com/xuyuan/fri for more information" 116 | } 117 | 118 | 119 | while [[ $# -gt 0 ]]; do 120 | case $1 in 121 | -s|--use-sim-time) 122 | USE_SIM_TIME="--use-sim-time" 123 | THIS_SCRIPT="$THIS_SCRIPT $USE_SIM_TIME" 124 | shift # past argument 125 | ;; 126 | -h|--help) 127 | usage 128 | exit 1 129 | ;; 130 | -*|--*) 131 | usage $1 132 | exit 1 133 | ;; 134 | *) 135 | POSITIONAL_ARGS+=("$1") # save positional arg 136 | shift # past argument 137 | ;; 138 | esac 139 | done 140 | 141 | 142 | if [ ${#POSITIONAL_ARGS[@]} -lt 1 ] 143 | then 144 | node_list 145 | elif [ ${#POSITIONAL_ARGS[@]} -lt 2 ] 146 | then 147 | case "${POSITIONAL_ARGS[0]}" in 148 | node_list) node_list;; 149 | topic_list) topic_list;; 150 | service_list) service_list;; 151 | *) usage ${POSITIONAL_ARGS[@]} ;; 152 | esac 153 | else 154 | case "${POSITIONAL_ARGS[0]}" in 155 | node_info) node_info ${POSITIONAL_ARGS[1]};; 156 | node_info_by_topic) node_info_by_topic ${POSITIONAL_ARGS[1]};; 157 | topic_info) topic_info ${POSITIONAL_ARGS[1]};; 158 | topic_info_by_node) topic_info_by_node ${POSITIONAL_ARGS[1]};; 159 | preview_topic_info_by_node) preview_topic_info_by_node ${POSITIONAL_ARGS[1]};; 160 | topic_echo) topic_echo ${POSITIONAL_ARGS[1]};; 161 | visualize) visualize ${POSITIONAL_ARGS[1]};; 162 | param_list) param_list ${POSITIONAL_ARGS[1]};; 163 | param_set) param_set ${POSITIONAL_ARGS[1]} ${POSITIONAL_ARGS[2]};; 164 | *) usage ${POSITIONAL_ARGS[@]} ;; 165 | esac 166 | fi 167 | -------------------------------------------------------------------------------- /LICENSE: -------------------------------------------------------------------------------- 1 | Apache License 2 | Version 2.0, January 2004 3 | http://www.apache.org/licenses/ 4 | 5 | TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION 6 | 7 | 1. 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