RQml is your modern, QML-based robotics debugging, introspection and control toolbox for ROS 2! 🚀

It provides a flexible, plugin-based architecture that empowers you to create your own custom plugins and control interfaces to inspect and debug your robotics applications, leveraging the full power of Qt 6 and QML. ✨

Built with KDAB’s KDDockWidgets, RQml offers a highly customizable docking interface, letting you arrange your workspace exactly how you like it. 🎨

Support

You can support RQml by developing awesome plugins as described in PLUGIN_DEVELOPMENT.md.
Alternatively, donations are always welcome :)

✨ Features

• 🔗 ROS 2 Integration: Seamlessly connects with the ROS 2 ecosystem using the QML6 ROS2 Plugin.
• 🖥️ Modern UI: Built on Qt 6 and QML for fluid, high-performance user interfaces.
• 🧩 Plugin System: Extensible architecture for easily adding new tools and widgets.
• 🪟 Docking Interface: Flexible layout management with KDDockWidgets.
• 🧰 Default Plugins: Comes with a suite of essential tools for robotics development.

🎬 Demo Video

https://github.com/user-attachments/assets/dc21676b-ed8f-4aa1-accd-fd5f4f7adeb0

📦 Installation

The easiest way to get started is to install RQml directly from the ROS buildfarm! (Coming soon)

sudo apt install ros-<distro>-rqml

(Replace <distro> with your ROS 2 distribution, e.g., humble, jazzy)

Alternatively, see Building from Source

🚀 Usage

Ready to go? Launch the application with a single command:

rqml

📐 Managing Layouts

RQml allows you to save and load your workspace configurations. Arrange your plugins to your heart’s content and save the layout to restore it later! 💾

[!NOTE] Use Ctrl+Shift+S to save your current config to one of the directories configured in the settings. Use Ctrl+R to quickly load one of your recently opened configurations or Ctrl+O to open a configuration from your config directories.

🔌 Default Plugins

The rqml_default_plugins package includes these awesome tools:

• ActionCaller: Interface for calling ROS 2 Actions.
• Console: A log viewer for ROS 2 messages.
• ControllerManager: Manage and switch ROS 2 controllers.
• ControllerManagerStatistics: Inspect statistics from ROS 2 controllers.
• ImageView: View camera streams and images.
• JointTrajectoryController: Interface for sending joint trajectory commands.
• MessagePublisher: Publish custom ROS 2 messages.
• MoveItController: Execute robot motions via MoveIt.
• ParameterEditor: Discover, view, and dynamically reconfigure ROS 2 node parameters.
• RobotSteering: Teleoperation tool for mobile robots.
• ServiceCaller: Interface for calling ROS 2 Services.
• TfTreeViewer: Visualize and search the TF frame tree.
• TopicMonitor: Monitor topic activity and bandwidth.

🧩 Creating your own plugin

See PLUGIN_DEVELOPMENT.md on how to create a new plugin. You can use the rqml_plugin_example as template.

🛠️ Building from Source

If you want to contribute or need the absolute latest changes, you can build from source:

1. Create a ROS 2 workspace (if you haven’t already):

   mkdir -p ~/ros2_ws/src
   cd ~/ros2_ws/src
   

1. Clone the repository:

   git clone https://github.com/StefanFabian/qml6_ros2_plugin.git -b $ROS_DISTRO
   git clone https://github.com/StefanFabian/rqml.git
   

This clones both this repository and the main dependency QML6 ROS2 Plugin.

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