Moni2

a ROS2/Python3/Qt5 monitoring tool

Requirements

• Python >= 3.6
• ROS2 foxy
• PyQt5

Build

• Native ROS2: create a workspace, include this package and run colcon build.
• Docker: Run the following command:

  $ cd [somepath]/moni2
  $ docker build -t moni2:latest .
  

Run

• Native ROS2:
  1. ros2 run moni2 moni2
  2. ros2 launch moni2 moni2.launch.py
• Docker:
  1. docker run -it --rm -v /tmp/.X11-unix:/tmp/.X11-unix -e DISPLAY=$DISPLAY -u qtuser moni2

Windows WSL 2

Prerequisites

1. Install Windows 10 WSL 2:

• You can install WSL 2 by following the documentation(Last visited 28-04-2022) for the default Linux distribution, which is Ubuntu.
• If the link doesn't work you can follow these instructions:

  • The Prerequisites to install WSL 2 is that you must be running windows 10 version 2004 (build 19041 and higher) or windows 11 (Windows logo key + R, type winver and select OK; You can update to latest version by Start → Settings → Windows Update).

  • Install WSL by running the following command in administrator PowerShell or Windows Command Prompt and then restarting your machine.

wsl --install

• This command will enable the required optional components, download the latest Linux kernel, set WSL 2 as your default, and install a Linux distribution for you (Ubuntu by default, see below to change this).
  • The first time you launch a newly installed Linux distribution, a console window will open and you'll be asked to wait for files to de-compress and be stored on your machine. All future launches should take less than a second.
  • The above command only works if WSL is not installed, if you run wsl --install and see the WSL help text, please try running wsl --list --online to see a list of availble distros and run swl --install -d <DistroName> to install a distro.

2. Install Docker Desktop Backend:

• Docker Desktop WSL 2 Backend can be installed by following this documentation(Last visited 28-04-2022). The prerequisites in the document should be followed and the WSL 2 support must be checked when asked during the installation.
• If the link doesn't work you can follow these instructions:
  • Prerequisites
    • Install Windows 10, version 1903 or higher or Windows 11.
    • Enable WSL 2 feature on Windows.
    • Download and install the Linux kernel update package.
  • Download Docker Desktop 2.3.0.2 or a later release.
  • Follow the usual installation instructions to install Docker Desktop. If you are running a supported system, Docker Desktop prompts you to enable WSL 2 during installation. Read the information displayed on the screen and enable WSL 2 to continue.
  • Start Docker Desktop from the Windows Start menu.
  • From the Docker menu, select Settings → General.
  • Select the Use WSL 2 based engine check box.
    • If you have installed Docker Desktop on a system that supports WSL 2, this option will be enabled by default.
  • Click Apply & Restart.
  • Ensure the distribution runs in WSL 2 mode. WSL can run distributions in both v1 or v2 mode.
    • To check the WSL mode, run: wsl.exe -l -v
    • To upgrade your existing Linux distro to v2, run: wsl.exe --set-version (distro name) 2
    • To set v2 as the default version for future installations, run: wsl.exe --set-default-version 2
  • When Docker Desktop restarts, go to Settings → Resources → WSL Integration.
    • The Docker-WSL integration will be enabled on your default WSL distribution. To change your default WSL distro, run wsl --set-default <distro name>.
  • Click Apply & Restart.

3. VcXsrv Windows X Server Installation and Configuration:

• The Windows X Server is required to be able to connect to the display. VcXsrv can be installed here(Last visited 28-04-2022). The configuration steps are similar to the steps given here(Last visited 28-04-2022).
• If the links to the steps given aren't working follow these instructions:
  • Run the Xlaunch and follow the images to set up the configuration:
  • Make sure to save the configuration file before you click finish. You can save it in one of the following locations:
    • %appdata%\Xming
    • %userprofile%\Desktop
    • %userprofile%

Build

• Clone the repository:
• Build the docker with the following command:

$ cd [somepath]/moni2
$ docker build -t moni2:latest .

Run

• WSL:
  1. Run VcXrsv server
  2. docker run -it --rm -e DISPLAY={YOUR_IP}:0.0 -u qtuser moni2
  3. To obtain the IP write 'ipconfig' in CMD.

Troubleshooting

• Windows:
• If standard_init_linux.go:190: exec user process caused "no such file or directory" try.
• Or else use git bash, and use:

dos2unix Dockerfile 
dos2unix entrypoint.sh

• Build again and see if it helps.
• If other problems are encountered please contact one of the developers.

How to use

The program will look similar to this when you run it:

Configuration

1. Create a new configuration (i.e. select which nodes to monitor):
   • Press File (in the menu) and then New
   • or press [ctrl]+[N]
     You will see a dialog similar to this:
2. Select nodes
   • "Online nodes" list contains all current online nodes.
     • these can be dragged to the "Selected node" list.
     • the list should automatically update every 3rd second.
   • "Selected node" list contains the nodes that will be monitored.
     • you can add nodes by dragging from the "Online nodes" or manually add nodes using the input field to the right.
     • you can drag nodes from the trash-can if you wish to delete them.
     • you can drag/drop nodes to reorder them.
3. Save configuration
   • You will be asked to save your configuration somewhere (it is .json).
4. Have fun!
5. Edit
   • You can edit your configuration:
     • Press File (in the menu) and then Edit
     • or press [ctrl]+[E]
6. See hidden nodes

• Press File, Settings

Settings

To open settings:

• Press File (in the menu) and then Settings
• or press [ctrl][alt]+[S]