rqt_reconfigure Can no longer easily use checkboxes as push buttons

[chadrockey]

In the old dynamic_reconfigure gui, it was possible to send 'clocked' data by changing values, then clicking on a boolean. The problem within rqt_reconfigure is that the update of the boolean state doesn't update properly. The callback looked like this:

callback(config):
   if(config.bool):
       accept new values and do something
       sleep(0.1 second)
   config.bool = false
   return config

This would let you push the button to trigger an event. In the past, I've used this for writing values to flash for microcontrollers among other things.

This would be useful for ros/geometry#25

The specific problem is that we'd like to set a quaternion, but since quaternions are normalized and the values depend on each other, you get an invalid quaternion while setting the other values. Adding a push_button for 'accept_quaternion' would fix this.

[ablasdel]

My familiarity with this one is limited. @130s Can you give an opinion on this?

[ablasdel]

It seems strange to me that we are using check boxes as push buttons in the first place and this doesn't seem as if it was intended behavior. Which is probably why it was accidentally broken. I can get a chance to chat with the designers I will know more. @130s @zklapow

[130s]

Although I wasn't aware about this feature in the old reconfigure gui, I'm ok to label this ticket to bug, which I just did (following the tacit rule for rx-rqt conversion, which is to realize all features that are available in old version, to minimize long-lived users' inconvenience).

[130s]

Chad, did old dynamic reconfigure gui have a special checkbox to allow you
to send "clocked" data? Or did you just use a checkbox for normal param for
that purpose?

Either way, as I understand more your usecase and the nature of the plugin,
I began to think this is a request for adding a special button (/
checkbox??) for delaying data synchronization. Looking at a few discussions
in geometry, looks like it's in need (for calculating quaternion), and the
feature goes along with dyn reconf gui.

Also, if any way I can replicate / mock the environment you're running
that'll be great (eg. a pointer to the packages that contain .cfg and
server nodes). I don't always have an access to robots that use Parameter
server.

Isao Isaac Saito from Android

[bgromov]

Isaac, there is a pending pull request ros/geometry#25 that adds dynamic reconfigure for statit_transform_publisher. The use_quaternion checkbox there is used as a push-button. So no hardware is needed to replicate the problem.

[chadrockey]

I woke up to make you a special gift, @130s

Here's a gist with a minimal sample that should show the problem:
https://gist.github.com/chadrockey/6278266

[130s]

@bgromov I get this error when I try to build your code and thus can't run your dynamic reconf server. Can you help me out (I opened a ticket on my repo since your repo doesn't take an issue)?

[130s]

@chadrockey thanks for a nightcap! That doesn't look like simulating Quaternion situation, but I see the checkbox so that I can test my code and I added it to my test dynamic_reconfigure server package 130s/test_dynamic_reconfigure@779e5f7 (since I was lazy in writing header file, I converted it into python).

[aleeper]

bump
+1 for this being a useful (or even, important) use case.

[dirk-thomas]

The original maintainer is not actively working in this.

And due to the many ticket pending for this plugin it has been marked to be experimental (https://github.com/ros-visualization/rqt_common_plugins/blob/groovy-devel/rqt_reconfigure/plugin.xml#L12).

Please consider to provide pull requests and/or take over the maintainer role for this plugin.

[130s]

I'm the original maintainer and haven't had extra gear for this...Please
consider making patch as suggested. Thanks.

[chadrockey]

@dirk-thomas @tfoote @wjwwood @130s

dynamic_reconfigure and reconfigure_gui were some of the friendlier and important ROS packages. In my option, the order of usefulness was ros_comm -> rviz -> tf -> dynamic_reconfigure. With the old wx version removed, there's essentially no way to reliably use dynamic_reconfigure other than loading the wx version from a fuerte environment.

In the past, we attempted to solicit a maintainer from ros-users. It may be time to ask for volunteers again. I don't have experience in qt and don't have time with the startup life to look into this currently. Other options could be an OSRF code sprint or if OSRF has the resources, an internship/sponsorship/Summer of Code/contract to HiDoF/others to patch things up. Are there any other options? Of course I'll volunteer to test fixes and work toward restoring this functionality.

---

In other news wxWidgets just released version 3.0 and because it's newer I propose we move all rqt_gui components to wx 3.0. </ sarcasm> </ nowayever>
https://groups.google.com/forum/#!msg/wx-announce/Ngt-fa-8Rkc/26GQ9zXgQxgJ

[130s]

I JUST started looking at this issue last night. I'm willing to work on
this if up to 2 weeks (due to my upcoming workload in my work) is
acceptable. Sorry for inconvenience anyway.

[cottsay]

Pull Request #210:

• Should fix your problem
• Is in testing and has not been merged yet

Please comment on the pull request when you have tested for your issue.

[130s]

I'm seeing that flushing with use_quaternion boolean checkbox works on rqt_reconfigure with the steps mentioned here. I'm comparing with fuerte version of reconfigure_gui and both seem to behave the same in terms of the functionality in question.

(I'm using commits in the pull request from @cottsay.)

Question; I think the result above relies only on the enhancement in geometry. Is this behaviour required for a general boolean checkbox that doesn't come with the special background logic like use_quaternion?

[cottsay]

Fixed via d3da5e0