Rebase from 'release/humble/rig_reconfigure'

Author: ottojo

.github/workflows/ci.yml

@@ -1,11 +1,11 @@
 name: Build
 
-on: push
+on: [push, pull_request]
 
 jobs:
   build:
     runs-on: ubuntu-22.04
-    container: ros:iron
+    container: ros:jazzy
     steps:
       - name: Check out repository code
         uses: actions/checkout@v3

CHANGELOG.rst

@@ -2,6 +2,14 @@
 Changelog for package rig_reconfigure
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+1.6.0 (2025-05-03)
+------------------
+* fix wrong bounds on one-sided numeric parameter bounds (`#46 <https://github.com/teamspatzenhirn/rig_reconfigure/pull/46>`_)
+* fix errors when exiting rig via sigint (`#45 <https://github.com/teamspatzenhirn/rig_reconfigure/pull/45>`_)
+* Add support for parameter ranges and disabling readonly parameters. (`#42 <https://github.com/teamspatzenhirn/rig_reconfigure/pull/42>`)
+* Fix parameter input widget widths (`#41 <https://github.com/teamspatzenhirn/rig_reconfigure/pull/41>`_)
+* Contributors: Dominik, Jonas Otto, Marc Alban
+
 1.5.0 (2024-07-20)
 ------------------
 * create config directory if it doesnt exist (`#40 <https://github.com/teamspatzenhirn/rig_reconfigure/issues/40>`_)

CMakeLists.txt

@@ -6,6 +6,7 @@ set(CMAKE_CXX_STANDARD 20)
 # find dependencies
 find_package(ament_cmake REQUIRED)
 find_package(rclcpp REQUIRED)
+find_package(backward_ros QUIET)
 
 # Download imgui
 include(FetchContent)

README.md

@@ -30,7 +30,7 @@ The following features are not implemented yet, but would be nice to have. PRs a
 - feedback about the success of modifying parameters 
   (intended: directly behind the parameters, e.g. using spinners / checkmarks)
 - support for array parameters
-- consideration of limits specified in the [parameter description](https://docs.ros2.org/galactic/api/rcl_interfaces/msg/ParameterDescriptor.html)
+- support for one-sided value bounds specified in the [parameter description](https://docs.ros2.org/galactic/api/rcl_interfaces/msg/ParameterDescriptor.html)
 
 ## Known Issues
 

debian/changelog.em

@@ -12,6 +12,9 @@
 #include <memory>
 #include <optional>
 #include <utility>
+
+#include <rcl_interfaces/msg/parameter_descriptor.hpp>
+
 #include "responses.hpp"
 
 /**
@@ -22,16 +25,19 @@ struct TreeElement {
     TreeElement(const ROSParameter &parameter_, std::string fullParameterPath_,
                 std::optional<std::size_t> patternStart_ = std::nullopt,
                 std::optional<std::size_t> patternEnd_ = std::nullopt) :
-        name(parameter_.name), fullPath(std::move(fullParameterPath_)), value(parameter_.value),
+        name(parameter_.name), description(parameter_.description), 
+        fullPath(std::move(fullParameterPath_)), value(parameter_.value),
         searchPatternStart(patternStart_), searchPatternEnd(patternEnd_) {};
 
-    TreeElement(std::string name_, std::string fullParameterPath_, ROSParameterVariant value_,
+    TreeElement(std::string name_, const rcl_interfaces::msg::ParameterDescriptor &description_, 
+                std::string fullParameterPath_, ROSParameterVariant value_,
                 std::optional<std::size_t> patternStart_ = std::nullopt,
                 std::optional<std::size_t> patternEnd_ = std::nullopt) :
-        name(std::move(name_)), fullPath(std::move(fullParameterPath_)), value(std::move(value_)),
-        searchPatternStart(patternStart_), searchPatternEnd(patternEnd_) {};
+        name(std::move(name_)), description(description_), fullPath(std::move(fullParameterPath_)),
+        value(std::move(value_)), searchPatternStart(patternStart_), searchPatternEnd(patternEnd_) {};
 
     std::string name; // parameter name without prefixes
+    rcl_interfaces::msg::ParameterDescriptor description;
 
     // in addition to the name we store the full path of the parameter in the leaf nodes of the tree in order to be
     // able to support the mixing of different separators

debian/compat.em

@@ -12,11 +12,15 @@
 #include <utility>
 #include <vector>
 #include <string>
+
+#include <rcl_interfaces/msg/parameter_descriptor.hpp>
+
 #include "ros_parameter.hpp"
 
 struct Request {
     enum class Type {
-        TERMINATE, QUERY_NODE_NAMES, QUERY_NODE_PARAMETERS, QUERY_PARAMETER_VALUES, MODIFY_PARAMETER_VALUE
+        TERMINATE, QUERY_NODE_NAMES, QUERY_NODE_PARAMETERS, QUERY_PARAMETER_DESCRIPTIONS, 
+        QUERY_PARAMETER_VALUES, MODIFY_PARAMETER_VALUE
     };
 
     explicit Request(Type type_) : type(type_) {};
@@ -28,7 +32,18 @@ struct Request {
 using RequestPtr = std::shared_ptr<Request>;
 
 struct ParameterValueRequest : Request {
-    explicit ParameterValueRequest(const std::vector<std::string> &parameterNames_) : Request(Type::QUERY_PARAMETER_VALUES), parameterNames(parameterNames_) {};
+    explicit ParameterValueRequest(
+        const std::vector<std::string> &parameterNames_, 
+        const std::vector<rcl_interfaces::msg::ParameterDescriptor> &parameterDescriptors_) 
+            : Request(Type::QUERY_PARAMETER_VALUES), parameterNames(parameterNames_),
+              parameterDescriptors(parameterDescriptors_) {};
+
+    std::vector<std::string> parameterNames;
+    std::vector<rcl_interfaces::msg::ParameterDescriptor> parameterDescriptors;
+};
+
+struct ParameterDescriptionRequest : Request {
+    explicit ParameterDescriptionRequest(const std::vector<std::string> &parameterNames_) : Request(Type::QUERY_PARAMETER_DESCRIPTIONS), parameterNames(parameterNames_) {};
 
     std::vector<std::string> parameterNames;
 };

debian/control.em

@@ -12,13 +12,20 @@
 #include <string>
 #include <variant>
 
+#include <rcl_interfaces/msg/parameter_descriptor.hpp>
+
 // TODO: add arrays
 using ROSParameterVariant = std::variant<bool, int, double, std::string>;
 
 struct ROSParameter {
     ROSParameter(std::string name_, ROSParameterVariant value_) :
         name(std::move(name_)), value(std::move(value_)) {};
 
+    ROSParameter(rcl_interfaces::msg::ParameterDescriptor description_, ROSParameterVariant value_) :
+        description(std::move(description_)), name(description.name), value(std::move(value_)) {};
+
+
+    rcl_interfaces::msg::ParameterDescriptor description;
     std::string name;
     ROSParameterVariant value;
 };

debian/copyright.em

@@ -78,14 +78,17 @@ class ServiceWrapper {
 
     // clients for calling the different services
     rclcpp::Client<rcl_interfaces::srv::ListParameters>::SharedPtr listParametersClient;
+    rclcpp::Client<rcl_interfaces::srv::DescribeParameters>::SharedPtr describeParametersClient;
     rclcpp::Client<rcl_interfaces::srv::GetParameters>::SharedPtr getParametersClient;
     rclcpp::Client<rcl_interfaces::srv::SetParameters>::SharedPtr setParametersClient;
 
     // callbacks for the results of the futures
     void nodeParametersReceived(const rclcpp::Client<rcl_interfaces::srv::ListParameters>::SharedFuture &future,
                                 const std::shared_ptr<FutureTimeoutContainer> &timeoutContainer);
+    void parameterDescriptionsReceived(const rclcpp::Client<rcl_interfaces::srv::DescribeParameters>::SharedFuture &future,
+                                       const std::shared_ptr<FutureTimeoutContainer> &timeoutContainer);
     void parameterValuesReceived(const rclcpp::Client<rcl_interfaces::srv::GetParameters>::SharedFuture &future,
-                                 const std::vector<std::string> &parameterNames,
+                                 const std::vector<rcl_interfaces::msg::ParameterDescriptor> &parameterDescriptors,
                                  const std::shared_ptr<FutureTimeoutContainer> &timeoutContainer);
     void parameterModificationResponseReceived(const rclcpp::Client<rcl_interfaces::srv::SetParameters>::SharedFuture &future,
                                                const std::string &parameterName,

debian/gbp.conf.em

@@ -14,6 +14,7 @@
 #include <filesystem>
 
 #include <GLFW/glfw3.h> // will drag system OpenGL headers
+#include <rcl_interfaces/msg/parameter_descriptor.hpp>
 
 struct Status {
     enum class Type { NONE, NO_NODES_AVAILABLE, PARAMETER_CHANGED, SERVICE_TIMEOUT };
@@ -44,6 +45,59 @@ void highlightedText(const std::string &text, std::size_t start, std::size_t end
 bool highlightedSelectableText(const std::string &text, std::size_t start, std::size_t end,
                                const ImVec4 &highlightColor);
 
+std::string getFormatStringFromStep(double step, int max_digits = 10);
+
+/**
+ * Checks if a given parameter has a range that is effectively bounded on both sides.
+ *
+ * @param param Parameter description.
+ */
+bool hasBoundedRange(const rcl_interfaces::msg::ParameterDescriptor& param);
+
+/**
+ * Checks if two double values are equal to within a specified tolerance.
+ *
+ * @param x   First value.
+ * @param y   Second value.
+ * @param ulp Maximum number of representable numbers between x and y.
+ */
+bool areDoublesEqual(double x, double y, double ulp = 100.0);
+
+/**
+ * Snaps and clamps a double value to a given range and step.
+ *
+ * Note: The value is snapped to the nearest integer number of steps from the 'from_value'
+ *       or clamped to the 'to_value'.
+ *
+ *       The magnitude of the 'step' is used and the sign is ignored.
+ *
+ *       If 'step' == 0 or if 'from_value' is == double::lowest(), the range is considered
+ *       continuous.
+ *
+ * @param value      Input value.
+ * @param from_value Range minimum.
+ * @param to_value   Range maximum.
+ * @param step       Step size.
+ */
+double snapToDoubleRange(double value, double from_value, double to_value, double step);
+
+/**
+ * Snaps and clamps an integer value to a given range and step.
+ *
+ * Note: The value is snapped to the nearest integer number of steps from the 'from_value'
+ *       or clamped to the 'to_value'.
+ *
+ *       The magnitude of 'step' is used and the sign is ignored.
+ *
+ *       If 'step' == 0, the step size is considered 1.
+ *
+ * @param value      Input value.
+ * @param from_value Range minimum.
+ * @param to_value   Range maximum.
+ * @param step       Step size.
+ */
+int64_t snapToIntegerRange(int64_t value, int64_t from_value, int64_t to_value, uint64_t step);
+
 /**
  * Searches for the resource directory.
  * @param execPath Executable path.

debian/rules.em

@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
     <name>rig_reconfigure</name>
-    <version>1.5.0</version>
+    <version>1.6.0</version>
     <description>Standalone GUI tool for editing node parameters at runtime.</description>
     <maintainer email="[email protected]">Team Spatzenhirn</maintainer>
     <maintainer email="[email protected]">Jonas Otto</maintainer>
@@ -14,6 +14,7 @@
     <depend>libglfw3-dev</depend>
     <depend>rclcpp</depend>
     <depend>ament_index_cpp</depend>
+    <depend>backward_ros</depend>
 
     <export>
         <build_type>ament_cmake</build_type>

debian/source/format.em

@@ -53,7 +53,8 @@ void ParameterTree::add(const std::shared_ptr<ParameterGroup> &curNode, const Tr
         curNode->subgroups.emplace_back(nextNode);
     }
 
-    add(nextNode, TreeElement(remainingName, parameter.fullPath, parameter.value));
+    add(nextNode, TreeElement(remainingName, parameter.description, parameter.fullPath, 
+                              parameter.value));
 }
 
 std::shared_ptr<ParameterGroup> ParameterTree::getRoot() {