chore: ignore rosbag recorder (#19)

* chore: ignore rosbag2_recorder * chore: organize default layout Signed-off-by: iwatake2222 <[email protected]> --------- Signed-off-by: iwatake2222 <[email protected]>
iwatake2222 · Dec 3, 2024 · 36047f7 · 36047f7
1 parent cbc7d7e
commit 36047f7
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Showing 5 changed files with 61 additions and 25 deletions.
diff --git a/setting.json b/setting.json
@@ -5,7 +5,8 @@
     "ignore_unconnected_nodes": true,
     "ignore_node_list": [
       "/node_name/to_be_ignored/in_regularexpression",
-      "/wild_card/is/.*"
+      "/wild_card/is/.*",
+      "/rosbag2_recorder"
     ],
     "ignore_topic_list": [
       "/topic_name/to_be_ignored/in_regularexpression",
@@ -17,37 +18,52 @@
   "group_setting": {
     "/sensing": {
       "direction": "horizontal",
-      "offset": [0.0, 1.0, 2.5, 2.0],
+      "offset": [0.0, 0.0, 2.5, 2.0],
       "color": [128, 0, 128]
     },
     "/localization": {
       "direction": "horizontal",
-      "offset": [0.0, 3.5, 2.5, 2.0],
+      "offset": [0.0, 2.5, 2.5, 2.0],
+      "color": [0, 0, 128]
+    },
+    "/map": {
+      "direction": "horizontal",
+      "offset": [0.0, 4.5, 1.0, 1.0],
       "color": [0, 0, 128]
     },
     "/perception": {
       "direction": "horizontal",
-      "offset": [3.0, 3.5, 4.0, 4.0],
+      "offset": [3.0, 0.0, 7.0, 3.0],
       "color": [0, 128, 0]
     },
     "/planning": {
       "direction": "horizontal",
-      "offset": [7.0, 0.0, 4.0, 4.0],
+      "offset": [3.0, 3.0, 4.0, 2.0],
       "color": [128, 128, 0]
     },
     "/control": {
       "direction": "horizontal",
-      "offset": [3.0, -0.8, 3.0, 1.5],
+      "offset": [8.0, 3.0, 3.0, 1.5],
       "color": [196, 64, 0]
     },
     "/system": {
       "direction": "horizontal",
-      "offset": [-0.5, -0.5, 1.0, 1.0],
+      "offset": [7.0, 6.0, 1.0, 5.0],
       "color": [64, 64, 128]
     },
+    "/adapi": {
+      "direction": "horizontal",
+      "offset": [8.0, 6.0, 1.0, 5.0],
+      "color": [0, 64, 64]
+    },
+    "/default_ad_api": {
+      "direction": "horizontal",
+      "offset": [9.0, 6.0, 1.0, 2.0],
+      "color": [0, 64, 64]
+    },
     "__others__": {
       "direction": "horizontal",
-      "offset": [0.5, -0.5, 1.0, 1.0],
+      "offset": [11.0, 6.0, 2.0, 5.0],
       "color": [16, 64, 96]
     }
   }

diff --git a/src/dear_ros_node_viewer/dot2networkx.py b/src/dear_ros_node_viewer/dot2networkx.py
@@ -37,6 +37,8 @@ def dot2networkx_nodeonly(graph_org: nx.classes.digraph.DiGraph,
       graph.add_node(label)
 
   for edge in graph_org.edges:
+    if 'label' not in graph_org.nodes[edge[0]] or 'label' not in graph_org.nodes[edge[1]] or 'label' not in graph_org.edges[edge]:
+      continue
     node_pub = graph_org.nodes[edge[0]]['label']
     node_sub = graph_org.nodes[edge[1]]['label']
     label = graph_org.edges[edge]['label']

diff --git a/src/dear_ros_node_viewer/graph_manager.py b/src/dear_ros_node_viewer/graph_manager.py
@@ -84,6 +84,11 @@ def filter_node(self):
     self.graph.remove_nodes_from(remove_node_list)
     logger.info('%s nodes are removed by filter', len(remove_node_list))
 
+    if self.app_setting['ignore_unconnected_nodes']:
+      isolated_node_list = list(nx.isolates(self.graph))
+      logger.info('%s nodes are removed due to isolated', len(isolated_node_list))
+      self.graph.remove_nodes_from(isolated_node_list)
+
   def filter_topic(self):
     """Remove topics which match filter setting"""
     remove_edge_list = []
@@ -97,11 +102,6 @@ def filter_topic(self):
     self.graph.remove_edges_from(remove_edge_list)
     logger.info('%s topics are removed by filter', len(remove_edge_list))
 
-    if self.app_setting['ignore_unconnected_nodes']:
-      isolated_node_list = list(nx.isolates(self.graph))
-      logger.info('%s nodes are removed due to isolated', len(isolated_node_list))
-      self.graph.remove_nodes_from(isolated_node_list)
-
   def clear_caret_path_dict(self):
     """ Clear CARET path dict """
     self.caret_path_dict.clear()

diff --git a/src/dear_ros_node_viewer/ros2networkx.py b/src/dear_ros_node_viewer/ros2networkx.py
@@ -60,28 +60,30 @@ def save_graph(self, filename: str = None) -> str:
     time.sleep(5)
     graph = Graph(self.node_)
     graph.set_node_stale(5.0)
+    logger.info('graph.update start')
     graph.update()
+    logger.info('graph.update done')
 
     dotcode_generator = RosGraphDotcodeGenerator(self.node_)
+    logger.info('generate_dotcode start')
     dotcode = dotcode_generator.generate_dotcode(
           rosgraphinst=graph,
-          ns_filter='',
+          ns_filter='-/rosbag2_recorder',
           topic_filter='',
           # graph_mode='node_topic',
           graph_mode='node_node',
-          hide_single_connection_topics=True,
+          hide_single_connection_topics=False,
           hide_dead_end_topics=True,
           cluster_namespaces_level=0,
           # accumulate_actions=accumulate_actions,
           dotcode_factory=PydotFactory(),
           # orientation=orientation,
           quiet=True,
           unreachable=True,
-          group_tf_nodes=True,
           hide_tf_nodes=True,
-          # group_image_nodes=group_image_nodes,
           hide_dynamic_reconfigure=True
           )
+    logger.info('generate_dotcode done')
 
     if filename:
       with open(filename, encoding='UTF8', mode='w') as dot_file:

diff --git a/src/dear_ros_node_viewer/setting.json b/src/dear_ros_node_viewer/setting.json
@@ -5,7 +5,8 @@
     "ignore_unconnected_nodes": true,
     "ignore_node_list": [
       "/node_name/to_be_ignored/in_regularexpression",
-      "/wild_card/is/.*"
+      "/wild_card/is/.*",
+      "/rosbag2_recorder"
     ],
     "ignore_topic_list": [
       "/topic_name/to_be_ignored/in_regularexpression",
@@ -17,37 +18,52 @@
   "group_setting": {
     "/sensing": {
       "direction": "horizontal",
-      "offset": [0.0, 1.0, 2.5, 2.0],
+      "offset": [0.0, 0.0, 2.5, 2.0],
       "color": [128, 0, 128]
     },
     "/localization": {
       "direction": "horizontal",
-      "offset": [0.0, 3.5, 2.5, 2.0],
+      "offset": [0.0, 2.5, 2.5, 2.0],
+      "color": [0, 0, 128]
+    },
+    "/map": {
+      "direction": "horizontal",
+      "offset": [0.0, 4.5, 1.0, 1.0],
       "color": [0, 0, 128]
     },
     "/perception": {
       "direction": "horizontal",
-      "offset": [3.0, 3.5, 4.0, 4.0],
+      "offset": [3.0, 0.0, 7.0, 3.0],
       "color": [0, 128, 0]
     },
     "/planning": {
       "direction": "horizontal",
-      "offset": [7.0, 0.0, 4.0, 4.0],
+      "offset": [3.0, 3.0, 4.0, 2.0],
       "color": [128, 128, 0]
     },
     "/control": {
       "direction": "horizontal",
-      "offset": [3.0, -0.8, 3.0, 1.5],
+      "offset": [8.0, 3.0, 3.0, 1.5],
       "color": [196, 64, 0]
     },
     "/system": {
       "direction": "horizontal",
-      "offset": [-0.5, -0.5, 1.0, 1.0],
+      "offset": [7.0, 6.0, 1.0, 5.0],
       "color": [64, 64, 128]
     },
+    "/adapi": {
+      "direction": "horizontal",
+      "offset": [8.0, 6.0, 1.0, 5.0],
+      "color": [0, 64, 64]
+    },
+    "/default_ad_api": {
+      "direction": "horizontal",
+      "offset": [9.0, 6.0, 1.0, 2.0],
+      "color": [0, 64, 64]
+    },
     "__others__": {
       "direction": "horizontal",
-      "offset": [0.5, -0.5, 1.0, 1.0],
+      "offset": [11.0, 6.0, 2.0, 5.0],
       "color": [16, 64, 96]
     }
   }