ros-utility-board-interface 2.0.0__tar.gz

ros_utility_board_interface-2.0.0/LICENSE

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+MIT License
+
+Copyright (c) 2026 Ali Pahlevani
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in all
+copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+SOFTWARE.

ros_utility_board_interface-2.0.0/MANIFEST.in

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+include README.md
+include LICENSE
+include package.xml
+include rubi_rules.yaml
+include requirements.txt
+include RELEASING.md
+include rubi.py
+include resource/ros_utility_board_interface

ros_utility_board_interface-2.0.0/PKG-INFO

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+Metadata-Version: 2.4
+Name: ros_utility_board_interface
+Version: 2.0.0
+Summary: RUBI - ROS Utility Board Interface: a lightweight single-window ROS 2 control board.
+Home-page: https://github.com/ali-pahlevani/ROS_Utility_Board_Interface
+Author: Ali Pahlevani
+Author-email: a.pahlevani1998@gmail.com
+Maintainer: Ali Pahlevani
+Maintainer-email: a.pahlevani1998@gmail.com
+License: MIT
+Project-URL: Source, https://github.com/ali-pahlevani/ROS_Utility_Board_Interface
+Project-URL: Website, https://www.SLAMbotics.org
+Keywords: ros2 ros monitoring introspection robotics dashboard qos rosbag
+Classifier: Development Status :: 4 - Beta
+Classifier: Intended Audience :: Developers
+Classifier: License :: OSI Approved :: MIT License
+Classifier: Programming Language :: Python :: 3
+Classifier: Topic :: Scientific/Engineering
+Requires-Python: >=3.8
+Description-Content-Type: text/markdown
+License-File: LICENSE
+Requires-Dist: setuptools
+Requires-Dist: dearpygui
+Requires-Dist: pyyaml
+Requires-Dist: psutil
+Dynamic: author
+Dynamic: author-email
+Dynamic: classifier
+Dynamic: description
+Dynamic: description-content-type
+Dynamic: home-page
+Dynamic: keywords
+Dynamic: license
+Dynamic: license-file
+Dynamic: maintainer
+Dynamic: maintainer-email
+Dynamic: project-url
+Dynamic: requires-dist
+Dynamic: requires-python
+Dynamic: summary
+
+# RUBI (ROS_Utility_Board_Interface) (V2)
+**RUBI v2**: A single-window ROS 2 *control board* — not just a monitor:
+- **Live topic rates/bandwidth/delays**   |   **QoS mismatch detection**   |   **Health watchdog**
+- **Message inspection**   |   **Live plotting**   |   **Logs**   |   **Parameters**   |   **TF health**   |   **Exports**
+- **Lifecycle control**   |   **Service/Action caller**   |   **Rosbag record/play**   |   **Graph snapshot/diff** 
+
+![RUBI Banner](https://github.com/user-attachments/assets/429bd575-41b3-4508-8a38-fa521a028bad)
+
+
+### What is RUBI?
+
+**RUBI** gives you a single, clean window to understand *and operate* your ROS 2 robot at a glance — no web server, no heavy stack. Runs fast even on embedded systems.
+
+### Features
+
+**Observe**
+- **Realtime monitoring** — topic rates, delays, and a per-topic **rate sparkline** (trend) updated continuously
+- **Live bandwidth** — per-topic throughput in human-readable B/s, like `ros2 topic bw` but for everything at once
+- **QoS mismatch detector** — shows each topic's QoS and flags incompatible publisher/subscriber pairs (reliability & durability) right in the table — the #1 cause of silent "no data"
+- **Health watchdog** — expected `min_hz` / `max_hz` / `max_delay` per topic (YAML + glob patterns) → instant ✓/✗ status and an alert banner
+- **Message inspector** — peek the latest message of any topic as YAML (with a *live* toggle)
+- **Live plotter** — select a topic, drill into its numeric fields (including array elements like `position[0]` for `/joint_states`), and plot them live vs time; overlay multiple signals with legend, pan/zoom, scrolling window and auto-Y
+- **/rosout log pane** — severity-filtered, color-coded, searchable
+- **Node process metrics** — best-effort PID / CPU% / memory per node (psutil)
+- **TF health** — frame tree (child → parent), per-frame rate, and **stale-transform** detection
+- **Lifecycle states** — detects lifecycle nodes and shows their current state
+
+**Operate**
+- **Parameter browser & live edit** — pick a node, choose a parameter from a dropdown, and set it (the value box shows the expected type)
+- **Lifecycle control** — trigger configure / activate / deactivate / cleanup / shutdown
+- **Service & Action caller** — pick any service/action from a dropdown; its request/goal form is pre-filled from the type, edit and call
+- **Rosbag** — record, play (rate/loop), and inspect bags (`ros2 bag info`); recordings are saved under `Bag/`
+
+**Analyze & share**
+- **Graph snapshot & diff** — capture the graph and diff later to catch intermittent nodes/topics
+- **Export** — topic table to CSV / Markdown, or the node graph to Graphviz `.dot` (saved under `CSV/`, `MD/`, `DOT/`)
+- **Multi-domain** — switch `ROS_DOMAIN_ID` from the header (relaunches on the chosen domain)
+
+**Polish**
+- Flicker-free tables (in-place updates, preserved scroll), 60 FPS, clean dark theme, global search, freeze mode.
+
+### Requirements
+
+- **ROS 2 Humble or Jazzy**, installed and **sourced**. RUBI uses `rclpy` and
+  ROS interface packages that come from your ROS install — they are *not* on
+  PyPI, so ROS 2 must be present and sourced however you run RUBI.
+- Python 3.8+ and three non-ROS Python packages: `dearpygui`, `pyyaml`, `psutil`.
+
+```bash
+source /opt/ros/humble/setup.bash        # or: source /opt/ros/jazzy/setup.bash
+pip install dearpygui pyyaml psutil
+```
+
+### Installation
+
+**Option A — run directly (quickest):**
+```bash
+git clone https://github.com/ali-pahlevani/ROS_Utility_Board_Interface.git
+cd ROS_Utility_Board_Interface
+python3 rubi.py                       # or: python3 rubi.py --rules rubi_rules.yaml --domain 0
+```
+
+**Option B — colcon (recommended for ROS users; enables `ros2 run`):**
+```bash
+mkdir -p ~/ros2_ws/src && cd ~/ros2_ws/src
+git clone https://github.com/ali-pahlevani/ROS_Utility_Board_Interface.git
+cd ~/ros2_ws && colcon build --packages-select ros_utility_board_interface
+source install/setup.bash
+ros2 run ros_utility_board_interface rubi
+```
+
+**Option C — pip (adds a `rubi` command):**
+```bash
+pip install ros-utility-board-interface   # from PyPI
+# or, from a clone for development:
+#   git clone https://github.com/ali-pahlevani/ROS_Utility_Board_Interface.git
+#   cd ROS_Utility_Board_Interface && pip install .
+rubi                                       # run inside a shell where ROS 2 is sourced
+```
+
+> However you install it (pip, PyPI, or colcon), ROS 2 must still be sourced at
+> runtime — `rclpy` is provided by ROS, not pip.
+
+### Outputs
+
+RUBI writes into folders next to where it runs: exports under `CSV/`, `MD/`,
+`DOT/`, and rosbag recordings under `Bag/`.
+
+### Health watchdog rules
+
+Create a `rubi_rules.yaml` (a sample ships with the repo):
+
+```yaml
+topics:
+  "/scan":              { min_hz: 8, max_hz: 12 }
+  "/odom":              { min_hz: 20, max_delay: 0.1 }
+  "/camera/*/image_raw": { min_hz: 25 }   # glob patterns supported
+```
+
+Topics outside their bounds turn **✗ FAIL** (red) in the Health column, with a running count in the status bar. Topics without a rule simply show `—`.
+
+I’d **love collaborations**! Contribute via pull requests on *GitHub* for bug fixes, new features, or documentation improvements. Reach out via *GitHub Issues* for questions, suggestions, or partnership ideas.
+
+### Contributing
+
+Contributions are welcome! To contribute:
+
+1. Fork the repository.
+2. Create a branch (`git checkout -b feature/your-feature`).
+3. Commit changes (`git commit -m "Add your feature"`).
+4. Push to the branch (`git push origin feature/your-feature`).
+5. Open a pull request.
+
+---
+
++ Questions? Reach out: **a.pahlevani1998@gmail.com**
++ LinkedIn: **https://www.linkedin.com/in/ali-pahlevani/**

ros_utility_board_interface-2.0.0/README.md

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+# RUBI (ROS_Utility_Board_Interface) (V2)
+**RUBI v2**: A single-window ROS 2 *control board* — not just a monitor:
+- **Live topic rates/bandwidth/delays**   |   **QoS mismatch detection**   |   **Health watchdog**
+- **Message inspection**   |   **Live plotting**   |   **Logs**   |   **Parameters**   |   **TF health**   |   **Exports**
+- **Lifecycle control**   |   **Service/Action caller**   |   **Rosbag record/play**   |   **Graph snapshot/diff** 
+
+![RUBI Banner](https://github.com/user-attachments/assets/429bd575-41b3-4508-8a38-fa521a028bad)
+
+
+### What is RUBI?
+
+**RUBI** gives you a single, clean window to understand *and operate* your ROS 2 robot at a glance — no web server, no heavy stack. Runs fast even on embedded systems.
+
+### Features
+
+**Observe**
+- **Realtime monitoring** — topic rates, delays, and a per-topic **rate sparkline** (trend) updated continuously
+- **Live bandwidth** — per-topic throughput in human-readable B/s, like `ros2 topic bw` but for everything at once
+- **QoS mismatch detector** — shows each topic's QoS and flags incompatible publisher/subscriber pairs (reliability & durability) right in the table — the #1 cause of silent "no data"
+- **Health watchdog** — expected `min_hz` / `max_hz` / `max_delay` per topic (YAML + glob patterns) → instant ✓/✗ status and an alert banner
+- **Message inspector** — peek the latest message of any topic as YAML (with a *live* toggle)
+- **Live plotter** — select a topic, drill into its numeric fields (including array elements like `position[0]` for `/joint_states`), and plot them live vs time; overlay multiple signals with legend, pan/zoom, scrolling window and auto-Y
+- **/rosout log pane** — severity-filtered, color-coded, searchable
+- **Node process metrics** — best-effort PID / CPU% / memory per node (psutil)
+- **TF health** — frame tree (child → parent), per-frame rate, and **stale-transform** detection
+- **Lifecycle states** — detects lifecycle nodes and shows their current state
+
+**Operate**
+- **Parameter browser & live edit** — pick a node, choose a parameter from a dropdown, and set it (the value box shows the expected type)
+- **Lifecycle control** — trigger configure / activate / deactivate / cleanup / shutdown
+- **Service & Action caller** — pick any service/action from a dropdown; its request/goal form is pre-filled from the type, edit and call
+- **Rosbag** — record, play (rate/loop), and inspect bags (`ros2 bag info`); recordings are saved under `Bag/`
+
+**Analyze & share**
+- **Graph snapshot & diff** — capture the graph and diff later to catch intermittent nodes/topics
+- **Export** — topic table to CSV / Markdown, or the node graph to Graphviz `.dot` (saved under `CSV/`, `MD/`, `DOT/`)
+- **Multi-domain** — switch `ROS_DOMAIN_ID` from the header (relaunches on the chosen domain)
+
+**Polish**
+- Flicker-free tables (in-place updates, preserved scroll), 60 FPS, clean dark theme, global search, freeze mode.
+
+### Requirements
+
+- **ROS 2 Humble or Jazzy**, installed and **sourced**. RUBI uses `rclpy` and
+  ROS interface packages that come from your ROS install — they are *not* on
+  PyPI, so ROS 2 must be present and sourced however you run RUBI.
+- Python 3.8+ and three non-ROS Python packages: `dearpygui`, `pyyaml`, `psutil`.
+
+```bash
+source /opt/ros/humble/setup.bash        # or: source /opt/ros/jazzy/setup.bash
+pip install dearpygui pyyaml psutil
+```
+
+### Installation
+
+**Option A — run directly (quickest):**
+```bash
+git clone https://github.com/ali-pahlevani/ROS_Utility_Board_Interface.git
+cd ROS_Utility_Board_Interface
+python3 rubi.py                       # or: python3 rubi.py --rules rubi_rules.yaml --domain 0
+```
+
+**Option B — colcon (recommended for ROS users; enables `ros2 run`):**
+```bash
+mkdir -p ~/ros2_ws/src && cd ~/ros2_ws/src
+git clone https://github.com/ali-pahlevani/ROS_Utility_Board_Interface.git
+cd ~/ros2_ws && colcon build --packages-select ros_utility_board_interface
+source install/setup.bash
+ros2 run ros_utility_board_interface rubi
+```
+
+**Option C — pip (adds a `rubi` command):**
+```bash
+pip install ros-utility-board-interface   # from PyPI
+# or, from a clone for development:
+#   git clone https://github.com/ali-pahlevani/ROS_Utility_Board_Interface.git
+#   cd ROS_Utility_Board_Interface && pip install .
+rubi                                       # run inside a shell where ROS 2 is sourced
+```
+
+> However you install it (pip, PyPI, or colcon), ROS 2 must still be sourced at
+> runtime — `rclpy` is provided by ROS, not pip.
+
+### Outputs
+
+RUBI writes into folders next to where it runs: exports under `CSV/`, `MD/`,
+`DOT/`, and rosbag recordings under `Bag/`.
+
+### Health watchdog rules
+
+Create a `rubi_rules.yaml` (a sample ships with the repo):
+
+```yaml
+topics:
+  "/scan":              { min_hz: 8, max_hz: 12 }
+  "/odom":              { min_hz: 20, max_delay: 0.1 }
+  "/camera/*/image_raw": { min_hz: 25 }   # glob patterns supported
+```
+
+Topics outside their bounds turn **✗ FAIL** (red) in the Health column, with a running count in the status bar. Topics without a rule simply show `—`.
+
+I’d **love collaborations**! Contribute via pull requests on *GitHub* for bug fixes, new features, or documentation improvements. Reach out via *GitHub Issues* for questions, suggestions, or partnership ideas.
+
+### Contributing
+
+Contributions are welcome! To contribute:
+
+1. Fork the repository.
+2. Create a branch (`git checkout -b feature/your-feature`).
+3. Commit changes (`git commit -m "Add your feature"`).
+4. Push to the branch (`git push origin feature/your-feature`).
+5. Open a pull request.
+
+---
+
++ Questions? Reach out: **a.pahlevani1998@gmail.com**
++ LinkedIn: **https://www.linkedin.com/in/ali-pahlevani/**

ros_utility_board_interface-2.0.0/RELEASING.md

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+# Releasing RUBI
+
+RUBI can be distributed two ways. Both are independent — you can do either or
+both.
+
+| Target | Users install with | Effort | Resolves ROS deps |
+|--------|--------------------|--------|-------------------|
+| **PyPI** (pip)  | `pip install <name>` | low | ❌ (ROS must already be sourced) |
+| **ROS index** (apt) | `sudo apt install ros-<distro>-ros-utility-board-interface` | higher | ✅ via rosdep |
+
+> Reminder: `rclpy` and the ROS message/service packages are **not** on PyPI.
+> However RUBI is installed, ROS 2 (Humble or Jazzy) must be installed and
+> sourced at runtime.
+
+---
+
+## 0. Before any release
+
+1. **Bump the version in both files so they match** (single source of truth is
+   manual today):
+   - `setup.py` → `version='X.Y.Z'`
+   - `package.xml` → `<version>X.Y.Z</version>`
+2. Commit, then tag:
+   ```bash
+   git commit -am "Release X.Y.Z"
+   git tag X.Y.Z
+   git push && git push --tags
+   ```
+3. Sanity-check the build artifacts are clean (no stray `CSV/ MD/ DOT/ Bag/`
+   folders — they are git-ignored).
+
+---
+
+## 1. PyPI (pip install)
+
+Lets anyone run `pip install <name>` (they still need ROS 2 sourced to *run* it).
+
+```bash
+pip install build twine
+
+# Build sdist + wheel into dist/
+python3 -m build
+
+# Validate metadata renders on PyPI
+twine check dist/*
+
+# (optional) dry-run on TestPyPI first
+twine upload --repository testpypi dist/*
+
+# Publish for real
+twine upload dist/*
+```
+
+Notes:
+- You need a **PyPI account** and an **API token** (store it in `~/.pypirc` or
+  pass `-u __token__ -p pypi-...`).
+- **Pick a free, valid name.** `setup.py` currently uses
+  `ros_utility_board_interface` → normalized to
+  `ros-utility-board-interface` on PyPI. Check availability at
+  <https://pypi.org/project/ros-utility-board-interface/>. If taken, change
+  `name=` in `setup.py` (e.g. `rubi-ros2`) and rebuild.
+- A version can only be uploaded **once** — bump the version to re-upload.
+
+---
+
+## 2. ROS index / apt (via bloom)
+
+Gets RUBI into the official ROS 2 index so the build farm produces
+`ros-humble-...` / `ros-jazzy-...` Debian packages and `ros2 run` works out of
+the box. This is the idiomatic path for a ROS tool, but it is reviewed by the
+rosdistro maintainers and has stricter requirements.
+
+### One-time prerequisites
+- Public source repo with a **release tag** matching `package.xml` (step 0).
+- A **CHANGELOG.rst** per package (bloom can scaffold it):
+  ```bash
+  pip install bloom            # or: sudo apt install python3-bloom
+  catkin_generate_changelog --all   # creates/updates CHANGELOG.rst
+  # edit CHANGELOG.rst, then commit
+  ```
+- **Every `<depend>` in `package.xml` must have a valid rosdep key.** RUBI's
+  ROS deps (`rclpy`, `rcl_interfaces`, `lifecycle_msgs`, `tf2_msgs`,
+  `rosidl_runtime_py`, `ros2bag`, `python3-yaml`, `python3-psutil`) already
+  resolve. **`dearpygui` does not have a rosdep key** — for an official apt
+  release you must either:
+  1. add a rosdep key for it (PR to `ros/rosdistro` → `rosdep/python.yaml`), or
+  2. keep it as a documented `pip install dearpygui` step and not list it as a
+     `<depend>`.
+
+### Release
+```bash
+# First release on a distro creates a "track" and a release repository.
+bloom-release --new-track --rosdistro humble --track humble ros_utility_board_interface
+# Subsequent releases:
+bloom-release --rosdistro humble --track humble ros_utility_board_interface
+# Repeat for jazzy:
+bloom-release --rosdistro jazzy --track jazzy ros_utility_board_interface
+```
+
+`bloom-release` will:
+1. ask for a **release repository** (e.g. a GitHub repo named
+   `ros_utility_board_interface-release`),
+2. generate the Debian/`rosdistro` metadata, and
+3. open a **pull request to `ros/rosdistro`**.
+
+After that PR is merged, the ROS build farm builds the binaries (can take a
+day or two), and users can:
+```bash
+sudo apt update
+sudo apt install ros-humble-ros-utility-board-interface
+ros2 run ros_utility_board_interface rubi
+```
+
+### Don't want the official index?
+You can host your **own apt repo** (build debs locally with
+`bloom-generate rosdebian` + `fakeroot debian/rules binary`, then serve with
+`reprepro`/`aptly`). More maintenance, full control.
+
+---
+
+## Recommended path
+
+- **Today, zero extra infra:** colcon from source (`README` Option B) — already
+  works.
+- **Quick wide reach:** publish to **PyPI** (section 1).
+- **Best long-term for a ROS tool:** **bloom → apt** (section 2), ideally after
+  sorting the `dearpygui` rosdep key.

ros_utility_board_interface-2.0.0/package.xml

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+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>ros_utility_board_interface</name>
+  <version>2.0.0</version>
+  <description>RUBI - a lightweight single-window ROS 2 control board: live topic
+    rates, bandwidth, delays, QoS mismatch detection, health watchdog, message
+    inspector, /rosout logs, parameters, lifecycle control, TF health,
+    service/action caller, bag recording, graph snapshot/diff and exports.</description>
+
+  <maintainer email="a.pahlevani1998@gmail.com">Ali Pahlevani</maintainer>
+  <license>MIT</license>
+  <url type="website">https://www.SLAMbotics.org</url>
+  <url type="repository">https://github.com/ali-pahlevani/ROS_Utility_Board_Interface</url>
+
+  <exec_depend>rclpy</exec_depend>
+  <exec_depend>rcl_interfaces</exec_depend>
+  <exec_depend>lifecycle_msgs</exec_depend>
+  <exec_depend>tf2_msgs</exec_depend>
+  <exec_depend>rosidl_runtime_py</exec_depend>
+  <exec_depend>ros2bag</exec_depend>
+  <exec_depend>python3-yaml</exec_depend>
+  <exec_depend>python3-psutil</exec_depend>
+  <!-- dearpygui has no rosdep key: install with `pip install dearpygui` -->
+
+  <test_depend>ament_copyright</test_depend>
+  <test_depend>ament_flake8</test_depend>
+  <test_depend>ament_pep257</test_depend>
+  <test_depend>python3-pytest</test_depend>
+
+  <export>
+    <build_type>ament_python</build_type>
+  </export>
+</package>

ros_utility_board_interface-2.0.0/pyproject.toml

@@ -0,0 +1,7 @@
+# Build-system declaration so `python -m build` / pip produce clean
+# sdists and wheels for PyPI. Project metadata still lives in setup.py
+# (kept as the single source of truth, which the ROS 2 ament_python /
+# colcon build also reads directly).
+[build-system]
+requires = ["setuptools>=61.0", "wheel"]
+build-backend = "setuptools.build_meta"

ros_utility_board_interface-2.0.0/requirements.txt

@@ -0,0 +1,3 @@
+dearpygui>=1.10
+pyyaml>=5.0
+psutil>=5.0

ros_utility_board_interface-2.0.0/ros_utility_board_interface/__init__.py

@@ -0,0 +1,3 @@
+"""RUBI - ROS Utility Board Interface."""
+
+__version__ = '2.0.0'

ros_utility_board_interface-2.0.0/ros_utility_board_interface/__main__.py

@@ -0,0 +1,6 @@
+"""Enables `python -m ros_utility_board_interface`."""
+
+from .app import main
+
+if __name__ == '__main__':
+    main()