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18. ROS 2 RQt Toolbox

  • This tutorial folder contains demo animations that visually illustrate the process of implementing the examples in this section.

RQt Toolbox Overview

1. Introduction to RQt​

RQt is a modular visualization and debugging tool provided by ROS. Like RViz, it is built on the Qt framework. Before using it, you need to install it and then start it using the rqt command.

2. Installation​

  • In most cases, the RQt toolbox is installed by default when you install the ROS 2 desktop version.
  • If you installed a minimal version of ROS and RQt is missing, you can install it manually using:
sudo apt install ros-${ROS_DISTRO}-rqt*

3. Startup​

Common methods to start RQt include:

Method 1​

rqt

RQt Startup Method 1

Method 2​

ros2 run rqt_gui rqt_gui

RQt Startup Method 2

4. Plugin Usage​

After starting RQt, you can load different plugins through the Plugins menu.

RQt Plugin Menu

The plugin system includes tools for:

  • Topics\
  • Services\
  • Actions\
  • Parameters\
  • Logging

You can select plugins as needed to simplify debugging and system introspection. Example use cases are shown below.

4.1 Topic Plugin​

Add the Topic plugin and send speed commands to control the turtle's movement.

RQt Topic Plugin

4.2 Service Plugin​

Add the Service plugin and send a request to spawn a turtle at a specified location.

RQt Service Plugin

4.3 Parameter Plugin​

Use the Parameter plugin to dynamically change the background color of the turtle simulation window.

RQt Parameter Plugin

This documentation is maintained by HemiHex for ROS 2 visualization and debugging workflows.