WEBVTT 00:00.110 --> 00:05.570 There is a great tool in Ross named acuity, which you can use for introspection and also to interact 00:05.570 --> 00:08.210 with lots of things inside your Ross application. 00:08.210 --> 00:14.540 Very basically put, this is similar to the Ross two command line functionalities, but this time using 00:14.540 --> 00:17.990 a graphical user interface and how to start an RCT. 00:18.020 --> 00:24.830 Well, you just open a terminal and you type RCT, and we have a basic window here. 00:24.830 --> 00:30.650 And you see, well, there's going to be a lot of plugins you see for introspection, for configurations 00:30.650 --> 00:34.700 of parameters, for logging, for to test services and topics. 00:34.700 --> 00:36.650 Well, there's a lot of things. 00:36.650 --> 00:44.090 But what's going to be interesting for us now is inside the introspection we have node graph okay. 00:44.090 --> 00:47.390 So that's also called RCT graph. 00:47.390 --> 00:50.840 And to start this directly well I'm going to close here. 00:50.840 --> 00:54.170 You can do RCT graph like that okay. 00:54.200 --> 00:56.120 So that's something we're going to use quite often. 00:57.350 --> 00:58.610 So I start RCT graph. 00:58.610 --> 01:04.400 And well for now this is empty because that's going to represent the graph of all the nodes that are 01:04.400 --> 01:06.590 running inside our application. 01:06.590 --> 01:09.770 So let's start a node Ros2. 01:09.920 --> 01:14.320 Run my pip pkg PG and by node. 01:15.820 --> 01:16.300 Okay. 01:16.330 --> 01:22.300 And I probably need to source that terminal because I have just used the Simulink install. 01:22.330 --> 01:27.970 As you can see, I have used the Simulink install before, but I haven't sourced the terminal yet, 01:27.970 --> 01:30.940 so then it should work. 01:31.270 --> 01:33.910 Okay, so that's the node running here. 01:33.910 --> 01:39.490 And if I do actigraph again and well, there's nothing I can refresh the view. 01:39.490 --> 01:41.260 And you see we have our node. 01:41.260 --> 01:45.280 So for now it's just one node like that by test. 01:46.270 --> 01:55.210 Now let's run I'm just gonna run another node for example that one the CP node. 01:56.200 --> 01:56.620 Okay. 01:56.620 --> 01:59.860 And let's go back to activity graph I refresh. 01:59.860 --> 02:02.980 And you see we have CP test and pi test. 02:02.980 --> 02:06.190 So we have all of the nodes and this node communication. 02:06.190 --> 02:08.200 But we're going to see the communications later on. 02:08.230 --> 02:08.590 Okay. 02:08.620 --> 02:14.500 So that's how you can also see the nodes that are running with a graphical view. 02:14.530 --> 02:19.930 What you can do here also is let's uncheck debug okay. 02:19.960 --> 02:21.370 And you can see for example. 02:21.370 --> 02:24.100 So we have the two nodes we have started. 02:24.100 --> 02:29.190 And then we have this joy pie node. 02:29.190 --> 02:32.820 So that is the RCT window here. 02:32.820 --> 02:36.600 So the RCT window is a node by itself okay. 02:36.630 --> 02:39.450 And then we have a ros2 command line daemon okay. 02:39.480 --> 02:46.050 So those are usually hidden because they are part of the kind of debugging part of your application. 02:46.080 --> 02:49.830 But you can uncheck this and see all of the debugging things. 02:49.830 --> 02:53.640 And we have arrows here that points to Ros out. 02:53.640 --> 02:54.960 And this is a topic. 02:54.960 --> 02:57.360 So we're going to see that on the topic section. 02:57.360 --> 03:00.780 So those nodes are publishing data to a topic. 03:00.780 --> 03:04.200 And you can easily visualize that with RCT graph. 03:04.530 --> 03:05.100 All right. 03:05.100 --> 03:07.920 So I'm going to check debug again. 03:08.100 --> 03:11.250 And for now we have just those two nodes. 03:12.000 --> 03:13.140 Now I'm going to stop. 03:13.140 --> 03:15.330 So you can stop everything with Ctrl C. 03:15.660 --> 03:22.200 And to recap RCT graph can be very useful when you want to know what's going on in your Ros2 graph. 03:22.200 --> 03:25.110 In your application, you will get a global overview. 03:25.140 --> 03:28.320 That's basically the same thing you will see in the command line. 03:28.320 --> 03:33.300 But here you will get a global graphical overview and you can easily spot mistakes. 03:33.300 --> 03:36.870 We will come back to act graph multiple times in this course.