py_trees_ros_gl_viewer

Alternative to py_trees_ros_viewer, focused on high FPS for large trees. Not feature complete yet, but can display fairly large trees efficiently.

Tested on ROS2 Humble.

viewer-gl-demo.mp4

Dependencies:

pip install pyglet>=2.0.15

Use:

Create your ros2 node used by the tree with default_snapshot_stream:=true, this will make your tree publish updates on topic /<node_name>/snapshots by default.

node = rclpy.create_node("<node_name>", parameter_overrides=[
    rclpy.parameter.Parameter("default_snapshot_stream",
                                rclpy.parameter.Parameter.Type.BOOL, True),
    rclpy.parameter.Parameter("default_snapshot_period",
                                rclpy.parameter.Parameter.Type.DOUBLE, 1.0),
])

When running the viewer, use topic remapping to connect the viewer subscription to your tree node publisher.

ros2 run py_trees_ros_gl_viewer py-trees-ros-gl-viewer --ros-args -r /bt_node/snapshots:=/<node_name>/snapshots -p antialiasing:=false

Anti-aliasing only works well for me if I run on a computer with a graphics card.

Roadmap:

• Blackboard visualization
• Collapse sub trees
• More effient updates on tree changes
• ideas?