Since ROS Fuerte, the rx applications or tools have been deprecated, so we should use the rqt nodes instead. They are basically the same, and only a few of them incorporate small updates, bug fixes, and new features. The following table shows the equivalences for the tools shown in this chapter (the ROS Kinetic rqt tool and the one it replaces from previous ROS distributions):
|
ROS Kinetic rqt tool |
Replaces (ROS Fuerte or before) |
|
rqt_console and rqt_logger_level |
rxconsole |
|
rqt_graph |
rxgraph |
|
rqt_reconfigurerqt_reconfigure |
dynamic_reconfigurereconfigure_gui |
|
rqt_plot |
rxplot |
|
rqt_image_view |
image_view |
|
rqt_bag |
rxbag |
In ROS Kinetic, there are even more standalone plugins, such as a shell (rqt_shell), a topic publisher (rqt_publisher), a message type viewer (rqt_msg), and many more (the most important ones have been covered in this chapter). Even rqt_viz is a plugin, which replaces rviz, which can also be integrated into the new rqt_gui interface. We can run this GUI and add and arrange several plugins manually on the window, as it has been seen in several examples in this chapter:
$ rosrun rqt_gui rqt_gui