ROS2 Multi-Tab Viewer & Publisher

A comprehensive PyQt6-based GUI application for visualizing ROS2 sensor data and publishing control commands.

Features

• Multi-Camera Image Viewer: Display up to 5 camera feeds simultaneously (supports both raw and compressed images)
• 3D PointCloud Visualization: Interactive 3D viewer with customizable rendering options
• Data Publishers: Send Twist commands, odometry data, and other ROS2 messages with joystick controls
• Real-time Topic Monitor: Live monitoring of ROS2 topics with auto-discovery
• Responsive UI: Fullscreen interface with organized tabs and real-time statistics

Setup

git clone https://github.com/iitbmartian/app.git
cd app

python -m venv venv
source venv/bin/activate

pip install -r requirements.txt

Run

source /opt/ros/jazzy/setup.bash # or zsh
python3 main.py

Requirements

• ROS2 Jazzy (or compatible distribution)
• Python 3.8+
• PyQt6
• OpenCV
• PyQtGraph
• NumPy

Usage

1. Launch the application to see available ROS2 topics
2. Use the Images tab to connect multiple camera feeds
3. View 3D point clouds in the PointCloud tab
4. Publish control commands from the Publishers tab
5. Monitor live data streams in the Monitor tab

The interface automatically discovers available topics and provides intuitive controls for connecting to different data streams.