ros2 run rqt rqt No Executable Found

[sloretz]

C:\Users\IEUser>ros2 run rqt rqt
No executable found

rqt works fine, but ros2 run rqt rqt does not. For that to work, the executable needs to be installed twice like rviz does

https://github.com/ros2/rviz/blob/7b4ba855b5803ef8b77b7732889c8b1b6e43532b/rviz2/CMakeLists.txt#L82-L83

I don't know how to do that with a setup.py. Most ROS 2 packages use the setup.cfg to change the install location, but it's not obvious to me how to duplicate that.

rqt/rqt_gui/setup.py

Line 41 in 302a2ea

'rqt = rqt_gui.main:main',

[Voldivh]

After taking a closer look, I just noticed that the correct command we have to use is ros2 run rqt_gui rqt_gui and we get the exact same behavior as when we only run the entry point rqt. I'm not sure if this is the expected behavior, I think it does because on the package rqt we don't have any executable or UI or anything, it is basically description for the package.

[Voldivh]

Let me know what you think @clalancette @sloretz @Yadunund

[clalancette]

After taking a closer look, I just noticed that the correct command we have to use is ros2 run rqt_gui rqt_gui and we get the exact same behavior as when we only run the entry point rqt. I'm not sure if this is the expected behavior, I think it does because on the package rqt we don't have any executable or UI or anything, it is basically description for the package.

If I take a look at https://github.com/ros-visualization/rqt/blob/95d3d6e4335ad93244fb4063ce2fa2fe9e80e532/rqt_gui/setup.py, then I see two things:

    data_files=[
        ('share/' + package_name + '/resource', [
            'resource/rqt.graffle',
            'resource/rqt.png',
            'resource/rqt.svg',
        ]),
        ('share/ament_index/resource_index/packages',
            ['resource/' + package_name]),
        ('share/' + package_name, ['package.xml']),
        ('lib/' + package_name, ['bin/rqt_gui'])
    ],

and

    entry_points={
        'console_scripts': [
            'rqt = rqt_gui.main:main',
        ],
    },

What I think is happening here is that the rqt binary that we can run is getting installed by the console_scripts, and the ros2 run rqt_gui rqt_gui that we can run is getting installed as one of the data_files.

What I think we should do here is to fix it so that we can run either rqt or ros2 run rqt_gui rqt. To do that, I suggest the following:

1. Add in a setup.cfg file to this package that is exactly the same as the one e.g. in https://github.com/ros2/geometry2/blob/rolling/tf2_tools/setup.cfg . That means that when we go to install the rqt entry point, we'll install it to lib (so we'll find that entry point when doing ros2 run rqt_gui rqt).
2. Edit the data_files installation so that we install bin/rqt into bin/rqt. That means that we'll still be able to run just a plain rqt.
3. Update https://github.com/audrow/yatm/blob/a4164cd6dfcf5c85ad2a258e9d304671f2a7404d/requirements/features-executable.yaml#L513 to say ros2 run rqt_gui rqt.fix an exception raised while press ctrl+c to exit #291

@Voldivh Does that make sense? Can you work on that update?

[Voldivh]

@Voldivh Does that make sense? Can you work on that update?

Yes, I think it all makes sense. I'll start working on it.