[rqt_controller_manager] Add hardware components (#1455)

controller_manager/doc/userdoc.rst

@@ -184,6 +184,21 @@ There are two scripts to interact with controller manager from launch files:
       -c CONTROLLER_MANAGER, --controller-manager CONTROLLER_MANAGER
                             Name of the controller manager ROS node
 
+rqt_controller_manager
+----------------------
+A GUI tool to interact with the controller manager services to be able to switch the lifecycle states of the controllers as well as the hardware components.
+
+.. image:: images/rqt_controller_manager.png
+
+It can be launched independently using the following command or as rqt plugin.
+
+.. code-block:: console
+
+    ros2 run rqt_controller_manager rqt_controller_manager
+
+   * Double-click on a controller or hardware component to show the additional info.
+   * Right-click on a controller or hardware component to show a context menu with options for lifecycle management.
+
 Using the Controller Manager in a Process
 -----------------------------------------
 

rqt_controller_manager/package.xml

@@ -12,11 +12,12 @@
   <url type="bugtracker">https://github.com/ros-controls/ros2_control/issues</url>
   <url type="repository">https://github.com/ros-controls/ros2_control</url>
 
+  <author email="[email protected]">Adolfo Rodríguez Tsouroukdissian</author>
   <author email="[email protected]">Bence Magyar</author>
+  <author email="[email protected]">Christoph Froehlich</author>
   <author email="[email protected]">Enrique Fernandez</author>
-  <author email="[email protected]">Mathias Lüdtke</author>
   <author email="[email protected]">Kelsey Hawkins</author>
-  <author email="[email protected]">Adolfo Rodríguez Tsouroukdissian</author>
+  <author email="[email protected]">Mathias Lüdtke</author>
 
   <exec_depend>controller_manager</exec_depend>
   <exec_depend>controller_manager_msgs</exec_depend>

rqt_controller_manager/resource/controller_manager.ui

@@ -37,7 +37,7 @@
     <widget class="QComboBox" name="cm_combo"/>
    </item>
    <item>
-    <widget class="QTableView" name="table_view">
+    <widget class="QTableView" name="ctrl_table_view">
      <property name="sizePolicy">
       <sizepolicy hsizetype="Expanding" vsizetype="Expanding">
        <horstretch>0</horstretch>
@@ -70,6 +70,40 @@
      </attribute>
     </widget>
    </item>
+   <item>
+    <widget class="QTableView" name="hw_table_view">
+      <property name="sizePolicy">
+       <sizepolicy hsizetype="Expanding" vsizetype="Expanding">
+        <horstretch>0</horstretch>
+        <verstretch>0</verstretch>
+       </sizepolicy>
+      </property>
+      <property name="alternatingRowColors">
+       <bool>true</bool>
+      </property>
+      <property name="selectionMode">
+       <enum>QAbstractItemView::NoSelection</enum>
+      </property>
+      <property name="selectionBehavior">
+       <enum>QAbstractItemView::SelectRows</enum>
+      </property>
+      <property name="showGrid">
+       <bool>false</bool>
+      </property>
+      <property name="sortingEnabled">
+       <bool>false</bool>
+      </property>
+      <attribute name="horizontalHeaderCascadingSectionResizes">
+       <bool>false</bool>
+      </attribute>
+      <attribute name="horizontalHeaderStretchLastSection">
+       <bool>true</bool>
+      </attribute>
+      <attribute name="verticalHeaderVisible">
+       <bool>false</bool>
+      </attribute>
+     </widget>
+   </item>
   </layout>
  </widget>
  <resources/>

rqt_controller_manager/resource/controller_info.ui → rqt_controller_manager/resource/popup_info.ui

@@ -16,9 +16,6 @@
     <verstretch>0</verstretch>
    </sizepolicy>
   </property>
-  <property name="windowTitle">
-   <string>Controller Information</string>
-  </property>
   <layout class="QVBoxLayout" name="verticalLayout">
    <item>
     <layout class="QFormLayout" name="formLayout">