ros-tviewer
ROS 2 카메라 토픽을 터미널에서 재생하는 CLI 뷰어.
sensor_msgs/msg/Image 및 sensor_msgs/msg/CompressedImage 토픽을
tcamviewer의 Half-Block TrueColor(24-bit ANSI) 렌더러로
터미널에 실시간(30~60+ FPS) 재생한다.
uv run ros-tviewer play /camera/image_raw
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요구 사항
| 항목 | 설명 |
|---|---|
| OS | Linux |
| Python | 3.12 (ROS 2 Jazzy ABI 매칭) |
| ROS 2 | Jazzy/Humble (rclpy는 시스템 ROS에서 로드 — pip 설치 불가) |
| 빌드 도구 | cmake, FFmpeg dev 라이브러리 (libavcodec-dev 등) — tcamviewer sdist 빌드용 |
| 터미널 | TrueColor 지원 (echo $COLORTERM → truecolor/24bit) |
시작하기
설치
# uv tool (권장)
uv tool install ros-tviewer
# 또는 pipx / pip
pipx install ros-tviewer
pip install ros-tviewer
PyPI 배포 전 개발 트리에서는 저장소 클론 후 실행한다:
개발 트리에서 실행
uv sync
# 1) 광고 중인 카메라 토픽 확인
uv run ros-tviewer topics
# 2) 재생 (ROS 환경 미 source 시 자동 감지·재실행)
source /opt/ros/jazzy/setup.bash # 권장 — 미실행 시 자동 부트스트랩이 시도됨
uv run ros-tviewer play /camera/image_raw
# 옵션 예시
uv run ros-tviewer play /camera/image_raw/compressed --fps 30 --rotate 90 --stretch
uv run ros-tviewer play /camera/image_raw --frames 100 # 100 프레임 렌더 후 종료 (테스트/데모)
uv run ros-tviewer config # 현재 설정 출력
uv run ros-tviewer version # 앱·의존성·런타임 리포트
q/Ctrl+C로 종료 (터미널 상태 자동 복구).--compressed미지정 시 토픽 타입을 자동 감지한다.- 설정 우선순위: CLI 플래그 >
.env>config.toml> 기본값.
E2E 테스트
uv run pytest # 단위 테스트 (ROS 미설치 환경에서도 실행 가능, ROS 테스트는 skip)
bash tests/e2e.sh # 더미 퍼블리셔 → play 60프레임 데모
uv run pytest tests/test_ros2_e2e.py -v # 실제 rclpy 구독 + 렌더 E2E
구성
| 모듈 | 책임 |
|---|---|
main.py |
wpycli 커맨드 (play/topics/config), 플래그·설정 파싱 |
ros_env.py |
rclpy 부트스트랩 (시스템 ROS 탐지 → sys.path 주입 → re-exec) |
node.py |
구독(QoS sensor_data), 최신 메시지 유지(drop), FPS 스로틀, 렌더 직전 변환 루프 |
convert.py |
Image/CompressedImage → RGB24 numpy (numpy/opencv만 사용, cv_bridge 없이) |
개발
- 아키텍처·TDD 규칙·컨벤션: AGENTS.md — 코드 변경 전 필독.
- 린트:
uv run ruff check . - 타입 체크:
uvx pyright --project . - 테스트:
uv run pytest
기여 및 보안
- 기여 방법: CONTRIBUTING.md
- 취약점 보고: SECURITY.md — 공개 이슈로 보고하지 마세요.
- 변경 이력: CHANGELOG.md
- 라이선스: MIT
1 maintainer
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