Added spawner colours to list_controllers depending upon active or inactive

[soham2560]

This PR

Closes #687

• Made output for list_controllers coloured
  • Active controllers are highlighted with green active
  • Inactive controllers are highlighted with red cyan inactive
  • Unconfigured controllers are highlighted with yellow(warning) unconfigured

Screenshots

[christophfroehlich]

Thanks for the nice addon. Should we add other colors for unconfigured state? It is printed in red now, if it is in any other state than active?

[codecov]

Codecov Report

All modified and coverable lines are covered by tests ✅

Project coverage is 75.88%. Comparing base (786d5b5) to head (7be93b2).
Report is 20 commits behind head on master.

❗ Current head 7be93b2 differs from pull request most recent head 17463f6. Consider uploading reports for the commit 17463f6 to get more accurate results

Additional details and impacted files

@@             Coverage Diff             @@
##           master    #1409       +/-   ##
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+ Coverage   47.49%   75.88%   +28.38%     
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  Files          41       41               
  Lines        3556     3359      -197     
  Branches     1938     1935        -3     
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+ Hits         1689     2549      +860     
+ Misses        459      418       -41     
+ Partials     1408      392     -1016     

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see 32 files with indirect coverage changes

[soham2560]

I have changed the color scheme in 7be93b2 as suggested by @saikishor. Do let me know if there are any changes. However 2 points

• I wasn't able to test this with a controller in the unconfigured state as I couldn't find a way to set that state purposefully, if you know of a way do let me know, I will test for that too
• Current code also doesn't consider the finalized state, should I add that too?

[saikishor]

• I wasn't able to test this with a controller in the unconfigured state as I couldn't find a way to set that state purposefully, if you know of a way do let me know, I will test for that too

If you load a controller using load_controller service then it goes into unconfigured state

• Current code also doesn't consider the finalized state, should I add that too?

I think internally it is not linked to any controller state, so I belive it should be good

[christophfroehlich]

Fyi, you can use rqt_controller_manager to set the state of a controller easily.
Have a look at this color scheme here:

ros2_control/rqt_controller_manager/rqt_controller_manager/controller_manager.py

Lines 87 to 93 in c4affe4

	path = get_package_share_directory("rqt_controller_manager")
	self._icons = {
	"active": QIcon(f"{path}/resource/led_green.png"),
	"finalized": QIcon(f"{path}/resource/led_off.png"),
	"inactive": QIcon(f"{path}/resource/led_red.png"),
	"unconfigured": QIcon(f"{path}/resource/led_off.png"),
	}

maybe we can use the same colors there as you have implemented it now?

[fmauch]

I like the improvement!

[soham2560]

Thanks for the tips regarding the controller manager @saikishor @christophfroehlich! Was able to test with the unconfigured state as well, I've added the result in the PR description, do have a look.

maybe we can use the same colors there as you have implemented it now?

That sounds like a good idea, I can have a look at that if you want @christophfroehlich

[saikishor]

LGTM