Skip to content

README.md

Latest commit

 

History

History
60 lines (42 loc) · 2.07 KB

README.md

File metadata and controls

60 lines (42 loc) · 2.07 KB

qt5ct_setup Ansible role

Overview

The qt5ct_setup Ansible role automates the configuration of the qt5ct environment for Autoware. It won't affect the system-wide configuration.

Installation

Follow the instructions below to install or update the custom theme for RViz2 in Autoware.

Important: Both commands must be run when you want to update the theme.

cd ~/autoware # The root directory of the cloned repository
ansible-galaxy collection install -f -r "ansible-galaxy-requirements.yaml"
ansible-playbook autoware.dev_env.install_dev_env --tags qt5ct_setup --ask-become-pass

How to use the custom theme in RViz2

To apply a custom theme to RViz2, you can use the qt5ct platform theme. Follow these steps to ensure that the QT_QPA_PLATFORMTHEME environment variable is set correctly for your RViz2 instance when used with Autoware.

Manual setup for running RViz2

Before running RViz2 manually, set the QT_QPA_PLATFORMTHEME environment variable to qt5ct. This ensures that the custom theme settings are applied.

export QT_QPA_PLATFORMTHEME=qt5ct

Then, start RViz2 as usual.

rviz2

Automatic setup in Autoware

In Autoware, the QT_QPA_PLATFORMTHEME environment variable is automatically set within the main autoware.launch.xml file. Therefore, you do not need to manually set this environment variable when launching Autoware.

In the autoware.launch.xml file, RViz2 is configured with the following <node> element:

<node
  pkg="rviz2"
  exec="rviz2"
  name="rviz2"
  output="screen"
  args="-d $(var rviz_config) -s $(find-pkg-share autoware_launch)/rviz/image/autoware.png"
  if="$(var rviz)"
  respawn="$(var rviz_respawn)">
  <env name="QT_QPA_PLATFORMTHEME" value="qt5ct"/>
</node>

This configuration automatically sets the QT_QPA_PLATFORMTHEME to qt5ct when RViz2 is launched as part of Autoware. It also includes additional options such as respawn behavior and custom RViz2 configurations.