ROS provides several powerful GUI tools for system introspection. First of all, we will discuss rqt_top, which shows nodes and resources they are using, which is very similar to the top command in the Linux system. The following screenshot shows the rqt_top command for the program4 and program5 nodes running in the system:
Additionally, rqt_topic provides information about the topics, which includes publishers, subscribers, the publishing rate, and the messages being published. We can view the message fields and select the topic for introspection by using the following code:
$ rosrun rqt_topic rqt_topic
The following ...