ROS2——Win10上的rqt_graph无法正常运行

1 问题描述

这几天在学习ROS2时，发现Win10上的rqt_graph无法正常运行，

在打开turtlesim_node和turtle_teleop_key的节点之后，再运行rqt_graph，

就会报出下面的错误：

RosPluginProvider._parse_plugin_xml() plugin file "E:\dev\ros2-eloquent\ros2-windows\share\qt_gui_cpp/plugin.xml" in package "qt_gui_cpp" not found
RosPluginProvider._parse_plugin_xml() plugin file "E:\dev\ros2-eloquent\ros2-windows\share\rqt_gui_cpp/plugin.xml" in package "rqt_gui_cpp" not found
RosPluginProvider._parse_plugin_xml() plugin file "E:\dev\ros2-eloquent\ros2-windows\share\qt_gui_cpp/plugin.xml" in package "qt_gui_cpp" not found
RosPluginProvider._parse_plugin_xml() plugin file "E:\dev\ros2-eloquent\ros2-windows\share\rqt_gui_cpp/plugin.xml" in package "rqt_gui_cpp" not found
PluginHandlerDirect._restore_settings() plugin "rqt_graph/RosGraph#0" raised an exception:
Traceback (most recent call last):
  File "E:\dev\ros2-eloquent\ros2-windows\Lib\site-packages\qt_gui\plugin_handler_direct.py", line 121, in _restore_settings
    self._plugin.restore_settings(plugin_settings_plugin, instance_settings_plugin)
  File "E:\dev\ros2-eloquent\ros2-windows\Lib\site-packages\rqt_graph\ros_graph.py", line 265, in restore_settings
    self._refresh_rosgraph()
  File "E:\dev\ros2-eloquent\ros2-windows\Lib\site-packages\rqt_graph\ros_graph.py", line 293, in _refresh_rosgraph
    self._update_graph_view(self._generate_dotcode())
  File "E:\dev\ros2-eloquent\ros2-windows\Lib\site-packages\rqt_graph\ros_graph.py", line 334, in _update_graph_view
    self._redraw_graph_view()
  File "E:\dev\ros2-eloquent\ros2-windows\Lib\site-packages\rqt_graph\ros_graph.py", line 366, in _redraw_graph_view
    scene=self._scene)
  File "E:\dev\ros2-eloquent\ros2-windows\Lib\site-packages\qt_dotgraph\dot_to_qt.py", line 263, in dotcode_to_qt_items
    edges = self.parse_edges(graph, nodes, highlight_level, same_label_siblings, scene=scene)
  File "E:\dev\ros2-eloquent\ros2-windows\Lib\site-packages\qt_dotgraph\dot_to_qt.py", line 317, in parse_edges
    scene=scene)
  File "E:\dev\ros2-eloquent\ros2-windows\Lib\site-packages\qt_dotgraph\dot_to_qt.py", line 221, in addEdgeItem
    style=style)
  File "E:\dev\ros2-eloquent\ros2-windows\Lib\site-packages\qt_dotgraph\edge_item.py", line 112, in __init__
    point2 = QPointF(float(parts[0]), -float(parts[1]))
ValueError: could not convert string to float: '\\\r\n73.583'

Traceback (most recent call last):
  File "E:\dev\ros2-eloquent\ros2-windows\Lib\site-packages\qt_dotgraph\node_item.py", line 133, in hoverEnterEvent
    incoming_edge.set_node_color(self._COLOR_BLUE)
  File "E:\dev\ros2-eloquent\ros2-windows\Lib\site-packages\qt_dotgraph\edge_item.py", line 172, in set_node_color
    self._path.setPen(self._edge_pen)
AttributeError: 'EdgeItem' object has no attribute '_path'

目前还不知道是什么原因；

2 issue提交

已经在 ROS ANSWERS上面提交了问题，链接如下：

https://answers.ros.org/question/350465/ros2-eloquent-cannot-run-rqt_graph-for-the-error-rospluginprovider_parse_plugin_xml-plugin-file-edevros2-eloquentros2-windowsshareqt_gui_cpppluginxml/

同时也在rqt_graph的GitHub上面提交了issue，链接如下：

https://github.com/ros-visualization/rqt_graph/issues/41