Not sure if reading same param? Modified? Initial look on Jazzy from Remote environment

[slowrunner]

I installed v0.1.0 nav2_config on Jazzy, Python 3.12.3 Qt: 6.4.2 on a remote Jazzy/Ubuntu 24.04 machine.

I started only localization on my ROS 2 Jazzy Turtlebot4 / Raspberry Pi 5 robot, with the default Turtlebot4_navigation/config/localization.yaml file.

Nav2_config started up fine, I declined (canceled) to point to nav2 file because it is not available on the remote machine, and the nav2_config console came up very nicely.

It showed a "green dot / active" next to AMCL.

Expanding Performance, The value for max_particles is gray and shows a value of 100.
Running

ubuntu@TB5WaLI:~/TB5-WaLI/wali_ws$ ros2 param get /amcl max_particles
Integer value is: 2000

Why are some parms gray, some blue, and this one wrong?

Started turtlebot4_navigation nav2, nodes show up as active.

ubuntu@TB5WaLI:~/TB5-WaLI/wali_ws$ ros2 param get /bt_navigator bt_loop_duration
Integer value is: 10

Nav2_config shows 1 ms:

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Shows "BT Navigator 23 Params - 4 modified" ??? what was modified ??? (not by me)

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ubuntu@TB5WaLI:~/TB5-WaLI/wali_ws$ ros2 param get /global_costmap/global_costmap height
Integer value is: 5

Tool shows "height 0" in blue

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ubuntu@TB5WaLI:~/TB5-WaLI/wali_ws$ ros2 param get /global_costmap/global_costmap width
Integer value is: 5

Tool shows "0 cells"

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ubuntu@TB5WaLI:~/TB5-WaLI/wali_ws$ ros2 param get /local_costmap/local_costmap voxel_layer.z_voxels
Integer value is: 20

Tool shows "voxel_layer.z_voxels 2" in blue

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Again Parameter x - modified (not zero)

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Console output:
[INFO] nav2_config.gui.main_window: Node selected: /amcl
Traceback (most recent call last):
File "/home/ubuntu/nobledesk/ros2ws/install/nav2_config/lib/python3.12/site-packages/nav2_config/gui/main_window.py", line 596, in _on_params_received
plugin_filter=self._param_panel._selected_plugin,
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
AttributeError: 'ParamPanel' object has no attribute '_selected_plugin'
Traceback (most recent call last):
File "/home/ubuntu/nobledesk/ros2ws/install/nav2_config/lib/python3.12/site-packages/nav2_config/gui/main_window.py", line 596, in _on_params_received
plugin_filter=self._param_panel._selected_plugin,
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
AttributeError: 'ParamPanel' object has no attribute '_selected_plugin'
[INFO] [1774825620.332196849] [nav2_config_node]: Nav2 node lost: /amcl (AMCL)
[INFO] [1774825620.332793263] [nav2_config_node]: Nav2 node lost: /map_server (Map Server)
[INFO] [1774825620.336039340] [nav2_config_node]: lifecycle_manager not found — direct lifecycle transitions enabled
[INFO] nav2_config.gui.main_window: External changes on /amcl: [('base_frame_id', 'base_footprint')]
[INFO] [1774825623.439825986] [nav2_config_node]: External param changes on /amcl: base_frame_id=base_footprint
[INFO] nav2_config.gui.main_window: External changes on /amcl: [('base_frame_id', 'base_link')]
[INFO] [1774827745.857975412] [nav2_config_node]: External param changes on /amcl: base_frame_id=base_link
[INFO] [1774827747.365248587] [nav2_config_node]: Nav2 node appeared: /amcl (AMCL)
[INFO] [1774827747.377504283] [nav2_config_node]: Nav2 node appeared: /map_server (Map Server)
[INFO] [1774827747.450819828] [nav2_config_node]: lifecycle_manager detected: /lifecycle_manager_localization — using managed lifecycle operations
[INFO] [1774827906.331915245] [nav2_config_node]: Nav2 node appeared: /smoother_server (Smoother Server)
[INFO] [1774827909.333048276] [nav2_config_node]: Nav2 node appeared: /velocity_smoother (Velocity Smoother)
[INFO] [1774827909.333516376] [nav2_config_node]: Nav2 node appeared: /global_costmap/global_costmap (Global Costmap)
[INFO] [1774827909.333968784] [nav2_config_node]: Nav2 node appeared: /waypoint_follower (Waypoint Follower)
[INFO] [1774827909.334348806] [nav2_config_node]: Nav2 node appeared: /controller_server (Controller Server)
[INFO] [1774827909.334949038] [nav2_config_node]: Nav2 node appeared: /local_costmap/local_costmap (Local Costmap)
[INFO] [1774827909.336471106] [nav2_config_node]: Nav2 node appeared: /behavior_server (Behavior Server)
[INFO] [1774827909.338496312] [nav2_config_node]: Nav2 node appeared: /bt_navigator (BT Navigator)
[INFO] [1774827909.341051025] [nav2_config_node]: Nav2 node appeared: /planner_server (Planner Server)
[INFO] [1774827909.345849817] [nav2_config_node]: lifecycle_manager detected: /lifecycle_manager_navigation — using managed lifecycle operations
[INFO] nav2_config.gui.main_window: Node selected: /bt_navigator
Traceback (most recent call last):
File "/home/ubuntu/nobledesk/ros2ws/install/nav2_config/lib/python3.12/site-packages/nav2_config/gui/main_window.py", line 596, in _on_params_received
plugin_filter=self._param_panel._selected_plugin,
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
AttributeError: 'ParamPanel' object has no attribute '_selected_plugin'
[INFO] nav2_config.gui.main_window: Node selected: /global_costmap/global_costmap
Traceback (most recent call last):
File "/home/ubuntu/nobledesk/ros2ws/install/nav2_config/lib/python3.12/site-packages/nav2_config/gui/main_window.py", line 596, in _on_params_received
plugin_filter=self._param_panel._selected_plugin,
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
AttributeError: 'ParamPanel' object has no attribute '_selected_plugin'
[INFO] nav2_config.gui.main_window: Node selected: /local_costmap/local_costmap
Traceback (most recent call last):
File "/home/ubuntu/nobledesk/ros2ws/install/nav2_config/lib/python3.12/site-packages/nav2_config/gui/main_window.py", line 596, in _on_params_received
plugin_filter=self._param_panel._selected_plugin,
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
AttributeError: 'ParamPanel' object has no attribute '_selected_plugin'
[INFO] nav2_config.main: Qt event loop exited with code 0
[INFO] nav2_config.main: Shutting down ROS2 node

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Note: Very nice to be able to check inflation_layer.inflation_radius and cost_scale_factor, and will be nice to be able to change values without editing my nav2.yaml and restarting nav2. The layout is clear, expand and collapse sections - great.

[sutharsan-311]

Thanks for the detailed report and good to know it runs on Jazzy.
The AttributeError: 'ParamPanel' object has no attribute '_selected_plugin' is a confirmed bug. That's what's breaking param display when you click a node. Fixing it should clear up the wrong values and the false "modified" count too since they all go through the same code path.
The gray/blue mismatch and "4 modified" without touching anything is a separate thing when you skip the YAML picker on startup, the tool has no baseline to compare against so it falls back to schema defaults. Anything your robot runs differently from defaults shows as modified, which on a Turtlebot4 with a custom config is basically everything.
Working on it. Will update this thread when it's pushed.

[sutharsan-311]

Fixed in latest commit. Two bugs patched:

AttributeError: 'ParamPanel' object has no attribute '_selected_plugin' attribute was never initialized in init. Added it with a default of None.
Wrong values / false "modified" count when no YAML is loaded, the tool was comparing live values against schema defaults instead of the actual running config. Now uses the live fetch as the baseline so params only show as modified when you actually change them.

Pull the latest and let me know if the Jazzy behavior improves.