rqt_gui error in perspective manager in ROS

<launch>
  <!-- Load RQT with a pre-setup GUI for Baxter controls from a perspective file  -->
  <node name="exoskeleton_rqt" pkg="rqt_gui" type="rqt_gui" respawn="false"
    output="screen" args="--perspective-file $(find exoskeleton)/launch/exoskeleton.perspective"/>

</launch>

...

"plugin": {
              "keys": {
                "splitter": {
                  "type": "repr(QByteArray.hex)",
                  "repr(QByteArray.hex)": "QtCore.QByteArray('000000ff0000000100000002000000ce0000006401ffffffff010000000100')",
                  "pretty-print": "         d     "
                },
                "_splitter": {
                  "type": "repr(QByteArray.hex)",
                  "repr(QByteArray.hex)": "QtCore.QByteArray('000000ff00000001000000020000012c000000640100000009010000000200')",
                  "pretty-print": "       , d     "
                }
              },
              "groups": {}
            }

...

报错：

Traceback (most recent call last):
  File "/opt/ros/melodic/lib/rqt_gui/rqt_gui", line 13, in <module>
    sys.exit(main.main())
  File "/opt/ros/melodic/lib/python2.7/dist-packages/rqt_gui/main.py", line 61, in main
    return super(
  File "/opt/ros/melodic/lib/python2.7/dist-packages/qt_gui/main.py", line 614, in main
    perspective_manager.import_perspective_from_file(
  File "/opt/ros/melodic/lib/python2.7/dist-packages/qt_gui/perspective_manager.py", line 360, in import_perspective_from_file
    self._convert_values(data, self._import_value)
  File "/opt/ros/melodic/lib/python2.7/dist-packages/qt_gui/perspective_manager.py", line 422, in _convert_values
    self._convert_values(groups[group], convert_function)
  File "/opt/ros/melodic/lib/python2.7/dist-packages/qt_gui/perspective_manager.py", line 422, in _convert_values
    self._convert_values(groups[group], convert_function)
  File "/opt/ros/melodic/lib/python2.7/dist-packages/qt_gui/perspective_manager.py", line 422, in _convert_values
    self._convert_values(groups[group], convert_function)
  File "/opt/ros/melodic/lib/python2.7/dist-packages/qt_gui/perspective_manager.py", line 419, in _convert_values
    keys[key] = convert_function(keys[key])
  File "/opt/ros/melodic/lib/python2.7/dist-packages/qt_gui/perspective_manager.py", line 429, in _import_value
    return QByteArray.fromHex(eval(value['repr(QByteArray.hex)']))
  File "<string>", line 1, in <module>
TypeError: arguments did not match any overloaded call:
  QByteArray(): too many arguments
  QByteArray(size: int, c: str): argument 1 has unexpected type 'str'
  QByteArray(a: Union[QByteArray, bytes, bytearray]): argument 1 has unexpected type 'str'

解决办法：

将对应的

               "repr(QByteArray.hex)":"QtCore.QByteArray('000000ff0000000100000002000000ce0000006401ffffffff010000000100')",

更改为

"repr(QByteArray.hex)":"b'000000ff0000000100000002000000ce0000006401ffffffff010000000100'"

即在用字节内容替换值后，例如b'000000ff'并删除QtCore.QByteArray()创建，就rqt_gui可以无错误地启动。无需修补其他代码。

参考连接：

rqt_gui error in perspective manager in ROS noetic - ROS Answers: Open Source Q&A Forum