cabot-grafana

This repository provides a grafana dashboard and a client for the robot which upload telemetry to influxdb. Grafana dashboard connects to the influxdb to visualize robot status.

prerequisite

• jq
  • sudo apt-get install jq

use built docker images

./docker compose --profile "*" pull

you can build images from scratch

./setup-dependency.sh
./bake-docker.sh -i

launch cabot grafana clients

# modify .env file
./launch.sh

Environment variables (.env)

CABOT_NAME          # robot name like cabot1               (default cabot)
CABOT_INFLUXDB_IMAGE_LEFT_TOPIC    # topic for left camera                (default /rs3/color/image_raw/compressed)
CABOT_INFLUXDB_IMAGE_CENTER_TOPIC  # topic for center camera              (default /rs1/color/image_raw/compressed)
CABOT_INFLUXDB_IMAGE_RIGHT_TOPIC   # topic for right camera               (default /rs2/color/image_raw/compressed)
CABOT_INFLUXDB_POSE_INTERVAL       # <float> interval for pose            (default 1.0)
CABOT_INFLUXDB_CMD_VEL_INTERVAL    # <float> interval for cmd vel         (default 0.2)
CABOT_INFLUXDB_ODOM_INTERVAL       # <float> interval for odom            (default 0.2)
CABOT_INFLUXDB_DIAG_AGG_INTERVAL   # <float> interval for diagnostics agg (default 1.0)
CABOT_INFLUXDB_BATTERY_INTERVAL    # <float> interval for battery         (default 1.0)
CABOT_INFLUXDB_IMAGE_INTERVAL      # <float> interval for image           (default 5.0)
CABOT_INFLUXDB_HOST                # host including http/https and port   (default http://localhost:8086)
CABOT_INFLUXDB_TOKEN               # token                                (default please-replace-with-an-influxdb-token  - development default)
CABOT_INFLUXDB_ORG                 # org                                  (default cabot)
CABOT_INFLUXDB_BUCKET              # bucket                               (default cabot)
CABOT_INFLUXDB_USE_CPP             # use cpp implementation if true (TODO: needs to implement image rotation by TF)

debug multiple robot grafana visualization with a single client

• set CABOT_NAME to comma separated names such as cabot1,cabot2,cabot3
  • The client will generate fake data for each robot name
  • Robot location will be shifted towards North East direction

Development with local grafana/influxdb server

GF_DATABASE_TYPE                   # database type (e.g., mysql)
GF_DATABASE_HOST                   # database host (e.g., your-azure-mysql-host.mysql.database.azure.com)
GF_DATABASE_NAME                   # database name (e.g., grafana)
GF_DATABASE_USER                   # database user (e.g., your-mysql-user@your-azure-mysql-host)
GF_DATABASE_PASSWORD               # database password
GF_DATABASE_SSL_MODE               # SSL mode (e.g., skip-verify)
GF_DATABASE_CA_CERT_PATH           # path to CA certificate (e.g., /etc/ssl/certs/DigiCertGlobalRootCA.crt.pem)

GRAFANA_HOST                       # grafana host for export/import dashboard
GRAFANA_API_KEY                    # grafana api key

launch local grafana(modified)/influxDB for development

• There is a fork of grafana in CMU-cabot, which is modified for visualizing multiple path in a Geomap layer
• Install volkovlabs-image-panel to show BASE64 encoded images in the panel

# first terminal (launch grafana and influxdb)
sudo chown -R 472:472 grafanadb
./server-launch.sh
./init-server.sh -i -g
# second terminal (launch cabot_influxdb_client)
./launch.sh

Browse InfluxDB

open http://localhost:8086 - cabot/cabot-influxdb

Browse Grafana

open http://localhost:3000 - admin/admin

Trouble shooting

• If you change grafana server (origin / forked), you may need to delete grafanadb content and grafanaconfig/api-key.txt and start with -i option again

• ./clean.sh to clean all the servers and data and launch from initialization

License

MIT License