diff --git a/src/rove_launch_handler/launch/launch_handler.launch.py b/src/rove_launch_handler/launch/launch_handler.launch.py index 2996f19..e0f6178 100644 --- a/src/rove_launch_handler/launch/launch_handler.launch.py +++ b/src/rove_launch_handler/launch/launch_handler.launch.py @@ -7,9 +7,9 @@ def generate_launch_description(): rosbridge_launch_file = os.path.join( - get_package_share_directory('rosbridge_server'), + get_package_share_directory('foxglove_bridge'), 'launch', - 'rosbridge_websocket_launch.xml' + 'foxglove_bridge_launch.xml' ) return LaunchDescription([ diff --git a/utils/ui/capra_ui.json b/utils/ui/capra_ui.json index ef57536..d7758fd 100644 --- a/utils/ui/capra_ui.json +++ b/utils/ui/capra_ui.json @@ -4,22 +4,31 @@ "buttonText": "Front LED ON", "buttonTooltip": "", "advancedView": false, - "value": "{}", - "foxglovePanelTitle": "Front LED ON" + "value": "{\n \"linear\": {\n \"x\": 0,\n \"y\": 0,\n \"z\": 0\n },\n \"angular\": {\n \"x\": 0,\n \"y\": 0,\n \"z\": 0\n }\n}", + "foxglovePanelTitle": "Front LED ON", + "topicName": "/cmd_vel.linear.x", + "datatype": "geometry_msgs/msg/Twist" }, "Indicator!360e2e8": { - "path": "", + "path": "/odom.twist.twist.linear.x", "style": "bulb", - "fallbackColor": "#a0a0a0", - "fallbackLabel": "False", + "fallbackColor": "#e0e2df", + "fallbackLabel": "Speed good", "rules": [ { - "operator": "=", - "rawValue": "true", + "operator": "<=", + "rawValue": "1", "color": "#68e24a", - "label": "True" + "label": "Speed good" + }, + { + "operator": ">", + "rawValue": "1", + "color": "#ede466", + "label": "Slower" } - ] + ], + "foxglovePanelTitle": "lidar state" }, "Publish!gkhilm": { "buttonText": "Front LED OFF", @@ -218,50 +227,33 @@ "poseEstimateThetaDeviation": 0.26179939 }, "imageMode": { - "imageTopic": "/zed/zed_node/rgb/image_rect_color", + "imageTopic": "/zed/zed_node/depth/depth_registered", "calibrationTopic": "/zed/zed_node/depth/camera_info" } }, - "Publish!qnfojc": { - "buttonText": "Publish", - "buttonTooltip": "", - "advancedView": true, - "value": "{\n \"data\": \"rove_bringup sim.launch.py\"\n}", - "foxglovePanelTitle": "Launch", - "topicName": "/manager/launch", - "datatype": "std_msgs/msg/String" - }, - "Publish!2cg1exi": { - "buttonText": "Publish", - "buttonTooltip": "", - "advancedView": true, - "value": "{\n \"data\": \"rove_bringup sim.launch.py\"\n}", - "foxglovePanelTitle": "Kill", - "topicName": "/manager/kill", - "datatype": "std_msgs/msg/String" - }, + "Joystick Panel.Joystick!f5fjj6": {}, "3D!wd5ayb": { "cameraState": { - "distance": 15.475618749968437, - "perspective": true, - "phi": 53.72454709424579, + "perspective": false, + "distance": 25.847108697940985, + "phi": 33.02243748196572, + "thetaOffset": -106.2487931391679, + "targetOffset": [ + 1.4574957054508668, + -1.872533894914948, + 5.047356121098524e-16 + ], "target": [ 0, 0, 0 ], - "targetOffset": [ - -1.0352265201029487, - 0.690125189613747, - -6.717353809730597e-17 - ], "targetOrientation": [ 0, 0, 0, 1 ], - "thetaOffset": 39.94897959183675, "fovy": 45, "near": 0.5, "far": 5000 @@ -415,29 +407,167 @@ "imageMode": {}, "followTf": "base_link" }, + "3D!2euzghd": { + "cameraState": { + "perspective": true, + "distance": 25.847108697995846, + "phi": 59.99999999999988, + "thetaOffset": 44.99999999999998, + "targetOffset": [ + -0.6765570540972538, + 1.1691389716638279, + -5.075832289577129e-17 + ], + "target": [ + 0, + 0, + 0 + ], + "targetOrientation": [ + 0, + 0, + 0, + 1 + ], + "fovy": 45, + "near": 0.5, + "far": 5000 + }, + "followMode": "follow-pose", + "followTf": "map", + "scene": {}, + "transforms": { + "frame:map": { + "visible": true + } + }, + "topics": { + "/marker": { + "visible": true + } + }, + "layers": {}, + "publish": { + "type": "point", + "poseTopic": "/move_base_simple/goal", + "pointTopic": "/clicked_point", + "poseEstimateTopic": "/initialpose", + "poseEstimateXDeviation": 0.5, + "poseEstimateYDeviation": 0.5, + "poseEstimateThetaDeviation": 0.26179939 + }, + "imageMode": {} + }, "map!60yjuv": { "center": { - "lat": 38.16148014673053, - "lon": -122.45462179183961 + "lat": 38.16148858251846, + "lon": -122.45468616485597 }, "customTileUrl": "", "disabledTopics": [], "followTopic": "/gps", "layer": "map", "topicColors": {}, - "zoomLevel": 16, + "zoomLevel": 14, "maxNativeZoom": 18 }, - "Table!1xg0s4v": { - "topicPath": "" + "3D!ac8om2": {}, + "CallService!2b4k70w": { + "requestPayload": "{\n \"package\" : \"rove_bringup\",\n \"file_name\" : \"sim.launch.py\"\n}", + "layout": "vertical", + "timeoutSeconds": 20, + "serviceName": "/launchHandler/launchFile", + "editingMode": false, + "foxglovePanelTitle": "simulation", + "buttonText": "Simulation", + "buttonColor": "#ff0000" + }, + "CallService!3utg1bx": { + "requestPayload": "{\n \"package\" : \"rove_bringup\",\n \"file_name\" : \"real.launch.py\"\n}", + "layout": "vertical", + "timeoutSeconds": 20, + "serviceName": "/launchHandler/launchFile", + "editingMode": false, + "foxglovePanelTitle": "simulation", + "buttonText": "Real", + "buttonColor": "#ff0000" + }, + "Blank Panel.Blank!4iybw25": { + "showLogo": false, + "foxglovePanelTitle": " " + }, + "CallService!1z631qn": { + "requestPayload": "{\n \"package\" : \"rove_navigation\",\n \"file_name\" : \"navigation.launch.py\"\n}", + "layout": "vertical", + "timeoutSeconds": 20, + "serviceName": "/launchHandler/launchFile", + "editingMode": false, + "foxglovePanelTitle": "navigation", + "buttonText": "navigation", + "buttonColor": "#ff0000" + }, + "CallService!2kij9dp": { + "requestPayload": "{\n \"package\" : \"rove_slam\",\n \"file_name\" : \"slam3d_full.launch.py\"\n}", + "layout": "vertical", + "timeoutSeconds": 20, + "serviceName": "/launchHandler/launchFile", + "editingMode": false, + "foxglovePanelTitle": "slam", + "buttonText": "slam3d", + "buttonColor": "#ff0000" + }, + "CallService!90e1se": { + "requestPayload": "{\n \"package\" : \"rove_slam\",\n \"file_name\" : \"velodyne_3d.launch.py\"\n}", + "layout": "vertical", + "timeoutSeconds": 20, + "serviceName": "/launchHandler/launchFile", + "editingMode": false, + "foxglovePanelTitle": "slam", + "buttonText": "slam3d - lidar", + "buttonColor": "#ff0000" + }, + "CallService!6jl54y": { + "requestPayload": "{\n \"package\" : \"rove_slam\",\n \"file_name\" : \"icp_zed.launch.py\"\n}", + "layout": "vertical", + "timeoutSeconds": 20, + "serviceName": "/launchHandler/launchFile", + "editingMode": false, + "foxglovePanelTitle": "simulation", + "buttonText": "slam3d - zed", + "buttonColor": "#ff0000" + }, + "CallService!43dz0yr": { + "requestPayload": "{\n \"package\" : \"rove_slam\",\n \"file_name\" : \"slam3d_full.launch.py\"\n}", + "layout": "vertical", + "timeoutSeconds": 20, + "serviceName": "/launchHandler/launchFile", + "editingMode": false, + "foxglovePanelTitle": "Scenario", + "buttonText": "Reconnoitring of structures", + "buttonColor": "#ff0000" + }, + "CallService!2qnnpsv": { + "requestPayload": "{\n \"package\" : \"rove_slam\",\n \"file_name\" : \"slam3d_full.launch.py\"\n}", + "layout": "vertical", + "timeoutSeconds": 20, + "serviceName": "/launchHandler/launchFile", + "editingMode": false, + "foxglovePanelTitle": "Scenario", + "buttonText": "Transport – Mule", + "buttonColor": "#ff0000" }, - "RosOut!14blizg": { - "searchTerms": [], - "minLogLevel": 1, - "nameFilter": {} + "CallService!6ywrf4": { + "requestPayload": "{\n \"package\" : \"rove_slam\",\n \"file_name\" : \"slam3d_full.launch.py\"\n}", + "layout": "vertical", + "timeoutSeconds": 20, + "serviceName": "/launchHandler/launchFile", + "editingMode": false, + "foxglovePanelTitle": "Scenario", + "buttonText": "Search & Rescue", + "buttonColor": "#ff0000" }, "Tab!2iobm2s": { - "activeTabIdx": 2, + "activeTabIdx": 0, "tabs": [ { "title": "Status", @@ -447,7 +577,7 @@ "first": "Publish!1b7sy1a", "second": "Indicator!360e2e8", "direction": "column", - "splitPercentage": 55.757575757575765 + "splitPercentage": 55.6420233463035 }, "second": { "first": "Publish!gkhilm", @@ -506,12 +636,8 @@ } }, { - "title": "example", - "layout": { - "first": "Publish!qnfojc", - "second": "Publish!2cg1exi", - "direction": "row" - } + "title": "Joy", + "layout": "Joystick Panel.Joystick!f5fjj6" } ] }, @@ -522,18 +648,62 @@ "title": "Nav", "layout": { "first": "3D!wd5ayb", + "second": { + "first": "3D!2euzghd", + "second": "map!60yjuv", + "direction": "column", + "splitPercentage": 45.103857566765576 + }, + "direction": "row", + "splitPercentage": 61.47652076855616 + } + }, + { + "title": "Arm", + "layout": "3D!ac8om2" + }, + { + "title": "launch", + "layout": { + "first": { + "first": { + "first": "CallService!2b4k70w", + "second": "CallService!3utg1bx", + "direction": "column" + }, + "second": { + "first": "Blank Panel.Blank!4iybw25", + "second": { + "first": { + "first": "CallService!1z631qn", + "second": "CallService!2kij9dp", + "direction": "column" + }, + "second": { + "first": "CallService!90e1se", + "second": "CallService!6jl54y", + "direction": "column" + }, + "direction": "column" + }, + "direction": "row", + "splitPercentage": 69.34679409175952 + }, + "direction": "row", + "splitPercentage": 22.561529751795238 + }, "second": { "first": { - "first": "map!60yjuv", - "second": "Table!1xg0s4v", - "direction": "row" + "first": "CallService!43dz0yr", + "second": "CallService!2qnnpsv", + "direction": "column" }, - "second": "RosOut!14blizg", + "second": "CallService!6ywrf4", "direction": "column", - "splitPercentage": 48.263254113345525 + "splitPercentage": 64.83679525222553 }, "direction": "row", - "splitPercentage": 50.911458333333336 + "splitPercentage": 85.62162162162163 } } ] @@ -548,6 +718,6 @@ "first": "Tab!2iobm2s", "second": "Tab!1dud6cr", "direction": "column", - "splitPercentage": 25.259067357512954 + "splitPercentage": 30.22794846382557 } } \ No newline at end of file