Vizanti - Web Visualizer & Mission Planner for ROS
2 |
3 | [](https://opensource.org/licenses/BSD-3-Clause) [](https://build.ros.org/job/Ndev__vizanti__ubuntu_focal_amd64/4/)
4 |
5 | Vizanti is a web-based visualization and control tool developed for more convenient operation of outdoor robots running the Robot Operating System (ROS). The application attempts to replicate RViz's orthographic 2D view as closely as possible with a smartphone friendly interface. The second goal is to allow planning and executing movement and mission commands, i.e. goals and waypoints, with custom buttons and parameter reconfigure.
6 |
7 | 
8 |
9 | ## Installation
10 |
11 | As a field tool, Vizanti is designed to operate just as well without internet access, and as such the intended way is to host it on a robot, with rosbridge autoconnecting to the host IP.
12 |
13 | ```bash
14 | cd ~/catkin_ws/src
15 | git clone -b noetic-devel https://github.com/MoffKalast/vizanti.git
16 | cd ..
17 | rosdep install -i --from-path src/vizanti -y
18 | catkin_make
19 | ```
20 |
21 | ### Docker
22 |
23 | Alternatively, you can also containerize Vizanti. For that you need to [install Docker](https://docs.docker.com/engine/install/ubuntu/) and build the container:
24 |
25 | ```bash
26 | git clone -b noetic-devel https://github.com/MoffKalast/vizanti.git
27 | cd vizanti
28 | docker build -f docker/Dockerfile -t vizanti:1.0 .
29 | ```
30 |
31 | ## Run
32 |
33 | ```bash
34 | roslaunch vizanti server.launch
35 | ```
36 | Or with Docker:
37 | ```bash
38 | docker run -dit --net=host --name vizanti-noetic vizanti:1.0
39 | ```
40 |
41 | The web app can be accessed at `http://
11 |
12 |
13 |
14 |
15 |
16 |
17 |
18 |
21 |
22 |
23 |
24 |
25 |
26 |
27 |
28 |
29 |
30 |
31 |
32 |
33 |
34 |
35 |
36 |
37 |
38 |
39 |
40 |
--------------------------------------------------------------------------------
/public/js/lib/nipplejs_LICENSE.txt:
--------------------------------------------------------------------------------
1 | The MIT License (MIT)
2 |
3 | Copyright (c) 2014 Yoann Moinet
2 | 
3 |
--------------------------------------------------------------------------------
/public/templates/add/add_script.js:
--------------------------------------------------------------------------------
1 | let rosbridgeModule = await import(`${base_url}/js/modules/rosbridge.js`);
2 |
3 | let rosbridge = rosbridgeModule.rosbridge;
4 |
5 | const typeButton = document.getElementById('add_set_type');
6 | const topicButton = document.getElementById('add_set_topics');
7 |
8 | const topicDiv = document.getElementById('add_topics_container');
9 | const typeDiv = document.getElementById('add_types_container');
10 |
11 | let types = {};
12 |
13 | //gather the cards
14 | const widgets = typeDiv.children;
15 | for (let i = 0; i < widgets.length; i++) {
16 | let topics = widgets[i].dataset.topic;
17 | if(topics !== undefined){
18 | topics.split(",").forEach(topic => {
19 | if(topic !== undefined){
20 | if(topic in types){
21 | types[topic].push(widgets[i]);
22 | }else{
23 | types[topic] = [widgets[i]];
24 | }
25 | }
26 | });
27 | }
28 | }
29 |
30 | //tabs swapping
31 | typeButton.addEventListener("click", (event) => {
32 | topicButton.classList.remove("active_tab");
33 | typeButton.classList.add("active_tab");
34 |
35 | typeDiv.style.display = "block";
36 | topicDiv.style.display = "none";
37 | });
38 |
39 | topicButton.addEventListener("click", (event) => {
40 | update_topics();
41 | typeButton.classList.remove("active_tab");
42 | topicButton.classList.add("active_tab");
43 |
44 | typeDiv.style.display = "none";
45 | topicDiv.style.display = "block";
46 | });
47 |
48 | // rebuild topic list
49 | async function update_topics(){
50 | let result = await rosbridge.get_all_topics();
51 |
52 | topicDiv.innerHTML = "";
53 | for (let i = 0; i < result.types.length; i++) {
54 | let type = result.types[i];
55 | if(type in types){
56 | types[type].forEach(element => {
57 | let newnode = element.cloneNode(true);
58 | let title = newnode.querySelector('.card_title');
59 | let desc = newnode.querySelector('.card_desc');
60 |
61 | newnode.setAttribute('onclick', newnode.getAttribute("onclick").replace(",\'\')",",\'"+result.topics[i]+"\')"));
62 |
63 | desc.innerText = title.innerText + " ["+type + "]";
64 | title.innerText = result.topics[i];
65 | topicDiv.appendChild(newnode);
66 | });
67 | }
68 | }
69 | }
70 |
71 |
72 | update_topics();
73 |
74 | console.log("Add Widgets Loaded.");
--------------------------------------------------------------------------------
/public/templates/altimeter/altimeter_icon.html:
--------------------------------------------------------------------------------
1 |
3 |
2 | 
3 |
--------------------------------------------------------------------------------
/public/templates/altimeter/altimeter_modal.html:
--------------------------------------------------------------------------------
1 |
3 |
2 |
3 |
--------------------------------------------------------------------------------
/public/templates/altimeter/altimeter_view.html:
--------------------------------------------------------------------------------
1 |
4 | 
5 |
6 |
7 |
5 |
8 |
11 | 12 | 13 | 16 | 17 | 18 | 19 | 20 | 26 | 27 | 28 | 29 | 30 | 31 | 32 | 33 | 34 |
61 | 62 | 63 | 64 |
65 |
66 | Altimeter
9 |Status: Ok.
10 |11 | 12 | 13 | 16 | 17 | 18 | 19 | 20 | 26 | 27 | 28 | 29 | 30 | 31 | 32 | 33 | 34 |
35 |
38 |
39 | Displays the Z value of the frame on a depth/altitude gauge. Inverted modes treat negative values to positive.
40 |
41 |
42 |
43 | Altitude: ?
36 |Target: N/A
37 |Send Target
44 | 45 | 46 | 47 | 48 | 51 | 52 |Send a std_msgs/Float32 value to this topic.
53 | 54 |Clicking the altimeter will mark the depth/alitude with a yellow flag and publish it. Or click the button below and input it manually.
55 | 56 | 57 | 58 | 59 | 60 |61 | 62 | 63 | 64 |
67 |
68 |
69 |
70 | 
2 |
3 |
--------------------------------------------------------------------------------
/public/templates/area/area_icon.html:
--------------------------------------------------------------------------------
1 |
2 | 
3 |
--------------------------------------------------------------------------------
/public/templates/area/area_modal.html:
--------------------------------------------------------------------------------
1 |
3 |
2 |
--------------------------------------------------------------------------------
/public/templates/area/area_view.html:
--------------------------------------------------------------------------------
1 |
--------------------------------------------------------------------------------
/public/templates/battery/battery_icon.html:
--------------------------------------------------------------------------------
1 |
3 |
6 | 7 | 8 | 11 | 12 |
19 | 20 | 21 | 22 | 23 |
24 | Area
4 |Status: Ok.
5 |6 | 7 | 8 | 11 | 12 |
Defines an axis-alligned area in the fixed frame by dragging, and publishes it as a geometry_msgs/PolygonStamped rectangle.
13 | 14 |Click the icon once to enable, drag on the view area and release to publish. Long press the icon to open this menu.
15 | 16 | 17 | 18 |19 | 20 | 21 | 22 | 23 |
2 | 
3 |
--------------------------------------------------------------------------------
/public/templates/battery/battery_modal.html:
--------------------------------------------------------------------------------
1 |
3 |
2 |
--------------------------------------------------------------------------------
/public/templates/button/button_icon.html:
--------------------------------------------------------------------------------
1 |
3 |
8 | 9 | 10 | 13 | 14 |
32 | 33 | 34 | 35 |
36 | Battery Info
4 | 5 |Status: Ok.
6 | 7 |8 | 9 | 10 | 13 | 14 |
15 |
26 |
27 | Percentage: ?
16 |Voltage: ?
17 |Cell Voltages: ?
18 | 19 |Current draw: ?
20 |Charge: ?
21 | 22 |Status: ?
23 |Health: ?
24 |Type: ?
25 |Read and display battery data from sensor_msgs/BatteryState messages.
28 | 29 | 30 | 31 |32 | 33 | 34 | 35 |
2 | 
3 |
4 |
--------------------------------------------------------------------------------
/public/templates/button/button_modal.html:
--------------------------------------------------------------------------------
1 |
3 |
4 |
2 |
--------------------------------------------------------------------------------
/public/templates/compressedimage/compressedimage_icon.html:
--------------------------------------------------------------------------------
1 |
3 |
8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 18 | 19 |
20 | 21 |
34 | 35 | 36 | 37 |
38 | Button
4 | 5 |Status: Ok.
6 | 7 |8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 18 | 19 |
20 | 21 |
Multifunctional button. Behavior depends on the selected topic/service type:
22 |-
23 |
- std_msgs/Empty: Sends an Empty message on click. 24 |
- std_srvs/Trigger: Calls a Trigger service. 25 |
- std_srvs/Empty: Calls a Empty service. 26 | 27 |
- std_msgs/Bool: Displays topic state and sends a negated value on click. 28 |
- std_srvs/SetBool: Negates internal boolean with each call, displays state. 29 |
Click the icon to trigger. Long press to reopen this menu.
32 | 33 |34 | 35 | 36 | 37 |
2 | 
3 |
--------------------------------------------------------------------------------
/public/templates/compressedimage/compressedimage_modal.html:
--------------------------------------------------------------------------------
1 |
3 |
2 |
3 |
--------------------------------------------------------------------------------
/public/templates/compressedimage/compressedimage_view.html:
--------------------------------------------------------------------------------
1 |
4 |
5 |
6 |
7 |
8 |
5 |
9 |
12 | 13 | 14 | 17 | 18 | 19 | 20 | 21 | 27 | 28 | 29 | 30 | 31 | 0.85 32 | 33 | 34 | 35 | 36 | 37 | 25 38 | 39 | 40 | 41 | 42 | 43 | 44 | 45 | 46 | 47 |
50 | 51 | 52 | 53 | 54 | 55 | 56 |
57 |
58 | Compressed Image
10 |Status: Ok.
11 |12 | 13 | 14 | 17 | 18 | 19 | 20 | 21 | 27 | 28 | 29 | 30 | 31 | 0.85 32 | 33 | 34 | 35 | 36 | 37 | 25 38 | 39 | 40 | 41 | 42 | 43 | 44 | 45 | 46 | 47 |
Sending images through rosbridge may cause TCP congestion. Lower the socket throttle rate to get faster data updates, but note that other visualizers may stutter.
48 | 49 |50 | 51 | 52 | 53 | 54 | 55 | 56 |
59 |
60 |
61 |
62 |
2 | 
3 |
4 |
5 |
--------------------------------------------------------------------------------
/public/templates/folder/folder_modal.html:
--------------------------------------------------------------------------------
1 |
3 |
4 |
5 |
2 |
--------------------------------------------------------------------------------
/public/templates/grid/grid_icon.html:
--------------------------------------------------------------------------------
1 |
3 |
4 |
17 |
5 |
11 |
12 |
13 |
14 |
15 |
16 |
6 |
10 |
7 |
8 |
9 |
8 |
2 |
3 |
--------------------------------------------------------------------------------
/public/templates/grid/grid_modal.html:
--------------------------------------------------------------------------------
1 |
2 |
64 |
--------------------------------------------------------------------------------
/public/templates/grid/grid_view.html:
--------------------------------------------------------------------------------
1 |
--------------------------------------------------------------------------------
/public/templates/gridcells/gridcells_icon.html:
--------------------------------------------------------------------------------
1 |
3 |
6 | 7 | 8 | 9 | 10 | 11 | 18 | 19 |
22 | 23 |
43 | 44 |
59 | 60 | 61 | 62 |
63 | Grid Renderer
4 |Status: Ok.
5 |6 | 7 | 8 | 9 | 10 | 11 | 18 | 19 |
If autoscale is off, the fixed size grid will stop rendering when the line density gets too high (to prevent lag).
20 | 21 |22 | 23 |
Style and Size
24 | 25 |Renders a grid relative to the fixed frame.
26 | 27 | 28 | 29 | 30 | 31 | 32 | 33 | 34 | 35 | 36 | 37 | 38 | 39 | 40 | 41 | 42 |43 | 44 |
Subdivison Style
45 | 46 |Each step can be divided further.
47 | 48 | 49 | 50 | 51 | 52 | 53 | 54 | 55 | 56 | 57 | 58 |59 | 60 | 61 | 62 |
2 |
3 |
--------------------------------------------------------------------------------
/public/templates/gridcells/gridcells_modal.html:
--------------------------------------------------------------------------------
1 |
2 |
--------------------------------------------------------------------------------
/public/templates/gridcells/gridcells_view.html:
--------------------------------------------------------------------------------
1 |
--------------------------------------------------------------------------------
/public/templates/initialpose/initialpose_icon.html:
--------------------------------------------------------------------------------
1 |
3 |
6 | 7 | 8 | 11 | 12 |
38 | 39 | 40 | 41 | 42 | 43 | 44 |
45 | Grid Cells
4 |Status: Ok.
5 |6 | 7 | 8 | 11 | 12 |
Display a nav_msgs/GridCells message that typically represents sparse navigational obstacles.
13 | 14 | 15 | 16 | 17 | 1.0 18 | 19 | 20 | 21 | 22 | 23 | 24 | 25 | 26 | 27 | 28 | 29 | 30 | 31 | 32 | 33 | 34 | 35 |Rendering fixed objects at their published timestamp causes them to lag behind when focusing on frames other than the map frame. Rviz uses the latest timestamp instead, which this emulates. Enable for techincally correct rendering.
36 | 37 |38 | 39 | 40 | 41 | 42 | 43 | 44 |
2 | 
3 |
--------------------------------------------------------------------------------
/public/templates/initialpose/initialpose_modal.html:
--------------------------------------------------------------------------------
1 |
3 |
2 |
--------------------------------------------------------------------------------
/public/templates/initialpose/initialpose_view.html:
--------------------------------------------------------------------------------
1 |
--------------------------------------------------------------------------------
/public/templates/inspector/inspector_icon.html:
--------------------------------------------------------------------------------
1 |
3 |
6 | 7 | 8 | 11 | 12 |
19 | 20 | 21 | 22 | 23 |
24 | 2D Pose Estimate
4 |Status: Ok.
5 |6 | 7 | 8 | 11 | 12 |
Initialize the localization system by sending a starting geometry_msgs/PoseStamped in the global fixed frame.
13 | 14 |Click the icon once to enable, drag on the view area and release to publish. Long press the icon to open this menu.
15 | 16 | 17 | 18 |19 | 20 | 21 | 22 | 23 |
2 | 
3 |
--------------------------------------------------------------------------------
/public/templates/inspector/inspector_modal.html:
--------------------------------------------------------------------------------
1 |
3 |
2 |
--------------------------------------------------------------------------------
/public/templates/map/map_icon.html:
--------------------------------------------------------------------------------
1 |
3 |
7 | 8 | 9 | 12 | 13 | 14 | 15 | 16 | 17 | 18 |
37 | 38 | 39 | 40 |
41 | Topic Inspector
4 |Status: Ok.
5 | 6 |7 | 8 | 9 | 12 | 13 | 14 | 15 | 16 | 17 | 18 |
Info
19 | 20 |Information about publishers and subscribers.
21 | 22 |
23 |
24 |
25 |
26 | Echo
27 | 28 |View raw messages as text for debugging.
29 | 30 |
31 |
32 |
33 |
34 |
35 |
36 | 37 | 38 | 39 | 40 |
2 | 
3 |
--------------------------------------------------------------------------------
/public/templates/map/map_modal.html:
--------------------------------------------------------------------------------
1 |
3 |
2 |
--------------------------------------------------------------------------------
/public/templates/map/map_view.html:
--------------------------------------------------------------------------------
1 |
--------------------------------------------------------------------------------
/public/templates/markerarray/markerarray_icon.html:
--------------------------------------------------------------------------------
1 |
3 |
6 | 7 | 8 | 11 | 12 |
77 | 78 | 79 | 80 | 81 | 82 | 83 |
84 | Map
4 |Status: Ok.
5 |6 | 7 | 8 | 11 | 12 |
Display a nav_msgs/OccupancyGrid message that typically represents a 2D map or navigational costmap.
13 | 14 | 15 | 16 | 22 | 23 | 24 | 25 | 26 | 0.7 27 | 28 | 29 | 30 | 31 | 32 | 33 | 34 | 35 | 36 | 37 | 38 | 39 |Rendering maps at their published timestamp causes them to lag behind when focusing on frames other than the map frame. Rviz uses the latest timestamp instead, which this emulates. Enable for techincally correct rendering.
40 | 41 | 42 | 43 |Management
44 | 45 |Relay services for calling map loading and saving nodes.
46 | 47 | 💾 map_saver 48 | 49 | 50 | 51 | 52 | 53 | 54 | 55 | 56 | 57 | 58 | 🖶 map_server 59 | 60 | 61 | 62 | 63 | 64 | 65 | 66 | 67 | 68 | 69 | 70 | 71 | 72 | 73 | 74 | 75 | 76 |77 | 78 | 79 | 80 | 81 | 82 | 83 |
2 | 
3 |
--------------------------------------------------------------------------------
/public/templates/markerarray/markerarray_modal.html:
--------------------------------------------------------------------------------
1 |
3 |
2 |
--------------------------------------------------------------------------------
/public/templates/markerarray/markerarray_view.html:
--------------------------------------------------------------------------------
1 |
--------------------------------------------------------------------------------
/public/templates/nodemgr/nodemgr_icon.html:
--------------------------------------------------------------------------------
1 |
3 |
6 | 7 | 8 | 11 | 12 |
21 | 22 | 23 | 24 | 25 |
26 | Marker Array
4 |Status: Ok.
5 |6 | 7 | 8 | 11 | 12 |
Render primitive shapes to the 2D view. Note that not all marker types are currently supported (yet!).
13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 |21 | 22 | 23 | 24 | 25 |
2 | 
3 |
--------------------------------------------------------------------------------
/public/templates/nodemgr/nodemgr_modal.html:
--------------------------------------------------------------------------------
1 |
3 |
2 |
59 |
60 |
3 |
5 | 6 | Launch Node: 7 | 8 | 9 | 10 | 14 | 15 | 16 | 17 | 20 | 21 | 22 | 25 | 26 |
35 | Diagnostics: 36 | 37 | 38 | 39 | 40 | 41 | 42 | 43 |
44 | 45 | Running Nodes: 46 | 47 |
54 | 55 | 56 | 57 |
58 | Node Manager
4 |5 | 6 | Launch Node: 7 | 8 | 9 | 10 | 14 | 15 | 16 | 17 | 20 | 21 | 22 | 25 | 26 |
Note: Package executable detection is experimental so not all or too many files might show up.
27 | 28 | 29 | 30 | 31 | 32 | 33 | 34 |35 | Diagnostics: 36 | 37 | 38 | 39 | 40 | 41 | 42 | 43 |
44 | 45 | Running Nodes: 46 | 47 |
48 |
49 |
50 |
51 |
52 |
53 | 54 | 55 | 56 | 57 |
61 |
76 |
77 |
78 |
62 |
63 |
64 | 65 | 66 | 67 |
70 | 71 |
75 | 64 | 65 | 66 | 67 |
Waiting for rosnode info...
68 | 69 |70 | 71 |
Note that if a node is set to respawn, it'll automatically restart itself.
72 | 73 | 74 |
79 |
--------------------------------------------------------------------------------
/public/templates/odom/odom_icon.html:
--------------------------------------------------------------------------------
1 |
80 |
82 | 83 | 84 | 85 |
88 | Roswtf Diagnostics
81 |82 | 83 | 84 | 85 |
Waiting for roswtf report...
86 | 87 |
2 |
3 |
--------------------------------------------------------------------------------
/public/templates/odom/odom_modal.html:
--------------------------------------------------------------------------------
1 |
2 |
--------------------------------------------------------------------------------
/public/templates/odom/odom_view.html:
--------------------------------------------------------------------------------
1 |
--------------------------------------------------------------------------------
/public/templates/path/path_icon.html:
--------------------------------------------------------------------------------
1 |
3 |
6 | 7 | 8 | 11 | 12 |
15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | 25 | 26 | 27 | 28 | 29 | 30 | 31 | 32 | 33 | 34 | 35 | 36 | 37 | 38 | 39 | 40 | 41 | 42 | 43 | 44 | 45 |
46 | 47 | 48 | 49 | 50 |
51 | Pose Tracker
4 |Status: Ok.
5 |6 | 7 | 8 | 11 | 12 |
Track a TF link or nav_msgs/Odometry data.
13 | 14 |15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | 25 | 26 | 27 | 28 | 29 | 30 | 31 | 32 | 33 | 34 | 35 | 36 | 37 | 38 | 39 | 40 | 41 | 42 | 43 | 44 | 45 |
46 | 47 | 48 | 49 | 50 |
2 |
3 |
--------------------------------------------------------------------------------
/public/templates/path/path_modal.html:
--------------------------------------------------------------------------------
1 |
2 |
--------------------------------------------------------------------------------
/public/templates/path/path_view.html:
--------------------------------------------------------------------------------
1 |
--------------------------------------------------------------------------------
/public/templates/pointcloud/pointcloud_icon.html:
--------------------------------------------------------------------------------
1 |
3 |
6 | 7 | 8 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 |
27 | 28 | 29 | 30 | 31 |
32 | Path
4 |Status: Ok.
5 |6 | 7 | 8 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 |
Display a nav_msgs/Path.
25 | 26 |27 | 28 | 29 | 30 | 31 |
2 |
3 |
--------------------------------------------------------------------------------
/public/templates/pointcloud/pointcloud_modal.html:
--------------------------------------------------------------------------------
1 |
2 |
--------------------------------------------------------------------------------
/public/templates/pointcloud/pointcloud_view.html:
--------------------------------------------------------------------------------
1 |
--------------------------------------------------------------------------------
/public/templates/posearray/posearray_icon.html:
--------------------------------------------------------------------------------
1 |
3 |
6 | 7 | 8 | 11 | 12 | 13 | 14 | 15 | 1.0 16 | 17 | 18 | 19 | 20 | 21 | 0.02 22 | 23 | 24 | 25 | 26 | 27 | 28 | 29 | 30 | 31 | 32 | 33 | 34 | 35 | 36 |
42 | 43 | 44 | 45 | 46 | 47 | 48 |
49 | Point Cloud
4 |Status: Ok.
5 |6 | 7 | 8 | 11 | 12 | 13 | 14 | 15 | 1.0 16 | 17 | 18 | 19 | 20 | 21 | 0.02 22 | 23 | 24 | 25 | 26 | 27 | 28 | 29 | 30 | 31 | 32 | 33 | 34 | 35 | 36 |
Point clouds are very high bandwidth topics, and as such can easily cause TCP congestion. Lower the socket throttle rate to get faster data updates, but note that other visualizers may stutter.
37 | 38 |Currently experimental and might not decode all cloud formats correctly. XYZ coordinate data is required, the rest is ignored for now.
39 | 40 | 41 |42 | 43 | 44 | 45 | 46 | 47 | 48 |
2 |
3 |
--------------------------------------------------------------------------------
/public/templates/posearray/posearray_modal.html:
--------------------------------------------------------------------------------
1 |
2 |
--------------------------------------------------------------------------------
/public/templates/posearray/posearray_view.html:
--------------------------------------------------------------------------------
1 |
--------------------------------------------------------------------------------
/public/templates/posewithcovariancestamped/posewithcovariancestamped_icon.html:
--------------------------------------------------------------------------------
1 |
3 |
6 | 7 | 8 | 11 | 12 |
15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | 25 | 26 | 27 | 28 | 29 | 1.0 30 | 31 | 32 |
33 | 34 | 35 | 36 | 37 |
38 | Pose Array
4 |Status: Ok.
5 |6 | 7 | 8 | 11 | 12 |
Display an array of Poses as a cloud of arrows.
13 | 14 |15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | 25 | 26 | 27 | 28 | 29 | 1.0 30 | 31 | 32 |
33 | 34 | 35 | 36 | 37 |
2 |
3 |
--------------------------------------------------------------------------------
/public/templates/posewithcovariancestamped/posewithcovariancestamped_modal.html:
--------------------------------------------------------------------------------
1 |
2 |
--------------------------------------------------------------------------------
/public/templates/posewithcovariancestamped/posewithcovariancestamped_view.html:
--------------------------------------------------------------------------------
1 |
--------------------------------------------------------------------------------
/public/templates/range/range_icon.html:
--------------------------------------------------------------------------------
1 |
3 |
6 | 7 | 8 | 11 | 12 |
27 | 28 | 29 | 30 | 31 | 35 | 36 | 37 | 38 | 39 | 40 | 41 | 42 | 43 | 44 | 45 | 46 | 47 | 48 | 49 | 50 | 51 | 52 | 53 | 54 | 55 | 1.0 56 | 57 | 58 |
59 | 60 | 61 | 62 | 63 |
64 | Pose
4 |Status: Ok.
5 |6 | 7 | 8 | 11 | 12 |
13 |
21 |
22 | X: ?
14 |Y: ?
15 |Z: ?
16 |Distance: ?
17 |Roll: ?
18 |Pitch: ?
19 |Yaw: ?
20 |Render a single PoseStamped or PoseWithCovarianceStamped.
23 | 24 |Note: Covariance rendering assumes a 2D pose for simplicity. Side effects may include inaccuracy in high roll/pitch orientations, ask your PhD if 2D covariance rendering is right for you.
25 | 26 |27 | 28 | 29 | 30 | 31 | 35 | 36 | 37 | 38 | 39 | 40 | 41 | 42 | 43 | 44 | 45 | 46 | 47 | 48 | 49 | 50 | 51 | 52 | 53 | 54 | 55 | 1.0 56 | 57 | 58 |
59 | 60 | 61 | 62 | 63 |
2 | 
3 |
--------------------------------------------------------------------------------
/public/templates/range/range_modal.html:
--------------------------------------------------------------------------------
1 |
3 |
2 |
--------------------------------------------------------------------------------
/public/templates/range/range_view.html:
--------------------------------------------------------------------------------
1 |
--------------------------------------------------------------------------------
/public/templates/reconfigure/reconfigure_icon.html:
--------------------------------------------------------------------------------
1 |
3 |
6 | 7 | 8 | 11 | 12 |
43 | 44 | 45 | 46 |
47 | Range
4 |Status: Ok.
5 |6 | 7 | 8 | 11 | 12 |
13 |
19 |
20 | Range: ?
14 |Min: ?
15 |Max: ?
16 |Field of view: ?
17 |Type: ?
18 |Render a range measurement, typically from sonar or infrared sensors.
21 | 22 | 23 | 24 | 25 | 26 | 27 | 28 | 29 | 30 | 31 | 32 | 33 | 34 | 35 | 36 | 0.9 37 | 38 | 39 | 40 | 41 | 42 |43 | 44 | 45 | 46 |
2 | 
3 |
--------------------------------------------------------------------------------
/public/templates/reconfigure/reconfigure_modal.html:
--------------------------------------------------------------------------------
1 |
3 |
2 |
--------------------------------------------------------------------------------
/public/templates/robotmodel/robotmodel_icon.html:
--------------------------------------------------------------------------------
1 |
3 |
5 | 6 | 9 | 10 | 11 | 12 |
13 | 14 |
22 | 23 | 24 | 25 |
26 | Dynamic Reconfigure
4 |5 | 6 | 9 | 10 | 11 | 12 |
13 | 14 |
15 |
16 |
17 |
18 |
19 |
20 |
21 | 22 | 23 | 24 | 25 |
2 | 
3 |
--------------------------------------------------------------------------------
/public/templates/robotmodel/robotmodel_modal.html:
--------------------------------------------------------------------------------
1 |
3 |
2 |
--------------------------------------------------------------------------------
/public/templates/robotmodel/robotmodel_view.html:
--------------------------------------------------------------------------------
1 |
--------------------------------------------------------------------------------
/public/templates/rosbag/rosbag_icon.html:
--------------------------------------------------------------------------------
1 |
3 |
6 | 7 | 8 | 11 | 12 | 13 | 14 | 15 | 18 | 19 | 20 | 21 |
22 |
23 |
24 |
25 |
26 |
27 |
28 |
29 |
30 |
31 |
35 | 36 | 37 | 38 | 39 |
40 | Robot Model
4 |Status: Ok.
5 |6 | 7 | 8 | 11 | 12 | 13 | 14 | 15 | 18 | 19 | 20 | 21 |
22 |
23 |
24 |
25 |
26 |
27 |
28 |
29 |
30 |
31 | Add your custom sprite into
32 |The files should start with an underscore, must be in .png format and will rotate around the image center.
33 | 34 |35 | 36 | 37 | 38 | 39 |
2 | 
3 |
--------------------------------------------------------------------------------
/public/templates/rosbag/rosbag_modal.html:
--------------------------------------------------------------------------------
1 |
3 |
2 |
--------------------------------------------------------------------------------
/public/templates/rosbridge/rosbridge_icon.html:
--------------------------------------------------------------------------------
1 |
3 |
5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | 25 | Topics: 26 | 27 |
34 | 35 | 36 | 37 |
38 | Bag Recorder
4 |5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | 25 | Topics: 26 | 27 |
28 |
29 |
30 |
31 |
32 |
33 | 34 | 35 | 36 | 37 |
2 | 
3 |
4 |
5 |
--------------------------------------------------------------------------------
/public/templates/rosbridge/rosbridge_modal.html:
--------------------------------------------------------------------------------
1 |
3 |
2 |
16 |
--------------------------------------------------------------------------------
/public/templates/rosbridge/rosbridge_script.js:
--------------------------------------------------------------------------------
1 | let rosbridgeModule = await import(`${base_url}/js/modules/rosbridge.js`);
2 | let utilModule = await import(`${base_url}/js/modules/util.js`);
3 | let StatusModule = await import(`${base_url}/js/modules/status.js`);
4 |
5 | let rosbridge = rosbridgeModule.rosbridge;
6 | let imageToDataURL = utilModule.imageToDataURL;
7 | let Status = StatusModule.Status;
8 |
9 | let status = new Status(
10 | document.getElementById("{uniqueID}_icon"),
11 | document.getElementById("{uniqueID}_status")
12 | );
13 |
14 | let url = document.getElementById("{uniqueID}_url");
15 | let icon = document.getElementById("{uniqueID}_icon").getElementsByTagName('img')[0];
16 |
17 | let button_reload = document.getElementById("{uniqueID}_reload");
18 | button_reload.addEventListener("click", (event) => {
19 | location.reload(false);
20 | });
21 |
22 | // can't show images about reconnecting without preloading them before we lose connection
23 | let img_reconnect = await imageToDataURL('assets/rosbridge_reconnect.svg');
24 | let img_connect = await imageToDataURL('assets/rosbridge_connected.svg');
25 | let img_disconnect = await imageToDataURL('assets/rosbridge_disconnected.svg');
26 |
27 | function update_gui(){
28 | url.innerText = "Bridge URL: ws://"+rosbridge.url + ":"+rosbridge.port;
29 |
30 | switch (rosbridge.status) {
31 | case "Reconnecting...":
32 | icon.src = img_reconnect;
33 | status.setError(rosbridge.status);
34 | break;
35 | case "Connecting...":
36 | icon.src = img_connect;
37 | status.setWarn(rosbridge.status);
38 | break;
39 | case 'Connection lost.':
40 | case 'Failed to connect.':
41 | icon.src = img_disconnect;
42 | status.setError(rosbridge.status);
43 | break;
44 | default:
45 | icon.src = img_connect;
46 | status.setOK(rosbridge.status);
47 | }
48 | }
49 |
50 | window.addEventListener("rosbridge_change", function(event){
51 | update_gui();
52 | });
53 |
54 | update_gui();
--------------------------------------------------------------------------------
/public/templates/satelite/satelite_icon.html:
--------------------------------------------------------------------------------
1 |
3 |
5 | 6 | 7 | 8 |
15 | Rosbridge Connection
4 |5 | 6 | 7 | 8 |
A WS (not WSS) rosbridge instance is expected on port 5001 by default.
9 | 10 | 11 | 12 | 13 | 14 |
2 | 
3 |
--------------------------------------------------------------------------------
/public/templates/satelite/satelite_modal.html:
--------------------------------------------------------------------------------
1 |
3 |
2 |
--------------------------------------------------------------------------------
/public/templates/satelite/satelite_view.html:
--------------------------------------------------------------------------------
1 |
--------------------------------------------------------------------------------
/public/templates/scan/scan_icon.html:
--------------------------------------------------------------------------------
1 |
3 |
6 | 7 | 8 | 11 | 12 |
24 | 25 | 26 | 27 | 28 | 29 |
66 | 67 | 68 | 69 | 70 |
71 | Satelite Tiles
4 |Status: Ok.
5 |6 | 7 | 8 | 11 | 12 |
13 |
18 |
19 |
20 | Renders a tile map based on sensor_msgs/NavSatFix positional data. Use with a local origin for best results.
21 |
22 |
23 | Latitude: ?
14 |Longitude: ?
15 |Altitude: ?
16 |Ground Covariance: ?
17 |24 | 25 | 26 | 27 | 28 | 29 |
The tile server can be changed to anything that uses 265x256 sized tiles, the Web Mercator projection, and follows the same {x},{y},{z} convention.
30 | 31 | 32 | 33 | 34 | 35 | 36 |Max tile zoom doesn't provide much detail up close, so you get to chose between pixelated or blurry.
37 | 38 | 39 | 40 | 41 | 42 | 43 |Displaying the map with 0 yaw rotation can make viewing raw NavSatFix data from receivers more stable, but don't expect the robot to be facing the right way.
44 | 45 | 46 | 47 | 48 | 0.7 49 | 50 | 51 | 52 | 53 |Tile Management
54 | 55 |Import and export downloaded tiles to a file.
56 | 57 | 58 | 59 | 60 | 61 | 62 | 63 |All fetched tiles are stored in IndexedDB for quick loading and offline use. However, browser-cached data is tied to the site's URL, so if your robot's IP changes (e.g. switching from a local network to offline AP mode), the tiles won't be accessible. To solve this, fetch and export the database while online, and reimport it in offline mode or on other machines.
64 | 65 |66 | 67 | 68 | 69 | 70 |
2 |
3 |
--------------------------------------------------------------------------------
/public/templates/scan/scan_modal.html:
--------------------------------------------------------------------------------
1 |
2 |
--------------------------------------------------------------------------------
/public/templates/scan/scan_view.html:
--------------------------------------------------------------------------------
1 |
--------------------------------------------------------------------------------
/public/templates/settings/settings_icon.html:
--------------------------------------------------------------------------------
1 |
3 |
6 | 7 | 8 | 11 | 12 |
53 | 54 | 55 | 56 | 57 | 58 | 59 |
60 | Laser Scan
4 |Status: Ok.
5 |6 | 7 | 8 | 11 | 12 |
13 |
21 |
22 |
23 | Renders lidar scan points based on sensor_msgs/LaserScan data.
24 |
25 |
26 |
27 |
28 | 1.0
29 |
30 |
31 |
32 |
33 |
34 | 0.02
35 |
36 |
37 |
38 |
39 |
40 |
41 |
42 |
43 |
44 |
45 |
46 |
47 |
48 |
49 | TF Frame: ?
14 |Angle: ?
15 |Angle increment: ?
16 |Points: ?
17 |Scan time: ?
18 |Min: ?
19 |Max: ?
20 |Laser scans are typically high bandwidth topics, and as such can easily cause TCP congestion. Lower the socket throttle rate to get faster data updates, but note that other visualizers may stutter.
50 | 51 | 52 |53 | 54 | 55 | 56 | 57 | 58 | 59 |
2 | 
3 |
--------------------------------------------------------------------------------
/public/templates/settings/settings_modal.html:
--------------------------------------------------------------------------------
1 |
3 |
2 |
43 |
--------------------------------------------------------------------------------
/public/templates/simplegoal/simplegoal_icon.html:
--------------------------------------------------------------------------------
1 |
3 |
6 | 7 | 8 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 |
20 | 21 |
42 | Global Settings
4 |Status: Ok.
5 |6 | 7 | 8 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 |
20 | 21 |
Manage settings
22 | 23 | 24 |25 | Exporting the current configuration will save the widget layout, settings, camera pose, and other info, so it can be imported later, 26 | or so it can be set as a default config. 27 |
28 | 29 | 30 | 31 | 32 |Reset only the camera to its default pose (zero relative to the fixed frame link).
33 | 34 | 35 | 36 | 37 |Clear layout and import server defaults.
38 | 39 | 40 | 41 |
2 | 
3 |
--------------------------------------------------------------------------------
/public/templates/simplegoal/simplegoal_modal.html:
--------------------------------------------------------------------------------
1 |
3 |
2 |
--------------------------------------------------------------------------------
/public/templates/simplegoal/simplegoal_view.html:
--------------------------------------------------------------------------------
1 |
--------------------------------------------------------------------------------
/public/templates/speedometer/speedometer_icon.html:
--------------------------------------------------------------------------------
1 |
3 |
6 | 7 | 8 | 11 | 12 |
20 | 21 | 22 | 23 | 24 |
25 | 2D Nav Goal
4 |Status: Ok.
5 |6 | 7 | 8 | 11 | 12 |
Send a goal to the navigation stack as a geometry_msgs/PoseStamped.
13 | 14 |Click the icon once to enable, drag on the view area and release to publish. Long press the icon to open this menu.
15 | 16 | 17 | 18 | 19 |20 | 21 | 22 | 23 | 24 |
2 | 
3 | 
4 |
--------------------------------------------------------------------------------
/public/templates/speedometer/speedometer_modal.html:
--------------------------------------------------------------------------------
1 |
3 |
4 | 0.000
5 |m/s
6 |
2 |
--------------------------------------------------------------------------------
/public/templates/teleop/teleop_icon.html:
--------------------------------------------------------------------------------
1 |
3 |
6 | 7 | 8 | 11 | 12 | 13 | 16 | 17 | 18 | 19 | 20 | 28 | 29 |
38 | 39 | 40 | 41 |
42 | Speedometer
4 |Status: Ok.
5 |6 | 7 | 8 | 11 | 12 | 13 | 16 | 17 | 18 | 19 | 20 | 28 | 29 |
30 |
34 |
35 |
36 |
37 | Speed: ?
31 |Max Speed: ?
32 |Min Speed: ?
33 |38 | 39 | 40 | 41 |
2 | 
3 |
--------------------------------------------------------------------------------
/public/templates/teleop/teleop_modal.html:
--------------------------------------------------------------------------------
1 |
3 |
2 |
3 |
--------------------------------------------------------------------------------
/public/templates/teleop/teleop_view.html:
--------------------------------------------------------------------------------
1 |
2 |
--------------------------------------------------------------------------------
/public/templates/temperature/temperature_icon.html:
--------------------------------------------------------------------------------
1 |
4 |
5 |
6 |
7 |
5 |
8 |
11 | 12 | 15 | 16 |
49 | 50 | 51 | 52 | 53 | 54 |
55 |
56 | Joystick Teleop
9 |Status: Ok.
10 |11 | 12 | 15 | 16 |
Adds a joystick overlay to the main view that can be used to send geometry_msgs/Twist movement commands.
17 | 18 |Scroll up and drag the preview box to position the joystick on the screen.
19 | 20 | 21 | 22 | 0.5 23 | 24 | 25 | 26 | 27 | 28 | 0.5 29 | 30 | 31 | 32 | 33 | 34 | 0.05 35 | 36 | 37 | 38 | 39 | 40 | 41 | 42 | 43 | 44 | 45 | 46 | 47 | 48 |49 | 50 | 51 | 52 | 53 | 54 |
57 |
58 |
59 |
60 |
2 | 
3 |
--------------------------------------------------------------------------------
/public/templates/temperature/temperature_modal.html:
--------------------------------------------------------------------------------
1 |
3 |
2 |
--------------------------------------------------------------------------------
/public/templates/tf/tf_icon.html:
--------------------------------------------------------------------------------
1 |
3 |
6 | 7 | 10 | 11 |
20 |
21 |
22 |
23 |
24 |
25 | 
26 |
27 |
28 |
29 |
30 |
31 |
35 | 36 | 37 | 38 |
39 | Temperature
4 |Status: Ok.
5 |6 | 7 | 10 | 11 |
12 |
16 |
17 | Temperature (°C): ?
13 |Variance: ?
14 |TF Frame: ?
15 |Set indicator values:
18 | 19 |
20 |
21 |
22 |
23 |
24 |
25 |
26 |
27 |
28 |
29 |
30 |
31 | The indicator icon will change based on the above defined threshold values.
32 | 33 | 34 |35 | 36 | 37 | 38 |
2 | 
3 |
--------------------------------------------------------------------------------
/public/templates/tf/tf_modal.html:
--------------------------------------------------------------------------------
1 |
3 |
2 |
--------------------------------------------------------------------------------
/public/templates/tf/tf_view.html:
--------------------------------------------------------------------------------
1 |
--------------------------------------------------------------------------------
/public/templates/waypoints/waypoints_icon.html:
--------------------------------------------------------------------------------
1 |
3 |
6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | 1.0 24 | 25 | 26 | 27 | 28 | Frames: 29 | 30 | 31 | 32 | 33 | 34 | 35 | 36 | 37 | 38 |
43 | 44 | 45 | 46 |
47 | TF Frame Renderer
4 |Status: Ok.
5 |6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | 1.0 24 | 25 | 26 | 27 | 28 | Frames: 29 | 30 | 31 | 32 | 33 | 34 | 35 | 36 | 37 | 38 |
39 |
40 |
41 |
42 | 43 | 44 | 45 | 46 |
2 | 
3 |
4 |
5 |
6 |
7 |
--------------------------------------------------------------------------------
/public/templates/waypoints/waypoints_modal.html:
--------------------------------------------------------------------------------
1 |
3 |
4 | 
Start
11 | 
Stop
14 | 
Edit XY
17 | 
Edit Z
20 | 
Setup
23 |
2 |
--------------------------------------------------------------------------------
/public/templates/waypoints/waypoints_view.html:
--------------------------------------------------------------------------------
1 |
--------------------------------------------------------------------------------
/scripts/test/_test_button.py:
--------------------------------------------------------------------------------
1 | #!/usr/bin/env python
2 |
3 | import rospy
4 | from std_srvs.srv import Empty, EmptyResponse
5 | from std_srvs.srv import Trigger, TriggerResponse
6 | from std_srvs.srv import SetBool, SetBoolResponse
7 | from std_msgs.msg import Bool
8 |
9 | class TestServiceNode:
10 | def __init__(self):
11 | rospy.init_node('test_service_node')
12 |
13 | # Initialize toggle states
14 | self.empty_state = False
15 | self.trigger_state = False
16 | self.setbool_state = False
17 |
18 | # Publishers with latch=True
19 | self.empty_pub = rospy.Publisher('/empty_triggered', Bool, latch=True, queue_size=1)
20 | self.trigger_pub = rospy.Publisher('/trigger_triggered', Bool, latch=True, queue_size=1)
21 | self.setbool_pub = rospy.Publisher('/setbool_triggered', Bool, latch=True, queue_size=1)
22 |
23 | # Initial publish so topics have a latched message
24 | self.empty_pub.publish(self.empty_state)
25 | self.trigger_pub.publish(self.trigger_state)
26 | self.setbool_pub.publish(self.setbool_state)
27 |
28 | # Service servers
29 | self.empty_srv = rospy.Service('/test_empty', Empty, self.handle_empty)
30 | self.trigger_srv = rospy.Service('/test_trigger', Trigger, self.handle_trigger)
31 | self.setbool_srv = rospy.Service('/test_setbool', SetBool, self.handle_setbool)
32 |
33 | rospy.loginfo("Test service node ready.")
34 | rospy.spin()
35 |
36 | def handle_empty(self, req):
37 | self.empty_state = not self.empty_state
38 | self.empty_pub.publish(self.empty_state)
39 | rospy.loginfo("Empty service triggered, state: %s", self.empty_state)
40 | return EmptyResponse()
41 |
42 | def handle_trigger(self, req):
43 | self.trigger_state = not self.trigger_state
44 | self.trigger_pub.publish(self.trigger_state)
45 | rospy.loginfo("Trigger service triggered, state: %s", self.trigger_state)
46 | return TriggerResponse(success=True, message="Trigger service called")
47 |
48 | def handle_setbool(self, req):
49 | self.setbool_state = req.data
50 | self.setbool_pub.publish(self.setbool_state)
51 | rospy.loginfo("SetBool service triggered, state: %s", self.setbool_state)
52 | return SetBoolResponse(success=True, message="SetBool service called")
53 |
54 | if __name__ == '__main__':
55 | try:
56 | TestServiceNode()
57 | except rospy.ROSInterruptException:
58 | pass
59 |
60 |
--------------------------------------------------------------------------------
/scripts/topic_handler.py:
--------------------------------------------------------------------------------
1 | #!/usr/bin/env python3
2 |
3 | import rospy
4 | import time
5 | import threading
6 |
7 | from rospy.exceptions import ROSTimeMovedBackwardsException
8 | from tf2_msgs.msg import TFMessage
9 |
10 | class TopicHandler:
11 |
12 | def __init__(self):
13 | rospy.init_node('vizanti_topic_handler')
14 |
15 | self.updated = False
16 | self.lock = threading.Lock()
17 | self.transforms = {}
18 |
19 | self.transform_timeout = {}
20 | self.timeout_prescaler = 0
21 |
22 | self.tf_sub = rospy.Subscriber('/tf', TFMessage, self.tf_callback)
23 | self.tf_pub = rospy.Publisher('/vizanti/tf_consolidated', TFMessage, queue_size=1, latch=True)
24 |
25 | rospy.loginfo("TF handler ready.")
26 |
27 | def clear_old_tfs(self):
28 | with self.lock:
29 | for key in list(self.transforms.keys()):
30 | if time.time() - self.transform_timeout[key] > 10.0:
31 | parent = self.transforms[key].header.frame_id
32 | del self.transforms[key]
33 | del self.transform_timeout[key]
34 | self.updated = True
35 | rospy.logwarn("Deleted old TF link: "+str(parent)+" -> "+str(key))
36 |
37 | def publish(self):
38 | # 150 /30 hz = once per 5 seconds
39 | self.timeout_prescaler = (self.timeout_prescaler + 1) % 150
40 | if self.timeout_prescaler == 0:
41 | self.clear_old_tfs()
42 |
43 | if not self.updated:
44 | return
45 |
46 | msg = TFMessage()
47 | with self.lock:
48 | msg.transforms = list(self.transforms.values())
49 | self.updated = False
50 |
51 | self.tf_pub.publish(msg)
52 |
53 | def tf_callback(self, msg):
54 | with self.lock:
55 | for transform in msg.transforms:
56 | self.transforms[transform.child_frame_id] = transform
57 | self.transform_timeout[transform.child_frame_id] = time.time()
58 | self.updated = True
59 |
60 |
61 | odr = TopicHandler()
62 | rate = rospy.Rate(30)
63 | while not rospy.is_shutdown():
64 | try:
65 | odr.publish()
66 | rate.sleep()
67 | except ROSTimeMovedBackwardsException as e:
68 | print(e)
--------------------------------------------------------------------------------
/srv/GetNodeParameters.srv:
--------------------------------------------------------------------------------
1 | string node
2 | ---
3 | string parameters
--------------------------------------------------------------------------------
/srv/ListExecutables.srv:
--------------------------------------------------------------------------------
1 | string package
2 | ---
3 | string[] executables
4 |
--------------------------------------------------------------------------------
/srv/ListPackages.srv:
--------------------------------------------------------------------------------
1 | ---
2 | string[] packages
3 |
--------------------------------------------------------------------------------
/srv/LoadMap.srv:
--------------------------------------------------------------------------------
1 | string file_path
2 | string topic
3 | ---
4 | bool success
5 | string message
--------------------------------------------------------------------------------
/srv/ManageNode.srv:
--------------------------------------------------------------------------------
1 | string node
2 | ---
3 | bool success
4 | string message
--------------------------------------------------------------------------------
/srv/RecordRosbag.srv:
--------------------------------------------------------------------------------
1 | string[] topics
2 | bool start
3 | string path
4 | ---
5 | bool success
6 | string message
7 |
--------------------------------------------------------------------------------
/srv/SaveMap.srv:
--------------------------------------------------------------------------------
1 | string file_path
2 | string topic
3 | ---
4 | bool success
5 | string message
--------------------------------------------------------------------------------
3 |
6 | 7 | 8 | 11 | 12 | 13 | 14 | 15 | 18 | 19 | 20 | 21 | 22 | 25 | 26 |
68 | 69 | 70 | 71 | 72 | 73 | 74 |
75 | Waypoint Mission
4 |Status: Ok.
5 |6 | 7 | 8 | 11 | 12 | 13 | 14 | 15 | 18 | 19 | 20 | 21 | 22 | 25 | 26 |
Defines a sequence of poses and publishes them as a nav_msgs/Path or geometry_msgs/PoseArray.
27 | 28 |X/Y Axis: Edit horizontal positions.
29 |-
30 |
- Add Points: Click on the view area. 31 |
- Delete Points: Tap an existing point. 32 |
- Move Points: Drag an existing point to reposition it. 33 |
- Snap to Grid: Hold the Shift key while dragging to snap to the pixel grid. 34 | 35 |
Z Axis: Edit vertical positions.
38 |-
39 |
- Set Height: Click and drag a point to set a rough Z value. 40 |
- Fine Adjust: Release and drag a point a second time to fine adjust its height. 41 | 42 |
When editing X/Y/Z positions, click the icon again to stop editing.
46 | 47 | 48 | 49 | 50 | 51 | 52 | 53 | 54 | 55 | 56 | 57 | 58 | 59 |Clear Path
60 | 61 | 62 | 63 | 64 | 65 |Tip: If you're using a nav stack that doesn't use Paths or PoseArrays, but will accept simple goals, see the demo node at rosrun vizanti waypoints_to_simple_goals.py
66 | 67 |68 | 69 | 70 | 71 | 72 | 73 | 74 |