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added new telematics layout #117

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merged 1 commit into from
Nov 15, 2024
Merged

added new telematics layout #117

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14 changes: 14 additions & 0 deletions rb_ws/src/buggy/launch/debug.launch
View file
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Original file line number Diff line number Diff line change
@@ -0,0 +1,14 @@
<launch>
<node name="foxglove" pkg="foxglove_bridge" type="foxglove_bridge" />

<arg name="controller" default="stanley" />
<arg name="start_dist" default="0.0" />
<arg name="path" default="buggycourse_safe.json" />
<arg name="NAND_exist" default="true"/>
<group if="$(arg NAND_exist)">
<!-- Run the simulation with NAND -->
<arg name="autonsystem_args" value="--controller $(arg controller) --dist 0.0 --traj $(arg path) --self_name SC --other_name NAND --left_curb buggycourse_curb.json" />
<node name="auton_system" pkg="buggy" type="autonsystem.py" output="screen" args="$(arg autonsystem_args)"/>
</group>

</launch>
142 changes: 114 additions & 28 deletions telematics_layout.json
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -1,25 +1,40 @@
{
"configById": {
"RawMessages!2tdn5ex": {
"diffEnabled": false,
"diffMethod": "custom",
"diffTopicPath": "",
"showFullMessageForDiff": false,
"topicPath": "/mip/ekf/gnss_dual_antenna_status"
"RosOut!uot7y7": {
"searchTerms": [],
"minLogLevel": 2,
"nameFilter": {},
"foxglovePanelTitle": "Log",
"topicToRender": "/rosout"
},
"RawMessages!3xary91": {
"diffEnabled": false,
"diffMethod": "custom",
"diffTopicPath": "",
"showFullMessageForDiff": false,
"topicPath": "/gnss2/fix_info_republished"
"topicPath": "/ekf/status ",
"fontSize": 12
},
"RawMessages!3kfvl8s": {
"diffEnabled": false,
"diffMethod": "custom",
"diffTopicPath": "",
"showFullMessageForDiff": false,
"topicPath": "/gnss2/fix_FloatArray_Covariance"
"Indicator!49awv5m": {
"path": "/SC/buggy/debug/steering_alarm",
"style": "bulb",
"fontSize": 36,
"fallbackColor": "#87ff9a",
"fallbackLabel": "Good",
"rules": [
{
"operator": ">=",
"rawValue": "2",
"color": "#e34b4b",
"label": "Error"
},
{
"operator": ">=",
"rawValue": "1",
"color": "#ffeb00",
"label": "Warn"
}
]
},
"Plot!2xgyw37": {
"paths": [
Expand Down Expand Up @@ -48,6 +63,12 @@
"timestampMethod": "receiveTime",
"value": "/SC/buggy/input/steering.data",
"enabled": true
},
{
"timestampMethod": "receiveTime",
"value": "/SC/buggy/debug/steering_angle.data",
"enabled": true,
"color": "#f5774d"
}
],
"minYValue": -20,
Expand All @@ -68,7 +89,8 @@
{
"timestampMethod": "receiveTime",
"value": "/SC/auton/debug/error.position.y",
"enabled": true
"enabled": true,
"color": "#4e98e2"
}
],
"minYValue": -5,
Expand All @@ -86,19 +108,68 @@
},
"map!1dymz4q": {
"center": {
"lat": 40.43987604078038,
"lon": -79.94506359100342
"lat": 40.44051857091456,
"lon": -79.94211682509258
},
"customTileUrl": "http://192.168.1.217:8080/data/v3/{z}/{x}/{y}.png",
"disabledTopics": [],
"followTopic": "",
"disabledTopics": [
"/gnss_2/llh_position",
"/auton/debug/passing_traj"
],
"followTopic": "/ekf/llh_position",
"layer": "map",
"topicColors": {
"/gnss1/llh_position": "#e34f4f",
"/gnss2/llh_position": "#4fd5e3"
"/gnss1/fix": "#e34f4f",
"/gnss2/fix": "#4fd5e3",
"/ekf/llh_position": "#2984df",
"/gnss_1/llh_position": "#f54c4c",
"/SC/auton/debug/reference_navsat": "#006a43",
"/auton/debug/passing_traj": "#e34fd6",
"/NAND/nav/odom_NavSatFix": "#f7df71"
},
"zoomLevel": 16,
"maxNativeZoom": 20
"zoomLevel": 18,
"maxNativeZoom": 20,
"topicConfig": {
"/gnss1/fix": {
"color": "#e34f4f",
"pointDisplayMode": "dot",
"historyMode": "all"
},
"/gnss2/fix": {
"color": "#4fd5e3",
"pointDisplayMode": "dot",
"historyMode": "all"
},
"/ekf/llh_position": {
"color": "#2984df",
"pointDisplayMode": "dot",
"historyMode": "all"
},
"/gnss_1/llh_position": {
"color": "#f54c4c",
"pointDisplayMode": "dot",
"historyMode": "all"
},
"/SC/auton/debug/reference_navsat": {
"color": "#006a43",
"pointDisplayMode": "dot",
"historyMode": "all"
},
"/gnss_2/llh_position": {
"pointDisplayMode": "dot",
"historyMode": "all"
},
"/auton/debug/passing_traj": {
"historyMode": "all",
"pointDisplayMode": "dot",
"color": "#e34fd6"
},
"/NAND/nav/odom_NavSatFix": {
"historyMode": "all",
"pointDisplayMode": "dot",
"color": "#f7df71"
}
}
},
"Image!pt6akw": {
"cameraState": {
Expand Down Expand Up @@ -152,8 +223,18 @@
"diffMethod": "custom",
"diffTopicPath": "",
"showFullMessageForDiff": false,
"topicPath": "/mip/gnss2/fix_info",
"expansion": "none"
"topicPath": "/gnss2/fix_info",
"expansion": "none",
"fontSize": 12
},
"StateTransitions!veutf8": {
"paths": [
{
"value": "/SC/debug/sanity_warning.data",
"timestampMethod": "receiveTime"
}
],
"isSynced": true
}
},
"globalVariables": {},
Expand All @@ -164,12 +245,17 @@
"layout": {
"direction": "row",
"first": {
"first": "RawMessages!2tdn5ex",
"first": "RosOut!uot7y7",
"second": {
"first": "RawMessages!3xary91",
"second": "RawMessages!3kfvl8s",
"second": {
"first": "StateTransitions!veutf8",
"second": "Indicator!49awv5m",
"direction": "column",
"splitPercentage": 62.82722513089005
},
"direction": "column",
"splitPercentage": 51.54349680936057
"splitPercentage": 31.522262430960073
},
"direction": "column",
"splitPercentage": 41.27941759867749
Expand Down Expand Up @@ -200,6 +286,6 @@
},
"splitPercentage": 42.362525458248484
},
"splitPercentage": 26.406249999999996
"splitPercentage": 27.017543859649123
}
}
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