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This commit is contained in:
Björn Ellensohn 2024-01-19 12:08:43 +01:00
parent 68a5310368
commit ca6ca88ace
3 changed files with 183 additions and 10 deletions
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BIN
config/foxglove/extensions/yulong.virtual-joystick-0.0.1.foxe Normal file
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155
config/foxglove/foxglove-layout.json Normal file
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@ -0,0 +1,155 @@
{
"configById": {
"virtual-joystick.Virtual Joystick!26sdvuh": {
"topic": "/cmd_vel",
"publishRate": 60,
"maxLinearSpeed": 0.5,
"maxAngularSpeed": 2
},
"3D!18i6zy7": {
"layers": {
"845139cb-26bc-40b3-8161-8ab60af4baf5": {
"visible": true,
"frameLocked": true,
"label": "Grid",
"instanceId": "845139cb-26bc-40b3-8161-8ab60af4baf5",
"layerId": "foxglove.Grid",
"size": 10,
"divisions": 10,
"lineWidth": 1,
"color": "#248eff",
"position": [
0,
0,
0
],
"rotation": [
0,
0,
0
],
"order": 1
}
},
"cameraState": {
"distance": 20,
"perspective": true,
"phi": 60,
"target": [
0,
0,
0
],
"targetOffset": [
0,
0,
0
],
"targetOrientation": [
0,
0,
0,
1
],
"thetaOffset": 45,
"fovy": 45,
"near": 0.5,
"far": 5000
},
"followMode": "follow-pose",
"scene": {},
"transforms": {},
"topics": {},
"publish": {
"type": "point",
"poseTopic": "/move_base_simple/goal",
"pointTopic": "/clicked_point",
"poseEstimateTopic": "/initialpose",
"poseEstimateXDeviation": 0.5,
"poseEstimateYDeviation": 0.5,
"poseEstimateThetaDeviation": 0.26179939
},
"imageMode": {}
},
"Image!3mnp456": {
"cameraState": {
"distance": 20,
"perspective": true,
"phi": 60,
"target": [
0,
0,
0
],
"targetOffset": [
0,
0,
0
],
"targetOrientation": [
0,
0,
0,
1
],
"thetaOffset": 45,
"fovy": 45,
"near": 0.5,
"far": 5000
},
"followMode": "follow-pose",
"scene": {},
"transforms": {},
"topics": {},
"layers": {},
"publish": {
"type": "point",
"poseTopic": "/move_base_simple/goal",
"pointTopic": "/clicked_point",
"poseEstimateTopic": "/initialpose",
"poseEstimateXDeviation": 0.5,
"poseEstimateYDeviation": 0.5,
"poseEstimateThetaDeviation": 0.26179939
},
"imageMode": {}
},
"RawMessages!os6rgs": {
"diffEnabled": false,
"diffMethod": "custom",
"diffTopicPath": "",
"showFullMessageForDiff": false,
"topicPath": ""
},
"Battery Indicator.Battery display!3gjrnnu": {
"batteryTopic": "",
"topic": {
"batteryTopic": ""
}
}
},
"globalVariables": {},
"userNodes": {},
"playbackConfig": {
"speed": 1
},
"layout": {
"direction": "row",
"first": "virtual-joystick.Virtual Joystick!26sdvuh",
"second": {
"first": "3D!18i6zy7",
"second": {
"first": "Image!3mnp456",
"second": {
"first": "RawMessages!os6rgs",
"second": "Battery Indicator.Battery display!3gjrnnu",
"direction": "column",
"splitPercentage": 79.02494331065759
},
"direction": "column",
"splitPercentage": 30
},
"direction": "row",
"splitPercentage": 70
}
}
}

38
docker-compose.yaml
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@ -214,30 +214,48 @@ services:
# This section is mostly for supervision from PC #
################################################################################################################################
# foxglove-bridge:
# image: husarion/foxglove-bridge:humble
# # Interactive shell
# stdin_open: true
# tty: true
# # Networking and IPC for ROS 2
# network_mode: host
# ipc: host
# # Needed to display graphical applications
# #privileged: true
# environment:
# # Allows graphical programs in the container.
# - DISPLAY=${DISPLAY}
# - QT_X11_NO_MITSHM=1
# - NVIDIA_DRIVER_CAPABILITIES=all
# - ROS_DOMAIN_ID=5
# - RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
# Foxglove Studio Bridge
foxglove-bridge:
image: husarion/foxglove-bridge:humble
# Interactive shell
extends: overlay
command: >
ros2 launch foxglove_bridge foxglove_bridge_launch.xml port:=8765
stdin_open: true
tty: true
# Networking and IPC for ROS 2
network_mode: host
#network_mode: host
ipc: host
# Needed to display graphical applications
#privileged: true
environment:
# Allows graphical programs in the container.
- DISPLAY=${DISPLAY}
- QT_X11_NO_MITSHM=1
- NVIDIA_DRIVER_CAPABILITIES=all
- ROS_DOMAIN_ID=5
- RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
foxglove:
image: husarion/foxglove
#image: husarion/foxglove
image: ghcr.io/foxglove/studio:latest
depends_on:
- foxglove-bridge
ports:
- 8080:8080
volumes:
- ./config/foxglove/extensions:/src/extensions
- ./config/foxglove/foxglove-layout.json:/foxglove/default-layout.json
# rviz2
rviz2: