From 3b14eec33d12996833459e6960e46b25602d513f Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Bj=C3=B6rn=20Ellensohn?= <bjoern.ellensohn@gmail.com>
Date: Wed, 30 Aug 2023 08:36:05 +0200
Subject: [PATCH] added foxglove layout file

---
 docker-compose.yaml   |   2 +
 foxglove/default.json | 220 ++++++++++++++++++++++++++++++++++++++++++
 2 files changed, 222 insertions(+)
 create mode 100644 foxglove/default.json

diff --git a/docker-compose.yaml b/docker-compose.yaml
index 52dbe87..41daf29 100644
--- a/docker-compose.yaml
+++ b/docker-compose.yaml
@@ -279,6 +279,8 @@ services:
       - RMW_IMPLEMENTATION=rmw_cyclonedds_cpp
     profiles:
       - robot
+    volumes:
+      - ./foxglove/default.json:/foxglove/default-layout.json
 
   # Foxglove Studio Webserver
   foxglove_webserver:
diff --git a/foxglove/default.json b/foxglove/default.json
new file mode 100644
index 0000000..d8e20bb
--- /dev/null
+++ b/foxglove/default.json
@@ -0,0 +1,220 @@
+{
+  "configById": {
+    "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": {
+        "perspective": true,
+        "distance": 7.169718448165846,
+        "phi": 44.39597034624296,
+        "thetaOffset": 110.64544303379736,
+        "targetOffset": [
+          1.3652650501689945,
+          -1.8373664023538157,
+          1.626837553340729e-18
+        ],
+        "target": [
+          0,
+          0,
+          0
+        ],
+        "targetOrientation": [
+          0,
+          0,
+          0,
+          1
+        ],
+        "fovy": 45,
+        "near": 0.5,
+        "far": 5000
+      },
+      "followMode": "follow-pose",
+      "scene": {},
+      "transforms": {
+        "frame:base_link": {
+          "visible": false
+        },
+        "frame:odom": {
+          "visible": false
+        },
+        "frame:map": {
+          "visible": false
+        },
+        "frame:base_footprint": {
+          "visible": false
+        },
+        "frame:camera_link": {
+          "visible": false
+        },
+        "frame:chassis": {
+          "visible": false
+        },
+        "frame:camera_link_optical": {
+          "visible": false
+        },
+        "frame:caster_wheel": {
+          "visible": false
+        },
+        "frame:face_link": {
+          "visible": false
+        },
+        "frame:laser_frame": {
+          "visible": false
+        },
+        "frame:left_wheel": {
+          "visible": false
+        },
+        "frame:right_wheel": {
+          "visible": false
+        }
+      },
+      "topics": {
+        "/initialpose": {
+          "visible": false
+        },
+        "/move_base_simple/goal": {
+          "visible": false
+        },
+        "/global_costmap/costmap": {
+          "visible": true,
+          "colorMode": "costmap",
+          "alpha": 0.38,
+          "frameLocked": false
+        },
+        "/robot_description": {
+          "visible": true
+        },
+        "/camera/image": {
+          "visible": false
+        },
+        "/local_costmap/clearing_endpoints": {
+          "visible": true,
+          "colorField": "x",
+          "colorMode": "colormap",
+          "colorMap": "turbo"
+        },
+        "/local_costmap/costmap": {
+          "visible": false
+        },
+        "/map": {
+          "visible": true,
+          "colorMode": "map"
+        },
+        "/scan": {
+          "visible": false,
+          "colorField": "intensity",
+          "colorMode": "colormap",
+          "colorMap": "turbo"
+        },
+        "/global_costmap/published_footprint": {
+          "visible": false
+        },
+        "/local_costmap/published_footprint": {
+          "visible": false
+        },
+        "/plan": {
+          "visible": true
+        }
+      },
+      "publish": {
+        "type": "pose",
+        "poseTopic": "/goal_pose",
+        "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": {
+        "imageTopic": "/camera/image"
+      }
+    },
+    "RawMessages!os6rgs": {
+      "diffEnabled": false,
+      "diffMethod": "custom",
+      "diffTopicPath": "",
+      "showFullMessageForDiff": false,
+      "topicPath": "/bms_fb"
+    }
+  },
+  "globalVariables": {},
+  "userNodes": {},
+  "playbackConfig": {
+    "speed": 1
+  },
+  "layout": {
+    "first": "3D!18i6zy7",
+    "second": {
+      "first": "Image!3mnp456",
+      "second": "RawMessages!os6rgs",
+      "direction": "column",
+      "splitPercentage": 72.8337236533958
+    },
+    "direction": "row",
+    "splitPercentage": 51.57828282828283
+  }
+}
\ No newline at end of file