From 65406f281d9e9cb7caaeecc81085b0a0e10ddc4b Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Bj=C3=B6rn=20Ellensohn?= Date: Wed, 30 Aug 2023 11:30:45 +0200 Subject: [PATCH] update --- foxglove/default.json | 230 +++++++++++++++++++-- foxglove/default.json.bak | 220 ++++++++++++++++++++ foxglove/default.json.bak2 | 402 +++++++++++++++++++++++++++++++++++++ 3 files changed, 831 insertions(+), 21 deletions(-) create mode 100644 foxglove/default.json.bak create mode 100644 foxglove/default.json.bak2 diff --git a/foxglove/default.json b/foxglove/default.json index d8e20bb..81c6c74 100644 --- a/foxglove/default.json +++ b/foxglove/default.json @@ -1,5 +1,147 @@ { "configById": { + "Indicator!246epy5": { + "path": "/chassis_mode_fb.chassis_mode", + "style": "background", + "fallbackColor": "#f3ff09", + "fallbackLabel": "Paused", + "rules": [ + { + "operator": "=", + "rawValue": "1", + "color": "#68e24a", + "label": "Enabled" + }, + { + "operator": "=", + "rawValue": "3", + "color": "#ef0808", + "label": "Stopeed" + } + ], + "foxglovePanelTitle": "Chassis Status" + }, + "3D!xm9o0x": { + "cameraState": { + "perspective": true, + "distance": 4.292775278853205, + "phi": 63.55358804367419, + "thetaOffset": 90.92255125285674, + "targetOffset": [ + -0.29510607699692826, + -0.46515527202238954, + -3.3726357711173257e-18 + ], + "target": [ + 0, + 0, + 0 + ], + "targetOrientation": [ + 0, + 0, + 0, + 1 + ], + "fovy": 45, + "near": 0.5, + "far": 5000 + }, + "followMode": "follow-pose", + "followTf": "camera_link", + "scene": { + "syncCamera": false + }, + "transforms": { + "frame:odom": { + "visible": false + }, + "frame:map": { + "visible": false + }, + "frame:base_link": { + "visible": false + }, + "frame:base_footprint": { + "visible": false + }, + "frame:chassis": { + "visible": false + }, + "frame:left_wheel": { + "visible": false + }, + "frame:right_wheel": { + "visible": false + }, + "frame:caster_wheel": { + "visible": false + }, + "frame:laser_frame": { + "visible": false + }, + "frame:camera_link": { + "visible": false + }, + "frame:camera_link_optical": { + "visible": false + }, + "frame:face_link": { + "visible": false + } + }, + "topics": { + "/map": { + "visible": true, + "colorMode": "raw" + }, + "/robot_description": { + "visible": true + }, + "/amcl_pose": { + "visible": false + }, + "/scan": { + "visible": false, + "colorField": "intensity", + "colorMode": "colormap", + "colorMap": "turbo" + }, + "/local_plan": { + "visible": false + }, + "/local_costmap/clearing_endpoints": { + "visible": false, + "colorField": "x", + "colorMode": "colormap", + "colorMap": "turbo" + }, + "/local_costmap/costmap": { + "visible": true, + "colorMode": "costmap", + "alpha": 0.57, + "frameLocked": false + }, + "/plan": { + "visible": true, + "lineWidth": 0.11 + }, + "/global_costmap/costmap": { + "visible": false + } + }, + "layers": {}, + "publish": { + "type": "point", + "poseTopic": "/move_base_simple/goal", + "pointTopic": "/clicked_point", + "poseEstimateTopic": "/initialpose", + "poseEstimateXDeviation": 0.5, + "poseEstimateYDeviation": 0.5, + "poseEstimateThetaDeviation": 0.26179939 + }, + "imageMode": {} + }, "3D!18i6zy7": { "layers": { "845139cb-26bc-40b3-8161-8ab60af4baf5": { @@ -26,14 +168,14 @@ } }, "cameraState": { - "perspective": true, - "distance": 7.169718448165846, - "phi": 44.39597034624296, - "thetaOffset": 110.64544303379736, + "perspective": false, + "distance": 17.147499999954405, + "phi": 15.990945674652972, + "thetaOffset": -27.94225656208538, "targetOffset": [ - 1.3652650501689945, - -1.8373664023538157, - 1.626837553340729e-18 + -0.3252914174301529, + -1.1974256262178802, + 1.0440519804793617e-15 ], "target": [ 0, @@ -51,7 +193,9 @@ "far": 5000 }, "followMode": "follow-pose", - "scene": {}, + "scene": { + "enableStats": false + }, "transforms": { "frame:base_link": { "visible": false @@ -98,7 +242,7 @@ "visible": false }, "/global_costmap/costmap": { - "visible": true, + "visible": false, "colorMode": "costmap", "alpha": 0.38, "frameLocked": false @@ -120,7 +264,7 @@ }, "/map": { "visible": true, - "colorMode": "map" + "colorMode": "raw" }, "/scan": { "visible": false, @@ -135,7 +279,8 @@ "visible": false }, "/plan": { - "visible": true + "visible": true, + "lineWidth": 0.11 } }, "publish": { @@ -147,7 +292,8 @@ "poseEstimateYDeviation": 0.5, "poseEstimateThetaDeviation": 0.26179939 }, - "imageMode": {} + "imageMode": {}, + "followTf": "map" }, "Image!3mnp456": { "cameraState": { @@ -193,12 +339,38 @@ "imageTopic": "/camera/image" } }, + "Gauge!3bflj8v": { + "path": "/speed_fb.car_speed", + "minValue": -1, + "maxValue": 1, + "colorMap": "red-yellow-green", + "colorMode": "colormap", + "gradient": [ + "#0000ff", + "#ff00ff" + ], + "reverse": false, + "foxglovePanelTitle": "Speed" + }, + "Gauge!2dh8khn": { + "path": "/bms_fb.bat_soc", + "minValue": 0, + "maxValue": 100, + "colorMap": "red-yellow-green", + "colorMode": "colormap", + "gradient": [ + "#0000ff", + "#ff00ff" + ], + "reverse": false, + "foxglovePanelTitle": "Battery SOC" + }, "RawMessages!os6rgs": { "diffEnabled": false, "diffMethod": "custom", "diffTopicPath": "", "showFullMessageForDiff": false, - "topicPath": "/bms_fb" + "topicPath": "/chassis_mode_fb" } }, "globalVariables": {}, @@ -207,14 +379,30 @@ "speed": 1 }, "layout": { - "first": "3D!18i6zy7", - "second": { - "first": "Image!3mnp456", - "second": "RawMessages!os6rgs", - "direction": "column", - "splitPercentage": 72.8337236533958 - }, "direction": "row", - "splitPercentage": 51.57828282828283 + "first": "3D!xm9o0x", + "second": { + "first": "3D!18i6zy7", + "second": { + "first": { + "first": { + "first": "Image!3mnp456", + "second": "Indicator!246epy5", + "direction": "column" + }, + "second": { + "first": "Gauge!3bflj8v", + "second": "Gauge!2dh8khn", + "direction": "column" + }, + "direction": "column" + }, + "second": "RawMessages!os6rgs", + "direction": "column", + "splitPercentage": 79.29515418502203 + }, + "direction": "row", + "splitPercentage": 68.43434343434342 + } } } \ No newline at end of file diff --git a/foxglove/default.json.bak b/foxglove/default.json.bak new file mode 100644 index 0000000..d8e20bb --- /dev/null +++ b/foxglove/default.json.bak @@ -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 diff --git a/foxglove/default.json.bak2 b/foxglove/default.json.bak2 new file mode 100644 index 0000000..86230b3 --- /dev/null +++ b/foxglove/default.json.bak2 @@ -0,0 +1,402 @@ +{ + "configById": { + "Indicator!246epy5": { + "path": "/chassis_mode_fb.chassis_mode", + "style": "bulb", + "fallbackColor": "#a0a0a0", + "fallbackLabel": "Stopped", + "rules": [ + { + "operator": ">", + "rawValue": "0", + "color": "#68e24a", + "label": "Enabled" + } + ], + "foxglovePanelTitle": "Chassis Status" + }, + "3D!xm9o0x": { + "cameraState": { + "perspective": true, + "distance": 1.5388995055323984, + "phi": 63.55358804367419, + "thetaOffset": 90.92255125285413, + "targetOffset": [ + 0, + 0, + 0 + ], + "target": [ + 0, + 0, + 0 + ], + "targetOrientation": [ + 0, + 0, + 0, + 1 + ], + "fovy": 45, + "near": 0.5, + "far": 5000 + }, + "followMode": "follow-pose", + "followTf": "camera_link", + "scene": { + "syncCamera": false + }, + "transforms": { + "frame:odom": { + "visible": false + }, + "frame:map": { + "visible": false + }, + "frame:base_link": { + "visible": false + }, + "frame:base_footprint": { + "visible": false + }, + "frame:chassis": { + "visible": false + }, + "frame:left_wheel": { + "visible": false + }, + "frame:right_wheel": { + "visible": false + }, + "frame:caster_wheel": { + "visible": false + }, + "frame:laser_frame": { + "visible": false + }, + "frame:camera_link": { + "visible": false + }, + "frame:camera_link_optical": { + "visible": false + }, + "frame:face_link": { + "visible": false + } + }, + "topics": { + "/map": { + "visible": true, + "colorMode": "raw" + }, + "/robot_description": { + "visible": true + }, + "/amcl_pose": { + "visible": false + }, + "/scan": { + "visible": false, + "colorField": "intensity", + "colorMode": "colormap", + "colorMap": "turbo" + }, + "/local_plan": { + "visible": false + }, + "/local_costmap/clearing_endpoints": { + "visible": false, + "colorField": "x", + "colorMode": "colormap", + "colorMap": "turbo" + }, + "/local_costmap/costmap": { + "visible": true, + "colorMode": "costmap", + "alpha": 0.57, + "frameLocked": false + }, + "/plan": { + "visible": true, + "lineWidth": 0.11 + }, + "/global_costmap/costmap": { + "visible": false + } + }, + "layers": {}, + "publish": { + "type": "point", + "poseTopic": "/move_base_simple/goal", + "pointTopic": "/clicked_point", + "poseEstimateTopic": "/initialpose", + "poseEstimateXDeviation": 0.5, + "poseEstimateYDeviation": 0.5, + "poseEstimateThetaDeviation": 0.26179939 + }, + "imageMode": {} + }, + "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": false, + "distance": 11.376001845500314, + "phi": 15.990945674652972, + "thetaOffset": -27.942256562082942, + "targetOffset": [ + -0.4791941626637678, + -0.9106804180995777, + 1.0288213242914258e-15 + ], + "target": [ + 0, + 0, + 0 + ], + "targetOrientation": [ + 0, + 0, + 0, + 1 + ], + "fovy": 45, + "near": 0.5, + "far": 5000 + }, + "followMode": "follow-pose", + "scene": { + "enableStats": false + }, + "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": false, + "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": "raw" + }, + "/scan": { + "visible": false, + "colorField": "intensity", + "colorMode": "colormap", + "colorMap": "turbo" + }, + "/global_costmap/published_footprint": { + "visible": false + }, + "/local_costmap/published_footprint": { + "visible": false + }, + "/plan": { + "visible": true, + "lineWidth": 0.11 + } + }, + "publish": { + "type": "pose", + "poseTopic": "/goal_pose", + "pointTopic": "/clicked_point", + "poseEstimateTopic": "/initialpose", + "poseEstimateXDeviation": 0.5, + "poseEstimateYDeviation": 0.5, + "poseEstimateThetaDeviation": 0.26179939 + }, + "imageMode": {}, + "followTf": "map" + }, + "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" + } + }, + "Gauge!3bflj8v": { + "path": "/speed_fb.car_speed", + "minValue": -1, + "maxValue": 1, + "colorMap": "red-yellow-green", + "colorMode": "colormap", + "gradient": [ + "#0000ff", + "#ff00ff" + ], + "reverse": false, + "foxglovePanelTitle": "Speed" + }, + "Gauge!2dh8khn": { + "path": "/bms_fb.bat_soc", + "minValue": 0, + "maxValue": 100, + "colorMap": "red-yellow-green", + "colorMode": "colormap", + "gradient": [ + "#0000ff", + "#ff00ff" + ], + "reverse": false, + "foxglovePanelTitle": "Battery SOC" + }, + "RawMessages!os6rgs": { + "diffEnabled": false, + "diffMethod": "custom", + "diffTopicPath": "", + "showFullMessageForDiff": false, + "topicPath": "/chassis_mode_fb" + } + }, + "globalVariables": {}, + "userNodes": {}, + "playbackConfig": { + "speed": 1 + }, + "layout": { + "direction": "row", + "first": "3D!xm9o0x", + "second": { + "first": "3D!18i6zy7", + "second": { + "first": { + "first": { + "first": "Image!3mnp456", + "second": "Indicator!246epy5", + "direction": "column" + }, + "second": { + "first": "Gauge!3bflj8v", + "second": "Gauge!2dh8khn", + "direction": "column" + }, + "direction": "column" + }, + "second": "RawMessages!os6rgs", + "direction": "column", + "splitPercentage": 79.29515418502203 + }, + "direction": "row", + "splitPercentage": 68.43434343434342 + } + } +} \ No newline at end of file