added new telematics layout (#117)

CMU-Robotics-Club · Nov 15, 2024 · 387287e · 387287e
1 parent 53707a3
commit 387287e
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Showing 2 changed files with 128 additions and 28 deletions.
diff --git a/rb_ws/src/buggy/launch/debug.launch b/rb_ws/src/buggy/launch/debug.launch
@@ -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>
diff --git a/telematics_layout.json b/telematics_layout.json
@@ -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": [
@@ -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,
@@ -68,7 +89,8 @@
         {
           "timestampMethod": "receiveTime",
           "value": "/SC/auton/debug/error.position.y",
-          "enabled": true
+          "enabled": true,
+          "color": "#4e98e2"
         }
       ],
       "minYValue": -5,
@@ -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": {
@@ -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": {},
@@ -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
@@ -200,6 +286,6 @@
       },
       "splitPercentage": 42.362525458248484
     },
-    "splitPercentage": 26.406249999999996
+    "splitPercentage": 27.017543859649123
   }
 }