removed foxglove
Signed-off-by: Jakub Delicat <jakub.delicat@pwr.edu.pl>
This commit is contained in:
parent
d40f010eea
commit
53b1fcbe35
@ -1,21 +0,0 @@
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ARG ROS_DISTRO=humble
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FROM husarnet/ros:$ROS_DISTRO-ros-core
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SHELL ["/bin/bash", "-c"]
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RUN apt update && \
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apt upgrade -y && \
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apt install -y \
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ros-$ROS_DISTRO-rosbridge-suite \
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ros-$ROS_DISTRO-tf2-msgs \
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# custom msgs dependency
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ros-$ROS_DISTRO-rosidl-typesupport-c \
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&& \
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apt-get autoremove -y && \
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apt-get clean && \
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rm -rf /var/lib/apt/lists/*
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COPY --from=delicjusz/pioneer /ros2_ws /ros2_ws
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RUN echo $(dpkg -s ros-$ROS_DISTRO-rosbridge-suite | grep 'Version' | sed -r 's/Version:\s([0-9]+.[0-9]+.[0-9]*).*/\1/g') >> /version.txt
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@ -1,39 +0,0 @@
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# docker compose -f compose.foxglove.master.yaml up
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services:
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restrictions-republisher:
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image: delicjusz/rosbridge
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network_mode: host
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ipc: host
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restart: on-failure
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environment:
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- RMW_IMPLEMENTATION=rmw_fastrtps_cpp
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- FASTRTPS_DEFAULT_PROFILES_FILE=/fastdds.xml
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volumes:
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- ./fastdds.xml:/fastdds.xml
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- ./rescrictions_republisher.py:/rescrictions_republisher.py
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command: >
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bash -c "source /ros2_ws/install/setup.bash && python3 /rescrictions_republisher.py"
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rosbridge:
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image: delicjusz/rosbridge
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network_mode: host
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ipc: host
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restart: on-failure
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environment:
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- RMW_IMPLEMENTATION=rmw_fastrtps_cpp
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- FASTRTPS_DEFAULT_PROFILES_FILE=/fastdds.xml
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volumes:
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- ./fastdds.xml:/fastdds.xml
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command: >
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bash -c "source /ros2_ws/install/setup.bash && ros2 launch rosbridge_server rosbridge_websocket_launch.xml"
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foxglove-master:
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image: husarion/foxglove:humble-1.39.1-20230220
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ports:
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- 5050:5050
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volumes:
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- ./config/master_layout.json:/src/FoxgloveDefaultLayout.json
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environment:
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- FOXGLOVE_PORT=5050
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- ROSBRIDGE_PORT=9090
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@ -1,31 +0,0 @@
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# docker compose -f compose.foxglove.yaml up
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x-net-config:
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&net-config
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network_mode: host
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ipc: host
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services:
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foxglove:
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image: husarion/foxglove:humble-1.39.1-20230220
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restart: on-failure
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ports:
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- 8080:8080
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volumes:
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- ./config/user_layout.json:/src/FoxgloveDefaultLayout.json
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environment:
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- FOXGLOVE_PORT=8080
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- ROSBRIDGE_PORT=9090
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# rosbridge:
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# image: delicjusz/rosbridge
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# <<: *net-config
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# restart: on-failure
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# environment:
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# - RMW_IMPLEMENTATION=rmw_fastrtps_cpp
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# - FASTRTPS_DEFAULT_PROFILES_FILE=/fastdds.xml
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# volumes:
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# - ./fastdds.xml:/fastdds.xml
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# - ./rosbridge_websocket_launch.xml:/opt/ros/humble/share/rosbridge_server/launch/rosbridge_websocket_launch.xml
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# command: >
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# bash -c "source /ros2_ws/install/setup.bash && ros2 launch rosbridge_server rosbridge_websocket_launch.xml
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# pioneer_id:=${PIONEER_ID}"
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@ -1,279 +0,0 @@
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{
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"configById": {
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"Gauge!36uqsdw": {
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"path": "/pioneers/restrictions.linear_velocity.data",
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"minValue": 0.1,
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"maxValue": 0.8,
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"colorMap": "turbo",
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"colorMode": "colormap",
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"gradient": [
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"#fff900",
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"#ff00ff"
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],
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"reverse": false,
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"foxglovePanelTitle": "Linear Velocity"
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},
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"Gauge!16s1huo": {
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"path": "/pioneers/restrictions.angular_velocity.data",
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"minValue": 0.1,
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"maxValue": 1.2,
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"colorMap": "turbo",
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"colorMode": "colormap",
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"gradient": [
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"#fff900",
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"#ff00ff"
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],
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"reverse": false,
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"foxglovePanelTitle": "Angular Velocity"
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},
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"Gauge!43oiv40": {
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"path": "/pioneers/restrictions.linear_velocity.data",
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"minValue": 0.02,
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"maxValue": 1.2,
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"colorMap": "rainbow",
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"colorMode": "gradient",
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"gradient": [
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"#ffffff",
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"#ff0000"
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],
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"reverse": false,
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"foxglovePanelTitle": "Distance"
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},
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"Indicator!2kcvhko": {
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"path": "/pioneer5/robot_info.state.data",
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"style": "background",
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"fallbackColor": "#a0a0a0",
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"fallbackLabel": "Inactive",
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"rules": [
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{
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"operator": "=",
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"rawValue": "true",
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"color": "#68e24a",
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"label": "Active"
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}
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],
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"foxglovePanelTitle": "Status"
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},
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"Publish!1jggeko": {
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"topicName": "/pioneer5/clutch",
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"datatype": "std_msgs/msg/Bool",
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"buttonText": "Enable",
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"buttonTooltip": "",
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"buttonColor": "#00A871",
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"advancedView": false,
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"value": "{\n \"data\": true\n}",
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"foxglovePanelTitle": "Motors"
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},
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"Publish!2bcq74b": {
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"topicName": "/pioneer5/clutch",
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"datatype": "std_msgs/msg/Bool",
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"buttonText": "Disable",
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"buttonTooltip": "",
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"buttonColor": "#aeaeae",
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"advancedView": false,
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"value": "{\n \"data\": false\n}",
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"foxglovePanelTitle": " Motors"
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},
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"Indicator!s9ir7d": {
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"path": "/pioneer5/robot_info.clutch.data",
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"style": "background",
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"fallbackColor": "#a0a0a0",
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"fallbackLabel": "Off",
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"rules": [
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{
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"operator": "=",
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"rawValue": "true",
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"color": "#68e24a",
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"label": "On"
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}
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],
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"foxglovePanelTitle": "Motors"
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},
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"Indicator!4am2dga": {
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"path": "/pioneer5/robot_info.obstacle_detected.data",
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"style": "background",
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"fallbackColor": "#a0a0a0",
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"fallbackLabel": "👌",
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"rules": [
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{
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"operator": "=",
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"rawValue": "true",
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"color": "#ff005e",
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"label": "😱"
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}
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],
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"foxglovePanelTitle": "Obstacle"
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},
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"Gauge!44f06dp": {
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"path": "/pioneer5/robot_info.battery_voltage.data",
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"minValue": 11.9,
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"maxValue": 12.9,
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"colorMap": "red-yellow-green",
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"colorMode": "colormap",
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"gradient": [
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"#0000ff",
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"#ff00ff"
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],
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"reverse": false,
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"foxglovePanelTitle": "Battry Voltage"
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},
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"Indicator!36yp9u": {
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"path": "/pioneers/master_stop.data",
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"style": "background",
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"fallbackColor": "#ff0000",
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"fallbackLabel": "Robots Stopped",
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"rules": [
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{
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"operator": "=",
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"rawValue": "true",
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"color": "#68e24a",
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"label": "Robots Released"
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}
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],
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"foxglovePanelTitle": "Master Stop"
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},
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"Publish!3ucy03l": {
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"topicName": "/pioneers/master_stop",
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"datatype": "std_msgs/msg/Bool",
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"buttonText": "Start",
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"buttonTooltip": "",
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"buttonColor": "#00A871",
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"advancedView": false,
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"value": "{\n \"data\": true\n}"
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},
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"Publish!3eo06na": {
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"topicName": "/pioneers/restrictions",
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"datatype": "ros2aria_msgs/msg/RestrictionsMsg",
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"buttonText": "Publish",
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"buttonTooltip": "",
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"buttonColor": "#00A871",
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"advancedView": true,
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"value": "{\n \"distance\": {\n \"data\": 0.2 },\n \"linear_velocity\": {\n \"data\": 0.2\n },\n \"angular_velocity\": {\n \"data\": ${ELKO}\n }\n}\n"
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},
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"Publish!2llenrw": {
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"topicName": "/pioneers/master_stop",
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"datatype": "std_msgs/msg/Bool",
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"buttonText": "STOP ",
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"buttonTooltip": "",
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"buttonColor": "#ff0000",
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"advancedView": false,
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"value": "{\n \"data\": false\n}",
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"foxglovePanelTitle": "Master"
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},
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"RawMessages!2n2d99y": {
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"diffEnabled": false,
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"diffMethod": "custom",
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"diffTopicPath": "",
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"showFullMessageForDiff": false,
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"topicPath": "/pioneers/restrictions"
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},
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"Tab!4eriapz": {
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"activeTabIdx": 0,
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"tabs": [
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{
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"title": "Restrictions",
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"layout": {
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"first": "Gauge!36uqsdw",
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"second": {
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"first": "Gauge!16s1huo",
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"second": "Gauge!43oiv40",
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"direction": "row",
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"splitPercentage": 51.44124168514412
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},
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"direction": "row",
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"splitPercentage": 32.84023668639053
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}
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}
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]
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},
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"Tab!3irkbr4": {
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"activeTabIdx": 0,
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"tabs": [
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{
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"title": "5",
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"layout": {
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"first": {
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"first": "Indicator!2kcvhko",
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"second": {
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"first": {
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"first": "Publish!1jggeko",
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"second": "Publish!2bcq74b",
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"direction": "row",
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"splitPercentage": 47.44522280433317
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},
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"second": {
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"first": "Indicator!s9ir7d",
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"second": "Indicator!4am2dga",
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"direction": "row",
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"splitPercentage": 51.020408163265316
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},
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"direction": "row",
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"splitPercentage": 50.046709461147984
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},
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"direction": "row",
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"splitPercentage": 33.5482533335995
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},
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"second": "Gauge!44f06dp",
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"direction": "row",
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"splitPercentage": 83.10937586339708
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}
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}
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]
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}
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},
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"globalVariables": {
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"restrictions": {
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"distance": {
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"data": 0
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},
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"linear_velocity": {
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"data": 0.2
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},
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"angular_velocity": {
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"data": 0.6
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}
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},
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"ELKO": 5,
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"elko": 6
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},
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"userNodes": {
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"ed523c47-5740-4915-a163-89d74f63276b": {
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"sourceCode": "import { MessageWriter } from \"@foxglove/rosmsg2-serialization\";\n\n// message definition comes from `parse()` in @foxglove/rosmsg\nconst writer = new MessageWriter(pointStampedMessageDefinition);\n\n// serialize the passed in object to a Uint8Array as a geometry_msgs/PointStamped message\nconst uint8Array = writer.writeMessage({\n header: {\n stamp: { sec: 0, nanosec: 0 },\n frame_id: \"\"\n },\n x: 1,\n y: 0,\n z: 0\n});",
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"name": "ed523c47"
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}
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},
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"playbackConfig": {
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"speed": 1
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},
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"layout": {
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"first": "Indicator!36yp9u",
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"second": {
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"first": {
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"first": {
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"first": {
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"first": "Publish!3ucy03l",
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"second": "Publish!3eo06na",
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"direction": "column",
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"splitPercentage": 17.645846217274784
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},
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"second": {
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"first": "Publish!2llenrw",
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"second": "RawMessages!2n2d99y",
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"direction": "column",
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"splitPercentage": 18.30550401978973
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},
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"direction": "row",
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"splitPercentage": 55.393939393939384
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},
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"second": "Tab!4eriapz",
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"direction": "column",
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"splitPercentage": 71.5909090909091
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},
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"second": "Tab!3irkbr4",
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"direction": "row",
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"splitPercentage": 37.61825264329438
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},
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"direction": "column",
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"splitPercentage": 12.5
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}
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}
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File diff suppressed because it is too large
Load Diff
@ -1,482 +0,0 @@
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{
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"configById": {
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"Indicator!3tlipvy": {
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"path": "/pioneer5/robot_info.obstacle_detected.data",
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"style": "background",
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"fallbackColor": "#a0a0a0",
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"fallbackLabel": "Ok",
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"rules": [
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|
||||||
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|
||||||
"tabs": [
|
|
||||||
{
|
|
||||||
"title": "1",
|
|
||||||
"layout": {
|
|
||||||
"first": "Tab!352avk9",
|
|
||||||
"second": "Tab!p30d7b",
|
|
||||||
"direction": "column",
|
|
||||||
"splitPercentage": 45.796737766624844
|
|
||||||
}
|
|
||||||
}
|
|
||||||
]
|
|
||||||
},
|
|
||||||
"Teleop!4981td7": {
|
|
||||||
"topic": "/pioneer5/cmd_vel",
|
|
||||||
"publishRate": 1,
|
|
||||||
"upButton": {
|
|
||||||
"field": "linear-x",
|
|
||||||
"value": 1
|
|
||||||
},
|
|
||||||
"downButton": {
|
|
||||||
"field": "linear-x",
|
|
||||||
"value": -1
|
|
||||||
},
|
|
||||||
"leftButton": {
|
|
||||||
"field": "angular-z",
|
|
||||||
"value": 1
|
|
||||||
},
|
|
||||||
"rightButton": {
|
|
||||||
"field": "angular-z",
|
|
||||||
"value": -1
|
|
||||||
}
|
|
||||||
}
|
|
||||||
},
|
|
||||||
"globalVariables": {},
|
|
||||||
"userNodes": {},
|
|
||||||
"playbackConfig": {
|
|
||||||
"speed": 1
|
|
||||||
},
|
|
||||||
"layout": {
|
|
||||||
"first": "Indicator!1b8x9ac",
|
|
||||||
"second": {
|
|
||||||
"first": {
|
|
||||||
"first": "Tab!2vc4ruw",
|
|
||||||
"second": {
|
|
||||||
"first": "Indicator!2q85lgg",
|
|
||||||
"second": "Tab!3q786g",
|
|
||||||
"direction": "row",
|
|
||||||
"splitPercentage": 7.045834893512966
|
|
||||||
},
|
|
||||||
"direction": "row",
|
|
||||||
"splitPercentage": 47.75143090760425
|
|
||||||
},
|
|
||||||
"second": "Teleop!4981td7",
|
|
||||||
"direction": "row",
|
|
||||||
"splitPercentage": 65.43606206527555
|
|
||||||
},
|
|
||||||
"direction": "column",
|
|
||||||
"splitPercentage": 12.989690721649486
|
|
||||||
}
|
|
||||||
}
|
|
||||||
@ -1,62 +0,0 @@
|
|||||||
import rclpy
|
|
||||||
from rclpy.node import Node
|
|
||||||
|
|
||||||
from std_msgs.msg import Bool
|
|
||||||
from ros2aria_msgs.msg import RestrictionsMsg
|
|
||||||
from rclpy.qos import QoSDurabilityPolicy
|
|
||||||
from rclpy.qos import QoSHistoryPolicy
|
|
||||||
from rclpy.qos import QoSLivelinessPolicy
|
|
||||||
from rclpy.qos import QoSProfile
|
|
||||||
from rclpy.qos import QoSReliabilityPolicy
|
|
||||||
import sys
|
|
||||||
|
|
||||||
class RestrictionRepublisher(Node):
|
|
||||||
|
|
||||||
def __init__(self):
|
|
||||||
|
|
||||||
profile = QoSProfile(
|
|
||||||
depth=10,
|
|
||||||
history=QoSHistoryPolicy.KEEP_ALL,
|
|
||||||
reliability=QoSReliabilityPolicy.RELIABLE,
|
|
||||||
durability=QoSDurabilityPolicy.TRANSIENT_LOCAL)
|
|
||||||
super().__init__('restriction_republisher')
|
|
||||||
self.restriction_pub_ = self.create_publisher(RestrictionsMsg, '/pioneers/restrictions', qos_profile=profile)
|
|
||||||
self.master_stop_pub_ = self.create_publisher(Bool, '/pioneers/master_stop', qos_profile=profile)
|
|
||||||
self.restriction_sub_ = self.create_subscription(RestrictionsMsg, '/pioneers/restrictions', self.restriction_callback, qos_profile=profile)
|
|
||||||
self.master_stop_sub_ = self.create_subscription(Bool, '/pioneers/master_stop', self.master_stop_callback, qos_profile=profile)
|
|
||||||
timer_period = 1.0
|
|
||||||
self.timer = self.create_timer(timer_period, self.timer_callback)
|
|
||||||
|
|
||||||
self.master_stop_msg = Bool()
|
|
||||||
self.restriction_msg = RestrictionsMsg()
|
|
||||||
self.master_stop_msg. data = True
|
|
||||||
self.restriction_msg.distance.data = sys.float_info.max
|
|
||||||
self.restriction_msg.linear_velocity.data = 0.0
|
|
||||||
self.restriction_msg.angular_velocity.data = 0.0
|
|
||||||
|
|
||||||
def timer_callback(self):
|
|
||||||
self.restriction_pub_.publish(self.restriction_msg)
|
|
||||||
self.master_stop_pub_.publish(self.master_stop_msg)
|
|
||||||
|
|
||||||
def restriction_callback(self, msg):
|
|
||||||
if msg != self.restriction_msg:
|
|
||||||
self.get_logger().info('New restricitons.')
|
|
||||||
self.restriction_msg = msg
|
|
||||||
|
|
||||||
def master_stop_callback(self, msg):
|
|
||||||
if msg != self.master_stop_msg:
|
|
||||||
self.get_logger().info('New master stop.')
|
|
||||||
self.master_stop_msg = msg
|
|
||||||
|
|
||||||
def main(args=None):
|
|
||||||
rclpy.init(args=args)
|
|
||||||
|
|
||||||
restriction_republisher = RestrictionRepublisher()
|
|
||||||
|
|
||||||
rclpy.spin(restriction_republisher)
|
|
||||||
restriction_republisher.destroy_node()
|
|
||||||
rclpy.shutdown()
|
|
||||||
|
|
||||||
|
|
||||||
if __name__ == '__main__':
|
|
||||||
main()
|
|
||||||
@ -1,74 +0,0 @@
|
|||||||
<launch>
|
|
||||||
<arg name="port" default="9090" />
|
|
||||||
<arg name="address" default="" />
|
|
||||||
<arg name="ssl" default="false" />
|
|
||||||
<arg name="certfile" default=""/>
|
|
||||||
<arg name="keyfile" default="" />
|
|
||||||
|
|
||||||
<arg name="retry_startup_delay" default="5.0" />
|
|
||||||
|
|
||||||
<arg name="fragment_timeout" default="600" />
|
|
||||||
<arg name="delay_between_messages" default="0" />
|
|
||||||
<arg name="max_message_size" default="10000000" />
|
|
||||||
<arg name="unregister_timeout" default="10.0" />
|
|
||||||
|
|
||||||
<arg name="use_compression" default="false" />
|
|
||||||
<arg name="call_services_in_new_thread" default="false" />
|
|
||||||
|
|
||||||
<arg name="topics_glob" default="" />
|
|
||||||
<arg name="services_glob" default="" />
|
|
||||||
<arg name="params_glob" default="" />
|
|
||||||
<arg name="bson_only_mode" default="false" />
|
|
||||||
<arg name="pioneer_id" default="0" />
|
|
||||||
|
|
||||||
<arg unless="$(var bson_only_mode)" name="binary_encoder" default="default"/>
|
|
||||||
|
|
||||||
<group if="$(var ssl)">
|
|
||||||
<node name="rosbridge_websocket" pkg="rosbridge_server" exec="rosbridge_websocket" output="screen">
|
|
||||||
<param name="certfile" value="$(var certfile)" />
|
|
||||||
<param name="keyfile" value="$(var keyfile)" />
|
|
||||||
<param name="port" value="$(var port)"/>
|
|
||||||
<param name="address" value="$(var address)"/>
|
|
||||||
<param name="retry_startup_delay" value="$(var retry_startup_delay)"/>
|
|
||||||
<param name="fragment_timeout" value="$(var fragment_timeout)"/>
|
|
||||||
<param name="delay_between_messages" value="$(var delay_between_messages)"/>
|
|
||||||
<param name="max_message_size" value="$(var max_message_size)"/>
|
|
||||||
<param name="unregister_timeout" value="$(var unregister_timeout)"/>
|
|
||||||
<param name="use_compression" value="$(var use_compression)"/>
|
|
||||||
<param name="call_services_in_new_thread" value="$(var call_services_in_new_thread)"/>
|
|
||||||
|
|
||||||
<param name="topics_glob" value="$(var topics_glob)"/>
|
|
||||||
<param name="services_glob" value="$(var services_glob)"/>
|
|
||||||
<param name="params_glob" value="$(var params_glob)"/>
|
|
||||||
<remap from="/client_count" to="/pioneer$(var pioneer_id)/client_count"/>
|
|
||||||
<remap from="/connected_clients" to="/pioneer$(var pioneer_id)/connected_clients"/>
|
|
||||||
</node>
|
|
||||||
</group>
|
|
||||||
<group unless="$(var ssl)">
|
|
||||||
<node name="rosbridge_websocket" pkg="rosbridge_server" exec="rosbridge_websocket" output="screen">
|
|
||||||
<param name="port" value="$(var port)"/>
|
|
||||||
<param name="address" value="$(var address)"/>
|
|
||||||
<param name="retry_startup_delay" value="$(var retry_startup_delay)"/>
|
|
||||||
<param name="fragment_timeout" value="$(var fragment_timeout)"/>
|
|
||||||
<param name="delay_between_messages" value="$(var delay_between_messages)"/>
|
|
||||||
<param name="max_message_size" value="$(var max_message_size)"/>
|
|
||||||
<param name="unregister_timeout" value="$(var unregister_timeout)"/>
|
|
||||||
<param name="use_compression" value="$(var use_compression)"/>
|
|
||||||
<param name="call_services_in_new_thread" value="$(var call_services_in_new_thread)"/>
|
|
||||||
|
|
||||||
<param name="topics_glob" value="$(var topics_glob)"/>
|
|
||||||
<param name="services_glob" value="$(var services_glob)"/>
|
|
||||||
<param name="params_glob" value="$(var params_glob)"/>
|
|
||||||
|
|
||||||
<param name="bson_only_mode" value="$(var bson_only_mode)"/>
|
|
||||||
<remap from="/client_count" to="/pioneer$(var pioneer_id)/client_count"/>
|
|
||||||
<remap from="/connected_clients" to="/pioneer$(var pioneer_id)/connected_clients"/>
|
|
||||||
</node>
|
|
||||||
</group>
|
|
||||||
|
|
||||||
<node name="rosapi" pkg="rosapi" exec="rosapi_node">
|
|
||||||
<param name="topics_glob" value="$(var topics_glob)"/>
|
|
||||||
<param name="services_glob" value="$(var services_glob)"/>
|
|
||||||
<param name="params_glob" value="$(var params_glob)"/>
|
|
||||||
</node>
|
|
||||||
</launch>
|
|
||||||
Loading…
Reference in New Issue
Block a user