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turtlebot_viz: turtlebot_dashboard | turtlebot_interactive_markers

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turtlebot_dashboard

turtlebot_viz: turtlebot_dashboard | turtlebot_interactive_markers

Package LinksDependencies (7)

Package Summary

turtlebot_dashboard

turtlebot_viz: turtlebot_dashboard | turtlebot_diagnostics | turtlebot_interactive_markers | turtlebot_rviz_launchers

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Package Summary

Launchers for the base-specific dashboards

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Contents

  1. Overview
  2. Running
  3. Dashboard
    1. Diagnostic
    2. Circuit Breakers
    3. Mode
    4. Battery

Overview

Running

Run turtlebot_dashboard with: 

rosrun turtlebot_dashboard turtlebot_dashboard

You may have to set your ROS_MASTER_URI environment variable before you start your dashboard: 

export ROS_MASTER_URI=http://MY_ROBOT:11311

Dashboard

turtlebot_dashboard/turtlebot_dashboard.png

The main window of the dashboard is composed entirely of status indicators, the idea being that if they are all green the robot should be working fine from a hardware and built-in systems standpoint.

The indicators are broken into following three categories. The further explanation of the state Stale can be found in this QA at answers.ros.org.

Diagnostic

Component

OK

Warn

Error

Stale

Description

Diagnostics

pr2_dashboard/diag_ok.png

pr2_dashboard/diag_warn.png

pr2_dashboard/diag_error.png

pr2_dashboard/diag_stale.png

Clicking pops up the robot monitor. The OK/Warn/Error state is determined from the top level of its tree.

Rosout

pr2_dashboard/rosout_ok.png

pr2_dashboard/rosout_warn.png

pr2_dashboard/rosout_error.png

pr2_dashboard/rosout_stale.png

Clicking pops up rxconsole. The OK/Warn/Error state is determined by the messages received over the last 30 seconds.

Circuit Breakers

The circuit breakers are labeled 1/2/3, correlate to the 3 digital outputs on the iRobot Create base. Each breaker can be in either an enabled or disabled state. The Kinect power enable is attached to digital out 0 and needs to be enabled to power and receive data from the Kinect.

Mode

The robot can only charge in passive mode. The dashboard easily allows the user to change between modes for charging the robot.

Full

Safety

Passive

Stale

Description

pr2_dashboard/motors_ok.png

pr2_dashboard/motors_warn.png

pr2_dashboard/motors_error.png

pr2_dashboard/motors_stale.png

Clicking pops up a menu to change the mode to full, safety, or passive mode: turtlebot_dashboard/turtlebot_dashboard_dropdown.png

Battery

The battery is also just an indicator with no way of changing its state. The battery will change its color and % filled based on the amount of battery remaining. It will also show a power-plug symbol if the robot is charging.

Charge >50%

Charge 30-50%

Charge <30%

Charging

pr2_dashboard/battery_green.png

pr2_dashboard/battery_yellow.png

pr2_dashboard/battery_red.png

pr2_dashboard/battery_charging.png

Contents

  1. Overview
  2. Running
  3. Dashboard
    1. Diagnostic
    2. Programmable LEDs
    3. Motor Power
    4. Circuit Breakers
    5. Mode
    6. Battery

Overview

The dashboard is a simple graphical tool that can give you an overview about the status of your robot at a glance.

Running

First, make sure your TurtleBot is already running (e.g. you have launched minimal.launch from turtlebot_bringup before).

Then launch the dashboard with: 

roslaunch turtlebot_dashboard turtlebot_dashboard.launch

Dashboard

turtlebot_dashboard/turtlebot_dashboard_groovy_kobuki.png

turtlebot_dashboard/turtlebot_dashboard_groovy_create.png

The main window of the dashboard is composed entirely of status indicators, the idea being that if they are all green the robot should be working fine from a hardware and built-in systems standpoint.

The indicators are broken into following three categories. The further explanation of the state Stale can be found in this QA at answers.ros.org.

Diagnostic

Component

OK

Warn

Error

Stale

Description

Diagnostics

diag_ok.png

diag_warn.png

diag_err.png

diag_stale.png

Clicking pops up the robot monitor. The OK/Warn/Error state is determined from the top level of its tree.

Rosout

console_ok.png

console_warn.png

console_err.png

Clicking pops up the rosconsole logging view. The OK/Warn/Error state is determined by the messages received over the last 30 seconds.

Programmable LEDs

Off

Green

Orange

Red

Description

turtlebot_dashboard/led_off.png

turtlebot_dashboard/led_green.png

turtlebot_dashboard/led_orange.png

turtlebot_dashboard/led_red.png

Clicking pops up a menu to change the leds to red, orange, or green color: turtlebot_dashboard/led_dropdown.png

Motor Power

You can enable/disable motor power of wheels by just clicking button.

Enabled

Disabled

gear_green.png

gear_red.png

Circuit Breakers

The circuit breakers are thunder signed button, correlate to the 3 digital outputs on the iRobot Create base. Each breaker can be in either an enabled or disabled state. The Kinect power enable is attached to digital out 0 and needs to be enabled to power and receive data from the Kinect.

On

Off

breaker_on.png

breaker_off.png

Mode

The robot can only charge in passive mode. The dashboard easily allows the user to change between modes for charging the robot.

Icon

Description

mode.png

Clicking pops up a menu to change the mode to full, safety, or passive mode:mode_dropdown.png

Battery

The battery is also just an indicator with no way of changing its state. The battery will change its % filled based on the amount of battery remaining. It will also show a power-plug symbol if the robot is charging.

Charge 100%

Charge 80%

Charge 60%

Charge 40%

Charge 20%

Charging

battery_100.png

battery_80.png

battery_60.png

battery_40.png

battery_20.png

battery_charging.png

Wiki: turtlebot_dashboard (last edited 2013-02-22 00:59:37 by Younghun Ju)

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