Description

Creates an interactive dashboard for a mobile robot via ROS2, retrieving robot data, and allowing for Nav2 control over the web.

Prequisites

Requires ROS1 driver bridging to ROS2. Follow setup instructions for KMR this repository

Dependencies

Create directory & virtual enviornment & install

mkdir cs_dashboard && cd cs_dashboard
python3 -m venv venv
source venv/bin/activate
pip install numpy dash dash-bootstrap-components pandas plotly requests tinytuya websocket-client scipy shapely roslibpy websockets

Installation:

1. Go to directory cd cs_dashboard

2. Clone repository git clone https://github.com/CoreSenseEU/cs_mt_dashboard.git

3. Run a websocket server from ROS2 pc

ros2 run rosbridge_server rosbridge_webocket --port=<port>

NOTE

• In 'defs.py' replace rosIP with your ROS2 PC IP.

• Run dashboard.py & go to IP address given to access dashboard

Summary of files:

• assets - images, cvs data files, txt logic files ect
• APIs - Connect to Mir/shelly to handle requests
• defs.py - Defines missions from mir

• network.py - to be updated...void?
• networkMap.py - records robot position and signal strength data to be plotted
• rosAMCL.py - performs localisation
• rosDiagnostics.py - recieves signal level from mir ros driver
• rosStatus.py -provides status of the robot
• rvizGUI.py - can see ros rviz

• layout2.py - plotly dash layout of dashboard
• dashboard.py - handles all call backs, creates map plot