Borealis Experiment Dashboard

Borealis Project Diagnostic Dashboard RQT Plugin

Install script for dependencies available(setup.bash), ensure the workspace used is borealis_ws for successful automatic install

Teaming Specific Branch

Implemented display for planner stages

Dependencies

• ROS

• Python

• QT5

• uwb_msgs (Custom Message Type)

• pose_to_path (Fused Odometry visualization package)

• borealis_uav_target_publisher (Human odometry to UAV Target conversion package)

• mt_msgs (dso custom msgs it is inside src folder)

• re (regex, inside default python lib)

Install

 pip install PyQt5
 catkin_make --only-pkg-with-deps borealis_dashboard

Run

 rqt --standalone borealis_dashboard

Subscribed Topics

These topics should be configured in the parameters.yaml file inside config folder

• human_foot_imu_topic : sensor_msgs/IMU
• human_odometry_topic : nav_msgs/Odometry
• uav1_odometry_topic : nav_msgs/Odometry
• uav1_target_topic : nav_msgs/Odometry
• uav2_odometry_topic : nav_msgs/Odometry
• uav2_target_topic : nav_msgs/Odometry
• human_uwb_topic : UUBmsg
• uav2_uwb_topic : UUBmsg
• uav1_uwb_topic : UUBmsg
• command_topic: std_msgs/String

Service Clients

These services should be configured in the parameters.yaml file inside config folder

• human_odometry_enable_service : std_srvs/SetBool
• human_odometry_fusion_enable_service : std_srvs/SetBool
• human_glove_enable_service : std_srvs/SetBool
• human_gun_enable_service : std_srvs/SetBool
• human_hri_enable_service : std_srvs/SetBool
• human_drone_yaw_control_enable_service : std_srvs/SetBool
• human_uwb_enable_service : std_srvs/SetBool
• uav1_uwb_enable_service : std_srvs/SetBool
• uav1_datafeed_enable_service : std_srvs/SetBool
• uav2_uwb_enable_service : std_srvs/SetBool
• uav2_datafeed_enable_service : std_srvs/SetBool

Published Topics

• command_topic: std_msgs/String

Parameters

• recorded_topics : String List (List of topics to be recorded)
• saved_directory : Path (ROS Bag saving directory)
• follow_me_cmd : String
• go_cmd : String

Note

Before running the dashboard, make sure you configure the "recorded_topics" and "saved_directory" parameters in config/parameters.yaml file. These parameters relate to the rosbag recording for the experiment.