<<TOC(4)>>

== Overview ==

<<Youtube(wDU1Wc9SO7Q)>>

== Running ==

Run `turtlebot_dashboard` with:
{{{
rosrun turtlebot_dashboard turtlebot_dashboard
}}}

You may have to set your [[ROS/EnvironmentVariables#ROS_MASTER_URI|ROS_MASTER_URI]] environment variable before you start your dashboard:
{{{
export ROS_MASTER_URI=http://MY_ROBOT:11311
}}}


== Dashboard ==

{{attachment: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 [[http://answers.ros.org/question/3015/status-stale-in-turtlebots-dashboard?comment=6720#comment-6720|in this QA at answers.ros.org]].


=== Diagnostic ===

||'''Component'''||'''OK'''||'''Warn'''||'''Error'''||'''Stale'''||'''Description'''||
||<^>Diagnostics||<^>{{attachment:pr2_dashboard/diag_ok.png}}||<^>{{attachment:pr2_dashboard/diag_warn.png}}||<^>{{attachment:pr2_dashboard/diag_error.png}}||<^>{{attachment:pr2_dashboard/diag_stale.png}}||<^>Clicking pops up the [[robot_monitor|robot monitor]].  The OK/Warn/Error state is determined from the top level of its tree.||
||<^>Rosout||<^>{{attachment:pr2_dashboard/rosout_ok.png}}||<^>{{attachment:pr2_dashboard/rosout_warn.png}}||<^>{{attachment:pr2_dashboard/rosout_error.png}}||<^>{{attachment: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'''||
||<^>{{attachment:pr2_dashboard/motors_ok.png}}||<^>{{attachment:pr2_dashboard/motors_warn.png}}||<^>{{attachment:pr2_dashboard/motors_error.png}}||<^>{{attachment:pr2_dashboard/motors_stale.png}}||<^>Clicking pops up a menu to change the mode to full, safety, or passive mode: {{attachment: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.

||<tablestyle="width: 100%; text-align: center;"> '''Charge >50%'''||'''Charge 30-50%'''||'''Charge <30%'''||'''Charging'''||
||{{attachment:pr2_dashboard/battery_green.png}}||{{attachment:pr2_dashboard/battery_yellow.png}}||{{attachment:pr2_dashboard/battery_red.png}}||{{attachment:pr2_dashboard/battery_charging.png}}||


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