(2/20/2013) pr2_dashboard has reached End Of Life and is replaced by rqt_pr2_dashboard.

Only released in EOL distros:

See pr2_dashboard on index.ros.org for more info including aything ROS 2 related.

pr2_gui: pr2_dashboard

Package Links

Dependencies (8)

Package Summary

pr2_dashboard is a GUI for debugging and controlling low-level state of the PR2. It shows things like battery status and breaker states, as well as integrating tools like rxconsole and robot_monitor.

Author: Josh Faust
License: BSD
Repository: wg-ros-pkg
Source: svn https://code.ros.org/svn/wg-ros-pkg/stacks/pr2_gui/tags/pr2_gui-1.0.3

pr2_gui: pr2_dashboard

Package Links

Dependencies (10)
Used by (1)

Package Summary

pr2_dashboard is a GUI for debugging and controlling low-level state of the PR2. It shows things like battery status and breaker states, as well as integrating tools like rxconsole and robot_monitor.

Author: Josh Faust
License: BSD
Source: svn https://code.ros.org/svn/wg-ros-pkg/stacks/pr2_gui/trunk

pr2_gui: pr2_dashboard

Package Links

Dependencies (10)
Used by (2)

Package Summary

pr2_dashboard is a GUI for debugging and controlling low-level state of the PR2. It shows things like battery status and breaker states, as well as integrating tools like rxconsole and robot_monitor.

Author: Josh Faust
License: BSD
Source: svn https://code.ros.org/svn/wg-ros-pkg/stacks/pr2_gui/trunk

pr2_gui: pr2_dashboard

Package Links

Dependencies (10)

Package Summary

pr2_dashboard is a GUI for debugging and controlling low-level state of the PR2. It shows things like battery status and breaker states, as well as integrating tools like rxconsole and robot_monitor.

Author: Josh Faust
License: BSD
Source: svn https://code.ros.org/svn/wg-ros-pkg/stacks/pr2_gui/trunk

Running

Run pr2_dashboard with:

rosrun pr2_dashboard pr2_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

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.

Each of the indicators has a tooltip with some extra detail.

The indicators are broken into four categories:

Diagnostic

Component	OK	Warn	Error	Stale	Description
Diagnostics					Clicking pops up the Robot Monitor. The OK/Warn/Error state is determined from the top level of its tree.
Rosout					Clicking pops up rxconsole. The OK/Warn/Error state is determined by the messages received over the last 30 seconds.
Motors		N/A			Clicking pops up a menu allowing you to halt or reset motors:

Circuit Breakers

The circuit breakers are labeled L/B/R, which stand for Left Arm, Base/Spine, and Right Arm. Each breaker can be in one of four states, and clicking on any of the breakers will pop up a menu allowing you to change the state of one or all of them:

Enabled	Standby	Disabled	Stale

Enabled is the only state in which the robot's motors will move. Stale occurs when no messages are received from the breakers in more than 3 seconds.

Runstops

The runstop indicators are just that -- indicators, with no way of changing their state from within the dashboard. There are two runstops on the robot, a wireless one and a physical one on the back of the robot.

The runstops can be in one of four states:

OK	Physical Stopped	Wireless Stopped	Stale

There are only four states because the wireless runstop "overrides" the physical one, and we cannot get the state of the physical one if the wireless one is stopped.

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.