## repository: https://code.ros.org/svn/wg-ros-pkg

{{{#!wiki red/solid
(2/20/2013) pr2_dashboard has reached End Of Life and is replaced by [[rqt_pr2_dashboard|rqt_pr2_dashboard]].
}}}

<<PackageHeader(pr2_dashboard)>>

== Running ==

Run `pr2_dashboard` with:
{{{
rosrun pr2_dashboard pr2_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:main.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.

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||<^>{{attachment:diag_ok.png}}||<^>{{attachment:diag_warn.png}}||<^>{{attachment:diag_error.png}}||<^>{{attachment: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:rosout_ok.png}}||<^>{{attachment:rosout_warn.png}}||<^>{{attachment:rosout_error.png}}||<^>{{attachment:rosout_stale.png}}||<^>Clicking pops up [[rxconsole]].  The OK/Warn/Error state is determined by the messages received over the last 30 seconds.||
||<^>Motors||<^>{{attachment:motors_ok.png}}||<^>N/A||<^>{{attachment:motors_error.png}}||<^>{{attachment:motors_stale.png}}||<^>Clicking pops up a menu allowing you to halt or reset motors: {{attachment:motors_menu.png}}||

=== 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:

{{attachment:breakers_menu.png}}

||<tablestyle="width: 100%; text-align: center;"> '''Enabled'''||'''Standby'''||'''Disabled'''||'''Stale'''||
||{{attachment:breaker_l_ok.png}}{{attachment:breaker_b_ok.png}}{{attachment:breaker_r_ok.png}}||{{attachment:breaker_l_standby.png}}{{attachment:breaker_b_standby.png}}{{attachment:breaker_r_standby.png}}||{{attachment:breaker_l_disabled.png}}{{attachment:breaker_b_disabled.png}}{{attachment:breaker_r_disabled.png}}||{{attachment:breaker_l_stale.png}}{{attachment:breaker_b_stale.png}}{{attachment:breaker_r_stale.png}}||

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:

||<tablestyle="width: 100%; text-align: center;">'''OK'''||<:>'''Physical Stopped'''||<:>'''Wireless Stopped'''||'''Stale'''||
||<:>{{attachment:runstop_ok.png}}{{attachment:runstop_wireless_ok.png}}||<:>{{attachment:runstop_stop.png}}{{attachment:runstop_wireless_ok.png}}||<:>{{attachment:runstop_unknown.png}}{{attachment:runstop_wireless_stop.png}}||<:>{{attachment:runstop_stale.png}}{{attachment:runstop_wireless_stale.png}}||

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.

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


== ROS API ==

{{{
#!clearsilver CS/NodeAPI
node.0 {
  name = pr2_dashboard
  desc = Starts the pr2 dashboard
  sub {
    0.name = /diagnostics_agg
    0.type = diagnostic_msgs/DiagnosticArray
    0.desc = Subscribed to by [[robot_monitor]]
    1.name = /rosout_agg
    1.type = roslib/Log
    1.desc = Subscribed to by [[rxconsole]]
    2.name = motors_halted
    2.type = std_msgs/Bool
    2.desc = Provides yes/no on whether or not the motors are halted and need to be reset.
    3.name = power_state
    3.type = pr2_msgs/PowerState
    3.desc = Provides information on the current battery state
    4.name = power_board_state
    4.type = pr2_msgs/PowerBoardState
    4.desc = Provides information about the current breaker state
  }
  srv_called {
    0.name = power_board_control
    0.type = pr2_power_board/PowerBoardCommand
    0.desc = Controls breaker state
    1.name = reset_motors
    1.type = std_srvs/Empty
    1.desc = Resets the motors
    2.name = halt_motors
    2.type = std_srvs/Empty
    2.desc = Halts the motors
  }
}}}

## CategoryPackage
## M3Package
## CategoryPackageWG