(!) Please ask about problems and questions regarding this tutorial on answers.ros.org. Don't forget to include in your question the link to this page, the versions of your OS & ROS, and also add appropriate tags.

Monitoring and operating via GUI

Description: rqt dashboard for Hironx / NEXTAGE OPEN provides monitoring and operational features in a graphical way.

Keywords: rqt

Tutorial Level: BEGINNER

Next Tutorial: rtmros_nextage/Tutorials/Teaching

NOTE: All the tutorials available under the URL http://wiki.ros.org/rtmros_nextage/Tutorials are applicable to the multiple products of Kawada Industries; Hiro (only with the one that opensource software is installed) and NEXTAGE OPEN. To simplify the notation in the rest of the tutorials, we use HiroNXO to appoint the aforementioned robots.

Monitoring ROS state using rqt

ROS' new GUI toolset introduced from Groovy called rqt help you to ease the pain to visualize data during development. Here is the suggestion of some tools particularly helpful for HiroNX (out of 30+ rqt tools:)


$ rqt

Then click on "Plugins" and choose:

You will see a window that looks like this: rqt_graph_monitor_topic_vertical

  • (Robot Monitor only show stale status since this image was taken with simulator where no diagnosis is available)

Using integrated GUI for hrpsys robots

For the robots running on hrpsys there's an integrated rqt GUI. We call it hrpsys Dashboard.

To run it, choose Plugins --> Robot --> Hrpsys --> Hrpsys Dashboard.

Monitoring via hrpsys Dashboard

By choosing buttons available on the GUI, you can monitor the robot:



Operating robot via hrpsys Dashboard

Using hrpsys Dashboard, you can also turn on/off servo by a single click (so that you don't have to access Python interface every time you want to just operate servo. In the image below you see an icon that resembles 'wave'; a pop-up message indicates the purpose.


Wiki: rtmros_nextage/Tutorials/Monitoring, operating via GUI (last edited 2016-10-17 02:36:45 by IsaacSaito)