turtlebot_dashboard/indigo

Contents

Overview
Running
Dashboard

Overview

The dashboard is a simple graphical tool that can give you an overview about the status of your robot at a glance. It has its roots in the turtlebot_diagnostics monitoring tool.

Running

First, make sure your TurtleBot is already running (e.g. you have launched minimal.launch from turtlebot_bringup before).

Then launch the dashboard with:

roslaunch turtlebot_dashboard turtlebot_dashboard.launch

Dashboard

Kobuki Kobuki

Create Create

turtlebot_dashboard/turtlebot_dashboard_groovy_kobuki.png

turtlebot_dashboard/turtlebot_dashboard_groovy_create.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 in this QA at answers.ros.org.

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 the rosconsole logging view. The OK/Warn/Error state is determined by the messages received over the last 30 seconds.

Programmable LEDs

Off	Green	Orange	Red	Description
				Clicking pops up a menu to change the leds to red, orange, or green color:

Motor Power

You can enable/disable motor power of wheels by just clicking button.

Enabled	Disabled

Circuit Breakers

The circuit breakers are thunder signed button, 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.

On	Off

Mode

The robot can only charge in passive mode. The dashboard easily allows the user to change between modes for charging the robot.

Icon	Description
	Clicking pops up a menu to change the mode to full, safety, or passive mode:

More information on the Dashboard for the Create base can be found in this video.

Battery

The battery is also just an indicator with no way of changing its state. The battery will change its % filled based on the amount of battery remaining. It will also show a power-plug symbol if the robot is charging.