• Diff for "gauges"
Differences between revisions 13 and 14
Revision 13 as of 2016-11-30 23:16:00
Size: 1998
Editor: AndyZe
Comment:
Revision 14 as of 2016-12-01 21:59:00
Size: 2488
Editor: AndyZe
Comment:
Deletions are marked like this. Additions are marked like this.
Line 57: Line 57:
(The extra argument here ensures that a new plugin is found.) Navigate to Plugins-->Visualization-->Gauges to add the gauge plugin. It will launch with some default parameters on the ROS parameter server. They can be adjusted from C++, Python, or the command line. See http://wiki.ros.org/Parameter%20Server. The parameters are: (The extra argument here ensures that a new plugin is found.) Navigate to Plugins-->Visualization-->Gauges to add the gauge plugin. It will launch with some default parameters on the ROS parameter server. They can be adjusted from C++, Python, or the command line. See http://wiki.ros.org/Parameter%20Server. These parameters are numbered so you can launch several gauges with unique parameters. They are:
Line 59: Line 59:
  * "gauge_name" -- The name displayed below the gauge.
  * "minimum" -- The minimum value shown on the gauge.
  * "maximum" -- The maximum value shown on the gauge.
  * "danger_threshold" -- Show a color band, with red beginning at this value.
  * "topic" -- The name of the topic that controls the needle.
  * "pixel_size" -- The width and height of the gauge.
  * "gauge_nameX" -- The name displayed below gauge X.
  * "minimumX" -- The minimum value shown on gauge X.
  * "maximumX" -- The maximum value shown on gauge X.
  * "danger_thresholdX" -- Show a color band, with red beginning at this value.
  * "topicX" -- The name of the topic that controls needle X.
  * "pixel_sizeX" -- The width and height of gaugeX.

This example launches two gauges which listen to different topics (pitch and yaw):
{{{
$ rosparam set /rqt_gauges/topic1 /pitch
$ rosparam set /rqt_gauges/gauge_name1 Pitch
$ rosparam set /rqt_gauges/topic2 /yaw
$ rosparam set /rqt_gauges/gauge_name2 Yaw
$ rostopic pub -r 1 /pitch std_msgs/Float64 13
$ rostopic pub -r 1 /yaw std_msgs/Float64 57
$ rqt
Then select two Gauges from the drop-down menu.
}}}

Only released in EOL distros:  

Package Summary

Launch virtual gauges for ROS topics.

Package Summary

Launch virtual gauges for ROS topics.

Package Summary

Launch virtual gauges for ROS topics.

Launch virtual gauges for ROS topics.

gauge.png

Installation

Install the debian:

$ sudo apt-get install ros-indigo-gauges

Or, install from source to get the most current version:

$ mkdir -p ~/Desktop/catkin_ws/src
$ cd ~/Desktop/catkin_ws/src
$ catkin_init_workspace

Clone the package

$ git clone https://github.com/UTNuclearRoboticsPublic/gauges.git
$ cd ..

Build the package

$ catkin_make

Source the new files

$ source devel/setup.bash

(You may have to do this every time you open a new terminal window, or add this line to your bashrc: source ~/Desktop/catkin_ws/devel/setup.bash)

Standalone app

Use a launch file to specify your gauges. See the example in launch/pitch_yaw_gauges.launch.

Usage:

$ roslaunch gauges pitch_yaw_gauges.launch
$ rostopic pub -r 1 /pitch std_msgs/Float64 53.1
$ rostopic pub -r 10 -- /yaw std_msgs/Float64 -10.5

The second two commands publish data for the gauges to listen to.

rqt plugin

You can easily open a virtual gauge within the rqt GUI environment. Launch the main rqt window:

$ rqt --force-discover

(The extra argument here ensures that a new plugin is found.) Navigate to Plugins-->Visualization-->Gauges to add the gauge plugin. It will launch with some default parameters on the ROS parameter server. They can be adjusted from C++, Python, or the command line. See http://wiki.ros.org/Parameter%20Server. These parameters are numbered so you can launch several gauges with unique parameters. They are:

  • "gauge_nameX" -- The name displayed below gauge X.
  • "minimumX" -- The minimum value shown on gauge X.
  • "maximumX" -- The maximum value shown on gauge X.
  • "danger_thresholdX" -- Show a color band, with red beginning at this value.
  • "topicX" -- The name of the topic that controls needle X.
  • "pixel_sizeX" -- The width and height of gaugeX.

This example launches two gauges which listen to different topics (pitch and yaw):

$ rosparam set /rqt_gauges/topic1 /pitch
$ rosparam set /rqt_gauges/gauge_name1 Pitch
$ rosparam set /rqt_gauges/topic2 /yaw
$ rosparam set /rqt_gauges/gauge_name2 Yaw
$ rostopic pub -r 1 /pitch std_msgs/Float64 13
$ rostopic pub -r 1 /yaw std_msgs/Float64 57
$ rqt
Then select two Gauges from the drop-down menu.

Wiki: gauges (last edited 2018-09-03 13:23:57 by DorianScholz)