Awesome

<a href="https://107-systems.org/"><img align="right" src="https://raw.githubusercontent.com/107-systems/.github/main/logo/107-systems.png" width="15%"></a> :floppy_disk: l3xz_frontend

Web based frontend for the L3X-Z hexapod robot.

Setup

To run the frontend You need a http-Server, e. g. the one included in Python. Also the rosbridge_server package is required to communicate with the ROS-system on the robot.

# Install ROS package rosbridge-server
sudo apt-get install ros-humble-rosbridge-server
# Clone this repository with submodules
git clone --recursive https://github.com/107-systems/l3xz_frontend
# Launch rosbridge socket server
ros2 launch rosbridge_server rosbridge_websocket_launch.xml &
# Start a http server in the webgui folder
cd webgui
python3 -m http.server 8080

Pages

L3X-Z dashboard

It has the following features:

• Visualization of multiple sensor messages
• Rendering of a map of the environment
• In time download of sensor data
• Interface for the documentation of selected locations using the recorder node in the mapping package
• Control of the robot's LEDs
• Optional control of the robot's motion (left joystick: legs, right joystick: sensor head)
• Emergency stop

Published Topics

TBD

Subscribed Topics

TBD

Services

TBD

Implementation overview

─── webgui                              Root with html and css resources
    ├── javascript                      Javascript root
    │   ├── 3rdparty                    Third party libraries
    │   ├── frontend                    Callbacks for frontend elements
    │   ├── setup                       Setup routines for pages
    │
    ├── l3xz_frontend_base              Submodule with base functionality
    └── resources                       General static resources

Adding a new page

To add a new page, a HTML document needs to be created in the root (webgui) and linked in index.html. The setup functions, called after loading the static page, are expected to be implemented in javascript/setup in a new file. The callbacks for static webpage elements should be implemented in a new file in javascript/frontend.