B3RB Electrode Overview
Electrode can be run with foxglove-studio or RVIZ 2 backends for the real and simulated B3RB. Foxglove-studio is the recommended and default backend for Electrode.
Electrode uses a joystick (virtual or physical) to control the B3RB.
To visualize and control the B3RB it is recommended to understand the key concepts and backend options with Electrode.
Using the default Electrode foxglove-studio backend with B3RB.
If using the foxglove backend for Electrode.
Make sure to have first followed instructions to install foxglove-studio and the foxglove CogniPilot Joystick extension.
By default Electrode uses foxglove-studio, for foxglove-studio to connect to the B3RB or B3RB simulation foxglove_bridge
must be running.
On the robot's NavQPlus this happen automatically when running ros2 launch b3rb_bringup robot.launch.py
and uses by default the current network address of the WiFi mlan0
to instantiate the websockets over.
How do I make foxglove_bridge
on the NavQPlus use a different network address?
A different network address can be used by passing it to the launch script.
ros2 launch b3rb_bringup robot.launch.py address:='<other.ip.address>'
ws://<other.ip.address>:4242
.
What if I don't want to run foxglove_bridge
on the NavQPlus?
Appending foxglove:=false
to the launch command will prevent foxglove_bridge
from running.
My foxglove studio connected but it's not showing what I would expect it to, how do I load the b3rb.json
layout file?
- Click the foxglove logo drop down in upper left followed by
Import layout from file...
- Click the
b3rb.json
file followed by clickingSelect
by navigatingHome > cognipilot > electrode > src > electrode > foxglove_layouts > b3rb.json
- The layout should now be present regardless of foxglove being connected to a websocket data source.
Optionally run Electrode with the RVIZ 2 backend for B3RB.
Electrode can be optionally run with the RVIZ 2 backend, however, it requires a physical joystick device for input.
Make sure to also run without the foxglove_bridge
on the NavQPlus.