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(2/20/2013) pr2_dashboard has reached End Of Life and is replaced by rqt_pr2_dashboard.

Only released in EOL distros:  

pr2_gui: pr2_dashboard

Package Summary

pr2_dashboard is a GUI for debugging and controlling low-level state of the PR2. It shows things like battery status and breaker states, as well as integrating tools like rxconsole and robot_monitor.

pr2_gui: pr2_dashboard

Package Summary

pr2_dashboard is a GUI for debugging and controlling low-level state of the PR2. It shows things like battery status and breaker states, as well as integrating tools like rxconsole and robot_monitor.

pr2_gui: pr2_dashboard

Package Summary

pr2_dashboard is a GUI for debugging and controlling low-level state of the PR2. It shows things like battery status and breaker states, as well as integrating tools like rxconsole and robot_monitor.

pr2_gui: pr2_dashboard

Package Summary

pr2_dashboard is a GUI for debugging and controlling low-level state of the PR2. It shows things like battery status and breaker states, as well as integrating tools like rxconsole and robot_monitor.

Running

Run pr2_dashboard with:

rosrun pr2_dashboard pr2_dashboard

You may have to set your ROS_MASTER_URI environment variable before you start your dashboard:

export ROS_MASTER_URI=http://MY_ROBOT:11311

Dashboard

main.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.

Each of the indicators has a tooltip with some extra detail.

The indicators are broken into four categories:

Diagnostic

Component

OK

Warn

Error

Stale

Description

Diagnostics

diag_ok.png

diag_warn.png

diag_error.png

diag_stale.png

Clicking pops up the Robot Monitor. The OK/Warn/Error state is determined from the top level of its tree.

Rosout

rosout_ok.png

rosout_warn.png

rosout_error.png

rosout_stale.png

Clicking pops up rxconsole. The OK/Warn/Error state is determined by the messages received over the last 30 seconds.

Motors

motors_ok.png

N/A

motors_error.png

motors_stale.png

Clicking pops up a menu allowing you to halt or reset motors: motors_menu.png

Circuit Breakers

The circuit breakers are labeled L/B/R, which stand for Left Arm, Base/Spine, and Right Arm. Each breaker can be in one of four states, and clicking on any of the breakers will pop up a menu allowing you to change the state of one or all of them:

breakers_menu.png

Enabled

Standby

Disabled

Stale

breaker_l_ok.pngbreaker_b_ok.pngbreaker_r_ok.png

breaker_l_standby.pngbreaker_b_standby.pngbreaker_r_standby.png

breaker_l_disabled.pngbreaker_b_disabled.pngbreaker_r_disabled.png

breaker_l_stale.pngbreaker_b_stale.pngbreaker_r_stale.png

Enabled is the only state in which the robot's motors will move. Stale occurs when no messages are received from the breakers in more than 3 seconds.

Runstops

The runstop indicators are just that -- indicators, with no way of changing their state from within the dashboard. There are two runstops on the robot, a wireless one and a physical one on the back of the robot.

The runstops can be in one of four states:

OK

Physical Stopped

Wireless Stopped

Stale

runstop_ok.pngrunstop_wireless_ok.png

runstop_stop.pngrunstop_wireless_ok.png

runstop_unknown.pngrunstop_wireless_stop.png

runstop_stale.pngrunstop_wireless_stale.png

There are only four states because the wireless runstop "overrides" the physical one, and we cannot get the state of the physical one if the wireless one is stopped.

Battery

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

Charge >50%

Charge 30-50%

Charge <30%

Charging

battery_green.png

battery_yellow.png

battery_red.png

battery_charging.png

ROS API

pr2_dashboard

Starts the pr2 dashboard

Subscribed Topics

/diagnostics_agg (diagnostic_msgs/DiagnosticArray) /rosout_agg (roslib/Log) motors_halted (std_msgs/Bool) power_state (pr2_msgs/PowerState) power_board_state (pr2_msgs/PowerBoardState)

Services Called

power_board_control (pr2_power_board/PowerBoardCommand) reset_motors (std_srvs/Empty) halt_motors (std_srvs/Empty)


2019-12-07 12:56