Feature List
Aside from the required ones, custom widgets can be added to the navbar to customize functionality for a given robot and test setup.
Note: Some icons open setup modals instantly, while others use a single press to trigger actions and use a long press to open the modal.
| Icon | Name | Description |
|---|---|---|
 |
Global Settings | Set the background color and the fixed TF frame. Also has a button to reset the camera view to zero and default zoom. |
 |
Grid | The adjustable metric grid. Currently renders only in the fixed frame. |
 |
TF | Renders TF frames, same options as in RViz for the most part. |
 |
Robot Model | Renders a 2D sprite to represent the robot model or any specific TF link. |
 |
Dynamic Reconfigure | Adjust configurations of all nodes supporting dynamic reconfigure params. Currently rather slow to load and update, but will make sure parameters are current. It treats ints as floats due to type autodetection problems. |
 |
Bag Recorder | Recording specified topics by calling rosbag record via proxy. |
 |
Node Manager | See info printouts of a specific node, kill nodes, launch nodes, that sort of thing. |
 |
Add new visualizer/widget | Self explanatory. |
| Icon | Name | Message Type | Description |
|---|---|---|---|
 |
Teleop Joystick | geometry_msgs/Twist | Joystick used for publishing Twist messages, can be positioned anywhere on the screen and switched into holonomic mode. |
 |
2D Pose Estimate | geometry_msgs/PoseWithCovarianceStamped | Send the /initialpose for navigation startup. Long press to open setup menu. |
 |
2D Nav Goal | geometry_msgs/PoseStamped | Send a /move_base_simple/goal. Long press to open setup menu. |
 |
Waypoint Mission | nav_msgs/Path | Create missions with multiple waypoints, then send them as a Path message. Single tap to add a point, single tap to remove an existing one, hold and drag to move points. Adding a point on an existing line will add it between those two points. Long press to open setup menu. |
 |
Area Mission | geometry_msgs/PolygonStamped | Drag to select an area and publish it to a PolygonStamped topic. Since the area is a rectangle, the first polygon vertex will be at the cursor press, and the third vertex will be the press released point. Long press to open setup menu. |
 |
Button | std_msgs/Bool, std_msgs/Empty | A button with customizable text that displays the last message sent on a Bool topic and sends the inverse to toggle it when pressed. Also supports just sending messages to an Empty topic. Long press to open setup menu. |
 
|
Altimeter | std_msgs/Float32 | A side indicator that renders the Z value of a TF frame as depth/altitude depending on mode. Clicking the altimeter will publish a metric value as a Float32 value to the selected topic, so it can be used for marking a target depth/altitude. A yellow indicator arrow will display the last valid value received on the target topic. |
| Icon | Name | Message Type | Description |
|---|---|---|---|
 |
Map | nav_msgs/OccupancyGrid | Display an OccupancyGrid. Also has some experimental map_server controls for saving and loading maps. |
 |
Satellite Tiles | sensor_msgs/msg/NavSatFix | Display satellite imagery, by default from OpenStreetMap. Requires a Fix origin with the correct frame in its header. |
 |
GridCells | nav_msgs/msg/GridCells | Displays a grid of cells. |
 |
Battery | sensor_msgs/BatteryState | Display a BatteryState message. |
 |
Compressed Image | sensor_msgs/CompressedImage | Display a CompressedImage message in a movable box anywhere on the screen. Heavily throttled by default. |
 |
Marker Array | visualization_msgs/MarkerArray | Visualize a MarkerArray. Currently supported types are ARROW, CUBE, SPHERE, CYLINDER, LINE_STRIP and TEXT_VIEW_FACING. Since each of these widgets adds another canvas layer, it makes more sense to aggregate regular Marker messages into a Marker Array to avoid some of that overhead. |
 |
Path | nav_msgs/Path | Render a Path message for navigation debugging. |
 |
Range | sensor_msgs/Range | Render a Range message on the main view. Supports grouping multiple messages onto the same topic, as long as the tf frames are different. |
 |
Laser Scan | sensor_msgs/LaserScan | Display a LaserScan message on the main view. Heavily throttled by default. |
 |
Point Cloud | sensor_msgs/PointCloud2 | Display a PointCloud2 message on the main view. Heavily throttled by default. |
 |
Pose with Covariance (Stamped) | geometry_msgs/PoseWithCovarianceStamped | Display a PoseWithCovarianceStamped message. The covariance rendering is currently experimental and will likely only display correctly for spherical covariance. |
 |
Pose Array | geometry_msgs/PoseArray | Display a PoseArray message. Throttled to 15 hz. |
 |
Temperature | sensor_msgs/Temperature | Display a Temperature message. Only as a widget for now, not on the view itself. |
 |
Speedometer | / | An indicator that tracks the relative speed of any two TF links and can display the value in various units. |