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Using the GUI

AnthonyBreton edited this page Apr 14, 2021 · 5 revisions

Using the GUI

Refer to the README.md instructions to launch the GUI.

Main window

The main page lets you select between :

  • Opening the simulation sub-window to select which simulation to run
  • Opening the real time control window to control a real-world QuadrUS robot (robot not included)

Main screen

Simulation window

The simulation sub-window lets you select between :

  • Launching the RVIZ simulation
  • Launching the Gazebo simulation (a joystick should be connected)
  • Stopping the active simulation

Simulation screen

Real time control window

The real time control window lets you control a real-word QuadrUS based robot.

  • Start button starts the process to control the robot with the joystick
  • EMERGENCY STOP disables the joystick (This button toggles between an ESTOP and reset state in order to enable the joystick again)
  • The commands sent to the motors and their current positions are displayed on the right side of the screen

QuadrUS real time control Screen