Platonics GUI

This is the GUI for the Platonics to interact with the robot. It uses roslibjs to communicate with the robot and the ROS system.

Installation

To install the GUI, you need to have npm installed. You can install it by running the following command: The running also depends on tmuxp, which can be installed by running the following command:

sudo apt install npm
sudo apt install tmuxp

Then, you can install the GUI by running the following commands:

git clone ssh://github.com/platonics-delft/platonics_gui.git
cd platonics_gui
npm install

Running the GUI

First, you have to determine your IP address, the host computer's one, and the robot's one. Let's call them your_ip, host_ip and robot_ip respectively. Additionally, you need the host_user. You can find your IP address by running the following command:

hostname -I

Then you have to set the IP addresses as following: In src/app.ts, search for the line const app = new App('ws://your_ip:9090'); and replace your_ip with your IP address. In config/start_app.yaml, search for the line -export ROS_MASTER_URI=http://host_ip:11311 and replace host_ip with your IP address. In the same file, search for the line -export ROS_IP=your_ip and replace your_ip with the your IP address. In the same file, search for the line - ssh host_user@host_ip and replace host_user with the user of the host computer and host_ip with the IP address of the host computer. In the same file, search for - roslaunch franka_human_friendly_controllers cartesian_variable_impedance_controller.launch robot_ip:=robot_ip arm_id:='panda' gui:=False and replace robot_ip with the IP address of the robot.

Then, you can run the GUI by running the following command:

The whole system is being launch with

cd /path/to/platonics_gui/config
tmuxp load start_app.yaml

If you want to run the GUI only, you can run the following command:

npm run start