Overview
Running
Run turtlebot_dashboard with:
rosrun turtlebot_dashboard turtlebot_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
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.
The indicators are broken into following three categories. The further explanation of the state Stale can be found in this QA at answers.ros.org.
Diagnostic
Component |
OK |
Warn |
Error |
Stale |
Description |
Diagnostics |
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Clicking pops up the robot monitor. The OK/Warn/Error state is determined from the top level of its tree. |
Rosout |
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Clicking pops up rxconsole. The OK/Warn/Error state is determined by the messages received over the last 30 seconds. |
Circuit Breakers
The circuit breakers are labeled 1/2/3, correlate to the 3 digital outputs on the iRobot Create base. Each breaker can be in either an enabled or disabled state. The Kinect power enable is attached to digital out 0 and needs to be enabled to power and receive data from the Kinect.
Mode
The robot can only charge in passive mode. The dashboard easily allows the user to change between modes for charging the robot.
Full |
Safety |
Passive |
Stale |
Description |
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Clicking pops up a menu to change the mode to full, safety, or passive mode: |
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 |
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