Vive R3 Monitoring

(Realtime Remote Robot Monitoring Toolbox based on ROS)

Setup Docker for ROS (click to expand)

Install docker-compose

sudo apt install ca-certificates curl gnupg lsb-release
sudo mkdir -p /etc/apt/keyrings
curl -fsSL https://download.docker.com/linux/ubuntu/gpg | sudo gpg --dearmor -o /etc/apt/keyrings/docker.gpg
echo \
  "deb [arch=$(dpkg --print-architecture) signed-by=/etc/apt/keyrings/docker.gpg] https://download.docker.com/linux/ubuntu \
  $(lsb_release -cs) stable" | sudo tee /etc/apt/sources.list.d/docker.list > /dev/null

sudo apt install docker-ce docker-ce-cli containerd.io docker-compose-plugin

sudo curl -L "https://github.com/docker/compose/releases/download/1.29.2/docker-compose-$(uname -s)-$(uname -m)" -o /usr/local/bin/docker-compose
sudo chmod +x /usr/local/bin/docker-compose

Dockerfile

docker pull ros:noetic-ros-base

Install dependencies (temp)

apt update
apt install python3-pip
pip3 install paramiko simplejpeg psutil paho-mqtt mock

Run docker

• interactively and access it through another terminal

docker run -it -v "/home/ubuntu/.ros/:/root/.ros/" ros:XXX

docker exec -it ros_docker /bin/bash
source /opt/ros/melodic/setup.bash
...

• No need to move the code inside the docker => mount the source code dir on the docker

Get remote topics on local system

change inputs in /core/user_config.py file. CLIENT_ID should be match with access_token in remote system. then run r3_monotoing_user.py on your local system.

• rosocre should be running on your local system.
• mosquitto must be running on server on defined port in user_config file.

TODO

• Support ROS1
• Appear Program in Tray Bar
• Switch to PyQt for smoother integration
• Show List of topics by name/type to include/exclude
• Make it a linux daemon
• Start/Stop ROS Core
• Setup a basic web-server (e.g. Flask) instead of the PyQt GUI
• Add REPL Terminal
• Support ROS2
  • change docker base to ros:foxy-ros1-bridge
  • update r3_client.py script