\page gncvisualizer GNC Visualizer

This tool visualizes the GNC status of the robot. For using the tool, see the menu bar when the tool is open. There are many useful hotkeys, indicated in the menu bar.

You may use one of the following two communication methods:

ROS Mode

This is the default communication method. Use this if you are running on simulation or inside the robot local network. It requires rospy dependencies.

You may use the --comm argument to set the ros value. Example:

    python ./scripts/visualizer.py --comm ros

You may also add --gantry, --granite, --bag, and --sim to start the appropriate roslaunch file as well. Another argument, --plan, lets you specify a plan file that can be started by pressing p. Please be advised, these arguments only work in ROS mode.

DDS Mode

This communication method allows you to read data from DDS topics. Use this option if you want to get telemetry from a DDS enabled network (e.g. Astrobee on orbit, space-like ground networks, dds_ros_bridge on simulation). Note that many menu options are disabled when using this communication method.

You may use the --comm argument to set the dds value. Example:

    python ./scripts/visualizer.py --comm dds

This action will read the file located in ./scripts/communications/config.ini. It contains default values to run on simulation with DDS enabled. You may edit this file in order to add peers, change the participant name, set the DDS domain and/or add a public IP address for TReK communications.

Instead of modifying the configuration file, you may set these values by adding --robot_name, --use_ip, --domain and/or --public_ip. When used, these arguments will take precedence over the configuration file. If an argument is invalid or not present the script will fall back to the configuration file. Example:

    # Override initial_peers and participant name but keep domain and public IP
    # same as the configuration file
    python visualizer.py --comm dds --use_ip 10.42.0.37 --robot_name Bumble

Please be advised this tool will not read data from DDS topics until you manually set ekf, gnc, and pmc states to a value higher than 0 using the Ground Data System (Engineering Tab).

Additionally, make sure your firewall is not blocking DDS communications.

On-orbit activities

For on-orbit activities, when running inside of a TRek environment, you may use the --public_ip argument to state the ON_BOARD_PROXY_IP, --use_ip for the GROUND_PROXY_IP and --robot_name to set the agent. Example:

    # Override participant name, initial peers and public IP, but keep the
    # default domain from configuration file
    python visualizer.py --comm dds --robot_name Bumble --use_ip 0.0.0.0 \
      --public_ip 0.0.0.0

Note: Setting the --public_ip argument outside of a TReK environment may prevent the program from getting telemetry.

For on-orbit activities, when running outside of a TRek environment but using the DDS2 relay server, you may set the --use_ip argument to the DDS2 IP address and --domain to one of the DDS_GROUND_DOMAIN IDs. Example:

    # Override participant name, initial peers and domain, but keep the default
    # public_ip (should be empty) from the configuration file
    python visualizer.py --comm dds --robot_name Bumble --use_ip 0.0.0.0 \
      --domain 29

Dependencies

This tool makes use of standard python modules present in most Linux and Windows implementations.

If used along with the Astrobee Robot Software

If you followed the installation instructions for this repository, you should already have all the needed dependencies to run this tool in ROS mode.

In order to run this tool in DDS mode you need an additional dependency:

• rticonnextdds_connector

If using as a standalone tool

You may use this program as a standalone tool only in DDS mode. You may copy the whole gnc_visualizer folder to the destination computer and install missing dependencies.

Depending on your system, you may need to install the following packages:

• pyqtgraph
• PyQt4 and/or PyQt5
• numpy
• rticonnextdds_connector

Any other usage is not recommended.

Installing dependencies

Here you will find suggestions on how to install some dependencies needed for this tool usage.

Installing Python

Make sure Python 2.7.x is installed on your computer. You may get it from your package manager or from the official website

If you followed the Astrobee install, Python should be already installed

Installing PIP

You may install pip using apt or yum. Otherwise, try the following:

(Alternative)

    wget https://bootstrap.pypa.io/get-pip.py # Or download it from a browser
    python get-pip.py
    python -m pip install --upgrade pip setuptools wheel

Installing the RTI connector (DDS Only)

• Note: RTI Connext DDS Connector is under the RTI license.

Install the RTI software

    # Use pip2 instead if needed
    pip install rticonnextdds_connector

Installing QT in standalone mode

• Note: If you followed the Astrobee install (Ubuntu only), this should not be needed.

    # Use pip2 instead if needed
    pip install pyqtgraph

    ## Use one of the following depending on your platform

    # CentOS 7
    yum -y install PyQt4

    # Ubuntu 16.04
    apt-cache search pyqt
    sudo apt-get install python-qt4

    # Windows 10
    #
    # Download the wheel package
    # One possible location: https://www.lfd.uci.edu/~gohlke/pythonlibs/#pyqt4
    # Make sure you download a cp27 version
    #
    # Or build it from source code: https://www.riverbankcomputing.com/software/pyqt/download
    #
    # Then install it (use pip2 if needed):
    pip install PyQt4-[...].whl

Platform support

This software has been tested on:

• Ubuntu 16.04 (Python 2.7.12)
• Kubuntu 16.04 (Python 2.7.12)
• CentOS 7 (Python 2.7.5)
• Windows 10 (Python 2.7.17)

\subpage gnc_visualizer_dds