MVP GUI 2

MVP GUI 2 is a comprehensive web-based graphical user interface designed for monitoring and controlling ROS 2 based autonomous vehicles, particularly underwater vehicles. This package provides real-time visualization of vehicle status and enables operators to control various aspects of the vehicle through a web interface.

Usage

Installation

1. Clone the repository into your ROS 2 workspace's src directory.

2. Install dependencies:

   • via rosdep:

     rosdep install --from-paths src --ignore-src -r -y

   • manually:

     sudo apt update
     sudo apt install ros-${ROS_DISTRO}-geographic-msgs \
         ros-${ROS_DISTRO}-tf-transformations \
         python3-flask \
         python3-flask-socketio \
         python3-flask-sqlalchemy \
         python3-socketio \
         python3-numpy \
     
     pip install Flask-WTF (pip install Flask-WTF --break-system-packages)

3. Clone required dependency repositories (if not available via rosdep), e.g.:

   git clone https://github.com/uri-ocean-robotics/mvp_msgs.git

4. Initialize submodules to get offline map data:

   cd /path/to/your/ros2_ws/src/mvp_gui_2
   git submodule update --init --recursive

5. Build the workspace:

   colcon build

Configuration

1. Parameters can be set in config/mvp_gui_params.yaml
2. Ensure topic and service names match your ROS 2 system.
3. Build the workspace

Running the Application

1. Source your ROS 2 workspace:

   source /path/to/your/ros2_ws/install/setup.bash

2. Launch the application using the ROS 2 launch file:

   ros2 launch mvp_gui_2 mvp_gui_2.launch.py

3. Access the web interface in your browser, typically at http://localhost:5001.

Web Interface Navigation

1. Systems: System status and launch control.
2. Vehicle Status: Real-time vehicle information.
3. Power Manager: Power system control.
4. Mission: Waypoint and mission management.
5. Map: Geospatial visualization.

Control Operations

1. Change vehicle states using the helm state controls on the Map page.
2. Enable/disable the controller as needed.
3. Control individual power systems from the Power Manager page.
4. Manage ROS launch files from the Systems page.
5. Publish waypoints for navigation missions from the Map or Mission page.

Additional Documentation

Detailed Overview of the pacakge can be found in docs/mvp_gui_2_overview