377-monitor-and-control-from-inside-office

alliander_core/src/alliander_utilities/alliander_utilities/config_objects.py

@@ -359,9 +359,11 @@ class VisualizationConfig(Config):
     Attributes:
         rviz (bool): Whether to enable RViz visualization.
         vizanti (bool): Whether to enable Vizanti visualization.
+        rosboard (bool): Whether to enable ROSBoard visualization.
         gui (bool): Whether to enable GUI.
     """
 
     rviz: bool = True
     vizanti: bool = False
+    rosboard: bool = False
     gui: bool = False

alliander_visualization/alliander_visualization.Dockerfile

@@ -28,6 +28,9 @@ RUN apt update \
   && rosdep update --rosdistro $ROS_DISTRO \
   && rosdep install --from-paths src -y -i
 
+# Get rosboard:
+RUN git clone https://github.com/alliander-opensource/rosboard.git src/rosboard
+
 # Get vendor descriptions
 COPY common/get_vendor_descriptions.sh /$WORKDIR/get_vendor_descriptions.sh
 RUN /$WORKDIR/get_vendor_descriptions.sh && rm /$WORKDIR/get_vendor_descriptions.sh

alliander_visualization/src/alliander_visualization/launch/visualization.launch.py

@@ -39,6 +39,8 @@ def launch_setup(context: LaunchContext) -> list:
         get_file_path("alliander_visualization", ["launch"], "vizanti.launch.py")
     )
 
+    rosboard = Node(package="rosboard", executable="rosboard_node")
+
     gui = Node(
         package="alliander_visualization",
         executable="alliander_gui.py",
@@ -49,6 +51,7 @@ def launch_setup(context: LaunchContext) -> list:
         SetParameter(name="use_sim_time", value=simulation),
         Register.group(rviz, context) if config.rviz else SKIP,
         Register.group(vizanti, context) if config.vizanti else SKIP,
+        Register.on_start(rosboard, context) if config.rosboard else SKIP,
         Register.on_start(gui, context) if config.gui else SKIP,
     ]
 

pyproject.toml

@@ -50,6 +50,8 @@ alliander-nav2 = [
 alliander-visualization = [
     "nicegui>=3.7.0",
     "numpy>=2.4.1",
+    "simplejpeg>=1.9.0",
+    "tornado>=6.5.4",
 ]
 ros = [
     "catkin-pkg>=1.1.0",