web_controller.main.WebVisualizerNode Class Reference

Inheritance diagram for web_controller.main.WebVisualizerNode:

Collaboration diagram for web_controller.main.WebVisualizerNode:

Public Member Functions
def	__init__ (self, viser.ViserServer server, Path mesh_path, float pub_targets_period)
def	odom_callback (self, Odometry msg)
def	target_callback (self, Targets msg)
def	camera_callback (self, Image msg, viser.ImageHandle view)
def	update_robot (self, pos, orient)
def	update_trajectory (self, pos)
def	update_plots (self)
def	clear_trajectory (self)
def	set_targets (self)
def	toggle_publishing (self)
def	publish_target (self)
def	front_camera_callback (self, Image msg)
def	bottom_camera_callback (self, Image msg)

Public Attributes
	server
	mesh_path
	pub_targets_period
	lock
	bridge
	trajectory_points
	trajectory_colors
	targets
	is_publishing_targets
	publish_timer
	MAX_DATAPOINTS
	odom_data
	target_buffer
	targets_data
	robot
	front_cam_view
	bottom_cam_view
	trajectory
	trajectory_clear_button
	gui_target_posi
	gui_z_type
	gui_target_orient
	set_targets_button
	publish_button
	target_publisher
	odom_subscriber
	target_subscriber
	front_cam_sub
	bottom_cam_sub

Protected Member Functions
def	_setup_3d_scene (self)
def	_setup_gui (self)
def	_setup_ros_communication (self)
def	_init_plot_data (self)

Detailed Description

A ROS2 node that creates a web-based visualizer for a robot using Viser.

Constructor & Destructor Documentation

__init__()

def web_controller.main.WebVisualizerNode.__init__	(		self,
		viser.ViserServer	server,
		Path	mesh_path,
		float	pub_targets_period
	)

Member Function Documentation

_init_plot_data()

def web_controller.main.WebVisualizerNode._init_plot_data (   self )

protected

Returns an empty dictionary to store plot data.

_setup_3d_scene()

def web_controller.main.WebVisualizerNode._setup_3d_scene (   self )

protected

Initializes the 3D scene in Viser, including the robot mesh and camera views.

_setup_gui()

def web_controller.main.WebVisualizerNode._setup_gui (   self )

protected

Creates all GUI elements in Viser.

_setup_ros_communication()

def web_controller.main.WebVisualizerNode._setup_ros_communication (   self )

protected

Initializes ROS2 publishers and subscribers.

bottom_camera_callback()

def web_controller.main.WebVisualizerNode.bottom_camera_callback	(		self,
		Image	msg
	)

camera_callback()

def web_controller.main.WebVisualizerNode.camera_callback	(		self,
		Image	msg,
		viser.ImageHandle	view
	)

Generic callback to convert ROS Image to numpy and update a Viser view.

clear_trajectory()

def web_controller.main.WebVisualizerNode.clear_trajectory

(

self

)

front_camera_callback()

def web_controller.main.WebVisualizerNode.front_camera_callback	(		self,
		Image	msg
	)

odom_callback()

def web_controller.main.WebVisualizerNode.odom_callback	(		self,
		Odometry	msg
	)

Callback for receiving odometry data and updating the visualizer.

publish_target()

def web_controller.main.WebVisualizerNode.publish_target

(

self

)

Publish targets as a ROS2 message.

set_targets()

def web_controller.main.WebVisualizerNode.set_targets

(

self

)

Reads target values from the GUI

target_callback()

def web_controller.main.WebVisualizerNode.target_callback	(		self,
		Targets	msg
	)

Callback for receiving target data for plotting.

toggle_publishing()

def web_controller.main.WebVisualizerNode.toggle_publishing

(

self

)

Starts or stops the periodic publishing of target values.

update_plots()

def web_controller.main.WebVisualizerNode.update_plots

(

self

)

Updates the line plots in Viser with current data.

update_robot()

def web_controller.main.WebVisualizerNode.update_robot	(		self,
			pos,
			orient
	)

update_trajectory()

def web_controller.main.WebVisualizerNode.update_trajectory	(		self,
			pos
	)

Member Data Documentation

bottom_cam_sub

web_controller.main.WebVisualizerNode.bottom_cam_sub

bottom_cam_view

web_controller.main.WebVisualizerNode.bottom_cam_view

bridge

web_controller.main.WebVisualizerNode.bridge

front_cam_sub

web_controller.main.WebVisualizerNode.front_cam_sub

front_cam_view

web_controller.main.WebVisualizerNode.front_cam_view

gui_target_orient

web_controller.main.WebVisualizerNode.gui_target_orient

gui_target_posi

web_controller.main.WebVisualizerNode.gui_target_posi

gui_z_type

web_controller.main.WebVisualizerNode.gui_z_type

is_publishing_targets

web_controller.main.WebVisualizerNode.is_publishing_targets

lock

web_controller.main.WebVisualizerNode.lock

MAX_DATAPOINTS

web_controller.main.WebVisualizerNode.MAX_DATAPOINTS

mesh_path

web_controller.main.WebVisualizerNode.mesh_path

odom_data

web_controller.main.WebVisualizerNode.odom_data

odom_subscriber

web_controller.main.WebVisualizerNode.odom_subscriber

pub_targets_period

web_controller.main.WebVisualizerNode.pub_targets_period

publish_button

web_controller.main.WebVisualizerNode.publish_button

publish_timer

web_controller.main.WebVisualizerNode.publish_timer

robot

web_controller.main.WebVisualizerNode.robot

server

web_controller.main.WebVisualizerNode.server

set_targets_button

web_controller.main.WebVisualizerNode.set_targets_button

target_buffer

web_controller.main.WebVisualizerNode.target_buffer

target_publisher

web_controller.main.WebVisualizerNode.target_publisher

target_subscriber

web_controller.main.WebVisualizerNode.target_subscriber

targets

web_controller.main.WebVisualizerNode.targets

targets_data

web_controller.main.WebVisualizerNode.targets_data

trajectory

web_controller.main.WebVisualizerNode.trajectory

trajectory_clear_button

web_controller.main.WebVisualizerNode.trajectory_clear_button

trajectory_colors

web_controller.main.WebVisualizerNode.trajectory_colors

trajectory_points

web_controller.main.WebVisualizerNode.trajectory_points

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The documentation for this class was generated from the following file:

• src/visualizer/web_controller/web_controller/main.py