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Foxglove Studio Setup Instructions

Prerequisites

Setup

  1. Locate the Docker Compose files inside the AMR_containers folder
cd <ei_for_amr_path>/Edge_Insights_for_Autonomous_Mobile_Robots_*/AMR_containers/01_docker_sdk_env/docker_compose/05_tutorials
  1. Append the following rosbridge-suite service to the Compose file of the application you would like to run e.g. aaeon_wandering__aaeon_realsense_collab_slam_fm_nav2_ukf.tutorial.yml
  rosbridge-suite:
    image: ${REPO_URL}amr-ros-base:${DOCKER_TAG:-latest}
    container_name: ${CONTAINER_NAME_PREFIX:-amr-}rosbridge-suite
    extends:
      file:  ../common/container-launch-env.yml
      service: container-launch-env
    build:
      target: ros-base
    depends_on:
      - aaeon-amr-interface
    command:
      - |
        apt-get update && DEBIAN_FRONTEND=noninteractive apt-get install --no-install-recommends -q -y  ros-foxy-rosbridge-suite
        source /opt/ros/foxy/setup.bash
        ros2 launch rosbridge_server rosbridge_websocket_launch.xml
  1. Save the Compose file

NOTE: Ensure correct line spacing when appending the yml file.

Run

To start the dashboard, launch your application as usually.

  1. Got to the installation folder of EI for AMR and locate the AMR_containers folder
cd <ei_for_amr_path>/Edge_Insights_for_Autonomous_Mobile_Robots_*/AMR_containers
  1. Prepare the environment
source 01_docker_sdk_env/docker_compose/common/docker_compose.source
export CONTAINER_BASE_PATH=`pwd`
export ROS_DOMAIN_ID=27
  1. Start the tutorial or application containers as usually with
docker-compose -f 01_docker_sdk_env/docker_compose/05_tutorials/aaeon_wandering__aaeon_realsense_collab_slam_fm_nav2_ukf.tutorial.yml up

  1. Open the Foxglove web app or desktop app and open a connection to the rosbridge-server at ws://localhost:9090

  2. For a remote connection, connect to a WiFi network and acquire the robots IP address with the ip addr command.

  3. Use any device to connected to the same network and use ws://<robot-ip>:9090/ when opening a connection in Foxglove Studio

Credits

Foxglove Studio