Built-in Panel Widgets

The following panel widgets are provided out of the box. You can easily create custom panel widgets, too.

3D Scene View

This is a composite widget that displays the URDF model from /robot_description and transforms from /tf and /tf_static. Model files are discovered on the robot, uploaded to the Cloud Bridge and cached there. Supported mesh formats are STL and DAE.

The URDF model ca be meshed with additional data from sensor_msgs/msg/CameraInfo, vision_msgs/msg/Detection3DArray, sensor_msgs/msg/LaserScan and sensor_msgs/msg/Range topics, as shown on the screenshots below. See CameraInfo and Detection3DArray for configuration options.

../_images/widget-scene-view-1.gif
[1/3] Laser scan, range detection, colliders, camera frustum
../_images/widget-scene-view-2.gif
[2/3] Transforms + camera frustum
../_images/widget-scene-view-3.gif
[3/3] Spatial detections

The URDF model only updates when /robot_description changes, or on page reload. Call the /phntm_bridge/clear_cloud_file_cache service to invalidate the model cache on Cloud Bridge, then reload the page. (More features will be added to this widget, such as support for interactive visualization markers and path planning)

Battery State

This panel displays robot’s battery voltage from sensor_msgs/msg/BatteryState topics as a graph. See BatteryState for configuration options.

../_images/widget-battery.gif

(Battery State will display current, too.)

Imu

This panel displays IMU data of sensor_msgs/msg/Imu topics as rotation, linear acceleration and angular velocity.

../_images/widget-imu.gif

Laser Scan

Displays 2D image of of a lidar scan for sensor_msgs/msg/LaserScan topics. You can zoom in and out and rotate the display.

../_images/widget-laser.gif

Log

Displays system logs such as /rosout for rcl_interfaces/msg/Log topics.

../_images/widget-log.gif

Range

Shows distance information from sensor_msgs/msg/Range as a number and color.

../_images/widget-range.gif

System Info

This panel displays system CPU load, memory and swap utilization, and free space for monitored disk volumes. The info is generated by Phantom Agent via the phntm_interfaces/msg/SystemInfo topics. See Agent Configuration for available options.

../_images/widget-system-info.gif

Video

This is the default widget for any Video and Image topics, transmitted as H.264. It allows to display overlay data from vision_msgs/msg/Detection2DArray topics. See Detection2DArray and Image for config options.

[GIF]