Initial bodyscaling panel.

README.md

@@ -1,12 +1,5 @@
 # Aescape Lab UI
 
-## To install
-```
-sudo apt install npm -y
-sudo npm install http-server -g
-sudo ln -s /usr/bin/nodejs /usr/bin/node
-```
-
 ## To run
 Set your master to be what you want - default is `phoebe`.
 Then run

backend/js/ros_scripts.js

@@ -7,32 +7,8 @@ ros.recording = false;
 ros.connected = false;
 
 // ros.connectionName = 'ws://192.168.1.105:9090';
-
-function getQueryVariable(variable)
-{
-   var query = window.location.search.substring(1);
-   var vars = query.split("&");
-   for (var i=0;i<vars.length;i++) {
-           var pair = vars[i].split("=");
-           if(pair[0] == variable){
-            return pair[1];
-          }
-   }
-}
-
-var master = "localhost"
-master = getQueryVariable("master")
-if(master == null)
-{
-  master =  window.location.hostname
-  //"localhost"
-}
-console.log('Master = ' + master);
-
-ros.connectionName = 'ws://' + master + ':9090';
 // ros.connectionName = 'ws://localhost:9090';
-// ros.connectionName = 'ws://titan.aescape.co:9090';
+ros.connectionName = 'ws://titan.aescape.co:9090';
-console.log('ros.connectionName = ' + ros.connectionName);
 
 // If there is an error on the backend, an 'error' emit will be emitted.
 ros.on('error', function(error) {
@@ -44,7 +20,7 @@ ros.on('error', function(error) {
   document.getElementById("ROSNodes").innerHTML = "No Nodes Detected";
 
   rosbridgeconnection_badge
-  console.log(error);
+  console.log(error);192
 });
 // Find out exactly when we made a connection.
 ros.on('connection', function() {
@@ -143,7 +119,6 @@ bagNotifier.subscribe(function(message) {
 // attept to connect to the ros master from the IP given orgrab it from the form
 ros.attemptConnection = function(ipAddress)
 {
-  ros.close();
   if( typeof ipAddress !== "undefined")
   {
     ros.connectionName = ipAddress;
@@ -154,7 +129,6 @@ ros.attemptConnection = function(ipAddress)
   }
   console.log('Connection = ' + ros.connectionName);
   ros.connect(ros.connectionName);
-  getMasterName();
 }
 
 function toggleRecording()
@@ -198,8 +172,5 @@ function getMasterName()
   service.callService(request, function(result) {
     console.log('Master Name = ' + result.host);
     document.getElementById("MasterName").innerHTML = result.host;
-    var title = result.host + " Lab UI"
-    document.title = title;
-    document.getElementById("Title").innerHTML = title;
   });
 }

backend/js/update_guis.js

@@ -47,12 +47,12 @@ function updateNodesGUI()
 
 };
 
-// window.setInterval(function(){
+window.setInterval(function(){
 
-//   updateTopicsGUI();
+  updateTopicsGUI();
-//   updateNodesGUI();
+  updateNodesGUI();
 
-// }, 5000);
+}, 5000);
 
 function validateForm()
 {

coordinator/coordinator.html

@@ -4,40 +4,19 @@
             Select Operation Mode
         </div>
         <div class="panel-body text-center">
-            <div class="col-md-6">
+            <button id="teachingModeButton" type="button" onclick="triggerService('/aescape/mode/activateTeachingController')" class="btn btn-primary">
-                <button id="teachingModeButton" type="button" onclick="triggerService('/aescape/mode/activateTeachingController')" class="btn btn-primary">
+                Teaching Mode
-                    Teaching Mode
+            </button>
-                </button>
+            <button id="executionModeButton" type="button" onclick="triggerService('/aescape/mode/activateExecutionController')" class="btn btn-primary">
-                <button id="executionModeButton" type="button" onclick="triggerService('/aescape/mode/activateExecutionController')" class="btn btn-primary">
+                Massage Mode
-                    Massage Mode
+            </button>
-                </button>
+            <button id="standbyModeButton" type="button" onclick="triggerService('/aescape/mode/activateStandbyController')" class="btn btn-primary">
-                <button id="readyModeButton" type="button" onclick="triggerService('/aescape/mode/activateReadyController')" class="btn btn-primary">
+                Standby Mode
-                    Ready Mode
+            </button>            
-                </button>
+            <button id="stoppedModeButton" type="button" onclick="triggerService('/aescape/mode/stopControllers')" class="btn btn-primary">
-                <button id="standbyModeButton" type="button" onclick="triggerService('/aescape/mode/activateStandbyController')" class="btn btn-primary">
+                Stopped Mode
-                    Standby Mode
+            </button>
-                </button>            
-                <button id="stoppedModeButton" type="button" onclick="triggerService('/aescape/mode/stopControllers')" class="btn btn-primary">
-                    Stopped Mode
-                </button>
-            </div>
-            <div class="col-md-6">
-                Safety Monitor Status:
-                <div class="row-md-3">
-                    <h4><span id="safetyRunning" class="label label-default">Running</span></h4>
-                </div>
-                <div class="row-md-3">
-                    <h4><span id="safetyStopped" class="label label-default">Stopped</span></h4>
-                </div>
-                <div class="row-md-3">
-                    <button type="button" onclick="triggerService('/aescape/mode/activateSafetyController')" class="btn btn-sm btn-default">
-                        Activate Safety Monitor
-                    </button>
-                </div>
-            </div>
         </div>
-
-
     </div>
     <div class="panel panel-default">
         <div class="panel-heading">
@@ -105,18 +84,10 @@
             Teaching Mode Operations
         </div>
         <div class="panel-body text-center">
-            <span class="row">
+            <button id="recordingStartButton" type="button" onclick="triggerService('/aescape/bags/startTeachRecording')" class="btn btn-primary">
-                <label id="RecordingStatusLabel" class="label-warning">
-                    Bag manager not connected!
-                </label>
-            </span>
-            <button type="button" onclick="triggerService('/aescape/mode/activateReadyController')" class="btn btn-default">
-                Activate Ready Mode
-            </button>
-            <button id="recordingStartButton" type="button" onclick="triggerService('/aescape/hardware/calibrateRobotiq'); triggerService('/aescape/mode/activateTeachingController'); triggerService('/aescape/bags/startTeachRecording')" class="btn btn-primary">
                 Start Teach Recording
             </button>
-            <button id="recordingStopButton" type="button" onclick="triggerService('/aescape/bags/stopTeachRecording'); triggerService('/aescape/mode/activateReadyController')" class="btn btn-primary">
+            <button id="recordingStopButton" type="button" onclick="triggerService('/aescape/bags/stopTeachRecording')" class="btn btn-primary">
                 Stop Teach Recording
             </button>
         </div>
@@ -126,28 +97,16 @@
         <div class="panel-heading">
             Execution Mode Operations
         </div>
-
-
         <div class="panel-body text-center">
-
-            <span class="row">
-                <label id="ExecutionStatusLabel" class="label-warning">
-                    Bag manager not connected!
-                </label>
-            </span>
-
             Last Bag Playing:
-            <span  id="lastbagText">
+            <span  id="bagPlayingText">
                 None
             </span>
             <div>
-            <button type="button" onclick="triggerService('/aescape/mode/activateReadyController')" class="btn btn-default">
+            <button id="executionStartButton" type="button" onclick="triggerService('/aescape/bags/startPlayingLastRecording')" class="btn btn-primary">
-                Activate Ready Mode
-            </button>
-            <button id="executionStartButton" type="button" onclick="triggerService('/aescape/mode/activateExecutionController'); triggerService('/aescape/bags/startPlayingLastRecording')" class="btn btn-primary">
                 Play Last Recording
             </button>
-            <button id="executionStopButton" type="button" onclick="triggerService('/aescape/bags/stopPlayingBag'); triggerService('/aescape/mode/activateReadyController')" class="btn btn-primary">
+            <button id="executionStopButton" type="button" onclick="triggerService('/aescape/bags/stopPlayingBag')" class="btn btn-primary">
                 Stop Playing Recording
             </button>
             <div class="row">
@@ -165,8 +124,6 @@
                     </div>
                 </div>
             </div>
-                    <!-- </div> -->
-           
         </div>
         
     </div>

coordinator/js/ros_scripts.js

@@ -27,112 +27,33 @@ var modeStatus = new ROSLIB.Topic({
 modeStatus.subscribe(function(message) {
   document.getElementById("stoppedModeButton").className = "btn btn-secondary"
   document.getElementById("standbyModeButton").className = "btn btn-primary"
-  document.getElementById("readyModeButton").className = "btn btn-primary"
   document.getElementById("teachingModeButton").className = "btn btn-primary"
   document.getElementById("executionModeButton").className = "btn btn-primary"
-  
-  document.getElementById("recordingStartButton").disabled = true
-  document.getElementById("executionStartButton").disabled = true
 
 
-
+  if (message.data == "stopped") {
-  if (message.data == "stopped") 
-  {
     document.getElementById("stoppedModeButton").className = "btn btn-warning"
-  } 
+  } else if (message.data == "standby")
-  else if (message.data == "standby")
   {
     document.getElementById("standbyModeButton").className = "btn btn-primary btn-success"
-  } 
+  } else if (message.data == "teach")
-  else if (message.data == "teach")
   {
     document.getElementById("teachingModeButton").className = "btn btn-primary btn-success"
-  } 
+  } else if (message.data == "execution")
-  else if (message.data == "execution")
   {
     document.getElementById("executionModeButton").className = "btn btn-primary btn-success"
   }
-  else if (message.data == "ready")
-  {
-    document.getElementById("readyModeButton").className = "btn btn-primary btn-success"
-    document.getElementById("recordingStartButton").disabled = false
-    document.getElementById("executionStartButton").disabled = false
-  }
 });
 
-// Safety Status
+// Playing Bag
-var safetyStatusTopic = new ROSLIB.Topic({
-  ros : ros,
-  name : '/aescape/mode/safety_status',
-  messageType : 'std_msgs/String',
-  throttle_rate : 500 // 2Hz
-});
-
-safetyStatusTopic.subscribe(function(message) {
-  document.getElementById("safetyRunning").className = 'label label-default';
-  document.getElementById("safetyStopped").className = 'label label-default';
-  
-  if (message.data == "stopped") 
-  {
-    document.getElementById("safetyStopped").className = 'label label-danger';
-  } 
-  else if (message.data == "running")
-  {
-    document.getElementById("safetyRunning").className = 'label label-success';
-  }
-});
-
-
-// Recording Bag
-var recordingBagTopic = new ROSLIB.Topic({
-  ros : ros,
-  name : '/aescape/bags/recording_status',
-  messageType : 'std_msgs/String'
-});
-
-recordingBagTopic.subscribe(function(message) {
-  if (message.data == "stopped") 
-  {
-    document.getElementById("RecordingStatusLabel").innerHTML = 'Not Running';
-    document.getElementById("RecordingStatusLabel").className = 'label label-warning';
-  } 
-  else if (message.data == "running")
-  {
-    document.getElementById("RecordingStatusLabel").innerHTML = 'RUNNING!';
-    document.getElementById("RecordingStatusLabel").className = 'label label-success';
-  }
-});
-
-// Executing Bag
-var executingBagTopic = new ROSLIB.Topic({
-  ros : ros,
-  name : '/aescape/bags/execution_status',
-  messageType : 'std_msgs/String'
-});
-
-executingBagTopic.subscribe(function(message) {
-  if (message.data == "stopped") 
-  {
-    document.getElementById("ExecutionStatusLabel").innerHTML = 'Not Running';
-    document.getElementById("ExecutionStatusLabel").className = 'label label-warning';
-  } 
-  else if (message.data == "running")
-  {
-    document.getElementById("ExecutionStatusLabel").innerHTML = 'RUNNING!';
-    document.getElementById("ExecutionStatusLabel").className = 'label label-success';
-  }
-});
-
-
-// Last Bag
 var bagPlayingTopic = new ROSLIB.Topic({
   ros : ros,
-  name : '/aescape/bags/last_played',
+  name : '/aescape/bags/playing',
   messageType : 'std_msgs/String'
 });
 
 bagPlayingTopic.subscribe(function(message) {
-  document.getElementById("lastbagText").innerHTML = message.data
+  document.getElementById("bagPlayingText").innerHTML = message.data
 });
 
 // FrankaState

index.html

@@ -39,21 +39,31 @@ Tutorials can be found here: http://www.w3schools.com/bootstrap/default.asp
         <script type="text/javascript" src="coordinator/js/update_guis.js"></script>
 
 
-        <!-- <script>
+        <script>
             $(function(){
                 $("#visionContent").load("vision/vision.html");
             });
         </script>
         <script type="text/javascript" src="vision/js/ros_scripts.js"></script>
-        <script type="text/javascript" src="vision/js/update_guis.js"></script> -->
+        <script type="text/javascript" src="vision/js/update_guis.js"></script>
+
+
+        <script>
+            $(function(){
+                $("#visionContent").load("vision/vision.html");
+            });
+        </script>
+        <script type="text/javascript" src="vision/js/ros_scripts.js"></script>
+        <script type="text/javascript" src="vision/js/update_guis.js"></script>
 
         <meta content="text/html; charset=UTF-8; X-Content-Type-Options=nosniff" http-equiv="Content-Type" />
 
+
     </head>
     <body>
         <div class="container">
             <div id="jumbotronTitle" class="jumbotron text-center">
-                <h1 id="Title">Lab UI</h1>
+                <h1>Lab UI</h1>
 
             </div>
             <div class="container">
@@ -81,7 +91,7 @@ Tutorials can be found here: http://www.w3schools.com/bootstrap/default.asp
                         </a>
                     </li>
                     <li>
-                        <a href="vision/vision.html">
+                        <a href="#Vision" data-toggle="tab">
                             Vision
                         </a>
                     </li>
@@ -93,9 +103,9 @@ Tutorials can be found here: http://www.w3schools.com/bootstrap/default.asp
                 <div class="tab-pane active" id="Coordinator">
                     <div id="coordinatorContent"></div>
                 </div>
-                <!-- <div class="tab-pane" id="Vision">
+                <div class="tab-pane" id="Vision">
                     <div id="visionContent"></div>
-                </div> -->
+                </div>
 
 
                 <div class="tab-pane" id="rosbridgeconnection">
@@ -133,26 +143,26 @@ Tutorials can be found here: http://www.w3schools.com/bootstrap/default.asp
                                 Predefined ROSBridge Connections
                             </div>
                             <div class="panel-body">
-                                <button id="localhostButton" type="button" onclick="ros.attemptConnection('ws://localhost:9090')" class="btn btn-primary">
+                                <!-- <button id="localhostButton" type="button" onclick="ros.attemptConnection('ws://localhost:9090')" class="btn btn-primary">
                                     localhost
                                     <script type="text/javascript">
                                         document.getElementById("ConnectionIPInput").value = ros.connectionName;
                                     </script>
                                 </button>
-                                <button id="TitanButton" type="button" onclick="ros.attemptConnection('ws://titan.local:9090')" class="btn btn-primary">
-                                    Titan
-                                    <script type="text/javascript">
-                                        document.getElementById("ConnectionIPInput").value = ros.connectionName;
-                                    </script>
-                                </button>
                                 <button id="PhoebeButton" type="button" onclick="ros.attemptConnection('ws://phoebe.local:9090')" class="btn btn-primary">
                                     Phoebe
                                     <script type="text/javascript">
                                         document.getElementById("ConnectionIPInput").value = ros.connectionName;
                                     </script>
                                 </button>
-                                <button id="RheaButton" type="button" onclick="ros.attemptConnection('ws://rhea.local:9090')" class="btn btn-primary">
+                                <button id="TitanButton" type="button" onclick="ros.attemptConnection('ws://titan.local:9090')" class="btn btn-primary">
-                                    Rhea
+                                    Titan
+                                    <script type="text/javascript">
+                                        document.getElementById("ConnectionIPInput").value = ros.connectionName;
+                                    </script>
+                                </button> -->
+                                <button id="TitanButton" type="button" onclick="ros.attemptConnection('ws://titan.aescape.co:9090')" class="btn btn-primary">
+                                    titan.aescape.co
                                     <script type="text/javascript">
                                         document.getElementById("ConnectionIPInput").value = ros.connectionName;
                                     </script>

launch/lab_ui.launch

@@ -1,8 +1,10 @@
 <launch>
 	<include file="$(find rosbridge_server)/launch/rosbridge_websocket.launch" />
 
-    <node name="lab_ui_web_server" pkg="aescape_lab_ui" type="webserver.sh" respawn="false" />
+    <node name="lab_ui_web_server" pkg="aescape_lab_ui" type="webserver.sh" respawn="true" />
 
-    <node name="lab_ui_video_server" pkg="web_video_server" type="web_video_server" respawn="false" />
+    <node name="lab_ui_video_server" pkg="web_video_server" type="web_video_server" respawn="true" >
+        <param name="address" value="titan.aescape.co" />
+    </node>
 
 </launch>

package.xml

@@ -41,8 +41,6 @@
   <run_depend>rospy</run_depend>
   <run_depend>std_msgs</run_depend>
 
-  <run_depend>web_video_server</run_depend>
-  <run_depend>rosbridge_server</run_depend>
 
   <!-- The export tag contains other, unspecified, tags -->
   <export>

scripts/webserver.sh

@@ -1,7 +1,4 @@
 #!/usr/bin/env bash
 
 cd $(rospack find aescape_lab_ui)
-# python3 -m http.server 8000
+python3 -m http.server 8000 --bind titan.aescape.co
-
-# Node webserver: https://www.npmjs.com/package/http-server
-http-server -p 8000 

vision/vision.html

@@ -80,9 +80,6 @@
         
     </div> -->
 
-    <script type="text/javascript" src="vision/js/ros_scripts.js"></script>
-    <script type="text/javascript" src="vision/js/update_guis.js"></script>
-
     <div class="panel panel-default">
         <div class="panel-heading">
             Camera Views
@@ -100,13 +97,31 @@
             <div class="row-lg-4">
                 <img height="350" alt="No Camera Image" id="imageStream" src="http://titan.aescape.co:8080/stream?topic=/real_green/color/image_raw&type=ros_compressed"></img>
             </div>
-            Thermal
-            <div class="row-lg-4">
-                <img height="350" alt="No Camera Image" id="imageStream" src="http://titan.aescape.co:8080/stream?topic=/thermal/image_raw&type=ros_compressed"></img>
-            </div>
         </div>
     </div>
 
+    <div class="panel panel-default">
+        <div class="panel-heading">
+            Bodyscaling
+        </div>
+        <div class="panel-body">
+            <div class="col-lg-4">
+                <button id="stoppedModeButton" type="button" onclick="triggerService('/aescape/mode/stopControllers')" class="btn btn-primary">
+                    Stopped Mode
+                </button>
+            </div>
+            <div class="col-lg-4">
+                Realsense Red - Capture
+                <div class="row-lg-4">
+                    <img height="350" alt="No Camera Image" id="imageStream" src="http://titan.aescape.co:8080/stream?topic=/real_red/color/image_raw&type=ros_compressed"></img>
+                </div>
+                Realsense Green - Capture
+                <div class="row-lg-4">
+                    <img height="350" alt="No Camera Image" id="imageStream" src="http://titan.aescape.co:8080/stream?topic=/real_green/color/image_raw&type=ros_compressed"></img>
+                </div>
+            </div>
+        </div>
+    </div>
     <!-- <div class="panel panel-default">
         <div class="panel-heading">
             Execution Recording Operations