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Visualization

Scenario Visualization in ADORe is done with Lichtblicke-Suite 🔗. ADORe comes with a docker project to build and run lichtblick.

Building lichtblick-suite

from the lichtblick directory run:

cd tools/lichtblick
make build

Running lichtblick-suite

from the lichtblick directory run:

cd tools/lichtblick
make start

This will start the lichtblick docker service

Layouts

Unless otherwise specified lichtblick will load the default layout: Default.json, this is saved to ../../adore_scenarios/assets/lichtblick_layouts/.

To specify a layout use the url parameter: layout=<layout file>.json

http://localhost:8080//?ds=rosbridge-websocket&ds.url=ws://localhost:9090&ds\=foxglove-websocket\&layout\=<layout file>.json

Layouts should be saved to ../../adore_scenarios/assets/lichtblick_layouts/

Scenario Visualization

ℹ️INFO: Visualization requires a chrome based browser (see: https://www.chromium.org/chromium-projects/)

  1. Start lichtblick suite aka foxglove aka foxbox. From the ADORe project root run:
cd tools/lichtblick
make build
make start
  1. Run a scenario, launch or attach to the ADORe CLI from the root of the ADORe repo:
make cli
cd adore_scenarios/simulation_scenarios
ros2 launch simulation_test.py
  1. Open lichtblick (in another shell):
chromium  http://localhost:8080//?ds=rosbridge-websocket&ds.url=ws://localhost:9090&ds\=rosbridge-websocket\&layout\=Default.json

or with a link: http://localhost:8080//?ds=rosbridge-websocket&ds.url=ws://localhost:9090&ds\=rosbridge-websocket\&layout\=Default.json