143 lines
5.5 KiB
Markdown
143 lines
5.5 KiB
Markdown
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# Open Source Go2 Dashboard
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This dashboard replaces the old `~/GO2` dashboard service for the open-source
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`go2-nav2-amcl` trial.
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## Safety Boundary
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This service is a VM-side integration only. It must not modify the Go2 onboard
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system, DDS configuration, network routes, systemd services, startup scripts, or
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packages.
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The only robot-side SSH behavior allowed by this dashboard is the explicit
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user-approved waypoint action command, which runs the existing photo script and
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then exits. Configuration and development changes belong on the VM.
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It serves a small web UI on port `8090` and talks directly to the current ROS 2
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Nav2 graph:
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- `/map`
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- `/amcl_pose`
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- `/initialpose`
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- `/cmd_vel`
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- `/cmd_vel_nav`
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- `/navigate_to_pose`
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## Fixed Inspection Route
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The dashboard supports one VM-side fixed inspection route. Operators create it
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by selecting route edit mode, dragging fixed poses on the map, then saving.
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The route is stored here:
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```text
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go2_dashboard/data/inspection_routes/default.json
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```
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Saved routes are bound to the current map yaml and map revision. If the map is
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rebuilt or replaced, save the route again before starting inspection.
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Route execution is single-run only. The dashboard sends each Nav2 goal in order,
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confirms that the robot has really arrived, calls the VM-side realtime segment
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HTTP integration, then keeps the original 3 second dwell before continuing.
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Navigation failure still stops the route and waits for an operator.
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Camera-facing patrol points must finish yaw alignment before arrival is accepted.
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The dashboard keeps `GO2_INSPECTION_YAW_TOLERANCE_DEG` at `8.0` by default, and
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the Nav2 controller is tuned to rotate into that final heading faster instead of
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skipping the heading check.
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The realtime segment call is made from the VM after arrival confirmation and
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before the 3 second dwell:
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```text
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POST http://192.168.0.199:5000/realtime-segment
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```
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The dashboard uploads the current Unitree video JPEG frame as
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`multipart/form-data`. The default file field is `image`; override it with
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`GO2_REALTIME_SEGMENT_IMAGE_FIELD` if the service expects another field name.
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The target URL can be overridden with `GO2_REALTIME_SEGMENT_URL`.
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By default, realtime segment failures are shown in `/api/state.inspection_run`
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and the UI, then the route continues to the 3 second dwell and the next point.
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Set `GO2_REALTIME_SEGMENT_CONTINUE_ON_FAILURE=false` if a missed realtime
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segment call must stop the inspection. Timeouts are controlled by
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`GO2_REALTIME_SEGMENT_TIMEOUT_S` and `GO2_REALTIME_SEGMENT_FRAME_TIMEOUT_S`.
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Before a route can start, the dashboard now enforces a navigation preflight:
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- Nav2 launch is running and `/navigate_to_pose` is ready.
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- Fresh real Go2 source data is being received from `/lf/sportmodestate`,
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`/lf/lowstate`, `/utlidar/robot_pose`, and `/utlidar/cloud_deskewed`.
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- The robot accepts `/api/sport/request`.
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- The current map-frame pose is fresh.
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- The operator has explicitly confirmed that the displayed robot position and
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yaw match the real robot in the room after setting the initial pose.
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The UI button order is: start navigation, set initial pose, confirm localization,
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then send a manual goal or start the saved inspection route. If any preflight
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item is missing, route start is blocked and `/api/state.preflight` lists the
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blocking reasons.
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The live camera panel serves MJPEG through `/api/video`. Frames are sampled from
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Unitree's official `VideoClient.GetImageSample()` on the robot network
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interface. By default the interface is `ens160`; override it with
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`GO2_CAMERA_IFACE` when starting the service.
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Robot pose displayed on the web map goes through a small pose pipeline reserved
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for later localization optimization:
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```text
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go2_dashboard/config/pose_pipeline.json
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```
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Current default behavior is pass-through with optional offsets. The preferred
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source is `tf:map->base_link`, then
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`amcl:/amcl_pose`.
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After a Nav2 goal returns `succeeded`, the dashboard can run one onboard
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waypoint action after the robot is actually settled at the requested pose. This
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is configured here:
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```text
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go2_dashboard/config/waypoint_action.json
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```
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The default action SSH target is the Go2 onboard computer:
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```bash
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cd /unitree_go2_ws/src/action/action && python3 testaction5.py
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```
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The hook checks position tolerance, yaw tolerance, fresh pose data, and a short
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stable hold time before it runs the command. Each goal sequence can trigger the
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action at most once. If a new goal or stop command arrives while settling, the
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pending action is superseded.
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Nav2 obstacle avoidance is required for dashboard-started navigation. The VM
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side startup path refuses to launch navigation if the Nav2 local/global costmap
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obstacle and inflation layers are disabled in
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`src/go2_navigation2/config/nav2_params.yaml`.
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Do not store passwords in `waypoint_action.json`. If password SSH is needed,
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create `go2_dashboard/config/dashboard.env` on the VM and set
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`GO2_ROBOT_PASSWORD` there. That file is loaded by
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`start_go2_dashboard.sh` and should stay local to the VM.
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The dashboard expects the robot ROS network interface to be `ens160` by
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default. Override it with `GO2_ROS_IFACE` in `dashboard.env` if the VM uses a
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different bridged NIC. If that interface is down, the web service falls back to
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an available VM network interface so the UI can show diagnostics, but it refuses
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to start Nav2 until the robot ROS interface is restored and the service is
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restarted.
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Start it from the VM:
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```bash
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cd ~/go2_robot_system
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./go2_dashboard/start_go2_dashboard.sh
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```
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The service intentionally does not implement the legacy `/api/v1/...` GO2
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dashboard API.
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