System Status Panel

[maxwellmlin]

Motivation

Our old rqt GUI had indicators for the system usage of our onboard computer. This helps with ensuring that our robot computer remains within safe operating levels and that there are no obvious software problems. We need to transition this plugin to our Foxglove GUI. Additionally, we are currently implementing a topic that will communicate the current battery voltage of our robot. We need to indicate this information so that we can ensure robot voltage remains within safe levels.

Requirements

• CPU in % (Warn if >90%)
• RAM in % (Warn if >90%)
• Charge remaining in volts (Warn if <15 volts)

Notes

• Create a MUI Table with 2 columns: Status Name (str) and Value (float with unit). Each row will correspond to a specific status indicator.
• The topic you should subscribe to is /system/usage.
• All indicators should have precision to one digit after the decimal point.
• To warn the user, change the background color of the row to theme.palette.error.main¹.

Local testing

Launch 2 onboard containers, each running one of the following commands:

roslaunch --screen foxglove_bridge foxglove_bridge.launch port:=8765

The foxglove_bridge node allows communication between onboard and our Foxglove GUI.

roslaunch system_utils system_pub.launch

system_pub.launch starts the system usage publisher.

Footnotes

1. First, import the default MUI theme. Then, use the appropriate color. ↩

[maxwellmlin]

System Status Panel needs to be made more compact.

• Remove the panel title
• Remove the table header
• Add the size="small" attribute to Table
• Remove the minWidth: 100 styling