Alphanumeric Viewer

Introduction

Aerostack2’s alphanumeric viewer interface consists on a window with multiple tabs that shows different data regarding the state of the uav.

Interface launch

Example of keyboard teleoperation tool launch command:

ros2 run as2_alphanumeric_viewer as2_alphanumeric_viewer_node \
--ros-args -r  __ns:=/drone_sim_0

This will open alphanumeric viewer interface for drone with namespace: drone_sim_0.

Instructions

When the previous launch command is executed, a window like the following will open:

../../_images/alphanumeric_view_summary.png

Alphanumeric viewer summary window.

Different tabs can be displayed when pressing the correspondent key. Each of the tabs shows different information for different purposes.

../../_images/alphanumeric_view_sensors.png

Alphanumeric viewer sensors window.

../../_images/alphanumeric_view_navigation.png

Alphanumeric viewer navigation window.

../../_images/alphanumeric_view_platform.png

Alphanumeric viewer platform window.

Those tabs can be summarized in the following table:

List of alphanumeric viewer tabs

Key

Name

Information displayed

M-m

Summary tab
Shows all different but what we believe is the most important information to show
most of the times. It displays information about the IMU measurements, localization,
control modes for each the controller and the platform, aswell as the platform status.

S-s

Sensors tab

Shows information regarding the sensor measurements with a clearer layout.

N-n

Navigation tab

Shows information regarding self localization with a clearer layout.

P-p

Platform tab

Shows information regarding platform and controller with a clearer layout.