Web GUI

You can interact with the platform using the web interface. You can access it using a web browser of your choice (Firefox and Chrome/Chromium are preferred though) by navigating to <robot_ip>:8888.

Toolbar

Toolbar consists of three parts:

App Menu
Navigate through the app.
Page title
Display information about current page.
Action buttons
On every page you will see at least the login / logout button. Other buttons will be explained in the corresponding section.

Map

Changing Pilot Modes

Mapping

To create a new Grid Map switch to the mapping mode:

../_images/pilot-mapping-mode.png

Now you can move the platform around using the hardware joystick.

The new Grid Map will be created and updated while driving around. When the mapping process is finished you can upload the new map to the platform by clicking the Save button.

Note

Requires permissions of neo-installer or neo-admin when connecting remotely.

Map Update

To update the current Grid Map switch to the map update mode:

../_images/pilot-map-update.png

The platform needs to be localized before entering this mode.

Note

Requires permissions of neo-installer or neo-admin when connecting remotely.

Set Goal Pose

../_images/pilot-set-goal-pose.png

Left Click / Tap and move to define a new goal pose. Red dot on the icon will indicate this mode is enabled.

Set Goal Station

../_images/pilot-set-goal-station.png

Left Click / Tap on a map station to set a new goal station. Red dot on the icon will indicate this mode is enabled.

Cancel Goal

../_images/pilot-stop.png

Will abort the current goal and stop immediately.

Pose Estimate Tool

../_images/pilot-set-pose-estimate.png

Left Click / Tap and move to define a pose estimate (initialize localization). Red dot on the icon will indicate this mode is enabled.

Set Pose Tool

In simulation mode it is possible to “teleport” the platform via:

../_images/pilot-set-pose.png

Left Click / Tap and move to define a pose. Red dot on the icon will indicate this mode is enabled.

Data Recording

To start a recording:

../_images/pilot-playback-record-start.png

Note

The resulting file will be in user/data/.

To stop a recording:

../_images/pilot-playback-record-stop.png

Note

This button is only enabled when a recording is active.

Adjust View

../_images/pilot-move-and-rotate.png

This mode activates ovelayed controls for zooming and rotating the view. Also the view can be moved around by Left Click / Tap and move.

Settings

../_images/pilot-settings.png

In this context menu you can toggle visibility of various map layers.

Note

The same context menu can be accessed by Right Click / Tap & Hold.

Tip

Displaying Lidar Points and Local Cost Map is CPU intensive. Disable this layers to reduce CPU / GPU usage.

Logs

On this page the last 100 PlatformPilot log messages can be viewed. It is also possible to stop / resume message polling and filter messages by log level using action buttons.

Task Editor

Introduction

The TaskEditor offers visual way to create and manage tasks for the PlatformPilots TaskHandler module. It allows users to generate Lua programs using graphical blocks by dragging and linking them. It also offers easy access to the PlatformPilots API.

After a little training, the creation of programs is done intuitively. So that even complex sequences of task can be implemented very fast.

The TaskEditor is build on top of the Blockly library. Further information:

Toolbox

The toolbox is the side menu from whence the user may drag and drop blocks into the workspace.

There are two types of blocks with and without return value. Blocks without return value can be used directly to build a program workflow. Blocks with a return value are used as input for other blocks (i.e. variables or parameters).

PlatformPilot

The following blocks offer direct access to PlatformPilots API. See Lua Script.

General

require(module_name)

Load module defined by module_name.

call(function_name, {args})

Call function named function_name.

args is an array of arguments passed to the function.

Hardware

Information Requests

Log

Movement

Station List

This block contains a combobox with all stations available in the currently loaded road map.

move_to_station()

move_to_position()

move_to()

move()

pilot.goal_options_t

User Input

Core

The following blocks offer access to basic code concepts like variables, logical expressions and loops.

Functions

Lists

Logic

Loops

Math

Text

Variables