Foxglove GUI

Layouts

Controls Monitor: 6 graphs for each control axis (x, y, z, roll, pitch, yaw) plotting setpoint and control effort against time. Used to test responsiveness of robot during PID tuning.

Controls GUI: Control efforts/PID performance, PID constants editing, Thruster speeds, Record bag files

Piloting GUI: Enable/disable controls, keyboard, joystick, robot orientation, desired power, image views for cameras, fire torpedoes

CV-Sonar-Acoustics GUI: Image views with detections, sonar images, raw cv/sonar objects (mini-slam in future), record bag files, acoustics

System Usage GUI: CPU, RAM, Humidity, Battery voltage