Real-Time-Robotics-Dashboad

A real-time web dashboard using Python, Flask, Socket.io, OpenCV, and jQuery.

Installing

1. git clone https://github.com/ddelago/Simple-Rover-Dashboard.git
2. pip install -r requirements.txt
3. Also pip install opencv-python and opencv-contrib-python

Running

Starting the camera server

1. cd camera_server
2. Make sure you have a CameraCalibration.pckl file.
   • See here on how to properly create one.
3. python webstreaming.py
4. The camera server can now be viewed at http://localhost:6006.
   • Ensure that a webcam is connected and that the correct camera is being sourced (line 20).

Starting the main server

1. Open up a new terminal
2. python server.py
3. Navigate to http://localhost:1337 to view the dashboard.

Displaying the map

• The map page is static and will be rendered using the saved map tiles.
• The tile data is located in map_generation/map_server/tiles.
• The map icons are located in map_generation/map_server/images.

Generating Map Tiles

1. To generate a new set of map tiles, first get a set of long/lat points that represents a bounding box. (2 pairs of points)
   • Using this website will be helpful.
2. Have Visual Studio installed.
3. Open the map_generation/GenerateTiles/GenerateTilesProject.sln file in Visual Studio.
4. Update the coordinates you would like in the Main function of GenerateTiles.cs as well as the zoom levels you want.
5. Run the project in Visual Studio. This will create a folder called tile-urls with the urls that will be used to fetch map tiles from the osm server.
6. Run the request_tiles.py program from the GenerateTiles directory.
7. This will fetch the map tiles using the urls and create the appropriate map tile folder structure in map_generation/mapServer/tiles
   • This process may take a very long time depending on your coordinates and the zoom levels that you requested.
8. Once all tiles have been downloaded. You can open the index.html file in a browser and view your offline map!
   • You can also embed this static website into other websites such as a dashboard.
9. To customize the usage of your map, such as feeding it coordinates to track, you can use the leaflet library included in mapServer to do so.
   • More about leaflet here.

Interacting with the Dashboard

You first need to connect to the rover server in order to send commands.

1. Enter the rover IP addess and port on the main dashboard and press submit.
2. Check the server terminal to ensure there were no errors.
3. Test the connection by pressing the Activate LED command button a few times.

Controller inputs

Controller input using an Xbox 360 USB controller

Axis

• 0: Left stick horizontal
• 1: Left stick vertical
• 2: Left trigger (positive) and Right trigger (negative)
• 3: Right stick vertical
• 4: Right stick horizontal

Buttons:

• 0: A
• 1: B
• 2: X
• 3: Y
• 4: Left bumper
• 5: Right bumper
• 6: Back
• 7: Start
• 8: Left stick press
• 9: Right stick press

Hat (d-pad):

• Left press: (-1, 0)
• Right press: (1, 0)
• Down press: (0, -1)
• Up press: (0, 1)