ros2ascii

Terminal software graphics visualizer for ROS using ASCII art

Code is in the form of C++ ROS nodes. Only tested on Raspbian with ROS Noetic.

This is based on the curses-gfx library here: https://github.com/blegas78/curses-gfx

Also see ROS nodes from the can_to_ros project that this is built upon: https://github.com/jmscslgroup/can_to_ros

ROS nodes in this package:

radar2ascii

On a RAV4 running libpanda and can_to_ros, subscribes to topics /tracka0, /tracka1, ... /tracka15 and draws blue 3D boxes for slow opbejct and red buxes for hfaster objects. A yellow box represents the boundaries of the car (2020 Toyota RAV4). Uses OpenStreetMaps to show current location within a map, along with the GPS module 3D covariance bubble. See video over a WiFi SSH terminal:

Press the spacebar to toggle auto camera rotate, then:

WASD: move camera

Arrow keys: Pan/Tilt

T/R: zoom in/out

G: toggle grid

Escape: quit

Terminal

Different terminals have different performance. On macOS, the defualt terminal is pretty sluggish, resulting in a choppy framerate. Instead, iTerm2 is recommended.

https://iterm2.com

An importable profile for best colors is provided under docs/curses-gfx.json. In iTerm, navigate to iTerm -> Settings -> Profile -> Other Actions -> Import JSON

Docker

$ docker build -t ros2ascii .
$ docker run -it ros2ascii bash

The catkin workspace is located under /home/catkin_ws. Set the ROS_MASTER_URI to your roscore host with apprpriate domain name and port

$ export ROS_MASTER_URI=http://piAtHomeForWorkDev.local:11311

Now run

$ rosrun ros2ascii radar2ascii