first version of mission control ui

.gitignore

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gui.py

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+from nicegui import ui
+import os
+import signal
+import subprocess
+
+
+TABS = ["Home",
+        "Simulation", 
+        "Observers"]
+
+LAUNCH = [
+    "ros2 launch multirobot_bringup multirobot_bringup.launch.xml",
+    "ros2 run multirobot_formation agent_formation_node",
+    "ros2 run multirobot_formation mock_test",
+    "ros2 run multirobot_formation resetPose",]
+
+OBSERVERS = [
+    "ros2 run formation_error_observer main",
+    "ros2 run localization_error_observer localization_error_observer 4",
+    "ros2 run mileage_observer main 10 4",
+    "ros2 run power_usage_observer main 4",]
+
+process = None
+task = None
+
+
+async def read_markdown_file(file_path):
+    with open(file_path, "r") as f:
+        markdown_content = f.read()
+    return markdown_content
+
+# Global variable to store the processes
+ros2_processes = []
+
+async def start_ros2_launch(ros_launch_command):
+    global ros2_processes
+
+    try:
+        # Start the ROS 2 launch process
+        process = subprocess.Popen(
+            ros_launch_command,
+            shell=True,
+            cwd=os.path.dirname(os.path.abspath(__file__)),
+            preexec_fn=os.setsid  # This is used to create a process group to enable sending signals to the entire group
+        )
+        ros2_processes.append(process)
+        print(f"ROS 2 launch process started: {ros_launch_command}")
+    except Exception as e:
+        print(f"Error starting ROS 2 launch process: {str(e)}")
+
+async def stop_ros2_launch():
+    global ros2_processes
+
+    for process in ros2_processes:
+        try:
+            # Send the SIGINT signal to the entire process group to gracefully terminate ROS 2 launch
+            os.killpg(os.getpgid(process.pid), signal.SIGINT)
+            process.wait()  # Wait for the process to finish
+            print(f"ROS 2 launch process terminated.")
+        except Exception as e:
+            print(f"Error stopping ROS 2 launch process: {str(e)}")
+
+    ros2_processes = []
+
+@ui.page('/')
+def view():
+    with ui.footer(value=True).style('background-color: #bd94ea') as footer:
+        ui.label(
+            'SwarmBots @ Fraunhofer IPA 2023').classes('absolute-center items-center')
+    with ui.column().classes('w-full items-center'):
+        ui.label('SwarmBots Mission Controller').classes(
+            'text-h2 mt-10').style('color: #bd94ea')
+        # ui.label('ROS 2 Demonstrator 326').classes('text-h4 my-2')
+        with ui.tabs().classes('w-1/2 justify-center').props('h2') as tabs:
+            for tab in TABS:
+                ui.tab(tab).classes('w-1/2 text-center').style('font-size: 20px;')
+
+        with ui.tab_panels(tabs, value=TABS[1]):
+            with ui.tab_panel(TABS[0]):
+                # with ui.card().classes('mt-10 mb-1 w-96 h-96').style('width: 64vw; position: relative'):
+                with ui.row().classes('text-center'):
+                    ui.label('')
+                    ui.image('assets/swarmbots-graphic.png').classes('mt-10 mb-1 w-96 h-96').style('width: 50vw; position: relative')
+
+            with ui.tab_panel(TABS[1]):
+                with ui.card().classes('mt-10 mb-1 w-96 h-56').style('width: 60vw; position: relative'):
+                    with ui.row().classes('text-center'):
+                        ui.label("").classes("text-h6 text-muted")
+                        with ui.row():
+                            ui.button('Start Simulator', color='#9312fa', on_click=lambda: start_ros2_launch(LAUNCH[0])).style('color: white; font-size: 20px; padding: 20px 20px; border-radius: 50px;').classes("my-10 items-center")
+                            ui.button('Start Formation', color='#9312fa', on_click=lambda: start_ros2_launch(LAUNCH[1])).style('color: white; font-size: 20px; padding: 20px 20px; border-radius: 50px;').classes("my-10 items-center")
+
+                with ui.card().classes('mt-10 mb-1 w-96 h-56').style('width: 60vw; position: relative'):
+                    with ui.row().classes('text-center'):
+                        ui.label("").classes("text-h6 text-muted")                        
+                        with ui.row():
+                            ui.button('Start Navigation', color='#9312fa', on_click=lambda: start_ros2_launch(LAUNCH[2])).style('color: white; font-size: 20px; padding: 20px 20px; border-radius: 50px;').classes("my-10 items-center")
+                            ui.button('Reset Robots', color='#9312fa', on_click=lambda: start_ros2_launch(LAUNCH[3])).style('color: white; font-size: 20px; padding: 20px 20px; border-radius: 50px;').classes("my-10 items-center")
+
+                with ui.card().classes('mt-10 mb-1 w-96 h-56').style('width: 60vw; position: relative'):
+                    with ui.row().classes('text-center'):
+                        ui.label("").classes("text-h6 text-muted")
+                        with ui.row():
+                            ui.button('Stop Simulator', color='#cb5153', on_click=stop_ros2_launch).style('color: white; font-size: 20px; padding: 20px 20px; border-radius: 50px;').classes("my-10 absolute-center")
+
+
+            with ui.tab_panel(TABS[2]):
+                ui.label("Select the property observer").classes(
+                    "text-h4 my-2 text-center").style('color: #9312fa')
+                with ui.card().classes('mt-10 mb-1 w-96 h-56').style('width: 60vw; position: relative'):
+                    with ui.row().classes('text-center'):
+                        ui.label("").classes("text-h6 text-muted")
+                        with ui.row():
+                            ui.button('Formation', color='#9312fa', on_click=lambda: start_ros2_launch(OBSERVERS[0])).style('color: white; font-size: 20px; padding: 20px 20px; border-radius: 50px;').classes("my-10 justify-center")
+
+                            ui.button('Localization', color='#9312fa', on_click=lambda: start_ros2_launch(OBSERVERS[1])).style('color: white; font-size: 20px; padding: 20px 20px; border-radius: 50px;').classes("my-10 justify-center")
+
+                            ui.button('Mileage', color='#9312fa', on_click=lambda: start_ros2_launch(OBSERVERS[3])).style('color: white; font-size: 20px; padding: 20px 20px; border-radius: 50px;').classes("my-10 justify-center")
+
+                            ui.button('Power usage', color='#9312fa', on_click=lambda: start_ros2_launch(OBSERVERS[2])).style('color: white; font-size: 20px; padding: 20px 20px; border-radius: 50px;').classes("my-10 justify-center")
+
+                with ui.card().classes('mt-10 mb-1 w-96 h-56').style('width: 60vw; position: relative'):
+                    with ui.row().classes('text-center'):
+                        ui.label("").classes("text-h6 text-muted")
+                        with ui.row():
+                            ui.button('Stop', color='#cb5153', on_click=stop_ros2_launch).style('color: white; font-size: 20px; padding: 20px 20px; border-radius: 50px;').classes("my-10 absolute-center")
+
+            # with ui.tab_panel(TABS[3]):
+            #     ui.label('Documentation').classes('text-h4 my-2 text-center').style('color: #25957b')
+            #     markdown_content = read_markdown_file("multirobot_mission_control/static/docs.md")
+            #     ui.markdown(markdown_content)
+
+
+
+
+ui.run()
+
+

requirements.txt

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+nicegui
+uvicorn

static/docs.md

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+# Multi Robot Formation for SwarmBot 
+
+## 1. Bringup the multirobot simulation, Localization and Pathplanning
+````
+ros2 launch multirobot_bringup multirobot_bringup.launch.xml
+````
+## 2. Send pallet pose from rviz2
+````
+ros2 launch multirobot_formation formation_control.launch.py
+````
+Number of agents vary from 1 to N, ``default value:=4``
+
+## 3. To perform Localization error experiments
+Run the launch files in 1 and 2 and then run the mock_test node.
+```
+ros2 run multirobot_formation mock_test
+```
+**Note:**- In case the mock test does not start, please provide a goal in the rviz.