DEPRECATED

Laser UAV TUI

The main TUI dashboard displaying real-time telemetry, hardware diagnostics, and topic monitoring for a single UAV in a ROS 2 environment.

Laser UAV TUI is a lightweight, curses-based Terminal User Interface (TUI) for monitoring and controlling multiple unmanned aerial vehicles (UAVs) in a ROS 2 environment. It provides real-time system and telemetry monitoring, diagnostic checks, and a command interface directly from your terminal.

Features

• Auto-Discovery: Automatically detects and monitors up to 3 UAVs running on the network by scanning for specific estimation topics.
• Real-Time Telemetry: Displays current Pose (X, Y, Z, Heading), publishing rates (Hz), and speeds.
• Hardware & API Diagnostics: Monitors PX4 satellite counts, RF jamming status, and preflight check validations (UI blinks if checks fail).
• Control Interface: Provides an interactive menu to send commands directly to the UAVs.
• Dynamic Topic Monitoring: Monitor the frequency (Hz) of arbitrary ROS 2 topics by specifying them in a YAML configuration file.
• System Stats: Tracks host CPU and RAM usage in real-time.

Usage

Run the TUI node using the standard ROS 2 run command. To enable dynamic topic monitoring, pass the path to your config.yaml file as an argument.

ros2 run laser_uav_tui tui.py --config $(ros2 pkg prefix laser_uav_tui)/share/laser_uav_tui/config/config.yaml

Keyboard Controls:

• UP / DOWN Arrows: Select a different UAV from the list.
• **M or m**: Open the Action Menu for the selected UAV.
• Enter: Execute the selected action or confirm a Go-To coordinate.
• ESC: Exit the current menu or cancel coordinate input.
• Ctrl + C: Gracefully exit the application.

Interactive Control Menus:

Pressing M opens the action menu for the selected UAV. From here, you can trigger specific service calls (Arm, Takeoff, Land, Disarm) or navigate to the "GoTo" submenu to send specific coordinates.

Configuration (config.yaml):

You can monitor the publishing rates of extra topics by adding them to the config.yaml file. The TUI will automatically resolve the message types and display their Hz in the "Topic Monitor" box shown in the main interface image.

Example config/config.yaml:

topics:
  - "/uav1/camera/image_raw"
  - "/uav2/lidar/scan"
  - "/uav1/battery_status"

Note: The script dynamically maps these topics to the respective UAV based on the namespace (e.g., uav1, uav2).