Design And Implementation Of Web-oriented ROS Robot Data Visualization System

The ROS(Robot Operating System)operating system has the advantages of loose coupling and rich function libraries,and it`s currently widely used in the development of robots in various fields such as industry and commerce.With the expansion of application fields and the growth of the number of users,the demand for robot data visualization is becoming more and more complex,and the existing data visualization tools such as Rviz have some limitations in terms of scalability and cross-platform.Combined with application scenarios and project requirements,this paper designs and implements a web-oriented ROS robot data visualization system,completes web-based robot data visualization,and provides a modular,scalable and cross-platform solution.In the data processing module of this system,different data are analyzed and calculated.This module includes four sub-modules: data receiving,data analysis,attitude algorithm,and data correction.Among them,the data receiving module distributes the different received data to different processing flows of the data analysis and attitude algorithm modules;the data analysis module unpacks and parses data by different protocol versions and data types;the attitude algorithm module calculates the original data of the IMU(Inertial Measurement Unit)to the attitude information of the carrier robot;the data correction module converts the angle information of the image data collected by the detector on the carrier robot to the angle information relative to the geographic coordinate system.In the visual interface module of this system,different data are displayed in a modularized manner.This interface is divided into four functional areas of image,pose,radar and data recording,which is developed based on the emerging Foxglove platform.On the basis of the data processing module,the image data and status data collected by the robot,the radar target data of the external system,the log information of the system and the three-dimensional attitude information of the robot are displayed in real time based on the web page in the visual interface.In summary,this paper completes the receiving and analysis of robot data,the calculation of attitude information,the correction of angle information and the modular display of visual interface.Through the function and performance test of the system,the integrity of the function and the reliability of the performance of the system are verified,which has high practical application value.