Feature List

Aside from the required ones, custom widgets can be added to the navbar to customize functionality for a given robot and test setup.

Note: Some icons open setup modals instantly, while others use a single press to trigger actions and use a long press to open the modal.

General Tools & Configuration

Icon	Name	Description
	Global Settings	Set the background color and the fixed TF frame. Also has a button to reset the camera view to zero and default zoom.
	Grid	The adjustable metric grid. Currently renders only in the fixed frame.
	TF	Renders TF frames, same options as in RViz for the most part.
	Robot Model	Renders a 2D sprite to represent the robot model or any specific TF link.
	Param Reconfigure	Adjust values of all nodes with reconfigurable parameters. Works through dynamic_reconfigure in Noetic, and standard node parameters in ROS 2.
	Bag Recorder	Recording specified topics by calling rosbag record via proxy.
	Node Manager	Launch nodes, kill nodes, see information about nodes and run other node debugging tools.
	Add new visualizer/widget	Self explanatory.

Mission Planning

Name	Message Type	Description
Teleop Joystick	geometry_msgs/Twist	Joystick used for publishing Twist messages, can be positioned anywhere on the screen and switched into holonomic mode.
2D Pose Estimate	geometry_msgs/PoseWithCovarianceStamped	Send the /initialpose for navigation startup. Long press to open setup menu.
2D Nav Goal	geometry_msgs/PoseStamped	Send a /move_base_simple/goal. Long press to open setup menu.
Waypoint Mission	nav_msgs/Path, geometry_msgs/PoseArray	Create missions with multiple waypoints, then send them as a Path or PoseArray message. Single tap to add a point, single tap to remove an existing one, hold and drag to move points. Adding a point on an existing line will add it between those two points. Long press to open setup menu.
Area Mission	geometry_msgs/PolygonStamped	Drag to select an area and publish it to a PolygonStamped topic. Since the area is a rectangle, the first polygon vertex will be at the cursor press, and the third vertex will be the press released point. Long press to open setup menu.
Button	std_msgs/Bool, std_msgs/Empty	A button with customizable text that displays the last message sent on a Bool topic and sends the inverse to toggle it when pressed. Also supports just sending messages to an Empty topic. Long press to open setup menu.
Altimeter	std_msgs/Float32	A side indicator that renders the Z value of a TF frame as depth/altitude depending on mode. Clicking the altimeter will publish a metric value as a Float32 value to the selected topic, so it can be used for marking a target depth/altitude. A yellow indicator arrow will display the last valid value received on the target topic.

Data Visualization

Name	Message Type	Description
Pose Tracker	tf2_msgs/TFMessage, nav_msgs/Odometry	An analogue to the Odometry widget in Rviz that renders the received history of a pose as a line with arrows, either from a topic or from any transform frame.
Map	nav_msgs/OccupancyGrid	Display an OccupancyGrid. Also has some experimental map_server controls for saving and loading maps.
Satellite Tiles	sensor_msgs/msg/NavSatFix	Display satellite imagery, by default from OpenStreetMap. Requires a Fix origin with the correct frame in its header.
GridCells	nav_msgs/msg/GridCells	Displays a grid of cells.
Battery	sensor_msgs/BatteryState	Display a BatteryState message.
Compressed Image	sensor_msgs/CompressedImage	Display a CompressedImage message in a movable box anywhere on the screen. Heavily throttled by default.
Marker Array	visualization_msgs/MarkerArray	Visualize a MarkerArray. Currently supported types are ARROW, CUBE, SPHERE, CYLINDER, LINE_STRIP and TEXT_VIEW_FACING. Since each of these widgets adds another canvas layer, it makes more sense to aggregate regular Marker messages into a Marker Array to avoid some of that overhead.
Path	nav_msgs/Path	Render a Path message for navigation debugging.
Range	sensor_msgs/Range	Render a Range message on the main view. Supports grouping multiple messages onto the same topic, as long as the tf frames are different.
Laser Scan	sensor_msgs/LaserScan	Display a LaserScan message on the main view. Heavily throttled by default.
Point Cloud	sensor_msgs/PointCloud2	Display a PointCloud2 message on the main view. Heavily throttled by default.
Pose with Covariance (Stamped)	geometry_msgs/PoseWithCovarianceStamped	Display a PoseWithCovarianceStamped message. The covariance rendering is currently experimental and will likely only display correctly for spherical covariance.
Pose Array	geometry_msgs/PoseArray	Display a PoseArray message. Throttled to 15 hz.
Temperature	sensor_msgs/Temperature	Display a Temperature message. Only as a widget for now, not on the view itself.
Speedometer	tf2_msgs/TFMessage	An indicator that tracks the relative speed of any two TF links and can display the value in various units.