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Foxglove Studio

Foxglove Studio is a powerful visualization and debugging tool for robotics applications. It supports ROS 2 natively and provides an intuitive interface to visualize sensor data, robot state, and transforms.

See the full Foxglove Studio tutorial on ros.org

Architectural Overview

There are two main components to Foxglove Studio:

  1. Foxglove Studio Application: A desktop application that runs on your local machine (Windows, macOS, or Linux). It provides the user interface for visualizing data and configuring views.

  2. Foxglove Bridge: A bridge that connects Foxglove Studio to ROS2. It translates ROS2 messages into a format that Foxglove Studio can understand and vice versa. The bridge runs on the car and communicates with the ROS2 system running on the car over the network.

Setup

  1. Install Foxglove Studio: Download and install Foxglove Studio from the official website.

  2. Install Foxglove Bridge on the Car:

  3. SSH into your car.

  4. Launch the appropriate tmuxinator configuration (e.g., cd ~/roboracer_ws/tmux/teleop && tmuxinator).

    • or manually start the bridge: ros2 launch foxglove_bridge foxglove_bridge_launch.xml

  5. Connect Foxglove Studio to the Car:

  6. Open Foxglove Studio on your laptop and connect to ws://orin07:8765. (substitute 07 for your car's id, if different)
    • Open Foxglove Studio on your computer.
    • Create a new websocket connection
    • Enter the websocket url using the hostname (e.g. orin07) or wireguard ip address of your car (e.g., 10.1.0.107). Foxglove Connection
  7. View the topics being published by the car. Foxglove Topics