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SubjuGator GUI

running the gui

npm install

install dependancies
npm install react-scripts@5.0.1

npm start :)

install ros bridge

sudo apt install ros-jazzy-rosbridge-suite -y

running ros bridge

ros2 launch rosbridge_server rosbridge_websocket_launch.xml

no-hardware full mock mode (checklist can go fully green)

  1. Start GUI and rosbridge (npm start + rosbridge launch above)
  2. In the web app, enable:
    • Sim / No Hardware Mode
    • Mock MIL2 Nodes and Services
  3. Run checklist steps in order (or use Make Sub Live (Auto))

Mock mode simulates MIL2 nodes/services/topics in the frontend for UI testing only.

custom hooks

The useRos hook manages the WebSocket (re)connection in the background.

example usage

import { useRos } from './RosContext';

...

// inside your component
const { ros, connected } = useRos()

// Use the ros variable the same way you would if it were defined with:
// const ros = new ROSLIB.Ros({})
topicRef.current = new ROSLIB.Topic({
    ros: ros,
    name: '/hi_adam',
    messageType: 'std_msgs/String'
});

// The connected variable is basically just useState of the websocket's connection status
const msg_status = connected ? "connected" : "not connected";
return ( <div> {msg_status} </div>)