Add $ to Related-Projects, Releases and Contributing. (backport #5357)

source/Related-Projects/Visualizing-ROS-2-Data-With-Foxglove.rst

@@ -0,0 +1,225 @@
+.. redirect-from::
+
+    Visualizing-ROS-2-Data-With-Foxglove-Studio
+
+Visualizing ROS 2 data with Foxglove
+====================================
+
+`Foxglove <https://foxglove.dev/>`__ is a visualization and observability tool for robotics developers.
+It's available in the browser or as a standalone desktop app and is free for individual, small team, and academic use.
+
+Installation
+------------
+
+To use Foxglove, you'll need to `create an account <https://app.foxglove.dev/signup>`__.
+It's free and all you need is a valid email address.
+
+Once you've created an account, you can use Foxglove on the web by opening Google Chrome and navigating to `app.foxglove.dev <https://app.foxglove.dev>`__.
+
+To use the desktop app for Linux, macOS, or Windows, download it directly from the `Foxglove website <https://foxglove.dev/download>`__.
+
+.. note::
+
+  Foxglove uses specific features of Google Chrome.
+  While some features may work, other browsers are not supported.
+  For the best experience, we recommend using Chrome or the desktop app.
+
+Connect to a live data source
+-----------------------------
+
+To connect to a live ROS 2 stack, you will need to `install the Foxglove ROS 2 bridge <https://docs.foxglove.dev/docs/connecting-to-data/ros-foxglove-bridge>`__ with:
+
+.. code-block:: console
+
+   $ sudo apt install ros-$ROS_DISTRO-foxglove-bridge
+
+Once you have the bridge installed, launch it with:
+
+.. code-block:: console
+
+   $ ros2 launch foxglove_bridge foxglove_bridge_launch.xml
+
+With the bridge running on your robot, you're ready to connect view data in Foxglove.
+Make sure you are on the same network as your robot, open Foxglove (web or desktop) and click "Open connection".
+
+Select the option for "Foxglove WebSocket" and enter your robot's WebSocket URL.
+The default is ``ws://localhost:8765``, however you can read about configuration options for the ROS Foxglove bridge `here <https://docs.foxglove.dev/docs/connecting-to-data/ros-foxglove-bridge#configuration-1>`__.
+
+.. note::
+
+  Foxglove can also connect using rosbridge, however for performance and stability reasons we recommend using the Foxglove bridge.
+
+View and replay recorded data
+-----------------------------
+
+If you'd rather visualize recorded data, you can use Foxglove to replay ROS 2 ``.mcap`` as well as older ROS 2 ``.db3``, and ROS 1 ``.bag`` files.
+Foxglove is particularly convenient for recorded data because it does not require ROS 2 to be running to view data.
+
+Use the :doc:`ros2 bag command line tool <../Tutorials/Beginner-CLI-Tools/Recording-And-Playing-Back-Data/Recording-And-Playing-Back-Data>` to record data from your robot to a ``.mcap`` file:
+
+.. code-block:: console
+
+   $ ros2 bag record -a
+
+From the Foxglove dashboard or menu, select "Open local file" and navigate to your recorded ``.mcap`` file.
+
+See the Foxglove documentation for `more information about the types of data sources you can use with it <https://docs.foxglove.dev/docs/connecting-to-data/introduction/>`__.
+
+Building layouts with panels
+----------------------------
+
+`Panels <https://docs.foxglove.dev/docs/visualization/panels/introduction>`__ allow you to visualize different specific types of data such as logs, maps, plots, and 3D information.
+You can arrange panels by dragging and dropping them into Foxglove `layouts <https://foxglove.dev/docs/visualization/layouts>`__ to view multiple types of data simultaneously.
+
+You can also save layouts for future use, or to share with your team.
+
+Find the full list of available panels by clicking the "Add panel" icon in the upper left of the menu bar.
+
+We've highlighted some particularly useful ones below:
+
+3D panel: View 3D data and visualization markers
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+Open the panel settings by clicking the gear icon in the upper right.
+Choose the topics you want to display via the topic picker on the left, and configure each topic's visualization settings in the "Edit topic settings" menu.
+
+Publish marker messages to add primitive shapes (arrows, spheres, etc.) and more complex visualizations (occupancy grids, point clouds, etc.) to your 3D panel's scene.
+
+.. image:: foxglove/3d.png
+  :width: 500 px
+  :alt: Foxglove's 3D panel
+
+Reference the `docs <https://foxglove.dev/docs/visualization/panels/3d>`__ for a full list of `supported message types <https://foxglove.dev/docs/visualization/panels/3d#supported-messages>`__ and some useful `user interactions <https://foxglove.dev/docs/visualization/panels/3d#user-interactions>`__.
+
+Diagnostics panel: View and filter diagnostics messages
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+Display the status of seen nodes (i.e. stale, error, warn, or OK) from topics with a ``diagnostic_msgs/msg/DiagnosticArray`` datatype in a running feed, and display the diagnostics data for a given ``diagnostic_name/hardware_id``.
+
+.. image:: foxglove/diagnostics.png
+  :width: 500 px
+  :alt: Foxglove's Diagnostics panel
+
+Reference the `docs <https://foxglove.dev/docs/visualization/panels/diagnostics>`__ for more details.
+
+Image panel: View camera feed images
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+Display raw and compressed images, as well as compressed videos, with 2D annotations like text labels, circles, and points.
+Superimpose 3D markers for additional context.
+
+.. image:: foxglove/image.png
+  :width: 500 px
+  :alt: Foxglove's Image panel
+
+Reference the `docs <https://foxglove.dev/docs/visualization/panels/image>`__ for more details.
+
+Log panel: View log messages
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+To view ``rcl_interfaces/msg/Log`` messages live, use the desktop app to `connect <https://docs.foxglove.dev/docs/connecting-to-data/frameworks/ros2>`__ to your running ROS stack.
+To view ``rcl_interfaces/msg/Log`` messages from a pre-recorded data file, you can drag-and-drop your file into either the `web <https://app.foxglove.dev>`__ or desktop app.
+
+Next, add a `Log <https://foxglove.dev/docs/visualization/panels/log>`__ panel to your layout.
+If you've connected to your ROS stack correctly, you should now see a list of your log messages, with the ability to filter them by node name or severity level.
+
+Reference the `docs <https://foxglove.dev/docs/visualization/panels/log>`__ for more details.
+
+Plot panel: Plot arbitrary values over time
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+Plot arbitrary numeric values from topic `message paths <https://docs.foxglove.dev/docs/visualization/message-path-syntax>`__ .
+
+When playing back local or remote data files, this panel will preload the data belonging to the specified topic message paths for the whole playback timeline.
+Current playback time is indicated by a vertical gray bar.
+
+.. image:: foxglove/plot.png
+  :width: 500 px
+  :alt: Foxglove's Plot panel
+
+Reference the `docs <https://foxglove.dev/docs/visualization/panels/plot>`__ for more details.
+
+Raw Messages panel: View incoming topic messages
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+Inspect a particular `message path <https://docs.foxglove.dev/docs/visualization/message-path-syntax>`__ in your data source.
+
+As new messages are received for a given path, the collapsible tree will show just the latest message.
+You will be able to expand and collapse keys, and have those changes persist across playback.
+
+.. image:: foxglove/raw-messages.png
+  :width: 500 px
+  :alt: Foxglove's Raw Messages panel
+
+Reference the `docs <https://foxglove.dev/docs/visualization/panels/raw-messages>`__ for more details.
+
+Teleop panel: Teleoperate your robot
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+Teleoperate your physical robot by publishing ``geometry_msgs/msg/Twist`` messages on a given topic back to your live ROS stack.
+
+.. image:: foxglove/teleop.png
+  :width: 300 px
+  :alt: Foxglove's URDF Viewer panel
+
+Reference the `docs <https://foxglove.dev/docs/visualization/panels/teleop>`__ for more details.
+
+Visualize URDFs: View and manipulate your URDF model
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+Foxglove's `3D panel supports displaying Unified Robotics Description Format (URDF) models <https://docs.foxglove.dev/docs/visualization/panels/3d/#custom-layers>`__ in the context of your robots' world.
+
+To visualize and control your robot model in Foxglove, open the web or desktop application and add a 3D panel to your layout.
+
+Add as many URDF models as you want as custom layers in the 3D panel, using HTTP/HTTPS URLs (web and desktop) or ``file://`` and ``package://``-prefixed URLs (desktop only).
+
+In addition to these URLs, the 3D panel can also display URDFs from a ``/robot_description`` topic.
+
+Once added to the 3D panel, the URDF file will populate the transform tree with frames and transforms based on the model's links and joints.
+
+It's important to note that Foxglove uses different defaults from RViz—if your meshes are not displaying properly, you may want to adjust the "Ignore COLLADA <up_axis>"" (for DAE meshes) and "Mesh up axis" (for STL and OBJ meshes) options in the panel settings' 'Scene' section.
+
+You can update this tree by publishing transform messages to move the URDF model's joints positions—if you've used JointState messages before, you can use a robot_state_publisher node to transform them into TF messages at runtime.
+
+You can also control your model's joints manually via the panel settings interface.
+
+.. image:: foxglove/urdf.png
+  :width: 500 px
+  :alt: Foxglove's URDF Viewer panel with editable joint positions
+
+Reference the `docs <https://foxglove.dev/docs/visualization/panels/urdf-viewer>`__ for more details.
+
+Other basic actions
+-------------------
+
+View your ROS topic graph
+^^^^^^^^^^^^^^^^^^^^^^^^^
+
+`Using the desktop app <https://foxglove.dev/download>`__, `connect <https://docs.foxglove.dev/docs/connecting-to-data/frameworks/ros2>`__ to your running ROS stack.
+Next, add a `Topic Graph <https://foxglove.dev/docs/visualization/panels/topic-graph>`__ panel to your layout.
+If you've connected to your ROS stack correctly, you should now see a computational graph of your ROS nodes, topics, and services in that panel.
+Use the controls on the right side of the panel to select which topics to display or to toggle services.
+
+View and edit your ROS params
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+`Using the desktop app <https://foxglove.dev/download>`__, `connect <https://docs.foxglove.dev/docs/connecting-to-data/frameworks/ros2>`__ to your running ROS stack.
+Next, add a `Parameters <https://foxglove.dev/docs/visualization/panels/parameters>`__ panel to your layout.
+If you've connected to your ROS stack correctly, you should now see a live view of your current ``rosparams``.
+You can edit these parameter values to publish ``rosparam`` updates back to your ROS stack.
+
+Publish messages back to your live ROS stack
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+`Using the desktop app <https://foxglove.dev/download>`__, `connect <https://docs.foxglove.dev/docs/connecting-to-data/frameworks/ros2>`__ to your running ROS stack.
+Next, add a `Publish <https://foxglove.dev/docs/visualization/panels/publish>`__ panel to your layout.
+
+Specify the topic you want to publish on to infer its datatype and populate the text field with a JSON message template.
+
+Selecting a datatype in the dropdown of common ROS datatypes will also populate the text field with a JSON message template.
+
+Edit the template to customize your message before hitting "Publish".
+
+.. image:: foxglove/publish.png
+  :width: 300 px
+  :alt: Foxglove's Publish panel

source/Releases/Release-Eloquent-Elusor.rst

@@ -210,13 +210,13 @@ As an example, a command line using Dashing syntax like:
 
 .. code-block:: console
 
-    ros2 run some_package some_node foo:=bar __params:=/path/to/params.yaml __log_level:=WARN --user-flag
+    $ ros2 run some_package some_node foo:=bar __params:=/path/to/params.yaml __log_level:=WARN --user-flag
 
 is written using Eloquent (and onwards) syntax as:
 
 .. code-block:: console
 
-    ros2 run some_package some_node --ros-args --remap foo:=bar --params-file /path/to/params.yaml --log-level WARN -- --user-flag
+    $ ros2 run some_package some_node --ros-args --remap foo:=bar --params-file /path/to/params.yaml --log-level WARN -- --user-flag
 
 This explicit syntax affords new features, like single parameter assignment ``--param name:=value``.
 For further reference and rationale, check the `ROS command line arguments design document <https://design.ros2.org/articles/ros_command_line_arguments.html>`__.