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Recording and Playback

Example 1: Start foxglove_bridge and Record Data

Enable MCAP recording of complete ROS 2 topics on the remote end, with data stored in the ~/.ros/bags/ directory by default. Foxglove supports playback of this MCAP package (contains only message data by default). To display robot model animations simultaneously, refer to Example 2.

  1. Connect to the robot NUC: 

    ssh pnd-humanoid@192.168.XX.XX # Replace XX.XX with actual IP address (displayed on the back of the remote control handle), enter initial password: pndxyz

  2. Enable bridge mode and start recording: 

    # Please select the corresponding command by model:
# Adam Pro
./pnd_bridge.sh --enable-foxglove-bridge --enable-record --robot adam_pro --domain-id 0 
# Adam U
./pnd_bridge.sh --enable-foxglove-bridge --enable-record --robot adam_u --domain-id 0 
# Adam SP
./pnd_bridge.sh --enable-foxglove-bridge --enable-record --robot adam_sp --domain-id 0 
# Adam Lite
./pnd_bridge.sh --enable-foxglove-bridge --enable-record --robot adam_lite --domain-id 0
    Press Ctrl+C to stop recording.

  3. Find the recorded file: 

    cd ~/.ros/bags
ls
    You will see files named with the recording timestamp.

  4. Open a new terminal on your local machine and download the recorded file (replace YYYYMMDDHH_MMSS with the actual filename): 

    scp -r pnd-humanoid@192.168.XX.XX:~/.ros/bags/YYYYMMDDHH_MMSS ~/Downloads/

  5. Use Google Chrome to access Foxglove Dashboard or open the Foxglove Desktop client.

  6. Click Open local file and import the YYYYMMDD_HHMMSS.mcap file.

Note

  • Domain ID Matching: Ensure the --domain-id parameter matches the system environment variable ROS_DOMAIN_ID exactly.
  • WebSocket Service: After enabling --enable-foxglove-bridge, the robot end will start a WebSocket service on port 8765. The local Foxglove client can connect to this port for real-time data monitoring.

Example 2: Playback Local MCAP Package and Load Robot Model

  1. Open a terminal on your local machine and synchronize remote data to local: 

    # Download MCAP recording file (replace `YYYYMMDDHH_MMSS` with the actual filename)
scp -r pnd-humanoid@192.168.XX.XX:~/.ros/bags/YYYYMMDDHH_MMSS ~/Downloads/

# Recursively download model resource directory
scp -r pnd-humanoid@192.168.XX.XX:/opt/pnd/pnd_bridge/install/share/pnd_assets ~/Downloads/

  2. Start a lightweight file server (default address: http://127.0.0.1:8000): 

    cd Downloads/pnd_assets
python3 ./server.py

  3. Use Google Chrome to access Foxglove Dashboard or open the Foxglove Desktop client.

  4. Click Open local file and import the YYYYMMDD_HHMMSS.mcap file.

  5. In the Foxglove interface, click 3DPanel --> Custom Layers --> URDF:

    • Source: Select URL.
    • URL: Enter the URDF path for the corresponding robot model, for example:
      • http://127.0.0.1:8000/adam_u/adam_u.urdf
      • http://127.0.0.1:8000/adam_pro/adam_pro.urdf urdf_layer

After configuration, you can use the buttons at the bottom of the interface to play/pause: urdf