Robot Visualization

This document describes a communication relay solution from PND designed for robots. It mainly solves data transfer between remote compute on the robot and local monitoring clients, and supports real-time robot status monitoring with Foxglove.

This feature requires additional deployment. If you need to deploy it, please contact Support.

Role Definitions

• Remote End (Remote): Robot host (e.g., NUC), runs computational tasks with limited resources.
• Local End (Local): Developer laptop, used for visualization monitoring with sufficient resources.

Components

Component Name	Protocol Type	Function
pnd_bridge	TCP / WS	Runs on remote end. Responsible for message forwarding, computing /joint_states, /tf, and supporting MCAP recording.
foxglove_bridge	WebSocket	Converts ROS2 messages to Foxglove-specific format.
rerun_bridge	gRPC	High-performance visualization gateway adapting rerun.io format.

Note

All topics forwarded through the bridge will automatically have a /bridge prefix added.