david
597ab48699
- Import hivecore_logger alongside stdlib logging - Replace _setup_file_logging() with hivecore_logger.init() using node_name='ctrlgui', log_dir from ROS2 param log_base_dir, enable_signal_handlers=False and enable_auto_shutdown_hook=False to avoid conflicts with NiceGUI/ROS2 lifecycle - Obtain logger instance via hivecore_logger.get_logger(); all existing self.file_logger call sites (info/warning/error) unchanged - Add hivecore_logger.stop() in shutdown() to flush async log queue - Update default log_base_dir parameter to /var/log/robot - Log output format: [timestamp] [LEVEL] [ctrlgui] [thread] [file:line] msg written to <log_dir>/<YYYYMMDD>/ctrlgui.log with console echo
Robot Control GUI
展示机器人状态，控制机器人运动。
1. 依赖环境
python3
pip
nicegui: pip install nicegui
interfaces
2. 编译运行
mkdir workspace
cd workspace
git clone http://192.168.10.50:3000/HiveCoreRD/hivecore_robot_interfaces.git
git clone http://192.168.10.50:3000/david/ctrlgui.git
colcon build --packages-select ctrlgui interfaces
source install/setup.bash
python3 ctrlgui/ctrlgui/ctrlgui_node.py
正常启动Server后，打开浏览器访问 http://localhost:8080/