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mbreiser merged 2 commits into from
Oct 16, 2026
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ros2-poc viz: display rotation, deg/s rates, no dropped frames + clearer layouts #258

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ros2-poc viz: display rotation, deg/s rates, no dropped frames + clea…
mbreiser Oct 16, 2026
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ros2-poc viz: arena-bias indicators stacked full-width, BIAS online/o…
mbreiser Oct 16, 2026
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35 changes: 24 additions & 11 deletions ros2-poc/README.md
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Expand Up @@ -150,11 +150,23 @@ OK while data flows, STALE after `--stale-s`, WARN never seen, ERROR for BIAS un
failed command, with rate / last sequence / latency / last error + time), and a
`visualization_msgs/MarkerArray` on `/viz/markers`: the ball rotated by FicTrac's lab-frame
orientation with markings so the rotation is visible, the fly fixed on top facing +X, the arena
as a translucent cylinder, the pattern feature as a bar on the wall at
`wrap180(frame_dir·idx·deg_per_frame + az0)` (the same mapping `fictrac_sim.py --model fly`
uses), and a text readout. The stock `foxglove_bridge` serves it on **ws://localhost:8766**
as a translucent cylinder, the pattern feature as a bar on the wall at `wrap180(display_deg)`
(below), and a text readout. The stock `foxglove_bridge` serves it on **ws://localhost:8766**
(8765 is the Studio bridge).

**The display's rotation, not just its index.** The bridge reports the frame index mod the
pattern's frame count, so with a periodic pattern (a 20-frame grating) `azimuth_deg =
wrap180(frame_dir·idx·deg_per_frame + az0)` stays inside one 36° period while the fly turns
through thousands of degrees. `/viz/arena/display_deg` sums the index steps, each taken the short
way round the modulus. That is the display's unwrapped rotation, which the closed-loop plot sets
against the fly's turn. The modulus comes from `--frames N` when given; otherwise it is learned
within each epoch as the largest index seen + 1, which is enough because a wrap passes through
the largest index. For a pattern that spans the arena (n·deg_per_frame = 360), `wrap180(display_deg)`
equals the feature azimuth, so the 3D bar is unchanged there, and for a grating it now turns
with the pattern. `/viz/fictrac/fwd_dps` and `side_dps` are the rates of FicTrac's integrated
forward/side motion (cols 20/21) in °/s, the units of `speed_dps`, so the kinematics plot reads
on one axis. `pixi run test-viz` checks this math.

```bash
pixi run rig -- --sim --sim-args "--model fly --kp 2 --seed 1" --foxglove # Arena + FicTrac
pixi run rig -- --sim --bias --bias-sim --foxglove # Arena + BIAS (sim)
Expand All @@ -163,14 +175,15 @@ pixi run rig -- --sim --bias --foxglove
# Layout → Import from file… → ros2-poc/foxglove/arena-fictrac.json or arena-bias.json
```

`arena-fictrac.json`: 3D scene, closed-loop plot (fly turn vs feature azimuth vs bias angle),
kinematics plot, frame-index plot, FicTrac light + rate gauge, diagnostics summary/detail, last
error, log. `arena-bias.json`: 3D scene, BIAS state timeline (unreachable / idle / preview /
recording), frame count vs arena index, latest BIAS reply (shows the `artifact` path), reachable /
capturing / writing-video lights, fps gauge, diagnostics, last error, log. Both work live and on a
replayed MCAP once the log moves to MCAP. Verified here only as topics and advertised channels
(no GUI in the container); the layouts are hand-written Foxglove JSON, so a panel whose schema
drifted shows up empty and is one click to re-point.
`arena-fictrac.json`: 3D scene, closed-loop plot (fly turn vs display rotation), bias angle,
kinematics plot (speed, forward, side in °/s), frame-index plot, FicTrac light + rate gauge,
diagnostics summary/detail, last error, log. `arena-bias.json`: 3D scene, BIAS state timeline
(unreachable / idle / preview / recording), camera frame count and the displayed index on separate
plots, latest BIAS reply (shows the `artifact` path), BIAS / camera / video lights, fps gauge,
diagnostics, last error, log. The ROS log panel is live only: the bags do not record `/rosout`.
Both layouts were checked in Foxglove (web 3.4, 2026-10-16) on ww18 hardware runs: each bag was
played back at 1× through this node and its outputs recorded. The files and the checker
(`tools/check_layouts.py`) are on branch `data/ros2-poc-ww18-2026-10-15`.

## Log format: MCAP sizing and the two-channel plan (2026-10-15)

Expand Down
56 changes: 40 additions & 16 deletions ros2-poc/foxglove/arena-bias.json
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Expand Up @@ -37,36 +37,40 @@
"imageMode": {}
},
"Indicator!reachable": {
"foxglovePanelTitle": "BIAS",
"path": "/viz/bias/reachable.data",
"style": "bulb",
"fallbackColor": "#8b949e",
"fallbackLabel": "BIAS: no status yet",
"fallbackLabel": "no status",
"rules": [
{ "operator": "=", "rawValue": "true", "color": "#00e676", "label": "BIAS reachable" },
{ "operator": "=", "rawValue": "false", "color": "#ff5252", "label": "BIAS unreachable" }
{ "operator": "=", "rawValue": "true", "color": "#00e676", "label": "online" },
{ "operator": "=", "rawValue": "false", "color": "#ff5252", "label": "offline" }
]
},
"Indicator!capturing": {
"foxglovePanelTitle": "Camera",
"path": "/viz/bias/capturing.data",
"style": "bulb",
"fallbackColor": "#8b949e",
"fallbackLabel": "capture: unknown",
"fallbackLabel": "unknown",
"rules": [
{ "operator": "=", "rawValue": "true", "color": "#00e676", "label": "capturing" },
{ "operator": "=", "rawValue": "false", "color": "#8b949e", "label": "not capturing" }
{ "operator": "=", "rawValue": "false", "color": "#8b949e", "label": "idle" }
]
},
"Indicator!logging": {
"foxglovePanelTitle": "Video",
"path": "/viz/bias/logging.data",
"style": "bulb",
"fallbackColor": "#8b949e",
"fallbackLabel": "video: unknown",
"fallbackLabel": "unknown",
"rules": [
{ "operator": "=", "rawValue": "true", "color": "#ffd740", "label": "writing video" },
{ "operator": "=", "rawValue": "false", "color": "#8b949e", "label": "no video" }
{ "operator": "=", "rawValue": "true", "color": "#ffd740", "label": "writing" },
{ "operator": "=", "rawValue": "false", "color": "#8b949e", "label": "off" }
]
},
"Gauge!fps": {
"foxglovePanelTitle": "Camera fps",
"path": "/viz/bias/fps.data",
"minValue": 0,
"maxValue": 200,
Expand All @@ -82,10 +86,24 @@
"isSynced": true
},
"Plot!frames": {
"title": "BIAS frame count vs displayed index",
"title": "BIAS camera frames",
"paths": [
{ "value": "/viz/bias/frame_count.data", "enabled": true, "timestampMethod": "receiveTime", "label": "camera frames" },
{ "value": "/viz/arena/index.data", "enabled": true, "timestampMethod": "receiveTime", "label": "arena frame index" }
{ "value": "/viz/bias/frame_count.data", "enabled": true, "timestampMethod": "receiveTime", "label": "camera frames" }
],
"showXAxisLabels": true,
"showYAxisLabels": true,
"showLegend": true,
"legendDisplay": "floating",
"showPlotValuesInLegend": true,
"isSynced": true,
"xAxisVal": "timestamp",
"sidebarDimension": 240,
"followingViewWidth": 60
},
"Plot!arenaindex": {
"title": "Displayed frame index",
"paths": [
{ "value": "/viz/arena/index.data", "enabled": true, "timestampMethod": "receiveTime", "label": "frame index" }
],
"showXAxisLabels": true,
"showYAxisLabels": true,
Expand Down Expand Up @@ -125,6 +143,7 @@
"expansion": "all"
},
"RosOut!log": {
"foxglovePanelTitle": "ROS log (live only: bags do not record /rosout)",
"searchTerms": [],
"minLogLevel": 2,
"nameFilter": {}
Expand All @@ -147,20 +166,25 @@
"second": {
"direction": "row",
"splitPercentage": 55,
"first": "Plot!frames",
"first": {
"direction": "column",
"splitPercentage": 55,
"first": "Plot!frames",
"second": "Plot!arenaindex"
},
"second": "RawMessages!reply"
}
}
},
"second": {
"direction": "column",
"splitPercentage": 28,
"splitPercentage": 34,
"first": {
"direction": "row",
"splitPercentage": 66,
"splitPercentage": 60,
"first": {
"direction": "row",
"splitPercentage": 50,
"direction": "column",
"splitPercentage": 33,
"first": "Indicator!reachable",
"second": {
"direction": "column",
Expand Down
46 changes: 34 additions & 12 deletions ros2-poc/foxglove/arena-fictrac.json
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Original file line number Diff line number Diff line change
Expand Up @@ -37,11 +37,25 @@
"imageMode": {}
},
"Plot!closedloop": {
"title": "Closed loop: fly vs display",
"title": "Closed loop: fly turn vs display rotation (deg, unwrapped)",
"paths": [
{ "value": "/viz/fictrac/turn_deg.data", "enabled": true, "timestampMethod": "receiveTime", "label": "fly turn (deg, unwrapped)" },
{ "value": "/viz/arena/azimuth_deg.data", "enabled": true, "timestampMethod": "receiveTime", "label": "feature azimuth (deg, right +)" },
{ "value": "/viz/arena/bias_deg.data", "enabled": true, "timestampMethod": "receiveTime", "label": "bias angle (deg)" }
{ "value": "/viz/fictrac/turn_deg.data", "enabled": true, "timestampMethod": "receiveTime", "label": "fly turn" },
{ "value": "/viz/arena/display_deg.data", "enabled": true, "timestampMethod": "receiveTime", "label": "display rotation" }
],
"showXAxisLabels": true,
"showYAxisLabels": true,
"showLegend": true,
"legendDisplay": "floating",
"showPlotValuesInLegend": true,
"isSynced": true,
"xAxisVal": "timestamp",
"sidebarDimension": 240,
"followingViewWidth": 30
},
"Plot!bias": {
"title": "Bias angle (deg)",
"paths": [
{ "value": "/viz/arena/bias_deg.data", "enabled": true, "timestampMethod": "receiveTime", "label": "bias" }
],
"showXAxisLabels": true,
"showYAxisLabels": true,
Expand All @@ -54,11 +68,11 @@
"followingViewWidth": 30
},
"Plot!kinematics": {
"title": "FicTrac kinematics",
"title": "FicTrac kinematics (deg/s of ball rotation)",
"paths": [
{ "value": "/viz/fictrac/speed_dps.data", "enabled": true, "timestampMethod": "receiveTime", "label": "speed (deg/s)" },
{ "value": "/viz/fictrac/fwd_rad.data", "enabled": true, "timestampMethod": "receiveTime", "label": "forward (rad, integrated)" },
{ "value": "/viz/fictrac/side_rad.data", "enabled": true, "timestampMethod": "receiveTime", "label": "side (rad, integrated)" }
{ "value": "/viz/fictrac/speed_dps.data", "enabled": true, "timestampMethod": "receiveTime", "label": "speed" },
{ "value": "/viz/fictrac/fwd_dps.data", "enabled": true, "timestampMethod": "receiveTime", "label": "forward" },
{ "value": "/viz/fictrac/side_dps.data", "enabled": true, "timestampMethod": "receiveTime", "label": "side" }
],
"showXAxisLabels": true,
"showYAxisLabels": true,
Expand Down Expand Up @@ -94,6 +108,7 @@
"collapsedSections": []
},
"Gauge!ftrate": {
"foxglovePanelTitle": "FicTrac rate (Hz)",
"path": "/viz/fictrac/rate_hz.data",
"minValue": 0,
"maxValue": 120,
Expand All @@ -103,13 +118,14 @@
"reverse": false
},
"Indicator!fictrac": {
"foxglovePanelTitle": "FicTrac",
"path": "/viz/fictrac/rate_hz.data",
"style": "bulb",
"fallbackColor": "#8b949e",
"fallbackLabel": "FicTrac: no data",
"fallbackLabel": "no data",
"rules": [
{ "operator": ">", "rawValue": "5", "color": "#00e676", "label": "FicTrac flowing" },
{ "operator": "<=", "rawValue": "5", "color": "#ff5252", "label": "FicTrac stalled" }
{ "operator": ">", "rawValue": "5", "color": "#00e676", "label": "flowing" },
{ "operator": "<=", "rawValue": "5", "color": "#ff5252", "label": "stalled" }
]
},
"RawMessages!lasterror": {
Expand All @@ -121,6 +137,7 @@
"expansion": "all"
},
"RosOut!log": {
"foxglovePanelTitle": "ROS log (live only: bags do not record /rosout)",
"searchTerms": [],
"minLogLevel": 2,
"nameFilter": {}
Expand All @@ -139,7 +156,12 @@
"second": {
"direction": "column",
"splitPercentage": 55,
"first": "Plot!closedloop",
"first": {
"direction": "row",
"splitPercentage": 68,
"first": "Plot!closedloop",
"second": "Plot!bias"
},
"second": {
"direction": "row",
"splitPercentage": 60,
Expand Down
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