feat: sensor feeds in HUD (Issue #413) #419

sl-jetson · 2026-03-04T22:57:16-05:00

sl-jetson commented

2026-03-04 22:57:16 -05:00

GPS map + LIDAR point cloud + RealSense dual stream (RGB + depth)

sl-jetson added 1 commit 2026-03-04 22:57:17 -05:00

feat(hud): add sensor feeds (GPS, LIDAR, RealSense) (Issue #413 ) eff69b2037

Add tabbed sensor feed interface to the HUD center viewport:

GPS Map Panel:
- Fetches location data from /gps HTTP endpoint on port 8888
- Renders OpenStreetMap with real-time location marker
- Displays: coordinates, altitude, accuracy

LIDAR Point Cloud Visualization:
- Subscribes to /scan topic via rosbridge WebSocket
- 2D polar plot with grid, cardinal directions, forward indicator
- Real-time point cloud rendering with range statistics
- Displays: point count, max range (0-30m)

RealSense Dual Stream:
- Subscribes to /camera/color/image_raw/compressed (RGB)
- Subscribes to /camera/depth/image_rect_raw/compressed (Depth)
- Side-by-side canvas rendering with independent scaling
- FPS counter and resolution display

Tab System:
- 4-way view switching: 3D Model ↔ GPS ↔ LIDAR ↔ RealSense
- Persistent tab state, lazy initialization on demand
- Dark theme with cyan/orange accent colors
- Status indicators for each sensor (loading/error/ready)

Architecture:
- Browser native canvas for LIDAR visualization
- WebSocket rosbridge integration for sensor subscriptions
- Fetch API for HTTP GPS data (localhost:8888)
- Leaflet.js for OSM map rendering (CDN)
- 2s polling interval for GPS updates

Rosbridge Endpoints (assumes localhost:9090):
- /scan (sensor_msgs/LaserScan) — 1Hz LIDAR
- /camera/color/image_raw/compressed — RGB stream
- /camera/depth/image_rect_raw/compressed — Depth stream

HTTP Endpoints (assumes localhost:8888):
- GET /gps → { lat, lon, alt, accuracy, timestamp }

Integration:
- Preserves existing 3D HUD viewport and controls
- Left/right sidebars remain unchanged
- Bottom PID control bar operational
- Tab switching preserves center panel size/aspect ratio

Co-Authored-By: Claude Haiku 4.5 <noreply@anthropic.com>

sl-jetson merged commit a06821a8c8 into main

2026-03-04 23:21:35 -05:00

sl-jetson referenced this issue from a commit

2026-03-04 23:21:37 -05:00

Merge pull request 'feat: sensor feeds in HUD (Issue #413)' (#419) from sl-webui/issue-413-sensor-hud into main

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Reference: seb/saltylab-firmware#419