PM01 Development Guide
Visualization Applications•3.Web Visualization

3.Web Visualization

Updated: October 15, 2026

1 Features Overview

Web Visualization is a data visualization tool provided by the robot system, used to view real-time data during robot operation in a browser and replay recorded ros2 bag data. It is mainly used for runtime status observation, data analysis, and troubleshooting, with no additional software installation required.

1.1 Access

Once inside, you will see the Web Visualization page.

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2 Viewing Real-time Data

Through this page, you can view various types of data in real time during robot operation (such as joint status, sensor data, etc.).

2.1 Steps

  1. Click Open connection on the page
  2. In the Foxglove WebSocket address field, select or enter ws://192.168.0.162:8765
    1. Note: it is ws, not wss
  3. After a successful connection, the page will display the available data
  4. Switch to the corresponding Tab to view the relevant real-time data curves or information

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2.2 Usage Notes

  • Data refreshes in real time as the robot runs
  • Different Tabs correspond to different types of data
  • If the robot is not running or the corresponding module is not started, no data may be displayed

3 Viewing Recorded ros2 bag

In addition to real-time data, this tool also supports replaying recorded ros2 bag data for post-analysis and issue reproduction.

3.1 How to Play

  1. Select the bag file you want to play on the page
  2. You can also drag and drop bag files directly onto the page

3.2 Playing Multiple Bags Continuously

  • After extracting bag files downloaded from the dashboard
  • You can select multiple bag files and drag them onto the page at the same time
  • The system plays multiple bags in sync along a unified timeline

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3.3 Usage Notes

  • Play, pause, and timeline scrubbing are all done on the page
  • Suitable for fault review and data analysis scenarios

4 Recorded Data Description

When recording data (ros2 bag), the system currently supports the following data, used for runtime status observation and problem analysis:

PLAIN
Bash
/rosout
/hardware/joint_state
/hardware/joint_command_feedback
/hardware/imu_info
/motion/motion_state
/hardware/motor_debug
/hardware/gamepad_keys
  • /rosout: system runtime log information.
    • Records log output from each robot module during operation
    • Commonly used to check errors, warnings, and key status information
    • Mainly used by technical support or for troubleshooting
  • /hardware/joint_state: joint state data.
    • Contains the current position, velocity, and other information of each robot joint
    • Used to check whether joint motion is normal
    • Joint curves can be viewed in the visualization interface
  • /hardware/joint_command_feedback: joint command feedback data.
    • Records the relationship between control commands and actual feedback
    • Can be used to determine whether commands were executed correctly
    • Commonly used for abnormal motion analysis
  • /hardware/imu_info: IMU sensor data.
    • Contains attitude, acceleration, and other information
    • Used to observe the robot's overall attitude changes
    • Especially important in scenarios such as walking and turning
  • /motion/motion_state: motion state information.
    • Reflects the robot's current motion state
    • Can be used to determine whether the robot is walking, standing, or switching actions
    • Suitable for analyzing the motion process together with other data
  • /hardware/motor_debug: motor debug data.
    • Records debug information during motor operation
    • Can be used to analyze motor anomalies, jitter, or overload conditions
    • Generally used during problem analysis
  • /hardware/gamepad_keys: gamepad input data.
    • Records key inputs from an external gamepad or controller
    • Can be used to replay manual operation processes
    • Convenient for analyzing the correspondence between operations and robot actions

5 Common Use Cases

5.1 Scenario 1: Observing the Robot's Operating Status

  • Connect to WebSocket
  • View real-time data curves
  • Determine whether the robot is running normally

5.2 Scenario 2: Fault Review and Analysis

  • Open a recorded ros2 bag
  • Replay historical data
  • Analyze data changes when anomalies occurred

6 Notes

  • Make sure you are connected to the robot Wi-Fi before use
  • An incorrect WebSocket address will prevent the connection
  • Real-time data depends on the robot's current running state
  • Large bag files may take some time to load