We have some support for using Foxglove Studio for visualizing robot data.

Accessing Foxglove

You have three main options for using foxglove studio:

1. Go to https://studio.foxglove.dev and use the most up-to-date studio. This is convenient; it won't work when you do not have Internet access, and has some limitations when it comes to accessing unsecured websockets.
2. Download the foxglove desktop application.
3. Run our local copy by running bazel run //frc971/analysis:local_foxglove This will work offline, and serves foxglove at http://localhost:8000 by default.

Log Visualization

If looking at data from a log, you will first need to convert one of our AOS logs to MCAP so that it can be viewed in foxglove. In order to do so, run bazel run -c opt //aos/util:log_to_mcap -- /path/to/log --output_path /tmp/log.mcap. This will create an MCAP file at the specified path, which you can then open in any of the various foxglove options.

Live Visualization

On the pis, we run a foxglove_websocket application by default. This exposes a websocket on the 8765 port. How you connect to this varies depending on what method you are using to create a foxglove instance.

If using https://studio.foxglove.dev, you cannot directly access ws://10.9.71.10X:8765 due to security constraints. Instead, you will have to port forward by doing something like ssh -L 8765:localhost:8765 pi@10.9.71.101 to expose the port locally, and then use the ws://localhost:8765 websocket.

If using the local foxglove, you can just use the pi IP address directly.

I have not tried using the desktop Foxglove application for this.