Sensor Set 1 Window

Overview

In the screenshot above, the upper area is divided into optical and thermal camera panels, while the lower area contains audio, pan/tilt, and flashlight controls. Double-clicking a camera panel toggles a full-height view.

Layout

Refresh bar: scans the connection for available optical and thermal topics.
Optical camera panel: RGB streams plus an optical zoom slider.
Thermal camera panel: thermal streams, sized to match the optical panel.
Microphone panel: robot and operator microphone enable + volume controls.
Speaker panel: robot and operator speaker enable + volume controls.
Pan/tilt panel: sliders and quick buttons, plus a Go Home button.
Flashlight panel: on/off toggle for the sensor head light.

Controls and Indicators

Refresh sensors builds topic lists from the active connection and instantiates camera widgets.
Optical zoom calls /optical_set_zoom.
Pan/tilt sliders call /pan_tilt_set_manual_pan_target and /pan_tilt_set_manual_tilt_target with joint limits from SensorSet1 parameters.
Audio controls manage robot/operator microphone and speaker states, including device selection and volume services.
Flashlight toggle calls /turn_on_light and /turn_off_light.

Data Sources and Services

Camera discovery uses the connection publisher list and filters for optical_zoom_cam and boson topics carrying raisin_interfaces::msg::FfmpegPacket.
Status and volume updates subscribe to /robot_microphone_status, /operator_microphone_status, /robot_speaker_volume, and related topics.

Notes

Double-click a camera panel to maximize it for detailed inspection.
If a device list looks stale, click Refresh sensors to rebuild the topic list.