Add SimulationControl component

[brockgilman]

This sim component would be good for testing ROS bridge connection as well as visualizing current or future metrics we would want to see when testing GUI

See attached demo video for different states:

Let me know of any revisions or whether or not this is a good feature to have :)

[brockgilman]

did some further color and visual tweaks to this component. thinking about implementing a dark mode toggle function now so we don't have to wire much of it when we get more components in the future :)

[TheDinner22]

I like it!

feedback

thing1

The highlighted value should be 192.168.37.60 and in the future maybe determined dynamically instead of hard coding it

senor hz

imu hz should be ~20
dvl hz should be ~9-10
depth sensor hz should be ~16

where do the simulation scenarios come from?

are they bagged data or just different initial conditions with some noise? The ability to play bag data would be pretty cool.

changes

1. update hz to be same as sensors
2. change localhost to actual ip

[brockgilman]

I like it!

feedback

thing1

The highlighted value should be 192.168.37.60 and in the future maybe determined dynamically instead of hard coding it

senor hz

imu hz should be ~20 dvl hz should be ~9-10 depth sensor hz should be ~16

where do the simulation scenarios come from?

are they bagged data or just different initial conditions with some noise? The ability to play bag data would be pretty cool.

changes

1. update hz to be same as sensors

2. change localhost to actual ip

this week, i fixed the ROS bridge server IP to be dynamic, on local host right now so will still be localhost9090, unless the default needs to be changed. also tackled the sensor hz to the respective values. will tackle looking into bag data in the next few days!

[brockgilman]

implemented ros2 bag function, need yaml data and more research to look into better and ensure it works. will look into more this week.

Information

sources:

• https://docs.ros.org/en/foxy/Tutorials/Beginner-CLI-Tools/Recording-And-Playing-Back-Data/Recording-And-Playing-Back-Data.html
• https://robotics.stackexchange.com/questions/96730/how-to-read-a-bag-file-in-ros2

code to run:

ros2 bag play <relative path to bag dir>

ex: ros2 bag play bags\pool_test_01

[brockgilman]

added play and record bag scripts with a readme on how to run, figured it would be an easy one line command, nice to have. gotta do additional testing and edge cases to make sure they run smoothly, in scripts/README.md.

[brockgilman]

fixed some bugs when running scripts, bags can successfully record and playback.
check scripts/README.md for how to run. example sequence of commands below:

# Press Enter when your simulation is running
# Waits exactly 15 seconds, then stops automatically
npm run bag:record

# Or custom settings
# 30 second recording to "my_test" bag
wsl bash ./scripts/record-bag.sh my_test 30

# First stop your simulation in the GUI
npm run bag:play

# Or play the test bag we just created
wsl bash ./scripts/play-bag.sh test_bag

[brockgilman]

writing more test and edge cases to make sure that the bag recording and playback is alright. Looking into some GUI changes now, some related and unrelated to this PR (lightmode/darkmode, 3D model rendering of current sub state, etc.).