diff --git a/.gitignore b/.gitignore
index fe1e202..89505a6 100644
--- a/.gitignore
+++ b/.gitignore
@@ -1,4 +1,9 @@
.cache
build
install
-log
\ No newline at end of file
+log
+
+node_modules
+dist
+
+__pycache__
diff --git a/scripts/idi.sh b/scripts/idi.sh
index 33274bb..fe7a0fc 100755
--- a/scripts/idi.sh
+++ b/scripts/idi.sh
@@ -25,9 +25,9 @@ source install/setup.bash
case $TARGET in
"na")
ros2 action send_goal /moveCoords toid_msgs/action/SimpleMoveCoords "
- x: 0.0
- y: 0.0
- theta: 0.0
+ x: 1.325
+ y: 0.045
+ theta: -1.57079632679489661922
backwards: ${SMER:-0}"
;;
"pravo")
diff --git a/toid_bt/launch/bt.launch.py b/toid_bt/launch/bt.launch.py
index ab6f55d..09de8b9 100644
--- a/toid_bt/launch/bt.launch.py
+++ b/toid_bt/launch/bt.launch.py
@@ -33,9 +33,24 @@ def generate_launch_description():
parameters=[bt_params],
)
+ rosbridge_ws = Node(
+ package='rosbridge_server',
+ executable='rosbridge_websocket',
+ output='screen',
+ arguments=["--port", "3000"],
+ )
+
+ tf2_web_publisher = Node(
+ package='tf2_web_republisher',
+ executable='tf2_web_republisher_node',
+ output='screen'
+ )
+
return LaunchDescription([
visualize_arg,
use_mock_arg,
bt_executor,
+ rosbridge_ws,
+ tf2_web_publisher,
])
diff --git a/toid_bt/package.xml b/toid_bt/package.xml
index 146dca5..cd8c72f 100644
--- a/toid_bt/package.xml
+++ b/toid_bt/package.xml
@@ -21,6 +21,9 @@
toid_msgs
std_msgs
std_srvs
+ rosbridge_suite
+ tf2_web_republisher
+ tf2_web_republisher_interfaces
ament_lint_auto
ament_lint_common
diff --git a/toid_cli/package.xml b/toid_cli/package.xml
new file mode 100644
index 0000000..821e23b
--- /dev/null
+++ b/toid_cli/package.xml
@@ -0,0 +1,16 @@
+
+
+
+ toid_cli
+ 0.0.0
+ TODO: Package description
+ petar
+ MIT
+
+ python3-fastapi
+ python3-pydantic
+
+
+ ament_python
+
+
diff --git a/toid_cli/resource/toid_cli b/toid_cli/resource/toid_cli
new file mode 100644
index 0000000..e69de29
diff --git a/toid_cli/setup.cfg.old b/toid_cli/setup.cfg.old
new file mode 100644
index 0000000..70ee285
--- /dev/null
+++ b/toid_cli/setup.cfg.old
@@ -0,0 +1,4 @@
+[develop]
+script_dir=$base/lib/toid_cli
+[install]
+install_scripts=$base/lib/toid_cli
diff --git a/toid_cli/setup.py b/toid_cli/setup.py
new file mode 100644
index 0000000..0b7084a
--- /dev/null
+++ b/toid_cli/setup.py
@@ -0,0 +1,25 @@
+from setuptools import find_packages, setup
+
+package_name = 'toid_cli'
+
+setup(
+ name=package_name,
+ version='0.0.0',
+ packages=find_packages(exclude=['test']),
+ data_files=[
+ ('share/ament_index/resource_index/packages',
+ ['resource/' + package_name]),
+ ('share/' + package_name, ['package.xml']),
+ ],
+ install_requires=['setuptools'],
+ zip_safe=True,
+ maintainer='pimpest',
+ maintainer_email='82343504+pimpest@users.noreply.github.com',
+ description='TODO: Package description',
+ license='MIT',
+ entry_points={
+ 'console_scripts': [
+ 'toid_cli = toid_cli.main:main'
+ ],
+ },
+)
diff --git a/toid_cli/toid_cli/__init__.py b/toid_cli/toid_cli/__init__.py
new file mode 100644
index 0000000..e69de29
diff --git a/toid_cli/toid_cli/main.py b/toid_cli/toid_cli/main.py
new file mode 100644
index 0000000..11d998c
--- /dev/null
+++ b/toid_cli/toid_cli/main.py
@@ -0,0 +1,108 @@
+import subprocess
+import uuid
+import os
+import signal
+from fastapi import FastAPI
+from pydantic import BaseModel
+import uvicorn
+from fastapi.middleware.cors import CORSMiddleware
+
+app = FastAPI()
+app.add_middleware(
+ CORSMiddleware,
+ allow_origins=[
+ "*"
+ ],
+ allow_credentials=True,
+ allow_methods=["*"],
+ allow_headers=["*"],
+)
+# store running launch processes
+launch_processes = {}
+
+
+class LaunchRequest(BaseModel):
+ package: str
+ launch_file: str
+ args: dict = {}
+
+
+@app.post("/launch/start")
+def start_launch(req: LaunchRequest):
+ launch_id = str(uuid.uuid4())
+
+ cmd = ["ros2", "launch", req.package, req.launch_file]
+
+ for k, v in req.args.items():
+ cmd.append(f"{k}:={v}")
+
+ log_dir = "log"
+
+ os.makedirs(log_dir, exist_ok=True)
+
+ stdout_file = open(f"{log_dir}/{launch_id}_stdout.log", "w")
+ stderr_file = open(f"{log_dir}/{launch_id}_stderr.log", "w")
+
+ proc = subprocess.Popen(
+ cmd,
+ stdout=stdout_file,
+ stderr=stderr_file,
+ preexec_fn=os.setsid
+ )
+
+ launch_processes[launch_id] = proc
+
+ return {
+ "launch_id": launch_id,
+ "pid": proc.pid,
+ "command": " ".join(cmd)
+ }
+
+
+@app.get("/launch/list")
+def list_launches():
+ running = {}
+
+ for lid, proc in launch_processes.items():
+ running[lid] = {
+ "pid": proc.pid,
+ "running": proc.poll() is None
+ }
+
+ return running
+
+
+@app.post("/launch/stop/{launch_id}")
+def stop_launch(launch_id: str):
+
+ if launch_id not in launch_processes:
+ return {"error": "launch id not found"}
+
+ proc = launch_processes[launch_id]
+
+ if proc.poll() is None:
+ os.killpg(os.getpgid(proc.pid), signal.SIGTERM)
+
+ return {"stopped": launch_id}
+
+
+@app.post("/launch/stop_all")
+def stop_all():
+
+ for proc in launch_processes.values():
+ if proc.poll() is None:
+ os.killpg(os.getpgid(proc.pid), signal.SIGTERM)
+
+ return {"status": "all stopped"}
+
+def main():
+ uvicorn.run(
+ "toid_cli.main:app",
+ host="0.0.0.0",
+ port=8000,
+ reload=False
+ )
+
+
+if __name__ == "__main__":
+ main()
\ No newline at end of file
diff --git a/toid_frontend/.editorconfig b/toid_frontend/.editorconfig
new file mode 100644
index 0000000..3b510aa
--- /dev/null
+++ b/toid_frontend/.editorconfig
@@ -0,0 +1,8 @@
+[*.{js,jsx,mjs,cjs,ts,tsx,mts,cts,vue,css,scss,sass,less,styl}]
+charset = utf-8
+indent_size = 2
+indent_style = space
+insert_final_newline = true
+trim_trailing_whitespace = true
+end_of_line = lf
+max_line_length = 100
diff --git a/toid_frontend/.gitattributes b/toid_frontend/.gitattributes
new file mode 100644
index 0000000..6313b56
--- /dev/null
+++ b/toid_frontend/.gitattributes
@@ -0,0 +1 @@
+* text=auto eol=lf
diff --git a/toid_frontend/.gitignore b/toid_frontend/.gitignore
new file mode 100644
index 0000000..cd68f14
--- /dev/null
+++ b/toid_frontend/.gitignore
@@ -0,0 +1,39 @@
+# Logs
+logs
+*.log
+npm-debug.log*
+yarn-debug.log*
+yarn-error.log*
+pnpm-debug.log*
+lerna-debug.log*
+
+node_modules
+.DS_Store
+dist
+dist-ssr
+coverage
+*.local
+
+# Editor directories and files
+.vscode/*
+!.vscode/extensions.json
+.idea
+*.suo
+*.ntvs*
+*.njsproj
+*.sln
+*.sw?
+
+*.tsbuildinfo
+
+.eslintcache
+
+# Cypress
+/cypress/videos/
+/cypress/screenshots/
+
+# Vitest
+__screenshots__/
+
+# Vite
+*.timestamp-*-*.mjs
diff --git a/toid_frontend/.oxlintrc.json b/toid_frontend/.oxlintrc.json
new file mode 100644
index 0000000..d5648b9
--- /dev/null
+++ b/toid_frontend/.oxlintrc.json
@@ -0,0 +1,10 @@
+{
+ "$schema": "./node_modules/oxlint/configuration_schema.json",
+ "plugins": ["eslint", "typescript", "unicorn", "oxc", "vue"],
+ "env": {
+ "browser": true
+ },
+ "categories": {
+ "correctness": "error"
+ }
+}
diff --git a/toid_frontend/.prettierrc.json b/toid_frontend/.prettierrc.json
new file mode 100644
index 0000000..29a2402
--- /dev/null
+++ b/toid_frontend/.prettierrc.json
@@ -0,0 +1,6 @@
+{
+ "$schema": "https://json.schemastore.org/prettierrc",
+ "semi": false,
+ "singleQuote": true,
+ "printWidth": 100
+}
diff --git a/toid_frontend/.vscode/extensions.json b/toid_frontend/.vscode/extensions.json
new file mode 100644
index 0000000..3f84126
--- /dev/null
+++ b/toid_frontend/.vscode/extensions.json
@@ -0,0 +1,9 @@
+{
+ "recommendations": [
+ "Vue.volar",
+ "dbaeumer.vscode-eslint",
+ "EditorConfig.EditorConfig",
+ "oxc.oxc-vscode",
+ "esbenp.prettier-vscode"
+ ]
+}
diff --git a/toid_frontend/COLCON_IGNORE b/toid_frontend/COLCON_IGNORE
new file mode 100644
index 0000000..e69de29
diff --git a/toid_frontend/README.md b/toid_frontend/README.md
new file mode 100644
index 0000000..f3a74d4
--- /dev/null
+++ b/toid_frontend/README.md
@@ -0,0 +1,48 @@
+# .
+
+This template should help get you started developing with Vue 3 in Vite.
+
+## Recommended IDE Setup
+
+[VS Code](https://code.visualstudio.com/) + [Vue (Official)](https://marketplace.visualstudio.com/items?itemName=Vue.volar) (and disable Vetur).
+
+## Recommended Browser Setup
+
+- Chromium-based browsers (Chrome, Edge, Brave, etc.):
+ - [Vue.js devtools](https://chromewebstore.google.com/detail/vuejs-devtools/nhdogjmejiglipccpnnnanhbledajbpd)
+ - [Turn on Custom Object Formatter in Chrome DevTools](http://bit.ly/object-formatters)
+- Firefox:
+ - [Vue.js devtools](https://addons.mozilla.org/en-US/firefox/addon/vue-js-devtools/)
+ - [Turn on Custom Object Formatter in Firefox DevTools](https://fxdx.dev/firefox-devtools-custom-object-formatters/)
+
+## Type Support for `.vue` Imports in TS
+
+TypeScript cannot handle type information for `.vue` imports by default, so we replace the `tsc` CLI with `vue-tsc` for type checking. In editors, we need [Volar](https://marketplace.visualstudio.com/items?itemName=Vue.volar) to make the TypeScript language service aware of `.vue` types.
+
+## Customize configuration
+
+See [Vite Configuration Reference](https://vite.dev/config/).
+
+## Project Setup
+
+```sh
+npm install
+```
+
+### Compile and Hot-Reload for Development
+
+```sh
+npm run dev
+```
+
+### Type-Check, Compile and Minify for Production
+
+```sh
+npm run build
+```
+
+### Lint with [ESLint](https://eslint.org/)
+
+```sh
+npm run lint
+```
diff --git a/toid_frontend/env.d.ts b/toid_frontend/env.d.ts
new file mode 100644
index 0000000..11f02fe
--- /dev/null
+++ b/toid_frontend/env.d.ts
@@ -0,0 +1 @@
+///
diff --git a/toid_frontend/eslint.config.ts b/toid_frontend/eslint.config.ts
new file mode 100644
index 0000000..89fdc89
--- /dev/null
+++ b/toid_frontend/eslint.config.ts
@@ -0,0 +1,26 @@
+import { globalIgnores } from 'eslint/config'
+import { defineConfigWithVueTs, vueTsConfigs } from '@vue/eslint-config-typescript'
+import pluginVue from 'eslint-plugin-vue'
+import pluginOxlint from 'eslint-plugin-oxlint'
+import skipFormatting from 'eslint-config-prettier/flat'
+
+// To allow more languages other than `ts` in `.vue` files, uncomment the following lines:
+// import { configureVueProject } from '@vue/eslint-config-typescript'
+// configureVueProject({ scriptLangs: ['ts', 'tsx'] })
+// More info at https://github.com/vuejs/eslint-config-typescript/#advanced-setup
+
+export default defineConfigWithVueTs(
+ {
+ name: 'app/files-to-lint',
+ files: ['**/*.{vue,ts,mts,tsx}'],
+ },
+
+ globalIgnores(['**/dist/**', '**/dist-ssr/**', '**/coverage/**']),
+
+ ...pluginVue.configs['flat/essential'],
+ vueTsConfigs.recommended,
+
+ ...pluginOxlint.buildFromOxlintConfigFile('.oxlintrc.json'),
+
+ skipFormatting,
+)
diff --git a/toid_frontend/index.html b/toid_frontend/index.html
new file mode 100644
index 0000000..9e5fc8f
--- /dev/null
+++ b/toid_frontend/index.html
@@ -0,0 +1,13 @@
+
+
+
+
+
+
+ Vite App
+
+
+
+
+
+
diff --git a/toid_frontend/package-lock.json b/toid_frontend/package-lock.json
new file mode 100644
index 0000000..6a319a5
--- /dev/null
+++ b/toid_frontend/package-lock.json
@@ -0,0 +1,5990 @@
+{
+ "name": "toid_frontend",
+ "version": "0.0.0",
+ "lockfileVersion": 3,
+ "requires": true,
+ "packages": {
+ "": {
+ "name": "toid_frontend",
+ "version": "0.0.0",
+ "dependencies": {
+ "bootstrap": "^5.3.8",
+ "pinia": "^3.0.4",
+ "pixi-viewport": "^6.0.3",
+ "roslib": "^2.1.0",
+ "sass-embedded": "^1.97.3",
+ "vue": "^3.5.29",
+ "vue-router": "^5.0.3"
+ },
+ "devDependencies": {
+ "@tsconfig/node24": "^24.0.4",
+ "@types/node": "^24.11.0",
+ "@vitejs/plugin-vue": "^6.0.4",
+ "@vue/eslint-config-typescript": "^14.7.0",
+ "@vue/tsconfig": "^0.8.1",
+ "eslint": "^10.0.2",
+ "eslint-config-prettier": "^10.1.8",
+ "eslint-plugin-oxlint": "~1.50.0",
+ "eslint-plugin-vue": "~10.8.0",
+ "jiti": "^2.6.1",
+ "npm-run-all2": "^8.0.4",
+ "oxlint": "~1.50.0",
+ "prettier": "3.8.1",
+ "typescript": "~5.9.3",
+ "vite": "^7.3.1",
+ "vite-plugin-vue-devtools": "^8.0.6",
+ "vue-tsc": "^3.2.5"
+ },
+ "engines": {
+ "node": "^20.19.0 || >=22.12.0"
+ }
+ },
+ "node_modules/@babel/code-frame": {
+ "version": "7.29.0",
+ "resolved": "https://registry.npmjs.org/@babel/code-frame/-/code-frame-7.29.0.tgz",
+ "integrity": "sha512-9NhCeYjq9+3uxgdtp20LSiJXJvN0FeCtNGpJxuMFZ1Kv3cWUNb6DOhJwUvcVCzKGR66cw4njwM6hrJLqgOwbcw==",
+ "dev": true,
+ "dependencies": {
+ "@babel/helper-validator-identifier": "^7.28.5",
+ "js-tokens": "^4.0.0",
+ "picocolors": "^1.1.1"
+ },
+ "engines": {
+ "node": ">=6.9.0"
+ }
+ },
+ "node_modules/@babel/compat-data": {
+ "version": "7.29.0",
+ "resolved": "https://registry.npmjs.org/@babel/compat-data/-/compat-data-7.29.0.tgz",
+ "integrity": "sha512-T1NCJqT/j9+cn8fvkt7jtwbLBfLC/1y1c7NtCeXFRgzGTsafi68MRv8yzkYSapBnFA6L3U2VSc02ciDzoAJhJg==",
+ "dev": true,
+ "engines": {
+ "node": ">=6.9.0"
+ }
+ },
+ "node_modules/@babel/core": {
+ "version": "7.29.0",
+ "resolved": "https://registry.npmjs.org/@babel/core/-/core-7.29.0.tgz",
+ "integrity": "sha512-CGOfOJqWjg2qW/Mb6zNsDm+u5vFQ8DxXfbM09z69p5Z6+mE1ikP2jUXw+j42Pf1XTYED2Rni5f95npYeuwMDQA==",
+ "dev": true,
+ "dependencies": {
+ "@babel/code-frame": "^7.29.0",
+ "@babel/generator": "^7.29.0",
+ "@babel/helper-compilation-targets": "^7.28.6",
+ "@babel/helper-module-transforms": "^7.28.6",
+ "@babel/helpers": "^7.28.6",
+ "@babel/parser": "^7.29.0",
+ "@babel/template": "^7.28.6",
+ "@babel/traverse": "^7.29.0",
+ "@babel/types": "^7.29.0",
+ "@jridgewell/remapping": "^2.3.5",
+ "convert-source-map": "^2.0.0",
+ "debug": "^4.1.0",
+ "gensync": "^1.0.0-beta.2",
+ "json5": "^2.2.3",
+ "semver": "^6.3.1"
+ },
+ "engines": {
+ "node": ">=6.9.0"
+ },
+ "funding": {
+ "type": "opencollective",
+ "url": "https://opencollective.com/babel"
+ }
+ },
+ "node_modules/@babel/core/node_modules/semver": {
+ "version": "6.3.1",
+ "resolved": "https://registry.npmjs.org/semver/-/semver-6.3.1.tgz",
+ "integrity": "sha512-BR7VvDCVHO+q2xBEWskxS6DJE1qRnb7DxzUrogb71CWoSficBxYsiAGd+Kl0mmq/MprG9yArRkyrQxTO6XjMzA==",
+ "dev": true,
+ "bin": {
+ "semver": "bin/semver.js"
+ }
+ },
+ "node_modules/@babel/generator": {
+ "version": "7.29.1",
+ "resolved": "https://registry.npmjs.org/@babel/generator/-/generator-7.29.1.tgz",
+ "integrity": "sha512-qsaF+9Qcm2Qv8SRIMMscAvG4O3lJ0F1GuMo5HR/Bp02LopNgnZBC/EkbevHFeGs4ls/oPz9v+Bsmzbkbe+0dUw==",
+ "dependencies": {
+ "@babel/parser": "^7.29.0",
+ "@babel/types": "^7.29.0",
+ "@jridgewell/gen-mapping": "^0.3.12",
+ "@jridgewell/trace-mapping": "^0.3.28",
+ "jsesc": "^3.0.2"
+ },
+ "engines": {
+ "node": ">=6.9.0"
+ }
+ },
+ "node_modules/@babel/helper-annotate-as-pure": {
+ "version": "7.27.3",
+ "resolved": "https://registry.npmjs.org/@babel/helper-annotate-as-pure/-/helper-annotate-as-pure-7.27.3.tgz",
+ "integrity": "sha512-fXSwMQqitTGeHLBC08Eq5yXz2m37E4pJX1qAU1+2cNedz/ifv/bVXft90VeSav5nFO61EcNgwr0aJxbyPaWBPg==",
+ "dev": true,
+ "dependencies": {
+ "@babel/types": "^7.27.3"
+ },
+ "engines": {
+ "node": ">=6.9.0"
+ }
+ },
+ "node_modules/@babel/helper-compilation-targets": {
+ "version": "7.28.6",
+ "resolved": "https://registry.npmjs.org/@babel/helper-compilation-targets/-/helper-compilation-targets-7.28.6.tgz",
+ "integrity": "sha512-JYtls3hqi15fcx5GaSNL7SCTJ2MNmjrkHXg4FSpOA/grxK8KwyZ5bubHsCq8FXCkua6xhuaaBit+3b7+VZRfcA==",
+ "dev": true,
+ "dependencies": {
+ "@babel/compat-data": "^7.28.6",
+ "@babel/helper-validator-option": "^7.27.1",
+ "browserslist": "^4.24.0",
+ "lru-cache": "^5.1.1",
+ "semver": "^6.3.1"
+ },
+ "engines": {
+ "node": ">=6.9.0"
+ }
+ },
+ "node_modules/@babel/helper-compilation-targets/node_modules/semver": {
+ "version": "6.3.1",
+ "resolved": "https://registry.npmjs.org/semver/-/semver-6.3.1.tgz",
+ "integrity": "sha512-BR7VvDCVHO+q2xBEWskxS6DJE1qRnb7DxzUrogb71CWoSficBxYsiAGd+Kl0mmq/MprG9yArRkyrQxTO6XjMzA==",
+ "dev": true,
+ "bin": {
+ "semver": "bin/semver.js"
+ }
+ },
+ "node_modules/@babel/helper-create-class-features-plugin": {
+ "version": "7.28.6",
+ "resolved": "https://registry.npmjs.org/@babel/helper-create-class-features-plugin/-/helper-create-class-features-plugin-7.28.6.tgz",
+ "integrity": "sha512-dTOdvsjnG3xNT9Y0AUg1wAl38y+4Rl4sf9caSQZOXdNqVn+H+HbbJ4IyyHaIqNR6SW9oJpA/RuRjsjCw2IdIow==",
+ "dev": true,
+ "dependencies": {
+ "@babel/helper-annotate-as-pure": "^7.27.3",
+ "@babel/helper-member-expression-to-functions": "^7.28.5",
+ "@babel/helper-optimise-call-expression": "^7.27.1",
+ "@babel/helper-replace-supers": "^7.28.6",
+ "@babel/helper-skip-transparent-expression-wrappers": "^7.27.1",
+ "@babel/traverse": "^7.28.6",
+ "semver": "^6.3.1"
+ },
+ "engines": {
+ "node": ">=6.9.0"
+ },
+ "peerDependencies": {
+ "@babel/core": "^7.0.0"
+ }
+ },
+ "node_modules/@babel/helper-create-class-features-plugin/node_modules/semver": {
+ "version": "6.3.1",
+ "resolved": "https://registry.npmjs.org/semver/-/semver-6.3.1.tgz",
+ "integrity": "sha512-BR7VvDCVHO+q2xBEWskxS6DJE1qRnb7DxzUrogb71CWoSficBxYsiAGd+Kl0mmq/MprG9yArRkyrQxTO6XjMzA==",
+ "dev": true,
+ "bin": {
+ "semver": "bin/semver.js"
+ }
+ },
+ "node_modules/@babel/helper-globals": {
+ "version": "7.28.0",
+ "resolved": "https://registry.npmjs.org/@babel/helper-globals/-/helper-globals-7.28.0.tgz",
+ "integrity": "sha512-+W6cISkXFa1jXsDEdYA8HeevQT/FULhxzR99pxphltZcVaugps53THCeiWA8SguxxpSp3gKPiuYfSWopkLQ4hw==",
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+ "node": ">=12"
+ }
+ },
+ "node_modules/yallist": {
+ "version": "3.1.1",
+ "resolved": "https://registry.npmjs.org/yallist/-/yallist-3.1.1.tgz",
+ "integrity": "sha512-a4UGQaWPH59mOXUYnAG2ewncQS4i4F43Tv3JoAM+s2VDAmS9NsK8GpDMLrCHPksFT7h3K6TOoUNn2pb7RoXx4g==",
+ "dev": true
+ },
+ "node_modules/yaml": {
+ "version": "2.8.2",
+ "resolved": "https://registry.npmjs.org/yaml/-/yaml-2.8.2.tgz",
+ "integrity": "sha512-mplynKqc1C2hTVYxd0PU2xQAc22TI1vShAYGksCCfxbn/dFwnHTNi1bvYsBTkhdUNtGIf5xNOg938rrSSYvS9A==",
+ "bin": {
+ "yaml": "bin.mjs"
+ },
+ "engines": {
+ "node": ">= 14.6"
+ },
+ "funding": {
+ "url": "https://github.com/sponsors/eemeli"
+ }
+ },
+ "node_modules/yocto-queue": {
+ "version": "0.1.0",
+ "resolved": "https://registry.npmjs.org/yocto-queue/-/yocto-queue-0.1.0.tgz",
+ "integrity": "sha512-rVksvsnNCdJ/ohGc6xgPwyN8eheCxsiLM8mxuE/t/mOVqJewPuO1miLpTHQiRgTKCLexL4MeAFVagts7HmNZ2Q==",
+ "dev": true,
+ "engines": {
+ "node": ">=10"
+ },
+ "funding": {
+ "url": "https://github.com/sponsors/sindresorhus"
+ }
+ }
+ }
+}
diff --git a/toid_frontend/package.json b/toid_frontend/package.json
new file mode 100644
index 0000000..7bb20f8
--- /dev/null
+++ b/toid_frontend/package.json
@@ -0,0 +1,48 @@
+{
+ "name": "toid_frontend",
+ "version": "0.0.0",
+ "private": true,
+ "type": "module",
+ "scripts": {
+ "dev": "vite",
+ "build": "run-p type-check \"build-only {@}\" --",
+ "preview": "vite preview",
+ "build-only": "vite build",
+ "type-check": "vue-tsc --build",
+ "lint": "run-s lint:*",
+ "lint:oxlint": "oxlint . --fix",
+ "lint:eslint": "eslint . --fix --cache",
+ "format": "prettier --write --experimental-cli src/"
+ },
+ "dependencies": {
+ "bootstrap": "^5.3.8",
+ "pinia": "^3.0.4",
+ "pixi-viewport": "^6.0.3",
+ "roslib": "^2.1.0",
+ "sass-embedded": "^1.97.3",
+ "vue": "^3.5.29",
+ "vue-router": "^5.0.3"
+ },
+ "devDependencies": {
+ "@tsconfig/node24": "^24.0.4",
+ "@types/node": "^24.11.0",
+ "@vitejs/plugin-vue": "^6.0.4",
+ "@vue/eslint-config-typescript": "^14.7.0",
+ "@vue/tsconfig": "^0.8.1",
+ "eslint": "^10.0.2",
+ "eslint-config-prettier": "^10.1.8",
+ "eslint-plugin-oxlint": "~1.50.0",
+ "eslint-plugin-vue": "~10.8.0",
+ "jiti": "^2.6.1",
+ "npm-run-all2": "^8.0.4",
+ "oxlint": "~1.50.0",
+ "prettier": "3.8.1",
+ "typescript": "~5.9.3",
+ "vite": "^7.3.1",
+ "vite-plugin-vue-devtools": "^8.0.6",
+ "vue-tsc": "^3.2.5"
+ },
+ "engines": {
+ "node": "^20.19.0 || >=22.12.0"
+ }
+}
diff --git a/toid_frontend/public/favicon.ico b/toid_frontend/public/favicon.ico
new file mode 100644
index 0000000..df36fcf
Binary files /dev/null and b/toid_frontend/public/favicon.ico differ
diff --git a/toid_frontend/src/App.vue b/toid_frontend/src/App.vue
new file mode 100644
index 0000000..8e076c2
--- /dev/null
+++ b/toid_frontend/src/App.vue
@@ -0,0 +1,57 @@
+
+
+
+
+
+
+
diff --git a/toid_frontend/src/assets/images/table.png b/toid_frontend/src/assets/images/table.png
new file mode 100644
index 0000000..f76725f
Binary files /dev/null and b/toid_frontend/src/assets/images/table.png differ
diff --git a/toid_frontend/src/assets/images/table.svg b/toid_frontend/src/assets/images/table.svg
new file mode 100644
index 0000000..21d4d25
--- /dev/null
+++ b/toid_frontend/src/assets/images/table.svg
@@ -0,0 +1,146701 @@
+
+
diff --git a/toid_frontend/src/assets/scss/global.scss b/toid_frontend/src/assets/scss/global.scss
new file mode 100644
index 0000000..5b77908
--- /dev/null
+++ b/toid_frontend/src/assets/scss/global.scss
@@ -0,0 +1,9 @@
+//@import 'bootstrap/scss/bootstrap';
+
+body,
+#app {
+ margin: 0;
+ min-height: 100vh;
+ max-width: 100vw;
+ background-color: #242130;
+}
diff --git a/toid_frontend/src/components/PageBanner.vue b/toid_frontend/src/components/PageBanner.vue
new file mode 100644
index 0000000..0484417
--- /dev/null
+++ b/toid_frontend/src/components/PageBanner.vue
@@ -0,0 +1,7 @@
+
+
+
+ Banner
+
+
+
diff --git a/toid_frontend/src/components/RobotViewport.vue b/toid_frontend/src/components/RobotViewport.vue
new file mode 100644
index 0000000..dce4142
--- /dev/null
+++ b/toid_frontend/src/components/RobotViewport.vue
@@ -0,0 +1,116 @@
+
+
+
+
+
+
+
diff --git a/toid_frontend/src/main.ts b/toid_frontend/src/main.ts
new file mode 100644
index 0000000..5c63039
--- /dev/null
+++ b/toid_frontend/src/main.ts
@@ -0,0 +1,36 @@
+import { createApp } from 'vue'
+import { createPinia } from 'pinia'
+
+import App from './App.vue'
+import router from './router'
+import { ros } from './ros_client'
+
+import '@/assets/scss/global.scss'
+
+const app = createApp(App)
+
+app.use(createPinia())
+app.use(router)
+
+app.mount('#app')
+
+ros.connect('http://localhost:3000')
+
+ros.on('error', (error) => {
+ console.log(error)
+ setTimeout(() => {
+ ros.connect('http://localhost:3000').catch()
+ }, 1000)
+})
+
+ros.on('close', () => {
+ setTimeout(() => {
+ if (!ros.isConnected) {
+ ros.connect('http://localhost:3000').catch()
+ }
+ }, 1000)
+})
+
+ros.on('connection', () => {
+ console.log('Connection made!')
+})
diff --git a/toid_frontend/src/ros_client.ts b/toid_frontend/src/ros_client.ts
new file mode 100644
index 0000000..18fc433
--- /dev/null
+++ b/toid_frontend/src/ros_client.ts
@@ -0,0 +1,9 @@
+import * as ROSLIB from 'roslib'
+
+interface BehaviorTreeList {
+ tree_ids: Array
+}
+
+const ros = new ROSLIB.Ros()
+
+export { ros, type BehaviorTreeList }
diff --git a/toid_frontend/src/router/index.ts b/toid_frontend/src/router/index.ts
new file mode 100644
index 0000000..e1eab52
--- /dev/null
+++ b/toid_frontend/src/router/index.ts
@@ -0,0 +1,8 @@
+import { createRouter, createWebHistory } from 'vue-router'
+
+const router = createRouter({
+ history: createWebHistory(import.meta.env.BASE_URL),
+ routes: [],
+})
+
+export default router
diff --git a/toid_frontend/src/stores/counter.ts b/toid_frontend/src/stores/counter.ts
new file mode 100644
index 0000000..b6757ba
--- /dev/null
+++ b/toid_frontend/src/stores/counter.ts
@@ -0,0 +1,12 @@
+import { ref, computed } from 'vue'
+import { defineStore } from 'pinia'
+
+export const useCounterStore = defineStore('counter', () => {
+ const count = ref(0)
+ const doubleCount = computed(() => count.value * 2)
+ function increment() {
+ count.value++
+ }
+
+ return { count, doubleCount, increment }
+})
diff --git a/toid_frontend/src/utils/smoothControlLaw.ts b/toid_frontend/src/utils/smoothControlLaw.ts
new file mode 100644
index 0000000..a447fa1
--- /dev/null
+++ b/toid_frontend/src/utils/smoothControlLaw.ts
@@ -0,0 +1,123 @@
+/**
+ * Utility functions to replicate NumPy behavior
+ */
+const clip = (val: number, min: number, max: number): number => Math.min(Math.max(val, min), max)
+
+const wrapToPi = (angle: number): number => Math.atan2(Math.sin(angle), Math.cos(angle))
+
+/**
+ * Calculates egocentric polar coordinates relative to a target
+ */
+const egocentricPolar = (
+ target: [number, number, number],
+ current: [number, number, number],
+ backward: boolean = false,
+): [number, number, number] => {
+ const [tx, ty, tyaw] = target
+ const [x, y, yaw] = current
+
+ const dx = tx - x
+ const dy = ty - y
+
+ const r = Math.hypot(dx, dy)
+
+ // Inverting dy for atan2 to match Python logic
+ let los = Math.atan2(-dy, dx)
+ if (backward) los += Math.PI
+
+ const phi = wrapToPi(tyaw + los)
+ const delta = wrapToPi(yaw + los)
+
+ return [r, phi, delta]
+}
+
+class SmoothControlLaw {
+ // Controller gains and constraints
+ public k_phi: number
+ public k_delta: number
+ public beta: number
+ public lam: number
+ public slowdown_radius: number
+ public v_linear_min: number
+ public v_linear_max: number
+ public v_angular_max: number
+
+ constructor(
+ k_phi: number = 3.0,
+ k_delta: number = 3.0,
+ beta: number = 0.3,
+ lam: number = 1.0,
+ slowdown_radius: number = 0.1,
+ v_linear_min: number = 0.1,
+ v_linear_max: number = 0.2,
+ v_angular_max: number = 2.0,
+ ) {
+ this.k_phi = k_phi
+ this.k_delta = k_delta
+ this.beta = beta
+ this.lam = lam
+ this.slowdown_radius = slowdown_radius
+ this.v_linear_min = v_linear_min
+ this.v_linear_max = v_linear_max
+ this.v_angular_max = v_angular_max
+ }
+
+ public curvature(r: number, phi: number, delta: number): number {
+ if (r < 1e-6) return 0.0
+
+ const prop = this.k_delta * (delta - Math.atan(-this.k_phi * phi))
+ const feedback = (1 + this.k_phi / (1 + Math.pow(this.k_phi * phi, 2))) * Math.sin(delta)
+
+ return (-1.0 / r) * (prop + feedback)
+ }
+
+ public velocity(
+ target: [number, number, number],
+ current: [number, number, number],
+ backward: boolean = false,
+ ): { v: number; w: number; kappa: number } {
+ const [r, phi, delta] = egocentricPolar(target, current, backward)
+
+ let kappa = this.curvature(r, phi, delta)
+ if (backward) kappa = -kappa
+
+ // Calculate linear velocity based on curvature
+ let v = this.v_linear_max / (1 + this.beta * Math.pow(Math.abs(kappa), this.lam))
+
+ // Slow down as we approach target
+ v = Math.min(this.v_linear_max * (r / this.slowdown_radius), v)
+ v = clip(v, this.v_linear_min, this.v_linear_max)
+
+ if (backward) v = -v
+
+ // Calculate angular velocity
+ let w = kappa * v
+ w = clip(w, -this.v_angular_max, this.v_angular_max)
+
+ // Adjust v if w was clipped to maintain the path curvature
+ if (Math.abs(kappa) > 1e-6) {
+ v = w / kappa
+ }
+
+ return { v, w, kappa }
+ }
+
+ public step(
+ target: [number, number, number],
+ current: [number, number, number],
+ dt: number,
+ backward: boolean = false,
+ ): [[number, number, number], number, number] {
+ const { v, w } = this.velocity(target, current, backward)
+
+ let [x, y, yaw] = current
+
+ x += v * dt * Math.cos(yaw)
+ y += v * dt * Math.sin(yaw)
+ yaw += w * dt
+
+ return [[x, y, yaw], v, w]
+ }
+}
+
+export { SmoothControlLaw }
diff --git a/toid_frontend/tsconfig.app.json b/toid_frontend/tsconfig.app.json
new file mode 100644
index 0000000..c0f2d86
--- /dev/null
+++ b/toid_frontend/tsconfig.app.json
@@ -0,0 +1,18 @@
+{
+ "extends": "@vue/tsconfig/tsconfig.dom.json",
+ "include": ["env.d.ts", "src/**/*", "src/**/*.vue"],
+ "exclude": ["src/**/__tests__/*"],
+ "compilerOptions": {
+ // Extra safety for array and object lookups, but may have false positives.
+ "noUncheckedIndexedAccess": true,
+
+ // Path mapping for cleaner imports.
+ "paths": {
+ "@/*": ["./src/*"]
+ },
+
+ // `vue-tsc --build` produces a .tsbuildinfo file for incremental type-checking.
+ // Specified here to keep it out of the root directory.
+ "tsBuildInfoFile": "./node_modules/.tmp/tsconfig.app.tsbuildinfo"
+ }
+}
diff --git a/toid_frontend/tsconfig.json b/toid_frontend/tsconfig.json
new file mode 100644
index 0000000..66b5e57
--- /dev/null
+++ b/toid_frontend/tsconfig.json
@@ -0,0 +1,11 @@
+{
+ "files": [],
+ "references": [
+ {
+ "path": "./tsconfig.node.json"
+ },
+ {
+ "path": "./tsconfig.app.json"
+ }
+ ]
+}
diff --git a/toid_frontend/tsconfig.node.json b/toid_frontend/tsconfig.node.json
new file mode 100644
index 0000000..5988839
--- /dev/null
+++ b/toid_frontend/tsconfig.node.json
@@ -0,0 +1,28 @@
+// TSConfig for modules that run in Node.js environment via either transpilation or type-stripping.
+{
+ "extends": "@tsconfig/node24/tsconfig.json",
+ "include": [
+ "vite.config.*",
+ "vitest.config.*",
+ "cypress.config.*",
+ "nightwatch.conf.*",
+ "playwright.config.*",
+ "eslint.config.*"
+ ],
+ "compilerOptions": {
+ // Most tools use transpilation instead of Node.js's native type-stripping.
+ // Bundler mode provides a smoother developer experience.
+ "module": "preserve",
+ "moduleResolution": "bundler",
+
+ // Include Node.js types and avoid accidentally including other `@types/*` packages.
+ "types": ["node"],
+
+ // Disable emitting output during `vue-tsc --build`, which is used for type-checking only.
+ "noEmit": true,
+
+ // `vue-tsc --build` produces a .tsbuildinfo file for incremental type-checking.
+ // Specified here to keep it out of the root directory.
+ "tsBuildInfoFile": "./node_modules/.tmp/tsconfig.node.tsbuildinfo"
+ }
+}
diff --git a/toid_frontend/vite.config.ts b/toid_frontend/vite.config.ts
new file mode 100644
index 0000000..4217010
--- /dev/null
+++ b/toid_frontend/vite.config.ts
@@ -0,0 +1,18 @@
+import { fileURLToPath, URL } from 'node:url'
+
+import { defineConfig } from 'vite'
+import vue from '@vitejs/plugin-vue'
+import vueDevTools from 'vite-plugin-vue-devtools'
+
+// https://vite.dev/config/
+export default defineConfig({
+ plugins: [
+ vue(),
+ vueDevTools(),
+ ],
+ resolve: {
+ alias: {
+ '@': fileURLToPath(new URL('./src', import.meta.url))
+ },
+ },
+})