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IRIS

A minimal, dark-themed web UI for a RoboCup@Home robot. Designed for a 1920×1280 touchscreen running on Jetson Thor with ROS 2 Jazzy.

Features

  • Status display — current task, phase, progress, recent actions
  • One-tap node launching — competition and debug profiles
  • Live topic visualization — waving person + detection debug streams
  • Topic health monitoring — heartbeat dots for core ROS topics
  • Emergency stop — large, always-visible hardware-style button

Architecture

┌─────────────── Jetson Thor ─────────────────────────────────────┐
│                                                                 │
│  ┌──────────────────────────┐                                   │
│  │  Chromium window         │  ← robot touchscreen              │
│  │  localhost:4173          │                                   │
│  └──┬───────────┬───────────┘                                   │
│     │           │                                               │
│     │  ws:9090  │  http:8080                                    │
│     ▼           ▼                                               │
│  rosbridge   web_video_server      FastAPI :8000                │
│     │           │                     │                         │
│     └───────────┴─────────────────────┴─── subprocess ────┐     │
│                      │                                     │    │
│                      ▼                                     ▼    │
│              ROS 2 Jazzy DDS                       roslaunch    │
│              topics / services                    (competition, │
│                                                    debug)       │
└─────────────────────────────────────────────────────────────────┘
  • Frontend — SvelteKit, static build, ~kB-scale runtime
  • ROS bridge — rosbridge_suite for topics/services over WebSocket
  • Video — web_video_server for MJPEG streams of image topics
  • Launch API — small FastAPI service that manages roslaunch subprocesses

Prerequisites

# ROS 2 packages
sudo apt install \
    ros-jazzy-rosbridge-suite \
    ros-jazzy-web-video-server \
    chromium-browser

# Node + Python
# (Node 20+, Python 3.10+)

Install

git clone <this repo> iris
cd iris

# frontend
npm install

# backend
cd backend
pip install -r requirements.txt
cd ..

Run — development (hot reload)

./run-dev.sh

Opens on http://localhost:1352. Edit any .svelte file and it hot reloads. All component logs go to ./logs/.

Run — production

npm run build
./run.sh

Launches Chromium as a window on $DISPLAY.

Auto-start at boot

sudo cp systemd/iris.service /etc/systemd/system/
# edit User/Group/WorkingDirectory paths first
sudo systemctl enable --now iris
journalctl -u iris -f    # watch logs

Configuration

Launch profiles

Edit backend/profiles.yaml:

profiles:
  competition:
    command: "ros2 launch robot_bringup competition.launch.py"
  debug:
    command: "ros2 launch robot_bringup debug.launch.py rviz:=true"

Topic names

Edit src/lib/ros.js (config object) for rosbridge/video/API endpoints.

Per-panel topic names live in the respective components:

  • src/routes/+page.svelte — video stream topic names
  • src/lib/TopicMonitor.svelte — list of monitored topics
  • src/lib/TaskPanel.svelte — subscribes to /robot_state

Publishing robot state

Your state machine / behavior tree needs to publish to /robot_state as std_msgs/String containing a JSON object. See examples/state_publisher_demo.py for the exact schema and a runnable demo:

python3 examples/state_publisher_demo.py

Troubleshooting

UI loads but shows "Connecting" rosbridge isn't running. Check logs/rosbridge.log.

Video streams show a broken image icon web_video_server isn't running, or the image topic doesn't exist. Verify with ros2 topic list | grep image.

Launch buttons do nothing Backend API isn't reachable. Check logs/backend.log and curl http://localhost:8000/status.

Chromium shows a crash restore bar Delete .chrome-profile/ — it caches the session state.

Touchscreen accidentally triggers swipe navigation Already handled in run.sh via --overscroll-history-navigation=0 and --disable-features=TouchpadOverscrollHistoryNavigation. If you see it anyway, double-check the Chromium version picked up the flags.

File map

iris/
├── src/                          # Svelte frontend
│   ├── app.css                   # Design tokens
│   ├── app.html
│   ├── lib/
│   │   ├── ros.js                # rosbridge connection + helpers
│   │   ├── Header.svelte         # Top bar: status + system metrics
│   │   ├── TaskPanel.svelte      # Big current-task display
│   │   ├── LaunchPanel.svelte    # Profile buttons + E-stop
│   │   ├── VideoStream.svelte    # MJPEG video frame
│   │   ├── TopicMonitor.svelte   # Heartbeat list
│   │   └── TopicRow.svelte
│   └── routes/
│       ├── +layout.js            # SSR off
│       └── +page.svelte          # 3-column main layout
├── backend/
│   ├── main.py                   # FastAPI launch/stop/status/logs
│   ├── profiles.yaml             # Edit me to match your launch files
│   └── requirements.txt
├── examples/
│   └── state_publisher_demo.py   # /robot_state message schema
├── systemd/
│   └── iris.service    # Boot-time autostart
├── run.sh                        # Production launcher
├── run-dev.sh                    # Development (hot reload)
├── package.json
├── svelte.config.js
└── vite.config.js

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