Post #7

Sketch:

Description:

The UI shows the connection status that indicates whether the websocket connection is established successfully or not between the ROS node and the web UI. This interface is created for testing purpose to control the robot's arm by either clicking on the MOVE OUT  or the MOVE IN  option and display the information on its arm position every 0.5 seconds.

From this screenshot video, we could see that Last /txt_msg received  is changing every 0.5 second. This information is being published by the ROS node that is in charge of publishing the robot's arm position. If we click on MOVE OUT, the robot would extend its arm by 0.2 meters. If we click on MOVE IN, the robot would retract its arm by 0.2 meters. One edge case is that when the robot's arm is already at the origin, clicking on MOVE IN would do nothing. Similarly, if the robot already extends its arm at its fullest position, the robot's arm would stay at the same position even if we click on MOVE OUT.