chars_dashboard

Web-based dashboard for visualizing CHARS task allocation and DAG execution in real time.

This package launches a browser dashboard that connects to ROS 2 through rosbridge and displays:

• Global task DAG state
• Agent status (idle/busy)
• Dispatch, completion, and failure events

Role in CHARS

chars_dashboard is the operator-facing entry point in Layer 3/Layer 2 monitoring:

• Shows the global plan progression generated from the cognitive planning pipeline.
• Visualizes allocator decisions as tasks are dispatched to swarm agents.
• Provides live visibility into success/failure events and reallocation behavior.

Package Structure

chars_dashboard/
  launch/
    dashboard.launch.py
  web/
    dashboard.html
  CMakeLists.txt
  package.xml

Dependencies

Declared in package.xml:

• ament_cmake
• rosbridge_server

Frontend libraries are loaded from CDN in web/dashboard.html:

• D3.js
• Dagre
• roslibjs

Build

From your ROS 2 workspace root:

colcon build --packages-select chars_dashboard
source install/setup.bash

Run

ros2 launch chars_dashboard dashboard.launch.py

This launch file starts:

• rosbridge_websocket (WebSocket bridge, default port 9090)
• Python HTTP server for static dashboard files (default port 8080)

Open in browser:

http://localhost:8080/dashboard.html

Runtime Architecture

1. ROS 2 nodes publish planner/allocator/execution state.
2. rosbridge_server exposes ROS topics/services to web clients.
3. Dashboard (via roslibjs) subscribes to runtime data and updates UI.
4. DAG rendering uses D3 + Dagre for graph layout and status coloring.

Expected Runtime Environment

• ROS 2 environment sourced.
• rosbridge_server available in your installation.
• Browser access to local ports 8080 and 9090.

If running on another machine or container, update host/port references in the dashboard JS as needed.

Troubleshooting

• Dashboard page opens but no live data:
  • Confirm rosbridge_websocket is running.
  • Verify WebSocket endpoint is reachable on port 9090.
• Launch fails with missing package:
  • Install rosbridge_server for your ROS 2 distribution.
• Blank page or broken layout:
  • Check internet connectivity for CDN-hosted JS libraries.
  • Open browser developer tools for script/network errors.

Notes for GitHub Publishing

Recommended screenshot assets:

• Full dashboard with DAG + agent panel + event log.
• Connection state indicator (connected/disconnected).
• Example run showing task transitions.

A short GIF of task dispatch and completion events improves repository readability.

License

Apache-2.0