Control Panel

ros2 run pick_place_fsm control_panel

• GUI launcher for the FSM workflow that reduces the need to manually open multiple terminals.
• It provides buttons to start, stop, restart, and view logs for each required node, including core services, FSM components, and tools.
• The panel also includes quick actions for starting the full screwdriver flow or the no-screwdriver flow, and it displays the current FSM state, phase, and latest status message in real time.

Demo Video

The launcher provides controls for the following nodes :

• Zenoh
• Simulation
• Cartesian Planner
• Mock Perception Server
• Main FSM (with screwdriver)
• Main FSM (without screwdriver)
• Screwdriver Probe
• Pose Capture
• Object Slip Detection
• TF Collision Guardian

Details of every window in the control panel:

The left window contains all the processes and nodes

The right window has the detailed information of the FSM states

Before running any nodes, add the source command for your respective venv in the text field, leave blank if no venv. The workspace name and setup script is auto generated based on your workspace name, do not edit it.

Don't forget to click 'send Enter to main FSM' starting the FSM