OpenMower GUI

A GUI for the OpenMower project.

Demo

https://youtu.be/x45rdy4czQ0

Installation

If you are using Mowgli-Docker

If you are using mowgli-docker, you can skip this part as it's now included in the docker-compose file.

If your are using OpenMowerOS

OpenMowerOS uses podman and containers are managed by systemd.

First, create the /boot/openmower/db directory :

mkdir /boot/openmower/db

Create a gui.service file in /etc/systemd/system/ with the following content:

[Unit]
Description=Podman container - gui.service
Documentation=man:podman-generate-systemd(1)
Wants=network.target
After=network-online.target NetworkManager.service
StartLimitInterval=120
StartLimitBurst=10

[Service]
Environment=PODMAN_SYSTEMD_UNIT=%n
Type=forking
Restart=always
RestartSec=15s
TimeoutStartSec=1h
TimeoutStopSec=120s

ExecStartPre=/bin/rm -f %t/container-gui.pid %t/container-gui.ctr-id

ExecStart=/usr/bin/podman run --conmon-pidfile %t/container-gui.pid --cidfile %t/container-gui.ctr-id --cgroups=no-conmon \
  --replace --detach --tty --privileged \
  --name openmower-gui \
  --network=host \
  --env MOWER_CONFIG_FILE=/config/mower_config.sh \
  --env DOCKER_HOST=unix:///run/podman/podman.sock \
  --env ROS_MASTER_URI=http://localhost:11311 \
  --volume /dev:/dev \
  --volume /run/podman/podman.sock:/run/podman/podman.sock \
  --volume /boot/openmower/db:/app/db \
  --volume /boot/openmower/mower_config.txt:/config/mower_config.sh \
  --label io.containers.autoupdate=image \
  ghcr.io/cedbossneo/openmower-gui:master

#ExecStartPost=/usr/bin/podman image prune --all --force

ExecStop=/usr/bin/podman stop --ignore --cidfile %t/container-gui.ctr-id -t 10
ExecStopPost=/usr/bin/podman rm --ignore --force --cidfile %t/container-gui.ctr-id
PIDFile=%t/container-gui.pid

[Install]
WantedBy=multi-user.target default.target

Then enable and start the service:

sudo systemctl enable gui.service
sudo systemctl start gui.service

Usage

Once the container is running, you can access the GUI by opening a browser and going to http://<ip of the machine running the container>:4006

HomeKit

The password to use OpenMower in iOS home app is 00102003 Do not forget to set env var HOMEKIT_ENABLED to true

MQTT

MQTT server is listening on port 1883

See ros.ts for topic types

Available topics :

• /gui/mower_logic/current_state
• /gui/mower/status
• /gui/xbot_positioning/xb_pose
• /gui/imu/data_raw
• /gui/mower/wheel_ticks
• /gui/xbot_monitoring/map
• /gui/slic3r_coverage_planner/path_marker_array
• /gui/move_base_flex/FTCPlanner
• /gui/mowing_path

Available commands :

• /gui/call/mower_service/high_level_control HighLevelControlSrv.go
• /gui/call/mower_service/emergency EmergencyStopSrv.go
• /gui/call/mower_logic/set_parameters Reconfigure.go
• /gui/call/mower_service/mow_enabled MowerControlSrv.go
• /gui/call/mower_service/start_in_area StartInAreaSrv.go

Do not forget to set env var MQTT_ENABLED to true

Env variables

• MOWER_CONFIG_FILE=mower_config.sh : config file location
• DOCKER_HOST=unix:///var/run/docker.sock : socker socket
• ROS_MASTER_URI=http://localhost:11311 : ros master uri
• ROS_NODE_NAME=openmower-gui : node name
• ROS_NODE_HOST=:4006 : listening port
• MQTT_ENABLED=true : enable mqtt
• MQTT_HOST=:1883 : listening port
• HOMEKIT_ENABLED=true : enable homekit
• MAP_TILE_ENABLED=true : enable map tiles
• MAP_TILE_SERVER=http://localhost:5000 : custom map tile server (see https://github.com/2m/openmower-map-tiles for usage)
• MAP_TILE_URI=/tiles/vt/lyrs=s,h&x={x}&y={y}&z={z}