AimScope — 机器人数据闭环平台

Robot Data Closed-Loop Platform · Live Monitor · Data Replay · Parameter Management · Automated Testing

Quick Start · Architecture · Features · v3.0 Backend · API Reference · Setup · Structure

Overview

AimScope is a browser-based real-time debugging & data management dashboard for robotic aiming systems, built for the RoboMaster competition. It connects to ROS via rosbridge WebSocket and provides live visualization — plus an enterprise backend stack for data replay, parameter version control, and automated benchmark testing.

Key characteristics

Zero-install frontend — open a browser tab, connect, and you're live
ROS1 + ROS2 dual support — one dashboard works with both, auto-detected
Windows + WSL hybrid — camera on Windows, ROS & backend in WSL2
v3.0 backend stack — Spring Boot + MariaDB + InfluxDB + Redis for data persistence and analysis
Recording & playback — .aimscope.json recordings with frame-by-frame review
Dark/light theme — toggle with T

Quick Start

Option A: Live Monitor only (2 terminals)

No backend needed — just the real-time ROS dashboard.

Prerequisites: WSL2 with ROS + rosbridge, Python 3 on Windows with opencv-python.

Terminal 1 (WSL) — 一键启动 rosbridge + Web 服务器：

cd /mnt/d/AimScope
bash scripts/start_all.sh --ros1       # ROS1 模式
# bash scripts/start_all.sh --ros2     # ROS2 模式

Terminal 2 (Windows PowerShell) — 数据源（三选一）：

# 场景 1: 纯合成画面, 无需摄像头 (测 UI)
python D:\AimScope\tools\publishers\aimscope_demo_windows_rosbridge_camera.py --ros-version ros1 --no-camera

# 场景 2: 电脑摄像头 (测完整链路)
python D:\AimScope\tools\publishers\aimscope_demo_windows_rosbridge_camera.py --ros-version ros1

# 场景 3: 实际仿真 — 不需要运行此脚本, ROS 仿真环境会自行发送数据

Open http://127.0.0.1:9006/index.html, set ROS type to match, address to ws://127.0.0.1:9090, click 连接.

场景说明:

场景 WSL 命令 PowerShell 命令何时使用

合成测试 bash scripts/start_all.sh python ... --no-camera 无摄像头, 测 UI 功能

摄像头测试 bash scripts/start_all.sh python ... 有摄像头, 测完整链路

实际仿真 bash scripts/start_all.sh (无需运行) ROS/Gazebo 仿真, 真实数据

Option B: Full v3.0 stack (3 terminals)

Includes backend for data replay, parameter management, and automated testing.

# Terminal 1 (WSL) — 一键启动 rosbridge + Web + Spring Boot 后端
cd /mnt/d/AimScope
bash scripts/start_all.sh --ros1 --backend

# Terminal 2 (WSL) — 启动数据库 (首次需安装)
bash /mnt/d/AimScope/scripts/wsl_install_dbs.sh
# 日常启动:
sudo service mariadb start && sudo service redis-server start && sudo service influxdb start

# Terminal 3 (PowerShell) — 数据源 (可选, 同 Option A)
python D:\AimScope\tools\publishers\aimscope_demo_windows_rosbridge_camera.py --ros-version ros1

Open http://127.0.0.1:9006/index.html. The v3.0 tabs appear in the top navigation bar.

First-time database setup: After installing databases, run:

sudo mariadb -e "CREATE DATABASE IF NOT EXISTS aimscope CHARACTER SET utf8mb4 COLLATE utf8mb4_unicode_ci;"
sudo mariadb -e "ALTER USER 'root'@'localhost' IDENTIFIED BY 'aimscope'; FLUSH PRIVILEGES;"
influx setup --username admin --password AimScope2024! --org aimscope --bucket aimscope --token aimscope-influx-token-dev-2024 --force

Architecture

┌──────────────────────────────────────────────────────────────────────┐
│                        Windows (Host)                                  │
│  ┌─────────────────────┐   ┌──────────────────────────────────────┐  │
│  │  Browser             │   │  Python: Camera Publisher             │  │
│  │  Vue 3 SPA           │   │  reads webcam → publishes via WS      │  │
│  │  + roslib.js         │   │                                      │  │
│  │  + Three.js (3D)     │   └──────────────┬───────────────────────┘  │
│  │  + Canvas charts     │                  │                           │
│  └──────┬───────┬───────┘                  │                           │
│         │ :9006 │ :8080                    │ :9090                     │
│         │       │                          │                           │
│  ┌──────┴───────┴──────────────────────────┴───────────────────────┐  │
│  │                     WSL2 (Ubuntu 22.04)                          │  │
│  │  ┌──────────────────┐  ┌────────────────────────────────────┐   │  │
│  │  │ Static Server     │  │ Spring Boot Backend (:8080)         │   │  │
│  │  │ Python HTTP :9006 │  │                                    │   │  │
│  │  │ (or TinyWebServer)│  │  ┌──────────────────────────────┐  │   │  │
│  │  └──────────────────┘  │  │ JWT Auth · REST API            │  │   │  │
│  │                        │  │ WebSocket relay → rosbridge    │  │   │  │
│  │  ┌──────────────────┐  │  │ @Async: rosbag parse, benchmark│  │   │  │
│  │  │ rosbridge (:9090) │  │  └──────────┬───────────────────┘  │   │  │
│  │  │ ROS ↔ WebSocket   │  │             │                      │   │  │
│  │  └────────┬─────────┘  │    ┌─────────┼─────────┐            │   │  │
│  │           │            │    │         │         │            │   │  │
│  │    ┌──────┴──────┐     │ ┌──┴──┐ ┌───┴───┐ ┌──┴──┐        │   │  │
│  │    │ ROS2 Nodes   │     │ │MariaDB│ │InfluxDB│ │Redis │       │   │  │
│  │    │ (optional)   │     │ │users, │ │ROS data│ │session│      │   │  │
│  │    └─────────────┘     │ │params,│ │(ns ts) │ │cache │       │   │  │
│  │                        │ │replays│ │        │ │      │       │   │  │
│  │                        │ └──────┘ └────────┘ └──────┘       │   │  │
│  │                        │                                    │   │  │
│  │                        │  ┌──────────────────────────────┐  │   │  │
│  │                        │  │ Python Tools (subprocess)     │  │   │  │
│  │                        │  │ rosbag_converter.py            │  │   │  │
│  │                        │  │ rule_engine.py                 │  │   │  │
│  │                        │  │ benchmark_runner.py            │  │   │  │
│  │                        │  └──────────────────────────────┘  │   │  │
│  │                        └────────────────────────────────────┘   │  │
│  └─────────────────────────────────────────────────────────────────┘  │
└──────────────────────────────────────────────────────────────────────┘

Data flow

Live mode:   Camera/ROS → rosbridge :9090 → roslib.js (Browser)
             rosbridge :9090 → Spring Boot WebSocket proxy :8080/ws/ros → Browser

Replay mode: Browser slider → REST API → InfluxDB query → JSON → Canvas charts

Params:      Browser editor → REST API → write file → git commit → version history

Benchmark:   Browser submit → @Async Python runner → metrics JSON → MySQL → report

Features

📷 Real-time Camera Display

Two synchronized canvases: Raw and Result (reprojection overlay)
JPEG decoded from rosbridge Base64 transport
FPS counter and latency metrics per stream

📊 Interactive Time-Series Charts

IMU attitude (Roll / Pitch / Yaw) — red, green, blue traces
Aim angle (X / Y / Z) — yellow traces
Debug values — orange traces
Zoom (scroll), pan (drag), auto-range, lockable Y-axis

🎯 3D Gimbal Visualization

Three.js scene with gimbal model + target sphere
Orbit controls (mouse drag/wheel), driven by live IMU data

📡 Topic Status Panel

Per-topic: Hz, latency, age, message size, state (ok/warn/alarm)
Color-coded status dots, click to inspect full JSON payload

⚡ Event Log & Alarms

Deduplicated event log with error/warn/info levels
Alarm counter with summary display

🔴 Recording & ▶️ Playback

Record all ROS topic data to .aimscope.json
Playback toolbar: play/pause, frame stepping, speed 0.25×–4×
Timeline slider, markers, 5-second clip export
Auto-generated Markdown test report

v3.0 Backend

AimScope v3.0 adds a Java SpringBoot backend with databases for enterprise-grade robot data management. The v2.x live monitoring dashboard remains functional as the "实时监控" tab.

Tab Navigation

Tab	Function	Auth
实时监控	Live ROS monitoring (v2.x UI, unchanged)	None
数据回放	Upload rosbag/JSON, query InfluxDB, timeline replay	TESTER+
参数管理	YAML/JSON editor, Git version control, diff view, rollback	TESTER+
自动化测试	A/B benchmark runs, comparison reports	ENGINEER

Tech Stack

Component	Technology
Framework	Spring Boot 2.7.18
Java	OpenJDK 11
Database	MariaDB 10.6 (JPA/Hibernate)
Time-series	InfluxDB 2.7
Cache	Redis 6.0
Auth	JWT (io.jsonwebtoken 0.11.5)
Version control	JGit (org.eclipse.jgit 6.8.0)
Build	Maven 3.9+
Python tools	rosbag converter, rule engine, benchmark runner

Data Replay & Analysis

Upload — rosbag (.bag/.mcap) or AimScope recordings via browser drag-and-drop
Parse — Python rosbag_converter.py writes to InfluxDB (@Async, non-blocking, progress via Redis)
Query — GET /api/replay/{id}/data?topic=X&from=0&to=5000 returns millisecond-precise data
Analyze — Rule engine detects:
- Vision loss (>500ms gap in tracking results)
- Overshoot (3+ consecutive frames exceeding threshold)
- IMU anomaly (30° jump in roll/pitch/yaw)
- Data dropout (>1s gap in any topic)

Parameter Management

Editor — In-browser YAML/JSON editor with syntax highlighting, line numbers, Tab/Ctrl+S support
Git versioning — Every save = git commit via JGit. Full history, rollback to any version
Diff — LCS-based side-by-side comparison with add/remove highlighting, synchronized scroll
Roles — ENGINEER (read/write), TESTER (read-only for sensitive params)

Automated Testing (Benchmark)

A/B comparison — Compare two parameter sets against the same rosbag replay
Metrics — detection_rate, reprojection_error, avg_latency_ms, fps, cpu_usage
Report — Auto-generated Markdown comparison table with winner determination

API Reference

Authentication

Method	Path	Body	Response	Auth
POST	`/api/auth/register`	`{username, password, role}`	`{token, role}`	None
POST	`/api/auth/login`	`{username, password}`	`{token, role}`	None
GET	`/api/auth/me`	—	`{id, username, role}`	JWT

Roles: TESTER (default, can view replay/params), ENGINEER (full access including benchmark + param editing)

Parameter Management

Method	Path	Description	Auth
GET	`/api/params/`	List all configs	TESTER+
POST	`/api/params/`	Create config	ENGINEER
GET	`/api/params/{id}`	Get latest version	TESTER+
PUT	`/api/params/{id}`	Update (new git version)	ENGINEER
GET	`/api/params/{id}/versions`	Version history	TESTER+
GET	`/api/params/{id}/versions/{vid}`	Get specific version	TESTER+
POST	`/api/params/{id}/rollback/{vid}`	Rollback to version	ENGINEER
GET	`/api/params/{id}/diff?v1=&v2=`	Side-by-side diff	TESTER+

Data Replay

Method	Path	Description	Auth
POST	`/api/replay/upload`	Upload rosbag/JSON (multipart)	TESTER+
GET	`/api/replay/sessions`	List replay sessions	TESTER+
GET	`/api/replay/{id}`	Session detail + topic list	TESTER+
GET	`/api/replay/{id}/data?topic=&from=&to=`	Query time-series data	TESTER+
GET	`/api/replay/{id}/events?from=&to=`	Query analysis events	TESTER+
GET	`/api/replay/{id}/progress`	Parse progress	TESTER+
DELETE	`/api/replay/{id}`	Delete session + data	TESTER+

Automated Testing

Method	Path	Description	Auth
POST	`/api/benchmark/`	Create run `{name, replayId, configAId, configBId}`	ENGINEER
GET	`/api/benchmark/`	List all runs	TESTER+
GET	`/api/benchmark/{id}`	Run detail + metrics	TESTER+
GET	`/api/benchmark/{id}/report`	Download Markdown report	TESTER+

ROS Proxy

Method	Path	Description
WS	`/ws/ros`	Browser connects here, backend relays to rosbridge :9090

Setup

Environment

Component	Requirement
OS	Windows 10/11 + WSL2
WSL	Ubuntu 22.04
Java	OpenJDK 11 (for backend)
Databases	MariaDB 10.6, Redis 6.0, InfluxDB 2.7
ROS	ROS2 Humble (recommended) or ROS1 Noetic
Python (Windows)	3.8+ with `opencv-python`, `numpy`, `websocket-client`
Browser	Chrome/Edge (any modern browser)

Database Installation (WSL)

# All-in-one install script:
bash /mnt/d/AimScope/scripts/wsl_install_dbs.sh

# Or step-by-step:
sudo apt-get update
sudo apt-get install -y mariadb-server redis-server

# InfluxDB 2.x (via deb package if GPG key fails)
wget https://dl.influxdata.com/influxdb/releases/influxdb2_2.7.11-1_amd64.deb
sudo dpkg -i influxdb2_2.7.11-1_amd64.deb

# Setup databases
sudo mariadb -e "CREATE DATABASE IF NOT EXISTS aimscope CHARACTER SET utf8mb4 COLLATE utf8mb4_unicode_ci;"
sudo mariadb -e "ALTER USER 'root'@'localhost' IDENTIFIED BY 'aimscope'; FLUSH PRIVILEGES;"
influx setup --username admin --password AimScope2024! --org aimscope --bucket aimscope --token aimscope-influx-token-dev-2024 --force

ROS2 rosbridge

sudo apt install -y ros-humble-rosbridge-suite
# Or: bash /mnt/d/AimScope/scripts/ros2/install_ros2_rosbridge.sh

Windows Python

python -m pip install opencv-python numpy websocket-client

Keyboard Shortcuts

Key	Action
`R`	Toggle recording
`Space`	Play / pause playback
`←` / `→`	Seek back/forward 5 seconds
`1`	Raw camera view
`2`	Result/reprojection view
`3`	3D visualization
`T`	Toggle dark/light theme
`Escape`	Exit playback mode

Project Structure

AimScope/
│
├── TinyWebServer-master/          # Static file server + frontend
│   ├── root/                      #   Vue 3 SPA root
│   │   ├── index.html             #     Main page — top tabs, panels, modals
│   │   ├── app.js                 #     Core logic — ROS, tabs, auth, replay, params, benchmark
│   │   ├── roslib.min.js          #     Browser ↔ rosbridge WebSocket client
│   │   ├── favicon.ico
│   │   ├── assets/
│   │   │   ├── css/
│   │   │   │   └── aimscope.css   #       Full stylesheet (dark/light themes, tabs, panels)
│   │   │   └── js/
│   │   │       ├── api/           #       REST API clients
│   │   │       │   ├── auth-api.js        # JWT login/register/me
│   │   │       │   ├── param-api.js       # Param CRUD + versions + diff
│   │   │       │   ├── replay-api.js      # Replay upload + query
│   │   │       │   └── benchmark-api.js   # Benchmark create + report
│   │   │       ├── ui/            #       UI components
│   │   │       │   ├── interactive-chart.js # Canvas-based zoomable charts
│   │   │       │   ├── panel-resize.js      # Drag-to-resize handles
│   │   │       │   ├── config-editor.js     # YAML/JSON editor with syntax highlighting
│   │   │       │   └── diff-viewer.js       # LCS-based side-by-side diff
│   │   │       └── core/
│   │   │           ├── namespace.js         # Extension hooks & global namespace
│   │   │           └── ring-buffer.js       # Fixed-length RingBuffer
│   │   └── vendor/
│   │       ├── vue.global.prod.js           # Vue 3 production runtime
│   │       └── three.min.js                 # Three.js (lazy-loaded for 3D)
│   ├── server                      #   Compiled binary
│   ├── webserver.cpp/.h            #   Core — epoll, thread pool, timer
│   ├── http/                       #   HTTP request/response
│   ├── threadpool/                 #   Thread pool
│   └── makefile                    #   Build rules
│
├── backend/                        # Spring Boot backend (v3.0)
│   ├── pom.xml
│   ├── src/main/resources/
│   │   └── application.yml         #   DB, JWT, InfluxDB, storage config
│   └── src/main/java/com/aimscope/
│       ├── AimScopeApplication.java
│       ├── model/entity/           #   JPA entities
│       │   ├── User.java           #     id, username, passwordHash, role
│       │   ├── ParamConfig.java    #     id, name, fileType, currentContent
│       │   ├── ParamVersion.java   #     configId, versionNum, gitCommitHash
│       │   ├── ReplaySession.java  #     filename, fileHash, status, messageCount
│       │   └── BenchmarkRun.java   #     name, replayId, configA/B, metricsJSON
│       ├── repository/             #   Spring Data JPA repositories (×5)
│       ├── security/               #   JWT authentication
│       │   ├── JwtUtil.java        #     Token generation & validation
│       │   └── JwtFilter.java      #     Bearer token filter
│       ├── config/                 #   Spring configuration
│       │   ├── SecurityConfig.java #     CORS, endpoints, JWT filter
│       │   ├── WebConfig.java      #     CORS whitelist
│       │   ├── InfluxDBConfig.java #     InfluxDB client bean
│       │   └── WebSocketConfig.java#     /ws/ros endpoint
│       ├── dto/                    #   Request/Response objects
│       │   ├── LoginRequest.java
│       │   ├── RegisterRequest.java
│       │   ├── ParamUpdateRequest.java
│       │   └── BenchmarkRequest.java
│       ├── service/                #   Business logic
│       │   ├── AuthService.java    #     Register, login, BCrypt
│       │   ├── ParamService.java   #     CRUD + JGit versioning + diff
│       │   ├── ReplayService.java  #     Upload, InfluxDB query, rule engine
│       │   ├── BenchmarkService.java#   @Async Python runner
│       │   └── RosRelayService.java#    WebSocket proxy to rosbridge
│       └── controller/             #   REST controllers
│           ├── AuthController.java
│           ├── ParamController.java
│           ├── ReplayController.java
│           └── BenchmarkController.java
│
├── scripts/
│   ├── ros2/                       # ROS2 scripts
│   │   ├── install_ros2_rosbridge.sh
│   │   ├── start_ros2_rosbridge.sh
│   │   └── start_ros2_demo.sh
│   ├── windows/                    # USB camera attach/detach
│   │   ├── attach_camera_to_wsl.ps1
│   │   └── detach_camera_from_wsl.ps1
│   ├── python/                     # Python backend tools (v3.0)
│   │   ├── rosbag_converter.py     #   Rosbag → InfluxDB parser
│   │   ├── rule_engine.py          #   Anomaly detection rules
│   │   └── benchmark_runner.py     #   A/B config comparison
│   ├── start_backend.sh            # Backend + DB startup
│   ├── start_tinywebserver.sh      # TinyWebServer startup
│   └── wsl_install_dbs.sh          # WSL database install script
│
├── tools/publishers/               # Python data publishers
│   ├── aimscope_demo_windows_rosbridge_camera.py  # Windows camera → rosbridge
│   ├── aimscope_demo_ros2.py                     # ROS2 demo publisher
│   └── aimscope_demo.py                          # ROS1 demo publisher (legacy)
│
├── configs/                        # Git-managed parameter files (v3.0)
│   ├── ekf_params_v1.yaml          #   Sample EKF parameters
│   └── pid_params_v1.yaml          #   Sample PID parameters
│
├── docs/                           # Documentation (Chinese)
│   ├── AimScope最简启动手册.md
│   ├── AimScope使用手册.md
│   ├── AimScope环境配置文档.md
│   └── AimScope项目结构说明.md
│
├── data/recordings/                # Saved .aimscope.json files
├── .gitignore
└── README.md

Recording Format

.aimscope.json files use a flat time-series format:

{
  "version": "2.2",
  "format": "aimscope-recording",
  "metadata": {
    "startTime": "2026-06-10T02:57:04.577Z",
    "duration": 5.1,
    "includesImages": false,
    "rosUrl": "ws://192.168.186.136:9090",
    "recordedAt": "2026-06-10T02:57:09.678Z"
  },
  "topics": {
    "/topic_name": [
      { "t": 0, "d": {} },
      { "t": 50, "d": {} }
    ]
  },
  "events": [],
  "markers": [],
  "report": {}
}

Extension Hooks

AimScope provides extension points via AimScope.hooks:

// Custom topic display formatter
AimScope.registerTopicFormatter('/my_topic', function(data) {
  return { title: 'My Topic', body: JSON.stringify(data, null, 2) };
});

// Custom log sink
AimScope.registerLogSink(function(entry) {
  console.log('[Custom]', entry.level, entry.message);
});

// Custom panel
AimScope.registerPanel('my-panel', {
  mount: function(container) { /* render */ },
  unmount: function() { /* cleanup */ }
});

Tech Stack

Layer	Technology
Frontend	Vue 3 (CDN, no build), Canvas API, WebSocket
ROS Bridge	roslib.js (browser ↔ rosbridge)
3D	Three.js (lazy-loaded)
Web Server	TinyWebServer (C++17, epoll) / Python http.server
Backend	Spring Boot 2.7.18 + Java 11
Auth	JWT (io.jsonwebtoken) + BCrypt
Relational DB	MariaDB 10.6 (JPA/Hibernate)
Time-series DB	InfluxDB 2.7
Cache	Redis 6.0
Version Control	JGit 6.8.0
Build	Maven 3.9+, GNU Make
Data Sources	Python 3, OpenCV, NumPy
ROS	ROS2 Humble / ROS1 Noetic
Infrastructure	WSL2, Bash, PowerShell

Why no frontend bundler?

The frontend is intentionally a vanilla Vue 3 SPA — no Webpack, Vite, or npm. Vue and Three.js are vendored locally. Update app.js and refresh the browser. No build pipeline, no node_modules.

Version

v3.0 — Robot Data Closed-Loop Platform

Changelog

v3.0 — Spring Boot backend (30 Java files), MariaDB/InfluxDB/Redis, JWT auth, 4-tab UI (实时监控/数据回放/参数管理/自动化测试), parameter management with Git version control, LCS-based diff viewer, YAML/JSON editor, rosbag upload & InfluxDB time-series replay, Python rule engine for anomaly detection, A/B benchmark comparison with auto-generated reports, WebSocket relay proxy
v2.4 — Refined directory structure, cleaned up legacy TinyWebServer demo pages
v2.3 — ROS1/ROS2 connection refactor, Windows camera publisher, topic status monitoring, image FPS/latency display, event log & alarms, recording/playback with frame-by-frame review, markers, segment export, test report export
v2.2 — Image transfer bug fixes
v2.1 — UI optimization, rqt-style plots, image recording
v2.0 — Dashboard v2.0
v1.0 — Initial auto-aim web debugger

License

AimScope is licensed under the MIT License.

The TinyWebServer component is based on qinguoyi/TinyWebServer, licensed under the Apache License, Version 2.0.

Third-party frontend libraries: Vue 3 (MIT), Three.js (MIT), roslib.js (BSD).

Name		Name	Last commit message	Last commit date
Latest commit History 13 Commits
.github/workflows		.github/workflows
TinyWebServer-master		TinyWebServer-master
backend		backend
configs		configs
docs		docs
scripts		scripts
tools/publishers		tools/publishers
.gitignore		.gitignore
LICENSE		LICENSE
README.md		README.md
README_zh.md		README_zh.md

场景	WSL 命令	PowerShell 命令	何时使用
合成测试	`bash scripts/start_all.sh`	`python ... --no-camera`	无摄像头, 测 UI 功能
摄像头测试	`bash scripts/start_all.sh`	`python ...`	有摄像头, 测完整链路
实际仿真	`bash scripts/start_all.sh`	(无需运行)	ROS/Gazebo 仿真, 真实数据

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AimScope — 机器人数据闭环平台

Overview

Key characteristics

Quick Start

Option A: Live Monitor only (2 terminals)

Option B: Full v3.0 stack (3 terminals)

Architecture

Data flow

Features

📷 Real-time Camera Display

📊 Interactive Time-Series Charts

🎯 3D Gimbal Visualization

📡 Topic Status Panel

⚡ Event Log & Alarms

🔴 Recording & ▶️ Playback

v3.0 Backend

Tab Navigation

Tech Stack

Data Replay & Analysis

Parameter Management

Automated Testing (Benchmark)

API Reference

Authentication

Parameter Management

Data Replay

Automated Testing

ROS Proxy

Setup

Environment

Database Installation (WSL)

ROS2 rosbridge

Windows Python

Keyboard Shortcuts

Project Structure

Recording Format

Extension Hooks

Tech Stack

Why no frontend bundler?

Version

Changelog

License

About

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