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‎docs_outdoornav_user_manual/features/watchdogs.mdx‎

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---
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title: Watchdogs
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sidebar_label: Watchdogs
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sidebar_position: 7
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toc_min_heading_level: 2
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toc_max_heading_level: 4
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---
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As of version 0.14.0, the OutdoorNav software contains the ability for autonomous missions
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to be interrupted if failures are detected by wtchdogs. Each UGV will come pre-loaded with
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a set of watchdogs that are required for the overall safety of the system. Users are then
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able to add/remove/modify watchdogs as they require for their specific application and
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safety requirements. This will have a lot to do with the operational environment
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and their network setup. A history of previous watchdogs that have triggered is also
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available to the user for more precise debugging of when issues may have occured.
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## Watchdog Types
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Currently there a a set of watchdogs that have been developed. Users are unable to write
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their own watchdogs at the present time.
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| Watchdog Type | Description |
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|----------------------------------|----------------------------------------|
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| **Communication Watchdog** | A watchdog used to monitor device communication with the PC. It will monitor and trigger if there is loss of communication on devices that are connected via the ethernet (ip) or CAN bus (can) communication protocols. |
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| **Heartbeat Watchdog** | A watchdog used to monitor the heartbeat topic of a device. This differs from the Communication, Node Status and Topic Data watchdogs because there may be devices that are deemed to be alive and communicating by the Node Status and Communication watchdogs but may not be publishing data on their published topic. For example some GNSS units will not publish to their topic unless they are in a clear open environment, however the heartbeat topic will still be publishing since the node is alive. |
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| **Inclination Watchdog** | A watchdog used to monitor the inclination (roll and pitch) of the UGV. It will trigger if the IMU topic reports an inclination in either the roll or the pitch that exceeds the defined limits.|
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| **Node Status Watchdog** | A watchdog used to monitor the status of a node. It will trigger if the node crashes or does not start up. |
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| **Nodelet Status Watchdog** | A watchdog used to monitor the status of a nodelet manager and any nodelets associated with it. It will trigger if either the nodelet manager or the nodelet defined in the parameters crash or fail to start up. |
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| **Num Points Watchdog** | A watchdog used to monitor the status of a LiDAR device. It is designed to trigger if there is an insufficient number of points in a PointCloud2 topic. The primary example for such a watchdog is if a customer has forgotten to remove a protective covering from the LiDAR. |
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| **Odometry Covariance Watchdog** | A watchdog used to monitor reliability of the odometry data that is computed by our system. It will trigger if any of the odometry covariance thresholds have been exceeded. |
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| **RTK Fix Watchdog** | A watchdog used to monitor whether or not a GNSS unit has an RTK fix. It will trigger if the device has lost RTK fix for more than the defined timeout. |
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| **Topic Data Watchdog** | A watchdog used to monitor a ROS topic. It will trigger if no data has been received on the topic for more than the defined timeout. |
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## Watchdogs Page
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To access the watchdog page navigate to the **Menu** → **Autonomy** → **Watchdogs**.
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<center>
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<figure>
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<img
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src="/img/outdoornav_images/ui_watchdogs_page.png"
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width="1000"
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/>
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<figcaption>Watchdogs Page</figcaption>
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</figure>
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</center>
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On this page you will be able to see the history of triggered watchdogs, which includes
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the time of day that it was triggered and the action taken by autonomy to prevent any
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harmful behaviour. Users can clear the history as they see fit to reduce the number of
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entries in the table.
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### Add Watchdog
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To add a watchdog, users can simply click the "Add Watchdog" button on the watchdog page.
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This will open up a pop up where the user can enter the required information for the new watchdog.
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The default parameters that need to be entered are:
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- **Watchdog Name**: A semantic name for the watchdog. This name will only be used for internal
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identification of the watchdog and must be unique.
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- **Autonomy Action**: The action that the autonomy will perform when the watchdog
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is triggered. Options are: "Stop", "Pause", "Warn". For example, if Pause is selected and the
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watchdog is triggered while a mission is running, the mission will pause and wait for the user to
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resume it manually.
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- **Components**: A list of one or more components of outdoornav that the watchdog will
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be classified under. Examples are: "ros", "navigation", "localization", "obstacle_detection".
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- **Watchdog Type**: The type of watchdog that is to be created. Selecting the required watchdog
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type will then prompt the user for further properties specific to the type.
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<center>
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<figure>
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<img
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src="/img/outdoornav_images/ui_add_watchdog.png"
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width="500"
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/>
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<figcaption>Add Watchdog Pop-up</figcaption>
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</figure>
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</center>
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### Remove Watchdog
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The user can remove a specific watchdog by clicking the trash icon beside the relevant watchdog.
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### Modify Watchdog
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The user has the ability to modify the watchdog properties through the UI on the Watchdog page.
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The watchdog can be enabled/disabled (without explicitly being removed entirely) by clicking
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the checkbox beside the respective watchdog. Furthermore, if the watchdog entry is opened, the
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user will be able to modify any and all of the properties of each watchdog. See below, for an
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example of modifying the properties of the TopicDataWatchdog. To confirm and save the changes to
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a watchdog, the user must click the "Save Changes" button.
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<center>
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<figure>
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<img
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src="/img/outdoornav_images/ui_update_watchdog.png"
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width="500"
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/>
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<figcaption>Update TopicDataWatchdog</figcaption>
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</figure>
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</center>

‎docs_outdoornav_user_manual/release_notes.mdx‎

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toc_max_heading_level: 4
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---
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## 0.14.0
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### New Features
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- Added in the ability to connect a PS4 controller to the UI directly.
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- Improved the PTZ Controls, allowing users to move via a draggable interface,
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box selection or double clicking.
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- [System Watchdogs](./features/watchdogs.mdx) can now be added to the UGV to
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allow for safeguards to be put in place depending on the needs of the user.
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### API Changes
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- Added new message definitions and service calls for watchdogs
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### Bug Fixes
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- 2532: Wireless Connection adaptor not publishing
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### Known Issues
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- 1396: Robot gets temporarily stuck at start of mission when near a Waypoint
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- 1844: [MPC] Maximum acceleration param doesn't appear to have any effect
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- 2525: Path Previewer has issues cleaning up upon completion in mission less states
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## 0.13.0
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### New Features

‎docs_outdoornav_user_manual/web_user_interface/ui_manual_mode.mdx‎

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<center>
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<figure>
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<img src="/img/outdoornav_images/ui_manual_mode_page.png" />
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<img src="/img/outdoornav_images/ui_manual_mode_page_0_14_0.png" />
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<figcaption>Teleoperation Components</figcaption>
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</figure>
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</center>
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1. **Error/Warning Bar:** A bar along the top of the page reporting
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the error or warning status of the Assisted Teleoperation feature.
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2. **Joystick:** The joystick will allow the user to move the UGV
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2. **User Connections:** Shows the number of users connected to OutdoorNav.
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3. **Joystick:** The joystick will allow the user to move the UGV
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manually from the UI. Motion can be sent to the UGV in 360°
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directions and the speed can be controlled by the distance of the
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joystick from its neutral position. Four fixed direction buttons are
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now present to move the UGV in purely forward/reverse directions or
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clockwise/counter-clockwise. Finally, we overlay an obstacle map
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on top of the joystick, representing obstacle distances from the
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UGV.
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3. **Speedometer:** An indicator of the UGV's current linear speed.
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4. **Sensitivity Scale:** A UGV-specific scale that controls the
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4. **Speedometer:** An indicator of the UGV's current linear speed.
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5. **Sensitivity Scale:** A UGV-specific scale that controls the
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maximum allowable UGV velocities at each level. The default maximum
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linear velocity is 1.0 meters per second and the maximum angular
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velocity is 0.5 radians per second. These can be changed in the
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[General Settings](./ui_overview.mdx#config-general-settings) page.
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The scale levels are 100%, 80%, 50% and 20%, with the default set
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to 80%.
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5. **Teleop Assist Toggle:** The "Teleop Assist" toggle can be used to
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6. **Teleop Assist Toggle:** The "Teleop Assist" toggle can be used to
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enable/disable the Assisted Teleoperation feature.
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7. **UI Lockout:** The lockout toggle that will prevent the Joystick from
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sending commands to the UGV. The purpose of this is to help prevent
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unwanted users from teloperating the UGV. This feature
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does not lock out the controller connected to the robot.
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8. **Controller Connection:** If a controller is connected to the PC the UI
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will show this icon. The user can select the icon to disable/enable
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controller input.
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## Remote Controller Connection
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If the user has a PS4 controller they can connect it to the UI directly. This
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will allow user drive the UGV the same way as the controller thats connected
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directly to the UGV. The controller will only function provided the UI window
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is in focus. Users can also see if other connections have a controller connected
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by expanding the User Connections icon as seen below.
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<center>
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<figure>
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<img src="/img/outdoornav_images/user_connections_expanded.png" />
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<figcaption>Users connected to the UGV's UI Interface</figcaption>
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</figure>
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</center>
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## Monitor Wireless Strength
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‎docs_outdoornav_user_manual/web_user_interface/ui_overview.mdx‎

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<center>
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<figure>
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<img src="/img/outdoornav_images/ui_ptz_view-0_8_0.png" />
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<img src="/img/outdoornav_images/ui_ptz_view_0_14_0.png" />
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<figcaption>PTZ Camera View</figcaption>
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</figure>
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</center>
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neutral ("zero") position.
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3. **Zoom Slider:** The right slider can be used to zoom the camera
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feed. By default, the slider is at its neutral ("zero") position.
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4. **Save Image:** Depending on the current camera view selected, this
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4. **Start/Stop Recording:** This button will start/stop video recording for the
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camera and store the video file on the UGV.
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5. **Save Image:** Depending on the current camera view selected, this
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button will save an image to the computer/tablet running the UI.
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Images will be saved to the location in which your browser saves
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files.
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5. **Camera Positions List:** Display the list of available camera
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6. **Camera Positions List:** Display the list of available camera
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positions that have been saved. These camera positions can be
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deleted from this list by clicking the "garbage can" icon beside
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the corresponding position.
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6. **Save Camera Position:** This button will save the camera position
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7. **Save Camera Position:** This button will save the camera position
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to be used in the "Move PTZ" task. An example use case would be:
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1. Switch to the PTZ camera view.
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2. Teleoperate the UGV to a location at which the user can inspect
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position related to the inspection point.
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#### Q62 PTZ Features
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<center>
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<figure>
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<img src="/img/outdoornav_images/ui_ptz_q62.png" />
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<figcaption>Q62 PTZ Camera Controls</figcaption>
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</figure>
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</center>
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1. **Virtual PTZ Joystick:** This joystick can be dragged away from the center
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of the screen and the camera will follow. The further away from the center
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the user drags the joystick, the faster the camera moves.
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2. **Q62 Wiper:** Triggers the Q62 wiper to clear any water/debris on the the camera's
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face.
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3. **Q62 Defogger:** Triggers the Q62 Defogger. When on, a "DEFOGGER ON" message will appear
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in the upper left corner of the view.
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4. **Q62 Infrared:** Changes the Q62 view to leverage infrared light for improved vision in
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the dark.
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The Q62 PTZ Camera has the ability to move the camera in other ways besides the
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sliders on the screen. Some of these are shown below in brief video clips.
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<center>
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<figure>
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<video
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autoplay="true"
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loop="true"
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src="/video/outdoornav_videos/ui_ptz_drag_demo.mp4"
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width="700"
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/>
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<figcaption>Moving the Camera via the Virtual Joystick</figcaption>
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</figure>
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</center>
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<center>
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<figure>
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<video
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autoplay="true"
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loop="true"
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src="/video/outdoornav_videos/ui_ptz_box_zoom.mp4"
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width="700"
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/>
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<figcaption>Moving the Camera via the Box Selection</figcaption>
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</figure>
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</center>
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<center>
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<figure>
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<video
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autoplay="true"
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loop="true"
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src="/video/outdoornav_videos/ui_ptz_double_click.mp4"
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width="700"
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/>
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<figcaption>Moving the Camera via Double Clicking</figcaption>
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</figure>
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</center>
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A user can also right click the image and zoom out or reset the camera to the
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home position.
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### Front and Back Views
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<center>

‎docs_versioned_docs/version-ros1noetic/components/_driving_with_remote_controller.mdx‎

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left/right translation, and **Axis 2** controls the forward/backward velocity. **Button 4** acts as enable, and
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**Button 5** acts as enable-turbo. On common controllers these correspond to the following physical controls:
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| Axis/Button | Physical Input | PS4 | F710 | Xbox One | Action |
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| :----------- | :------------------------------- | :-- | :--- | :------- | :--------------------- |
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| **Axis 0** | Left thumb stick vertical | LJ | LJ | LJ | Drive forward/backward |
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| **Axis 1** | Left thumb stick horizontal | LJ | LJ | LJ | Translate left/right |
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| **Axis 2** | Right thumb stick horizontal | RJ | RJ | RJ | Rotate/turn |
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| **Button 4** | Left shoulder button or trigger | L1 | LB | LB | Enable normal speed |
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| **Button 5** | Right shoulder button or trigger | R1 | RB | RB | Enable turbo speed |
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| Axis/Button | Physical Input | PS4 | F710 | Xbox One | Action |
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| :----------- | :------------------------------- | :-- | :--- | :------- | :------------------------------------------------------------ |
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| **Axis 0** | Left thumb stick vertical | LJ | LJ | LJ | Drive forward/backward |
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| **Axis 1** | Left thumb stick horizontal | LJ | LJ | LJ | Translate left/right |
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| **Axis 2** | Right thumb stick horizontal | RJ | RJ | RJ | Rotate/turn |
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| **Button 4** | Left shoulder button or trigger | L1 | LB | LB | Enable normal speed |
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| **Button 5** | Right shoulder button or trigger | R1 | RB | RB | Enable turbo speed (Dingo-O only; not supported on Ridgeback) |
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:::note
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‎docs_versioned_docs/version-ros1noetic/robots/indoor_robots/ridgeback/user_manual_ridgeback.mdx‎

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Once the blue LED on the top of the controller goes solid, you are paired and ready to drive.
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Hold the L1 trigger button (deadman switch) and push the left thumbstick forward to drive the Ridgeback.
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For full speed mode, hold the R1 trigger.
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See the figure below for the Sony PS4 controls layout.
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If you are not seeing any action, refer to [Support](#ridgeback-support) to get in touch with support.
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‎docs_versioned_docs/version-ros1noetic/robots/solutions/husky_observer/user_manual_husky_observer.mdx‎

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##### Connecting to OutdoorNav Web User Interface
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In order to connect to the Outdoor Nav User Interface, ensure that the tablet
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In order to connect to the OutdoorNav User Interface, ensure that the tablet
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has network connectivity to the Husky Observer as described in
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[Networking Setup](#networking-setup) and note the URL for accessing the OutdoorNav UI.
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#### Autonomous Missions {#autonomous-missions}
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Refer to the Outdoor Nav User Manual for details on the
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Refer to the OutdoorNav User Manual for details on the
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[Autonomous Mode](/docs_outdoornav_user_manual/web_user_interface/ui_overview#autonomous-features),
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including details on [Autonomous Docking](/docs_outdoornav_user_manual/web_user_interface/ui_overview#autonomous-docking).
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