.. _brash_openmct:


Viewing ROS Data in Open MCT
############################

These instructions describe how to install and run our Open MCT ROS plugin.  

This tutorial assumes you have checked out and build the BRASH ROS2 workspace

Install Node 18
===============

.. code-block:: bash
   
   $ sudo apt install curl
   $ sudo curl -sL https://deb.nodesource.com/setup_18.x | bash


Checkout and Configure the MCT plugin
=====================================

.. code-block:: bash

   $ git clone git@bitbucket.org:traclabs/openmct-ros.git
   $ cd openmct-ros


Build it
========

.. code-block:: bash

   $ npm install
   $ npm run build:example
   

Start the rosbridge plugin
==========================

.. code-block:: bash

   $ source /opt/ros/humble/setup.bash
   $ cd ~/code/brash  # or wherever you have installed your brash workspace
   $ source install/local_setup.bash
   $ ros2 launch rosbridge_server rosbridge_websocket_launch.xml port:=<port> address:=<hostname>

But of course set ``port`` and ``hostname`` to what you would like (default is localhost:9090, but you can't use 9090 cause thats what Open MCT wants).


Start Open MCT (and the ROS plugin)
===================================

First, you should change the addrss of ``rosBridgeEndpoint`` in ``openmct-ros/example/index.js`` to match the ``port`` and ``hostname`` arguments you used above (default is ``rosmachine:9090``).

Next, run the Open MCT development server. 

.. code-block:: bash

   $ npm start

After the server has started, launch a web browser pointing to http://localhost:9090/ to see the OpenMCT UI.  You should see all of your ROS topics in the Open MCT browser.


BRASH/TRACArm Example
=====================




The following video shows how the MCT plugin can show the telemetry data coming from our cFS-based robot from the :ref:`RobotSim Tutorial <brash_robotsim_demo>`.  If you start up cFS and that robot, then also start the **rosbridge** server and Open MCT with the appropriate port, you can get something like this:

.. youtube:: Uq2fbdsby3c
   :width: 640
   :height: 480