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Ground Control Station (GCS)

The Ground Control Station provides monitoring, control, and mission planning capabilities for AirStack robots. Operators use the GCS to:

  • Monitor robot status and sensor feeds
  • Send mission commands and waypoints
  • Visualize robot poses and planned paths
  • Coordinate multi-robot operations
  • Record and analyze mission data

Directory Structure

The GCS is organized under gcs/:

gcs/
├── docker/                           # GCS containerization
│   ├── docker-compose.yaml           # Main launch configuration
│   ├── gcs-base-docker-compose.yaml  # Shared base service
│   ├── Dockerfile.gcs                # Image definition
│   ├── Foxglove/                     # Foxglove Studio configuration
│   │   ├── layouts/                  # Pre-configured dashboard layouts
│   │   └── extensions/               # Custom Foxglove extensions
│   └── resources/                    # GCS assets and resources
├── ros_ws/                           # ROS 2 workspace
│   └── src/                          # Source packages
│       ├── rqt_gcs/                  # Main GCS GUI panel
│       ├── rqt_airstack_control_panel/ # Robot control panel
│       └── ros2tak_tools/            # TAK server integration (optional)
└── bags/                             # Recorded mission data

Launch Structure

The GCS is launched via Docker Compose. The configuration is in gcs/docker/docker-compose.yaml.

Key components:

  • RQT GCS Panel: Main monitoring and control interface
  • Foxglove Studio: Advanced visualization and debugging
  • TAK Integration: Situational awareness via TAK protocol (optional)

Launch command:

# Start GCS container
airstack up gcs

# Access GCS interface
# - RQT panel opens automatically in container
# - Or connect to container: airstack connect gcs

The Docker command: launches the GCS ROS 2 nodes and opens the RQT interface.

Learn more: Docker Configuration

GCS Interfaces

RQT GCS Panel

The main control interface built with RQT (ROS Qt GUI).

Features:

  • Real-time robot status monitoring
  • Mission planning and waypoint management
  • Sensor feed visualization
  • Multi-robot coordination dashboard
  • Emergency controls and safety monitoring

See: User Interface Guide

Foxglove Studio

Advanced visualization and debugging interface for robotics data.

Features:

  • 3D scene visualization: View robot poses, paths, and point clouds
  • Custom layouts: Pre-configured dashboards for different mission phases
  • Data recording: Record and playback mission data
  • Remote monitoring: Access via web browser from anywhere
  • Custom panels: Extensible with custom visualization plugins

Configuration: Pre-configured layouts available in gcs/docker/Foxglove/layouts/

Access: Foxglove runs on port 8765 (configurable via docker-compose)

TAK Integration (Optional)

Integration with TAK (Team Awareness Kit) servers for military and first responder workflows.

Use cases:

  • Coordinate with TAK-enabled ground teams
  • Share situational awareness data
  • Integrate with existing TAK infrastructure

See: WinTAK Installation | Command Center

System Requirements

Hardware:

  • Hard Disk: 60GB free space
  • RAM: 8GB minimum, 16GB recommended
  • CPU: 4 cores minimum, 8+ recommended
  • Network: Access to robot containers (via airstack_network or direct connection)

Software:

  • OS: Ubuntu 22.04/24.04 LTS
  • Docker: Installed via airstack install
  • Display: X11 display server (for RQT GUI)

Quick Start

  1. Launch GCS container: 

    airstack up gcs

  2. Launch robots (if not already running): 

    airstack up robot-desktop
# Or with multiple robots
NUM_ROBOTS=3 airstack up robot-desktop

  3. Access GCS interface:

  4. RQT panel opens automatically in container
  5. Or connect manually: airstack connect gcs

  6. Foxglove: Open browser to http://localhost:8765

  7. Monitor and control robots via the interface

Full tutorial: Getting Started

Next Steps