Install ROS 2, and make sure you are on the same network as the robot.
In Foxglove, select "Open connection" in the "Open data source" dialog.
We recommend Foxglove WebSocket as the easiest way to get connected – especially if you have a network firewall between ROS and Foxglove, as it requires your ROS host to have only one port open.
Select "Foxglove WebSocket" in the "Open data source" dialog, then enter the URL to your Rosbridge server:
To reconnect to a Foxglove WebSocket in a different context, you must first clear out your most recently visualized data in Foxglove.
To clear the state and reset your visualizations, resend the
serverInfo message with an updated value for its optional
sessionID field (string value). This lets the Foxglove WebSocket connection know that you are initiating a new connection, instead of trying to reconnect to a dropped one.
Foxglove WebSocket connections support publishing back to your ROS stack, but not reading or setting ROS parameters.
NOTE: For performance reasons, we recommend using the Foxglove WebSocket connection instead.
Connect directly to your running ROS stack via WebSockets using a Rosbridge connection. This connection option requires only a single open port between Foxglove and your robot.
rosbridge connection uses a standard protocol to connect Foxglove to your ROS master over WebSockets. While it does require running an extra ROS node
rosbridge_server, we recommend this option if you have a network firewall between ROS and Foxglove, as it requires your ROS host to have only one port open.
To open a Rosbridge connection, make sure you’ve installed
$ sudo apt install ros-galactic-rosbridge-suite // ROS 2 Galactic
Next, start the WebSocket server, and review the command printout to determine the port it is listening on (e.g.
$ ros2 launch rosbridge_server rosbridge_websocket_launch.xml
"Open connection" in the "Open data source" dialog, select "Rosbridge", then enter the URL to your Rosbridge server:
To test your connection, open the sidebar to verify that Foxglove is receiving your data source's topics.
Rosbridge connections support publishing back to your ROS stack, but not reading or setting ROS parameters.
Remote ROS 2
.db3 files are not supported, but you can convert them into MCAP files for remote file support.
Select "Remote file" in the "Open data source" dialog, and enter the URL to your remote
Check out the directions for setting up CORS to load remote data files into Foxglove.
You must first convert ROS 2 (
.db3) files into the supported MCAP file format before loading in Foxglove.
mcap CLI tool to help with this conversion:
$ mcap convert ros2_input.db3 ros2_output.mcap
mcap will search the path stored in your
$AMENT_PREFIX_PATH environment variable to locate the ROS message definitions on your hard drive. You can also specify a colon-separated list of directories for the CLI tool to search using the
$ mcap convert ros2_input.db3 ros2_output.mcap --ament-prefix-path=/your/first/directory;/your/second/directory
Once you have your MCAP (
.mcap) file, you're ready to load it for visualization.
To load a local file for visualization, you have several options:
- Double-click the file from your file manager
- Drag-and-drop the file into Foxglove directly
- "Open local file" in the "Open data source" dialog to select a file from your filesystem
Select a custom time range of data (can span multiple recordings or events) to "Visualize" on the Timeline page: