LEVIATHANDocumentation

DOC 02WORKSPACES

Dashboard

The Dashboard has two views, switched at the top right. Analysis is a dockable grid of plots, tables and gauges driven by message paths and a shared timeline, in the style of robotics log tools. Tools holds the catalogue of 85 analysis panels for sensors, physics, charts, estimation, evaluation and interfaces, the tools that once had their own tabs. Most Tools panels run the analytic tier, so they are fast enough to explore interactively.

Analysis

Dashboard Analysis view, Control tuning layout, following a recorded controller simulation: a metrics row along the top, plots of depth converging from 3 m to the 8 m setpoint, power, heave command against applied force, controller and physics step times, the four thruster forces, and a saturation indicator reading Nominal.
Figure 2.1 The Control tuning layout on a recorded run of the ROV Controller template's depth-and-heading-hold simulation. The metrics row reports rise time 8.49 s, settling 13.2 s, overshoot 1.0 % and a steady-state error of 0.006 m, computed by the simulation service.
  • Source, top left: World (the live bus from the World workspace), SITL (live, over WebSocket), Simulation runs (controller simulations of the open Code project, live while running), Import CSV or log, and Demo. Demo trajectories are synthesized and always labelled as such.
  • Layouts. Four defaults, Live run, Episode review, Sensors and Control tuning. Layouts are saved per project: save as a copy, duplicate, rename, import and export as JSON, or reset to the default.
  • Panels dock, split, tab, drag to rearrange and maximize. + Panel adds one.
  • Timeline, bottom: Space plays and pauses, Left and Right step (Shift for 1 s), Home and End jump, speed runs from 0.25× to 10×, Shift-drag on the bar sets a loop range, and Live follows the newest data.
The + Panel menu open over the Analysis grid, listing Plot, Table, Raw Messages, State Transitions, Gauge, Indicator, Image, Sonar, Map, Log, Topics, Parameters, Diagnostics and Metrics.
Figure 2.2 The fourteen Analysis panel types.
Table 2.1 Analysis panels.
PanelShows
PlotSeries against time, with a synchronised crosshair, zoom and pan, a min/max/mean legend, and PNG and CSV export. Click seeks; drag or the wheel zooms; Shift- or Ctrl-wheel pans; double-click resets; clicking a legend entry hides that series
TableMessages as rows, up to 100,000
Raw MessagesOne topic's latest message as a tree
State TransitionsA discrete value, such as a mode, as bands over time
Gauge, IndicatorOne value on a dial, or a coloured state such as saturation
Image, Sonar, MapCamera frames, sonar images, and the track in plan view
Log, Topics, Parameters, DiagnosticsLog lines, the topics in the source, run parameters, and diagnostics
MetricsA row of run metrics, each shown only when its inputs exist: duration, distance, maximum speed, RMS and maximum depth error, path-tracking error (needs waypoints), energy (Wh, from power), maximum thrust, time saturated and mean controller time; for controller simulations, the service's step-response metrics

Message paths select a field as /topic.field or an array element as /topic.array[2], for example /pose.depth, /control/cmd.Z or /thrusters.force[0].

Table 2.2 Topics the built-in sources publish.
TopicFields
/posenorth, east, depth (m); roll, pitch, yaw (deg)
/velocityu, v, w, speed (m/s); p, q, r (deg/s)
/setpointdepth (m), heading (deg)
/control/cmd, /control/appliedX, Y, Z (N); K, M, N (N·m); saturated
/thrustersforce[i] (N)
/powerwatts
/timingctrl_ms, phys_ms
/sensor/pressurepressure_pa, depth
/controller/debugwhatever the controller reports
/worldmotion_source, mode, vehicle
The World source and hidden tabs

The World source follows the World workspace's live bus. In this release it stops updating while the World workspace is not the visible tab, so for a run you want to analyse in full, use a controller simulation (Simulation runs) or an imported log.

Tools

Tools view with the panel picker open: a search box and groups Navigation and state (5), Scene (4), Acoustics (8), Optical (3), Charts and bathymetry (5), Physics and vehicle (15), Learning and evaluation (35), Diagnostics (2) and Other (8).
Figure 2.3 In Tools, + Panel opens the picker: search by name, or browse the nine groups.

Nothing from the earlier Dashboard was removed: its panel catalogue lives in Tools, and Tools opens by itself when another workspace asks for one of its panels.

Tools layout

  • Source, top left: the data the panels follow. By default this is live · viewport, the World's vehicle sampled ten times a second. A device registered with the remote device gateway can also be chosen.
  • Panel tabs in the centre. The left sidebar holds the selected panel's settings and title override, with export, import and reset. It also has Topics and Problems tabs.
  • Right sidebar: Variables, Events, Layouts and Recordings.
  • Timeline, bottom: step, play, loop and playback speed, plus event markers.

Tools panel catalogue

Table 2.3 All Tools panels, by group as shown in the picker.
GroupPanelsPanels
Navigation & state5Pose vs time · Speed vs time · Depth gauge · State readout · Frames
Scene4Seabed · Scene entities · Survey areas · World
Acoustics8Sonar: Forward sonar · Imaging sonar · Side-scan review
Water column: Sound-speed profile · Echogram · Hydrophone
Positioning: Beacons · Acoustic comms
Optical3Camera (live) · Camera projection · Optical chain
Charts & bathymetry5Chart · Coverage chart · Soundings · Tide · Ocean field
Physics & vehicle15Cards: Dynamics run · Side-scan survey · Multibeam bathymetry · USBL positioning · LBL positioning · Camera visibility · GPS surface fix · Stereo vs depth range · Import bathymetry · Tether catenary · Cable dynamics
Planning: Survey coverage · Mission · Hull hydrodynamics · Traffic
Learning & evaluation35Reinforcement learning · Run verdict · Training runs
Grading: Task suite · Grade suite · Segmentation grade · Detection grade · Robustness bench · Public benchmark · Compare runs · Regression
Estimation: Nav filter · Cooperative localisation · SLAM eval · System ID · External frames
Sensor models: Thermal camera · Optical flow · Event camera · LiDAR · Visible-light comms
Fleet & behaviour: Boids · Cooperative survey · Coordination · Intervention · Manipulator
Robustness: Scenario · Disturbance observer · Robustness ladder · Current sweep · Domain randomisation · Parameter sweep
Policy: Distillation · Policy export · Synthetic data
Diagnostics2Performance · Problems
Other8Viewport (live) · Viewport live · ROS 2 · SITL / HIL · Replay · Author · Scenario graph · Project

Representative Tools panels

Side-scan survey and multibeam bathymetry

Survey cards fly a line over a seabed and build the sonar product. The side-scan waterfall has port and starboard channels, gain and gamma, time-varied-gain flattening, ground-range correction, and an A-scan for any ping. The multibeam strip shows depth across the swath and lets you choose the sound-speed profile: flat 1500 m/s, summer thermocline, Munk deep channel or coastal.

Side-scan survey panel: line length, tow depth, beams per side and maximum range inputs, and a grey waterfall image with three targets and their acoustic shadows either side of the nadir gap.
Figure 2.4 Side-scan survey: 200 pings, 96 beams per side, 8 m tow.
Multibeam bathymetry panel: swath parameters, a sound-speed profile selector and a depth-coloured strip showing seabed features across a 120 degree swath.
Figure 2.5 Multibeam bathymetry: 64 beams across a 120° swath.

Optical chain

The Optical chain panel explains what an underwater camera with artificial lights can see. Its inputs are lamp offset (boom length), target range, lamp power, water type, lens glare class and white balance. It reports contrast at the target, the red/blue colour cast, the glare floor and usable dynamic range. Its central plot shows why lights go on booms: lamp backscatter falls steeply with offset, while ambient veiling does not change. This is an analytic design aid; artificial lighting is not part of the PerceptionFrame camera model.

Optical chain panel: lamp, water and lens settings on the left, and contrast, colour cast, glare floor and usable range readouts with a contrast versus boom length plot on the right.
Figure 2.6 Optical chain: contrast against boom length for coastal water.

Tide

The Tide panel synthesises water level from harmonic constituents over a time window. It shows the range in that window and reduces a sounding to chart datum, including transducer draft and squat. The bundled constants are labelled as examples, not observations for any port.

Tide panel: a water-level curve over eight hours with high and low water marked, and a reduction table from raw depth through draft, squat and tide to depth below chart datum.
Figure 2.7 Tide: five constituents, a 2.74 m range in the window, and a sounding reduced to chart datum.

The Nav filter panel runs LEVIATHAN's navigation EKF on simulated sensors and compares the estimate with truth. It reports RMSE, final error, the 1σ envelope, the error distribution and whether USBL aiding keeps the error bounded. See Mapping and navigation.

Nav filter panel: USBL aiding settings, position RMSE 0.83 m, final error 0.59 m, status Aided (bounded), and a plot of estimated versus true trajectory with a 1 sigma band.
Figure 2.8 Nav filter: an aided EKF run with position RMSE and an estimated-versus-true trajectory.

Reinforcement learning

The Reinforcement learning panel runs one episode of a task for a vehicle, with the analytic baseline or a pasted policy, and optional current fields, obstacles and domain randomisation. It plots depth, reward and distance over time and can open the episode in the World.

Reinforcement learning panel: task Pipeline Follow, vehicle BlueROV2 Heavy, scene and policy settings, and a rollout summary reading success, return 29.26, 539 steps.
Figure 2.9 A Pipeline Follow episode with the analytic baseline on the BlueROV2 Heavy.

Interface panels

ROS 2, SITL / HIL, Replay, Author, Scenario graph and Project replaced the application's former Interfaces tab; the panel picker lists them under Other. The ROS 2, SITL / HIL and Replay panels connect the simulation to other software; they are described in Hardware, HIL and interfaces. Author and Scenario graph are scenario-authoring tools. In this release, Author's reward-drafting backend is an offline stand-in. Project links the Dashboard to Code-workspace projects.

Reading Dashboard results
  • Panels use the analytic tier unless they say otherwise. Their sensor views are models for analysis, not canonical measurements.
  • Several panels state their own limits on screen, for example when a fit is not meaningful or constants are examples. Those notes are part of the result.
  • SLAM eval scores trajectory estimates on a synthetic range-measurement benchmark. It is an evaluation tool; LEVIATHAN does not include a SLAM system.