Operator GUI

Task editing, pose storage, execution controls, chat, and robot visualization. The ROS bridge connects the Qt interface to topics, actions, and services.

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open_task_form — Locate the editor selected for a task type and see how accepted edits return to the queue.
MTCMainWindow._execute — Follow queue validation, preview selection, and document submission from the main window.
ROS2Bridge.execute_task — Trace the GUI request across the ROS action boundary and back through feedback and result signals.
VisualizationPanel.preview_pose — See how an edited joint pose updates the viewer without submitting a robot-motion command.

Modules

Module	Responsibility	Entries
GUI startup	Start the operator GUI and manage the Qt application’s lifetime.	1
Operator window	Coordinate task editing, saved runs, pose management, chat, and execution controls.	57
Task editor forms	Edit task dictionaries through a modal form selected by `task_type`.	68
Task queue display	Show editable task rows, selection, and execution progress.	35
ROS and GUI bridge	Translate ROS messages, action results, and service responses into Qt signals.	25
Pose browser and registry	Load, browse, and update the GUI’s shared pose registry.	16
Pose editing dialogs	Edit joint poses and choose where to save them.	13
Pose registry files	Read and atomically replace YAML registries of six-joint poses.	2
Camera display	Display camera images and marker detections in the operator GUI.	4
Robot and trajectory viewer	Display the robot, task previews, and configured obstacles in an embedded 3D viewer.	34
Embedded robot viewer	Render the robot model and obstacle preview inside the operator GUI. These JavaScript functions change the display; they do not send robot commands or update the MoveIt planning scene.	13
Chat interface	Present messages, tool calls, execution outcomes, and Plan/Run controls.	23
Chat agent connection	Connect the Qt chat interface to `RobotAgent` on a background asyncio thread.	15
Chat agent modes	Select the prompts, local tools, and MCP filters for the GUI’s Plan and Run modes.	4
GUI appearance	Apply the shared colors, fonts, icons, and widget styles.	6
Operator GUI launch	Launch wrapper for the mtc_gui_client executable. Beamline/robot configuration comes from BEAMBOT_BEAMLINE_CONFIG in the process environment, with no declared launch arguments.	1