The Robot Operating System (ROS) has significantly gained popularity among robotic engineers and researchers over the past five years, primarily due to its powerful infrastructure for node communication, which enables developers to build modular and large robotic applications. However, ROS presents a steep learning curve and lacks the intuitive usability of vendor-specific robotic Graphical User Interfaces (GUIs). Moreover, its modular and distributed nature complicates the control and monitoring of extensive systems, even for advanced users. To address these challenges, this paper proposes a highly adaptable and reconfigurable web-based GUI for intuitively controlling, monitoring, and configuring complex ROS-based robotic systems. The GUI leverages ROSBridge and roslibjs to ensure seamless communication with ROS systems via topics and services. Designed as a versatile platform, the GUI allows for the selective incorporation of modular features to accommodate diverse robotic systems and applications. An initial set of commonly used features in robotic applications is presented. To demonstrate its reconfigurability, the GUI was customized and tested for four industrial use cases, receiving positive feedback. The project's repository has been made publicly available to support the robotics community and lower the entry barrier for ROS in industrial applications.

翻译：机器人操作系统（ROS）在过去五年间显著受到机器人工程师和研究人员的青睐，这主要得益于其强大的节点通信基础设施，使开发者能够构建模块化的大型机器人应用。然而，ROS存在陡峭的学习曲线，且缺乏厂商专用机器人图形用户界面（GUI）的直观易用性。此外，其模块化与分布式特性使得对大型系统的控制与监控变得复杂，即使对于高级用户也是如此。为应对这些挑战，本文提出了一种高度适应性和可重构的基于Web的GUI，用于直观地控制、监控和配置基于ROS的复杂机器人系统。该GUI利用ROSBridge和roslibjs确保通过主题与服务实现与ROS系统的无缝通信。该GUI被设计为一个多功能平台，允许选择性集成模块化功能以适应多样化的机器人系统和应用。本文展示了一组机器人应用中常用的初始功能集。为证明其可重构性，该GUI针对四个工业用例进行了定制化与测试，并获得了积极反馈。项目代码库已公开，以支持机器人学界并降低ROS在工业应用中的入门门槛。