Triton ground control

Create, move, and remove objects in the simulated world.

Commanded thrust on all four pods, with eight seconds of history.

Seapath's fix: geodetic, UTM, NED odometry and the raw KMBinary.

The hull on the water, with a navball and the detector's boxes on it.

The ZED's visual-inertial pose, and how much the tracker trusts it.

Both IMUs at ~100 Hz, side by side as a consistency check.

The forward camera, H.264 over WebRTC.

What the ZED's detector sees, nearest first.

The Ouster's cloud as a plan view, plus its flattened scan.

Range, signal, near-IR and reflectivity as video tracks.

The ZED's registered cloud, in the camera frame.

The depth map as video, with the intrinsics behind it.

ZED health and heartbeat, Ouster thermal state and metadata.

Per-label rates against what the vessel published, bandwidth, and each producer's own health.

Live ROS nodes, topics, publish rates and sampled messages.