# Lichtblick Documentation

> An integrated visualization and diagnosis tool for robotics

This file contains links to documentation sections following the llmstxt.org standard.

## Documentation

- [Browser Support](https://lichtblick-suite.github.io/docs/docs/browser-support): Lichtblick is designed to work optimally on Chrome web browser. Below is the list of supported browsers and their minimum versions.
- [Frameworks](https://lichtblick-suite.github.io/docs/docs/connecting-to-data/frameworks/introduction): This section of the documentation provides a guide on how to connect Lichtblick to various data sources and understand the supported data formats a...
- [MCAP](https://lichtblick-suite.github.io/docs/docs/connecting-to-data/frameworks/mcap): Load local and remote [MCAP files](https://mcap.dev).
- [PX 4](https://lichtblick-suite.github.io/docs/docs/connecting-to-data/frameworks/px-4): Load local PX 4 ULog (`ulg`) files for visualization.
- [ROS 1](https://lichtblick-suite.github.io/docs/docs/connecting-to-data/frameworks/ros1): Load local and remote ROS 1 (`.bag`) files, or connect directly to a live ROS 1 stack.
- [ROS 2](https://lichtblick-suite.github.io/docs/docs/connecting-to-data/frameworks/ros2): Load local and remote [MCAP](./mcap.md) files containing ROS 2 data, or connect directly to a live ROS 2 stack.
- [Rosbridge](https://lichtblick-suite.github.io/docs/docs/connecting-to-data/frameworks/rosbridge): <div class="warning">
- [Schema encodings](https://lichtblick-suite.github.io/docs/docs/connecting-to-data/frameworks/schema-encodings): Both MCAP-based and websockets sources support several message and schema encodings.
- [Velodyne](https://lichtblick-suite.github.io/docs/docs/connecting-to-data/frameworks/velodyne): <div class="warning">
- [Connecting to Data](https://lichtblick-suite.github.io/docs/docs/connecting-to-data/introduction): To begin visualizing data, navigate to the Lichtblick dashboard and select a data source option.
- [Live Data](https://lichtblick-suite.github.io/docs/docs/connecting-to-data/live-data): Connect to live data sources using Lichtblick's WebSocket, Rosbridge, and Velodyne Lidar integrations for real-time streaming. You can also load re...
- [Local Data](https://lichtblick-suite.github.io/docs/docs/connecting-to-data/local-data): Lichtblick enables you to load local data files for visualization.
- [Multiple files](https://lichtblick-suite.github.io/docs/docs/connecting-to-data/multiple-files): <div class="warning">
- [Experimental Features](https://lichtblick-suite.github.io/docs/docs/experimental-features/introduction): :::caution
- [Custom Camera Models](https://lichtblick-suite.github.io/docs/docs/extensions/extension-api/custom-camera-models): Add support for lenses or projections not covered by the built-in pinhole model (e.g., fisheye). When a camera stream’s calibration (`CameraInfo`) ...
- [ExtensionContext](https://lichtblick-suite.github.io/docs/docs/extensions/extension-api/extension-context): The `ExtensionContext` is passed to your `activate()` function and lets you register everything your extension provides. Think of it as your toolbo...
- [ExtensionModule](https://lichtblick-suite.github.io/docs/docs/extensions/extension-api/extension-module): The ExtensionModule is the entry point of a Lichtblick extension. Your bundle must export a single `activate()` function. Lichtblick calls this fun...
- [Extension API](https://lichtblick-suite.github.io/docs/docs/extensions/extension-api/introduction): The [`@lichtblick/suite`](https://www.npmjs.com/package/@lichtblick/suite) package provides type definitions and helpers for building Lichtblick ex...
- [Message Converters](https://lichtblick-suite.github.io/docs/docs/extensions/extension-api/message-converters): Message converters transform messages from one schema to another. In Lichtblick, converters are schema-based (not topic-based): you map a source sc...
- [Other types](https://lichtblick-suite.github.io/docs/docs/extensions/extension-api/other-types): All public types live in `@lichtblick/suite` — see the package for the authoritative source: https://www.npmjs.com/package/@lichtblick/suite
- [PanelExtensionContext](https://lichtblick-suite.github.io/docs/docs/extensions/extension-api/panel-extension-context): The `PanelExtensionContext` is passed to your panel’s `initPanel()` function. It is how your panel interacts with Lichtblick: subscribe to data, re...
- [Settings API](https://lichtblick-suite.github.io/docs/docs/extensions/extension-api/settings-api): Use the Settings API to attach per-topic settings UI to [message converters](./message-converters) (scoped by panel type). This lets users adjust c...
- [Settings Tree](https://lichtblick-suite.github.io/docs/docs/extensions/extension-api/settings-tree): Use a Settings Tree to render a simple settings UI for your panel or [message converter](./message-converters). You describe fields and groups as a...
- [Topic Aliases](https://lichtblick-suite.github.io/docs/docs/extensions/extension-api/topic-aliases): Topic aliases let your extension expose friendlier or standardized topic names without changing the data source. Panels can subscribe to an alias, ...
- [Extensions](https://lichtblick-suite.github.io/docs/docs/extensions/introduction): Extend Lichtblick's capabilities with custom extensions to better support your team's unique workflows. Build bespoke panels, convert custom messag...
- [Local Development](https://lichtblick-suite.github.io/docs/docs/extensions/local-development): Develop and test your **Lichtblick extensions locally** using the official scaffolding tool.
- [Publishing Extensions](https://lichtblick-suite.github.io/docs/docs/extensions/publish-extensions): Publishing extensions is a **work in progress** for Lichtblick.
- [Getting Started](https://lichtblick-suite.github.io/docs/docs/initial-information): Lichtblick empowers robotics teams to efficiently explore, collaborate on, and interpret their robots' data, leading to smarter iterations and fast...
- [Settings](https://lichtblick-suite.github.io/docs/docs/settings): Here you can find the general settings that allows you to configure core preferences, such as language, appearance, and default behaviors. These se...
- [Alerts](https://lichtblick-suite.github.io/docs/docs/visualization/alerts): Lichtblick's alert system surfaces issues that occur during data playback, live connections, and panel processing so the user always knows when som...
- [Annotating ROS Enum Fields](https://lichtblick-suite.github.io/docs/docs/visualization/annotate-ros-enum-fields): ROS messages do not natively support enumerations, but Lichtblick provides two ways to treat constant values as enums: using a separate enum messag...
- [Favorite Layouts](https://lichtblick-suite.github.io/docs/docs/visualization/favorite-layouts): Mark personal and shared layouts as favorites to keep them at the top of the Layouts sidebar and load them automatically when Lichtblick opens.
- [Visualization](https://lichtblick-suite.github.io/docs/docs/visualization/introduction): Lichtblick offers a comprehensive suite of visualization tools to help you analyze and interpret your robotics data effectively.
- [Layouts](https://lichtblick-suite.github.io/docs/docs/visualization/layouts): Lichtblick layouts enable users to design and save customized workspaces tailored to specific tasks or workflows. These layouts can be reused for r...
- [Message Path Syntax](https://lichtblick-suite.github.io/docs/docs/visualization/message-path-syntax): In Lichtblick, message path syntax is utilized to precisely access specific data within your messages.
- [ArrowPrimitive](https://lichtblick-suite.github.io/docs/docs/visualization/message-schemas/arrow-primitive): Represents a visual arrow used to indicate direction or orientation in 3D space.
- [Built-in types](https://lichtblick-suite.github.io/docs/docs/visualization/message-schemas/built-in-types): Primitive types are the building blocks of Foxglove's supported message schemas.
- [CameraCalibration](https://lichtblick-suite.github.io/docs/docs/visualization/message-schemas/camera-calibration): Contains intrinsic and extrinsic calibration parameters for a camera.
- [CircleAnnotation](https://lichtblick-suite.github.io/docs/docs/visualization/message-schemas/circle-annotation): A circle annotation on a 2D image.
- [Color](https://lichtblick-suite.github.io/docs/docs/visualization/message-schemas/color): A color represented in RGBA format.
- [CompressedImage](https://lichtblick-suite.github.io/docs/docs/visualization/message-schemas/compressed-image): A compressed image.
- [CompressedVideo](https://lichtblick-suite.github.io/docs/docs/visualization/message-schemas/compressed-video): A single frame of a compressed video bitstream.
- [CubePrimitive](https://lichtblick-suite.github.io/docs/docs/visualization/message-schemas/cube-primitive): A primitive representing a cube or rectangular prism.
- [CylinderPrimitive](https://lichtblick-suite.github.io/docs/docs/visualization/message-schemas/cylinder-primitive): A primitive representing a cylinder, elliptic cylinder, or truncated cone.
- [LineType](https://lichtblick-suite.github.io/docs/docs/visualization/message-schemas/enum-line-type): An enumeration that defines how a set of input points is connected to form lines.
- [LogLevel](https://lichtblick-suite.github.io/docs/docs/visualization/message-schemas/enum-log-level): The severity level assigned to a log entry.
- [NumericType](https://lichtblick-suite.github.io/docs/docs/visualization/message-schemas/enum-numeric-type): The data type used to represent a numeric value.
- [PointsAnnotationType](https://lichtblick-suite.github.io/docs/docs/visualization/message-schemas/enum-points-annotation-type): Defines how a set of points should be rendered as an annotation.
- [PositionCovarianceType](https://lichtblick-suite.github.io/docs/docs/visualization/message-schemas/enum-position-covariance-type): Describes how the position covariance data was obtained or estimated.
- [SceneEntityDeletionType](https://lichtblick-suite.github.io/docs/docs/visualization/message-schemas/enum-scene-entity-deletion-type): An enumeration that specifies the scope of entities targeted by a `SceneEntityDeletion` command.
- [FrameTransform](https://lichtblick-suite.github.io/docs/docs/visualization/message-schemas/frame-transform): A transform between two reference frames in 3D space.
- [FrameTransforms](https://lichtblick-suite.github.io/docs/docs/visualization/message-schemas/frame-transforms): An array of [`FrameTransform`](./frame-transform.md) messages.
- [GeoJSON](https://lichtblick-suite.github.io/docs/docs/visualization/message-schemas/geojson): GeoJSON data for annotating maps.
- [Grid](https://lichtblick-suite.github.io/docs/docs/visualization/message-schemas/grid): A 2D grid of data.
- [ImageAnnotations](https://lichtblick-suite.github.io/docs/docs/visualization/message-schemas/image-annotations): Array of annotations for a 2D image.
- [Message Schemas](https://lichtblick-suite.github.io/docs/docs/visualization/message-schemas/introduction): Lichtblick relies on structured message formats to ensure accurate data visualization and processing. By adhering to Lichtblick's schema standards,...
- [KeyValuePair](https://lichtblick-suite.github.io/docs/docs/visualization/message-schemas/key-value-pair): A key with its associated value.
- [LaserScan](https://lichtblick-suite.github.io/docs/docs/visualization/message-schemas/laser-scan): Single scan from a planar laser range-finder
- [LinePrimitive](https://lichtblick-suite.github.io/docs/docs/visualization/message-schemas/line-primitive): A primitive representing a series of points connected by lines.
- [LocationFix](https://lichtblick-suite.github.io/docs/docs/visualization/message-schemas/location-fix): A navigation satellite fix for any Global Navigation Satellite System
- [Log](https://lichtblick-suite.github.io/docs/docs/visualization/message-schemas/log): A log message
- [ModelPrimitive](https://lichtblick-suite.github.io/docs/docs/visualization/message-schemas/model-primitive): A primitive representing a 3D model file loaded from an external URL or embedded data.
- [PackedElementField](https://lichtblick-suite.github.io/docs/docs/visualization/message-schemas/packed-element-field): A field present within each element in a byte array of packed elements.
- [PointCloud](https://lichtblick-suite.github.io/docs/docs/visualization/message-schemas/point-cloud): A collection of N-dimensional points, which may contain additional fields with information like normals, intensity, etc.
- [Point2](https://lichtblick-suite.github.io/docs/docs/visualization/message-schemas/point2): A point representing a position in 2D space.
- [Point3](https://lichtblick-suite.github.io/docs/docs/visualization/message-schemas/point3): A point representing a position in 3D space.
- [PointsAnnotation](https://lichtblick-suite.github.io/docs/docs/visualization/message-schemas/points-annotation): An array of points on a 2D image.
- [PoseInFrame](https://lichtblick-suite.github.io/docs/docs/visualization/message-schemas/pose-in-frame): A position and orientation for an object or reference frame in 3D space.
- [Pose](https://lichtblick-suite.github.io/docs/docs/visualization/message-schemas/pose): A position and orientation for an object or reference frame in 3D space.
- [PosesInFrame](https://lichtblick-suite.github.io/docs/docs/visualization/message-schemas/poses-in-frame): An array of timestamped poses for an object or reference frame in 3D space.
- [Quaternion](https://lichtblick-suite.github.io/docs/docs/visualization/message-schemas/quaternion): A [quaternion](https://eater.net/quaternions) representing a rotation in 3D.
- [RawImage](https://lichtblick-suite.github.io/docs/docs/visualization/message-schemas/raw-image): A raw image.
- [SceneEntityDeletion](https://lichtblick-suite.github.io/docs/docs/visualization/message-schemas/scene-entity-deletion): An instruction to delete entities that were previously added to the scene.
- [SceneEntity](https://lichtblick-suite.github.io/docs/docs/visualization/message-schemas/scene-entity): A graphical object within a 3D scene. An entity can consist of several primitives that all operate within the same coordinate frame.
- [SceneUpdate](https://lichtblick-suite.github.io/docs/docs/visualization/message-schemas/scene-update): A message used to modify the set of entities rendered in a 3D scene.
- [SpherePrimitive](https://lichtblick-suite.github.io/docs/docs/visualization/message-schemas/sphere-primitive): A primitive that describes a spherical or ellipsoidal shape.
- [TextAnnotation](https://lichtblick-suite.github.io/docs/docs/visualization/message-schemas/text-annotation): A textual annotation overlaid on a 2D image.
- [TextPrimitive](https://lichtblick-suite.github.io/docs/docs/visualization/message-schemas/text-primitive): A primitive used to display a text label in a 3D scene.
- [TriangleListPrimitive](https://lichtblick-suite.github.io/docs/docs/visualization/message-schemas/triangle-list-primitive): A primitive that defines a collection of triangles or a surface constructed from a triangular mesh.
- [Vector2](https://lichtblick-suite.github.io/docs/docs/visualization/message-schemas/vector2): A directional vector defined in two-dimensional space.
- [Vector3](https://lichtblick-suite.github.io/docs/docs/visualization/message-schemas/vector3): A directional vector defined in three-dimensional space.
- [Migrate from Other Tools](https://lichtblick-suite.github.io/docs/docs/visualization/migrate-from-other-tools): Lichtblick streamlines robotics development by integrating commonly used developer tools into modular panels—providing a unified development enviro...
- [Open via CLI](https://lichtblick-suite.github.io/docs/docs/visualization/open-via-cli): Easily open local files using the command line by installing the Lichtblick desktop application. This allows you to quickly access .mcap files with...
- [3D Panel](https://lichtblick-suite.github.io/docs/docs/visualization/panels/3d-panel): Visualize robots and environments in 3D — markers, entities, point clouds, URDFs, transforms and more.
- [Delta Measure Mode](https://lichtblick-suite.github.io/docs/docs/visualization/panels/delta-measure-mode): Compare values at two points in Plot and State Transitions panels.
- [Gauge Panel](https://lichtblick-suite.github.io/docs/docs/visualization/panels/gauge-panel): The Gauge Panel in Lichtblick allows you to visualize numeric values from incoming topic [message paths](/visualization/message-path-syntax.md) on ...
- [Image Panel](https://lichtblick-suite.github.io/docs/docs/visualization/panels/image-panel): Display raw and compressed images, as well as compressed videos.
- [Indicator Panel](https://lichtblick-suite.github.io/docs/docs/visualization/panels/indicator-panel): The Indicator Panel in Lichtblick displays a color-coded label to indicate threshold values in your data. It is useful for providing at-a-glance st...
- [Map Panel](https://lichtblick-suite.github.io/docs/docs/visualization/panels/map-panel): Display GPS and GeoJSON data on a world map.
- [Panels](https://lichtblick-suite.github.io/docs/docs/visualization/panels/panels-introduction): Panels in Lichtblick are flexible, modular elements that allow you to visualize and interact with data. You can customize and organize these panels...
- [Playback Performance Panel](https://lichtblick-suite.github.io/docs/docs/visualization/panels/playback-performance): The Playback Performance panel provides a real-time visualization of playback performance metrics during the execution of a playback session. It di...
- [Plot](https://lichtblick-suite.github.io/docs/docs/visualization/panels/plot-panel): The Plot Panel in Lichtblick is a user interface component designed to facilitate the visualization and control of plotting data. It allows to view...
- [Raw Messages](https://lichtblick-suite.github.io/docs/docs/visualization/panels/raw-messages-panel): The **Raw Messages** panel in Lichtblick is a powerful debugging and inspection tool that enables users to visualize raw [ROS](/connecting-to-data/...
- [State Transitions](https://lichtblick-suite.github.io/docs/docs/visualization/panels/state-transitions-panel): Visualize discrete value changes over time using the State Transitions panel.
- [Teleoperation Panel](https://lichtblick-suite.github.io/docs/docs/visualization/panels/teleop-panel): The Teleoperation Panel allows you to remotely control your robot by sending [geometry\_msgs/Twist](https://docs.ros.org/en/api/geometry_msgs/html/...
- [User Scripts Panel](https://lichtblick-suite.github.io/docs/docs/visualization/panels/user-scripts): User Scripts enable you to create synthetic topics in Lichtblick by processing and reshaping existing messages. These scripts are especially useful...
- [Playback](https://lichtblick-suite.github.io/docs/docs/visualization/playback): Lichtblick enables seamless navigation through both local and remote datasets using its playback controls.
- [Shortcuts](https://lichtblick-suite.github.io/docs/docs/visualization/shortcuts): Use keyboard shortcuts to efficiently navigate the Lichtblick visualization interface.
- [Synchronizing Instances](https://lichtblick-suite.github.io/docs/docs/visualization/sync-instances): The _Lichtblick Sync_ feature allows users to synchronize playback actions—such as **play**, **pause**, **seek**, and **play until**—across multipl...
- [Variables](https://lichtblick-suite.github.io/docs/docs/visualization/variables): Variables in Lichtblick allow users to define global values that can be reused across multiple panels within a layout. This feature simplifies upda...

## Guides

- [Create Custom Camera Model](https://lichtblick-suite.github.io/docs/guides/create-custom-camera-model): Build a custom camera model extension to handle specialized camera configurations not supported by the standard camera models in Lichtblick.
- [Create Custom Panel](https://lichtblick-suite.github.io/docs/guides/create-custom-panel): Build a custom panel extension to visualize and interact with your robotics data in ways that best suit your workflow.
- [Create Custom WebSocket Server](https://lichtblick-suite.github.io/docs/guides/create-custom-websocket-server): Build a WebSocket server using the Foxglove WebSocket Protocol to stream real-time robotics data to Lichtblick.
- [Create Message Converter](https://lichtblick-suite.github.io/docs/guides/create-message-converter): Build a message converter extension to transform custom messages into Foxglove-supported schemas for visualization in built-in panels.
- [Create Topic Alias](https://lichtblick-suite.github.io/docs/guides/create-topic-alias): Build a topic alias extension to create alternative names for topics, simplifying complex hierarchies or standardizing naming conventions.
- [Introduction](https://lichtblick-suite.github.io/docs/guides/introduction): Welcome to the Lichtblick Guides section! Here you'll find comprehensive, step-by-step tutorials for extending Lichtblick's capabilities and integr...