From a970676db67be0f72b90e2fea09e44d68f5f87ae Mon Sep 17 00:00:00 2001
From: Adam Chhor <chhoradam@gmail.com>
Date: Fri, 14 Feb 2025 03:00:18 -0800
Subject: [PATCH 01/13] [srs] removed all <h1>Not yet Implemented</h1>

---
 src/pages/Arm.vue       | 2 --
 src/pages/Cameras.vue   | 4 ----
 src/pages/DevTab.vue    | 5 -----
 src/pages/Help.vue      | 9 +--------
 src/pages/Home.vue      | 9 +--------
 src/pages/Map.vue       | 2 --
 src/pages/Science.vue   | 9 +--------
 src/pages/Settings.vue  | 5 -----
 src/pages/Telemetry.vue | 4 ----
 9 files changed, 3 insertions(+), 46 deletions(-)

diff --git a/src/pages/Arm.vue b/src/pages/Arm.vue
index a6ac1af..cd530bd 100644
--- a/src/pages/Arm.vue
+++ b/src/pages/Arm.vue
@@ -9,8 +9,6 @@ import ArmModel from '../components/arm/ArmModel.vue';
     <Suspense>
       <ArmModel />
     </Suspense>
-
-    <h1>Not yet Implemented</h1>
   </div>
 </template>
 
diff --git a/src/pages/Cameras.vue b/src/pages/Cameras.vue
index 52c9632..1bb2b80 100644
--- a/src/pages/Cameras.vue
+++ b/src/pages/Cameras.vue
@@ -7,10 +7,6 @@ import CameraModule from '@/components/camera/CameraModule.vue';
   <div class="two-by-three-grid-page">
     <CameraModule :camera-id="0" camera-name="Front" />
     <CameraModule :camera-id="1" camera-name="Back" />
-    <h1>Not yet Implemented</h1>
-    <h1>Not yet Implemented</h1>
-    <h1>Not yet Implemented</h1>
-    <h1>Not yet Implemented</h1>
   </div>
 </template>
 
diff --git a/src/pages/DevTab.vue b/src/pages/DevTab.vue
index 338a6ac..000b3fe 100644
--- a/src/pages/DevTab.vue
+++ b/src/pages/DevTab.vue
@@ -8,11 +8,6 @@ import PublishTesterComponent from '@/components/PublishTesterComponent.vue';
   <div class="two-by-three-grid-page">
     <ExampleComponent />
     <PublishTesterComponent />
-    <h1>Not yet Implemented</h1>
-    <h1>Not yet Implemented</h1>
-    <h1>Not yet Implemented</h1>
-    <h1>Not yet Implemented</h1>
-    <h1>Not yet Implemented</h1>
   </div>
 </template>
 
diff --git a/src/pages/Help.vue b/src/pages/Help.vue
index 39a5c9a..60f9677 100644
--- a/src/pages/Help.vue
+++ b/src/pages/Help.vue
@@ -1,14 +1,7 @@
 <!-- Layout of controls -->
 <script setup lang="ts"></script>
 <template>
-  <div class="two-by-three-grid-page">
-    <h1>Not yet Implemented</h1>
-    <h1>Not yet Implemented</h1>
-    <h1>Not yet Implemented</h1>
-    <h1>Not yet Implemented</h1>
-    <h1>Not yet Implemented</h1>
-    <h1>Not yet Implemented</h1>
-  </div>
+  <div class="two-by-three-grid-page"></div>
 </template>
 
 <style lang="scss" scoped></style>
diff --git a/src/pages/Home.vue b/src/pages/Home.vue
index 4984aa5..0290b54 100644
--- a/src/pages/Home.vue
+++ b/src/pages/Home.vue
@@ -3,14 +3,7 @@ Show a couple of cameras, basic telemetry, auto/teleop button, reconnect canfd b
 -->
 <script setup lang="ts"></script>
 <template>
-  <div class="two-by-three-grid-page">
-    <h1>Not yet Implemented</h1>
-    <h1>Not yet Implemented</h1>
-    <h1>Not yet Implemented</h1>
-    <h1>Not yet Implemented</h1>
-    <h1>Not yet Implemented</h1>
-    <h1>Not yet Implemented</h1>
-  </div>
+  <div class="two-by-three-grid-page"></div>
 </template>
 
 <style lang="scss" scoped></style>
diff --git a/src/pages/Map.vue b/src/pages/Map.vue
index df2a218..522f3b8 100644
--- a/src/pages/Map.vue
+++ b/src/pages/Map.vue
@@ -5,8 +5,6 @@ import InteractiveMap from '@/components/map/InteractiveMap.vue';
 <template>
   <div class="two-by-three-grid-page">
     <InteractiveMap />
-    <h1>Not yet Implemented</h1>
-    <h1>Not yet Implemented</h1>
   </div>
 </template>
 
diff --git a/src/pages/Science.vue b/src/pages/Science.vue
index 4ba0316..87e6127 100644
--- a/src/pages/Science.vue
+++ b/src/pages/Science.vue
@@ -1,14 +1,7 @@
 <!-- Anything related to life detection, science stuff should be here -->
 <script setup lang="ts"></script>
 <template>
-  <div class="two-by-three-grid-page">
-    <h1>Not yet Implemented</h1>
-    <h1>Not yet Implemented</h1>
-    <h1>Not yet Implemented</h1>
-    <h1>Not yet Implemented</h1>
-    <h1>Not yet Implemented</h1>
-    <h1>Not yet Implemented</h1>
-  </div>
+  <div class="two-by-three-grid-page"></div>
 </template>
 
 <style lang="scss" scoped></style>
diff --git a/src/pages/Settings.vue b/src/pages/Settings.vue
index 524afe4..b2f5e81 100644
--- a/src/pages/Settings.vue
+++ b/src/pages/Settings.vue
@@ -6,11 +6,6 @@ import ConnectionSettings from '@/components/settings/ConnectionSettings.vue';
 <template>
   <div class="two-by-three-grid-page">
     <ConnectionSettings />
-    <h1>Not yet Implemented</h1>
-    <h1>Not yet Implemented</h1>
-    <h1>Not yet Implemented</h1>
-    <h1>Not yet Implemented</h1>
-    <h1>Not yet Implemented</h1>
   </div>
 </template>
 
diff --git a/src/pages/Telemetry.vue b/src/pages/Telemetry.vue
index 8a7313e..8cd958d 100644
--- a/src/pages/Telemetry.vue
+++ b/src/pages/Telemetry.vue
@@ -145,10 +145,6 @@ function getMoteusStateProxy(
         </GenericMotorTelemetry>
       </div>
     </div>
-    <h1>Not yet Implemented</h1>
-    <h1>Not yet Implemented</h1>
-    <h1>Not yet Implemented</h1>
-    <h1>Not yet Implemented</h1>
   </div>
 </template>
 

From 82b057b214abdde0f321a5cbae1966cca7e06040 Mon Sep 17 00:00:00 2001
From: Adam Chhor <chhoradam@gmail.com>
Date: Fri, 14 Feb 2025 05:31:51 -0800
Subject: [PATCH 02/13] [srs] added bg color to modules and made subscriberbox
 from publishtest to global style

---
 src/assets/global.scss                    | 17 +++++++++++++++++
 src/components/ExampleComponent.vue       |  7 ++++++-
 src/components/Navbar.vue                 |  2 +-
 src/components/PublishTesterComponent.vue | 13 +------------
 4 files changed, 25 insertions(+), 14 deletions(-)

diff --git a/src/assets/global.scss b/src/assets/global.scss
index e473173..86c7c53 100644
--- a/src/assets/global.scss
+++ b/src/assets/global.scss
@@ -2,6 +2,7 @@
   --nav-bar-size: 4rem;
   --black: #000000;
   --dark-grey: #212121;
+  --accent-color: hsl(240, 20%, 20%);
   --grey: #303030;
   --light-grey: #424242;
   --error: #e50000;
@@ -16,6 +17,7 @@
   list-style-type: none;
   box-sizing: border-box;
   text-decoration: none;
+
   &:hover {
     color: inherit;
     text-decoration: none;
@@ -71,6 +73,16 @@ button {
   }
 }
 
+.dialogue-box {
+  padding: 10px;
+  border: 1px solid var(--light-grey);
+  border-radius: 5px;
+  background-color: var(--dark-grey);
+  color: var(--white);
+  width: 100%;
+}
+
+// Page Styles
 .two-by-three-grid-page {
   display: grid;
   width: 100vw;
@@ -81,5 +93,10 @@ button {
   // Can toggle off for debugging
   > * {
     overflow: hidden;
+    background-color: var(--accent-color);
+    padding: 5px;
+    border: var(--white) 1px solid;
+    border-radius: 1%;
+    margin: 0px 2px;
   }
 }
diff --git a/src/components/ExampleComponent.vue b/src/components/ExampleComponent.vue
index c3d7e5c..e4c1107 100644
--- a/src/components/ExampleComponent.vue
+++ b/src/components/ExampleComponent.vue
@@ -24,7 +24,12 @@ const onAndOffHandler = () => {
 </script>
 <template>
   <div>
-    <h1>Example Data: {{ example.helloWorldSub.msg?.data }}</h1>
+    <div class="dialogue-box">
+      <h2>Example Data:</h2>
+      <p>
+        {{ example.helloWorldSub.msg?.data }}
+      </p>
+    </div>
     <button @click="example.helloWorldPub.publish({ data: example.helloWorldSub.msg?.data + '!' })">
       Add !
     </button>
diff --git a/src/components/Navbar.vue b/src/components/Navbar.vue
index c3a4b29..bbe8aa6 100644
--- a/src/components/Navbar.vue
+++ b/src/components/Navbar.vue
@@ -232,7 +232,7 @@ nav {
     gap: 1.75rem;
     height: var(--nav-bar-size);
     padding: 0 2rem 0 1.5rem;
-    background-color: hsl(240, 20%, 20%);
+    background-color: var(--accent-color);
 
     #operation-selector {
       margin: auto 0;
diff --git a/src/components/PublishTesterComponent.vue b/src/components/PublishTesterComponent.vue
index 9288d80..c8e3c81 100644
--- a/src/components/PublishTesterComponent.vue
+++ b/src/components/PublishTesterComponent.vue
@@ -114,7 +114,7 @@ function publishTest() {
         <button type="submit">Publish</button>
       </div>
 
-      <div v-if="receivedMessage" class="subscriber-box">
+      <div v-if="receivedMessage" class="dialogue-box">
         <h2>Received Message:</h2>
         <pre>{{ receivedMessage }}</pre>
       </div>
@@ -178,17 +178,6 @@ button {
   flex-shrink: 0;
 }
 
-.subscriber-box {
-  margin-top: 20px;
-  padding: 10px;
-  border: 1px solid var(--light-grey);
-  border-radius: 5px;
-  background-color: var(--dark-grey);
-  color: var(--white);
-  width: 300px;
-  max-height: 80px;
-}
-
 pre {
   white-space: pre-wrap;
   word-wrap: break-word;

From 9fbaf86d20ca6f4877887fe74e3f4d9cb9f42194 Mon Sep 17 00:00:00 2001
From: Adam Chhor <chhoradam@gmail.com>
Date: Mon, 24 Feb 2025 20:08:12 -0800
Subject: [PATCH 03/13] [srs] changed favicon based on websocket status

---
 index.html                        |   4 ++++
 public/android-chrome-192x192.png | Bin 0 -> 12136 bytes
 public/android-chrome-512x512.png | Bin 0 -> 22635 bytes
 public/apple-touch-icon.png       | Bin 0 -> 11550 bytes
 public/connected-favicon.ico      | Bin 0 -> 15406 bytes
 public/favicon-16x16.png          | Bin 0 -> 536 bytes
 public/favicon-32x32.png          | Bin 0 -> 1287 bytes
 public/favicon.ico                | Bin 4286 -> 15406 bytes
 public/site.webmanifest           |   1 +
 src/App.vue                       |   9 +++++++++
 10 files changed, 14 insertions(+)
 create mode 100644 public/android-chrome-192x192.png
 create mode 100644 public/android-chrome-512x512.png
 create mode 100644 public/apple-touch-icon.png
 create mode 100644 public/connected-favicon.ico
 create mode 100644 public/favicon-16x16.png
 create mode 100644 public/favicon-32x32.png
 create mode 100644 public/site.webmanifest

diff --git a/index.html b/index.html
index 38ad202..3f4e04e 100644
--- a/index.html
+++ b/index.html
@@ -2,7 +2,11 @@
 <html lang="en">
   <head>
     <meta charset="UTF-8" />
+    <link rel="apple-touch-icon" sizes="180x180" href="/apple-touch-icon.png" />
+    <link rel="icon" type="image/png" sizes="32x32" href="/favicon-32x32.png" />
+    <link rel="icon" type="image/png" sizes="16x16" href="/favicon-16x16.png" />
     <link rel="icon" href="/favicon.ico" />
+    <link rel="manifest" href="/site.webmanifest" />
     <meta name="viewport" content="width=device-width, initial-scale=1.0" />
     <title>TFR Mission Control</title>
   </head>
diff --git a/public/android-chrome-192x192.png b/public/android-chrome-192x192.png
new file mode 100644
index 0000000000000000000000000000000000000000..3bd40784a60601ba3e7b1531ce7153a573ea0736
GIT binary patch
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zo_uPg2V)_e-`2Ois=PYoe%9u*n9({PFR)OnHJPi{dNx>Kx<YG`4QQ>D#iCLfl2<BD
h7L=-;Q>vQGDitKtN>z|-AdCN|$jTFDg0m3O`WLD4_s#$S

diff --git a/public/site.webmanifest b/public/site.webmanifest
new file mode 100644
index 0000000..45dc8a2
--- /dev/null
+++ b/public/site.webmanifest
@@ -0,0 +1 @@
+{"name":"","short_name":"","icons":[{"src":"/android-chrome-192x192.png","sizes":"192x192","type":"image/png"},{"src":"/android-chrome-512x512.png","sizes":"512x512","type":"image/png"}],"theme_color":"#ffffff","background_color":"#ffffff","display":"standalone"}
\ No newline at end of file
diff --git a/src/App.vue b/src/App.vue
index 92e2747..5fff37e 100644
--- a/src/App.vue
+++ b/src/App.vue
@@ -3,6 +3,7 @@ import Navbar from '@/components/Navbar.vue';
 import { useRoslibStore } from '@/store/roslibStore';
 import { onBeforeUnmount, onMounted } from 'vue';
 import { gamepadInit } from '@/lib/controller/gamepad';
+import { useFavicon, usePreferredDark } from '@vueuse/core';
 
 const rosjs = useRoslibStore();
 // All global subscribers & publishers that do not belong in a component put in here.
@@ -20,6 +21,14 @@ onBeforeUnmount(() => {
   // Stop the websocket when the app unloads.
   rosjs.stop = true;
 });
+import { computed } from 'vue';
+
+// changes favicon based on if connected or not
+const favicon = computed(() =>
+  rosjs.isWebSocketConnected ? 'connected-favicon.ico' : 'favicon.ico',
+);
+
+useFavicon(favicon);
 </script>
 
 <template>

From e1c5e60e9feef2d32a143a7cdf6837f0af832320 Mon Sep 17 00:00:00 2001
From: Alan Talavera-Cordova <126989249+YoloMcFroyo@users.noreply.github.com>
Date: Fri, 7 Mar 2025 17:17:00 -0800
Subject: [PATCH 04/13] added in turntable rotation

---
 src/components/arm/ArmModel.vue | 13 ++++++++++---
 1 file changed, 10 insertions(+), 3 deletions(-)

diff --git a/src/components/arm/ArmModel.vue b/src/components/arm/ArmModel.vue
index 3450b46..dacf260 100644
--- a/src/components/arm/ArmModel.vue
+++ b/src/components/arm/ArmModel.vue
@@ -6,20 +6,22 @@ import { CanBusID, useTelemetryData } from '@/lib/roslibUtils/telemetry';
 
 const { scene } = await useGLTF('newarm.glb');
 
-//TODO: - add remaining bones
-//      - connect data to bones
+const wrist = scene.getObjectByName('Wrist') as Bone;
 const shoulder = scene.getObjectByName('Shoulder') as Bone;
 const elbow = scene.getObjectByName('Elbow') as Bone;
+const turntable = scene.getObjectByName('Turntable') as Bone;
 
 function degreesToRadians(degrees: number): number {
   return degrees * (Math.PI / 180);
 }
 
 //default rotations on the 3d model
+const wristDefault = degreesToRadians(12.69);
 const shoulderDefault = degreesToRadians(-72.88);
 const elbowDefault = degreesToRadians(153.65);
+const turntableDefault = degreesToRadians(-37.76);
 
-useTelemetryData([CanBusID.ArmShoulder, CanBusID.ArmElbow], (data) => data.position, null, {
+useTelemetryData([CanBusID.ArmShoulder, CanBusID.ArmElbow, CanBusID.ArmTurntable], (data) => data.position, null, {
   armShoulder: (position) => {
     // Multiply the telemetry fraction by 2π to get the incoming additional radians.
     const additionalShoulderRotation = position * -2 * Math.PI;
@@ -32,6 +34,11 @@ useTelemetryData([CanBusID.ArmShoulder, CanBusID.ArmElbow], (data) => data.posit
     const elbowRotation = elbowDefault + additionalElbowRotation;
     elbow.rotation.x = elbowRotation;
   },
+  armTurntable: (position) => {
+    const additionalTurntableRotation = position * 2 * Math.PI;
+    const turntableRotation = turntableDefault + additionalTurntableRotation;
+    turntable.rotation.x = turntableRotation;
+  }
 });
 </script>
 <template>

From 1b5d5bd37228717f9cdfd76cf282f706f180c218 Mon Sep 17 00:00:00 2001
From: Alan Talavera-Cordova <126989249+YoloMcFroyo@users.noreply.github.com>
Date: Fri, 7 Mar 2025 17:20:15 -0800
Subject: [PATCH 05/13] fix format

---
 src/components/arm/ArmModel.vue | 41 ++++++++++++++++++---------------
 1 file changed, 23 insertions(+), 18 deletions(-)

diff --git a/src/components/arm/ArmModel.vue b/src/components/arm/ArmModel.vue
index dacf260..2a42f7f 100644
--- a/src/components/arm/ArmModel.vue
+++ b/src/components/arm/ArmModel.vue
@@ -21,25 +21,30 @@ const shoulderDefault = degreesToRadians(-72.88);
 const elbowDefault = degreesToRadians(153.65);
 const turntableDefault = degreesToRadians(-37.76);
 
-useTelemetryData([CanBusID.ArmShoulder, CanBusID.ArmElbow, CanBusID.ArmTurntable], (data) => data.position, null, {
-  armShoulder: (position) => {
-    // Multiply the telemetry fraction by 2π to get the incoming additional radians.
-    const additionalShoulderRotation = position * -2 * Math.PI;
-    // The final rotation equals the default plus the telemetry offset.
-    const shoulderRotation = shoulderDefault + additionalShoulderRotation;
-    shoulder.rotation.x = shoulderRotation;
+useTelemetryData(
+  [CanBusID.ArmShoulder, CanBusID.ArmElbow, CanBusID.ArmTurntable],
+  (data) => data.position,
+  null,
+  {
+    armShoulder: (position) => {
+      // Multiply the telemetry fraction by 2π to get the incoming additional radians.
+      const additionalShoulderRotation = position * -2 * Math.PI;
+      // The final rotation equals the default plus the telemetry offset.
+      const shoulderRotation = shoulderDefault + additionalShoulderRotation;
+      shoulder.rotation.x = shoulderRotation;
+    },
+    armElbow: (position) => {
+      const additionalElbowRotation = position * 2 * Math.PI;
+      const elbowRotation = elbowDefault + additionalElbowRotation;
+      elbow.rotation.x = elbowRotation;
+    },
+    armTurntable: (position) => {
+      const additionalTurntableRotation = position * 2 * Math.PI;
+      const turntableRotation = turntableDefault + additionalTurntableRotation;
+      turntable.rotation.x = turntableRotation;
+    },
   },
-  armElbow: (position) => {
-    const additionalElbowRotation = position * 2 * Math.PI;
-    const elbowRotation = elbowDefault + additionalElbowRotation;
-    elbow.rotation.x = elbowRotation;
-  },
-  armTurntable: (position) => {
-    const additionalTurntableRotation = position * 2 * Math.PI;
-    const turntableRotation = turntableDefault + additionalTurntableRotation;
-    turntable.rotation.x = turntableRotation;
-  }
-});
+);
 </script>
 <template>
   <div id="arm">

From d93f89f4e3dc4aa885673e51a349e6ee0882fbc9 Mon Sep 17 00:00:00 2001
From: Alan Talavera-Cordova <126989249+YoloMcFroyo@users.noreply.github.com>
Date: Fri, 7 Mar 2025 17:29:12 -0800
Subject: [PATCH 06/13] remove unused variables

---
 src/components/arm/ArmModel.vue | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/src/components/arm/ArmModel.vue b/src/components/arm/ArmModel.vue
index 2a42f7f..57f94e9 100644
--- a/src/components/arm/ArmModel.vue
+++ b/src/components/arm/ArmModel.vue
@@ -6,7 +6,7 @@ import { CanBusID, useTelemetryData } from '@/lib/roslibUtils/telemetry';
 
 const { scene } = await useGLTF('newarm.glb');
 
-const wrist = scene.getObjectByName('Wrist') as Bone;
+//const wrist = scene.getObjectByName('Wrist') as Bone;
 const shoulder = scene.getObjectByName('Shoulder') as Bone;
 const elbow = scene.getObjectByName('Elbow') as Bone;
 const turntable = scene.getObjectByName('Turntable') as Bone;
@@ -16,7 +16,7 @@ function degreesToRadians(degrees: number): number {
 }
 
 //default rotations on the 3d model
-const wristDefault = degreesToRadians(12.69);
+//const wristDefault = degreesToRadians(12.69);
 const shoulderDefault = degreesToRadians(-72.88);
 const elbowDefault = degreesToRadians(153.65);
 const turntableDefault = degreesToRadians(-37.76);

From 62328ab394897cd6afaf31c9ac1ee03c09ffcb60 Mon Sep 17 00:00:00 2001
From: Adam Chhor <chhoradam@gmail.com>
Date: Tue, 11 Mar 2025 01:04:08 -0700
Subject: [PATCH 07/13] tried to fix some interactive map

---
 src/components/arm/ArmModel.vue       |  9 +-----
 src/components/map/InteractiveMap.vue |  1 -
 src/lib/roslibUtils/rosTypes.ts       | 21 +++++++++++++
 src/pages/Arm.vue                     |  9 +++++-
 src/pages/Home.vue                    | 19 +++++++++--
 src/store/mapStore.ts                 | 45 +++++++++++++++++++++++++++
 6 files changed, 92 insertions(+), 12 deletions(-)
 create mode 100644 src/store/mapStore.ts

diff --git a/src/components/arm/ArmModel.vue b/src/components/arm/ArmModel.vue
index e33e6d7..3e7e61d 100644
--- a/src/components/arm/ArmModel.vue
+++ b/src/components/arm/ArmModel.vue
@@ -24,11 +24,4 @@ watch(modelRef, (model) => {
     </TresCanvas>
   </div>
 </template>
-<style lang="scss" scoped>
-#arm {
-  height: 100%;
-  width: 100%;
-  grid-column: 2 / span 2;
-  grid-row: 1 / span 2;
-}
-</style>
+<style lang="scss" scoped></style>
diff --git a/src/components/map/InteractiveMap.vue b/src/components/map/InteractiveMap.vue
index a9594b6..ed9644e 100644
--- a/src/components/map/InteractiveMap.vue
+++ b/src/components/map/InteractiveMap.vue
@@ -5,7 +5,6 @@ import '@maptiler/sdk/dist/maptiler-sdk.css';
 
 const mapContainer = shallowRef<HTMLElement | null>(null);
 const map = shallowRef<Map | null>(null);
-
 onMounted(() => {
   config.apiKey = 'Q7DDIQDDZYYErXyqd3qb';
 
diff --git a/src/lib/roslibUtils/rosTypes.ts b/src/lib/roslibUtils/rosTypes.ts
index 9be823a..9ff40fa 100644
--- a/src/lib/roslibUtils/rosTypes.ts
+++ b/src/lib/roslibUtils/rosTypes.ts
@@ -11,6 +11,7 @@ export type TopicTypeMap = {
   'std_msgs/Float32': StdMsg<number>;
   'std_msgs/Time': StdMsg<number>;
   'sensor_msgs/msg/CompressedImage': CompressedImage;
+  'sensor_msgs/msg/NavSatFix': NavSatFix;
 };
 
 export type TopicType = keyof TopicTypeMap;
@@ -28,3 +29,23 @@ export type CompressedImage = {
   format: 'jpg' | 'png';
   data: Uint8Array;
 };
+
+//https://docs.ros.org/en/noetic/api/sensor_msgs/html/msg/NavSatFix.html
+export type NavSatFix = {
+  header: {
+    stamp: {
+      sec: number;
+      nanosec: number;
+    };
+    frame_id: string;
+  };
+  status: {
+    status: number;
+    service: number;
+  };
+  latitude: number;
+  longitude: number;
+  altitude: number;
+  position_covariance: number[];
+  position_covariance_type: number;
+};
diff --git a/src/pages/Arm.vue b/src/pages/Arm.vue
index cd530bd..6aa7032 100644
--- a/src/pages/Arm.vue
+++ b/src/pages/Arm.vue
@@ -12,4 +12,11 @@ import ArmModel from '../components/arm/ArmModel.vue';
   </div>
 </template>
 
-<style lang="scss" scoped></style>
+<style lang="scss" scoped>
+#arm {
+  height: 100%;
+  width: 100%;
+  grid-column: 2 / span 2;
+  grid-row: 1 / span 2;
+}
+</style>
diff --git a/src/pages/Home.vue b/src/pages/Home.vue
index 0290b54..0c12e62 100644
--- a/src/pages/Home.vue
+++ b/src/pages/Home.vue
@@ -1,9 +1,24 @@
 <!--
 Show a couple of cameras, basic telemetry, auto/teleop button, reconnect canfd bus button, allow basic info about motors (like power consumption?), battery power level, LATER- shows box of the map
 -->
-<script setup lang="ts"></script>
+<script setup lang="ts">
+import ArmModel from '@/components/arm/ArmModel.vue';
+import InteractiveMap from '@/components/map/InteractiveMap.vue';
+import ArmModeSelection from '@/components/arm/ArmModeSelection.vue';
+import CameraModule from '@/components/camera/CameraModule.vue';
+</script>
 <template>
-  <div class="two-by-three-grid-page"></div>
+  <div class="two-by-three-grid-page">
+    <CameraModule :camera-id="0" camera-name="Front" />
+    <CameraModule :camera-id="1" camera-name="Back" />
+    <ArmModeSelection />
+    <div></div>
+
+    <InteractiveMap />
+    <Suspense>
+      <ArmModel />
+    </Suspense>
+  </div>
 </template>
 
 <style lang="scss" scoped></style>
diff --git a/src/store/mapStore.ts b/src/store/mapStore.ts
new file mode 100644
index 0000000..8f4af79
--- /dev/null
+++ b/src/store/mapStore.ts
@@ -0,0 +1,45 @@
+import { defineStore } from 'pinia';
+import { computed } from 'vue';
+import type { TopicType } from '@/lib/roslibUtils/rosTypes';
+import { createSubscriber } from '@/lib/roslibUtils/createSubscriber';
+import { createPublisher } from '@/lib/roslibUtils/createPublisher';
+import { useRoslibStore } from '@/store/roslibStore';
+
+// 0th Define any constants above
+const TOPIC_NAME = '/fix';
+// const TOPIC_MESSAGE_TYPE: TopicType = 'sensor_msgs/NavSatFix';
+
+export const useMapStore = defineStore('example', () => {
+  // 1st define any dependency stores
+  // This will most likely only be useRoslibStore
+  // 2nd define any state here in ref<>()
+  const mapNavSub = createSubscriber({
+    topicName: '/fix',
+    topicType: 'sensor_msgs/msg/NavSatFix',
+    //startingDefaultValue: { data: 'Hello World' },
+  });
+
+  function myFunction() {
+    const ros = useRoslibStore();
+    console.log(mapNavSub.msg.value);
+    console.log(mapNavSub.msg);
+    ros.ros.getTopics((bob) => {
+      console.log(bob);
+    });
+  }
+
+  // Call `myFunction` every 1000 milliseconds (1 second)
+  setInterval(myFunction, 1000);
+  //3rd define any getters in computed
+  //const allCapsData = computed(() => helloWorldSub.msg.value?.data.toUpperCase());
+  //4th define any functions
+  /*
+  const helloWorldPub = createPublisher({
+    topicName: TOPIC_NAME,
+    topicType: TOPIC_MESSAGE_TYPE,
+  });
+  */
+
+  // Return all state, getters and functions
+  return mapNavSub;
+});

From 3847b2e23c637c40e9f646696ebf1838500cf235 Mon Sep 17 00:00:00 2001
From: Adam Chhor <chhoradam@gmail.com>
Date: Fri, 7 Mar 2025 17:06:16 -0800
Subject: [PATCH 08/13] [srs-finished] clean up dcode

---
 src/pages/Home.vue | 8 --------
 1 file changed, 8 deletions(-)

diff --git a/src/pages/Home.vue b/src/pages/Home.vue
index 0c12e62..858484b 100644
--- a/src/pages/Home.vue
+++ b/src/pages/Home.vue
@@ -2,8 +2,6 @@
 Show a couple of cameras, basic telemetry, auto/teleop button, reconnect canfd bus button, allow basic info about motors (like power consumption?), battery power level, LATER- shows box of the map
 -->
 <script setup lang="ts">
-import ArmModel from '@/components/arm/ArmModel.vue';
-import InteractiveMap from '@/components/map/InteractiveMap.vue';
 import ArmModeSelection from '@/components/arm/ArmModeSelection.vue';
 import CameraModule from '@/components/camera/CameraModule.vue';
 </script>
@@ -12,12 +10,6 @@ import CameraModule from '@/components/camera/CameraModule.vue';
     <CameraModule :camera-id="0" camera-name="Front" />
     <CameraModule :camera-id="1" camera-name="Back" />
     <ArmModeSelection />
-    <div></div>
-
-    <InteractiveMap />
-    <Suspense>
-      <ArmModel />
-    </Suspense>
   </div>
 </template>
 

From 23335c0e72d09d30f052a2c7c6e4220b73e53ab5 Mon Sep 17 00:00:00 2001
From: Adam Chhor <chhoradam@gmail.com>
Date: Fri, 7 Mar 2025 17:10:57 -0800
Subject: [PATCH 09/13] [srs-finished] fixed eslint

---
 src/App.vue           | 2 +-
 src/store/mapStore.ts | 4 ----
 2 files changed, 1 insertion(+), 5 deletions(-)

diff --git a/src/App.vue b/src/App.vue
index 5fff37e..48a1705 100644
--- a/src/App.vue
+++ b/src/App.vue
@@ -3,7 +3,7 @@ import Navbar from '@/components/Navbar.vue';
 import { useRoslibStore } from '@/store/roslibStore';
 import { onBeforeUnmount, onMounted } from 'vue';
 import { gamepadInit } from '@/lib/controller/gamepad';
-import { useFavicon, usePreferredDark } from '@vueuse/core';
+import { useFavicon } from '@vueuse/core';
 
 const rosjs = useRoslibStore();
 // All global subscribers & publishers that do not belong in a component put in here.
diff --git a/src/store/mapStore.ts b/src/store/mapStore.ts
index 8f4af79..8ac620c 100644
--- a/src/store/mapStore.ts
+++ b/src/store/mapStore.ts
@@ -1,12 +1,8 @@
 import { defineStore } from 'pinia';
-import { computed } from 'vue';
-import type { TopicType } from '@/lib/roslibUtils/rosTypes';
 import { createSubscriber } from '@/lib/roslibUtils/createSubscriber';
-import { createPublisher } from '@/lib/roslibUtils/createPublisher';
 import { useRoslibStore } from '@/store/roslibStore';
 
 // 0th Define any constants above
-const TOPIC_NAME = '/fix';
 // const TOPIC_MESSAGE_TYPE: TopicType = 'sensor_msgs/NavSatFix';
 
 export const useMapStore = defineStore('example', () => {

From 9b277e27d3b22015e879b06e92fc4d17e96866e8 Mon Sep 17 00:00:00 2001
From: Adam Chhor <chhoradam@gmail.com>
Date: Fri, 7 Mar 2025 17:13:44 -0800
Subject: [PATCH 10/13] [srs-finished] fixed last eslint

---
 src/components/map/InteractiveMap.vue | 1 -
 1 file changed, 1 deletion(-)

diff --git a/src/components/map/InteractiveMap.vue b/src/components/map/InteractiveMap.vue
index ed9644e..65b28c1 100644
--- a/src/components/map/InteractiveMap.vue
+++ b/src/components/map/InteractiveMap.vue
@@ -27,7 +27,6 @@ onMounted(() => {
  * @param lat - The latitude of the pin location.
  * @param lng - The longitude of the pin location.
  */
-// eslint-disable-next-line @typescript-eslint/no-unused-vars
 function addPin(lat: number, lng: number): void {
   if (map.value) {
     const timestamp = new Date().toISOString();

From 5ce98621db05b631bb6be4650c41bf9e5df28da4 Mon Sep 17 00:00:00 2001
From: Adam Chhor <chhoradam@gmail.com>
Date: Fri, 7 Mar 2025 17:23:41 -0800
Subject: [PATCH 11/13] [srs-finished] removed console log

---
 src/components/map/InteractiveMap.vue | 1 +
 1 file changed, 1 insertion(+)

diff --git a/src/components/map/InteractiveMap.vue b/src/components/map/InteractiveMap.vue
index 65b28c1..b43d417 100644
--- a/src/components/map/InteractiveMap.vue
+++ b/src/components/map/InteractiveMap.vue
@@ -5,6 +5,7 @@ import '@maptiler/sdk/dist/maptiler-sdk.css';
 
 const mapContainer = shallowRef<HTMLElement | null>(null);
 const map = shallowRef<Map | null>(null);
+
 onMounted(() => {
   config.apiKey = 'Q7DDIQDDZYYErXyqd3qb';
 

From 7155847ab0bbd45d205339f5c1787e54bef486ab Mon Sep 17 00:00:00 2001
From: Adam Chhor <chhoradam@gmail.com>
Date: Tue, 11 Mar 2025 01:18:25 -0700
Subject: [PATCH 12/13] [srs-finished] fixed minor issues for PR

---
 .gitignore                            |  1 +
 public/site.webmanifest               | 12 +++++++++++-
 src/App.vue                           |  6 +++---
 src/components/map/InteractiveMap.vue |  1 +
 4 files changed, 16 insertions(+), 4 deletions(-)

diff --git a/.gitignore b/.gitignore
index 38adffa..f3432ba 100644
--- a/.gitignore
+++ b/.gitignore
@@ -26,3 +26,4 @@ coverage
 *.njsproj
 *.sln
 *.sw?
+.lens/*
\ No newline at end of file
diff --git a/public/site.webmanifest b/public/site.webmanifest
index 45dc8a2..21b250a 100644
--- a/public/site.webmanifest
+++ b/public/site.webmanifest
@@ -1 +1,11 @@
-{"name":"","short_name":"","icons":[{"src":"/android-chrome-192x192.png","sizes":"192x192","type":"image/png"},{"src":"/android-chrome-512x512.png","sizes":"512x512","type":"image/png"}],"theme_color":"#ffffff","background_color":"#ffffff","display":"standalone"}
\ No newline at end of file
+{
+  "name": "Mission Control",
+  "short_name": "",
+  "icons": [
+    { "src": "/android-chrome-192x192.png", "sizes": "192x192", "type": "image/png" },
+    { "src": "/android-chrome-512x512.png", "sizes": "512x512", "type": "image/png" }
+  ],
+  "theme_color": "#ffffff",
+  "background_color": "#ffffff",
+  "display": "standalone"
+}
diff --git a/src/App.vue b/src/App.vue
index 48a1705..80da0d2 100644
--- a/src/App.vue
+++ b/src/App.vue
@@ -4,8 +4,9 @@ import { useRoslibStore } from '@/store/roslibStore';
 import { onBeforeUnmount, onMounted } from 'vue';
 import { gamepadInit } from '@/lib/controller/gamepad';
 import { useFavicon } from '@vueuse/core';
-
+import { computed } from 'vue';
 const rosjs = useRoslibStore();
+
 // All global subscribers & publishers that do not belong in a component put in here.
 onMounted(() => {
   // Create a new connection if the current one is stopped.
@@ -21,9 +22,8 @@ onBeforeUnmount(() => {
   // Stop the websocket when the app unloads.
   rosjs.stop = true;
 });
-import { computed } from 'vue';
 
-// changes favicon based on if connected or not
+// changes favicon based on if web socket is connected or not
 const favicon = computed(() =>
   rosjs.isWebSocketConnected ? 'connected-favicon.ico' : 'favicon.ico',
 );
diff --git a/src/components/map/InteractiveMap.vue b/src/components/map/InteractiveMap.vue
index b43d417..322b085 100644
--- a/src/components/map/InteractiveMap.vue
+++ b/src/components/map/InteractiveMap.vue
@@ -28,6 +28,7 @@ onMounted(() => {
  * @param lat - The latitude of the pin location.
  * @param lng - The longitude of the pin location.
  */
+// eslint-disable-next-line no-unused-vars
 function addPin(lat: number, lng: number): void {
   if (map.value) {
     const timestamp = new Date().toISOString();

From d9d029ccdcd8af29e1aed69e6450f5bdbc86da3a Mon Sep 17 00:00:00 2001
From: Adam Chhor <chhoradam@gmail.com>
Date: Tue, 11 Mar 2025 01:21:00 -0700
Subject: [PATCH 13/13] [srs-finished] comment eslint error on interactivemap

---
 src/components/map/InteractiveMap.vue | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/components/map/InteractiveMap.vue b/src/components/map/InteractiveMap.vue
index 322b085..a9594b6 100644
--- a/src/components/map/InteractiveMap.vue
+++ b/src/components/map/InteractiveMap.vue
@@ -28,7 +28,7 @@ onMounted(() => {
  * @param lat - The latitude of the pin location.
  * @param lng - The longitude of the pin location.
  */
-// eslint-disable-next-line no-unused-vars
+// eslint-disable-next-line @typescript-eslint/no-unused-vars
 function addPin(lat: number, lng: number): void {
   if (map.value) {
     const timestamp = new Date().toISOString();