alliander-opensource
diff --git a/‎dockerfiles/install_scripts/vizanti.sh‎
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diff --git a/‎dockerfiles/rcdt_robotics.Dockerfile‎
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diff --git a/‎docs/content/panther.md‎
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diff --git a/‎docs/img/panther/custom_ui.png‎
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diff --git a/‎docs/img/panther/custom_ui.png.license‎
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diff --git a/‎pyproject.toml‎
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@@ -0,0 +1,21 @@
+#!/bin/bash -i
+
+# SPDX-FileCopyrightText: Alliander N. V.
+#
+# SPDX-License-Identifier: Apache-2.0
+
+set -e
+source /home/$UNAME/.bashrc
+apt update
+
+mkdir -p /home/$UNAME/vizanti_ws/src
+cd /home/$UNAME/vizanti_ws/src
+git clone -b ros2 https://github.com/MoffKalast/vizanti.git
+git clone -b jazzy https://github.com/alliander-opensource/rws.git
+
+cd /home/$UNAME/vizanti_ws
+rosdep update --rosdistro $ROS_DISTRO
+rosdep install --from-paths src -y -i
+
+colcon build --symlink-install
+echo "source /home/$UNAME/vizanti_ws/install/setup.bash" >>/home/$UNAME/.bashrc
@@ -17,6 +17,9 @@ RUN ./husarion_ugv_ros.sh
 COPY ./install_scripts/nav2_plugins.sh .
 RUN ./nav2_plugins.sh
 
+COPY ./install_scripts/vizanti.sh .
+RUN ./vizanti.sh
+
 COPY ./install_scripts/franka_lock_unlock.sh .
 RUN ./franka_lock_unlock.sh
 
 
@@ -173,6 +173,47 @@ ros2 service call /panther/hardware/e_stop_reset std_srvs/srv/Trigger {}
 
 :::
 
+## Using an User Interfaces
+
+### Default Panther UI
+To use the user interface created by Panther:
+
+1. Start the Panther.  
+2. Connect to the Panther network.    
+3. Open a browser and go to: [http://10.15.20.2:8080/ui](http://10.15.20.2:8080/ui)
+
+You can also control the Panther with your mobile phone, tablet or any other device in the same way.
+
+### Our Custom UI
+To use the custom-built user interface:
+
+1. Start the launch file with the UI flag enabled:  
+```bash
+ros2 launch rcdt_panther rcdt_panther.launch.py ui:=True
+````
+
+2. Access the interface:
+
+   * **In simulation:**
+
+     ```
+     http://localhost:5000
+     ```
+   * **On the real robot:** after connecting to the Panther network, open
+
+     ```
+     http://10.15.20.3:5000
+     ```
+
+---
+
+### Example
+
+The interface should look something like this:
+
+![ui](../img/panther/custom_ui.png)
+
+
 ## Proposed changes to reduce network traffic
 
 During experimentation it became clear that at least ethernet-speed connections are required in order to deal with pointcloud data without dropping messages. The current high-level architecture when using a LiDAR is as follows:  
 
@@ -0,0 +1,3 @@
+SPDX-FileCopyrightText: Alliander N. V.
+
+SPDX-License-Identifier: Apache-2.0
@@ -9,20 +9,25 @@ description = "RCDT_robotics"
 environment = ".venv"
 requires-python = "==3.12.*"
 dependencies = [
+    "argcomplete>=3.6.2",
     "catkin-pkg>=1.0.0",
     "click>=8.2.1",
     "distinctipy>=1.3.4",
     "empy==3.3.4",
     "flake8>=7.2.0",
     "flake8-pyproject>=1.2.3",
+    "flask>=3.1.2",
     "inflection>=0.5.1",
     "lark>=1.2.2",
     "mashumaro>=3.16",
     "myst-parser>=4.0.1",
     "numpy<2.0",
     "opencv-python>=4.11.0.86",
+    "pillow>=11.3.0",
     "pre-commit>=4.2.0",
+    "psutil>=7.0.0",
     "pydoclint>=0.6.6",
+    "pymongo>=4.14.1",
     "pyrealsense2>=2.56.5.9235",
     "pytest<8.4.0",
     "pytest-timeout>=2.4.0",
@@ -35,6 +40,7 @@ dependencies = [
     "termcolor>=3.1.0",
     "tornado>=6.5.1",
     "transforms3d>=0.4.2",
+    "waitress>=3.0.2",
 ]
 
 [dependency-groups]
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`@@ -0,0 +1,3 @@`
	`1`	`+SPDX-FileCopyrightText: Alliander N. V.`
	`2`	`+`
	`3`	`+SPDX-License-Identifier: Apache-2.0`