This little helper is used to display the perimeter signal from Mowgli. Compile it on the rasperrypi. The compile time requirements are installed on Ubuntu using

    sudo apt install gcc automake autoconf libgtk-3-dev

Then execute

    automake --add-missing
    autoreconf
    ./configure
    make
    sudo make install

to compile and install.

The command "oscilloscope" will open an X-window and display the debug output from the perimeter signal. To enable the debug output for the left coil execute

    rosservice call mower_service/permeter_listen 128

Use 129 or 130 for the center or right coil.