argus-autoronto

The GUI project for aUToronto self driving car, and the course project of team RED for AER1514 Mobile Robotics Winter 2019.

Team RED

Names in alphabetical order:

• David Quispe
• John Pineros
• Leon Ziyang Zhang
• Reid Stevens

System Diagram

Note: we've abandoned a Unity based approach in favor of the following new approach:

Diagram created with Draw.io

Components:

• rosbridge-xviz-connector: A data proxy server that read from rosbridge-server and serves data in XVIZ format, which is a opensource protocol from Uber to stream/visualize autonomy data.

• GUI: A web UI based on Uber's streetscape.gl which is specialized to visualize data in XVIZ format. Right now we are using the demo example from streetscape.gl with some minor changes.

• map-tile-server: A map tile server that reads local OpenStreemMap data files and serve map vector tiles to the GUI.

Download our Rosbags:

• UTIAS testing rosbag
• Public road rosbag

Running the Project

1. Follow the steps (1, 2, and 4) in rosbridge-xviz-connector to start the neccessary services.

2. Optionaly, to use our own map tile server, follow the steps in map-tile-server.

3. Start the GUI

   Open gui/dist/index.html in a browser that support WebGL. Note: if running from a VM, make sure to enable 3D acceleration for it's graphics setting.

   By default it will try to connect to servers running in localhost. To point to a different server address, simply input the IP or hostname in the ServerAddr input box on the left side of the page and click Re-Connect.

   By default it uses public mapbox.com for map data. A mapbox access token is needed to properly display the map. Use the Map Token input box for changing the token.

   To point to another map tile server, e.g. the one started in step 2, simply change the Map Style input box to the style.json served by that server, e.g. http://localhost:10001/styles/osm-bright/style.json

4. In developement/simulation mode, play the rosbag to start piping in data, e.g.

   rosbag play autoronto_rosbags/_2018-12-02-12-48-40_m1_tests.bag
   

5. After starting the rosbag, if the UI is not updated, refresh the browser window. Since some rosbag recordings are very short, be sensitive to the timing of refresh and play.

Development

The gui folder is a customized version of Uber's streetscape.gl get-started example.

After making changes to its source. Run yarn build insude gui/. It will generate the new gui/dist/ bundle.