Dreamview

Introduction

This module provides a web application that helps the users to visualize the current output of relevant autonomous driving modules, e.g. planning trajectory, car localization, chassis status etc.

Input

Currently it monitors the following messages:

• Localization defined by Protobuf message LocalizationEstimate, which can be found in file localization/proto/localization.proto.
• Chassis defined by Protobuf message Chassis, which can be found in file canbus/proto/chassis.proto.
• Planning defined by Protobuf message ADCTrajectory, which can be found in file planning/proto/planning.proto.
• Monitor defined by Protobuf message MonitorMessage, which can be found in file common/monitor/proto/monitor.proto.
• Perception Obstacles defined by Protobuf message PerceptionObstacles, which can be found in file perception/proto/perception_obstacle.proto.
• Prediction defined by Protobuf message PredictionObstacles, which can be found in file prediction/proto/prediction_obstacle.proto.
• Routing defined by Protobuf message RoutingResponse, which can be found in file routing/proto/routing.proto.

Output

A web-based dynamic 3D rendering of the monitored messages in a simulated world.