finalize ros to xviz pipeline with working location data

README.md

@@ -9,30 +9,41 @@ Names in alphabetical order:
 - [Reid Stevens](mailto:[email protected])
 
 ## System Diagram
+
+Note: we've abandoned a Unity based approach in favor of the following new approach:
+
 ![System Overview](argus-overview.svg)
 
 Diagram created with [Draw.io](https://www.draw.io/)
 
 ## Components:
 
-- ROS connector: the C++/C# interface that read data from ROS topics and send over to the Unity C# runtime.
+- [`rosbridge-xviz-connector`](rosbridge-xviz-connector): A data proxy server that read from rosbridge-server and serves data in [XVIZ](https://github.com/uber/xviz) format, which is a opensource protocol from Uber to stream/visualize autonomy data.
 
-- Map Rendering: read map data from disk or online service and render an image based on the input GPS location.
+- GUI: A web UI based on Uber's [streetscape.gl](https://github.com/uber/streetscape.gl) which is specialized to visualize data in XVIZ format. Right now we are using the demo example from [streetscape.gl](https://github.com/uber/streetscape.gl/tree/master/examples/get-started) with some minor changes.
 
-- Unity:
-  - Main rendering loop: read data from the first 2 components and render the following data:
-    - 3D point cloud
-    - lane detection result
-    - obstacle detection result
-    - map image in a window (might be expandable)
-  - Configuration: read in a config file (or with a button in the UI to set config at runtime) to choose which subset of data to render, size of the window etc.
+- Map Tile Server: A map tile server that reads local OpenStreemMap data files and serve map images to the GUI.
 
 ## Build and Run
 
-Dependencies in ubuntu to run Unity3D build:
+Note: If running from a VM, make sure to enable 3D acceleration for it's graphics setting.
+
+1. Follow the steps (1, 2, and 4) in [rosbridge-xviz-connector](rosbridge-xviz-connector) to start the neccessary services.
+
+2. Start the GUI
+
+    ```
+    cd gui
+    # please run yarn install before the next command to download dependencies
+    yarn start-live
+    ```
+
+    A browser window will automatically open and connect to the server from step 1.
+
+3. In developement/simulation mode, play the rosbag to start piping in data, e.g.
 
-```
-sudo apt install libcanberra-gtk-module libcanberra-gtk3-module mesa-utils nux-tools
-```
+    ```
+    rosbag play /mnt/hgfs/argus-autoronto/project-data/_2019-01-18-15-19-31_public_roads.ba
+    ```
 
-If running from a VM, make sure to enable 3D acceleration for it's graphics setting.
+4. 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.

rosbridge-xviz-connector/index.js

@@ -22,22 +22,21 @@ process.on('SIGTERM', gracefulShutdown);
 process.on('SIGINT', gracefulShutdown);
 
 rosBridgeClient.on('connection', function() {
-    console.log('Connected to websocket server.');
+    console.log('Connected to rosbridge websocket server.');
 });
 
 rosBridgeClient.on('error', function(error) {
-    console.log('Error connecting to websocket server: ', error);
+    console.log('Error connecting to rosbridge websocket server: ', error);
 });
 
 rosBridgeClient.on('close', function() {
-    console.log('Connection to websocket server closed.');
+    console.log('Connection to rosbridge websocket server closed.');
 });
 
 listener.subscribe(function(message) {
     // var msgNew = 'Received message on ' + listener.name + JSON.stringify(message, null, 2) + "\n";
     let timestamp = `${message.header.stamp.secs}.${message.header.stamp.nsecs}`;
-    // console.log("new msg (time, lat, lng): ", timestamp, message.latitude, message.longitude);
-    xvizServer.updateLocation(message.latitude, message.longitude, message.altitude, parseFloat(timestamp));
+    xvizServer.updateLocation(message.header.seq, message.latitude, message.longitude, message.altitude, parseFloat(timestamp));
 });
 
 /* *******************************************