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

Components:

• ROS connector: the C++/C# interface that read data from ROS topics and send over to the Unity C# runtime.

• Map Rendering: read map data from disk or online service and render an image based on the input GPS location.

• 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.