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

Diagram created with Draw.io

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.

Build and Run

Dependencies in ubuntu to run Unity3D build:

sudo apt install libcanberra-gtk-module libcanberra-gtk3-module mesa-utils nux-tools

If running from a VM, make sure to enable 3D acceleration for it's graphics setting.