avp_web_interface

This is the design document for the avp_web_interface package.

Purpose / Use cases

To provide a high-level GUI for the autonomous valet parking demonstration.

Design

This package is a basic HTML webpage to provide two options to the user:

1. Request the autonomous vehicle to park in a designated area.
2. Request the autonomous vehicle to return to the drop-off area.

For each option, there is a button. Upon clicking, a message is published to set a hard-coded goal pose. The communication is handled in javascript through roslibjs.

Assumptions / Known limits

Inputs / Outputs / API

To run the interface, two dependencies have to met. Preferanbly both are launched together with the rest of the stack with the help of launch.actions.ExecuteProcess.

web server

To serve the web interface, a web server has to run on port 8000 so a user can connect, for example from the localhost at http://127.0.0.1:8000/

As server load is low, a simple

python3 -m http.server 8000

is enough when executed in the directory where index.html is stored.

rosbridge

To translate commands from javascript into messages in the ROS2 world, a bridge is needed. An easy way to achieve that is to use the rosbridge_server ROS2 package and to execute rosbridge_websocket.

Security considerations

This package is ****for demonstration purposes** only. It has no authentication, so once things are running, anyone with access to the network could issue a command to move the vehicle.

References / External links

Future extensions / Unimplemented parts

Related issues