Autoware.Auto
|
|
This is the design document for the avp_web_interface package.
To provide a high-level GUI for the autonomous valet parking demonstration.
This package is a basic HTML webpage to provide two options to the user:
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
.
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
.
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.
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
.
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.