monitoring

This repository provides a monitoring and visualization container including, e.g. RViz and RQt, as well as, all relevant definitions and visualization plugins for messages used in OpenADS.

🚀 Quick Start • 💻 Development • 📝 Documentation

Important

This repository is part of OpenADS, the Open Automated Driving Systems project. OpenADS and its modules have been initiated and are currently being maintained by the Institute for Automotive Engineering (ika) at RWTH Aachen University.

🚀 Quick Start

1. Start a container of the pre-built runtime image with support for GPU usage and graphical output.

   docker run --gpus all --volume /tmp/.X11-unix:/tmp/.X11-unix -e DISPLAY --rm -it ghcr.io/openads-project/monitoring:latest bash

1. In the container, you can run graphical tools for monitoring and visualization or record data. For the latter, make sure to mount a local folder into the container with the --volume argument.

   # RViz: message visualization
   rviz2
    
   # RQt: Various graphical user interfaces
   rqt
    
   # ROS 2 Bag: Record and replay ROS communication
   ros2 bag record -a
   ros2 bag play rosbag2_*

💻 Development

Set up Development Environment

1. Clone the repository.

   git clone https://github.com/openads-project/monitoring.git

1. Initialize the .openads-dev-environment submodule containing development environment configuration.

   cd monitoring
   git submodule update --init --recursive

1. Open the repository in Visual Studio Code.

   code .

1. Install the recommended VS Code extensions.

   ‍Ctrl+Shift+P / Extensions: Show Recommended Extensions / Install Workspace Recommended Extensions (Cloud Download Icon)

1. Reopen the repository in a Dev Container. Ctrl+Shift+P / Dev Containers: Rebuild and Reopen in Container

Build

‍Ctrl+Shift+B

colcon build

Run Tests

‍Ctrl+Shift+P / Tasks: Run Test Task

colcon build --cmake-args -DCMAKE_EXPORT_COMPILE_COMMANDS=1
colcon test
colcon test-result --verbose

📝 Documentation

Package and node interfaces are documented in the respective package READMEs listed below. Implementation details are found in the Source Code Documentation.

Package	Description
monitoring	Monitoring launch package
rviz_plugins	Custom RViz plugins not directly associated with a specific repository

⚖️ Licensing

The source code in this repository is licensed under Apache-2.0, see [LICENSE](LICENSE). Container images provided by this repository may contain third-party software shipped with their own license terms.

🙏 Acknowledgements

Development and maintenance of this repository are supported by the following projects. We acknowledge the funding of the respective institutions.

Project	Funding Institution	Grant Number
AIGGREGATE	🇪🇺 European Union	101202457
AIthena	🇪🇺 European Union	101076754
autotech.agil	🇩🇪 Federal Ministry for Research, Technology and Space (BMFTR)	01IS22088A

^{_{Funded by the European Union. Views and opinions expressed are however those of the author(s) only and do not necessarily reflect those of the European Union or the European Climate, Infrastructure and Environment Executive Agency (CINEA). Neither the European Union nor CINEA can be held responsible for them.}}