WAutoVantage

Visualizer-first container workflow.

Build

docker build -t wautovantage-dev ~/WAutoVantage

Run

If you want the GUI to appear on the machine's local display:

export DISPLAY=:0
export XAUTHORITY=$HOME/.Xauthority
xhost +si:localuser:wautodrive

Then start the container:

sudo docker run -it --rm \
  --name wautovantage-dev \
  --runtime nvidia \
  --network host \
  --privileged \
  -e DISPLAY=$DISPLAY \
  -e XAUTHORITY=/home/wautodrive/.Xauthority \
  -v /dev:/dev \
  -v /tmp/.X11-unix:/tmp/.X11-unix:rw \
  -v "$HOME/.Xauthority":/home/wautodrive/.Xauthority:ro \
  -v "$HOME/WAutoVantage":/workspace/WAutoVantage \
  -v "$HOME/WAutoVision":/workspace/WAutoVision \
  wautovantage-dev \
  bash -i

In a separate host terminal, start MediaMTX:

~/mediamtx ~/simple.yml

Inside The Container

If you only want to run the visualizer with no ROS topic subscription:

cd /workspace/WAutoVantage
python3 server/testbed.py

If you want the visualizer to subscribe to ROS topics published elsewhere on the network, build only the message package:

source /opt/ros/humble/install/setup.bash
cd /workspace/WAutoVision
colcon build --packages-select wauto_perception_msgs
source install/setup.bash
cd /workspace/WAutoVantage
python3 server/testbed.py

You do not need a full colcon build of WAutoVision just to subscribe to remote topics. WAutoVantage only needs rclpy plus wauto_perception_msgs.

Streaming Notes

testbed.py now starts the FFmpeg publisher itself and sends MPEG-TS directly to MediaMTX on 127.0.0.1:5000. You do not need the old stream.sdp bridge command anymore.

Optional stream tuning before python3 server/testbed.py:

export WAUTOVANTAGE_STREAM_FPS=24
export WAUTOVANTAGE_STREAM_QUEUE_SIZE=1
export WAUTOVANTAGE_STREAM_GOP=12

Optional compatibility fallback to the old RTP/SDP mode:

export WAUTOVANTAGE_STREAM_MODE=rtp
export WAUTOVANTAGE_STREAM_PORT=5004