The map on the upper left view depicts the vehicle's positions and orientations, a "trail" of past positions (red), the commanded reference trajectory (blue), and the MPC's predicted trajectory (pink).
By sending DDS visualization messages, elements can be dynamically added to the map view. |
A vehicle can be controlled in a semi-automated fashion, by clicking and dragging to draw a reference trajectory. This only works when the vehicle is within the view of the IPS.
