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V2AIX replay demo

Minimal compose setup to replay V2AIX ROS 2 bags from stationary recordings, including the ETSI ITS conversion node, to visualize messages in RViz.

Important

Mobile recordings are not supported yet, even though it would be conceivable to visualize these. To support this properly, it would require an additional TF broadcaster to indicate the ego-vehicle position within the UTM Frame (based on the NavSatFix messages in the bag) and move the map display accordingly.

Configuration

The .env file controls:

  • BAG_DIR (host path containing the bag-files)
  • BAG_PATH (actual bagfile relative to BAG_DIR)
  • RVIZ_LAT and RVIZ_LON (AerialMap-Display position)

Quick start

Run the composition (assuming you are in the utils/v2aix directory of this repository):

docker compose up

If RViz does not show up, ensure X11 permissions are set (e.g. xhost +local:) and DISPLAY is available.