Dataspeed NavRoute™
Path Following Software
Dataspeed NavRoute™ is a comprehensive, full-stack path following system for autonomous vehicle research and development. It’s designed for easy control of the entire processing pipeline from inputting raw odometry data to performing longitudinal and lateral control. The system’s intuitive and user-friendly interface simplifies trajectory programming, enabling accurate vehicle tracking with ease.
System Requirements
- Dual-antenna GNSS/INS with RTK capability and a minimum of 100 Hz output rate
- Novatel and OxTS GPS systems are recommended
- Drive-by-Wire System
Path Following System Diagram
Block diagram of Dataspeed NavRoute™ modules.
Route Editor
The route network editor is an offline tool for defining route
networks used by the runtime system with the following
features:
- Graphical interface to load and automatically process raw position data into route network segments
- Rviz interface to manually modify route network elements
- Rviz interface to quickly program specific routes through the network
- Ability to export KML files to visualize the route network in Google Earth
Initial State of Route Editor Interface
Runtime User Interface
Path Record Mode
The path record mode of the runtime interface helps the user record ROS 2 bag files of manual driving that can be used for two purposes:
- Automatically generate route segments using the offline route network editor
- Autonomously follow the recorded path using Quick Route Mode
Example of automatically generating route nodes and segments from recorded data
Quick Route Mode
The quick route mode of the runtime interface provides an easy way to autonomously replay a recorded route. By simply loading a bag file containing raw position data recorded during a manual drive, the vehicle can follow that path without having to first create a full route network definition using the offline route network editor.
Route Network Mode
The route network mode of the runtime interface allows the user to load a pre-configured route network and issue commands to follow specific routes through the network.
Speed constraints settings section of the runtime UI
Vehicle Speed Constraints
The vehicle speed profile used to follow routes can be adjusted using kinematics constraint parameters consisting of maximum speed, lateral acceleration, longitudinal acceleration and deceleration, and longitudinal jerk. These parameters can be changed on the fly with the user interface or a ROS service call.
Subsystem status section of the runtime UI
Subsystem Statuses
The user interface provides a visual indication of the subsystem health to quickly verify the system is working properly before recording path data or executing autonomous path following.
Simulation Demo
To demonstrate the function of Dataspeed NavRoute™, an example simulation ROS 2 package is provided along with the main system binaries. This package helps the user get familiar with both the ROS software interfaces and the user interface. The package also contains example configuration and launch files that can be modified to adapt to a real vehicle.
Route network overlaid on real Mcity in Google Earth
