Ediglove UI

Ediglove is a standalone autonomy sandbox frontend built with React, TypeScript, Vite, and MapLibre GL JS. It connects to a companion ROS 2 bridge over HTTP and renders a live map view for manual driving, goal setting, and autonomy inspection.

This repository is intentionally UI-only. It does not import ROS packages directly.

Features

• satellite map view
• ego vehicle marker
• click-to-set goal
• typed latitude / longitude goal entry
• manual / auto mode toggle
• WASD manual control
• route overlay
• reference trajectory overlay
• MPC predicted path overlay
• debug reference overlay
• per-layer visibility toggles
• bridge health and vehicle telemetry panels
• map follow mode for live monitoring

Architecture

Ediglove expects a companion backend named edi_sandbox_bridge running in a ROS 2 Humble workspace.

The bridge is responsible for:

• publishing simulated ego state
• accepting manual commands
• forwarding goal requests to the high planner
• publishing returned HLPath messages
• mirroring route and trajectory data into a normalized HTTP API

Default bridge URL:

• http://127.0.0.1:8765

Bridge/API notes:

• docs/bridge-api.md

Requirements

Frontend

• Node.js 18 or newer
• npm

Example install on macOS with Homebrew:

brew install node

Backend

• ROS 2 Humble
• a ROS 2 workspace containing the edi_sandbox_bridge package
• optional autonomy packages for the full closed-loop stack:
  • hd_map_service
  • high_planner
  • mid_planner_y5_edi
  • simple_mpc

Quick Start

1. Run The Frontend

From this repository root:

cp .env.example .env.local
npm install
npm run dev

Open the local Vite URL printed in the terminal, typically:

http://localhost:5173

2. Run The Bridge Only

In a separate terminal, from the ROS 2 workspace root:

source /opt/ros/humble/setup.bash
colcon build --packages-select edi_sandbox_bridge
source install/setup.bash
ros2 launch edi_sandbox_bridge edi_sandbox_bridge.launch.py

This mode is useful for:

• frontend integration
• manual driving tests
• bridge API validation
• fake vehicle state publishing

3. Run The Full Sandbox Stack

In a separate terminal, from the ROS 2 workspace root:

source /opt/ros/humble/setup.bash
colcon build
source install/setup.bash
ros2 launch edi_sandbox_bridge ediglove_stack.launch.py

This launch is intended to bring up:

• hd_map_service
• high_planner
• mid_planner_y5_edi
• simple_mpc
• edi_sandbox_bridge

Use either the bridge-only launch or the full sandbox launch, not both at the same time.

Running Without A Bridge

The frontend can still be opened without the backend running.

Expected behavior in that mode:

• the app shell and map load normally
• bridge status shows disconnected or error
• goal requests do not complete
• no live ego, route, or trajectory data appears

Configuration

To point the frontend at a non-default bridge URL:

cp .env.example .env.local

Then edit:

• VITE_BRIDGE_BASE_URL

Project Layout

.
├── docs/
│   └── bridge-api.md
├── src/
│   ├── components/
│   │   ├── map/
│   │   └── panels/
│   ├── hooks/
│   ├── lib/
│   ├── styles/
│   ├── types/
│   ├── App.tsx
│   └── main.tsx
├── .env.example
├── index.html
├── package.json
└── vite.config.ts

Development

npm install
npm run dev

Production Build

npm run build
npm run preview

Troubleshooting

• If the UI stays in error, check http://127.0.0.1:8765/healthz.
• If the map loads but the overlays stay empty, inspect GET /api/v1/state.
• If goal clicks fail, confirm the bridge can reach get_shortest_path.
• If manual driving appears unresponsive, make sure the browser tab is focused.