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Autoware Foxglove Viewer

This page documents the optional web viewer path for Autoware-compatible pointcloud_map/ bundles using foxglove_bridge.

The goal is simple:

  • run Autoware's map loaders against a staged map bundle
  • expose /map/pointcloud_map and /map/map_projector_info
  • open the result from a browser or Foxglove Desktop

Fastest Path

Prepare a user-writable Foxglove Bridge prefix once:

bash scripts/prepare_foxglove_bridge_prefix.sh

Then stage an existing graph_based_slam output and launch the bridge:

bash scripts/run_graph_slam_pointcloud_map_in_autoware_foxglove.sh \
  output/dogfood_rko_lio_autoware_20260324_190734 \
  --foxglove-prefix /tmp/foxglove_bridge_jazzy

The script prints a websocket endpoint such as:

ws://127.0.0.1:8765

Open Foxglove and connect to that websocket.

What The Script Checks

Before printing the websocket endpoint, the script waits for:

  • /map/map_projector_info inside the Dockerized Autoware loaders
  • /map/pointcloud_map inside the Dockerized Autoware loaders
  • /map/pointcloud_map on the host ROS graph
  • the Foxglove Bridge TCP port to open

Main Entrypoints

  • prepare local bridge prefix: bash scripts/prepare_foxglove_bridge_prefix.sh
  • existing map bundle: bash scripts/run_autoware_pointcloud_map_foxglove.sh /path/to/autoware_map_bundle --foxglove-prefix /tmp/foxglove_bridge_jazzy
  • graph-based SLAM output: bash scripts/run_graph_slam_pointcloud_map_in_autoware_foxglove.sh /path/to/output_dir --foxglove-prefix /tmp/foxglove_bridge_jazzy

Notes

  • This is an optional viewer path. The main public quickstart is still bash scripts/run_autoware_quickstart.sh.
  • The bridge path is useful when you want browser-based proof or a shareable web visualization, without relying on a local rviz2 screenshot.