Cyber-Physical Mobility Lab

The Cyber-Physical Mobility (CPM) Lab example in Ufil demonstrates one of the framework’s most advanced use cases. It consists of three packages and is included in the ufil_examples module.

This scenario illustrates how a complete infrastructure-based localization system, described in the Complex Scenario, can be executed on a small-scale testbed like the CPM Lab.

Scenario

The scenario is a three-lane highway segment with an sensitive surface layer (SSL) covering the two right-most lanes near the upstream part of the segment and a roadside lidar outdoor sensor node installed downstream, facing the SSL region; their fields of view partially overlap. Vehicles are equipped with V2I functionality and broadcast CAM messages.

The setup in the testbed look like this.

Usage

1. Starting the Example

   The example comes with an integrated launch file that starts all components of the system.

ros2 launch ufil_examples_simple_scenario visualization.launch.py

The visualization should appear as follows:

2. Playing the Dataset

   In a second terminal, play back the dataset provided. This automatically replays all necessary sensor data to trigger the perception pipeline. Using a higher clock frequency improves timestamp accuracy.

ros2 bag play <path-to-dataset> --clock 300

The visualization will now display the tracking in action and produce output like this:

Dataset

The dataset used for this example is currently redacted and will be made available after the paper is accepted at the corresponding venue.