Visualizer#
The visualizer image provides browser-accessible RViz2 through noVNC. It
combines RViz2 and Autoware plugins with Openbox, TigerVNC, and a TLS-enabled
noVNC server. The VNC backend remains loopback-only, and each container creates
its own self-signed certificate at startup.
Settings#
| Variable | Default | Values | Description |
|---|---|---|---|
RVIZ_CONFIG |
/opt/autoware/autoware_launch/share/autoware_launch/rviz/autoware.rviz |
Path | RViz2 configuration inside the container |
REMOTE_DISPLAY |
true |
true, false |
Use browser-based RViz2; false launches a local display |
REMOTE_PASSWORD |
— | String | Required when REMOTE_DISPLAY=true |
WEBSOCKIFY_BIND |
127.0.0.1 |
IP address | noVNC bind address; bridge networking uses 0.0.0.0 with a host loopback port mapping |
USE_SIM_TIME |
false |
true, false |
Use the ROS simulation clock |
RVIZ_GPU |
auto |
auto, on, off |
Select automatic, forced, or disabled VirtualGL acceleration |
Under host networking, open https://localhost:6080/vnc.html. For remote
access, use SSH forwarding or an authenticated reverse proxy rather than
exposing noVNC directly.