Zenoh Bridge#
Splits Autoware and visualization into edge/cloud networks connected through
Zenoh inside one Compose project. Checkout assets live under
deployments/zenoh-bridge/.
Security#
- noVNC is loopback-bound; set
REMOTE_PASSWORDinconfig.env(required). - Zenoh TCP 7448 stays on the internal Compose network and is not published to the host.
- Control topics (engage, emergency, teleop cmd) are on the allow-list — treat 7448 as a vehicle-control plane.
Setup#
cd deployments/zenoh-bridge
# set REMOTE_PASSWORD in config.env
../../install.sh sample-data zenoh-bridge
Run#
./cloud.sh up -d
./edge.sh up -d
Visualizer: https://localhost:6081/vnc.html
Teleoperation#
./cloud.sh up --with-teleop -d
./edge.sh --no-sim -d # or default with sim
./run_teleop.sh
| Key | Function |
|---|---|
| W/S | Throttle / Brake |
| A/D | Steer left / right |
| Z | Toggle Auto/Local control mode |
| M | Cycle STOP → PHYSICS → CRUISE |
| X/C/V | Gear D / R / P |
| Space | Emergency stop / resume |
| R | Reset pose |
| Q | Quit |
Stop#
./edge.sh down
./cloud.sh down
Notes#
- Prefer
./cloud.sh/./edge.shover rawdocker compose up. - Map files must exist under
MAP_PATHbeforeedge.shstarts.