iCar ITS Web Monitoring System

Real-time web monitoring and telemetry dashboard for the iCar ITS autonomous vehicle project at PT. ITS TEKNO SAINS. Provides live operational visibility, maintenance tracking, and remote control capabilities.

Overview

iCar ITS is an autonomous electric vehicle developed at ITS Surabaya. This web system bridges the ROS-based vehicle software with human operators via a modern browser interface, eliminating the need for laptop-on-site monitoring.

Features

Real-time Telemetry

• ▸Live vehicle position on interactive map
• ▸Speed, heading, and odometry visualization
• ▸Sensor health status (LiDAR, camera, GPS)
• ▸LIO localization confidence indicator

Operational Control

• ▸Mission waypoint programming
• ▸Manual override toggle
• ▸Emergency stop button
• ▸Drive mode switching (autonomous / manual)

Maintenance Logging

• ▸Automated session recording (start time, route, distance)
• ▸Component fault logging with timestamp
• ▸Maintenance schedule tracking
• ▸Export to PDF/CSV reports

Technical Architecture

Vehicle (ROS Noetic) ←→ rosbridge (WebSocket)
                              ↓
                     Next.js API Routes
                              ↓
                    React Dashboard (SPA)
                              ↓
              PostgreSQL (maintenance history)

ROS Integration

Used roslib.js to subscribe to ROS topics directly in the browser:

const ros = new ROSLIB.Ros({ url: 'ws://vehicle-ip:9090' });

const odomSub = new ROSLIB.Topic({
  ros,
  name: '/odom',
  messageType: 'nav_msgs/Odometry'
});

odomSub.subscribe((msg) => updateVehiclePosition(msg.pose));

Navigation Improvements

Beyond the dashboard, contributed to the core ROS navigation stack:

• ▸Tuned LiDAR-based obstacle avoidance PID parameters
• ▸Integrated Direct LiDAR–Inertial Odometry (DLIO)
• ▸Fused GPS for GPS-available zones, seamless fallback to pure LIO

🛠 Tech Stack