Reference demos for the SpatialDDS 1.6 draft spec (https://spatialdds.org), running
on CycloneDDS. The repo bundles the upstream IDL under idl/v1.6, mirrors the
manifest examples in manifests/v1.6, and ships four runnable demos that build on
top of a shared spatialdds/envelope/v1 transport.
| Demo | Path | What it shows |
|---|---|---|
| Multi-operator fusion (flagship) | multi_operator_fusion/ |
Three AV fleet operators + one 6G base station share Detection3D observations. A platform fuser does NN-gated track fusion and publishes unified FusedTracks. Rerun renders per-operator split-screen + fused view. |
| nuScenes → SpatialDDS → Rerun | nuscenes/ |
Publishes nuScenes v1.0-mini AV data (ego pose, 6 cameras, LiDAR, 5 radars, 3D annotations) over DDS envelopes; visualizes in Rerun. |
| DeepSense 6G → SpatialDDS → Rerun | deepsense/ |
Publishes DeepSense 6G Scenario 9 V2I data (60 GHz phased-array beam, FMCW radar, camera, GPS, 2D lidar) over DDS envelopes. |
| AR demo | ar_demo/ |
Bootstrap → discovery → coverage query → localization → catalog → anchor flow for AR clients. Includes a Cesium web UI backed by an HTTP-to-DDS bridge (bridges/web_bridge/). |
| Benchmarks | benchmarks/ |
Latency, discovery, multi-operator, and coverage-query benchmark scripts + plotting. |
If you're new here, start with multi-operator fusion — it exercises the full envelope transport with real datasets.
Protocol bridges live under bridges/ and work with every demo above
without per-demo wiring:
| Bridge | Path | What it does |
|---|---|---|
| Web (HTTP/WebSocket) | bridges/web_bridge/ |
FastAPI server with two surfaces: legacy REST endpoints (/v1/localize, /v1/catalog/query, /v1/stream) for the Cesium demo, plus a generic subscribe-based protocol (/ws, /api/topics, /api/stats) so any browser app can listen to or publish envelopes by topic pattern with optional rate limits. Ships a 2D top-down canvas dashboard at / and a topic-list debug page at /debug. |
| MCAP record / replay | bridges/mcap_bridge/ |
Records spatialdds/envelope/v1 traffic to an MCAP file and replays it back onto a CycloneDDS domain. Lossless (RELIABLE+KEEP_ALL), Foxglove-compatible, no per-demo wiring. |
| ROS 2 | bridges/ros2_bridge/ |
Bidirectional bridge between SpatialDDS topics and ROS 2 topics. v0 covers PoseStamped, NavSatFix, Imu, CompressedImage, Detection3DArray, plus FusedTrackSet reverse. Conversion layer is duck-typed so 80% is testable without ROS 2 installed. |
| MQTT | bridges/mqtt_bridge/ |
Bidirectional bridge between SpatialDDS and MQTT (local Mosquitto or AWS IoT Core). MQTT topic = SpatialDDS logical_topic, payload = same JSON. QoS/retain inferred from topic suffix (meta = retained, frames = best-effort, decisions = at-least-once). Loop prevention via _bridge_id + non-overlapping inbound/outbound filters. |
ar_demo/http_binding.py |
bridges/web_bridge/server.py |
|
|---|---|---|
| Purpose | Spec-compliance REST wrapper that mirrors the discovery payload shapes | HTTP-to-DDS bridge that the Cesium / canvas dashboard talks to |
| Port (default) | 8080 | 8088 |
| Used by | ar_demo/run_all_tests.sh, the AR demo README |
run_bridge_server_docker.sh, web/, bridges/web_bridge/static/ |
| Run with DDS? | No (in-process registration) | Yes (publishes/subscribes envelopes) |
They are not interchangeable. Use the bridge for the web/canvas demos; use the HTTP binding when you just want to exercise the registration/search payload shapes.
Each demo brings its own browser visualisation — both served by the web bridge:
- AR demo → 3D Cesium-Ion view of VPS coverage + catalog +
localisation + anchor publication. Run via
ar_demo/README.md. - Multi-operator fusion → 2D top-down canvas at
http://localhost:8088/(debug topic-list at/debug) — operator egos + trails, detection wireframes, planned trajectories, fused tracks, conflict markers, live metrics. Run viamulti_operator_fusion/README.md.