From 515239b9f1d9c4161629f25c1b8e4c6ec62acfdd Mon Sep 17 00:00:00 2001 From: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> Date: Tue, 13 Sep 2022 11:45:58 +0900 Subject: [PATCH] feat(rviz): update rviz planning module's debug marker (#85) * feat(rviz): add behavior path debug markers (#441) Signed-off-by: satoshi-ota Signed-off-by: satoshi-ota * feat(rviz): add 2D dummy bus button as default (#453) Signed-off-by: satoshi-ota Signed-off-by: satoshi-ota * feat(rviz): add behavior path debug markers (#462) Signed-off-by: satoshi-ota Signed-off-by: satoshi-ota * feat(rviz): remove old pull over marker Signed-off-by: kosuke55 Signed-off-by: satoshi-ota Signed-off-by: kosuke55 Co-authored-by: kosuke55 --- autoware_launch/rviz/autoware.rviz | 114 ++++++++++++++++++++--------- 1 file changed, 78 insertions(+), 36 deletions(-) diff --git a/autoware_launch/rviz/autoware.rviz b/autoware_launch/rviz/autoware.rviz index 9be5dd1595..7bde09869a 100644 --- a/autoware_launch/rviz/autoware.rviz +++ b/autoware_launch/rviz/autoware.rviz @@ -1306,44 +1306,78 @@ Visualization Manager: Reliability Policy: Reliable Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/debug/run_out Value: false - - Class: rviz_common/Group - Displays: - - Class: rviz_default_plugins/MarkerArray - Enabled: true - Name: MarkerArray - Namespaces: - {} - Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Reliable - Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/pull_over/debug/parking_area - Value: true - - Alpha: 0.999 - Arrow Length: 0.3 - Axes Length: 0.3 - Axes Radius: 0.01 - Class: rviz_default_plugins/PoseArray - Color: 255; 25; 0 - Enabled: false - Head Length: 0.1 - Head Radius: 0.2 - Name: PullOverPathPoseArray - Shaft Length: 0.2 - Shaft Radius: 0.05 - Shape: Arrow (3D) - Topic: - Depth: 5 - Durability Policy: Volatile - Filter size: 10 - History Policy: Keep Last - Reliability Policy: Reliable - Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/pull_over/debug/path_pose_array - Value: false + - Class: rviz_default_plugins/MarkerArray + Enabled: false + Name: Avoidance + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/debug/avoidance + Value: false + - Class: rviz_default_plugins/MarkerArray + Enabled: false + Name: LaneChange + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/debug/lanechange + Value: false + - Class: rviz_default_plugins/MarkerArray + Enabled: false + Name: LaneFollowing + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/debug/lanefollowing + Value: false + - Class: rviz_default_plugins/MarkerArray Enabled: false Name: PullOver - Enabled: false + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/debug/pullover + Value: false + - Class: rviz_default_plugins/MarkerArray + Enabled: false + Name: PullOut + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/debug/pullout + Value: false + - Class: rviz_default_plugins/MarkerArray + Enabled: false + Name: SideShift + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/debug/sideshift + Value: false Name: DebugMarker Enabled: true Name: BehaviorPlanning @@ -1699,6 +1733,14 @@ Visualization Manager: Y std deviation: 0.029999999329447746 Z position: 0 Z std deviation: 0.029999999329447746 + - Class: rviz_plugins/BusInitialPoseTool + Pose Topic: /simulation/dummy_perception_publisher/object_info + Theta std deviation: 0.0872664600610733 + Velocity: 0 + X std deviation: 0.029999999329447746 + Y std deviation: 0.029999999329447746 + Z position: 0 + Z std deviation: 0.029999999329447746 - Class: rviz_plugins/MissionCheckpointTool Pose Topic: /planning/mission_planning/checkpoint Theta std deviation: 0.2617993950843811