visualize path (autowarefoundation#28)

Signed-off-by: Kento Yabuuchi <kento.yabuuchi.2@tier4.jp>
KYabuuchi · May 31, 2023 · 9c3757e · 9c3757e
1 parent fb64201
commit 9c3757e
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Showing 2 changed files with 50 additions and 71 deletions.
diff --git a/localization/yabloc/yabloc_launch/config/default.rviz b/localization/yabloc/yabloc_launch/config/default.rviz
@@ -6,9 +6,8 @@ Panels:
       Expanded:
         - /VectorMap1/Namespaces1
         - /TF1/Frames1
-        - /PF1
       Splitter Ratio: 0.46451613306999207
-    Tree Height: 1093
+    Tree Height: 1226
   - Class: rviz_common/Selection
     Name: Selection
   - Class: rviz_common/Tool Properties
@@ -29,11 +28,6 @@ Panels:
     SyncSource: ""
   - Class: initialpose_plugins/InitialPosePanel
     Name: InitialPosePanel
-    last_initial_pose.t: 1662116475849737644
-    last_initial_pose.w: 0.43191651946267096
-    last_initial_pose.x: 89537.6171875
-    last_initial_pose.y: 35468.8671875
-    last_initial_pose.z: 0.9019135879979037
 Visualization Manager:
   Class: ""
   Displays:
@@ -62,13 +56,21 @@ Visualization Manager:
         center_lane_line: true
         center_line_arrows: true
         crosswalk_lanelets: true
+        detection_area: true
+        detection_area_stopline: true
         lane_start_bound: true
         lanelet direction: true
         lanelet_id: true
         left_lane_bound: true
         pedestrian_marking: true
         right_lane_bound: true
         road_lanelets: false
+        shoulder_center_lane_line: true
+        shoulder_center_line_arrows: true
+        shoulder_lane_start_bound: true
+        shoulder_left_lane_bound: true
+        shoulder_right_lane_bound: true
+        shoulder_road_lanelets: true
         stop_lines: true
         traffic_light: true
         traffic_light_id: true
@@ -85,7 +87,7 @@ Visualization Manager:
       Enabled: true
       Name: Map/SignBoard
       Namespaces:
-        {}
+        virtual: true
       Topic:
         Depth: 5
         Durability Policy: Transient Local
@@ -124,8 +126,6 @@ Visualization Manager:
           Value: true
         camera5/camera_optical_link:
           Value: true
-        gnss_base_link:
-          Value: true
         gnss_link:
           Value: true
         map:
@@ -169,51 +169,6 @@ Visualization Manager:
       Show Names: false
       Tree:
         map:
-          gnss_base_link:
-            {}
-          particle_filter:
-            base_link:
-              sensor_kit_base_link:
-                camera0/camera_link:
-                  camera0/camera_optical_link:
-                    {}
-                camera1/camera_link:
-                  camera1/camera_optical_link:
-                    {}
-                camera2/camera_link:
-                  camera2/camera_optical_link:
-                    {}
-                camera3/camera_link:
-                  camera3/camera_optical_link:
-                    {}
-                camera4/camera_link:
-                  camera4/camera_optical_link:
-                    {}
-                camera5/camera_link:
-                  camera5/camera_optical_link:
-                    {}
-                gnss_link:
-                  {}
-                tamagawa/imu_link:
-                  {}
-                traffic_light_left_camera/camera_link:
-                  traffic_light_left_camera/camera_optical_link:
-                    {}
-                traffic_light_right_camera/camera_link:
-                  traffic_light_right_camera/camera_optical_link:
-                    {}
-                velodyne_left_base_link:
-                  velodyne_left:
-                    {}
-                velodyne_right_base_link:
-                  velodyne_right:
-                    {}
-                velodyne_top_base_link:
-                  velodyne_top:
-                    {}
-              velodyne_rear_base_link:
-                velodyne_rear:
-                  {}
           viewer:
             {}
       Update Interval: 0
@@ -227,6 +182,8 @@ Visualization Manager:
           Image Topic Style: true
           Left: 0
           Name: Validation/Overlay
+          QoS Durability: Volatile
+          QoS Reliability: Reliable
           Top: 0
           Topic: /localization/validation/overlay_image
           Value: true
@@ -238,6 +195,8 @@ Visualization Manager:
           Image Topic Style: true
           Left: 0
           Name: PF/MatchImage
+          QoS Durability: Volatile
+          QoS Reliability: Reliable
           Top: 500
           Topic: /localization/pf/match_image
           Value: true
@@ -296,7 +255,7 @@ Visualization Manager:
           Enabled: true
           Name: Particles
           Namespaces:
-            "": true
+            {}
           Topic:
             Depth: 5
             Durability Policy: Volatile
@@ -308,7 +267,7 @@ Visualization Manager:
           Enabled: true
           Name: GnssEffectRange
           Namespaces:
-            "": true
+            {}
           Topic:
             Depth: 5
             Durability Policy: Volatile
@@ -352,6 +311,34 @@ Visualization Manager:
           Value: true
       Enabled: true
       Name: PF
+    - Alpha: 1
+      Buffer Length: 1
+      Class: rviz_default_plugins/Path
+      Color: 255; 255; 127
+      Enabled: true
+      Head Diameter: 0.30000001192092896
+      Head Length: 0.20000000298023224
+      Length: 0.30000001192092896
+      Line Style: Lines
+      Line Width: 0.029999999329447746
+      Name: Path
+      Offset:
+        X: 0
+        Y: 0
+        Z: 0
+      Pose Color: 255; 85; 255
+      Pose Style: None
+      Radius: 0.029999999329447746
+      Shaft Diameter: 0.10000000149011612
+      Shaft Length: 0.10000000149011612
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        Filter size: 10
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /localization/validation/path/pf
+      Value: true
   Enabled: true
   Global Options:
     Background Color: 48; 48; 48
@@ -446,12 +433,12 @@ Visualization Manager:
 Window Geometry:
   Displays:
     collapsed: false
-  Height: 1403
+  Height: 1536
   Hide Left Dock: false
   Hide Right Dock: true
   InitialPosePanel:
     collapsed: false
-  QMainWindow State: 000000ff00000000fd0000000400000000000001d3000004d1fc020000000dfb000000100044006900730070006c006100790073010000003e000004d1000000ca00fffffffb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000c00430061006d006500720061000000033e000002610000000000000000fb0000000a0049006d00610067006500000001f8000001ba0000000000000000fb0000000a0049006d00610067006501000003ae000001f10000000000000000fb0000000a0049006d00610067006501000002080000019f0000000000000000fb0000000a0049006d00610067006501000004b9000000db000000000000000000000001000002d100000556fc0200000003fb0000000a00560069006500770073000000003e00000556000000a600fffffffb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e1000001970000000300000a0000000048fc0100000004fb000000160050006c006100790065007200500061006e0065006c0000000000000000850000000000000000fb0000000800540069006d00650100000000000006c00000027100fffffffb000000200049006e0069007400690061006c0050006f0073006500500061006e0065006c01000006c60000033a0000016a00fffffffb0000000800540069006d0065010000000000000450000000000000000000000827000004d100000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  QMainWindow State: 000000ff00000000fd0000000400000000000001d300000556fc020000000dfb000000100044006900730070006c006100790073010000003e00000556000000ca00fffffffb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000c00430061006d006500720061000000033e000002610000000000000000fb0000000a0049006d00610067006500000001f8000001ba0000000000000000fb0000000a0049006d00610067006501000003ae000001f10000000000000000fb0000000a0049006d00610067006501000002080000019f0000000000000000fb0000000a0049006d00610067006501000004b9000000db000000000000000000000001000002d100000556fc0200000003fb0000000a00560069006500770073000000003e00000556000000a600fffffffb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000009b600000048fc0100000004fb000000160050006c006100790065007200500061006e0065006c0000000000000000850000000000000000fb0000000800540069006d006501000000000000068e0000027100fffffffb000000200049006e0069007400690061006c0050006f0073006500500061006e0065006c010000069400000322000000be00fffffffb0000000800540069006d00650100000000000004500000000000000000000007dd0000055600000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
   Selection:
     collapsed: false
   Time:
@@ -460,6 +447,6 @@ Window Geometry:
     collapsed: false
   Views:
     collapsed: true
-  Width: 2560
+  Width: 2486
   X: 2560
-  Y: 0
+  Y: 27
diff --git a/localization/yabloc/yabloc_launch/launch/impl/validation.launch.xml b/localization/yabloc/yabloc_launch/launch/impl/validation.launch.xml
@@ -19,19 +19,11 @@
         <remap from="ll2_road_marking" to="$(var input_ll2_road_marking)"/>
     </node>
 
-    <!-- fix to pose -->
-    <node name="fix_to_pose" pkg="path_monitor" exec="fix_to_pose_node" output="log" args="--ros-args --log-level warn">
-        <param name="use_sim_time" value="$(var use_sim_time)"/>
-        <remap from="pose" to="/sensing/gnss/ublox/pose"/>
-        <remap from="fix_topic" to="/sensing/gnss/ublox/nav_sat_fix"/>
-        <remap from="ground" to="/localization/map/ground"/>
-    </node>
-
     <!-- pose to path -->
     <node name="pose_to_path" pkg="path_monitor" exec="pose_to_path_node" output="log" args="--ros-args --log-level warn">
         <param name="use_sim_time" value="$(var use_sim_time)"/>
-        <param name="sub_topics" value="[/sensing/gnss/ublox/pose,/localization/pf/pose]"/>
-        <param name="pub_topics" value="[/sensing/gnss/ublox/path,/localization/pf/path]"/>
+        <param name="sub_topics" value="[/localization/pf/pose]"/>
+        <param name="pub_topics" value="[/localization/validation/path/pf]"/>
     </node>
 
 </launch>