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Chore arrange perception rviz topics (autowarefoundation#196)
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* feat(autoware_launch): add occupancy grid vizualization

Signed-off-by: tanaka3 <ttatcoder@outlook.jp>

* feat(autoware_launch): add object recognition namespace to rviz

Signed-off-by: tanaka3 <ttatcoder@outlook.jp>
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@taikitanaka3
taikitanaka3 authored Feb 9, 2022
1 parent 3261e89 commit bb6f0a5
Showing 1 changed file with 168 additions and 139 deletions.
307 changes: 168 additions & 139 deletions autoware_launch/rviz/autoware.rviz
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Original file line number Diff line number Diff line change
Expand Up @@ -722,178 +722,207 @@ Visualization Manager:
Name: Segmentation
- Class: rviz_common/Group
Displays:
- BUS:
Alpha: 0.999
Color: 30; 144; 255
CAR:
Alpha: 0.999
Color: 30; 144; 255
CYCLIST:
Alpha: 0.999
Color: 119; 11; 32
Class: autoware_auto_perception_rviz_plugin/DetectedObjects
Display 3d polygon: true
Display Label: true
Display PoseWithCovariance: true
Display Predicted Path Confidence: true
Display Predicted Paths: true
Display Twist: true
Display UUID: true
Display Velocity: true
- Class: rviz_common/Group
Displays:
- BUS:
Alpha: 0.999
Color: 30; 144; 255
CAR:
Alpha: 0.999
Color: 30; 144; 255
CYCLIST:
Alpha: 0.999
Color: 119; 11; 32
Class: autoware_auto_perception_rviz_plugin/DetectedObjects
Display 3d polygon: true
Display Label: true
Display PoseWithCovariance: true
Display Predicted Path Confidence: true
Display Predicted Paths: true
Display Twist: true
Display UUID: true
Display Velocity: true
Enabled: true
MOTORCYCLE:
Alpha: 0.999
Color: 119; 11; 32
Name: DetectedObjects
Namespaces:
{}
PEDESTRIAN:
Alpha: 0.999
Color: 255; 192; 203
TRAILER:
Alpha: 0.999
Color: 30; 144; 255
TRUCK:
Alpha: 0.999
Color: 30; 144; 255
Topic:
Depth: 5
Durability Policy: Volatile
History Policy: Keep Last
Reliability Policy: Reliable
Value: /perception/object_recognition/detection/objects
UNKNOWN:
Alpha: 0.999
Color: 255; 255; 255
Value: true
Enabled: false
Name: Detection
- Class: rviz_common/Group
Displays:
- BUS:
Alpha: 0.999
Color: 30; 144; 255
CAR:
Alpha: 0.999
Color: 30; 144; 255
CYCLIST:
Alpha: 0.999
Color: 119; 11; 32
Class: autoware_auto_perception_rviz_plugin/TrackedObjects
Display 3d polygon: true
Display Label: true
Display PoseWithCovariance: true
Display Predicted Path Confidence: true
Display Predicted Paths: true
Display Twist: true
Display UUID: true
Display Velocity: true
Enabled: true
MOTORCYCLE:
Alpha: 0.999
Color: 119; 11; 32
Name: TrackedObjects
Namespaces:
{}
PEDESTRIAN:
Alpha: 0.999
Color: 255; 192; 203
TRAILER:
Alpha: 0.999
Color: 30; 144; 255
TRUCK:
Alpha: 0.999
Color: 30; 144; 255
Topic:
Depth: 5
Durability Policy: Volatile
History Policy: Keep Last
Reliability Policy: Reliable
Value: /perception/object_recognition/tracking/objects
UNKNOWN:
Alpha: 0.999
Color: 255; 255; 255
Value: true
Enabled: false
Name: Tracking
- Class: rviz_common/Group
Displays:
- BUS:
Alpha: 0.999
Color: 30; 144; 255
CAR:
Alpha: 0.999
Color: 30; 144; 255
CYCLIST:
Alpha: 0.999
Color: 119; 11; 32
Class: autoware_auto_perception_rviz_plugin/PredictedObjects
Display 3d polygon: true
Display Label: true
Display PoseWithCovariance: true
Display Predicted Path Confidence: true
Display Predicted Paths: true
Display Twist: true
Display UUID: true
Display Velocity: true
Enabled: true
MOTORCYCLE:
Alpha: 0.999
Color: 119; 11; 32
Name: PredictedObjects
Namespaces:
{}
PEDESTRIAN:
Alpha: 0.999
Color: 255; 192; 203
TRAILER:
Alpha: 0.999
Color: 30; 144; 255
TRUCK:
Alpha: 0.999
Color: 30; 144; 255
Topic:
Depth: 5
Durability Policy: Volatile
History Policy: Keep Last
Reliability Policy: Reliable
Value: /perception/object_recognition/objects
UNKNOWN:
Alpha: 0.999
Color: 255; 255; 255
Value: true
Enabled: true
MOTORCYCLE:
Alpha: 0.999
Color: 119; 11; 32
Name: DetectedObjects
Namespaces:
{}
PEDESTRIAN:
Alpha: 0.999
Color: 255; 192; 203
TRAILER:
Alpha: 0.999
Color: 30; 144; 255
TRUCK:
Alpha: 0.999
Color: 30; 144; 255
Topic:
Depth: 5
Durability Policy: Volatile
History Policy: Keep Last
Reliability Policy: Reliable
Value: /perception/object_recognition/detection/objects
UNKNOWN:
Alpha: 0.999
Color: 255; 255; 255
Value: true
Enabled: false
Name: Detection
Name: Prediction
Enabled: true
Name: ObjectRecognition
- Class: rviz_common/Group
Displays:
- BUS:
Alpha: 0.999
Color: 30; 144; 255
CAR:
Alpha: 0.999
Color: 30; 144; 255
CYCLIST:
Alpha: 0.999
Color: 119; 11; 32
Class: autoware_auto_perception_rviz_plugin/TrackedObjects
Display 3d polygon: true
Display Label: true
Display PoseWithCovariance: true
Display Predicted Path Confidence: true
Display Predicted Paths: true
Display Twist: true
Display UUID: true
Display Velocity: true
- Class: rviz_default_plugins/Image
Enabled: true
MOTORCYCLE:
Alpha: 0.999
Color: 119; 11; 32
Name: TrackedObjects
Namespaces:
{}
PEDESTRIAN:
Alpha: 0.999
Color: 255; 192; 203
TRAILER:
Alpha: 0.999
Color: 30; 144; 255
TRUCK:
Alpha: 0.999
Color: 30; 144; 255
Max Value: 1
Median window: 5
Min Value: 0
Name: RecognitionResultOnImage
Normalize Range: true
Topic:
Depth: 5
Durability Policy: Volatile
History Policy: Keep Last
Reliability Policy: Reliable
Value: /perception/object_recognition/tracking/objects
UNKNOWN:
Alpha: 0.999
Color: 255; 255; 255
Value: /perception/traffic_light_recognition/debug/rois
Value: true
Enabled: false
Name: Tracking
- Class: rviz_common/Group
Displays:
- BUS:
Alpha: 0.999
Color: 30; 144; 255
CAR:
Alpha: 0.999
Color: 30; 144; 255
CYCLIST:
Alpha: 0.999
Color: 119; 11; 32
Class: autoware_auto_perception_rviz_plugin/PredictedObjects
Display 3d polygon: true
Display Label: true
Display PoseWithCovariance: true
Display Predicted Path Confidence: true
Display Predicted Paths: true
Display Twist: true
Display UUID: true
Display Velocity: true
- Class: rviz_default_plugins/MarkerArray
Enabled: true
MOTORCYCLE:
Alpha: 0.999
Color: 119; 11; 32
Name: PredictedObjects
Name: MapBasedDetectionResult
Namespaces:
{}
PEDESTRIAN:
Alpha: 0.999
Color: 255; 192; 203
TRAILER:
Alpha: 0.999
Color: 30; 144; 255
TRUCK:
Alpha: 0.999
Color: 30; 144; 255
Topic:
Depth: 5
Durability Policy: Volatile
History Policy: Keep Last
Reliability Policy: Reliable
Value: /perception/object_recognition/objects
UNKNOWN:
Alpha: 0.999
Color: 255; 255; 255
Value: /perception/traffic_light_recognition/traffic_light_map_based_detector/debug/markers
Value: true
Enabled: true
Name: Prediction
Name: TrafficLight
- Class: rviz_common/Group
Displays:
- Class: rviz_default_plugins/Image
- Alpha: 0.5
Class: rviz_default_plugins/Map
Color Scheme: map
Draw Behind: false
Enabled: true
Max Value: 1
Median window: 5
Min Value: 0
Name: RecognitionResultOnImage
Normalize Range: true
Name: Map
Topic:
Depth: 5
Durability Policy: Volatile
Filter size: 10
History Policy: Keep Last
Reliability Policy: Reliable
Value: /perception/traffic_light_recognition/debug/rois
Value: true
- Class: rviz_default_plugins/MarkerArray
Enabled: true
Name: MapBasedDetectionResult
Namespaces:
{}
Topic:
Value: /perception/occupancy_grid_map/map
Update Topic:
Depth: 5
Durability Policy: Volatile
History Policy: Keep Last
Reliability Policy: Reliable
Value: /perception/traffic_light_recognition/traffic_light_map_based_detector/debug/markers
Value: /perception/occupancy_grid_map/map_updates
Use Timestamp: false
Value: true
Enabled: true
Name: TrafficLight
Enabled: false
Name: OccupancyGrid
Enabled: true
Name: Perception
- Class: rviz_common/Group
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