diff --git a/autoware_launch/rviz/autoware.rviz b/autoware_launch/rviz/autoware.rviz index 424c1e577db7a..9c2e3bc8a1ef5 100644 --- a/autoware_launch/rviz/autoware.rviz +++ b/autoware_launch/rviz/autoware.rviz @@ -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