diff --git a/ros/src/.config/rviz/default.rviz b/ros/src/.config/rviz/default.rviz new file mode 100644 index 00000000000..15548196212 --- /dev/null +++ b/ros/src/.config/rviz/default.rviz @@ -0,0 +1,700 @@ +Panels: + - Class: rviz/Displays + Help Height: 0 + Name: Displays + Property Tree Widget: + Expanded: + - /Global Options1 + - /Camera1/Visibility1 + - /Points Raw1 + - /Points Raw1/Status1 + - /Local Waypoints1/Status1 + - /Vector Map CenterLines1/Namespaces1 + - /Global Path1/Namespaces1 + - /Local Rollouts1/Namespaces1 + - /GlobalPathAnimation1/Status1 + - /OverlayImage1 + - /OK1 + - /WARN1 + - /ERROR1 + - /FATAL1 + Splitter Ratio: 0.695804 + Tree Height: 415 + - Class: rviz/Selection + Name: Selection + - Class: rviz/Tool Properties + Expanded: + - /2D Pose Estimate1 + - /2D Nav Goal1 + - /Publish Point1 + Name: Tool Properties + Splitter Ratio: 0.588679016 + - Class: rviz/Views + Expanded: + - /Current View1 + Name: Views + Splitter Ratio: 0.5 + - Class: rviz/Time + Experimental: false + Name: Time + SyncMode: 0 + SyncSource: Points Map + - Class: integrated_viewer/ImageViewerPlugin + Image topic: /tlr_roi_image + Lane topic: ----- + Name: ImageViewerPlugin + Point size: 3 + Point topic: ----- + Rect topic: ----- +Toolbars: + toolButtonStyle: 2 +Visualization Manager: + Class: "" + Displays: + - Alpha: 0.5 + Cell Size: 1 + Class: rviz/Grid + Color: 160; 160; 164 + Enabled: false + Line Style: + Line Width: 0.0299999993 + Value: Lines + Name: Grid + Normal Cell Count: 0 + Offset: + X: 0 + Y: 0 + Z: 0 + Plane: XY + Plane Cell Count: 10 + Reference Frame: + Value: false + - Class: rviz/TF + Enabled: true + Frame Timeout: 15 + Frames: + All Enabled: true + base_link: + Value: true + camera_fl: + Value: true + map: + Value: true + velodyne: + Value: true + world: + Value: true + Marker Scale: 5 + Name: TF + Show Arrows: true + Show Axes: true + Show Names: true + Tree: + world: + map: + base_link: + velodyne: + camera_fl: + {} + Update Interval: 0 + Value: true + - Alpha: 0.0500000007 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 10 + Min Value: -10 + Value: true + Axis: Z + Channel Name: intensity + Class: rviz/PointCloud2 + Color: 255; 255; 255 + Color Transformer: FlatColor + Decay Time: 0 + Enabled: true + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 4096 + Min Color: 0; 0; 0 + Min Intensity: 0 + Name: Points Map + Position Transformer: XYZ + Queue Size: 10 + Selectable: true + Size (Pixels): 2 + Size (m): 0.00999999978 + Style: Points + Topic: /points_map + Unreliable: false + Use Fixed Frame: true + Use rainbow: true + Value: true + - Class: rviz/MarkerArray + Enabled: true + Marker Topic: /vector_map + Name: Vector Map + Namespaces: + cross_road: true + road_sign: true + signal: true + stop_line: true + white_line: true + Queue Size: 100 + Value: true + - Class: rviz/Camera + Enabled: false + Image Rendering: overlay + Image Topic: /image_raw + Name: Camera + Overlay Alpha: 0.400000006 + Queue Size: 10 + Transport Hint: raw + Unreliable: false + Value: false + Visibility: + A* Sim Obstacle: true + Behavior State: true + Control Pose: true + Current Pose: true + Detection Range: true + ERROR: true + FATAL: true + Global Path: true + Global Waypoints: true + GlobalPathAnimation: true + Grid: true + Image: true + Local Rollouts: true + Local Waypoints: true + MarkerArray: true + Next Waypoint Mark: true + OK: true + Occupancy Grid Map: true + OverlayImage: true + OverlayText: true + PP Trajectory Mark: true + Points Cluster: true + Points Map: true + Points Raw: true + Safety Box: true + Simulated Obstacle: true + Stixel: true + TF: false + Tracked Contours: true + Value: true + Vector Map: true + Vector Map CenterLines: true + Vehicle Model: true + Velocity (km/h): true + Vscan Points: true + WARN: true + Waypoint Guide: true + Zoom Factor: 1 + - Alpha: 0.300000012 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: -266.358551 + Min Value: -329.807495 + Value: true + Axis: Z + Channel Name: intensity + Class: rviz/PointCloud2 + Color: 255; 255; 255 + Color Transformer: AxisColor + Decay Time: 0 + Enabled: true + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 137 + Min Color: 0; 0; 0 + Min Intensity: 0 + Name: Points Raw + Position Transformer: XYZ + Queue Size: 10 + Selectable: true + Size (Pixels): 5 + Size (m): 0.00999999978 + Style: Points + Topic: /points_raw + Unreliable: false + Use Fixed Frame: true + Use rainbow: true + Value: true + - Alpha: 0.5 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 10 + Min Value: -10 + Value: true + Axis: Z + Channel Name: intensity + Class: rviz/PointCloud2 + Color: 255; 255; 0 + Color Transformer: FlatColor + Decay Time: 0 + Enabled: false + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 255 + Min Color: 0; 0; 0 + Min Intensity: 255 + Name: Vscan Points + Position Transformer: XYZ + Queue Size: 10 + Selectable: true + Size (Pixels): 3 + Size (m): 0.00999999978 + Style: Points + Topic: /vscan_points + Unreliable: false + Use Fixed Frame: true + Use rainbow: true + Value: false + - Alpha: 1 + Axes Length: 1 + Axes Radius: 0.100000001 + Class: rviz/Pose + Color: 255; 25; 0 + Enabled: false + Head Length: 2 + Head Radius: 2 + Name: Control Pose + Shaft Length: 2 + Shaft Radius: 1 + Shape: Arrow + Topic: /control_pose + Unreliable: false + Value: false + - Alpha: 1 + Axes Length: 1 + Axes Radius: 0.100000001 + Class: rviz/Pose + Color: 255; 170; 255 + Enabled: false + Head Length: 2 + Head Radius: 2 + Name: Current Pose + Shaft Length: 2 + Shaft Radius: 1 + Shape: Arrow + Topic: /ndt_pose + Unreliable: false + Value: false + - Class: rviz/MarkerArray + Enabled: true + Marker Topic: /detection_range + Name: Detection Range + Namespaces: + Crosswalk Detection: true + Decelerate Detection: true + Stop Detection: true + Stop Line: true + Queue Size: 100 + Value: true + - Class: rviz/Marker + Enabled: true + Marker Topic: /next_target_mark + Name: Next Waypoint Mark + Namespaces: + next_target_marker: true + Queue Size: 100 + Value: true + - Class: rviz/Marker + Enabled: true + Marker Topic: /trajectory_circle_mark + Name: PP Trajectory Mark + Namespaces: + trajectory_circle_marker: true + Queue Size: 100 + Value: true + - Class: rviz/Marker + Enabled: false + Marker Topic: /vscan_linelist + Name: Stixel + Namespaces: + {} + Queue Size: 100 + Value: false + - Alpha: 1 + Class: rviz/RobotModel + Collision Enabled: false + Enabled: true + Links: + All Links Enabled: + {} + Expand Joint Details: false + Expand Link Details: false + Expand Tree: false + Link Tree Style: Links in Alphabetic Order + base_link: + Alpha: 1 + Show Axes: false + Show Trail: false + velodyne: + Alpha: 1 + Show Axes: false + Show Trail: false + Name: Vehicle Model + Robot Description: robot_description + TF Prefix: "" + Update Interval: 0 + Value: true + Visual Enabled: true + - Alpha: 1 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 10 + Min Value: -10 + Value: true + Axis: Z + Channel Name: intensity + Class: rviz/PointCloud2 + Color: 255; 255; 255 + Color Transformer: RGB8 + Decay Time: 0 + Enabled: true + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 4096 + Min Color: 0; 0; 0 + Min Intensity: 0 + Name: Points Cluster + Position Transformer: XYZ + Queue Size: 10 + Selectable: true + Size (Pixels): 5 + Size (m): 0.00999999978 + Style: Points + Topic: /points_cluster + Unreliable: false + Use Fixed Frame: true + Use rainbow: true + Value: true + - Class: rviz/MarkerArray + Enabled: true + Marker Topic: /local_waypoints_mark + Name: Local Waypoints + Namespaces: + local_path_marker: true + local_point_marker: true + local_waypoint_velocity: true + Queue Size: 100 + Value: true + - Class: rviz/MarkerArray + Enabled: true + Marker Topic: /global_waypoints_mark + Name: Global Waypoints + Namespaces: + global_change_flag_lane_1: true + global_lane_waypoint_orientation_marker_1: true + global_velocity_lane_1: true + Queue Size: 100 + Value: true + - Class: rviz/Marker + Enabled: true + Marker Topic: /waypoint_guide + Name: Waypoint Guide + Namespaces: + {} + Queue Size: 100 + Value: true + - Class: rviz/Marker + Enabled: true + Marker Topic: /astar_sim_obstacle + Name: A* Sim Obstacle + Namespaces: + {} + Queue Size: 100 + Value: true + - Alpha: 0.699999988 + Class: rviz/Map + Color Scheme: map + Draw Behind: true + Enabled: true + Name: Occupancy Grid Map + Topic: /grid_map_filter_visualization/distance_transform + Unreliable: false + Use Timestamp: false + Value: true + - Class: rviz/MarkerArray + Enabled: true + Marker Topic: /vector_map_center_lines_rviz + Name: Vector Map CenterLines + Namespaces: + {} + Queue Size: 100 + Value: true + - Class: rviz/MarkerArray + Enabled: true + Marker Topic: /global_waypoints_rviz + Name: Global Path + Namespaces: + {} + Queue Size: 100 + Value: true + - Class: rviz/MarkerArray + Enabled: true + Marker Topic: /local_trajectories + Name: Local Rollouts + Namespaces: + {} + Queue Size: 100 + Value: true + - Class: rviz/MarkerArray + Enabled: true + Marker Topic: /detected_polygons + Name: Tracked Contours + Namespaces: + {} + Queue Size: 100 + Value: true + - Class: rviz/Marker + Enabled: true + Marker Topic: /behavior_state + Name: Behavior State + Namespaces: + {} + Queue Size: 100 + Value: true + - Class: rviz/MarkerArray + Enabled: true + Marker Topic: /AnimateGlobalPlan + Name: GlobalPathAnimation + Namespaces: + {} + Queue Size: 100 + Value: true + - Class: rviz/Marker + Enabled: true + Marker Topic: /safety_border + Name: Safety Box + Namespaces: + {} + Queue Size: 100 + Value: true + - Class: jsk_rviz_plugin/BoundingBoxArray + Enabled: true + Name: Simulated Obstacle + Topic: /dp_planner_tracked_boxes + Unreliable: false + Value: true + alpha: 0.800000012 + color: 25; 255; 0 + coloring: Value + line width: 0.00999999978 + only edge: false + show coords: false + - Buffer length: 100 + Class: jsk_rviz_plugin/Plotter2D + Enabled: true + Name: Velocity (km/h) + Show Value: true + Topic: /linear_velocity_viz + Value: true + auto color change: false + auto scale: true + background color: 0; 0; 0 + backround alpha: 0 + border: true + foreground alpha: 0.699999988 + foreground color: 85; 255; 0 + height: 80 + left: 40 + linewidth: 1 + max color: 255; 0; 0 + max value: 1 + min value: -1 + show caption: true + text size: 8 + top: 30 + update interval: 0.0399999991 + width: 80 + - Align Bottom: false + Background Alpha: 0.800000012 + Background Color: 0; 0; 0 + Class: jsk_rviz_plugin/OverlayText + Enabled: true + Foreground Alpha: 0.800000012 + Foreground Color: 25; 255; 240 + Name: OverlayText + Overtake Color Properties: false + Overtake Position Properties: false + Topic: /ndt_monitor/ndt_info_text + Value: true + font: DejaVu Sans Mono + height: 128 + left: 0 + line width: 2 + text size: 12 + top: 0 + width: 128 + - Class: rviz/Image + Enabled: false + Image Topic: /image_raw + Max Value: 1 + Median window: 5 + Min Value: 0 + Name: Image + Normalize Range: true + Queue Size: 2 + Transport Hint: raw + Unreliable: false + Value: false + - Class: jsk_rviz_plugin/OverlayImage + Enabled: false + Name: OverlayImage + Topic: /image_raw + Value: false + alpha: 0.800000012 + height: 128 + keep aspect ratio: true + left: 128 + top: 128 + width: 640 + - Align Bottom: false + Background Alpha: 0.800000012 + Background Color: 0; 0; 0 + Class: jsk_rviz_plugin/OverlayText + Enabled: true + Foreground Alpha: 0.800000012 + Foreground Color: 25; 255; 240 + Name: OK + Overtake Color Properties: false + Overtake Position Properties: false + Topic: /health_aggregator/ok_text + Value: true + font: DejaVu Sans Mono + height: 128 + left: 0 + line width: 2 + text size: 12 + top: 0 + width: 128 + - Align Bottom: false + Background Alpha: 0.800000012 + Background Color: 0; 0; 0 + Class: jsk_rviz_plugin/OverlayText + Enabled: true + Foreground Alpha: 0.800000012 + Foreground Color: 25; 255; 240 + Name: WARN + Overtake Color Properties: false + Overtake Position Properties: false + Topic: /health_aggregator/warn_text + Value: true + font: DejaVu Sans Mono + height: 128 + left: 0 + line width: 2 + text size: 12 + top: 0 + width: 128 + - Align Bottom: false + Background Alpha: 0.800000012 + Background Color: 0; 0; 0 + Class: jsk_rviz_plugin/OverlayText + Enabled: true + Foreground Alpha: 0.800000012 + Foreground Color: 25; 255; 240 + Name: ERROR + Overtake Color Properties: false + Overtake Position Properties: false + Topic: /health_aggregator/error_text + Value: true + font: DejaVu Sans Mono + height: 128 + left: 0 + line width: 2 + text size: 12 + top: 0 + width: 128 + - Align Bottom: false + Background Alpha: 0.800000012 + Background Color: 0; 0; 0 + Class: jsk_rviz_plugin/OverlayText + Enabled: true + Foreground Alpha: 0.800000012 + Foreground Color: 25; 255; 240 + Name: FATAL + Overtake Color Properties: false + Overtake Position Properties: false + Topic: /health_aggregator/fatal_text + Value: true + font: DejaVu Sans Mono + height: 128 + left: 0 + line width: 2 + text size: 12 + top: 0 + width: 128 + - Class: rviz/MarkerArray + Enabled: true + Marker Topic: /waypoint_saver_marker + Name: MarkerArray + Namespaces: + {} + Queue Size: 100 + Value: true + Enabled: true + Global Options: + Background Color: 48; 48; 48 + Default Light: true + Fixed Frame: map + Frame Rate: 30 + Name: root + Tools: + - Class: rviz/Interact + Hide Inactive Objects: true + - Class: rviz/MoveCamera + - Class: rviz/Select + - Class: rviz/FocusCamera + - Class: rviz/Measure + - Class: rviz/SetInitialPose + Topic: /initialpose + - Class: rviz/SetGoal + Topic: /move_base_simple/goal + - Class: rviz/PublishPoint + Single click: true + Topic: /clicked_point + Value: true + Views: + Current: + Angle: 1.51999938 + Class: rviz/TopDownOrtho + Enable Stereo Rendering: + Stereo Eye Separation: 0.0599999987 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Invert Z Axis: false + Name: Current View + Near Clip Distance: 0.00999999978 + Scale: 21.1714115 + Target Frame: base_link + Value: TopDownOrtho (rviz) + X: -2.72917533 + Y: 3.30666256 + Saved: ~ +Window Geometry: + Camera: + collapsed: false + Displays: + collapsed: false + Height: 696 + Hide Left Dock: false + Hide Right Dock: true + Image: + collapsed: false + ImageViewerPlugin: + collapsed: false + QMainWindow State: 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 + Selection: + collapsed: false + Time: + collapsed: false + Tool Properties: + collapsed: false + Views: + collapsed: true + Width: 1215 + X: 65 + Y: 24 diff --git a/ros/src/computing/planning/decision/packages/decision_maker/CMakeLists.txt b/ros/src/computing/planning/decision/packages/decision_maker/CMakeLists.txt index b9aa8aeb085..33354f6c82e 100644 --- a/ros/src/computing/planning/decision/packages/decision_maker/CMakeLists.txt +++ b/ros/src/computing/planning/decision/packages/decision_maker/CMakeLists.txt @@ -85,6 +85,14 @@ install(DIRECTORY include/${PROJECT_NAME}/ PATTERN ".svn" EXCLUDE ) +install(DIRECTORY launch/ + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/launch + PATTERN ".svn" EXCLUDE + ) +install(FILES autoware_state_drive.yaml autoware_state_mission.yaml autoware_state_vehicle.yaml + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} + ) + if(CATKIN_ENABLE_TESTING) find_package(rostest REQUIRED) add_rostest_gtest(test-decision_maker