update

Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>
autowarefoundation · Dec 25, 2024 · 5c6b996 · 5c6b996
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diff --git a/...lization/autoware_overlay_rviz_plugin/autoware_string_stamped_overlay_rviz_plugin/LICENSE b/...lization/autoware_overlay_rviz_plugin/autoware_string_stamped_overlay_rviz_plugin/LICENSE
diff --git a/...oware_overlay_rviz_plugin/autoware_string_stamped_overlay_rviz_plugin/README.md b/...oware_overlay_rviz_plugin/autoware_string_stamped_overlay_rviz_plugin/README.md
@@ -2,53 +2,6 @@
 
 Plugin for displaying 2D overlays over the RViz2 3D scene.
 
-Based on the [jsk_visualization](https://github.com/jsk-ros-pkg/jsk_visualization)
-package, under the 3-Clause BSD license.
-
 ## Purpose
 
-This plugin provides a visual and easy-to-understand display of vehicle speed, turn signal, steering status and gears.
-
-## Inputs / Outputs
-
-### Input
-
-| Name                                                    | Type                                                    | Description                          |
-| ------------------------------------------------------- | ------------------------------------------------------- | ------------------------------------ |
-| `/vehicle/status/velocity_status`                       | `autoware_vehicle_msgs::msg::VelocityReport`            | The topic is vehicle velocity        |
-| `/vehicle/status/turn_indicators_status`                | `autoware_vehicle_msgs::msg::TurnIndicatorsReport`      | The topic is status of turn signal   |
-| `/vehicle/status/hazard_status`                         | `autoware_vehicle_msgs::msg::HazardReport`              | The topic is status of hazard        |
-| `/vehicle/status/steering_status`                       | `autoware_vehicle_msgs::msg::SteeringReport`            | The topic is status of steering      |
-| `/vehicle/status/gear_status`                           | `autoware_vehicle_msgs::msg::GearReport`                | The topic is status of gear          |
-| `/planning/scenario_planning/current_max_velocity`      | `tier4_planning_msgs::msg::VelocityLimit`               | The topic is velocity limit          |
-| `/perception/traffic_light_recognition/traffic_signals` | `autoware_perception_msgs::msg::TrafficLightGroupArray` | The topic is status of traffic light |
-
-## Parameter
-
-### Core Parameters
-
-#### StringStampedOverlayDisplay
-
-| Name                     | Type   | Default Value        | Description                       |
-| ------------------------ | ------ | -------------------- | --------------------------------- |
-| `property_width_`        | int    | 128                  | Width of the plotter window [px]  |
-| `property_height_`       | int    | 128                  | Height of the plotter window [px] |
-| `property_left_`         | int    | 128                  | Left of the plotter window [px]   |
-| `property_top_`          | int    | 128                  | Top of the plotter window [px]    |
-| `property_signal_color_` | QColor | QColor(25, 255, 240) | Turn Signal color                 |
-
-## Assumptions / Known limits
-
-TBD.
-
-## Usage
-
-1. Start `rviz2` and click `Add` button under the `Displays` panel.
-
-   ![select_add](./assets/images/select_add.png)
-
-2. Under `By display type` tab, select `autoware_string_stamped_rviz_plugin/StringStampedOverlayDisplay` and press OK.
-
-3. Enter the names of the topics if necessary.
-
-   ![select_topic_name](./assets/images/select_topic_name.png)
+This plugin displays the ROS message whose topic type is `autoware_internal_debug_msgs::msg::StringStamped` in rviz.
diff --git a/...tion/autoware_overlay_rviz_plugin/autoware_string_stamped_overlay_rviz_plugin/package.xml b/...tion/autoware_overlay_rviz_plugin/autoware_string_stamped_overlay_rviz_plugin/package.xml
@@ -7,15 +7,13 @@
     RViz2 plugin for 2D overlays in the 3D view. Mainly a port of the JSK overlay plugin
         (https://github.com/jsk-ros-pkg/jsk_visualization).
   </description>
-  <maintainer email="khalil@leodrive.ai">Khalil Selyan</maintainer>
+  <maintainer email="takayuki.murooka@tier4.jp">Takayuki Murooka</maintainer>
+  <maintainer email="satoshi.ota@tier4.jp">Satoshi Ota</maintainer>
 
-  <license>BSD-3-Clause</license>
+  <license>Apache License 2.0</license>
 
   <depend>ament_index_cpp</depend>
   <depend>autoware_internal_debug_msgs</depend>
-  <depend>autoware_perception_msgs</depend>
-  <depend>autoware_vehicle_msgs</depend>
-  <depend>boost</depend>
   <depend>rviz_common</depend>
   <depend>rviz_ogre_vendor</depend>
   <depend>rviz_rendering</depend>

diff --git a/...plugin/autoware_string_stamped_overlay_rviz_plugin/src/string_stamped_overlay_display.cpp b/...plugin/autoware_string_stamped_overlay_rviz_plugin/src/string_stamped_overlay_display.cpp
@@ -89,6 +89,16 @@ StringStampedOverlayDisplay::StringStampedOverlayDisplay()
   property_max_letter_num_ = new rviz_common::properties::IntProperty(
     "Max Letter Num", 100, "Max Letter Num", this, SLOT(updateVisualization()), this);
   property_max_letter_num_->setMin(10);
+
+  property_last_diag_keep_time_ = new rviz_common::properties::FloatProperty(
+    "Time To Keep Last Diag", 1.0, "Time To Keep Last Diag", this, SLOT(updateVisualization()),
+    this);
+  property_last_diag_keep_time_->setMin(0);
+
+  property_last_diag_erase_time_ = new rviz_common::properties::FloatProperty(
+    "Time To Erase Last Diag", 2.0, "Time To Erase Last Diag", this, SLOT(updateVisualization()),
+    this);
+  property_last_diag_erase_time_->setMin(0.001);
 }
 
 StringStampedOverlayDisplay::~StringStampedOverlayDisplay()
@@ -141,14 +151,20 @@ void StringStampedOverlayDisplay::update(float wall_dt, float ros_dt)
     }
   }
 
+  // calculate text and alpha
   const auto text_with_alpha = [&]() {
     std::lock_guard<std::mutex> message_lock(mutex_);
     if (last_msg_text_.empty()) {
       const auto current_time = context_->getRosNodeAbstraction().lock()->get_raw_node()->now();
       const auto duration = (current_time - last_non_empty_msg_ptr_->stamp).seconds();
-      if (duration < 1.0 + 2.0) {
-        const int dynamic_alpha =
-          static_cast<int>((1.0 - std::max(duration - 1.0, 0.0) / 2.0) * 255);
+      if (
+        duration <
+        property_last_diag_keep_time_->getFloat() + property_last_diag_erase_time_->getFloat()) {
+        const int dynamic_alpha = static_cast<int>(std::max(
+          (1.0 - std::max(duration - property_last_diag_keep_time_->getFloat(), 0.0) /
+                   property_last_diag_erase_time_->getFloat()) *
+            255,
+          0.0));
         return std::make_pair(last_non_empty_msg_ptr_->data, dynamic_alpha);
       }
     }
@@ -196,6 +212,8 @@ void StringStampedOverlayDisplay::processMessage(
   {
     std::lock_guard<std::mutex> message_lock(mutex_);
     last_msg_text_ = msg_ptr->data;
+
+    // keep the non empty last message for visualization
     if (!msg_ptr->data.empty()) {
       last_non_empty_msg_ptr_ = msg_ptr;
     }

diff --git a/...plugin/autoware_string_stamped_overlay_rviz_plugin/src/string_stamped_overlay_display.hpp b/...plugin/autoware_string_stamped_overlay_rviz_plugin/src/string_stamped_overlay_display.hpp
@@ -92,10 +92,10 @@ private Q_SLOTS:
   rviz_common::properties::IntProperty * property_left_;
   rviz_common::properties::IntProperty * property_top_;
   rviz_common::properties::IntProperty * property_value_height_offset_;
-  rviz_common::properties::FloatProperty * property_value_scale_;
   rviz_common::properties::IntProperty * property_font_size_;
   rviz_common::properties::IntProperty * property_max_letter_num_;
-  // QImage hud_;
+  rviz_common::properties::FloatProperty * property_last_diag_keep_time_;
+  rviz_common::properties::FloatProperty * property_last_diag_erase_time_;
 
 private:
   static constexpr int line_width_ = 2;