diff --git a/.dockerignore b/.dockerignore
index 679e11b25ef..0255e920e4f 100644
--- a/.dockerignore
+++ b/.dockerignore
@@ -10,13 +10,13 @@
docker
!docker/etc
!docker/scripts
+!docker/tools
# Ignore a part of files under src
src/**/.*
src/**/*.asc
src/**/*.gif
src/**/*.md
-src/**/*.pcd
src/**/*.svg
# Ignore generated files by colcon
diff --git a/.github/actions/docker-build-and-push-tools/action.yaml b/.github/actions/docker-build-and-push-tools/action.yaml
new file mode 100644
index 00000000000..134e0174967
--- /dev/null
+++ b/.github/actions/docker-build-and-push-tools/action.yaml
@@ -0,0 +1,111 @@
+name: docker-build-and-push-tools
+description: Composite action to build and push tools images to registry.
+
+inputs:
+ platform:
+ description: Target platform.
+ required: true
+ target-image:
+ description: Target docker image name in the registry.
+ required: true
+ build-args:
+ description: Additional build args.
+ required: false
+
+runs:
+ using: composite
+ steps:
+ - name: Install jq and vcstool
+ run: |
+ sudo apt-get -y update
+ sudo apt-get -y install jq python3-pip
+ pip install --no-cache-dir vcstool
+ shell: bash
+
+ - name: Run vcs import
+ run: |
+ mkdir src
+ vcs import src < autoware.repos
+ vcs import src < simulator.repos
+ shell: bash
+
+ - name: Setup Docker Buildx
+ uses: docker/setup-buildx-action@v3
+
+ - name: Restore ccache
+ uses: actions/cache/restore@v4
+ with:
+ path: |
+ root-ccache
+ key: ccache-${{ inputs.platform }}-${{ hashFiles('src/**/*.cpp') }}
+ restore-keys: |
+ ccache-${{ inputs.platform }}-
+
+ - name: Restore apt-get
+ uses: actions/cache/restore@v4
+ with:
+ path: |
+ var-cache-apt
+ key: apt-get-${{ inputs.platform }}-${{ hashFiles('src/**/package.xml') }}
+ restore-keys: |
+ apt-get-${{ inputs.platform }}-
+
+ - name: Inject cache into docker
+ uses: reproducible-containers/buildkit-cache-dance@v3.1.2
+ with:
+ cache-map: |
+ {
+ "root-ccache": "/root/.ccache",
+ "var-cache-apt": "/var/cache/apt"
+ }
+ skip-extraction: true
+
+ - name: Get current date
+ id: date
+ run: echo "date=$(date +'%Y%m%d')" >> $GITHUB_OUTPUT
+ shell: bash
+
+ - name: Docker meta for autoware:visualizer
+ id: meta-visualizer
+ uses: docker/metadata-action@v5
+ with:
+ images: ghcr.io/${{ github.repository_owner }}/${{ inputs.target-image }}
+ tags: |
+ type=raw,value=visualizer-${{ inputs.platform }}
+ type=raw,value=visualizer-${{ steps.date.outputs.date }}-${{ inputs.platform }}
+ type=ref,event=tag,prefix=visualizer-,suffix=-${{ inputs.platform }}
+ bake-target: docker-metadata-action-visualizer
+ flavor: |
+ latest=false
+
+ - name: Docker meta for autoware:scenario-simulator
+ id: meta-scenario-simulator
+ uses: docker/metadata-action@v5
+ with:
+ images: ghcr.io/${{ github.repository_owner }}/${{ inputs.target-image }}
+ tags: |
+ type=raw,value=scenario-simulator-${{ inputs.platform }}
+ type=raw,value=scenario-simulator-${{ steps.date.outputs.date }}-${{ inputs.platform }}
+ type=ref,event=tag,prefix=scenario-simulator-,suffix=-${{ inputs.platform }}
+ bake-target: docker-metadata-action-scenario-simulator
+ flavor: |
+ latest=false
+
+ - name: Login to GitHub Container Registry
+ uses: docker/login-action@v3
+ with:
+ registry: ghcr.io
+ username: ${{ github.repository_owner }}
+ password: ${{ github.token }}
+
+ - name: Build and Push to GitHub Container Registry
+ uses: docker/bake-action@v5
+ with:
+ push: true
+ files: |
+ docker/docker-bake-tools.hcl
+ ${{ steps.meta-scenario-simulator.outputs.bake-file }}
+ ${{ steps.meta-visualizer.outputs.bake-file }}
+ provenance: false
+ set: |
+ ${{ inputs.build-args }}
diff --git a/.github/workflows/docker-build-and-push-arm64.yaml b/.github/workflows/docker-build-and-push-arm64.yaml
index 6659ebc337d..fe77110f24d 100644
--- a/.github/workflows/docker-build-and-push-arm64.yaml
+++ b/.github/workflows/docker-build-and-push-arm64.yaml
@@ -72,6 +72,22 @@ jobs:
*.cache-from=type=registry,ref=ghcr.io/${{ github.repository }}-buildcache:arm64-main
*.cache-to=type=registry,ref=ghcr.io/${{ github.repository }}-buildcache:arm64-${{ github.ref_name }},mode=max
+ - name: Build 'autoware-tools'
+ uses: ./.github/actions/docker-build-and-push-tools
+ with:
+ platform: arm64
+ target-image: autoware-tools
+ build-args: |
+ *.platform=linux/arm64
+ *.args.ROS_DISTRO=${{ needs.load-env.outputs.rosdistro }}
+ *.args.BASE_IMAGE=${{ needs.load-env.outputs.base_image }}
+ *.args.AUTOWARE_BASE_IMAGE=${{ needs.load-env.outputs.autoware_base_image }}
+ *.args.AUTOWARE_BASE_CUDA_IMAGE=${{ needs.load-env.outputs.autoware_base_cuda_image }}
+ *.args.LIB_DIR=aarch64
+ *.cache-from=type=registry,ref=ghcr.io/${{ github.repository }}-buildcache:arm64-${{ github.ref_name }}
+ *.cache-from=type=registry,ref=ghcr.io/${{ github.repository }}-buildcache:arm64-main
+ *.cache-to=type=registry,ref=ghcr.io/${{ github.repository }}-buildcache:arm64-${{ github.ref_name }},mode=max
+
- name: Show disk space
if: always()
run: |
diff --git a/.github/workflows/docker-build-and-push.yaml b/.github/workflows/docker-build-and-push.yaml
index 567678bde3e..478ba6a473a 100644
--- a/.github/workflows/docker-build-and-push.yaml
+++ b/.github/workflows/docker-build-and-push.yaml
@@ -62,6 +62,22 @@ jobs:
*.cache-from=type=registry,ref=ghcr.io/${{ github.repository }}-buildcache:amd64-main
*.cache-to=type=registry,ref=ghcr.io/${{ github.repository }}-buildcache:amd64-${{ github.ref_name }},mode=max
+ - name: Build 'autoware-tools'
+ uses: ./.github/actions/docker-build-and-push-tools
+ with:
+ platform: amd64
+ target-image: autoware-tools
+ build-args: |
+ *.platform=linux/amd64
+ *.args.ROS_DISTRO=${{ needs.load-env.outputs.rosdistro }}
+ *.args.BASE_IMAGE=${{ needs.load-env.outputs.base_image }}
+ *.args.AUTOWARE_BASE_IMAGE=${{ needs.load-env.outputs.autoware_base_image }}
+ *.args.AUTOWARE_BASE_CUDA_IMAGE=${{ needs.load-env.outputs.autoware_base_cuda_image }}
+ *.args.LIB_DIR=x86_64
+ *.cache-from=type=registry,ref=ghcr.io/${{ github.repository }}-buildcache:amd64-${{ github.ref_name }}
+ *.cache-from=type=registry,ref=ghcr.io/${{ github.repository }}-buildcache:amd64-main
+ *.cache-to=type=registry,ref=ghcr.io/${{ github.repository }}-buildcache:amd64-${{ github.ref_name }},mode=max
+
- name: Show disk space
if: always()
run: |
diff --git a/docker/docker-bake-tools.hcl b/docker/docker-bake-tools.hcl
new file mode 100644
index 00000000000..2c34b87865d
--- /dev/null
+++ b/docker/docker-bake-tools.hcl
@@ -0,0 +1,22 @@
+group "default" {
+ targets = [
+ "scenario-simulator",
+ "visualizer"
+ ]
+}
+
+// For docker/metadata-action
+target "docker-metadata-action-scenario-simulator" {}
+target "docker-metadata-action-visualizer" {}
+
+target "scenario-simulator" {
+ inherits = ["docker-metadata-action-scenario-simulator"]
+ dockerfile = "docker/tools/scenario-simulator/Dockerfile.scenario-simulator"
+ target = "scenario-simulator"
+}
+
+target "visualizer" {
+ inherits = ["docker-metadata-action-visualizer"]
+ dockerfile = "docker/tools/visualizer/Dockerfile.visualizer"
+ target = "visualizer"
+}
diff --git a/docker/tools/scenario-simulator/Dockerfile.scenario-simulator b/docker/tools/scenario-simulator/Dockerfile.scenario-simulator
new file mode 100644
index 00000000000..850164fe771
--- /dev/null
+++ b/docker/tools/scenario-simulator/Dockerfile.scenario-simulator
@@ -0,0 +1,59 @@
+### Builder
+FROM ghcr.io/autowarefoundation/autoware:universe-devel AS builder
+SHELL ["/bin/bash", "-o", "pipefail", "-c"]
+ARG ROS_DISTRO
+ARG LIB_DIR
+ENV CCACHE_DIR="/root/.ccache"
+WORKDIR /autoware
+COPY src /autoware/src
+COPY docker/scripts/resolve_rosdep_keys.sh /autoware/resolve_rosdep_keys.sh
+RUN chmod +x /autoware/resolve_rosdep_keys.sh
+
+# Install dependencies and build the scenario simulator
+# hadolint ignore=SC1091
+RUN --mount=type=ssh \
+ --mount=type=cache,target=/var/cache/apt,sharing=locked \
+ apt-get update \
+ && rosdep update && rosdep install -y --from-paths src --ignore-src --rosdistro $ROS_DISTRO \
+ && source /opt/ros/"$ROS_DISTRO"/setup.bash && source /opt/autoware/setup.bash \
+ && colcon build --cmake-args \
+ "-Wno-dev" \
+ "--no-warn-unused-cli" \
+ --install-base /opt/autoware \
+ --merge-install \
+ --mixin release compile-commands ccache \
+ --base-paths /autoware/src/simulator \
+ && find /opt/autoware/lib -type f -name "*.py" -exec chmod +x {} \; \
+ && find /opt/autoware/share -type f -name "*.py" -exec chmod +x {} \; \
+ && apt-get clean \
+ && rm -rf /var/lib/apt/lists/* "$HOME"/.cache
+
+# Extract rosdep dependencies for simulator
+RUN /autoware/resolve_rosdep_keys.sh /autoware/src/simulator ${ROS_DISTRO} \
+ > /rosdep-simulator-depend-packages.txt \
+ && cat /rosdep-simulator-depend-packages.txt
+
+### Scenario Simulator
+FROM ghcr.io/autowarefoundation/autoware:universe-visualization AS scenario-simulator
+SHELL ["/bin/bash", "-o", "pipefail", "-c"]
+ARG ROS_DISTRO
+ARG LIB_DIR
+WORKDIR /autoware
+COPY --from=builder /opt/autoware /opt/autoware
+COPY --from=builder /rosdep-simulator-depend-packages.txt /tmp/rosdep-simulator-depend-packages.txt
+
+# hadolint ignore=SC2002
+RUN --mount=type=ssh \
+ --mount=type=cache,target=/var/cache/apt,sharing=locked \
+ apt-get update && apt-get install -y curl unzip \
+ && source /opt/ros/"$ROS_DISTRO"/setup.bash && source /opt/autoware/setup.bash \
+ && rosdep update \
+ # Remove xmlschema and yamale from rosdep packages since we install via pip
+ && sed -i '/\(xmlschema\|yamale\)/d' /tmp/rosdep-simulator-depend-packages.txt \
+ && pip install --no-cache-dir yamale xmlschema \
+ && cat /tmp/rosdep-simulator-depend-packages.txt | xargs apt-get install -y --no-install-recommends \
+ && /autoware/cleanup_system.sh $LIB_DIR $ROS_DISTRO
+
+COPY docker/tools/scenario-simulator/entrypoint.sh /entrypoint.sh
+RUN chmod +x /entrypoint.sh
+ENTRYPOINT ["/entrypoint.sh"]
diff --git a/docker/tools/scenario-simulator/entrypoint.sh b/docker/tools/scenario-simulator/entrypoint.sh
new file mode 100644
index 00000000000..9db590fa00e
--- /dev/null
+++ b/docker/tools/scenario-simulator/entrypoint.sh
@@ -0,0 +1,57 @@
+#!/usr/bin/env bash
+# cspell:ignore
+# shellcheck disable=SC1090,SC1091
+
+run_scenario_simulator() {
+ echo -e "\e[32mRunning scenario simulator...\e[0m"
+
+ # Set default values if not provided
+ ARCHITECTURE_TYPE=${ARCHITECTURE_TYPE:-awf/universe/20240605}
+ SENSOR_MODEL=${SENSOR_MODEL:-sample_sensor_kit}
+ VEHICLE_MODEL=${VEHICLE_MODEL:-sample_vehicle}
+ INITIALIZE_DURATION=${INITIALIZE_DURATION:-90}
+ GLOBAL_FRAME_RATE=${GLOBAL_FRAME_RATE:-20}
+ OUTPUT_DIRECTORY=${OUTPUT_DIRECTORY:-/autoware/scenario-sim/output}
+ SCENARIO=${SCENARIO:-$(ros2 pkg prefix --share scenario_test_runner)/scenario/sample.yaml}
+ GLOBAL_TIMEOUT=${GLOBAL_TIMEOUT:-120}
+ RECORD=${RECORD:-false}
+ USE_SIM_TIME=${USE_SIM_TIME:-false}
+
+ # Print all variables
+ echo "ARCHITECTURE_TYPE: $ARCHITECTURE_TYPE"
+ echo "SENSOR_MODEL: $SENSOR_MODEL"
+ echo "VEHICLE_MODEL: $VEHICLE_MODEL"
+ echo "INITIALIZE_DURATION: $INITIALIZE_DURATION"
+ echo "GLOBAL_FRAME_RATE: $GLOBAL_FRAME_RATE"
+ echo "OUTPUT_DIRECTORY: $OUTPUT_DIRECTORY"
+ echo "SCENARIO: $SCENARIO"
+ echo "GLOBAL_TIMEOUT: $GLOBAL_TIMEOUT"
+ echo "RECORD: $RECORD"
+ echo "USE_SIM_TIME: $USE_SIM_TIME"
+
+ # Launch scenario test runner
+ ros2 launch scenario_test_runner scenario_test_runner.launch.py \
+ launch_autoware:=false \
+ launch_rviz:=false \
+ architecture_type:="$ARCHITECTURE_TYPE" \
+ sensor_model:="$SENSOR_MODEL" \
+ vehicle_model:="$VEHICLE_MODEL" \
+ initialize_duration:="$INITIALIZE_DURATION" \
+ global_frame_rate:="$GLOBAL_FRAME_RATE" \
+ output_directory:="$OUTPUT_DIRECTORY" \
+ scenario:="$SCENARIO" \
+ global_timeout:="$GLOBAL_TIMEOUT" \
+ record:="$RECORD" \
+ use_sim_time:="$USE_SIM_TIME"
+}
+
+# Source ROS and Autoware setup files
+source "/opt/ros/$ROS_DISTRO/setup.bash"
+source "/opt/autoware/setup.bash"
+
+# Execute passed command if provided, otherwise run scenario simulator
+if [ $# -gt 0 ]; then
+ exec "$@"
+else
+ run_scenario_simulator
+fi
diff --git a/docker/tools/visualizer/Dockerfile.visualizer b/docker/tools/visualizer/Dockerfile.visualizer
new file mode 100644
index 00000000000..a4b1961c337
--- /dev/null
+++ b/docker/tools/visualizer/Dockerfile.visualizer
@@ -0,0 +1,81 @@
+# cspell:ignore openbox, VNC, tigervnc, novnc, websockify, newkey, xstartup, keyout
+
+### Builder
+FROM ghcr.io/autowarefoundation/autoware:universe-visualization-devel AS builder
+SHELL ["/bin/bash", "-o", "pipefail", "-c"]
+ENV CCACHE_DIR="/root/.ccache"
+ARG ROS_DISTRO
+WORKDIR /autoware
+COPY src/simulator /autoware/src/simulator
+COPY docker/scripts/resolve_rosdep_keys.sh /autoware/resolve_rosdep_keys.sh
+RUN chmod +x /autoware/resolve_rosdep_keys.sh
+
+# Build simulator messages and rviz plugins ONLY
+# hadolint ignore=SC1091
+RUN --mount=type=ssh \
+ --mount=type=cache,target=/var/cache/apt,sharing=locked \
+ apt-get update \
+ && source /opt/ros/"$ROS_DISTRO"/setup.bash && source /opt/autoware/setup.bash \
+ && rosdep update && rosdep install -y --from-paths src --ignore-src --rosdistro $ROS_DISTRO \
+ && colcon build --cmake-args \
+ "-Wno-dev" \
+ "--no-warn-unused-cli" \
+ --install-base /opt/autoware \
+ --merge-install \
+ --mixin release compile-commands ccache \
+ --base-paths /autoware/src \
+ --packages-up-to-regex ".*_msgs$" ".*rviz_plugin$" \
+ && apt-get clean \
+ && rm -rf /var/lib/apt/lists/* "$HOME"/.cache
+
+# Extract rosdep dependencies for visualizer
+# hadolint ignore=SC1091
+RUN source /opt/ros/"$ROS_DISTRO"/setup.bash && source /opt/autoware/setup.bash \
+ && /autoware/resolve_rosdep_keys.sh /autoware/src ${ROS_DISTRO} \
+ > /rosdep-visualizer-depend-packages.txt \
+ && cat /rosdep-visualizer-depend-packages.txt
+
+### visualizer
+FROM ghcr.io/autowarefoundation/autoware:universe-visualization AS visualizer
+SHELL ["/bin/bash", "-o", "pipefail", "-c"]
+ARG ROS_DISTRO
+ARG LIB_DIR
+WORKDIR /autoware
+
+# Get simulator messages, rviz plugins and dependencies
+COPY --from=builder /opt/autoware /opt/autoware
+COPY --from=builder /rosdep-visualizer-depend-packages.txt /tmp/rosdep-visualizer-depend-packages.txt
+
+# Install openbox, VNC, and simulator dependencies
+# hadolint ignore=SC2002
+RUN apt-get update && DEBIAN_FRONTEND=noninteractive apt-get install -y \
+ curl unzip openbox tigervnc-standalone-server tigervnc-common \
+ novnc websockify python3-numpy python3-xdg \
+ # Remove xmlschema and yamale from rosdep packages since we install via pip
+ && sed -i '/\(xmlschema\|yamale\)/d' /tmp/rosdep-visualizer-depend-packages.txt \
+ && pip install --no-cache-dir yamale xmlschema \
+ && cat /tmp/rosdep-visualizer-depend-packages.txt | xargs apt-get install -y --no-install-recommends \
+ && /autoware/cleanup_system.sh $LIB_DIR $ROS_DISTRO
+
+# Create SSL certificate for NoVNC
+RUN openssl req -x509 -nodes -newkey rsa:2048 \
+ -keyout /etc/ssl/private/novnc.key \
+ -out /etc/ssl/certs/novnc.crt \
+ -days 365 \
+ -subj "/O=Autoware-OpenADKit/CN=localhost"
+
+# Need to expose VNC and NoVNC ports when running the container
+EXPOSE 5900 6080
+
+# Add source commands to bash startup
+RUN echo "source /opt/ros/$ROS_DISTRO/setup.bash" >> /root/.bashrc && \
+ echo "source /opt/autoware/setup.bash" >> /root/.bashrc
+
+# Copy default rviz config
+COPY docker/tools/visualizer/etc/autoware.rviz /autoware/autoware.rviz
+
+# Copy startup scripts
+COPY docker/tools/visualizer/etc/xstartup /root/.vnc/xstartup
+COPY docker/tools/visualizer/entrypoint.sh /entrypoint.sh
+RUN chmod +x /entrypoint.sh && chmod +x /root/.vnc/xstartup
+ENTRYPOINT ["/entrypoint.sh"]
diff --git a/docker/tools/visualizer/entrypoint.sh b/docker/tools/visualizer/entrypoint.sh
new file mode 100644
index 00000000000..bc9d824dd08
--- /dev/null
+++ b/docker/tools/visualizer/entrypoint.sh
@@ -0,0 +1,92 @@
+#!/usr/bin/env bash
+# cspell:ignore openbox, VNC, tigervnc, novnc, websockify, newkey, xstartup, pixelformat, AUTHTOKEN, authtoken, vncserver, autoconnect, vncpasswd
+# shellcheck disable=SC1090,SC1091
+
+# Check if RVIZ_CONFIG is provided
+if [ -z "$RVIZ_CONFIG" ]; then
+ echo -e "\e[31mRVIZ_CONFIG is not set defaulting to autoware.rviz\e[0m"
+ RVIZ_CONFIG="/autoware/autoware.rviz"
+ export RVIZ_CONFIG
+fi
+
+configure_vnc() {
+ # Check if WEB_PASSWORD is provided
+ [ -z "$WEB_PASSWORD" ] && echo -e "\e[31mPassword is needed when WEB_ENABLED is true. Set WEB_PASSWORD environment variable\e[0m" && exit 1
+
+ # Create Openbox application configuration
+ mkdir -p /etc/xdg/openbox
+ cat >/etc/xdg/openbox/rc.xml <<'EOF'
+
+
+
+
+ yes
+
+ center
+ center
+
+ yes
+ 1
+
+
+
+EOF
+ # Create rviz2 start script
+ cat >/usr/local/bin/start-rviz2.sh <<'EOF'
+#!/bin/bash
+source /opt/ros/humble/setup.bash
+source /opt/autoware/setup.bash
+exec rviz2 -d "$RVIZ_CONFIG"
+EOF
+ chmod +x /usr/local/bin/start-rviz2.sh
+ echo "echo 'Autostart executed at $(date)' >> /tmp/autostart.log" >>/etc/xdg/openbox/autostart
+ echo "/usr/local/bin/start-rviz2.sh" >>/etc/xdg/openbox/autostart
+
+ # Configure VNC password
+ mkdir -p ~/.vnc
+ echo "$WEB_PASSWORD" | vncpasswd -f >~/.vnc/passwd && chmod 600 ~/.vnc/passwd
+
+ # Start VNC server with Openbox
+ echo "Starting VNC server with Openbox..."
+ vncserver :99 -geometry 1024x768 -depth 16 -pixelformat rgb565
+ VNC_RESULT=$?
+
+ if [ $VNC_RESULT -ne 0 ]; then
+ echo "Failed to start VNC server (exit code: $VNC_RESULT)"
+ exit $VNC_RESULT
+ fi
+
+ # Set the DISPLAY variable to match VNC server
+ echo "Setting DISPLAY to :99"
+ echo "export DISPLAY=:99" >>~/.bashrc
+ sleep 2
+
+ # Start NoVNC
+ echo "Starting NoVNC..."
+ websockify --daemon --web=/usr/share/novnc/ --cert=/etc/ssl/certs/novnc.crt --key=/etc/ssl/private/novnc.key 6080 localhost:5999
+
+ # Print info
+ echo -e "\033[32m-------------------------------------------------------------------------\033[0m"
+ echo -e "\033[32mBrowser interface available at local address http://$(hostname -I | cut -d' ' -f1):6080/vnc.html?resize=scale&password=${WEB_PASSWORD}&autoconnect=true\033[0m"
+ if curl -s --head 1.1.1.1 >/dev/null 2>&1; then
+ echo -e "\033[32mIf you have a static public ip you can access it on WEB at http://$(curl -s ifconfig.me):6080/vnc.html?resize=scale&password=${WEB_PASSWORD}&autoconnect=true\033[0m"
+ else
+ echo -e "\033[31mNo internet connection available\033[0m"
+ fi
+ echo -e "\033[32m-------------------------------------------------------------------------\033[0m"
+}
+
+# Source ROS and Autoware setup files
+source "/opt/ros/$ROS_DISTRO/setup.bash"
+source "/opt/autoware/setup.bash"
+
+# Execute passed command if provided, otherwise launch rviz2
+if [ "$WEB_ENABLED" == "true" ]; then
+ configure_vnc
+ [ $# -eq 0 ] && sleep infinity
+ exec "$@"
+else
+ [ $# -eq 0 ] && rviz2 -d "$RVIZ_CONFIG"
+ exec "$@"
+fi
diff --git a/docker/tools/visualizer/etc/autoware.rviz b/docker/tools/visualizer/etc/autoware.rviz
new file mode 100644
index 00000000000..5a2d8c91409
--- /dev/null
+++ b/docker/tools/visualizer/etc/autoware.rviz
@@ -0,0 +1,3945 @@
+Panels:
+ - Class: rviz_common/Displays
+ Help Height: 0
+ Name: Displays
+ Property Tree Widget:
+ Expanded: ~
+ Splitter Ratio: 0.557669460773468
+ Tree Height: 185
+ - Class: rviz_common/Selection
+ Name: Selection
+ - Class: rviz_common/Tool Properties
+ Expanded: ~
+ Name: Tool Properties
+ Splitter Ratio: 0.5886790156364441
+ - Class: rviz_common/Views
+ Expanded: ~
+ Name: Views
+ Splitter Ratio: 0.5
+ - Class: AutowareDateTimePanel
+ Name: AutowareDateTimePanel
+ - Class: rviz_plugins::AutowareStatePanel
+ Name: AutowareStatePanel
+Visualization Manager:
+ Class: ""
+ Displays:
+ - Class: rviz_common/Group
+ Displays:
+ - Class: rviz_default_plugins/TF
+ Enabled: false
+ Frame Timeout: 15
+ Frames:
+ All Enabled: true
+ Marker Scale: 1
+ Name: TF
+ Show Arrows: true
+ Show Axes: true
+ Show Names: true
+ Tree: {}
+ Update Interval: 0
+ Value: false
+ - Alpha: 0.5
+ Cell Size: 1
+ Class: rviz_default_plugins/Grid
+ Color: 160; 160; 164
+ Enabled: false
+ Line Style:
+ Line Width: 0.029999999329447746
+ 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_common/Group
+ Displays:
+ - Alpha: 0.30000001192092896
+ Class: rviz_default_plugins/RobotModel
+ Collision Enabled: false
+ Description File: ""
+ Description Source: Topic
+ Description Topic:
+ Depth: 5
+ Durability Policy: Volatile
+ History Policy: Keep Last
+ Reliability Policy: Reliable
+ Value: /robot_description
+ Enabled: true
+ Links:
+ All Links Enabled: true
+ 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
+ Value: true
+ camera0/camera_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ camera0/camera_optical_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ camera1/camera_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ camera1/camera_optical_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ camera2/camera_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ camera2/camera_optical_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ camera3/camera_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ camera3/camera_optical_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ camera4/camera_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ camera4/camera_optical_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ camera5/camera_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ camera5/camera_optical_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ gnss_link:
+ Alpha: 0.999
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ livox_front_left:
+ Alpha: 0.999
+ Show Axes: false
+ Show Trail: false
+ livox_front_left_base_link:
+ Alpha: 0.999
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ livox_front_right:
+ Alpha: 0.999
+ Show Axes: false
+ Show Trail: false
+ livox_front_right_base_link:
+ Alpha: 0.999
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ sensor_kit_base_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ tamagawa/imu_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ traffic_light_left_camera/camera_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ traffic_light_left_camera/camera_optical_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ traffic_light_right_camera/camera_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ traffic_light_right_camera/camera_optical_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ velodyne_left:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ velodyne_left_base_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ velodyne_rear:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ velodyne_rear_base_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ velodyne_right:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ velodyne_right_base_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ velodyne_top:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ velodyne_top_base_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ Name: VehicleModel
+ TF Prefix: ""
+ Update Interval: 0
+ Value: true
+ Visual Enabled: true
+ - Class: rviz_plugins/PolarGridDisplay
+ Color: 255; 255; 255
+ Delta Range: 10
+ Enabled: true
+ Max Alpha: 0.5
+ Max Range: 100
+ Max Wave Alpha: 0.5
+ Min Alpha: 0.01
+ Min Wave Alpha: 0.01
+ Name: PolarGridDisplay
+ Reference Frame: base_link
+ Value: true
+ Wave Color: 255; 255; 255
+ Wave Velocity: 40
+ - Class: autoware_overlay_rviz_plugin/SignalDisplay
+ Enabled: true
+ Gear Topic Test: /vehicle/status/gear_status
+ Hazard Lights Topic: /vehicle/status/hazard_lights_status
+ Height: 100
+ Left: 0
+ Name: SignalDisplay
+ Signal Color: 0; 230; 120
+ Speed Limit Topic: /planning/scenario_planning/current_max_velocity
+ Speed Topic: /vehicle/status/velocity_status
+ Steering Topic: /vehicle/status/steering_status
+ Top: 10
+ Traffic Topic: /planning/scenario_planning/lane_driving/behavior_planning/debug/traffic_signal
+ Turn Signals Topic: /vehicle/status/turn_indicators_status
+ Value: true
+ Width: 550
+ Background Alpha: 0.5
+ Background Color: 23; 28; 31
+ Dark Traffic Color: 255; 51; 51
+ Handle Angle Scale: 17
+ Light Traffic Color: 255; 153; 153
+ Primary Color: 174; 174; 174
+ Enabled: true
+ Name: Vehicle
+ - Class: rviz_plugins/MrmSummaryOverlayDisplay
+ Enabled: false
+ Font Size: 10
+ Left: 512
+ Max Letter Num: 100
+ Name: MRM Summary
+ Text Color: 25; 255; 240
+ Top: 64
+ Topic:
+ Depth: 5
+ Durability Policy: Volatile
+ History Policy: Keep Last
+ Reliability Policy: Reliable
+ Value: /system/emergency/hazard_status
+ Value: false
+ Value height offset: 0
+ Enabled: true
+ Name: System
+ - Class: rviz_common/Group
+ Displays:
+ - Alpha: 0.20000000298023224
+ Autocompute Intensity Bounds: true
+ Autocompute Value Bounds:
+ Max Value: 28.71826171875
+ Min Value: -7.4224700927734375
+ Value: true
+ Axis: Z
+ Channel Name: intensity
+ Class: rviz_default_plugins/PointCloud2
+ Color: 255; 255; 255
+ Color Transformer: FlatColor
+ Decay Time: 0
+ Enabled: true
+ Invert Rainbow: false
+ Max Color: 255; 255; 255
+ Max Intensity: 237
+ Min Color: 211; 215; 207
+ Min Intensity: 0
+ Name: PointCloudMap
+ Position Transformer: XYZ
+ Selectable: false
+ Size (Pixels): 1
+ Size (m): 0.02
+ Style: Points
+ Topic:
+ Depth: 5
+ Durability Policy: Transient Local
+ History Policy: Keep Last
+ Reliability Policy: Reliable
+ Value: /map/pointcloud_map
+ Use Fixed Frame: true
+ Use rainbow: false
+ Value: true
+ - Class: rviz_default_plugins/MarkerArray
+ Enabled: true
+ Name: Lanelet2VectorMap
+ Namespaces:
+ center_lane_line: false
+ center_line_arrows: false
+ crosswalk_lanelets: true
+ crosswalk_areas: false
+ lane_start_bound: false
+ lanelet direction: true
+ lanelet_id: false
+ left_lane_bound: true
+ parking_lots: true
+ parking_space: true
+ pedestrian_marking: true
+ right_lane_bound: true
+ road_lanelets: false
+ speed_bump: true
+ stop_lines: true
+ shoulder_center_lane_line: false
+ shoulder_left_lane_bound: true
+ shoulder_right_lane_bound: true
+ shoulder_road_lanelets: false
+ traffic_light: true
+ traffic_light_id: false
+ traffic_light_reg_elem_id: false
+ traffic_light_triangle: true
+ walkway_lanelets: true
+ hatched_road_markings_bound: true
+ hatched_road_markings_area: false
+ intersection_area: false
+ Topic:
+ Depth: 5
+ Durability Policy: Transient Local
+ History Policy: Keep Last
+ Reliability Policy: Reliable
+ Value: /map/vector_map_marker
+ Value: true
+ Enabled: true
+ Name: Map
+ - Class: rviz_common/Group
+ Displays:
+ - Class: rviz_common/Group
+ Displays:
+ - Alpha: 0.4
+ Autocompute Intensity Bounds: true
+ Autocompute Value Bounds:
+ Max Value: 5
+ Min Value: -1
+ Value: false
+ Axis: Z
+ Channel Name: intensity
+ Class: rviz_default_plugins/PointCloud2
+ Color: 255; 255; 255
+ Color Transformer: AxisColor
+ 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: ConcatenatePointCloud
+ Position Transformer: XYZ
+ Selectable: false
+ Size (Pixels): 1
+ Size (m): 0.02
+ Style: Points
+ Topic:
+ Depth: 5
+ Durability Policy: Volatile
+ History Policy: Keep Last
+ Reliability Policy: Best Effort
+ Value: /sensing/lidar/concatenated/pointcloud
+ Use Fixed Frame: false
+ Use rainbow: true
+ Value: true
+ - Alpha: 0.999
+ Class: rviz_default_plugins/Polygon
+ Color: 25; 255; 0
+ Enabled: false
+ Name: MeasurementRange
+ Topic:
+ Depth: 5
+ Durability Policy: Volatile
+ History Policy: Keep Last
+ Reliability Policy: Reliable
+ Value: /sensing/lidar/crop_box_filter/crop_box_polygon
+ Value: false
+ Enabled: true
+ Name: LiDAR
+ - Class: rviz_common/Group
+ Displays:
+ - Alpha: 0.999
+ Axes Length: 1
+ Axes Radius: 0.10000000149011612
+ Class: rviz_default_plugins/PoseWithCovariance
+ Color: 233; 185; 110
+ Covariance:
+ Orientation:
+ Alpha: 0.5
+ Color: 255; 255; 127
+ Color Style: Unique
+ Frame: Local
+ Offset: 1
+ Scale: 1
+ Value: false
+ Position:
+ Alpha: 0.20000000298023224
+ Color: 204; 51; 204
+ Scale: 1
+ Value: true
+ Value: true
+ Enabled: true
+ Head Length: 0.699999988079071
+ Head Radius: 1.2000000476837158
+ Name: PoseWithCovariance
+ Shaft Length: 1
+ Shaft Radius: 0.5
+ Shape: Arrow
+ Topic:
+ Depth: 5
+ Durability Policy: Volatile
+ History Policy: Keep Last
+ Reliability Policy: Reliable
+ Value: /sensing/gnss/pose_with_covariance
+ Value: true
+ Enabled: false
+ Name: GNSS
+ Enabled: true
+ Name: Sensing
+ - Class: rviz_common/Group
+ Displays:
+ - Class: rviz_common/Group
+ Displays:
+ - Alpha: 0.999
+ Axes Length: 1
+ Axes Radius: 0.10000000149011612
+ Class: rviz_default_plugins/PoseWithCovariance
+ Color: 0; 170; 255
+ Covariance:
+ Orientation:
+ Alpha: 0.5
+ Color: 255; 255; 127
+ Color Style: Unique
+ Frame: Local
+ Offset: 1
+ Scale: 1
+ Value: true
+ Position:
+ Alpha: 0.30000001192092896
+ Color: 204; 51; 204
+ Scale: 1
+ Value: true
+ Value: true
+ Enabled: false
+ Head Length: 0.4000000059604645
+ Head Radius: 0.6000000238418579
+ Name: PoseWithCovInitial
+ Shaft Length: 0.6000000238418579
+ Shaft Radius: 0.30000001192092896
+ Shape: Arrow
+ Topic:
+ Depth: 5
+ Durability Policy: Volatile
+ History Policy: Keep Last
+ Reliability Policy: Reliable
+ Value: /localization/pose_estimator/initial_pose_with_covariance
+ Value: true
+ - Alpha: 0.999
+ Axes Length: 1
+ Axes Radius: 0.10000000149011612
+ Class: rviz_default_plugins/PoseWithCovariance
+ Color: 0; 255; 0
+ Covariance:
+ Orientation:
+ Alpha: 0.5
+ Color: 255; 255; 127
+ Color Style: Unique
+ Frame: Local
+ Offset: 1
+ Scale: 1
+ Value: true
+ Position:
+ Alpha: 0.30000001192092896
+ Color: 204; 51; 204
+ Scale: 1
+ Value: true
+ Value: true
+ Enabled: false
+ Head Length: 0.4000000059604645
+ Head Radius: 0.6000000238418579
+ Name: PoseWithCovAligned
+ Shaft Length: 0.6000000238418579
+ Shaft Radius: 0.30000001192092896
+ Shape: Arrow
+ Topic:
+ Depth: 5
+ Durability Policy: Volatile
+ History Policy: Keep Last
+ Reliability Policy: Reliable
+ Value: /localization/pose_estimator/pose_with_covariance
+ Value: true
+ - Buffer Size: 200
+ Class: rviz_plugins::PoseHistory
+ Enabled: false
+ Line:
+ Color: 170; 255; 127
+ Value: true
+ Width: 0.10000000149011612
+ Alpha: 0.999
+ Name: PoseHistory
+ Topic:
+ Depth: 5
+ Durability Policy: Volatile
+ History Policy: Keep Last
+ Reliability Policy: Reliable
+ Value: /localization/pose_estimator/pose
+ Value: true
+ - Alpha: 0.999
+ Autocompute Intensity Bounds: true
+ Autocompute Value Bounds:
+ Max Value: 10
+ Min Value: -10
+ Value: true
+ Axis: Z
+ Channel Name: intensity
+ Class: rviz_default_plugins/PointCloud2
+ Color: 0; 255; 255
+ Color Transformer: ""
+ Decay Time: 0
+ Enabled: false
+ Invert Rainbow: false
+ Max Color: 255; 255; 255
+ Max Intensity: 4096
+ Min Color: 0; 0; 0
+ Min Intensity: 0
+ Name: Initial
+ Position Transformer: XYZ
+ Selectable: false
+ Size (Pixels): 10
+ Size (m): 0.5
+ Style: Squares
+ Topic:
+ Depth: 5
+ Durability Policy: Volatile
+ History Policy: Keep Last
+ Reliability Policy: Best Effort
+ Value: /localization/util/downsample/pointcloud
+ Use Fixed Frame: true
+ Use rainbow: true
+ Value: false
+ - Alpha: 0.999
+ Autocompute Intensity Bounds: true
+ Autocompute Value Bounds:
+ Max Value: 10
+ Min Value: -10
+ Value: true
+ Axis: Z
+ Channel Name: intensity
+ Class: rviz_default_plugins/PointCloud2
+ Color: 85; 255; 0
+ Color Transformer: FlatColor
+ Decay Time: 0
+ Enabled: false
+ Invert Rainbow: false
+ Max Color: 85; 255; 127
+ Max Intensity: 0
+ Min Color: 0; 0; 0
+ Min Intensity: 0
+ Name: Aligned
+ Position Transformer: XYZ
+ Selectable: false
+ Size (Pixels): 10
+ Size (m): 0.5
+ Style: Squares
+ Topic:
+ Depth: 5
+ Durability Policy: Volatile
+ History Policy: Keep Last
+ Reliability Policy: Reliable
+ Value: /localization/pose_estimator/points_aligned
+ Use Fixed Frame: true
+ Use rainbow: true
+ Value: false
+ - Class: rviz_default_plugins/MarkerArray
+ Enabled: true
+ Name: MonteCarloInitialPose
+ Namespaces: {}
+ Topic:
+ Depth: 5
+ Durability Policy: Volatile
+ History Policy: Keep Last
+ Reliability Policy: Reliable
+ Value: /localization/pose_estimator/monte_carlo_initial_pose_marker
+ Value: true
+ Enabled: true
+ Name: NDT
+ - Class: rviz_common/Group
+ Displays:
+ - Buffer Size: 1000
+ Class: rviz_plugins::PoseHistory
+ Enabled: true
+ Line:
+ Color: 0; 255; 255
+ Value: true
+ Width: 0.10000000149011612
+ Alpha: 0.999
+ Name: PoseHistory
+ Topic:
+ Depth: 5
+ Durability Policy: Volatile
+ History Policy: Keep Last
+ Reliability Policy: Reliable
+ Value: /localization/pose_twist_fusion_filter/pose
+ Value: true
+ Enabled: true
+ Name: EKF
+ Enabled: true
+ Name: Localization
+ - Class: rviz_common/Group
+ Displays:
+ - Class: rviz_common/Group
+ Displays:
+ - Alpha: 0.999
+ Autocompute Intensity Bounds: true
+ Autocompute Value Bounds:
+ Max Value: 15
+ Min Value: -2
+ Value: false
+ Axis: Z
+ Channel Name: z
+ Class: rviz_default_plugins/PointCloud2
+ Color: 200; 200; 200
+ Color Transformer: FlatColor
+ Decay Time: 0
+ Enabled: true
+ Invert Rainbow: false
+ Max Color: 255; 255; 255
+ Max Intensity: 15
+ Min Color: 0; 0; 0
+ Min Intensity: -5
+ Name: NoGroundPointCloud
+ Position Transformer: XYZ
+ Selectable: false
+ Size (Pixels): 3
+ Size (m): 0.02
+ Style: Points
+ Topic:
+ Depth: 5
+ Durability Policy: Volatile
+ History Policy: Keep Last
+ Reliability Policy: Best Effort
+ Value: /perception/obstacle_segmentation/pointcloud
+ Use Fixed Frame: true
+ Use rainbow: true
+ Value: true
+ Enabled: true
+ Name: Segmentation
+ - Class: rviz_common/Group
+ Displays:
+ - 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_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
+ Line Width: 0.03
+ 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: Best Effort
+ 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_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
+ Line Width: 0.03
+ 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: Best Effort
+ 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_perception_rviz_plugin/PredictedObjects
+ Display 3d polygon: true
+ Display Label: true
+ Display PoseWithCovariance: false
+ Display Predicted Path Confidence: true
+ Display Predicted Paths: true
+ Display Twist: true
+ Display UUID: true
+ Display Velocity: true
+ Line Width: 0.03
+ 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: Best Effort
+ Value: /perception/object_recognition/objects
+ UNKNOWN:
+ Alpha: 0.999
+ Color: 255; 255; 255
+ Value: true
+ - Class: rviz_default_plugins/MarkerArray
+ Enabled: false
+ Name: Maneuver
+ Namespaces: {}
+ Topic:
+ Depth: 5
+ Durability Policy: Volatile
+ History Policy: Keep Last
+ Reliability Policy: Best Effort
+ Value: /perception/object_recognition/prediction/maneuver
+ Value: true
+ Enabled: true
+ Name: Prediction
+ Enabled: true
+ Name: ObjectRecognition
+ - Class: rviz_common/Group
+ Displays:
+ - Class: rviz_default_plugins/Image
+ Enabled: true
+ 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: Best Effort
+ Value: /perception/traffic_light_recognition/traffic_light/debug/rois
+ Value: true
+ - Class: rviz_default_plugins/MarkerArray
+ Enabled: true
+ Name: MapBasedDetectionResult
+ Namespaces: {}
+ Topic:
+ Depth: 5
+ Durability Policy: Volatile
+ History Policy: Keep Last
+ Reliability Policy: Best Effort
+ Value: /perception/traffic_light_recognition/traffic_light_map_based_detector/debug/markers
+ Value: true
+ Enabled: true
+ Name: TrafficLight
+ - Class: rviz_common/Group
+ Displays:
+ - Alpha: 0.5
+ Class: rviz_default_plugins/Map
+ Color Scheme: map
+ Draw Behind: false
+ Enabled: true
+ Name: Map
+ Topic:
+ Depth: 5
+ Durability Policy: Volatile
+ Filter size: 10
+ History Policy: Keep Last
+ Reliability Policy: Best Effort
+ Value: /perception/occupancy_grid_map/map
+ Update Topic:
+ Depth: 5
+ Durability Policy: Volatile
+ History Policy: Keep Last
+ Reliability Policy: Best Effort
+ Value: /perception/occupancy_grid_map/map_updates
+ Use Timestamp: false
+ Value: true
+ Enabled: false
+ Name: OccupancyGrid
+ Enabled: true
+ Name: Perception
+ - Class: rviz_common/Group
+ Displays:
+ - Class: rviz_common/Group
+ Displays:
+ - Class: rviz_default_plugins/MarkerArray
+ Enabled: true
+ Name: RouteArea
+ Namespaces:
+ goal_lanelets: true
+ lane_start_bound: false
+ left_lane_bound: false
+ right_lane_bound: false
+ route_lanelets: true
+ Topic:
+ Depth: 5
+ Durability Policy: Transient Local
+ History Policy: Keep Last
+ Reliability Policy: Reliable
+ Value: /planning/mission_planning/route_marker
+ Value: true
+ - Alpha: 0.999
+ Axes Length: 1
+ Axes Radius: 0.30000001192092896
+ Class: rviz_default_plugins/Pose
+ Color: 255; 25; 0
+ Enabled: true
+ Head Length: 0.30000001192092896
+ Head Radius: 0.5
+ Name: GoalPose
+ Shaft Length: 3
+ Shaft Radius: 0.20000000298023224
+ Shape: Axes
+ Topic:
+ Depth: 5
+ Durability Policy: Volatile
+ History Policy: Keep Last
+ Reliability Policy: Reliable
+ Value: /planning/mission_planning/echo_back_goal_pose
+ Value: true
+ - Class: autoware_mission_details_overlay_rviz_plugin/MissionDetailsDisplay
+ Name: MissionDetailsDisplay
+ Width: 170
+ Height: 100
+ Right: 10
+ Top: 10
+ Remaining Distance and Time Topic: /planning/mission_remaining_distance_time
+ Enabled: true
+ Value: true
+ Background Alpha: 0.5
+ Background Color: 23; 28; 31
+ Text Color: 194; 194; 194
+ Enabled: true
+ Name: MissionPlanning
+ - Class: rviz_common/Group
+ Displays:
+ - Class: rviz_plugins/Trajectory
+ Color Border Vel Max: 3
+ Enabled: true
+ Name: ScenarioTrajectory
+ Topic:
+ Depth: 5
+ Durability Policy: Volatile
+ History Policy: Keep Last
+ Reliability Policy: Reliable
+ Value: /planning/scenario_planning/trajectory
+ Value: true
+ View Path:
+ Alpha: 0.999
+ Color: 0; 0; 0
+ Constant Color: false
+ Value: true
+ Width: 2
+ View Velocity:
+ Alpha: 0.999
+ Color: 0; 0; 0
+ Constant Color: false
+ Scale: 0.30000001192092896
+ Value: true
+ - Class: rviz_common/Group
+ Displays:
+ - Class: rviz_common/Group
+ Displays:
+ - Class: rviz_plugins/Path
+ Color Border Vel Max: 3
+ Enabled: true
+ Name: Path
+ Topic:
+ Depth: 5
+ Durability Policy: Volatile
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+ Topic:
+ Depth: 5
+ Durability Policy: Volatile
+ History Policy: Keep Last
+ Reliability Policy: Reliable
+ Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/debug/lane_following
+ Value: false
+ - Class: rviz_default_plugins/MarkerArray
+ Enabled: false
+ Name: GoalPlanner
+ Namespaces:
+ {}
+ Topic:
+ Depth: 5
+ Durability Policy: Volatile
+ History Policy: Keep Last
+ Reliability Policy: Reliable
+ Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/debug/goal_planner
+ Value: false
+ - Class: rviz_default_plugins/MarkerArray
+ Enabled: false
+ Name: StartPlanner
+ Namespaces:
+ {}
+ Topic:
+ Depth: 5
+ Durability Policy: Volatile
+ History Policy: Keep Last
+ Reliability Policy: Reliable
+ Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/debug/start_planner
+ Value: false
+ - Class: rviz_default_plugins/MarkerArray
+ Enabled: false
+ Name: SideShift
+ Namespaces:
+ {}
+ Topic:
+ Depth: 5
+ Durability Policy: Volatile
+ History Policy: Keep Last
+ Reliability Policy: Reliable
+ Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/debug/side_shift
+ Value: false
+ - Class: rviz_default_plugins/MarkerArray
+ Enabled: false
+ Name: SpeedBump
+ Namespaces:
+ {}
+ Topic:
+ Depth: 5
+ Durability Policy: Volatile
+ History Policy: Keep Last
+ Reliability Policy: Reliable
+ Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/debug/speed_bump
+ Value: false
+ - Class: rviz_default_plugins/MarkerArray
+ Enabled: false
+ Name: DynamicObstacleAvoidance
+ Namespaces:
+ {}
+ Topic:
+ Depth: 5
+ Durability Policy: Volatile
+ History Policy: Keep Last
+ Reliability Policy: Reliable
+ Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/debug/dynamic_obstacle_avoidance
+ Value: false
+ - Class: rviz_default_plugins/MarkerArray
+ Enabled: false
+ Name: NoDrivableLane
+ Namespaces:
+ {}
+ Topic:
+ Depth: 5
+ Durability Policy: Volatile
+ History Policy: Keep Last
+ Reliability Policy: Reliable
+ Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/debug/no_drivable_lane
+ Value: false
+ Enabled: false
+ Name: DebugMarker
+ - Class: rviz_common/Group
+ Displays:
+ - Class: rviz_default_plugins/MarkerArray
+ Enabled: false
+ Name: Info (StaticObstacleAvoidance)
+ Namespaces:
+ avoidable_target_objects_info: false
+ avoidable_target_objects_info_reason: false
+ avoidable_target_objects_envelope_polygon: false
+ unavoidable_target_objects_info: false
+ unavoidable_target_objects_info_reason: false
+ unavoidable_target_objects_envelope_polygon: false
+ Topic:
+ Depth: 5
+ Durability Policy: Volatile
+ History Policy: Keep Last
+ Reliability Policy: Reliable
+ Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/info/static_obstacle_avoidance
+ Value: false
+ - Class: rviz_default_plugins/MarkerArray
+ Enabled: false
+ Name: Info (AvoidanceByLC)
+ Namespaces:
+ {}
+ Topic:
+ Depth: 5
+ Durability Policy: Volatile
+ History Policy: Keep Last
+ Reliability Policy: Reliable
+ Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/info/avoidance_by_lane_change
+ Value: false
+ - Class: rviz_default_plugins/MarkerArray
+ Enabled: false
+ Name: Info (LaneChangeLeft)
+ Namespaces:
+ {}
+ Topic:
+ Depth: 5
+ Durability Policy: Volatile
+ History Policy: Keep Last
+ Reliability Policy: Reliable
+ Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/info/lane_change_left
+ Value: false
+ - Class: rviz_default_plugins/MarkerArray
+ Enabled: false
+ Name: Info (LaneChangeRight)
+ Namespaces:
+ {}
+ Topic:
+ Depth: 5
+ Durability Policy: Volatile
+ History Policy: Keep Last
+ Reliability Policy: Reliable
+ Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/info/lane_change_right
+ Value: false
+ - Class: rviz_default_plugins/MarkerArray
+ Enabled: false
+ Name: Info (ExtLaneChangeLeft)
+ Namespaces:
+ {}
+ Topic:
+ Depth: 5
+ Durability Policy: Volatile
+ History Policy: Keep Last
+ Reliability Policy: Reliable
+ Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/info/external_request_lane_change_left
+ Value: false
+ - Class: rviz_default_plugins/MarkerArray
+ Enabled: false
+ Name: Info (ExtLaneChangeRight)
+ Namespaces:
+ {}
+ Topic:
+ Depth: 5
+ Durability Policy: Volatile
+ History Policy: Keep Last
+ Reliability Policy: Reliable
+ Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/info/external_request_lane_change_right
+ Value: false
+ - Class: rviz_default_plugins/MarkerArray
+ Enabled: false
+ Name: Info (GoalPlanner)
+ Namespaces:
+ {}
+ Topic:
+ Depth: 5
+ Durability Policy: Volatile
+ History Policy: Keep Last
+ Reliability Policy: Reliable
+ Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/info/goal_planner
+ Value: false
+ - Class: rviz_default_plugins/MarkerArray
+ Enabled: false
+ Name: Info (StartPlanner)
+ Namespaces:
+ {}
+ Topic:
+ Depth: 5
+ Durability Policy: Volatile
+ History Policy: Keep Last
+ Reliability Policy: Reliable
+ Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/info/start_planner
+ Value: false
+ - Class: rviz_default_plugins/MarkerArray
+ Enabled: false
+ Name: Info (DynamicObstacleAvoidance)
+ Namespaces:
+ {}
+ Topic:
+ Depth: 5
+ Durability Policy: Volatile
+ History Policy: Keep Last
+ Reliability Policy: Reliable
+ Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/info/dynamic_obstacle_avoidance
+ Value: false
+ Enabled: false
+ Name: InfoMarker
+ Enabled: true
+ Name: BehaviorPlanning
+ - Class: rviz_common/Group
+ Displays:
+ - Class: rviz_plugins/Trajectory
+ Color Border Vel Max: 3
+ Enabled: false
+ Name: Trajectory
+ Topic:
+ Depth: 5
+ Durability Policy: Volatile
+ History Policy: Keep Last
+ Reliability Policy: Reliable
+ Value: /planning/scenario_planning/lane_driving/trajectory
+ Value: false
+ View Path:
+ Alpha: 0.999
+ Color: 0; 0; 0
+ Constant Color: false
+ Value: true
+ Width: 2
+ View Velocity:
+ Alpha: 0.999
+ Color: 0; 0; 0
+ Constant Color: false
+ Scale: 0.30000001192092896
+ Value: true
+ - Class: rviz_common/Group
+ Displays:
+ - Class: rviz_default_plugins/MarkerArray
+ Enabled: true
+ Name: VirtualWall (ObstacleStop)
+ Namespaces:
+ {}
+ Topic:
+ Depth: 5
+ Durability Policy: Volatile
+ History Policy: Keep Last
+ Reliability Policy: Reliable
+ Value: /planning/scenario_planning/lane_driving/motion_planning/obstacle_stop_planner/virtual_wall
+ Value: true
+ - Class: rviz_default_plugins/MarkerArray
+ Enabled: true
+ Name: VirtualWall (SurroundObstacle)
+ Namespaces:
+ {}
+ Topic:
+ Depth: 5
+ Durability Policy: Volatile
+ History Policy: Keep Last
+ Reliability Policy: Reliable
+ Value: /planning/scenario_planning/lane_driving/motion_planning/surround_obstacle_checker/virtual_wall
+ Value: true
+ - Class: rviz_default_plugins/MarkerArray
+ Enabled: true
+ Name: VirtualWall (ObstacleAvoidance)
+ Namespaces:
+ {}
+ Topic:
+ Depth: 5
+ Durability Policy: Volatile
+ History Policy: Keep Last
+ Reliability Policy: Reliable
+ Value: /planning/scenario_planning/lane_driving/motion_planning/obstacle_avoidance_planner/virtual_wall
+ Value: true
+ - Class: rviz_default_plugins/MarkerArray
+ Enabled: true
+ Name: VirtualWall (ObstacleCruise Stop)
+ Namespaces:
+ {}
+ Topic:
+ Depth: 5
+ Durability Policy: Volatile
+ History Policy: Keep Last
+ Reliability Policy: Reliable
+ Value: /planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/virtual_wall/stop
+ Value: true
+ - Class: rviz_default_plugins/MarkerArray
+ Enabled: true
+ Name: VirtualWall (ObstacleCruise Cruise)
+ Namespaces:
+ {}
+ Topic:
+ Depth: 5
+ Durability Policy: Volatile
+ History Policy: Keep Last
+ Reliability Policy: Reliable
+ Value: /planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/virtual_wall/cruise
+ Value: true
+ - Class: rviz_default_plugins/MarkerArray
+ Enabled: true
+ Name: VirtualWall (ObstacleCruise SlowDown)
+ Namespaces:
+ {}
+ Topic:
+ Depth: 5
+ Durability Policy: Volatile
+ History Policy: Keep Last
+ Reliability Policy: Reliable
+ Value: /planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/virtual_wall/slow_down
+ Value: true
+ - Class: rviz_default_plugins/MarkerArray
+ Enabled: true
+ Name: VirtualWall (MotionVelocitySmoother)
+ Namespaces:
+ {}
+ Topic:
+ Depth: 5
+ Durability Policy: Volatile
+ History Policy: Keep Last
+ Reliability Policy: Reliable
+ Value: /planning/scenario_planning/velocity_smoother/virtual_wall
+ Value: true
+ - Class: rviz_default_plugins/MarkerArray
+ Enabled: true
+ Name: VirtualWall (ObstacleStop)
+ Namespaces:
+ {}
+ Topic:
+ Depth: 5
+ Durability Policy: Volatile
+ History Policy: Keep Last
+ Reliability Policy: Reliable
+ Value: /planning/scenario_planning/lane_driving/motion_planning/motion_velocity_planner/obstacle_stop/virtual_walls
+ Value: true
+ - Class: rviz_default_plugins/MarkerArray
+ Enabled: true
+ Name: VirtualWall (ObstacleSlowDown)
+ Namespaces:
+ {}
+ Topic:
+ Depth: 5
+ Durability Policy: Volatile
+ History Policy: Keep Last
+ Reliability Policy: Reliable
+ Value: /planning/scenario_planning/lane_driving/motion_planning/motion_velocity_planner/obstacle_slow_down/virtual_walls
+ Value: true
+ - Class: rviz_default_plugins/MarkerArray
+ Enabled: true
+ Name: VirtualWall (ObstacleCruise)
+ Namespaces:
+ {}
+ Topic:
+ Depth: 5
+ Durability Policy: Volatile
+ History Policy: Keep Last
+ Reliability Policy: Reliable
+ Value: /planning/scenario_planning/lane_driving/motion_planning/motion_velocity_planner/obstacle_cruise/virtual_walls
+ Value: true
+ - Class: rviz_default_plugins/MarkerArray
+ Enabled: true
+ Name: VirtualWall (OutOfLane)
+ Namespaces:
+ {}
+ Topic:
+ Depth: 5
+ Durability Policy: Volatile
+ History Policy: Keep Last
+ Reliability Policy: Reliable
+ Value: /planning/scenario_planning/lane_driving/motion_planning/motion_velocity_planner/out_of_lane/virtual_walls
+ Value: true
+ - Class: rviz_default_plugins/MarkerArray
+ Enabled: true
+ Name: VirtualWall (ObstacleVelocityLimiter)
+ Namespaces:
+ {}
+ Topic:
+ Depth: 5
+ Durability Policy: Volatile
+ History Policy: Keep Last
+ Reliability Policy: Reliable
+ Value: /planning/scenario_planning/lane_driving/motion_planning/motion_velocity_planner/obstacle_velocity_limiter/virtual_walls
+ Value: true
+ - Class: rviz_default_plugins/MarkerArray
+ Enabled: true
+ Name: VirtualWall (DynamicObstacleStop)
+ Namespaces:
+ {}
+ Topic:
+ Depth: 5
+ Durability Policy: Volatile
+ History Policy: Keep Last
+ Reliability Policy: Reliable
+ Value: /planning/scenario_planning/lane_driving/motion_planning/motion_velocity_planner/dynamic_obstacle_stop/virtual_walls
+ Value: true
+ Enabled: true
+ Name: VirtualWall
+ - Class: rviz_common/Group
+ Displays:
+ - Class: rviz_common/Group
+ Displays:
+ - Class: rviz_default_plugins/MarkerArray
+ Enabled: true
+ Name: SurroundObstacleCheck
+ Namespaces:
+ {}
+ Topic:
+ Depth: 5
+ Durability Policy: Volatile
+ History Policy: Keep Last
+ Reliability Policy: Reliable
+ Value: /planning/scenario_planning/lane_driving/motion_planning/surround_obstacle_checker/debug/marker
+ Value: true
+ - Alpha: 1
+ Class: rviz_default_plugins/Polygon
+ Color: 25; 255; 0
+ Enabled: false
+ Name: Footprint
+ Topic:
+ Depth: 5
+ Durability Policy: Volatile
+ Filter size: 10
+ History Policy: Keep Last
+ Reliability Policy: Reliable
+ Value: /planning/scenario_planning/lane_driving/motion_planning/surround_obstacle_checker/debug/footprint
+ Value: false
+ - Alpha: 1
+ Class: rviz_default_plugins/Polygon
+ Color: 239; 41; 41
+ Enabled: false
+ Name: FootprintOffset
+ Topic:
+ Depth: 5
+ Durability Policy: Volatile
+ Filter size: 10
+ History Policy: Keep Last
+ Reliability Policy: Reliable
+ Value: /planning/scenario_planning/lane_driving/motion_planning/surround_obstacle_checker/debug/footprint_offset
+ Value: false
+ - Alpha: 1
+ Class: rviz_default_plugins/Polygon
+ Color: 10; 21; 255
+ Enabled: false
+ Name: FootprintRecoverOffset
+ Topic:
+ Depth: 5
+ Durability Policy: Volatile
+ Filter size: 10
+ History Policy: Keep Last
+ Reliability Policy: Reliable
+ Value: /planning/scenario_planning/lane_driving/motion_planning/surround_obstacle_checker/debug/footprint_recover_offset
+ Value: false
+ Enabled: false
+ Name: SurroundObstacleChecker
+ - Class: rviz_default_plugins/MarkerArray
+ Enabled: false
+ Name: ObstacleStop
+ Namespaces:
+ {}
+ Topic:
+ Depth: 5
+ Durability Policy: Volatile
+ History Policy: Keep Last
+ Reliability Policy: Reliable
+ Value: /planning/scenario_planning/lane_driving/motion_planning/obstacle_stop_planner/debug/marker
+ Value: false
+ - Class: rviz_common/Group
+ Displays:
+ - Class: rviz_default_plugins/MarkerArray
+ Enabled: true
+ Name: DebugMarker
+ Namespaces:
+ {}
+ Topic:
+ Depth: 5
+ Durability Policy: Volatile
+ History Policy: Keep Last
+ Reliability Policy: Reliable
+ Value: /planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/debug/marker
+ Value: true
+ Enabled: false
+ Name: ObstacleCruise
+ - Class: rviz_default_plugins/MarkerArray
+ Enabled: false
+ Name: ObstacleAvoidance
+ Namespaces:
+ {}
+ Topic:
+ Depth: 5
+ Durability Policy: Volatile
+ History Policy: Keep Last
+ Reliability Policy: Reliable
+ Value: /planning/scenario_planning/lane_driving/motion_planning/obstacle_avoidance_planner/debug/marker
+ Value: false
+ - Class: rviz_common/Group
+ Displays:
+ - Class: rviz_default_plugins/MarkerArray
+ Enabled: true
+ Name: ObstacleStop
+ Namespaces:
+ {}
+ Topic:
+ Depth: 5
+ Durability Policy: Volatile
+ History Policy: Keep Last
+ Reliability Policy: Reliable
+ Value: /planning/scenario_planning/lane_driving/motion_planning/motion_velocity_planner/obstacle_stop/debug_markers
+ Value: true
+ - Class: rviz_default_plugins/MarkerArray
+ Enabled: true
+ Name: ObstacleSlowDown
+ Namespaces:
+ {}
+ Topic:
+ Depth: 5
+ Durability Policy: Volatile
+ History Policy: Keep Last
+ Reliability Policy: Reliable
+ Value: /planning/scenario_planning/lane_driving/motion_planning/motion_velocity_planner/obstacle_slow_down/debug_markers
+ Value: true
+ - Class: rviz_default_plugins/MarkerArray
+ Enabled: true
+ Name: ObstacleCruise
+ Namespaces:
+ {}
+ Topic:
+ Depth: 5
+ Durability Policy: Volatile
+ History Policy: Keep Last
+ Reliability Policy: Reliable
+ Value: /planning/scenario_planning/lane_driving/motion_planning/motion_velocity_planner/obstacle_cruise/debug_markers
+ Value: true
+ - Class: rviz_default_plugins/MarkerArray
+ Enabled: true
+ Name: OutOfLane
+ Namespaces:
+ {}
+ Topic:
+ Depth: 5
+ Durability Policy: Volatile
+ History Policy: Keep Last
+ Reliability Policy: Reliable
+ Value: /planning/scenario_planning/lane_driving/motion_planning/motion_velocity_planner/out_of_lane/debug_markers
+ Value: true
+ - Class: rviz_default_plugins/MarkerArray
+ Enabled: true
+ Name: ObstacleVelocityLimiter
+ Namespaces:
+ {}
+ Topic:
+ Depth: 5
+ Durability Policy: Volatile
+ History Policy: Keep Last
+ Reliability Policy: Reliable
+ Value: /planning/scenario_planning/lane_driving/motion_planning/motion_velocity_planner/obstacle_velocity_limiter/debug_markers
+ Value: true
+ - Class: rviz_default_plugins/MarkerArray
+ Enabled: true
+ Name: DynamicObstacleStop
+ Namespaces:
+ {}
+ Topic:
+ Depth: 5
+ Durability Policy: Volatile
+ History Policy: Keep Last
+ Reliability Policy: Reliable
+ Value: /planning/scenario_planning/lane_driving/motion_planning/motion_velocity_planner/dynamic_obstacle_stop/debug_markers
+ Value: true
+ Enabled: false
+ Name: MotionVelocityPlanner
+ Enabled: false
+ Name: DebugMarker
+ Enabled: true
+ Name: MotionPlanning
+ Enabled: true
+ Name: LaneDriving
+ - Class: rviz_common/Group
+ Displays:
+ - Alpha: 0.699999988079071
+ Class: rviz_default_plugins/Map
+ Color Scheme: map
+ Draw Behind: false
+ Enabled: false
+ Name: Costmap
+ Topic:
+ Depth: 5
+ Durability Policy: Volatile
+ History Policy: Keep Last
+ Reliability Policy: Reliable
+ Value: /planning/scenario_planning/parking/costmap_generator/occupancy_grid
+ Update Topic:
+ Depth: 5
+ Durability Policy: Volatile
+ History Policy: Keep Last
+ Reliability Policy: Reliable
+ Value: /planning/scenario_planning/parking/costmap_generator/occupancy_grid_updates
+ Use Timestamp: false
+ Value: false
+ - Alpha: 0.999
+ Arrow Length: 0.30000001192092896
+ Axes Length: 0.30000001192092896
+ Axes Radius: 0.009999999776482582
+ Class: rviz_default_plugins/PoseArray
+ Color: 255; 25; 0
+ Enabled: true
+ Head Length: 0.10000000149011612
+ Head Radius: 0.20000000298023224
+ Name: PartialPoseArray
+ Shaft Length: 0.20000000298023224
+ Shaft Radius: 0.05000000074505806
+ Shape: Arrow (3D)
+ Topic:
+ Depth: 5
+ Durability Policy: Volatile
+ History Policy: Keep Last
+ Reliability Policy: Reliable
+ Value: /planning/scenario_planning/parking/freespace_planner/debug/partial_pose_array
+ Value: true
+ - Alpha: 0.999
+ Arrow Length: 0.5
+ Axes Length: 0.30000001192092896
+ Axes Radius: 0.009999999776482582
+ Class: rviz_default_plugins/PoseArray
+ Color: 0; 0; 255
+ Enabled: true
+ Head Length: 0.10000000149011612
+ Head Radius: 0.20000000298023224
+ Name: PoseArray
+ Shaft Length: 0.20000000298023224
+ Shaft Radius: 0.05000000074505806
+ Shape: Arrow (Flat)
+ Topic:
+ Depth: 5
+ Durability Policy: Volatile
+ History Policy: Keep Last
+ Reliability Policy: Reliable
+ Value: /planning/scenario_planning/parking/freespace_planner/debug/pose_array
+ Value: true
+ Enabled: true
+ Name: Parking
+ - Class: rviz_plugins/PoseWithUuidStamped
+ Enabled: true
+ Length: 1.5
+ Name: ModifiedGoal
+ Radius: 0.5
+ Topic:
+ Depth: 5
+ Durability Policy: Volatile
+ Filter size: 10
+ History Policy: Keep Last
+ Reliability Policy: Reliable
+ Value: /planning/scenario_planning/modified_goal
+ UUID:
+ Scale: 0.30000001192092896
+ Value: false
+ Value: true
+ Enabled: true
+ Name: ScenarioPlanning
+ - Class: rviz_common/Group
+ Displays:
+ - Class: rviz_default_plugins/MarkerArray
+ Enabled: true
+ Name: PlanningErrorMarker
+ Namespaces: {}
+ Topic:
+ Depth: 5
+ Durability Policy: Volatile
+ History Policy: Keep Last
+ Reliability Policy: Best Effort
+ Value: /planning/planning_diagnostics/planning_error_monitor/debug/marker
+ Value: true
+ Enabled: false
+ Name: Diagnostic
+ Enabled: true
+ Name: Planning
+ - Class: rviz_common/Group
+ Displays:
+ - Class: rviz_plugins/Trajectory
+ Color Border Vel Max: 3
+ Enabled: true
+ Name: Predicted Trajectory
+ Topic:
+ Depth: 5
+ Durability Policy: Volatile
+ History Policy: Keep Last
+ Reliability Policy: Reliable
+ Value: /control/trajectory_follower/controller_node_exe/debug/predicted_trajectory_in_frenet_coordinate
+ Value: true
+ View Path:
+ Alpha: 1
+ Color: 255; 255; 255
+ Constant Color: true
+ Value: true
+ Constant Width: true
+ Width: 0.05000000074505806
+ View Velocity:
+ Alpha: 1
+ Color: 0; 0; 0
+ Constant Color: false
+ Scale: 0.30000001192092896
+ Value: false
+ - Class: rviz_plugins/Trajectory
+ Color Border Vel Max: 3
+ Enabled: false
+ Name: Resampled Reference Trajectory
+ Topic:
+ Depth: 5
+ Durability Policy: Volatile
+ History Policy: Keep Last
+ Reliability Policy: Reliable
+ Value: /control/trajectory_follower/controller_node_exe/debug/resampled_reference_trajectory
+ Value: true
+ View Path:
+ Alpha: 1
+ Color: 153; 193; 241
+ Constant Color: true
+ Value: false
+ Constant Width: true
+ Width: 0.2
+ View Velocity:
+ Alpha: 1
+ Color: 0; 0; 0
+ Constant Color: false
+ Scale: 0.30000001192092896
+ Value: false
+ View Point:
+ Alpha: 1
+ Color: 0; 60; 255
+ Offset: 0
+ Radius: 0.10000000149011612
+ Value: true
+ - Class: rviz_common/Group
+ Displays:
+ - Class: rviz_default_plugins/MarkerArray
+ Enabled: true
+ Name: VirtualWall (AEB)
+ Namespaces:
+ {}
+ Topic:
+ Depth: 5
+ Durability Policy: Volatile
+ History Policy: Keep Last
+ Reliability Policy: Reliable
+ Value: /control/autonomous_emergency_braking/virtual_wall
+ Value: true
+ - Class: rviz_default_plugins/MarkerArray
+ Enabled: true
+ Name: VirtualWall (velocity control)
+ Namespaces:
+ {}
+ Topic:
+ Depth: 5
+ Durability Policy: Volatile
+ History Policy: Keep Last
+ Reliability Policy: Reliable
+ Value: /control/trajectory_follower/controller_node_exe/virtual_wall
+ Value: true
+ Enabled: true
+ Name: VirtualWall
+ - Class: rviz_default_plugins/Marker
+ Enabled: false
+ Name: Stop Reason
+ Namespaces:
+ {}
+ Topic:
+ Depth: 5
+ Durability Policy: Volatile
+ Filter size: 10
+ History Policy: Keep Last
+ Reliability Policy: Reliable
+ Value: /control/trajectory_follower/longitudinal/stop_reason
+ Value: false
+ - Class: rviz_default_plugins/MarkerArray
+ Enabled: false
+ Name: Debug/MPC
+ Namespaces: {}
+ Topic:
+ Depth: 5
+ Durability Policy: Volatile
+ History Policy: Keep Last
+ Reliability Policy: Reliable
+ Value: /control/trajectory_follower/mpc_follower/debug/markers
+ Value: false
+ - Class: rviz_default_plugins/MarkerArray
+ Enabled: false
+ Name: Debug/PurePursuit
+ Namespaces: {}
+ Topic:
+ Depth: 5
+ Durability Policy: Volatile
+ History Policy: Keep Last
+ Reliability Policy: Reliable
+ Value: /control/trajectory_follower/controller_node_exe/debug/markers
+ Value: false
+ - Class: rviz_default_plugins/MarkerArray
+ Enabled: false
+ Name: Debug/AEB
+ Namespaces:
+ ego_path: true
+ ego_polygons: true
+ predicted_path: true
+ predicted_polygons: true
+ Topic:
+ Depth: 5
+ Durability Policy: Volatile
+ History Policy: Keep Last
+ Reliability Policy: Reliable
+ Value: /control/autonomous_emergency_braking/debug/markers
+ Value: false
+ Enabled: true
+ Name: Control
+ - Class: rviz_common/Group
+ Displays:
+ - Class: rviz_common/Group
+ Displays: ~
+ Enabled: true
+ Name: Map
+ - Class: rviz_common/Group
+ Displays:
+ - Class: rviz_default_plugins/Camera
+ Enabled: true
+ Far Plane Distance: 100
+ Image Rendering: background and overlay
+ Name: PointcloudOnCamera
+ Overlay Alpha: 0.5
+ Topic:
+ Depth: 5
+ Durability Policy: Volatile
+ History Policy: Keep Last
+ Reliability Policy: Best Effort
+ Value: /sensing/camera/camera6/image_raw
+ Value: true
+ Visibility:
+ Control:
+ Debug/AEB: true
+ Debug/MPC: true
+ Debug/PurePursuit: true
+ Predicted Trajectory: true
+ VirtualWall:
+ VirtualWall (AEB): true
+ Value: false
+ Debug:
+ Control: true
+ Localization:
+ EKFPoseHistory: true
+ NDT pointclouds: true
+ NDTLoadedPCDMap: true
+ NDTPoseHistory: true
+ Value: true
+ Map: true
+ Perception:
+ CameraLidarFusion(purple): true
+ Centerpoint(red1): true
+ CenterpointROIFusion(red2): true
+ CenterpointValidator(red3): true
+ Detection(yellow): true
+ DetectionByTracker(cyan): true
+ PointPainting(light_green1): true
+ PointPaintingROIFusion(light_green2): true
+ PointPaintingValidator(light_green3): true
+ Prediction(light_blue): true
+ RadarFarObjects(white): true
+ Tracking(green): true
+ Value: true
+ Planning: true
+ Sensing:
+ ConcatenatePointCloud: true
+ RadarRawObjects(white): true
+ Value: true
+ Value: true
+ Localization:
+ EKF:
+ PoseHistory: true
+ Value: true
+ NDT:
+ Aligned: true
+ Initial: true
+ MonteCarloInitialPose: true
+ PoseHistory: true
+ PoseWithCovAligned: true
+ PoseWithCovInitial: true
+ Value: true
+ Value: false
+ Map:
+ Lanelet2VectorMap: true
+ PointCloudMap: true
+ Value: false
+ Perception:
+ ObjectRecognition:
+ Detection:
+ DetectedObjects: true
+ Value: true
+ Prediction:
+ Maneuver: true
+ PredictedObjects: true
+ Value: true
+ Tracking:
+ TrackedObjects: true
+ Value: true
+ Value: true
+ OccupancyGrid:
+ Map: true
+ Value: true
+ Segmentation:
+ NoGroundPointCloud: true
+ Value: true
+ TrafficLight:
+ MapBasedDetectionResult: true
+ RecognitionResultOnImage: true
+ Value: true
+ Value: false
+ Planning:
+ Diagnostic:
+ PlanningErrorMarker: true
+ Value: true
+ MissionPlanning:
+ GoalPose: true
+ MissionDetailsDisplay: true
+ RouteArea: true
+ Value: true
+ ScenarioPlanning:
+ LaneDriving:
+ BehaviorPlanning:
+ (old)PathChangeCandidate_LaneChange: true
+ Bound: true
+ DebugMarker:
+ Arrow: true
+ StaticObstacleAvoidance: true
+ Blind Spot: true
+ Crosswalk: true
+ DetectionArea: true
+ DynamicObstacleAvoidance: true
+ GoalPlanner: true
+ Intersection: true
+ LaneFollowing: true
+ LeftLaneChange: true
+ NoDrivableLane: true
+ NoStoppingArea: true
+ OcclusionSpot: true
+ RightLaneChange: true
+ RunOut: true
+ SideShift: true
+ SpeedBump: true
+ StartPlanner: true
+ StopLine: true
+ TrafficLight: true
+ Value: true
+ VirtualTrafficLight: true
+ InfoMarker:
+ Info (StaticObstacleAvoidance): true
+ Info (AvoidanceByLC): true
+ Info (DynamicObstacleAvoidance): true
+ Info (ExtLaneChangeLeft): true
+ Info (ExtLaneChangeRight): true
+ Info (GoalPlanner): true
+ Info (LaneChangeLeft): true
+ Info (LaneChangeRight): true
+ Info (StartPlanner): true
+ Value: true
+ Path: true
+ PathChangeCandidate_Avoidance: true
+ PathChangeCandidate_AvoidanceByLC: true
+ PathChangeCandidate_ExternalRequestLaneChangeLeft: true
+ PathChangeCandidate_ExternalRequestLaneChangeRight: true
+ PathChangeCandidate_GoalPlanner: true
+ PathChangeCandidate_LaneChangeLeft: true
+ PathChangeCandidate_LaneChangeRight: true
+ PathChangeCandidate_StartPlanner: true
+ PathReference_Avoidance: true
+ PathReference_AvoidanceByLC: true
+ PathReference_GoalPlanner: true
+ PathReference_LaneChangeLeft: true
+ PathReference_LaneChangeRight: true
+ PathReference_StartPlanner: true
+ Value: true
+ VirtualWall:
+ Value: true
+ VirtualWall (StaticObstacleAvoidance): true
+ VirtualWall (AvoidanceByLC): true
+ VirtualWall (BlindSpot): true
+ VirtualWall (Crosswalk): true
+ VirtualWall (DetectionArea): true
+ VirtualWall (ExtLaneChangeLeft): true
+ VirtualWall (ExtLaneChangeRight): true
+ VirtualWall (GoalPlanner): true
+ VirtualWall (Intersection): true
+ VirtualWall (LaneChangeLeft): true
+ VirtualWall (LaneChangeRight): true
+ VirtualWall (MergeFromPrivateArea): true
+ VirtualWall (NoDrivableLane): true
+ VirtualWall (NoStoppingArea): true
+ VirtualWall (OcclusionSpot): true
+ VirtualWall (RunOut): true
+ VirtualWall (SpeedBump): true
+ VirtualWall (StartPlanner): true
+ VirtualWall (StopLine): true
+ VirtualWall (TrafficLight): true
+ VirtualWall (VirtualTrafficLight): true
+ VirtualWall (Walkway): true
+ MotionPlanning:
+ DebugMarker:
+ ObstacleAvoidance: true
+ ObstacleCruise:
+ CruiseVirtualWall: true
+ DebugMarker: true
+ SlowDownVirtualWall: true
+ Value: true
+ ObstacleStop: true
+ SurroundObstacleChecker:
+ Footprint: true
+ FootprintOffset: true
+ FootprintRecoverOffset: true
+ SurroundObstacleCheck: true
+ Value: true
+ Value: true
+ Trajectory: true
+ Value: true
+ VirtualWall:
+ Value: true
+ VirtualWall (ObstacleAvoidance): true
+ VirtualWall (ObstacleCruise): true
+ VirtualWall (ObstacleStop): true
+ VirtualWall (SurroundObstacle): true
+ Value: true
+ ModifiedGoal: true
+ Parking:
+ Costmap: true
+ PartialPoseArray: true
+ PoseArray: true
+ Value: true
+ ScenarioTrajectory: true
+ Value: true
+ Value: false
+ Sensing:
+ GNSS:
+ PoseWithCovariance: true
+ Value: true
+ LiDAR:
+ ConcatenatePointCloud: true
+ MeasurementRange: true
+ Value: true
+ Value: true
+ System:
+ Grid: true
+ MRM Summary: true
+ TF: true
+ Value: false
+ Vehicle:
+ PolarGridDisplay: true
+ Value: true
+ VehicleModel: true
+ SignalDisplay: true
+ Value: true
+ Zoom Factor: 1
+ - Alpha: 1
+ Autocompute Intensity Bounds: true
+ Autocompute Value Bounds:
+ Max Value: 5
+ Min Value: -1
+ Value: false
+ Axis: Z
+ Channel Name: intensity
+ Class: rviz_default_plugins/PointCloud2
+ Color: 255; 255; 255
+ Color Transformer: AxisColor
+ 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: ConcatenatePointCloud
+ Position Transformer: XYZ
+ Selectable: false
+ Size (Pixels): 3
+ Size (m): 0.019999999552965164
+ Style: Points
+ Topic:
+ Depth: 5
+ Durability Policy: Volatile
+ Filter size: 10
+ History Policy: Keep Last
+ Reliability Policy: Best Effort
+ Value: /sensing/lidar/concatenated/pointcloud
+ Use Fixed Frame: false
+ Use rainbow: true
+ Value: true
+ - BUS:
+ Alpha: 0.5
+ Color: 255; 255; 255
+ CAR:
+ Alpha: 0.5
+ Color: 255; 255; 255
+ CYCLIST:
+ Alpha: 0.5
+ Color: 255; 255; 255
+ Class: autoware_perception_rviz_plugin/DetectedObjects
+ Display Acceleration: 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
+ Line Width: 0.029999999329447746
+ MOTORCYCLE:
+ Alpha: 0.5
+ Color: 255; 255; 255
+ Name: RadarRawObjects(white)
+ Namespaces:
+ {}
+ PEDESTRIAN:
+ Alpha: 0.5
+ Color: 255; 255; 255
+ Polygon Type: 3d
+ TRAILER:
+ Alpha: 0.5
+ Color: 255; 255; 255
+ TRUCK:
+ Alpha: 0.5
+ Color: 255; 255; 255
+ Topic:
+ Depth: 5
+ Durability Policy: Volatile
+ History Policy: Keep Last
+ Reliability Policy: Best Effort
+ Value: /sensing/radar/detected_objects
+ UNKNOWN:
+ Alpha: 0.5
+ Color: 255; 255; 255
+ Value: true
+ Visualization Type: Normal
+ Enabled: false
+ Name: Sensing
+ - Class: rviz_common/Group
+ Enabled: true
+ Name: Localization
+ Displays:
+ - Alpha: 0.9990000128746033
+ Autocompute Intensity Bounds: true
+ Autocompute Value Bounds:
+ Max Value: 10
+ Min Value: -10
+ Value: true
+ Axis: Z
+ Channel Name: intensity
+ Class: rviz_default_plugins/PointCloud2
+ Color: 85; 255; 0
+ Color Transformer: FlatColor
+ Decay Time: 0
+ Enabled: true
+ Invert Rainbow: false
+ Max Color: 85; 255; 127
+ Max Intensity: 0
+ Min Color: 0; 0; 0
+ Min Intensity: 0
+ Name: NDT pointclouds
+ Position Transformer: XYZ
+ Selectable: false
+ Size (Pixels): 10
+ Size (m): 0.5
+ Style: Squares
+ Topic:
+ Depth: 5
+ Durability Policy: Volatile
+ Filter size: 10
+ History Policy: Keep Last
+ Reliability Policy: Reliable
+ Value: /localization/pose_estimator/points_aligned
+ Use Fixed Frame: true
+ Use rainbow: true
+ Value: 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_default_plugins/PointCloud2
+ Color: 255; 255; 255
+ Color Transformer: ""
+ 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: NDTLoadedPCDMap
+ Position Transformer: ""
+ Selectable: true
+ Size (Pixels): 3
+ Size (m): 0.1
+ Style: Flat Squares
+ Topic:
+ Depth: 5
+ Durability Policy: Volatile
+ Filter size: 10
+ History Policy: Keep Last
+ Reliability Policy: Reliable
+ Value: /localization/pose_estimator/debug/loaded_pointcloud_map
+ Use Fixed Frame: true
+ Use rainbow: true
+ Value: true
+ - Buffer Size: 200
+ Class: rviz_plugins::PoseHistory
+ Enabled: true
+ Line:
+ Alpha: 0.9990000128746033
+ Color: 170; 255; 127
+ Value: true
+ Width: 0.10000000149011612
+ Name: NDTPoseHistory
+ Topic:
+ Depth: 5
+ Durability Policy: Volatile
+ Filter size: 10
+ History Policy: Keep Last
+ Reliability Policy: Reliable
+ Value: /localization/pose_estimator/pose
+ Value: true
+ - Buffer Size: 1000
+ Class: rviz_plugins::PoseHistory
+ Enabled: true
+ Line:
+ Alpha: 0.9990000128746033
+ Color: 0; 255; 255
+ Value: true
+ Width: 0.10000000149011612
+ Name: EKFPoseHistory
+ Topic:
+ Depth: 5
+ Durability Policy: Volatile
+ Filter size: 10
+ History Policy: Keep Last
+ Reliability Policy: Reliable
+ Value: /localization/pose_twist_fusion_filter/pose
+ Value: true
+ - Class: rviz_common/Group
+ Displays:
+ - BUS:
+ Alpha: 0.9990000128746033
+ Color: 255; 138; 128
+ CAR:
+ Alpha: 0.9990000128746033
+ Color: 255; 138; 128
+ CYCLIST:
+ Alpha: 0.9990000128746033
+ Color: 255; 138; 128
+ Class: autoware_perception_rviz_plugin/DetectedObjects
+ Display Acceleration: 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
+ Line Width: 0.10000000149011612
+ MOTORCYCLE:
+ Alpha: 0.9990000128746033
+ Color: 255; 138; 128
+ Name: Centerpoint(red1)
+ Namespaces:
+ {}
+ PEDESTRIAN:
+ Alpha: 0.9990000128746033
+ Color: 255; 138; 128
+ Polygon Type: 3d
+ TRAILER:
+ Alpha: 0.9990000128746033
+ Color: 255; 138; 128
+ TRUCK:
+ Alpha: 0.9990000128746033
+ Color: 255; 138; 128
+ Topic:
+ Depth: 5
+ Durability Policy: Volatile
+ History Policy: Keep Last
+ Reliability Policy: Best Effort
+ Value: /perception/object_recognition/detection/centerpoint/objects
+ UNKNOWN:
+ Alpha: 0.9990000128746033
+ Color: 255; 138; 128
+ Value: false
+ Visualization Type: Normal
+ - BUS:
+ Alpha: 0.9990000128746033
+ Color: 255; 82; 82
+ CAR:
+ Alpha: 0.9990000128746033
+ Color: 255; 82; 82
+ CYCLIST:
+ Alpha: 0.9990000128746033
+ Color: 255; 82; 82
+ Class: autoware_perception_rviz_plugin/DetectedObjects
+ Display Acceleration: 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
+ Line Width: 0.10000000149011612
+ MOTORCYCLE:
+ Alpha: 0.9990000128746033
+ Color: 255; 82; 82
+ Name: CenterpointROIFusion(red2)
+ Namespaces:
+ {}
+ PEDESTRIAN:
+ Alpha: 0.9990000128746033
+ Color: 255; 82; 82
+ Polygon Type: 3d
+ TRAILER:
+ Alpha: 0.9990000128746033
+ Color: 255; 82; 82
+ TRUCK:
+ Alpha: 0.9990000128746033
+ Color: 255; 82; 82
+ Topic:
+ Depth: 5
+ Durability Policy: Volatile
+ History Policy: Keep Last
+ Reliability Policy: Best Effort
+ Value: /perception/object_recognition/detection/centerpoint/roi_fusion/objects
+ UNKNOWN:
+ Alpha: 0.9990000128746033
+ Color: 255; 82; 82
+ Value: false
+ Visualization Type: Normal
+ - BUS:
+ Alpha: 0.9990000128746033
+ Color: 213; 0; 0
+ CAR:
+ Alpha: 0.9990000128746033
+ Color: 213; 0; 0
+ CYCLIST:
+ Alpha: 0.9990000128746033
+ Color: 213; 0; 0
+ Class: autoware_perception_rviz_plugin/DetectedObjects
+ Display Acceleration: 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
+ Line Width: 0.10000000149011612
+ MOTORCYCLE:
+ Alpha: 0.9990000128746033
+ Color: 213; 0; 0
+ Name: CenterpointValidator(red3)
+ Namespaces:
+ {}
+ PEDESTRIAN:
+ Alpha: 0.9990000128746033
+ Color: 213; 0; 0
+ Polygon Type: 3d
+ TRAILER:
+ Alpha: 0.9990000128746033
+ Color: 213; 0; 0
+ TRUCK:
+ Alpha: 0.9990000128746033
+ Color: 213; 0; 0
+ Topic:
+ Depth: 5
+ Durability Policy: Volatile
+ History Policy: Keep Last
+ Reliability Policy: Best Effort
+ Value: /perception/object_recognition/detection/centerpoint/validation/objects
+ UNKNOWN:
+ Alpha: 0.9990000128746033
+ Color: 213; 0; 0
+ Value: false
+ Visualization Type: Normal
+ - BUS:
+ Alpha: 0.9990000128746033
+ Color: 178; 255; 89
+ CAR:
+ Alpha: 0.9990000128746033
+ Color: 178; 255; 89
+ CYCLIST:
+ Alpha: 0.9990000128746033
+ Color: 178; 255; 89
+ Class: autoware_perception_rviz_plugin/DetectedObjects
+ Display Acceleration: 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
+ Line Width: 0.10000000149011612
+ MOTORCYCLE:
+ Alpha: 0.9990000128746033
+ Color: 178; 255; 89
+ Name: PointPainting(light_green1)
+ Namespaces:
+ {}
+ PEDESTRIAN:
+ Alpha: 0.9990000128746033
+ Color: 178; 255; 89
+ Polygon Type: 3d
+ TRAILER:
+ Alpha: 0.9990000128746033
+ Color: 178; 255; 89
+ TRUCK:
+ Alpha: 0.9990000128746033
+ Color: 178; 255; 89
+ Topic:
+ Depth: 5
+ Durability Policy: Volatile
+ History Policy: Keep Last
+ Reliability Policy: Best Effort
+ Value: /perception/object_recognition/detection/pointpainting/objects
+ UNKNOWN:
+ Alpha: 0.9990000128746033
+ Color: 178; 255; 89
+ Value: false
+ Visualization Type: Normal
+ - BUS:
+ Alpha: 0.9990000128746033
+ Color: 118; 255; 3
+ CAR:
+ Alpha: 0.9990000128746033
+ Color: 118; 255; 3
+ CYCLIST:
+ Alpha: 0.9990000128746033
+ Color: 118; 255; 3
+ Class: autoware_perception_rviz_plugin/DetectedObjects
+ Display Acceleration: 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
+ Line Width: 0.10000000149011612
+ MOTORCYCLE:
+ Alpha: 0.9990000128746033
+ Color: 118; 255; 3
+ Name: PointPaintingROIFusion(light_green2)
+ Namespaces:
+ {}
+ PEDESTRIAN:
+ Alpha: 0.9990000128746033
+ Color: 118; 255; 3
+ Polygon Type: 3d
+ TRAILER:
+ Alpha: 0.9990000128746033
+ Color: 118; 255; 3
+ TRUCK:
+ Alpha: 0.9990000128746033
+ Color: 118; 255; 3
+ Topic:
+ Depth: 5
+ Durability Policy: Volatile
+ History Policy: Keep Last
+ Reliability Policy: Best Effort
+ Value: /perception/object_recognition/detection/pointpainting/roi_fusion/objects
+ UNKNOWN:
+ Alpha: 0.9990000128746033
+ Color: 118; 255; 3
+ Value: false
+ Visualization Type: Normal
+ - BUS:
+ Alpha: 0.9990000128746033
+ Color: 100; 221; 23
+ CAR:
+ Alpha: 0.9990000128746033
+ Color: 100; 221; 23
+ CYCLIST:
+ Alpha: 0.9990000128746033
+ Color: 100; 221; 23
+ Class: autoware_perception_rviz_plugin/DetectedObjects
+ Display Acceleration: 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
+ Line Width: 0.10000000149011612
+ MOTORCYCLE:
+ Alpha: 0.9990000128746033
+ Color: 100; 221; 23
+ Name: PointPaintingValidator(light_green3)
+ Namespaces:
+ {}
+ PEDESTRIAN:
+ Alpha: 0.9990000128746033
+ Color: 100; 221; 23
+ Polygon Type: 3d
+ TRAILER:
+ Alpha: 0.9990000128746033
+ Color: 100; 221; 23
+ TRUCK:
+ Alpha: 0.9990000128746033
+ Color: 100; 221; 23
+ Topic:
+ Depth: 5
+ Durability Policy: Volatile
+ History Policy: Keep Last
+ Reliability Policy: Best Effort
+ Value: /perception/object_recognition/detection/pointpainting/validation/objects
+ UNKNOWN:
+ Alpha: 0.9990000128746033
+ Color: 100; 221; 23
+ Value: false
+ Visualization Type: Normal
+ - BUS:
+ Alpha: 0.9990000128746033
+ Color: 255; 145; 0
+ CAR:
+ Alpha: 0.9990000128746033
+ Color: 255; 145; 0
+ CYCLIST:
+ Alpha: 0.9990000128746033
+ Color: 255; 145; 0
+ Class: autoware_perception_rviz_plugin/DetectedObjects
+ Display Acceleration: 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
+ Line Width: 0.10000000149011612
+ MOTORCYCLE:
+ Alpha: 0.9990000128746033
+ Color: 255; 145; 0
+ Name: DetectionByTracker(orange)
+ Namespaces:
+ {}
+ PEDESTRIAN:
+ Alpha: 0.9990000128746033
+ Color: 255; 145; 0
+ Polygon Type: 3d
+ TRAILER:
+ Alpha: 0.9990000128746033
+ Color: 255; 145; 0
+ TRUCK:
+ Alpha: 0.9990000128746033
+ Color: 255; 145; 0
+ Topic:
+ Depth: 5
+ Durability Policy: Volatile
+ History Policy: Keep Last
+ Reliability Policy: Best Effort
+ Value: /perception/object_recognition/detection/detection_by_tracker/objects
+ UNKNOWN:
+ Alpha: 0.9990000128746033
+ Color: 255; 145; 0
+ Value: false
+ Visualization Type: Normal
+ - BUS:
+ Alpha: 0.9990000128746033
+ Color: 213; 0; 249
+ CAR:
+ Alpha: 0.9990000128746033
+ Color: 213; 0; 249
+ CYCLIST:
+ Alpha: 0.9990000128746033
+ Color: 213; 0; 249
+ Class: autoware_perception_rviz_plugin/DetectedObjects
+ Display Acceleration: 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
+ Line Width: 0.10000000149011612
+ MOTORCYCLE:
+ Alpha: 0.9990000128746033
+ Color: 213; 0; 249
+ Name: CameraLidarFusion(purple)
+ Namespaces:
+ {}
+ PEDESTRIAN:
+ Alpha: 0.9990000128746033
+ Color: 213; 0; 249
+ Polygon Type: 3d
+ TRAILER:
+ Alpha: 0.9990000128746033
+ Color: 213; 0; 249
+ TRUCK:
+ Alpha: 0.9990000128746033
+ Color: 213; 0; 249
+ Topic:
+ Depth: 5
+ Durability Policy: Volatile
+ History Policy: Keep Last
+ Reliability Policy: Best Effort
+ Value: /perception/object_recognition/detection/clustering/camera_lidar_fusion/objects
+ UNKNOWN:
+ Alpha: 0.9990000128746033
+ Color: 213; 0; 249
+ Value: false
+ Visualization Type: Normal
+ - BUS:
+ Alpha: 0.9990000128746033
+ Color: 255; 255; 255
+ CAR:
+ Alpha: 0.9990000128746033
+ Color: 255; 255; 255
+ CYCLIST:
+ Alpha: 0.9990000128746033
+ Color: 255; 255; 255
+ Class: autoware_perception_rviz_plugin/DetectedObjects
+ Display Acceleration: 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
+ Line Width: 0.10000000149011612
+ MOTORCYCLE:
+ Alpha: 0.9990000128746033
+ Color: 255; 255; 255
+ Name: RadarFarObjects(white)
+ Namespaces:
+ {}
+ PEDESTRIAN:
+ Alpha: 0.9990000128746033
+ Color: 255; 255; 255
+ Polygon Type: 3d
+ TRAILER:
+ Alpha: 0.9990000128746033
+ Color: 255; 255; 255
+ TRUCK:
+ Alpha: 0.9990000128746033
+ Color: 255; 255; 255
+ Topic:
+ Depth: 5
+ Durability Policy: Volatile
+ History Policy: Keep Last
+ Reliability Policy: Best Effort
+ Value: /perception/object_recognition/detection/radar/far_objects
+ UNKNOWN:
+ Alpha: 0.9990000128746033
+ Color: 255; 255; 255
+ Value: false
+ Visualization Type: Normal
+ - BUS:
+ Alpha: 0.9990000128746033
+ Color: 255; 234; 0
+ CAR:
+ Alpha: 0.9990000128746033
+ Color: 255; 234; 0
+ CYCLIST:
+ Alpha: 0.9990000128746033
+ Color: 255; 234; 0
+ Class: autoware_perception_rviz_plugin/DetectedObjects
+ Display Acceleration: 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
+ Line Width: 0.10000000149011612
+ MOTORCYCLE:
+ Alpha: 0.9990000128746033
+ Color: 255; 234; 0
+ Name: Detection(yellow)
+ Namespaces:
+ {}
+ PEDESTRIAN:
+ Alpha: 0.9990000128746033
+ Color: 255; 234; 0
+ Polygon Type: 3d
+ TRAILER:
+ Alpha: 0.9990000128746033
+ Color: 255; 234; 0
+ TRUCK:
+ Alpha: 0.9990000128746033
+ Color: 255; 234; 0
+ Topic:
+ Depth: 5
+ Durability Policy: Volatile
+ History Policy: Keep Last
+ Reliability Policy: Best Effort
+ Value: /perception/object_recognition/detection/objects
+ UNKNOWN:
+ Alpha: 0.9990000128746033
+ Color: 255; 234; 0
+ Value: false
+ Visualization Type: Normal
+ - BUS:
+ Alpha: 0.9990000128746033
+ Color: 0; 230; 118
+ CAR:
+ Alpha: 0.9990000128746033
+ Color: 0; 230; 118
+ CYCLIST:
+ Alpha: 0.9990000128746033
+ Color: 0; 230; 118
+ Class: autoware_perception_rviz_plugin/TrackedObjects
+ Display Acceleration: 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
+ Line Width: 0.10000000149011612
+ MOTORCYCLE:
+ Alpha: 0.9990000128746033
+ Color: 0; 230; 118
+ Name: Tracking(green)
+ Namespaces:
+ {}
+ PEDESTRIAN:
+ Alpha: 0.9990000128746033
+ Color: 0; 230; 118
+ Polygon Type: 3d
+ TRAILER:
+ Alpha: 0.9990000128746033
+ Color: 0; 230; 118
+ TRUCK:
+ Alpha: 0.9990000128746033
+ Color: 0; 230; 118
+ Topic:
+ Depth: 5
+ Durability Policy: Volatile
+ History Policy: Keep Last
+ Reliability Policy: Best Effort
+ Value: /perception/object_recognition/tracking/objects
+ UNKNOWN:
+ Alpha: 0.9990000128746033
+ Color: 0; 230; 118
+ Value: false
+ Visualization Type: Normal
+ - BUS:
+ Alpha: 0.9990000128746033
+ Color: 0; 176; 255
+ CAR:
+ Alpha: 0.9990000128746033
+ Color: 0; 176; 255
+ CYCLIST:
+ Alpha: 0.9990000128746033
+ Color: 0; 176; 255
+ Class: autoware_perception_rviz_plugin/PredictedObjects
+ Display Acceleration: true
+ Display Label: true
+ Display PoseWithCovariance: false
+ Display Predicted Path Confidence: true
+ Display Predicted Paths: true
+ Display Twist: true
+ Display UUID: true
+ Display Velocity: true
+ Enabled: true
+ Line Width: 0.10000000149011612
+ MOTORCYCLE:
+ Alpha: 0.9990000128746033
+ Color: 0; 176; 255
+ Name: Prediction(light_blue)
+ Namespaces:
+ {}
+ PEDESTRIAN:
+ Alpha: 0.9990000128746033
+ Color: 0; 176; 255
+ Polygon Type: 3d
+ TRAILER:
+ Alpha: 0.9990000128746033
+ Color: 0; 176; 255
+ TRUCK:
+ Alpha: 0.9990000128746033
+ Color: 0; 176; 255
+ Topic:
+ Depth: 5
+ Durability Policy: Volatile
+ History Policy: Keep Last
+ Reliability Policy: Best Effort
+ Value: /perception/object_recognition/objects
+ UNKNOWN:
+ Alpha: 0.9990000128746033
+ Color: 0; 176; 255
+ Value: false
+ Visualization Type: Normal
+ Enabled: true
+ Name: Perception
+ - Class: rviz_common/Group
+ Displays:
+ - Class: rviz_common/Group
+ Displays:
+ - Class: rviz_default_plugins/MarkerArray
+ Enabled: true
+ Name: LaneChangeLeft
+ Namespaces:
+ {}
+ Topic:
+ Depth: 5
+ Durability Policy: Volatile
+ History Policy: Keep Last
+ Reliability Policy: Reliable
+ Value: /planning/debug/objects_of_interest/lane_change_left
+ Value: true
+ - Class: rviz_default_plugins/MarkerArray
+ Enabled: true
+ Name: LaneChangeRight
+ Namespaces:
+ {}
+ Topic:
+ Depth: 5
+ Durability Policy: Volatile
+ History Policy: Keep Last
+ Reliability Policy: Reliable
+ Value: /planning/debug/objects_of_interest/lane_change_right
+ Value: true
+ - Class: rviz_default_plugins/MarkerArray
+ Enabled: true
+ Name: AvoidanceLeft
+ Namespaces:
+ {}
+ Topic:
+ Depth: 5
+ Durability Policy: Volatile
+ History Policy: Keep Last
+ Reliability Policy: Reliable
+ Value: /planning/debug/objects_of_interest/static_obstacle_avoidance_left
+ Value: true
+ - Class: rviz_default_plugins/MarkerArray
+ Enabled: true
+ Name: AvoidanceRight
+ Namespaces:
+ {}
+ Topic:
+ Depth: 5
+ Durability Policy: Volatile
+ History Policy: Keep Last
+ Reliability Policy: Reliable
+ Value: /planning/debug/objects_of_interest/static_obstacle_avoidance_right
+ Value: true
+ - Class: rviz_default_plugins/MarkerArray
+ Enabled: true
+ Name: AvoidanceByLCLeft
+ Namespaces:
+ {}
+ Topic:
+ Depth: 5
+ Durability Policy: Volatile
+ History Policy: Keep Last
+ Reliability Policy: Reliable
+ Value: /planning/debug/objects_of_interest/avoidance_by_lc_left
+ Value: true
+ - Class: rviz_default_plugins/MarkerArray
+ Enabled: true
+ Name: AvoidanceByLCRight
+ Namespaces:
+ {}
+ Topic:
+ Depth: 5
+ Durability Policy: Volatile
+ History Policy: Keep Last
+ Reliability Policy: Reliable
+ Value: /planning/debug/objects_of_interest/avoidance_by_lc_right
+ Value: true
+ - Class: rviz_default_plugins/MarkerArray
+ Enabled: true
+ Name: StartPlanner
+ Namespaces:
+ {}
+ Topic:
+ Depth: 5
+ Durability Policy: Volatile
+ History Policy: Keep Last
+ Reliability Policy: Reliable
+ Value: /planning/debug/objects_of_interest/start_planner
+ Value: true
+ - Class: rviz_default_plugins/MarkerArray
+ Enabled: true
+ Name: GoalPlanner
+ Namespaces:
+ {}
+ Topic:
+ Depth: 5
+ Durability Policy: Volatile
+ History Policy: Keep Last
+ Reliability Policy: Reliable
+ Value: /planning/debug/objects_of_interest/goal_planner
+ Value: true
+ - Class: rviz_default_plugins/MarkerArray
+ Enabled: true
+ Name: Crosswalk
+ Namespaces:
+ {}
+ Topic:
+ Depth: 5
+ Durability Policy: Volatile
+ History Policy: Keep Last
+ Reliability Policy: Reliable
+ Value: /planning/debug/objects_of_interest/crosswalk
+ Value: true
+ - Class: rviz_default_plugins/MarkerArray
+ Enabled: true
+ Name: Intersection
+ Namespaces:
+ {}
+ Topic:
+ Depth: 5
+ Durability Policy: Volatile
+ History Policy: Keep Last
+ Reliability Policy: Reliable
+ Value: /planning/debug/objects_of_interest/intersection
+ Value: true
+ - Class: rviz_default_plugins/MarkerArray
+ Enabled: true
+ Name: BlindSpot
+ Namespaces:
+ {}
+ Topic:
+ Depth: 5
+ Durability Policy: Volatile
+ History Policy: Keep Last
+ Reliability Policy: Reliable
+ Value: /planning/debug/objects_of_interest/blind_spot
+ Value: true
+ - Class: rviz_default_plugins/MarkerArray
+ Enabled: true
+ Name: TrafficLight
+ Namespaces:
+ {}
+ Topic:
+ Depth: 5
+ Durability Policy: Volatile
+ History Policy: Keep Last
+ Reliability Policy: Reliable
+ Value: /planning/debug/objects_of_interest/traffic_light
+ Value: true
+ - Class: rviz_default_plugins/MarkerArray
+ Enabled: true
+ Name: DetectionArea
+ Namespaces:
+ {}
+ Topic:
+ Depth: 5
+ Durability Policy: Volatile
+ History Policy: Keep Last
+ Reliability Policy: Reliable
+ Value: /planning/debug/objects_of_interest/detection_area
+ Value: true
+ - Class: rviz_default_plugins/MarkerArray
+ Enabled: true
+ Name: NoStoppingArea
+ Namespaces:
+ {}
+ Topic:
+ Depth: 5
+ Durability Policy: Volatile
+ History Policy: Keep Last
+ Reliability Policy: Reliable
+ Value: /planning/debug/objects_of_interest/no_stopping_area
+ Value: true
+ - Class: rviz_default_plugins/MarkerArray
+ Enabled: true
+ Name: ObstacleCruise
+ Namespaces:
+ {}
+ Topic:
+ Depth: 5
+ Durability Policy: Volatile
+ History Policy: Keep Last
+ Reliability Policy: Reliable
+ Value: /planning/debug/objects_of_interest/obstacle_cruise_planner
+ Value: true
+ Enabled: true
+ Name: Objects Of Interest
+ Enabled: true
+ Name: Planning
+ - Class: rviz_common/Group
+ Displays: ~
+ Enabled: true
+ Name: Control
+ Enabled: false
+ Name: Debug
+ Enabled: true
+ Global Options:
+ Background Color: 15; 20; 23
+ Default Light: true
+ Fixed Frame: map
+ Frame Rate: 30
+ Name: root
+ Tools:
+ - Class: rviz_default_plugins/Interact
+ Hide Inactive Objects: true
+ - Class: rviz_default_plugins/MoveCamera
+ - Class: rviz_default_plugins/Select
+ - Class: rviz_default_plugins/FocusCamera
+ - Class: rviz_default_plugins/Measure
+ Line color: 128; 128; 0
+ - Class: rviz_default_plugins/SetInitialPose
+ Theta std deviation: 0.2617993950843811
+ Topic:
+ Depth: 5
+ Durability Policy: Volatile
+ History Policy: Keep Last
+ Reliability Policy: Reliable
+ Value: /initialpose
+ X std deviation: 0.5
+ Y std deviation: 0.5
+ - Class: rviz_default_plugins/SetGoal
+ Topic:
+ Depth: 5
+ Durability Policy: Volatile
+ History Policy: Keep Last
+ Reliability Policy: Reliable
+ Value: /planning/mission_planning/goal
+ - Class: tier4_adapi_rviz_plugins::RouteTool
+ Topic:
+ Depth: 5
+ Durability Policy: Volatile
+ History Policy: Keep Last
+ Reliability Policy: Reliable
+ Value: /rviz/routing/rough_goal
+ - Class: rviz_plugins/PedestrianInitialPoseTool
+ Pose Topic: /simulation/dummy_perception_publisher/object_info
+ Theta std deviation: 0.0872664600610733
+ Velocity: 0
+ X std deviation: 0.029999999329447746
+ Y std deviation: 0.029999999329447746
+ Z position: 1
+ Z std deviation: 0.029999999329447746
+ - Class: rviz_plugins/CarInitialPoseTool
+ Pose Topic: /simulation/dummy_perception_publisher/object_info
+ Theta std deviation: 0.0872664600610733
+ Velocity: 3
+ X std deviation: 0.029999999329447746
+ Y std deviation: 0.029999999329447746
+ Z position: 0
+ Z std deviation: 0.029999999329447746
+ - Class: rviz_plugins/BusInitialPoseTool
+ Pose Topic: /simulation/dummy_perception_publisher/object_info
+ Theta std deviation: 0.0872664600610733
+ Velocity: 0
+ X std deviation: 0.029999999329447746
+ Y std deviation: 0.029999999329447746
+ Z position: 0
+ Z std deviation: 0.029999999329447746
+ - Class: rviz_plugins/MissionCheckpointTool
+ Pose Topic: /planning/mission_planning/checkpoint
+ Theta std deviation: 0.2617993950843811
+ X std deviation: 0.5
+ Y std deviation: 0.5
+ Z position: 0
+ - Class: rviz_plugins/DeleteAllObjectsTool
+ Pose Topic: /simulation/dummy_perception_publisher/object_info
+ Value: true
+ Views:
+ Current:
+ Angle: 0
+ Class: rviz_default_plugins/TopDownOrtho
+ Enable Stereo Rendering:
+ Stereo Eye Separation: 0.05999999865889549
+ Stereo Focal Distance: 1
+ Swap Stereo Eyes: false
+ Value: false
+ Invert Z Axis: false
+ Name: Current View
+ Near Clip Distance: 0.009999999776482582
+ Scale: 10
+ Target Frame: viewer
+ Value: TopDownOrtho (rviz_default_plugins)
+ X: 0
+ Y: 0
+ Saved:
+ - Class: rviz_default_plugins/ThirdPersonFollower
+ Distance: 18
+ Enable Stereo Rendering:
+ Stereo Eye Separation: 0.05999999865889549
+ Stereo Focal Distance: 1
+ Swap Stereo Eyes: false
+ Value: false
+ Focal Point:
+ X: 0
+ Y: 0
+ Z: 0
+ Focal Shape Fixed Size: true
+ Focal Shape Size: 0.05000000074505806
+ Invert Z Axis: false
+ Name: ThirdPersonFollower
+ Near Clip Distance: 0.009999999776482582
+ Pitch: 0.20000000298023224
+ Target Frame: base_link
+ Value: ThirdPersonFollower (rviz)
+ Yaw: 3.141592025756836
+ - Angle: 0
+ Class: rviz_default_plugins/TopDownOrtho
+ Enable Stereo Rendering:
+ Stereo Eye Separation: 0.05999999865889549
+ Stereo Focal Distance: 1
+ Swap Stereo Eyes: false
+ Value: false
+ Invert Z Axis: false
+ Name: TopDownOrtho
+ Near Clip Distance: 0.009999999776482582
+ Scale: 10
+ Target Frame: viewer
+ Value: TopDownOrtho (rviz)
+ X: 0
+ Y: 0
+Window Geometry:
+ AutowareStatePanel:
+ collapsed: false
+ Displays:
+ collapsed: false
+ Height: 1565
+ Hide Left Dock: false
+ Hide Right Dock: false
+ Image:
+ collapsed: false
+ QMainWindow State: 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
+ RecognitionResultOnImage:
+ collapsed: false
+ Selection:
+ collapsed: false
+ Tool Properties:
+ collapsed: false
+ Views:
+ collapsed: false
+ Width: 2813
+ X: 67
+ Y: 27
diff --git a/docker/tools/visualizer/etc/xstartup b/docker/tools/visualizer/etc/xstartup
new file mode 100644
index 00000000000..d9b290c3d3a
--- /dev/null
+++ b/docker/tools/visualizer/etc/xstartup
@@ -0,0 +1,16 @@
+#!/bin/sh
+# cspell:ignore openbox, VNC, xstartup, DBUS, Xresources, xrdb
+
+unset SESSION_MANAGER
+unset DBUS_SESSION_BUS_ADDRESS
+export DISPLAY=:99
+
+[ -x /etc/vnc/xstartup ] && exec /etc/vnc/xstartup
+[ -r "$HOME/.Xresources" ] && xrdb "$HOME/.Xresources"
+
+# Start Openbox window manager
+echo "Starting Openbox window manager..."
+openbox-session &
+
+# Keep the session alive
+sleep infinity