From 3abce1f889a1483448203ec6d4a1b9b40df50310 Mon Sep 17 00:00:00 2001
From: Takayuki Murooka <takayuki5168@gmail.com>
Date: Thu, 19 Dec 2024 13:23:49 +0900
Subject: [PATCH] feat: add velocity control virtual wall (#1285)

Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>
---
 autoware_launch/rviz/autoware.rviz | 12 ++++++++++++
 1 file changed, 12 insertions(+)

diff --git a/autoware_launch/rviz/autoware.rviz b/autoware_launch/rviz/autoware.rviz
index aa633edcaf..3f029ff75d 100644
--- a/autoware_launch/rviz/autoware.rviz
+++ b/autoware_launch/rviz/autoware.rviz
@@ -2464,6 +2464,18 @@ Visualization Manager:
                 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