From 6fe1e157ab97202310e69e0f3f354a5701afb9c2 Mon Sep 17 00:00:00 2001 From: beyza Date: Wed, 18 Jan 2023 11:43:51 +0300 Subject: [PATCH] add description Signed-off-by: beyza --- .../obstacle_stop_planner.param.yaml | 6 +- autoware_launch/rviz/autoware.rviz | 502 ++++++++++-------- 2 files changed, 270 insertions(+), 238 deletions(-) diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_stop_planner/obstacle_stop_planner.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_stop_planner/obstacle_stop_planner.param.yaml index 3c3381f534..859af78d3e 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_stop_planner/obstacle_stop_planner.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_stop_planner/obstacle_stop_planner.param.yaml @@ -19,9 +19,9 @@ # params for detection area detection_area: lateral_margin: 0.0 # margin of vehicle footprint [m] - pedestrian_lateral_margin: 0.0 - car_lateral_margin: 5.0 - unknown_lateral_margin: 10.0 + pedestrian_lateral_margin: 0.0 # margin of detection area for pedestrian [m] + car_lateral_margin: 5.0 # margin of detection area for car [m] + unknown_lateral_margin: 10.0 # margin of detection area for unknown object [m] step_length: 1.0 # step length for pointcloud search range [m] extend_distance: 0.0 # extend trajectory to consider after goal obstacle in the extend_distance [m] diff --git a/autoware_launch/rviz/autoware.rviz b/autoware_launch/rviz/autoware.rviz index 485f6ddb17..97e80a48b4 100644 --- a/autoware_launch/rviz/autoware.rviz +++ b/autoware_launch/rviz/autoware.rviz @@ -3,17 +3,29 @@ Panels: Help Height: 0 Name: Displays Property Tree Widget: - Expanded: ~ + Expanded: + - /System1/Vehicle1 + - /Sensing1/LiDAR1/ConcatenatePointCloud1/Autocompute Value Bounds1 + - /Planning1 + - /Planning1/ScenarioPlanning1 + - /Planning1/ScenarioPlanning1/LaneDriving1 + - /Planning1/ScenarioPlanning1/LaneDriving1/MotionPlanning1 + - /Planning1/ScenarioPlanning1/LaneDriving1/MotionPlanning1/DebugMarker1 + - /Planning1/ScenarioPlanning1/LaneDriving1/MotionPlanning1/DebugMarker1/ObstacleStop1 + - /Planning1/ScenarioPlanning1/LaneDriving1/MotionPlanning1/DebugMarker1/ObstacleStop1/Namespaces1 Splitter Ratio: 0.557669460773468 - Tree Height: 397 + Tree Height: 174 - Class: rviz_common/Selection Name: Selection - Class: rviz_common/Tool Properties - Expanded: ~ + Expanded: + - /2D Dummy Car1 + - /2D Dummy Unknown1 Name: Tool Properties Splitter Ratio: 0.5886790156364441 - Class: rviz_common/Views - Expanded: ~ + Expanded: + - /Current View1 Name: Views Splitter Ratio: 0.5 - Class: tier4_localization_rviz_plugin/InitialPoseButtonPanel @@ -37,7 +49,8 @@ Visualization Manager: Show Arrows: true Show Axes: true Show Names: true - Tree: {} + Tree: + {} Update Interval: 0 Value: false - Alpha: 0.5 @@ -61,32 +74,39 @@ Visualization Manager: - Class: rviz_common/Group Displays: - Class: rviz_plugins/SteeringAngle - Enabled: true + Enabled: false + Left: 64 + Length: 128 Name: SteeringAngle Scale: 17 Text Color: 25; 255; 240 + Top: 64 Topic: Depth: 5 Durability Policy: Volatile History Policy: Keep Last Reliability Policy: Reliable Value: /vehicle/status/steering_status - Value: true + Value: false + Value Scale: 0.14999249577522278 Value height offset: 0 - Class: rviz_plugins/ConsoleMeter - Enabled: true + Enabled: false + Left: 256 + Length: 128 Name: ConsoleMeter - Scale: 3 Text Color: 25; 255; 240 + Top: 64 Topic: Depth: 5 Durability Policy: Volatile History Policy: Keep Last Reliability Policy: Reliable Value: /vehicle/status/velocity_status - Value: true + Value: false + Value Scale: 0.14999249577522278 Value height offset: 0 - - Alpha: 0.999 + - Alpha: 0.9990000128746033 Class: rviz_plugins/VelocityHistory Color Border Vel Max: 3 Constant Color: @@ -122,154 +142,79 @@ Visualization Manager: Expand Tree: false Link Tree Style: Links in Alphabetic Order base_link: - Alpha: 0.999 - Show Axes: false - Show Trail: false - Value: true - camera0/camera_link: - Alpha: 0.999 - Show Axes: false - Show Trail: false - Value: true - camera0/camera_optical_link: - Alpha: 0.999 - Show Axes: false - Show Trail: false - camera1/camera_link: - Alpha: 0.999 + Alpha: 1 Show Axes: false Show Trail: false Value: true - camera1/camera_optical_link: - Alpha: 0.999 - Show Axes: false - Show Trail: false - camera2/camera_link: - Alpha: 0.999 + camera_left/camera_link: + Alpha: 1 Show Axes: false Show Trail: false Value: true - camera2/camera_optical_link: - Alpha: 0.999 + camera_left/camera_optical_link: + Alpha: 1 Show Axes: false Show Trail: false - camera3/camera_link: - Alpha: 0.999 + camera_right/camera_link: + Alpha: 1 Show Axes: false Show Trail: false Value: true - camera3/camera_optical_link: - Alpha: 0.999 + camera_right/camera_optical_link: + Alpha: 1 Show Axes: false Show Trail: false - camera4/camera_link: - Alpha: 0.999 + camera_top/camera_link: + Alpha: 1 Show Axes: false Show Trail: false Value: true - camera4/camera_optical_link: - Alpha: 0.999 + camera_top/camera_optical_link: + Alpha: 1 Show Axes: false Show Trail: false - camera5/camera_link: - Alpha: 0.999 - Show Axes: false - Show Trail: false - Value: true - camera5/camera_optical_link: - Alpha: 0.999 - 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 + gnss_ins_link: + Alpha: 1 Show Axes: false Show Trail: false Value: true sensor_kit_base_link: - Alpha: 0.999 + Alpha: 1 Show Axes: false Show Trail: false - tamagawa/imu_link: - Alpha: 0.999 + velodyne_front: + Alpha: 1 Show Axes: false Show Trail: false Value: true - traffic_light_left_camera/camera_link: - Alpha: 0.999 - Show Axes: false - Show Trail: false - Value: true - traffic_light_left_camera/camera_optical_link: - Alpha: 0.999 - Show Axes: false - Show Trail: false - traffic_light_right_camera/camera_link: - Alpha: 0.999 + velodyne_front_base_link: + Alpha: 1 Show Axes: false Show Trail: false Value: true - traffic_light_right_camera/camera_optical_link: - Alpha: 0.999 - Show Axes: false - Show Trail: false velodyne_left: - Alpha: 0.999 + Alpha: 1 Show Axes: false Show Trail: false Value: true velodyne_left_base_link: - Alpha: 0.999 - Show Axes: false - Show Trail: false - Value: true - velodyne_rear: - Alpha: 0.999 - Show Axes: false - Show Trail: false - Value: true - velodyne_rear_base_link: - Alpha: 0.999 + Alpha: 1 Show Axes: false Show Trail: false Value: true velodyne_right: - Alpha: 0.999 + Alpha: 1 Show Axes: false Show Trail: false Value: true velodyne_right_base_link: - Alpha: 0.999 - Show Axes: false - Show Trail: false - Value: true - velodyne_top: - Alpha: 0.999 - Show Axes: false - Show Trail: false - Value: true - velodyne_top_base_link: - Alpha: 0.999 + Alpha: 1 Show Axes: false Show Trail: false Value: true + Mass Properties: + Inertia: false + Mass: false Name: VehicleModel TF Prefix: "" Update Interval: 0 @@ -278,38 +223,41 @@ Visualization Manager: - Class: rviz_plugins/PolarGridDisplay Color: 255; 255; 255 Delta Range: 10 - Enabled: true + Enabled: false Max Alpha: 0.5 Max Range: 100 Max Wave Alpha: 0.5 - Min Alpha: 0.01 - Min Wave Alpha: 0.01 + Min Alpha: 0.009999999776482582 + Min Wave Alpha: 0.009999999776482582 Name: PolarGridDisplay Reference Frame: base_link - Value: true + Value: false Wave Color: 255; 255; 255 Wave Velocity: 40 - Class: rviz_plugins/MaxVelocity - Enabled: true + Enabled: false + Left: 298 + Length: 48 Name: MaxVelocity Text Color: 255; 255; 255 - Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Reliable - Value: /planning/scenario_planning/current_max_velocity - Value: true + Top: 140 + Topic: /planning/scenario_planning/current_max_velocity + Value: false + Value Scale: 0.25 - Class: rviz_plugins/TurnSignal - Enabled: true + Enabled: false + Height: 128 + Left: 98 Name: TurnSignal + Top: 175 Topic: Depth: 5 Durability Policy: Volatile History Policy: Keep Last Reliability Policy: Reliable Value: /vehicle/status/turn_indicators_status - Value: true + Value: false + Width: 256 Enabled: true Name: Vehicle Enabled: true @@ -328,7 +276,7 @@ Visualization Manager: Color: 255; 255; 255 Color Transformer: FlatColor Decay Time: 0 - Enabled: true + Enabled: false Invert Rainbow: false Max Color: 255; 255; 255 Max Intensity: 237 @@ -338,17 +286,18 @@ Visualization Manager: Position Transformer: XYZ Selectable: false Size (Pixels): 1 - Size (m): 0.02 + Size (m): 0.019999999552965164 Style: Points Topic: Depth: 5 Durability Policy: Transient Local + Filter size: 10 History Policy: Keep Last Reliability Policy: Reliable Value: /map/pointcloud_map Use Fixed Frame: true Use rainbow: false - Value: true + Value: false - Class: rviz_default_plugins/MarkerArray Enabled: true Name: Lanelet2VectorMap @@ -360,21 +309,13 @@ Visualization Manager: 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_triangle: true - walkway_lanelets: true Topic: Depth: 5 Durability Policy: Transient Local @@ -388,7 +329,7 @@ Visualization Manager: Displays: - Class: rviz_common/Group Displays: - - Alpha: 0.4 + - Alpha: 0.4000000059604645 Autocompute Intensity Bounds: true Autocompute Value Bounds: Max Value: 5 @@ -410,18 +351,19 @@ Visualization Manager: Position Transformer: XYZ Selectable: false Size (Pixels): 1 - Size (m): 0.02 + 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 - - Alpha: 0.999 + - Alpha: 0.9990000128746033 Class: rviz_default_plugins/Polygon Color: 25; 255; 0 Enabled: false @@ -429,6 +371,7 @@ Visualization Manager: Topic: Depth: 5 Durability Policy: Volatile + Filter size: 10 History Policy: Keep Last Reliability Policy: Reliable Value: /sensing/lidar/crop_box_filter/crop_box_polygon @@ -467,19 +410,20 @@ Visualization Manager: Topic: Depth: 5 Durability Policy: Volatile + Filter size: 10 History Policy: Keep Last Reliability Policy: Reliable Value: /sensing/gnss/pose_with_covariance Value: true Enabled: false Name: GNSS - Enabled: true + Enabled: false Name: Sensing - Class: rviz_common/Group Displays: - Class: rviz_common/Group Displays: - - Alpha: 0.999 + - Alpha: 0.9990000128746033 Axes Length: 1 Axes Radius: 0.10000000149011612 Class: rviz_default_plugins/PoseWithCovariance @@ -509,11 +453,12 @@ Visualization Manager: Topic: Depth: 5 Durability Policy: Volatile + Filter size: 10 History Policy: Keep Last Reliability Policy: Reliable Value: /localization/pose_estimator/initial_pose_with_covariance - Value: true - - Alpha: 0.999 + Value: false + - Alpha: 0.9990000128746033 Axes Length: 1 Axes Radius: 0.10000000149011612 Class: rviz_default_plugins/PoseWithCovariance @@ -543,27 +488,29 @@ Visualization Manager: Topic: Depth: 5 Durability Policy: Volatile + Filter size: 10 History Policy: Keep Last Reliability Policy: Reliable Value: /localization/pose_estimator/pose_with_covariance - Value: true + Value: false - Buffer Size: 200 Class: rviz_plugins::PoseHistory Enabled: false Line: + Alpha: 0.9990000128746033 Color: 170; 255; 127 Value: true Width: 0.10000000149011612 - Alpha: 0.999 Name: PoseHistory Topic: Depth: 5 Durability Policy: Volatile + Filter size: 10 History Policy: Keep Last Reliability Policy: Reliable Value: /localization/pose_estimator/pose - Value: true - - Alpha: 0.999 + Value: false + - Alpha: 0.9990000128746033 Autocompute Intensity Bounds: true Autocompute Value Bounds: Max Value: 10 @@ -590,13 +537,14 @@ Visualization Manager: Topic: Depth: 5 Durability Policy: Volatile + Filter size: 10 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 + - Alpha: 0.9990000128746033 Autocompute Intensity Bounds: true Autocompute Value Bounds: Max Value: 10 @@ -623,6 +571,7 @@ Visualization Manager: Topic: Depth: 5 Durability Policy: Volatile + Filter size: 10 History Policy: Keep Last Reliability Policy: Reliable Value: /localization/pose_estimator/points_aligned @@ -632,7 +581,8 @@ Visualization Manager: - Class: rviz_default_plugins/MarkerArray Enabled: true Name: MonteCarloInitialPose - Namespaces: {} + Namespaces: + {} Topic: Depth: 5 Durability Policy: Volatile @@ -648,27 +598,28 @@ Visualization Manager: Class: rviz_plugins::PoseHistory Enabled: true Line: + Alpha: 0.9990000128746033 Color: 0; 255; 255 Value: true Width: 0.10000000149011612 - Alpha: 0.999 Name: PoseHistory 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 Enabled: true Name: EKF - Enabled: true + Enabled: false Name: Localization - Class: rviz_common/Group Displays: - Class: rviz_common/Group Displays: - - Alpha: 0.999 + - Alpha: 0.9990000128746033 Autocompute Intensity Bounds: true Autocompute Value Bounds: Max Value: 15 @@ -690,11 +641,12 @@ Visualization Manager: Position Transformer: XYZ Selectable: false Size (Pixels): 3 - Size (m): 0.02 + Size (m): 0.019999999552965164 Style: Points Topic: Depth: 5 Durability Policy: Volatile + Filter size: 10 History Policy: Keep Last Reliability Policy: Best Effort Value: /perception/obstacle_segmentation/pointcloud @@ -708,16 +660,17 @@ Visualization Manager: - Class: rviz_common/Group Displays: - BUS: - Alpha: 0.999 + Alpha: 0.9990000128746033 Color: 30; 144; 255 CAR: - Alpha: 0.999 + Alpha: 0.9990000128746033 Color: 30; 144; 255 CYCLIST: - Alpha: 0.999 + Alpha: 0.9990000128746033 Color: 119; 11; 32 Class: autoware_auto_perception_rviz_plugin/DetectedObjects Display 3d polygon: true + Display Acceleration: true Display Label: true Display PoseWithCovariance: true Display Predicted Path Confidence: true @@ -725,21 +678,22 @@ Visualization Manager: Display Twist: true Display UUID: true Display Velocity: true - Line Width: 0.03 Enabled: true + Line Width: 0.029999999329447746 MOTORCYCLE: - Alpha: 0.999 + Alpha: 0.9990000128746033 Color: 119; 11; 32 Name: DetectedObjects - Namespaces: {} + Namespaces: + {} PEDESTRIAN: - Alpha: 0.999 + Alpha: 0.9990000128746033 Color: 255; 192; 203 TRAILER: - Alpha: 0.999 + Alpha: 0.9990000128746033 Color: 30; 144; 255 TRUCK: - Alpha: 0.999 + Alpha: 0.9990000128746033 Color: 30; 144; 255 Topic: Depth: 5 @@ -748,7 +702,7 @@ Visualization Manager: Reliability Policy: Best Effort Value: /perception/object_recognition/detection/objects UNKNOWN: - Alpha: 0.999 + Alpha: 0.9990000128746033 Color: 255; 255; 255 Value: true Enabled: false @@ -756,16 +710,17 @@ Visualization Manager: - Class: rviz_common/Group Displays: - BUS: - Alpha: 0.999 + Alpha: 0.9990000128746033 Color: 30; 144; 255 CAR: - Alpha: 0.999 + Alpha: 0.9990000128746033 Color: 30; 144; 255 CYCLIST: - Alpha: 0.999 + Alpha: 0.9990000128746033 Color: 119; 11; 32 Class: autoware_auto_perception_rviz_plugin/TrackedObjects Display 3d polygon: true + Display Acceleration: true Display Label: true Display PoseWithCovariance: true Display Predicted Path Confidence: true @@ -773,21 +728,22 @@ Visualization Manager: Display Twist: true Display UUID: true Display Velocity: true - Line Width: 0.03 Enabled: true + Line Width: 0.029999999329447746 MOTORCYCLE: - Alpha: 0.999 + Alpha: 0.9990000128746033 Color: 119; 11; 32 Name: TrackedObjects - Namespaces: {} + Namespaces: + {} PEDESTRIAN: - Alpha: 0.999 + Alpha: 0.9990000128746033 Color: 255; 192; 203 TRAILER: - Alpha: 0.999 + Alpha: 0.9990000128746033 Color: 30; 144; 255 TRUCK: - Alpha: 0.999 + Alpha: 0.9990000128746033 Color: 30; 144; 255 Topic: Depth: 5 @@ -796,7 +752,7 @@ Visualization Manager: Reliability Policy: Best Effort Value: /perception/object_recognition/tracking/objects UNKNOWN: - Alpha: 0.999 + Alpha: 0.9990000128746033 Color: 255; 255; 255 Value: true Enabled: false @@ -804,16 +760,17 @@ Visualization Manager: - Class: rviz_common/Group Displays: - BUS: - Alpha: 0.999 + Alpha: 0.9990000128746033 Color: 30; 144; 255 CAR: - Alpha: 0.999 + Alpha: 0.9990000128746033 Color: 30; 144; 255 CYCLIST: - Alpha: 0.999 + Alpha: 0.9990000128746033 Color: 119; 11; 32 Class: autoware_auto_perception_rviz_plugin/PredictedObjects Display 3d polygon: true + Display Acceleration: true Display Label: true Display PoseWithCovariance: false Display Predicted Path Confidence: true @@ -821,21 +778,29 @@ Visualization Manager: Display Twist: true Display UUID: true Display Velocity: true - Line Width: 0.03 Enabled: true + Line Width: 0.029999999329447746 MOTORCYCLE: - Alpha: 0.999 + Alpha: 0.9990000128746033 Color: 119; 11; 32 Name: PredictedObjects - Namespaces: {} + Namespaces: + acceleration: true + label: true + path: true + path confidence: true + shape: true + twist: true + uuid: true + velocity: true PEDESTRIAN: - Alpha: 0.999 + Alpha: 0.9990000128746033 Color: 255; 192; 203 TRAILER: - Alpha: 0.999 + Alpha: 0.9990000128746033 Color: 30; 144; 255 TRUCK: - Alpha: 0.999 + Alpha: 0.9990000128746033 Color: 30; 144; 255 Topic: Depth: 5 @@ -844,20 +809,21 @@ Visualization Manager: Reliability Policy: Best Effort Value: /perception/object_recognition/objects UNKNOWN: - Alpha: 0.999 + Alpha: 0.9990000128746033 Color: 255; 255; 255 Value: true - Class: rviz_default_plugins/MarkerArray Enabled: false Name: Maneuver - Namespaces: {} + Namespaces: + {} Topic: Depth: 5 Durability Policy: Volatile History Policy: Keep Last Reliability Policy: Best Effort Value: /perception/object_recognition/prediction/maneuver - Value: true + Value: false Enabled: true Name: Prediction Enabled: true @@ -865,7 +831,7 @@ Visualization Manager: - Class: rviz_common/Group Displays: - Class: rviz_default_plugins/Image - Enabled: true + Enabled: false Max Value: 1 Median window: 5 Min Value: 0 @@ -877,11 +843,12 @@ Visualization Manager: History Policy: Keep Last Reliability Policy: Best Effort Value: /perception/traffic_light_recognition/debug/rois - Value: true + Value: false - Class: rviz_default_plugins/MarkerArray Enabled: true Name: MapBasedDetectionResult - Namespaces: {} + Namespaces: + {} Topic: Depth: 5 Durability Policy: Volatile @@ -927,9 +894,9 @@ Visualization Manager: Name: RouteArea Namespaces: goal_lanelets: true - lane_start_bound: false - left_lane_bound: false - right_lane_bound: false + lane_start_bound: true + left_lane_bound: true + right_lane_bound: true route_lanelets: true Topic: Depth: 5 @@ -938,7 +905,7 @@ Visualization Manager: Reliability Policy: Reliable Value: /planning/mission_planning/route_marker Value: true - - Alpha: 0.999 + - Alpha: 0.9990000128746033 Axes Length: 1 Axes Radius: 0.30000001192092896 Class: rviz_default_plugins/Pose @@ -953,6 +920,7 @@ Visualization Manager: Topic: Depth: 5 Durability Policy: Volatile + Filter size: 10 History Policy: Keep Last Reliability Policy: Reliable Value: /planning/mission_planning/echo_back_goal_pose @@ -968,18 +936,22 @@ Visualization Manager: Topic: Depth: 5 Durability Policy: Volatile + Filter size: 10 History Policy: Keep Last Reliability Policy: Reliable Value: /planning/scenario_planning/trajectory Value: true View Path: - Alpha: 0.999 + Alpha: 0.9990000128746033 Color: 0; 0; 0 Constant Color: false Value: true Width: 2 + View Text Velocity: + Scale: 0.30000001192092896 + Value: false View Velocity: - Alpha: 0.999 + Alpha: 0.9990000128746033 Color: 0; 0; 0 Constant Color: false Scale: 0.30000001192092896 @@ -995,6 +967,7 @@ Visualization Manager: Topic: Depth: 5 Durability Policy: Volatile + Filter size: 10 History Policy: Keep Last Reliability Policy: Reliable Value: /planning/scenario_planning/lane_driving/behavior_planning/path @@ -1018,6 +991,7 @@ Visualization Manager: Topic: Depth: 5 Durability Policy: Volatile + Filter size: 10 History Policy: Keep Last Reliability Policy: Reliable Value: /planning/path_candidate/lane_change @@ -1041,6 +1015,7 @@ Visualization Manager: Topic: Depth: 5 Durability Policy: Volatile + Filter size: 10 History Policy: Keep Last Reliability Policy: Reliable Value: /planning/path_candidate/avoidance @@ -1064,6 +1039,7 @@ Visualization Manager: Topic: Depth: 5 Durability Policy: Volatile + Filter size: 10 History Policy: Keep Last Reliability Policy: Reliable Value: /planning/path_candidate/pull_out @@ -1087,6 +1063,7 @@ Visualization Manager: Topic: Depth: 5 Durability Policy: Volatile + Filter size: 10 History Policy: Keep Last Reliability Policy: Reliable Value: /planning/path_candidate/pull_over @@ -1112,7 +1089,6 @@ Visualization Manager: Topic: Depth: 5 Durability Policy: Volatile - Filter size: 10 History Policy: Keep Last Reliability Policy: Reliable Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/debug/bound @@ -1207,8 +1183,7 @@ Visualization Manager: Enabled: true Name: VirtualWall (StopLine) Namespaces: - stop_factor_text: true - stop_virtual_wall: true + {} Topic: Depth: 5 Durability Policy: Volatile @@ -1497,18 +1472,22 @@ Visualization Manager: Topic: Depth: 5 Durability Policy: Volatile + Filter size: 10 History Policy: Keep Last Reliability Policy: Reliable Value: /planning/scenario_planning/lane_driving/trajectory Value: false View Path: - Alpha: 0.999 + Alpha: 0.9990000128746033 Color: 0; 0; 0 Constant Color: false Value: true Width: 2 + View Text Velocity: + Scale: 0.30000001192092896 + Value: false View Velocity: - Alpha: 0.999 + Alpha: 0.9990000128746033 Color: 0; 0; 0 Constant Color: false Scale: 0.30000001192092896 @@ -1519,7 +1498,8 @@ Visualization Manager: Enabled: true Name: VirtualWall (ObstacleStop) Namespaces: - {} + stop_factor_text: true + stop_virtual_wall: true Topic: Depth: 5 Durability Policy: Volatile @@ -1561,7 +1541,7 @@ Visualization Manager: Enabled: true Name: SurroundObstacleCheck Namespaces: - {} + no_start_obstacle_text: true Topic: Depth: 5 Durability Policy: Volatile @@ -1614,7 +1594,11 @@ Visualization Manager: Enabled: true Name: ObstacleStop Namespaces: - {} + detection_polygons: true + stop_factor_text: false + stop_obstacle_point: false + stop_obstacle_text: false + stop_virtual_wall: false Topic: Depth: 5 Durability Policy: Volatile @@ -1623,7 +1607,7 @@ Visualization Manager: Value: /planning/scenario_planning/lane_driving/motion_planning/obstacle_stop_planner/debug/marker Value: true - Class: rviz_default_plugins/MarkerArray - Enabled: true + Enabled: false Name: ObstacleAvoidance Namespaces: {} @@ -1633,8 +1617,8 @@ Visualization Manager: History Policy: Keep Last Reliability Policy: Reliable Value: /planning/scenario_planning/lane_driving/motion_planning/obstacle_avoidance_planner/debug/marker - Value: true - Enabled: false + Value: false + Enabled: true Name: DebugMarker Enabled: true Name: MotionPlanning @@ -1651,6 +1635,7 @@ Visualization Manager: Topic: Depth: 5 Durability Policy: Volatile + Filter size: 10 History Policy: Keep Last Reliability Policy: Reliable Value: /planning/scenario_planning/parking/costmap_generator/occupancy_grid @@ -1662,7 +1647,7 @@ Visualization Manager: Value: /planning/scenario_planning/parking/costmap_generator/occupancy_grid_updates Use Timestamp: false Value: false - - Alpha: 0.999 + - Alpha: 0.9990000128746033 Arrow Length: 0.30000001192092896 Axes Length: 0.30000001192092896 Axes Radius: 0.009999999776482582 @@ -1678,11 +1663,12 @@ Visualization Manager: Topic: Depth: 5 Durability Policy: Volatile + Filter size: 10 History Policy: Keep Last Reliability Policy: Reliable Value: /planning/scenario_planning/parking/freespace_planner/debug/partial_pose_array Value: true - - Alpha: 0.999 + - Alpha: 0.9990000128746033 Arrow Length: 0.5 Axes Length: 0.30000001192092896 Axes Radius: 0.009999999776482582 @@ -1698,6 +1684,7 @@ Visualization Manager: Topic: Depth: 5 Durability Policy: Volatile + Filter size: 10 History Policy: Keep Last Reliability Policy: Reliable Value: /planning/scenario_planning/parking/freespace_planner/debug/pose_array @@ -1731,7 +1718,8 @@ Visualization Manager: - Class: rviz_default_plugins/MarkerArray Enabled: true Name: PlanningErrorMarker - Namespaces: {} + Namespaces: + {} Topic: Depth: 5 Durability Policy: Volatile @@ -1752,6 +1740,7 @@ Visualization Manager: Topic: Depth: 5 Durability Policy: Volatile + Filter size: 10 History Policy: Keep Last Reliability Policy: Reliable Value: /control/trajectory_follower/lateral/predicted_trajectory @@ -1762,6 +1751,9 @@ Visualization Manager: Constant Color: true Value: true Width: 0.05000000074505806 + View Text Velocity: + Scale: 0.30000001192092896 + Value: false View Velocity: Alpha: 1 Color: 0; 0; 0 @@ -1771,7 +1763,8 @@ Visualization Manager: - Class: rviz_default_plugins/MarkerArray Enabled: false Name: Debug/MPC - Namespaces: {} + Namespaces: + {} Topic: Depth: 5 Durability Policy: Volatile @@ -1782,7 +1775,8 @@ Visualization Manager: - Class: rviz_default_plugins/MarkerArray Enabled: false Name: Debug/PurePursuit - Namespaces: {} + Namespaces: + {} Topic: Depth: 5 Durability Policy: Volatile @@ -1795,7 +1789,6 @@ Visualization Manager: Enabled: true Global Options: Background Color: 10; 10; 10 - Default Light: true Fixed Frame: map Frame Rate: 30 Name: root @@ -1808,15 +1801,15 @@ Visualization Manager: - Class: rviz_default_plugins/Measure Line color: 128; 128; 0 - Class: rviz_default_plugins/SetInitialPose - Theta std deviation: 0.2617993950843811 + Covariance x: 0.25 + Covariance y: 0.25 + Covariance yaw: 0.06853891909122467 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 @@ -1824,26 +1817,47 @@ Visualization Manager: History Policy: Keep Last Reliability Policy: Reliable Value: /planning/mission_planning/goal - - Class: rviz_plugins/PedestrianInitialPoseTool + - Acceleration: 0 + Class: rviz_plugins/PedestrianInitialPoseTool + Interactive: false + Max velocity: 33.29999923706055 + Min velocity: -33.29999923706055 Pose Topic: /simulation/dummy_perception_publisher/object_info + Target Frame: 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 + - Acceleration: 0 + Class: rviz_plugins/CarInitialPoseTool + H vehicle height: 2 + Interactive: false + L vehicle length: 4 + Max velocity: 33.29999923706055 + Min velocity: -33.29999923706055 Pose Topic: /simulation/dummy_perception_publisher/object_info + Target Frame: Theta std deviation: 0.0872664600610733 - Velocity: 3 + Velocity: 0 + W vehicle width: 1.7999999523162842 X std deviation: 0.029999999329447746 Y std deviation: 0.029999999329447746 Z position: 0 Z std deviation: 0.029999999329447746 - - Class: rviz_plugins/BusInitialPoseTool + - Acceleration: 0 + Class: rviz_plugins/BusInitialPoseTool + H vehicle height: 3.5 + Interactive: false + L vehicle length: 10.5 + Max velocity: 33.29999923706055 + Min velocity: -33.29999923706055 Pose Topic: /simulation/dummy_perception_publisher/object_info + Target Frame: Theta std deviation: 0.0872664600610733 Velocity: 0 + W vehicle width: 2.5 X std deviation: 0.029999999329447746 Y std deviation: 0.029999999329447746 Z position: 0 @@ -1856,10 +1870,26 @@ Visualization Manager: Z position: 0 - Class: rviz_plugins/DeleteAllObjectsTool Pose Topic: /simulation/dummy_perception_publisher/object_info + - Acceleration: 0 + Class: rviz_plugins/UnknownInitialPoseTool + Interactive: false + Max velocity: 33.29999923706055 + Min velocity: -33.29999923706055 + Pose Topic: /simulation/dummy_perception_publisher/object_info + Target Frame: + 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 + Transformation: + Current: + Class: rviz_default_plugins/TF Value: true Views: Current: - Angle: 0 + Angle: -1.9700028896331787 Class: rviz_default_plugins/TopDownOrtho Enable Stereo Rendering: Stereo Eye Separation: 0.05999999865889549 @@ -1869,11 +1899,11 @@ Visualization Manager: Invert Z Axis: false Name: Current View Near Clip Distance: 0.009999999776482582 - Scale: 10 + Scale: 22.43058204650879 Target Frame: viewer Value: TopDownOrtho (rviz_default_plugins) - X: 0 - Y: 0 + X: 48.050968170166016 + Y: 130.7222900390625 Saved: - Class: rviz_default_plugins/ThirdPersonFollower Distance: 18 @@ -1911,24 +1941,26 @@ Visualization Manager: X: 0 Y: 0 Window Geometry: + AutowareDateTimePanel: + collapsed: true AutowareStatePanel: - collapsed: false + collapsed: true Displays: - collapsed: false - Height: 1565 - Hide Left Dock: false + collapsed: true + Height: 1041 + Hide Left Dock: true Hide Right Dock: false - Image: + InitialPoseButtonPanel: collapsed: false - QMainWindow State: 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RecognitionResultOnImage: collapsed: false Selection: collapsed: false Tool Properties: - collapsed: false + collapsed: true Views: - collapsed: false - Width: 2813 - X: 67 - Y: 27 + collapsed: true + Width: 1918 + X: 3840 + Y: 38