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feat(behavior_velocity_planner::intersection): add intersection occlusion gridmap marker #332

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merged 1 commit into from
Apr 28, 2023
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feat(behavior_velocity_planner::intersection): add intersection occlusion gridmap marker #332

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26 changes: 26 additions & 0 deletions autoware_launch/rviz/autoware.rviz
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Original file line number Diff line number Diff line change
Expand Up @@ -1677,6 +1677,32 @@ Visualization Manager:
Reliability Policy: Reliable
Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/debug/intersection
Value: false
- Alpha: 0.5
Autocompute Intensity Bounds: true
Class: grid_map_rviz_plugin/GridMap
Color: 200; 200; 200
Color Layer: color
Color Transformer: IntensityLayer
Enabled: false
Height Layer: elevation
Height Transformer: Layer
History Length: 1
Invert Rainbow: false
Max Color: 255; 255; 255
Max Intensity: 10
Min Color: 0; 0; 0
Min Intensity: 0
Name: IntersectionOcclusion
Show Grid Lines: false
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_velocity_planner/debug/intersection/occlusion_grid
Use Rainbow: true
Value: false
- Class: rviz_default_plugins/MarkerArray
Enabled: false
Name: Blind Spot
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