From 0f20afb5d8fc5e142300b10e3811460102706fd1 Mon Sep 17 00:00:00 2001 From: kyoichi-sugahara Date: Sat, 12 Aug 2023 02:24:29 +0900 Subject: [PATCH 1/6] update launcher Signed-off-by: kyoichi-sugahara --- .../launch/components/tier4_planning_component.launch.xml | 4 ++++ 1 file changed, 4 insertions(+) diff --git a/autoware_launch/launch/components/tier4_planning_component.launch.xml b/autoware_launch/launch/components/tier4_planning_component.launch.xml index ad55c76d82..4680f0c704 100644 --- a/autoware_launch/launch/components/tier4_planning_component.launch.xml +++ b/autoware_launch/launch/components/tier4_planning_component.launch.xml @@ -88,5 +88,9 @@ + + + + From 9a889333876e8280165b5e7a9509b752377b7f08 Mon Sep 17 00:00:00 2001 From: kyoichi-sugahara Date: Sat, 12 Aug 2023 20:07:01 +0900 Subject: [PATCH 2/6] add config and modify launch file Signed-off-by: kyoichi-sugahara --- .../control_validator.param.yaml | 14 + .../tier4_control_component.launch.xml | 1 + .../tier4_planning_component.launch.xml | 3 - autoware_launch/rviz/autoware.rviz | 913 ++++++++++++++---- 4 files changed, 733 insertions(+), 198 deletions(-) create mode 100644 autoware_launch/config/control/control_validator/control_validator.param.yaml diff --git a/autoware_launch/config/control/control_validator/control_validator.param.yaml b/autoware_launch/config/control/control_validator/control_validator.param.yaml new file mode 100644 index 0000000000..9ce677b2c2 --- /dev/null +++ b/autoware_launch/config/control/control_validator/control_validator.param.yaml @@ -0,0 +1,14 @@ +/**: + ros__parameters: + + publish_diag: true # if true, diagnostic msg is published + + # If the number of consecutive invalid predicted_path exceeds this threshold, the Diag will be set to ERROR. + # (For example, threshold = 1 means, even if the predicted_path is invalid, Diag will not be ERROR if + # the next predicted_path is valid.) + diag_error_count_threshold: 0 + + display_on_terminal: true # show error msg on terminal + + thresholds: + max_distance_deviation: 1.0 diff --git a/autoware_launch/launch/components/tier4_control_component.launch.xml b/autoware_launch/launch/components/tier4_control_component.launch.xml index 7b3169eacd..8b29135048 100644 --- a/autoware_launch/launch/components/tier4_control_component.launch.xml +++ b/autoware_launch/launch/components/tier4_control_component.launch.xml @@ -35,6 +35,7 @@ + diff --git a/autoware_launch/launch/components/tier4_planning_component.launch.xml b/autoware_launch/launch/components/tier4_planning_component.launch.xml index 4680f0c704..3ced3f57fd 100644 --- a/autoware_launch/launch/components/tier4_planning_component.launch.xml +++ b/autoware_launch/launch/components/tier4_planning_component.launch.xml @@ -89,8 +89,5 @@ - - - diff --git a/autoware_launch/rviz/autoware.rviz b/autoware_launch/rviz/autoware.rviz index 915a296d79..653c8fe075 100644 --- a/autoware_launch/rviz/autoware.rviz +++ b/autoware_launch/rviz/autoware.rviz @@ -3,9 +3,20 @@ Panels: Help Height: 0 Name: Displays Property Tree Widget: - Expanded: ~ + Expanded: + - /Map1 + - /Sensing1/LiDAR1/ConcatenatePointCloud1/Autocompute Value Bounds1 + - /Planning1 + - /Planning1/MissionPlanning1 + - /Planning1/ScenarioPlanning1 + - /Planning1/ScenarioPlanning1/LaneDriving1 + - /Planning1/ScenarioPlanning1/LaneDriving1/MotionPlanning1 + - /Planning1/ScenarioPlanning1/LaneDriving1/MotionPlanning1/Trajectory1 + - /Control1 + - /Control1/Predicted Trajectory1 + - /Control1/Predicted Trajectory1/View Point1 Splitter Ratio: 0.557669460773468 - Tree Height: 397 + Tree Height: 140 - Class: rviz_common/Selection Name: Selection - Class: rviz_common/Tool Properties @@ -13,7 +24,8 @@ Panels: 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 @@ -62,9 +75,12 @@ Visualization Manager: Displays: - Class: rviz_plugins/SteeringAngle Enabled: true + Left: 64 + Length: 128 Name: SteeringAngle Scale: 17 Text Color: 25; 255; 240 + Top: 64 Topic: Depth: 5 Durability Policy: Volatile @@ -72,12 +88,15 @@ Visualization Manager: Reliability Policy: Reliable Value: /vehicle/status/steering_status Value: true + Value Scale: 0.14999249577522278 Value height offset: 0 - Class: rviz_plugins/ConsoleMeter Enabled: true + Left: 256 + Length: 128 Name: ConsoleMeter - Scale: 3 Text Color: 25; 255; 240 + Top: 64 Topic: Depth: 5 Durability Policy: Volatile @@ -85,17 +104,28 @@ Visualization Manager: Reliability Policy: Reliable Value: /vehicle/status/velocity_status Value: true + Value Scale: 0.14999249577522278 Value height offset: 0 - Class: rviz_plugins/AccelerationMeter + Emergency Color: 255; 80; 80 Enabled: false + Left: 448 + Length: 128 + Max Emergency Threshold: 1 + Min Emergency Threshold: -2.5 Name: AccelerationMeter + Text Color: 25; 255; 240 + Top: 64 Topic: Depth: 5 Durability Policy: Volatile History Policy: Keep Last Reliability Policy: Reliable Value: /localization/acceleration - - Alpha: 0.999 + Value: false + Value Scale: 0.14999249577522278 + Value height offset: 0 + - Alpha: 0.9990000128746033 Class: rviz_plugins/VelocityHistory Color Border Vel Max: 3 Constant Color: @@ -130,155 +160,163 @@ Visualization Manager: Expand Link Details: false Expand Tree: false Link Tree Style: Links in Alphabetic Order + ars408_front_center: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true base_link: - Alpha: 0.999 + Alpha: 1 Show Axes: false Show Trail: false Value: true camera0/camera_link: - Alpha: 0.999 + Alpha: 1 Show Axes: false Show Trail: false Value: true camera0/camera_optical_link: - Alpha: 0.999 + Alpha: 1 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 + Alpha: 1 Show Axes: false Show Trail: false camera2/camera_link: - Alpha: 0.999 + Alpha: 1 Show Axes: false Show Trail: false Value: true camera2/camera_optical_link: - Alpha: 0.999 + Alpha: 1 Show Axes: false Show Trail: false camera3/camera_link: - Alpha: 0.999 + Alpha: 1 Show Axes: false Show Trail: false Value: true camera3/camera_optical_link: - Alpha: 0.999 + Alpha: 1 Show Axes: false Show Trail: false camera4/camera_link: - Alpha: 0.999 + Alpha: 1 Show Axes: false Show Trail: false Value: true camera4/camera_optical_link: - Alpha: 0.999 + Alpha: 1 Show Axes: false Show Trail: false camera5/camera_link: - Alpha: 0.999 + Alpha: 1 Show Axes: false Show Trail: false Value: true camera5/camera_optical_link: - Alpha: 0.999 + Alpha: 1 Show Axes: false Show Trail: false - gnss_link: - Alpha: 0.999 + camera6/camera_link: + Alpha: 1 Show Axes: false Show Trail: false Value: true - livox_front_left: - Alpha: 0.999 + camera6/camera_optical_link: + Alpha: 1 Show Axes: false Show Trail: false - livox_front_left_base_link: - Alpha: 0.999 + camera7/camera_link: + Alpha: 1 Show Axes: false Show Trail: false Value: true - livox_front_right: - Alpha: 0.999 + camera7/camera_optical_link: + Alpha: 1 Show Axes: false Show Trail: false - livox_front_right_base_link: - Alpha: 0.999 + gnss_link: + Alpha: 1 Show Axes: false Show Trail: false Value: true - sensor_kit_base_link: - Alpha: 0.999 + livox_front_left: + Alpha: 1 Show Axes: false Show Trail: false - tamagawa/imu_link: - Alpha: 0.999 + livox_front_left_base_link: + Alpha: 1 Show Axes: false Show Trail: false Value: true - traffic_light_left_camera/camera_link: - Alpha: 0.999 + livox_front_right: + Alpha: 1 Show Axes: false Show Trail: false - Value: true - traffic_light_left_camera/camera_optical_link: - Alpha: 0.999 + livox_front_right_base_link: + Alpha: 1 Show Axes: false Show Trail: false - traffic_light_right_camera/camera_link: - Alpha: 0.999 + Value: true + sensor_kit_base_link: + Alpha: 1 Show Axes: false Show Trail: false - Value: true - traffic_light_right_camera/camera_optical_link: - Alpha: 0.999 + tamagawa/imu_link: + Alpha: 1 Show Axes: false Show Trail: false + Value: true velodyne_left: - Alpha: 0.999 + Alpha: 1 Show Axes: false Show Trail: false Value: true velodyne_left_base_link: - Alpha: 0.999 + Alpha: 1 Show Axes: false Show Trail: false Value: true velodyne_rear: - Alpha: 0.999 + Alpha: 1 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 + Alpha: 1 Show Axes: false Show Trail: false Value: true velodyne_top: - Alpha: 0.999 + Alpha: 1 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 @@ -291,8 +329,8 @@ Visualization Manager: 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 @@ -300,18 +338,20 @@ Visualization Manager: Wave Velocity: 40 - Class: rviz_plugins/MaxVelocity Enabled: true + 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 + Top: 140 + Topic: /planning/scenario_planning/current_max_velocity Value: true + Value Scale: 0.25 - Class: rviz_plugins/TurnSignal Enabled: true + Height: 128 + Left: 98 Name: TurnSignal + Top: 175 Topic: Depth: 5 Durability Policy: Volatile @@ -319,6 +359,7 @@ Visualization Manager: Reliability Policy: Reliable Value: /vehicle/status/turn_indicators_status Value: true + Width: 256 Enabled: true Name: Vehicle Enabled: true @@ -337,7 +378,7 @@ 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 @@ -347,17 +388,18 @@ 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 @@ -365,28 +407,30 @@ Visualization Manager: center_lane_line: false center_line_arrows: false crosswalk_lanelets: true - crosswalk_areas: false + hatched_road_markings_area: true + hatched_road_markings_bound: true lane_start_bound: false lanelet direction: true lanelet_id: false left_lane_bound: true + no_stopping_area: true parking_lots: true - parking_space: true + partitions: true pedestrian_marking: true right_lane_bound: true road_lanelets: false - speed_bump: true - stop_lines: true - shoulder_center_lane_line: false + shoulder_center_lane_line: true + shoulder_center_line_arrows: true + shoulder_lane_start_bound: true + shoulder_lanelet direction: true shoulder_left_lane_bound: true shoulder_right_lane_bound: true - shoulder_road_lanelets: false + shoulder_road_lanelets: true + stop_lines: true traffic_light: true traffic_light_id: false traffic_light_triangle: true walkway_lanelets: true - hatched_road_markings_bound: true - hatched_road_markings_area: false Topic: Depth: 5 Durability Policy: Transient Local @@ -400,7 +444,7 @@ Visualization Manager: Displays: - Class: rviz_common/Group Displays: - - Alpha: 0.4 + - Alpha: 0.4000000059604645 Autocompute Intensity Bounds: true Autocompute Value Bounds: Max Value: 5 @@ -422,18 +466,19 @@ 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 @@ -441,6 +486,7 @@ 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 @@ -479,6 +525,7 @@ Visualization Manager: Topic: Depth: 5 Durability Policy: Volatile + Filter size: 10 History Policy: Keep Last Reliability Policy: Reliable Value: /sensing/gnss/pose_with_covariance @@ -491,7 +538,7 @@ Visualization Manager: Displays: - Class: rviz_common/Group Displays: - - Alpha: 0.999 + - Alpha: 0.9990000128746033 Axes Length: 1 Axes Radius: 0.10000000149011612 Class: rviz_default_plugins/PoseWithCovariance @@ -521,11 +568,12 @@ 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 @@ -555,27 +603,29 @@ 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 @@ -602,13 +652,14 @@ 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 @@ -635,6 +686,7 @@ Visualization Manager: Topic: Depth: 5 Durability Policy: Volatile + Filter size: 10 History Policy: Keep Last Reliability Policy: Reliable Value: /localization/pose_estimator/points_aligned @@ -644,7 +696,8 @@ Visualization Manager: - Class: rviz_default_plugins/MarkerArray Enabled: true Name: MonteCarloInitialPose - Namespaces: {} + Namespaces: + {} Topic: Depth: 5 Durability Policy: Volatile @@ -660,14 +713,15 @@ 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 @@ -680,7 +734,7 @@ Visualization Manager: Displays: - Class: rviz_common/Group Displays: - - Alpha: 0.999 + - Alpha: 0.9990000128746033 Autocompute Intensity Bounds: true Autocompute Value Bounds: Max Value: 15 @@ -702,11 +756,12 @@ 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 @@ -720,16 +775,16 @@ 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 @@ -737,21 +792,23 @@ 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 + Polygon Type: 3d 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 @@ -760,24 +817,25 @@ 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 + Visualization Type: Normal Enabled: false Name: Detection - 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 @@ -785,21 +843,23 @@ 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 + Polygon Type: 3d 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 @@ -808,24 +868,25 @@ 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 + Visualization Type: Normal Enabled: false Name: Tracking - 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 @@ -833,21 +894,23 @@ 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: + {} PEDESTRIAN: - Alpha: 0.999 + Alpha: 0.9990000128746033 Color: 255; 192; 203 + Polygon Type: 3d 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 @@ -856,20 +919,22 @@ Visualization Manager: Reliability Policy: Best Effort Value: /perception/object_recognition/objects UNKNOWN: - Alpha: 0.999 + Alpha: 0.9990000128746033 Color: 255; 255; 255 Value: true + Visualization Type: Normal - 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 @@ -893,7 +958,8 @@ Visualization Manager: - Class: rviz_default_plugins/MarkerArray Enabled: true Name: MapBasedDetectionResult - Namespaces: {} + Namespaces: + {} Topic: Depth: 5 Durability Policy: Volatile @@ -938,11 +1004,7 @@ Visualization Manager: 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 @@ -950,7 +1012,7 @@ 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 @@ -965,33 +1027,53 @@ 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 Value: true - Enabled: true + Enabled: false Name: MissionPlanning - Class: rviz_common/Group Displays: - Class: rviz_plugins/Trajectory Color Border Vel Max: 3 - Enabled: true + Enabled: false Name: ScenarioTrajectory Topic: Depth: 5 Durability Policy: Volatile + Filter size: 10 History Policy: Keep Last Reliability Policy: Reliable Value: /planning/scenario_planning/trajectory - Value: true + Value: false + View Footprint: + Alpha: 1 + Color: 230; 230; 50 + Offset from BaseLink: 0 + Rear Overhang: 1.0299999713897705 + Value: false + Vehicle Length: 4.769999980926514 + Vehicle Width: 1.8300000429153442 View Path: - Alpha: 0.999 + Alpha: 0.9990000128746033 Color: 0; 0; 0 Constant Color: false + Constant Width: false Value: true Width: 2 + View Point: + Alpha: 1 + Color: 0; 60; 255 + Offset: 0 + Radius: 0.10000000149011612 + Value: false + 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 @@ -1007,16 +1089,40 @@ 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 Value: true + View Drivable Area: + Alpha: 0.9990000128746033 + Color: 0; 148; 205 + Value: true + Width: 0.30000001192092896 + View Footprint: + Alpha: 1 + Color: 230; 230; 50 + Offset from BaseLink: 0 + Rear Overhang: 1.0299999713897705 + Value: false + Vehicle Length: 4.769999980926514 + Vehicle Width: 1.8300000429153442 View Path: Alpha: 0.4000000059604645 Color: 0; 0; 0 Constant Color: false + Constant Width: false Value: true Width: 2 + View Point: + Alpha: 1 + Color: 0; 60; 255 + Offset: 0 + Radius: 0.10000000149011612 + Value: false + View Text Velocity: + Scale: 0.30000001192092896 + Value: false View Velocity: Alpha: 0.4000000059604645 Color: 0; 0; 0 @@ -1030,16 +1136,40 @@ Visualization Manager: Topic: Depth: 5 Durability Policy: Volatile + Filter size: 10 History Policy: Keep Last Reliability Policy: Reliable Value: /planning/path_reference/avoidance_by_lane_change - Value: true + Value: false + View Drivable Area: + Alpha: 0.9990000128746033 + Color: 0; 148; 205 + Value: true + Width: 0.30000001192092896 + View Footprint: + Alpha: 1 + Color: 230; 230; 50 + Offset from BaseLink: 0 + Rear Overhang: 1.0299999713897705 + Value: false + Vehicle Length: 4.769999980926514 + Vehicle Width: 1.8300000429153442 View Path: - Alpha: 0.3 + Alpha: 0.30000001192092896 Color: 210; 110; 10 Constant Color: true + Constant Width: false Value: true Width: 2 + View Point: + Alpha: 1 + Color: 0; 60; 255 + Offset: 0 + Radius: 0.10000000149011612 + Value: false + View Text Velocity: + Scale: 0.30000001192092896 + Value: false View Velocity: Alpha: 0.30000001192092896 Color: 0; 0; 0 @@ -1053,16 +1183,40 @@ Visualization Manager: Topic: Depth: 5 Durability Policy: Volatile + Filter size: 10 History Policy: Keep Last Reliability Policy: Reliable Value: /planning/path_reference/avoidance - Value: true + Value: false + View Drivable Area: + Alpha: 0.9990000128746033 + Color: 0; 148; 205 + Value: true + Width: 0.30000001192092896 + View Footprint: + Alpha: 1 + Color: 230; 230; 50 + Offset from BaseLink: 0 + Rear Overhang: 1.0299999713897705 + Value: false + Vehicle Length: 4.769999980926514 + Vehicle Width: 1.8300000429153442 View Path: - Alpha: 0.3 + Alpha: 0.30000001192092896 Color: 210; 110; 210 Constant Color: true + Constant Width: false Value: true Width: 2 + View Point: + Alpha: 1 + Color: 0; 60; 255 + Offset: 0 + Radius: 0.10000000149011612 + Value: false + View Text Velocity: + Scale: 0.30000001192092896 + Value: false View Velocity: Alpha: 0.30000001192092896 Color: 0; 0; 0 @@ -1076,16 +1230,40 @@ Visualization Manager: Topic: Depth: 5 Durability Policy: Volatile + Filter size: 10 History Policy: Keep Last Reliability Policy: Reliable Value: /planning/path_reference/lane_change_right - Value: true + Value: false + View Drivable Area: + Alpha: 0.9990000128746033 + Color: 0; 148; 205 + Value: true + Width: 0.30000001192092896 + View Footprint: + Alpha: 1 + Color: 230; 230; 50 + Offset from BaseLink: 0 + Rear Overhang: 1.0299999713897705 + Value: false + Vehicle Length: 4.769999980926514 + Vehicle Width: 1.8300000429153442 View Path: - Alpha: 0.3 + Alpha: 0.30000001192092896 Color: 210; 210; 110 Constant Color: true + Constant Width: false Value: true Width: 2 + View Point: + Alpha: 1 + Color: 0; 60; 255 + Offset: 0 + Radius: 0.10000000149011612 + Value: false + View Text Velocity: + Scale: 0.30000001192092896 + Value: false View Velocity: Alpha: 0.30000001192092896 Color: 0; 0; 0 @@ -1099,16 +1277,40 @@ Visualization Manager: Topic: Depth: 5 Durability Policy: Volatile + Filter size: 10 History Policy: Keep Last Reliability Policy: Reliable Value: /planning/path_reference/lane_change_left - Value: true + Value: false + View Drivable Area: + Alpha: 0.9990000128746033 + Color: 0; 148; 205 + Value: true + Width: 0.30000001192092896 + View Footprint: + Alpha: 1 + Color: 230; 230; 50 + Offset from BaseLink: 0 + Rear Overhang: 1.0299999713897705 + Value: false + Vehicle Length: 4.769999980926514 + Vehicle Width: 1.8300000429153442 View Path: - Alpha: 0.3 + Alpha: 0.30000001192092896 Color: 210; 210; 110 Constant Color: true + Constant Width: false Value: true Width: 2 + View Point: + Alpha: 1 + Color: 0; 60; 255 + Offset: 0 + Radius: 0.10000000149011612 + Value: false + View Text Velocity: + Scale: 0.30000001192092896 + Value: false View Velocity: Alpha: 0.30000001192092896 Color: 0; 0; 0 @@ -1122,16 +1324,40 @@ Visualization Manager: Topic: Depth: 5 Durability Policy: Volatile + Filter size: 10 History Policy: Keep Last Reliability Policy: Reliable Value: /planning/path_reference/goal_planner - Value: true + Value: false + View Drivable Area: + Alpha: 0.9990000128746033 + Color: 0; 148; 205 + Value: true + Width: 0.30000001192092896 + View Footprint: + Alpha: 1 + Color: 230; 230; 50 + Offset from BaseLink: 0 + Rear Overhang: 1.0299999713897705 + Value: false + Vehicle Length: 4.769999980926514 + Vehicle Width: 1.8300000429153442 View Path: - Alpha: 0.3 + Alpha: 0.30000001192092896 Color: 110; 110; 210 Constant Color: true + Constant Width: false Value: true Width: 2 + View Point: + Alpha: 1 + Color: 0; 60; 255 + Offset: 0 + Radius: 0.10000000149011612 + Value: false + View Text Velocity: + Scale: 0.30000001192092896 + Value: false View Velocity: Alpha: 0.30000001192092896 Color: 0; 0; 0 @@ -1145,16 +1371,40 @@ Visualization Manager: Topic: Depth: 5 Durability Policy: Volatile + Filter size: 10 History Policy: Keep Last Reliability Policy: Reliable Value: /planning/path_reference/start_planner - Value: true + Value: false + View Drivable Area: + Alpha: 0.9990000128746033 + Color: 0; 148; 205 + Value: true + Width: 0.30000001192092896 + View Footprint: + Alpha: 1 + Color: 230; 230; 50 + Offset from BaseLink: 0 + Rear Overhang: 1.0299999713897705 + Value: false + Vehicle Length: 4.769999980926514 + Vehicle Width: 1.8300000429153442 View Path: - Alpha: 0.3 + Alpha: 0.30000001192092896 Color: 210; 110; 110 Constant Color: true + Constant Width: false Value: true Width: 2 + View Point: + Alpha: 1 + Color: 0; 60; 255 + Offset: 0 + Radius: 0.10000000149011612 + Value: false + View Text Velocity: + Scale: 0.30000001192092896 + Value: false View Velocity: Alpha: 0.30000001192092896 Color: 0; 0; 0 @@ -1168,16 +1418,40 @@ Visualization Manager: Topic: Depth: 5 Durability Policy: Volatile + Filter size: 10 History Policy: Keep Last Reliability Policy: Reliable Value: /planning/path_candidate/avoidance_by_lane_change Value: true + View Drivable Area: + Alpha: 0.9990000128746033 + Color: 0; 148; 205 + Value: true + Width: 0.30000001192092896 + View Footprint: + Alpha: 1 + Color: 230; 230; 50 + Offset from BaseLink: 0 + Rear Overhang: 1.0299999713897705 + Value: false + Vehicle Length: 4.769999980926514 + Vehicle Width: 1.8300000429153442 View Path: Alpha: 0.30000001192092896 Color: 115; 210; 22 Constant Color: false + Constant Width: false Value: true Width: 2 + View Point: + Alpha: 1 + Color: 0; 60; 255 + Offset: 0 + Radius: 0.10000000149011612 + Value: false + View Text Velocity: + Scale: 0.30000001192092896 + Value: false View Velocity: Alpha: 0.30000001192092896 Color: 0; 0; 0 @@ -1191,16 +1465,40 @@ Visualization Manager: Topic: Depth: 5 Durability Policy: Volatile + Filter size: 10 History Policy: Keep Last Reliability Policy: Reliable Value: /planning/path_candidate/lane_change Value: true + View Drivable Area: + Alpha: 0.9990000128746033 + Color: 0; 148; 205 + Value: true + Width: 0.30000001192092896 + View Footprint: + Alpha: 1 + Color: 230; 230; 50 + Offset from BaseLink: 0 + Rear Overhang: 1.0299999713897705 + Value: false + Vehicle Length: 4.769999980926514 + Vehicle Width: 1.8300000429153442 View Path: Alpha: 0.30000001192092896 Color: 115; 210; 22 Constant Color: false + Constant Width: false Value: true Width: 2 + View Point: + Alpha: 1 + Color: 0; 60; 255 + Offset: 0 + Radius: 0.10000000149011612 + Value: false + View Text Velocity: + Scale: 0.30000001192092896 + Value: false View Velocity: Alpha: 0.30000001192092896 Color: 0; 0; 0 @@ -1214,16 +1512,40 @@ Visualization Manager: Topic: Depth: 5 Durability Policy: Volatile + Filter size: 10 History Policy: Keep Last Reliability Policy: Reliable Value: /planning/path_candidate/lane_change_right Value: true + View Drivable Area: + Alpha: 0.9990000128746033 + Color: 0; 148; 205 + Value: true + Width: 0.30000001192092896 + View Footprint: + Alpha: 1 + Color: 230; 230; 50 + Offset from BaseLink: 0 + Rear Overhang: 1.0299999713897705 + Value: false + Vehicle Length: 4.769999980926514 + Vehicle Width: 1.8300000429153442 View Path: Alpha: 0.30000001192092896 Color: 115; 210; 22 Constant Color: false + Constant Width: false Value: true Width: 2 + View Point: + Alpha: 1 + Color: 0; 60; 255 + Offset: 0 + Radius: 0.10000000149011612 + Value: false + View Text Velocity: + Scale: 0.30000001192092896 + Value: false View Velocity: Alpha: 0.30000001192092896 Color: 0; 0; 0 @@ -1237,16 +1559,40 @@ Visualization Manager: Topic: Depth: 5 Durability Policy: Volatile + Filter size: 10 History Policy: Keep Last Reliability Policy: Reliable Value: /planning/path_candidate/lane_change_left Value: true + View Drivable Area: + Alpha: 0.9990000128746033 + Color: 0; 148; 205 + Value: true + Width: 0.30000001192092896 + View Footprint: + Alpha: 1 + Color: 230; 230; 50 + Offset from BaseLink: 0 + Rear Overhang: 1.0299999713897705 + Value: false + Vehicle Length: 4.769999980926514 + Vehicle Width: 1.8300000429153442 View Path: Alpha: 0.30000001192092896 Color: 115; 210; 22 Constant Color: false + Constant Width: false Value: true Width: 2 + View Point: + Alpha: 1 + Color: 0; 60; 255 + Offset: 0 + Radius: 0.10000000149011612 + Value: false + View Text Velocity: + Scale: 0.30000001192092896 + Value: false View Velocity: Alpha: 0.30000001192092896 Color: 0; 0; 0 @@ -1260,16 +1606,40 @@ Visualization Manager: Topic: Depth: 5 Durability Policy: Volatile + Filter size: 10 History Policy: Keep Last Reliability Policy: Reliable Value: /planning/path_candidate/external_request_lane_change_right Value: true + View Drivable Area: + Alpha: 0.9990000128746033 + Color: 0; 148; 205 + Value: true + Width: 0.30000001192092896 + View Footprint: + Alpha: 1 + Color: 230; 230; 50 + Offset from BaseLink: 0 + Rear Overhang: 1.0299999713897705 + Value: false + Vehicle Length: 4.769999980926514 + Vehicle Width: 1.8300000429153442 View Path: Alpha: 0.30000001192092896 Color: 115; 210; 22 Constant Color: false + Constant Width: false Value: true Width: 2 + View Point: + Alpha: 1 + Color: 0; 60; 255 + Offset: 0 + Radius: 0.10000000149011612 + Value: false + View Text Velocity: + Scale: 0.30000001192092896 + Value: false View Velocity: Alpha: 0.30000001192092896 Color: 0; 0; 0 @@ -1283,16 +1653,40 @@ Visualization Manager: Topic: Depth: 5 Durability Policy: Volatile + Filter size: 10 History Policy: Keep Last Reliability Policy: Reliable Value: /planning/path_candidate/external_request_lane_change_left Value: true + View Drivable Area: + Alpha: 0.9990000128746033 + Color: 0; 148; 205 + Value: true + Width: 0.30000001192092896 + View Footprint: + Alpha: 1 + Color: 230; 230; 50 + Offset from BaseLink: 0 + Rear Overhang: 1.0299999713897705 + Value: false + Vehicle Length: 4.769999980926514 + Vehicle Width: 1.8300000429153442 View Path: Alpha: 0.30000001192092896 Color: 115; 210; 22 Constant Color: false + Constant Width: false Value: true Width: 2 + View Point: + Alpha: 1 + Color: 0; 60; 255 + Offset: 0 + Radius: 0.10000000149011612 + Value: false + View Text Velocity: + Scale: 0.30000001192092896 + Value: false View Velocity: Alpha: 0.30000001192092896 Color: 0; 0; 0 @@ -1306,16 +1700,40 @@ Visualization Manager: Topic: Depth: 5 Durability Policy: Volatile + Filter size: 10 History Policy: Keep Last Reliability Policy: Reliable Value: /planning/path_candidate/avoidance Value: true + View Drivable Area: + Alpha: 0.9990000128746033 + Color: 0; 148; 205 + Value: true + Width: 0.30000001192092896 + View Footprint: + Alpha: 1 + Color: 230; 230; 50 + Offset from BaseLink: 0 + Rear Overhang: 1.0299999713897705 + Value: false + Vehicle Length: 4.769999980926514 + Vehicle Width: 1.8300000429153442 View Path: Alpha: 0.30000001192092896 Color: 115; 210; 22 Constant Color: false + Constant Width: false Value: true Width: 2 + View Point: + Alpha: 1 + Color: 0; 60; 255 + Offset: 0 + Radius: 0.10000000149011612 + Value: false + View Text Velocity: + Scale: 0.30000001192092896 + Value: false View Velocity: Alpha: 0.30000001192092896 Color: 0; 0; 0 @@ -1329,16 +1747,40 @@ Visualization Manager: Topic: Depth: 5 Durability Policy: Volatile + Filter size: 10 History Policy: Keep Last Reliability Policy: Reliable Value: /planning/path_candidate/start_planner Value: true + View Drivable Area: + Alpha: 0.9990000128746033 + Color: 0; 148; 205 + Value: true + Width: 0.30000001192092896 + View Footprint: + Alpha: 1 + Color: 230; 230; 50 + Offset from BaseLink: 0 + Rear Overhang: 1.0299999713897705 + Value: false + Vehicle Length: 4.769999980926514 + Vehicle Width: 1.8300000429153442 View Path: Alpha: 0.30000001192092896 Color: 115; 210; 22 Constant Color: false + Constant Width: false Value: true Width: 2 + View Point: + Alpha: 1 + Color: 0; 60; 255 + Offset: 0 + Radius: 0.10000000149011612 + Value: false + View Text Velocity: + Scale: 0.30000001192092896 + Value: false View Velocity: Alpha: 0.30000001192092896 Color: 0; 0; 0 @@ -1352,16 +1794,40 @@ Visualization Manager: Topic: Depth: 5 Durability Policy: Volatile + Filter size: 10 History Policy: Keep Last Reliability Policy: Reliable Value: /planning/path_candidate/goal_planner Value: true + View Drivable Area: + Alpha: 0.9990000128746033 + Color: 0; 148; 205 + Value: true + Width: 0.30000001192092896 + View Footprint: + Alpha: 1 + Color: 230; 230; 50 + Offset from BaseLink: 0 + Rear Overhang: 1.0299999713897705 + Value: false + Vehicle Length: 4.769999980926514 + Vehicle Width: 1.8300000429153442 View Path: Alpha: 0.30000001192092896 Color: 115; 210; 22 Constant Color: false + Constant Width: false Value: true Width: 2 + View Point: + Alpha: 1 + Color: 0; 60; 255 + Offset: 0 + Radius: 0.10000000149011612 + Value: false + View Text Velocity: + Scale: 0.30000001192092896 + Value: false View Velocity: Alpha: 0.30000001192092896 Color: 0; 0; 0 @@ -1372,16 +1838,14 @@ Visualization Manager: Enabled: false Name: Bound Namespaces: - left_bound: true - right_bound: true + {} 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 - Value: true + Value: false - Class: rviz_common/Group Displays: - Class: rviz_default_plugins/MarkerArray @@ -1580,8 +2044,7 @@ Visualization Manager: Enabled: true Name: VirtualWall (StopLine) Namespaces: - stop_factor_text: true - stop_virtual_wall: true + {} Topic: Depth: 5 Durability Policy: Volatile @@ -1937,12 +2400,7 @@ Visualization Manager: Enabled: false Name: Info (Avoidance) 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 @@ -2048,33 +2506,52 @@ Visualization Manager: Value: false Enabled: false Name: InfoMarker - Enabled: true + Enabled: false Name: BehaviorPlanning - Class: rviz_common/Group Displays: - Class: rviz_plugins/Trajectory Color Border Vel Max: 3 - Enabled: false + Enabled: true Name: Trajectory 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 + Value: /planning/planning_evaluator/debug/motion_velocity_smoother_trajectory + Value: true + View Footprint: + Alpha: 1 + Color: 230; 230; 50 + Offset from BaseLink: 0 + Rear Overhang: 1.0299999713897705 + Value: false + Vehicle Length: 4.769999980926514 + Vehicle Width: 1.8300000429153442 View Path: - Alpha: 0.999 + Alpha: 0.9990000128746033 Color: 0; 0; 0 Constant Color: false - Value: true + Constant Width: false + Value: false Width: 2 + View Point: + Alpha: 1 + Color: 0; 60; 255 + Offset: 0 + Radius: 0.10000000149011612 + Value: true + 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 - Value: true + Value: false - Class: rviz_common/Group Displays: - Class: rviz_default_plugins/MarkerArray @@ -2125,7 +2602,7 @@ Visualization Manager: Reliability Policy: Reliable Value: /planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/virtual_wall Value: true - Enabled: true + Enabled: false Name: VirtualWall - Class: rviz_common/Group Displays: @@ -2265,6 +2742,7 @@ 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 @@ -2276,7 +2754,7 @@ 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 @@ -2292,11 +2770,12 @@ 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 @@ -2312,14 +2791,15 @@ 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 Value: true - Enabled: true + Enabled: false Name: Parking - Class: rviz_plugins/PoseWithUuidStamped - Enabled: true + Enabled: false Length: 1.5 Name: ModifiedGoal Radius: 0.5 @@ -2333,7 +2813,7 @@ Visualization Manager: UUID: Scale: 0.30000001192092896 Value: false - Value: true + Value: false Enabled: true Name: ScenarioPlanning - Class: rviz_common/Group @@ -2341,7 +2821,8 @@ Visualization Manager: - Class: rviz_default_plugins/MarkerArray Enabled: true Name: PlanningErrorMarker - Namespaces: {} + Namespaces: + {} Topic: Depth: 5 Durability Policy: Volatile @@ -2362,17 +2843,35 @@ 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 + Value: /planning/planning_evaluator/debug/modified_predicted_trajectory Value: true + View Footprint: + Alpha: 1 + Color: 230; 230; 50 + Offset from BaseLink: 0 + Rear Overhang: 1.0299999713897705 + Value: false + Vehicle Length: 4.769999980926514 + Vehicle Width: 1.8300000429153442 View Path: Alpha: 1 Color: 255; 255; 255 Constant Color: true - Value: true Constant Width: true + Value: false Width: 0.05000000074505806 + View Point: + Alpha: 1 + Color: 255; 255; 255 + Offset: 0 + Radius: 0.10000000149011612 + Value: true + View Text Velocity: + Scale: 0.30000001192092896 + Value: false View Velocity: Alpha: 1 Color: 0; 0; 0 @@ -2382,7 +2881,8 @@ Visualization Manager: - Class: rviz_default_plugins/MarkerArray Enabled: false Name: Debug/MPC - Namespaces: {} + Namespaces: + {} Topic: Depth: 5 Durability Policy: Volatile @@ -2393,7 +2893,8 @@ Visualization Manager: - Class: rviz_default_plugins/MarkerArray Enabled: false Name: Debug/PurePursuit - Namespaces: {} + Namespaces: + {} Topic: Depth: 5 Durability Policy: Volatile @@ -2405,10 +2906,7 @@ Visualization Manager: Enabled: false Name: Debug/AEB Namespaces: - ego_path: true - ego_polygons: true - predicted_path: true - predicted_polygons: true + {} Topic: Depth: 5 Durability Policy: Volatile @@ -2421,7 +2919,6 @@ Visualization Manager: Enabled: true Global Options: Background Color: 10; 10; 10 - Default Light: true Fixed Frame: map Frame Rate: 30 Name: root @@ -2434,15 +2931,15 @@ 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 @@ -2457,26 +2954,47 @@ Visualization Manager: History Policy: Keep Last Reliability Policy: Reliable Value: /rviz/routing/rough_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 + 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 @@ -2489,10 +3007,13 @@ Visualization Manager: Z position: 0 - Class: rviz_plugins/DeleteAllObjectsTool Pose Topic: /simulation/dummy_perception_publisher/object_info + Transformation: + Current: + Class: rviz_default_plugins/TF Value: true Views: Current: - Angle: 0 + Angle: 3.5950026512145996 Class: rviz_default_plugins/TopDownOrtho Enable Stereo Rendering: Stereo Eye Separation: 0.05999999865889549 @@ -2502,11 +3023,11 @@ Visualization Manager: Invert Z Axis: false Name: Current View Near Clip Distance: 0.009999999776482582 - Scale: 10 + Scale: -12.709793090820312 Target Frame: viewer Value: TopDownOrtho (rviz_default_plugins) - X: 0 - Y: 0 + X: 16.10267448425293 + Y: -18.311426162719727 Saved: - Class: rviz_default_plugins/ThirdPersonFollower Distance: 18 @@ -2544,16 +3065,18 @@ Visualization Manager: X: 0 Y: 0 Window Geometry: + AutowareDateTimePanel: + collapsed: false AutowareStatePanel: collapsed: false Displays: collapsed: false - Height: 1565 + Height: 1016 Hide Left Dock: false Hide Right Dock: false - Image: + InitialPoseButtonPanel: collapsed: false - QMainWindow State: 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+ QMainWindow State: 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RecognitionResultOnImage: collapsed: false Selection: @@ -2562,6 +3085,6 @@ Window Geometry: collapsed: false Views: collapsed: false - Width: 2813 - X: 67 + Width: 1850 + X: 70 Y: 27 From e38c00878d2711ec4c72393e15f6ad77ae45a103 Mon Sep 17 00:00:00 2001 From: "pre-commit-ci[bot]" <66853113+pre-commit-ci[bot]@users.noreply.github.com> Date: Sat, 12 Aug 2023 11:44:23 +0000 Subject: [PATCH 3/6] style(pre-commit): autofix --- .../launch/components/tier4_planning_component.launch.xml | 1 - 1 file changed, 1 deletion(-) diff --git a/autoware_launch/launch/components/tier4_planning_component.launch.xml b/autoware_launch/launch/components/tier4_planning_component.launch.xml index 3ced3f57fd..ad55c76d82 100644 --- a/autoware_launch/launch/components/tier4_planning_component.launch.xml +++ b/autoware_launch/launch/components/tier4_planning_component.launch.xml @@ -88,6 +88,5 @@ - From 31c28a7eaa3fedd02512897e440895d7cbde931e Mon Sep 17 00:00:00 2001 From: Kyoichi Sugahara Date: Tue, 15 Aug 2023 10:51:48 +0900 Subject: [PATCH 4/6] feat(lane_departure_checker): add road_border departure checker (#511) add param Signed-off-by: kyoichi-sugahara --- .../lane_departure_checker/lane_departure_checker.param.yaml | 1 + 1 file changed, 1 insertion(+) diff --git a/autoware_launch/config/control/lane_departure_checker/lane_departure_checker.param.yaml b/autoware_launch/config/control/lane_departure_checker/lane_departure_checker.param.yaml index 59e25cbc5d..008832b1ca 100644 --- a/autoware_launch/config/control/lane_departure_checker/lane_departure_checker.param.yaml +++ b/autoware_launch/config/control/lane_departure_checker/lane_departure_checker.param.yaml @@ -7,6 +7,7 @@ include_left_lanes: false include_opposite_lanes: false include_conflicting_lanes: false + road_border_departure_checker: false # Core footprint_margin_scale: 1.0 From 1329464e97675fe8e0c754151f49e5b325691063 Mon Sep 17 00:00:00 2001 From: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> Date: Tue, 15 Aug 2023 10:59:41 +0900 Subject: [PATCH 5/6] feat(system_error_monitor): check lateral deviation in sim (#516) Signed-off-by: satoshi-ota --- .../system_error_monitor.planning_simulation.param.yaml | 1 + 1 file changed, 1 insertion(+) diff --git a/autoware_launch/config/system/system_error_monitor/system_error_monitor.planning_simulation.param.yaml b/autoware_launch/config/system/system_error_monitor/system_error_monitor.planning_simulation.param.yaml index 9708456df4..2c5fe6e8f5 100644 --- a/autoware_launch/config/system/system_error_monitor/system_error_monitor.planning_simulation.param.yaml +++ b/autoware_launch/config/system/system_error_monitor/system_error_monitor.planning_simulation.param.yaml @@ -19,6 +19,7 @@ autonomous_driving: /autoware/control/autonomous_driving/node_alive_monitoring: default /autoware/control/autonomous_driving/performance_monitoring/lane_departure: default + /autoware/control/autonomous_driving/performance_monitoring/trajectory_deviation: default /autoware/control/control_command_gate/node_alive_monitoring: default /autoware/localization/node_alive_monitoring: default From aa92e3f3c8fefb0643fa63f44b9e1c0234710263 Mon Sep 17 00:00:00 2001 From: kyoichi-sugahara Date: Tue, 15 Aug 2023 11:19:07 +0900 Subject: [PATCH 6/6] restore rviz config change Signed-off-by: kyoichi-sugahara --- autoware_launch/rviz/autoware.rviz | 913 ++++++----------------------- 1 file changed, 195 insertions(+), 718 deletions(-) diff --git a/autoware_launch/rviz/autoware.rviz b/autoware_launch/rviz/autoware.rviz index 653c8fe075..915a296d79 100644 --- a/autoware_launch/rviz/autoware.rviz +++ b/autoware_launch/rviz/autoware.rviz @@ -3,20 +3,9 @@ Panels: Help Height: 0 Name: Displays Property Tree Widget: - Expanded: - - /Map1 - - /Sensing1/LiDAR1/ConcatenatePointCloud1/Autocompute Value Bounds1 - - /Planning1 - - /Planning1/MissionPlanning1 - - /Planning1/ScenarioPlanning1 - - /Planning1/ScenarioPlanning1/LaneDriving1 - - /Planning1/ScenarioPlanning1/LaneDriving1/MotionPlanning1 - - /Planning1/ScenarioPlanning1/LaneDriving1/MotionPlanning1/Trajectory1 - - /Control1 - - /Control1/Predicted Trajectory1 - - /Control1/Predicted Trajectory1/View Point1 + Expanded: ~ Splitter Ratio: 0.557669460773468 - Tree Height: 140 + Tree Height: 397 - Class: rviz_common/Selection Name: Selection - Class: rviz_common/Tool Properties @@ -24,8 +13,7 @@ Panels: Name: Tool Properties Splitter Ratio: 0.5886790156364441 - Class: rviz_common/Views - Expanded: - - /Current View1 + Expanded: ~ Name: Views Splitter Ratio: 0.5 - Class: tier4_localization_rviz_plugin/InitialPoseButtonPanel @@ -49,8 +37,7 @@ Visualization Manager: Show Arrows: true Show Axes: true Show Names: true - Tree: - {} + Tree: {} Update Interval: 0 Value: false - Alpha: 0.5 @@ -75,12 +62,9 @@ Visualization Manager: Displays: - Class: rviz_plugins/SteeringAngle Enabled: true - Left: 64 - Length: 128 Name: SteeringAngle Scale: 17 Text Color: 25; 255; 240 - Top: 64 Topic: Depth: 5 Durability Policy: Volatile @@ -88,15 +72,12 @@ Visualization Manager: Reliability Policy: Reliable Value: /vehicle/status/steering_status Value: true - Value Scale: 0.14999249577522278 Value height offset: 0 - Class: rviz_plugins/ConsoleMeter Enabled: true - Left: 256 - Length: 128 Name: ConsoleMeter + Scale: 3 Text Color: 25; 255; 240 - Top: 64 Topic: Depth: 5 Durability Policy: Volatile @@ -104,28 +85,17 @@ Visualization Manager: Reliability Policy: Reliable Value: /vehicle/status/velocity_status Value: true - Value Scale: 0.14999249577522278 Value height offset: 0 - Class: rviz_plugins/AccelerationMeter - Emergency Color: 255; 80; 80 Enabled: false - Left: 448 - Length: 128 - Max Emergency Threshold: 1 - Min Emergency Threshold: -2.5 Name: AccelerationMeter - Text Color: 25; 255; 240 - Top: 64 Topic: Depth: 5 Durability Policy: Volatile History Policy: Keep Last Reliability Policy: Reliable Value: /localization/acceleration - Value: false - Value Scale: 0.14999249577522278 - Value height offset: 0 - - Alpha: 0.9990000128746033 + - Alpha: 0.999 Class: rviz_plugins/VelocityHistory Color Border Vel Max: 3 Constant Color: @@ -160,163 +130,155 @@ Visualization Manager: Expand Link Details: false Expand Tree: false Link Tree Style: Links in Alphabetic Order - ars408_front_center: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true base_link: - Alpha: 1 + Alpha: 0.999 Show Axes: false Show Trail: false Value: true camera0/camera_link: - Alpha: 1 + Alpha: 0.999 Show Axes: false Show Trail: false Value: true camera0/camera_optical_link: - Alpha: 1 + Alpha: 0.999 Show Axes: false Show Trail: false camera1/camera_link: - Alpha: 1 + Alpha: 0.999 Show Axes: false Show Trail: false Value: true camera1/camera_optical_link: - Alpha: 1 + Alpha: 0.999 Show Axes: false Show Trail: false camera2/camera_link: - Alpha: 1 + Alpha: 0.999 Show Axes: false Show Trail: false Value: true camera2/camera_optical_link: - Alpha: 1 + Alpha: 0.999 Show Axes: false Show Trail: false camera3/camera_link: - Alpha: 1 + Alpha: 0.999 Show Axes: false Show Trail: false Value: true camera3/camera_optical_link: - Alpha: 1 + Alpha: 0.999 Show Axes: false Show Trail: false camera4/camera_link: - Alpha: 1 + Alpha: 0.999 Show Axes: false Show Trail: false Value: true camera4/camera_optical_link: - Alpha: 1 + Alpha: 0.999 Show Axes: false Show Trail: false camera5/camera_link: - Alpha: 1 + Alpha: 0.999 Show Axes: false Show Trail: false Value: true camera5/camera_optical_link: - Alpha: 1 + Alpha: 0.999 Show Axes: false Show Trail: false - camera6/camera_link: - Alpha: 1 + gnss_link: + Alpha: 0.999 Show Axes: false Show Trail: false Value: true - camera6/camera_optical_link: - Alpha: 1 + livox_front_left: + Alpha: 0.999 Show Axes: false Show Trail: false - camera7/camera_link: - Alpha: 1 + livox_front_left_base_link: + Alpha: 0.999 Show Axes: false Show Trail: false Value: true - camera7/camera_optical_link: - Alpha: 1 + livox_front_right: + Alpha: 0.999 Show Axes: false Show Trail: false - gnss_link: - Alpha: 1 + livox_front_right_base_link: + Alpha: 0.999 Show Axes: false Show Trail: false Value: true - livox_front_left: - Alpha: 1 + sensor_kit_base_link: + Alpha: 0.999 Show Axes: false Show Trail: false - livox_front_left_base_link: - Alpha: 1 + tamagawa/imu_link: + Alpha: 0.999 Show Axes: false Show Trail: false Value: true - livox_front_right: - Alpha: 1 - Show Axes: false - Show Trail: false - livox_front_right_base_link: - Alpha: 1 + traffic_light_left_camera/camera_link: + Alpha: 0.999 Show Axes: false Show Trail: false Value: true - sensor_kit_base_link: - Alpha: 1 + traffic_light_left_camera/camera_optical_link: + Alpha: 0.999 Show Axes: false Show Trail: false - tamagawa/imu_link: - Alpha: 1 + traffic_light_right_camera/camera_link: + Alpha: 0.999 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: 1 + Alpha: 0.999 Show Axes: false Show Trail: false Value: true velodyne_left_base_link: - Alpha: 1 + Alpha: 0.999 Show Axes: false Show Trail: false Value: true velodyne_rear: - Alpha: 1 + Alpha: 0.999 Show Axes: false Show Trail: false Value: true velodyne_rear_base_link: - Alpha: 1 + Alpha: 0.999 Show Axes: false Show Trail: false Value: true velodyne_right: - Alpha: 1 + Alpha: 0.999 Show Axes: false Show Trail: false Value: true velodyne_right_base_link: - Alpha: 1 + Alpha: 0.999 Show Axes: false Show Trail: false Value: true velodyne_top: - Alpha: 1 + Alpha: 0.999 Show Axes: false Show Trail: false Value: true velodyne_top_base_link: - Alpha: 1 + Alpha: 0.999 Show Axes: false Show Trail: false Value: true - Mass Properties: - Inertia: false - Mass: false Name: VehicleModel TF Prefix: "" Update Interval: 0 @@ -329,8 +291,8 @@ Visualization Manager: Max Alpha: 0.5 Max Range: 100 Max Wave Alpha: 0.5 - Min Alpha: 0.009999999776482582 - Min Wave Alpha: 0.009999999776482582 + Min Alpha: 0.01 + Min Wave Alpha: 0.01 Name: PolarGridDisplay Reference Frame: base_link Value: true @@ -338,20 +300,18 @@ Visualization Manager: Wave Velocity: 40 - Class: rviz_plugins/MaxVelocity Enabled: true - Left: 298 - Length: 48 Name: MaxVelocity Text Color: 255; 255; 255 - Top: 140 - Topic: /planning/scenario_planning/current_max_velocity + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/current_max_velocity Value: true - Value Scale: 0.25 - Class: rviz_plugins/TurnSignal Enabled: true - Height: 128 - Left: 98 Name: TurnSignal - Top: 175 Topic: Depth: 5 Durability Policy: Volatile @@ -359,7 +319,6 @@ Visualization Manager: Reliability Policy: Reliable Value: /vehicle/status/turn_indicators_status Value: true - Width: 256 Enabled: true Name: Vehicle Enabled: true @@ -378,7 +337,7 @@ Visualization Manager: Color: 255; 255; 255 Color Transformer: FlatColor Decay Time: 0 - Enabled: false + Enabled: true Invert Rainbow: false Max Color: 255; 255; 255 Max Intensity: 237 @@ -388,18 +347,17 @@ Visualization Manager: Position Transformer: XYZ Selectable: false Size (Pixels): 1 - Size (m): 0.019999999552965164 + Size (m): 0.02 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: false + Value: true - Class: rviz_default_plugins/MarkerArray Enabled: true Name: Lanelet2VectorMap @@ -407,30 +365,28 @@ Visualization Manager: center_lane_line: false center_line_arrows: false crosswalk_lanelets: true - hatched_road_markings_area: true - hatched_road_markings_bound: true + crosswalk_areas: false lane_start_bound: false lanelet direction: true lanelet_id: false left_lane_bound: true - no_stopping_area: true parking_lots: true - partitions: true + parking_space: true pedestrian_marking: true right_lane_bound: true road_lanelets: false - shoulder_center_lane_line: true - shoulder_center_line_arrows: true - shoulder_lane_start_bound: true - shoulder_lanelet direction: true + speed_bump: true + stop_lines: true + shoulder_center_lane_line: false shoulder_left_lane_bound: true shoulder_right_lane_bound: true - shoulder_road_lanelets: true - stop_lines: true + shoulder_road_lanelets: false traffic_light: true traffic_light_id: false traffic_light_triangle: true walkway_lanelets: true + hatched_road_markings_bound: true + hatched_road_markings_area: false Topic: Depth: 5 Durability Policy: Transient Local @@ -444,7 +400,7 @@ Visualization Manager: Displays: - Class: rviz_common/Group Displays: - - Alpha: 0.4000000059604645 + - Alpha: 0.4 Autocompute Intensity Bounds: true Autocompute Value Bounds: Max Value: 5 @@ -466,19 +422,18 @@ Visualization Manager: Position Transformer: XYZ Selectable: false Size (Pixels): 1 - Size (m): 0.019999999552965164 + Size (m): 0.02 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: 0.9990000128746033 + - Alpha: 0.999 Class: rviz_default_plugins/Polygon Color: 25; 255; 0 Enabled: false @@ -486,7 +441,6 @@ 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 @@ -525,7 +479,6 @@ Visualization Manager: Topic: Depth: 5 Durability Policy: Volatile - Filter size: 10 History Policy: Keep Last Reliability Policy: Reliable Value: /sensing/gnss/pose_with_covariance @@ -538,7 +491,7 @@ Visualization Manager: Displays: - Class: rviz_common/Group Displays: - - Alpha: 0.9990000128746033 + - Alpha: 0.999 Axes Length: 1 Axes Radius: 0.10000000149011612 Class: rviz_default_plugins/PoseWithCovariance @@ -568,12 +521,11 @@ 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: false - - Alpha: 0.9990000128746033 + Value: true + - Alpha: 0.999 Axes Length: 1 Axes Radius: 0.10000000149011612 Class: rviz_default_plugins/PoseWithCovariance @@ -603,29 +555,27 @@ 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: false + Value: true - 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: false - - Alpha: 0.9990000128746033 + Value: true + - Alpha: 0.999 Autocompute Intensity Bounds: true Autocompute Value Bounds: Max Value: 10 @@ -652,14 +602,13 @@ 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: 0.9990000128746033 + - Alpha: 0.999 Autocompute Intensity Bounds: true Autocompute Value Bounds: Max Value: 10 @@ -686,7 +635,6 @@ Visualization Manager: Topic: Depth: 5 Durability Policy: Volatile - Filter size: 10 History Policy: Keep Last Reliability Policy: Reliable Value: /localization/pose_estimator/points_aligned @@ -696,8 +644,7 @@ Visualization Manager: - Class: rviz_default_plugins/MarkerArray Enabled: true Name: MonteCarloInitialPose - Namespaces: - {} + Namespaces: {} Topic: Depth: 5 Durability Policy: Volatile @@ -713,15 +660,14 @@ 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 @@ -734,7 +680,7 @@ Visualization Manager: Displays: - Class: rviz_common/Group Displays: - - Alpha: 0.9990000128746033 + - Alpha: 0.999 Autocompute Intensity Bounds: true Autocompute Value Bounds: Max Value: 15 @@ -756,12 +702,11 @@ Visualization Manager: Position Transformer: XYZ Selectable: false Size (Pixels): 3 - Size (m): 0.019999999552965164 + Size (m): 0.02 Style: Points Topic: Depth: 5 Durability Policy: Volatile - Filter size: 10 History Policy: Keep Last Reliability Policy: Best Effort Value: /perception/obstacle_segmentation/pointcloud @@ -775,16 +720,16 @@ Visualization Manager: - Class: rviz_common/Group Displays: - BUS: - Alpha: 0.9990000128746033 + Alpha: 0.999 Color: 30; 144; 255 CAR: - Alpha: 0.9990000128746033 + Alpha: 0.999 Color: 30; 144; 255 CYCLIST: - Alpha: 0.9990000128746033 + Alpha: 0.999 Color: 119; 11; 32 Class: autoware_auto_perception_rviz_plugin/DetectedObjects - Display Acceleration: true + Display 3d polygon: true Display Label: true Display PoseWithCovariance: true Display Predicted Path Confidence: true @@ -792,23 +737,21 @@ Visualization Manager: Display Twist: true Display UUID: true Display Velocity: true + Line Width: 0.03 Enabled: true - Line Width: 0.029999999329447746 MOTORCYCLE: - Alpha: 0.9990000128746033 + Alpha: 0.999 Color: 119; 11; 32 Name: DetectedObjects - Namespaces: - {} + Namespaces: {} PEDESTRIAN: - Alpha: 0.9990000128746033 + Alpha: 0.999 Color: 255; 192; 203 - Polygon Type: 3d TRAILER: - Alpha: 0.9990000128746033 + Alpha: 0.999 Color: 30; 144; 255 TRUCK: - Alpha: 0.9990000128746033 + Alpha: 0.999 Color: 30; 144; 255 Topic: Depth: 5 @@ -817,25 +760,24 @@ Visualization Manager: Reliability Policy: Best Effort Value: /perception/object_recognition/detection/objects UNKNOWN: - Alpha: 0.9990000128746033 + Alpha: 0.999 Color: 255; 255; 255 Value: true - Visualization Type: Normal Enabled: false Name: Detection - Class: rviz_common/Group Displays: - BUS: - Alpha: 0.9990000128746033 + Alpha: 0.999 Color: 30; 144; 255 CAR: - Alpha: 0.9990000128746033 + Alpha: 0.999 Color: 30; 144; 255 CYCLIST: - Alpha: 0.9990000128746033 + Alpha: 0.999 Color: 119; 11; 32 Class: autoware_auto_perception_rviz_plugin/TrackedObjects - Display Acceleration: true + Display 3d polygon: true Display Label: true Display PoseWithCovariance: true Display Predicted Path Confidence: true @@ -843,23 +785,21 @@ Visualization Manager: Display Twist: true Display UUID: true Display Velocity: true + Line Width: 0.03 Enabled: true - Line Width: 0.029999999329447746 MOTORCYCLE: - Alpha: 0.9990000128746033 + Alpha: 0.999 Color: 119; 11; 32 Name: TrackedObjects - Namespaces: - {} + Namespaces: {} PEDESTRIAN: - Alpha: 0.9990000128746033 + Alpha: 0.999 Color: 255; 192; 203 - Polygon Type: 3d TRAILER: - Alpha: 0.9990000128746033 + Alpha: 0.999 Color: 30; 144; 255 TRUCK: - Alpha: 0.9990000128746033 + Alpha: 0.999 Color: 30; 144; 255 Topic: Depth: 5 @@ -868,25 +808,24 @@ Visualization Manager: Reliability Policy: Best Effort Value: /perception/object_recognition/tracking/objects UNKNOWN: - Alpha: 0.9990000128746033 + Alpha: 0.999 Color: 255; 255; 255 Value: true - Visualization Type: Normal Enabled: false Name: Tracking - Class: rviz_common/Group Displays: - BUS: - Alpha: 0.9990000128746033 + Alpha: 0.999 Color: 30; 144; 255 CAR: - Alpha: 0.9990000128746033 + Alpha: 0.999 Color: 30; 144; 255 CYCLIST: - Alpha: 0.9990000128746033 + Alpha: 0.999 Color: 119; 11; 32 Class: autoware_auto_perception_rviz_plugin/PredictedObjects - Display Acceleration: true + Display 3d polygon: true Display Label: true Display PoseWithCovariance: false Display Predicted Path Confidence: true @@ -894,23 +833,21 @@ Visualization Manager: Display Twist: true Display UUID: true Display Velocity: true + Line Width: 0.03 Enabled: true - Line Width: 0.029999999329447746 MOTORCYCLE: - Alpha: 0.9990000128746033 + Alpha: 0.999 Color: 119; 11; 32 Name: PredictedObjects - Namespaces: - {} + Namespaces: {} PEDESTRIAN: - Alpha: 0.9990000128746033 + Alpha: 0.999 Color: 255; 192; 203 - Polygon Type: 3d TRAILER: - Alpha: 0.9990000128746033 + Alpha: 0.999 Color: 30; 144; 255 TRUCK: - Alpha: 0.9990000128746033 + Alpha: 0.999 Color: 30; 144; 255 Topic: Depth: 5 @@ -919,22 +856,20 @@ Visualization Manager: Reliability Policy: Best Effort Value: /perception/object_recognition/objects UNKNOWN: - Alpha: 0.9990000128746033 + Alpha: 0.999 Color: 255; 255; 255 Value: true - Visualization Type: Normal - 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: false + Value: true Enabled: true Name: Prediction Enabled: true @@ -958,8 +893,7 @@ Visualization Manager: - Class: rviz_default_plugins/MarkerArray Enabled: true Name: MapBasedDetectionResult - Namespaces: - {} + Namespaces: {} Topic: Depth: 5 Durability Policy: Volatile @@ -1004,7 +938,11 @@ Visualization Manager: 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 @@ -1012,7 +950,7 @@ Visualization Manager: Reliability Policy: Reliable Value: /planning/mission_planning/route_marker Value: true - - Alpha: 0.9990000128746033 + - Alpha: 0.999 Axes Length: 1 Axes Radius: 0.30000001192092896 Class: rviz_default_plugins/Pose @@ -1027,53 +965,33 @@ 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 Value: true - Enabled: false + Enabled: true Name: MissionPlanning - Class: rviz_common/Group Displays: - Class: rviz_plugins/Trajectory Color Border Vel Max: 3 - Enabled: false + Enabled: true Name: ScenarioTrajectory Topic: Depth: 5 Durability Policy: Volatile - Filter size: 10 History Policy: Keep Last Reliability Policy: Reliable Value: /planning/scenario_planning/trajectory - Value: false - View Footprint: - Alpha: 1 - Color: 230; 230; 50 - Offset from BaseLink: 0 - Rear Overhang: 1.0299999713897705 - Value: false - Vehicle Length: 4.769999980926514 - Vehicle Width: 1.8300000429153442 + Value: true View Path: - Alpha: 0.9990000128746033 + Alpha: 0.999 Color: 0; 0; 0 Constant Color: false - Constant Width: false Value: true Width: 2 - View Point: - Alpha: 1 - Color: 0; 60; 255 - Offset: 0 - Radius: 0.10000000149011612 - Value: false - View Text Velocity: - Scale: 0.30000001192092896 - Value: false View Velocity: - Alpha: 0.9990000128746033 + Alpha: 0.999 Color: 0; 0; 0 Constant Color: false Scale: 0.30000001192092896 @@ -1089,40 +1007,16 @@ 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 Value: true - View Drivable Area: - Alpha: 0.9990000128746033 - Color: 0; 148; 205 - Value: true - Width: 0.30000001192092896 - View Footprint: - Alpha: 1 - Color: 230; 230; 50 - Offset from BaseLink: 0 - Rear Overhang: 1.0299999713897705 - Value: false - Vehicle Length: 4.769999980926514 - Vehicle Width: 1.8300000429153442 View Path: Alpha: 0.4000000059604645 Color: 0; 0; 0 Constant Color: false - Constant Width: false Value: true Width: 2 - View Point: - Alpha: 1 - Color: 0; 60; 255 - Offset: 0 - Radius: 0.10000000149011612 - Value: false - View Text Velocity: - Scale: 0.30000001192092896 - Value: false View Velocity: Alpha: 0.4000000059604645 Color: 0; 0; 0 @@ -1136,40 +1030,16 @@ Visualization Manager: Topic: Depth: 5 Durability Policy: Volatile - Filter size: 10 History Policy: Keep Last Reliability Policy: Reliable Value: /planning/path_reference/avoidance_by_lane_change - Value: false - View Drivable Area: - Alpha: 0.9990000128746033 - Color: 0; 148; 205 - Value: true - Width: 0.30000001192092896 - View Footprint: - Alpha: 1 - Color: 230; 230; 50 - Offset from BaseLink: 0 - Rear Overhang: 1.0299999713897705 - Value: false - Vehicle Length: 4.769999980926514 - Vehicle Width: 1.8300000429153442 + Value: true View Path: - Alpha: 0.30000001192092896 + Alpha: 0.3 Color: 210; 110; 10 Constant Color: true - Constant Width: false Value: true Width: 2 - View Point: - Alpha: 1 - Color: 0; 60; 255 - Offset: 0 - Radius: 0.10000000149011612 - Value: false - View Text Velocity: - Scale: 0.30000001192092896 - Value: false View Velocity: Alpha: 0.30000001192092896 Color: 0; 0; 0 @@ -1183,40 +1053,16 @@ Visualization Manager: Topic: Depth: 5 Durability Policy: Volatile - Filter size: 10 History Policy: Keep Last Reliability Policy: Reliable Value: /planning/path_reference/avoidance - Value: false - View Drivable Area: - Alpha: 0.9990000128746033 - Color: 0; 148; 205 - Value: true - Width: 0.30000001192092896 - View Footprint: - Alpha: 1 - Color: 230; 230; 50 - Offset from BaseLink: 0 - Rear Overhang: 1.0299999713897705 - Value: false - Vehicle Length: 4.769999980926514 - Vehicle Width: 1.8300000429153442 + Value: true View Path: - Alpha: 0.30000001192092896 + Alpha: 0.3 Color: 210; 110; 210 Constant Color: true - Constant Width: false Value: true Width: 2 - View Point: - Alpha: 1 - Color: 0; 60; 255 - Offset: 0 - Radius: 0.10000000149011612 - Value: false - View Text Velocity: - Scale: 0.30000001192092896 - Value: false View Velocity: Alpha: 0.30000001192092896 Color: 0; 0; 0 @@ -1230,40 +1076,16 @@ Visualization Manager: Topic: Depth: 5 Durability Policy: Volatile - Filter size: 10 History Policy: Keep Last Reliability Policy: Reliable Value: /planning/path_reference/lane_change_right - Value: false - View Drivable Area: - Alpha: 0.9990000128746033 - Color: 0; 148; 205 - Value: true - Width: 0.30000001192092896 - View Footprint: - Alpha: 1 - Color: 230; 230; 50 - Offset from BaseLink: 0 - Rear Overhang: 1.0299999713897705 - Value: false - Vehicle Length: 4.769999980926514 - Vehicle Width: 1.8300000429153442 + Value: true View Path: - Alpha: 0.30000001192092896 + Alpha: 0.3 Color: 210; 210; 110 Constant Color: true - Constant Width: false Value: true Width: 2 - View Point: - Alpha: 1 - Color: 0; 60; 255 - Offset: 0 - Radius: 0.10000000149011612 - Value: false - View Text Velocity: - Scale: 0.30000001192092896 - Value: false View Velocity: Alpha: 0.30000001192092896 Color: 0; 0; 0 @@ -1277,40 +1099,16 @@ Visualization Manager: Topic: Depth: 5 Durability Policy: Volatile - Filter size: 10 History Policy: Keep Last Reliability Policy: Reliable Value: /planning/path_reference/lane_change_left - Value: false - View Drivable Area: - Alpha: 0.9990000128746033 - Color: 0; 148; 205 - Value: true - Width: 0.30000001192092896 - View Footprint: - Alpha: 1 - Color: 230; 230; 50 - Offset from BaseLink: 0 - Rear Overhang: 1.0299999713897705 - Value: false - Vehicle Length: 4.769999980926514 - Vehicle Width: 1.8300000429153442 + Value: true View Path: - Alpha: 0.30000001192092896 + Alpha: 0.3 Color: 210; 210; 110 Constant Color: true - Constant Width: false Value: true Width: 2 - View Point: - Alpha: 1 - Color: 0; 60; 255 - Offset: 0 - Radius: 0.10000000149011612 - Value: false - View Text Velocity: - Scale: 0.30000001192092896 - Value: false View Velocity: Alpha: 0.30000001192092896 Color: 0; 0; 0 @@ -1324,40 +1122,16 @@ Visualization Manager: Topic: Depth: 5 Durability Policy: Volatile - Filter size: 10 History Policy: Keep Last Reliability Policy: Reliable Value: /planning/path_reference/goal_planner - Value: false - View Drivable Area: - Alpha: 0.9990000128746033 - Color: 0; 148; 205 - Value: true - Width: 0.30000001192092896 - View Footprint: - Alpha: 1 - Color: 230; 230; 50 - Offset from BaseLink: 0 - Rear Overhang: 1.0299999713897705 - Value: false - Vehicle Length: 4.769999980926514 - Vehicle Width: 1.8300000429153442 + Value: true View Path: - Alpha: 0.30000001192092896 + Alpha: 0.3 Color: 110; 110; 210 Constant Color: true - Constant Width: false Value: true Width: 2 - View Point: - Alpha: 1 - Color: 0; 60; 255 - Offset: 0 - Radius: 0.10000000149011612 - Value: false - View Text Velocity: - Scale: 0.30000001192092896 - Value: false View Velocity: Alpha: 0.30000001192092896 Color: 0; 0; 0 @@ -1371,40 +1145,16 @@ Visualization Manager: Topic: Depth: 5 Durability Policy: Volatile - Filter size: 10 History Policy: Keep Last Reliability Policy: Reliable Value: /planning/path_reference/start_planner - Value: false - View Drivable Area: - Alpha: 0.9990000128746033 - Color: 0; 148; 205 - Value: true - Width: 0.30000001192092896 - View Footprint: - Alpha: 1 - Color: 230; 230; 50 - Offset from BaseLink: 0 - Rear Overhang: 1.0299999713897705 - Value: false - Vehicle Length: 4.769999980926514 - Vehicle Width: 1.8300000429153442 + Value: true View Path: - Alpha: 0.30000001192092896 + Alpha: 0.3 Color: 210; 110; 110 Constant Color: true - Constant Width: false Value: true Width: 2 - View Point: - Alpha: 1 - Color: 0; 60; 255 - Offset: 0 - Radius: 0.10000000149011612 - Value: false - View Text Velocity: - Scale: 0.30000001192092896 - Value: false View Velocity: Alpha: 0.30000001192092896 Color: 0; 0; 0 @@ -1418,40 +1168,16 @@ Visualization Manager: Topic: Depth: 5 Durability Policy: Volatile - Filter size: 10 History Policy: Keep Last Reliability Policy: Reliable Value: /planning/path_candidate/avoidance_by_lane_change Value: true - View Drivable Area: - Alpha: 0.9990000128746033 - Color: 0; 148; 205 - Value: true - Width: 0.30000001192092896 - View Footprint: - Alpha: 1 - Color: 230; 230; 50 - Offset from BaseLink: 0 - Rear Overhang: 1.0299999713897705 - Value: false - Vehicle Length: 4.769999980926514 - Vehicle Width: 1.8300000429153442 View Path: Alpha: 0.30000001192092896 Color: 115; 210; 22 Constant Color: false - Constant Width: false Value: true Width: 2 - View Point: - Alpha: 1 - Color: 0; 60; 255 - Offset: 0 - Radius: 0.10000000149011612 - Value: false - View Text Velocity: - Scale: 0.30000001192092896 - Value: false View Velocity: Alpha: 0.30000001192092896 Color: 0; 0; 0 @@ -1465,40 +1191,16 @@ Visualization Manager: Topic: Depth: 5 Durability Policy: Volatile - Filter size: 10 History Policy: Keep Last Reliability Policy: Reliable Value: /planning/path_candidate/lane_change Value: true - View Drivable Area: - Alpha: 0.9990000128746033 - Color: 0; 148; 205 - Value: true - Width: 0.30000001192092896 - View Footprint: - Alpha: 1 - Color: 230; 230; 50 - Offset from BaseLink: 0 - Rear Overhang: 1.0299999713897705 - Value: false - Vehicle Length: 4.769999980926514 - Vehicle Width: 1.8300000429153442 View Path: Alpha: 0.30000001192092896 Color: 115; 210; 22 Constant Color: false - Constant Width: false Value: true Width: 2 - View Point: - Alpha: 1 - Color: 0; 60; 255 - Offset: 0 - Radius: 0.10000000149011612 - Value: false - View Text Velocity: - Scale: 0.30000001192092896 - Value: false View Velocity: Alpha: 0.30000001192092896 Color: 0; 0; 0 @@ -1512,40 +1214,16 @@ Visualization Manager: Topic: Depth: 5 Durability Policy: Volatile - Filter size: 10 History Policy: Keep Last Reliability Policy: Reliable Value: /planning/path_candidate/lane_change_right Value: true - View Drivable Area: - Alpha: 0.9990000128746033 - Color: 0; 148; 205 - Value: true - Width: 0.30000001192092896 - View Footprint: - Alpha: 1 - Color: 230; 230; 50 - Offset from BaseLink: 0 - Rear Overhang: 1.0299999713897705 - Value: false - Vehicle Length: 4.769999980926514 - Vehicle Width: 1.8300000429153442 View Path: Alpha: 0.30000001192092896 Color: 115; 210; 22 Constant Color: false - Constant Width: false Value: true Width: 2 - View Point: - Alpha: 1 - Color: 0; 60; 255 - Offset: 0 - Radius: 0.10000000149011612 - Value: false - View Text Velocity: - Scale: 0.30000001192092896 - Value: false View Velocity: Alpha: 0.30000001192092896 Color: 0; 0; 0 @@ -1559,40 +1237,16 @@ Visualization Manager: Topic: Depth: 5 Durability Policy: Volatile - Filter size: 10 History Policy: Keep Last Reliability Policy: Reliable Value: /planning/path_candidate/lane_change_left Value: true - View Drivable Area: - Alpha: 0.9990000128746033 - Color: 0; 148; 205 - Value: true - Width: 0.30000001192092896 - View Footprint: - Alpha: 1 - Color: 230; 230; 50 - Offset from BaseLink: 0 - Rear Overhang: 1.0299999713897705 - Value: false - Vehicle Length: 4.769999980926514 - Vehicle Width: 1.8300000429153442 View Path: Alpha: 0.30000001192092896 Color: 115; 210; 22 Constant Color: false - Constant Width: false Value: true Width: 2 - View Point: - Alpha: 1 - Color: 0; 60; 255 - Offset: 0 - Radius: 0.10000000149011612 - Value: false - View Text Velocity: - Scale: 0.30000001192092896 - Value: false View Velocity: Alpha: 0.30000001192092896 Color: 0; 0; 0 @@ -1606,40 +1260,16 @@ Visualization Manager: Topic: Depth: 5 Durability Policy: Volatile - Filter size: 10 History Policy: Keep Last Reliability Policy: Reliable Value: /planning/path_candidate/external_request_lane_change_right Value: true - View Drivable Area: - Alpha: 0.9990000128746033 - Color: 0; 148; 205 - Value: true - Width: 0.30000001192092896 - View Footprint: - Alpha: 1 - Color: 230; 230; 50 - Offset from BaseLink: 0 - Rear Overhang: 1.0299999713897705 - Value: false - Vehicle Length: 4.769999980926514 - Vehicle Width: 1.8300000429153442 View Path: Alpha: 0.30000001192092896 Color: 115; 210; 22 Constant Color: false - Constant Width: false Value: true Width: 2 - View Point: - Alpha: 1 - Color: 0; 60; 255 - Offset: 0 - Radius: 0.10000000149011612 - Value: false - View Text Velocity: - Scale: 0.30000001192092896 - Value: false View Velocity: Alpha: 0.30000001192092896 Color: 0; 0; 0 @@ -1653,40 +1283,16 @@ Visualization Manager: Topic: Depth: 5 Durability Policy: Volatile - Filter size: 10 History Policy: Keep Last Reliability Policy: Reliable Value: /planning/path_candidate/external_request_lane_change_left Value: true - View Drivable Area: - Alpha: 0.9990000128746033 - Color: 0; 148; 205 - Value: true - Width: 0.30000001192092896 - View Footprint: - Alpha: 1 - Color: 230; 230; 50 - Offset from BaseLink: 0 - Rear Overhang: 1.0299999713897705 - Value: false - Vehicle Length: 4.769999980926514 - Vehicle Width: 1.8300000429153442 View Path: Alpha: 0.30000001192092896 Color: 115; 210; 22 Constant Color: false - Constant Width: false Value: true Width: 2 - View Point: - Alpha: 1 - Color: 0; 60; 255 - Offset: 0 - Radius: 0.10000000149011612 - Value: false - View Text Velocity: - Scale: 0.30000001192092896 - Value: false View Velocity: Alpha: 0.30000001192092896 Color: 0; 0; 0 @@ -1700,40 +1306,16 @@ Visualization Manager: Topic: Depth: 5 Durability Policy: Volatile - Filter size: 10 History Policy: Keep Last Reliability Policy: Reliable Value: /planning/path_candidate/avoidance Value: true - View Drivable Area: - Alpha: 0.9990000128746033 - Color: 0; 148; 205 - Value: true - Width: 0.30000001192092896 - View Footprint: - Alpha: 1 - Color: 230; 230; 50 - Offset from BaseLink: 0 - Rear Overhang: 1.0299999713897705 - Value: false - Vehicle Length: 4.769999980926514 - Vehicle Width: 1.8300000429153442 View Path: Alpha: 0.30000001192092896 Color: 115; 210; 22 Constant Color: false - Constant Width: false Value: true Width: 2 - View Point: - Alpha: 1 - Color: 0; 60; 255 - Offset: 0 - Radius: 0.10000000149011612 - Value: false - View Text Velocity: - Scale: 0.30000001192092896 - Value: false View Velocity: Alpha: 0.30000001192092896 Color: 0; 0; 0 @@ -1747,40 +1329,16 @@ Visualization Manager: Topic: Depth: 5 Durability Policy: Volatile - Filter size: 10 History Policy: Keep Last Reliability Policy: Reliable Value: /planning/path_candidate/start_planner Value: true - View Drivable Area: - Alpha: 0.9990000128746033 - Color: 0; 148; 205 - Value: true - Width: 0.30000001192092896 - View Footprint: - Alpha: 1 - Color: 230; 230; 50 - Offset from BaseLink: 0 - Rear Overhang: 1.0299999713897705 - Value: false - Vehicle Length: 4.769999980926514 - Vehicle Width: 1.8300000429153442 View Path: Alpha: 0.30000001192092896 Color: 115; 210; 22 Constant Color: false - Constant Width: false Value: true Width: 2 - View Point: - Alpha: 1 - Color: 0; 60; 255 - Offset: 0 - Radius: 0.10000000149011612 - Value: false - View Text Velocity: - Scale: 0.30000001192092896 - Value: false View Velocity: Alpha: 0.30000001192092896 Color: 0; 0; 0 @@ -1794,40 +1352,16 @@ Visualization Manager: Topic: Depth: 5 Durability Policy: Volatile - Filter size: 10 History Policy: Keep Last Reliability Policy: Reliable Value: /planning/path_candidate/goal_planner Value: true - View Drivable Area: - Alpha: 0.9990000128746033 - Color: 0; 148; 205 - Value: true - Width: 0.30000001192092896 - View Footprint: - Alpha: 1 - Color: 230; 230; 50 - Offset from BaseLink: 0 - Rear Overhang: 1.0299999713897705 - Value: false - Vehicle Length: 4.769999980926514 - Vehicle Width: 1.8300000429153442 View Path: Alpha: 0.30000001192092896 Color: 115; 210; 22 Constant Color: false - Constant Width: false Value: true Width: 2 - View Point: - Alpha: 1 - Color: 0; 60; 255 - Offset: 0 - Radius: 0.10000000149011612 - Value: false - View Text Velocity: - Scale: 0.30000001192092896 - Value: false View Velocity: Alpha: 0.30000001192092896 Color: 0; 0; 0 @@ -1838,14 +1372,16 @@ Visualization Manager: Enabled: false Name: Bound Namespaces: - {} + left_bound: true + right_bound: true 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 - Value: false + Value: true - Class: rviz_common/Group Displays: - Class: rviz_default_plugins/MarkerArray @@ -2044,7 +1580,8 @@ Visualization Manager: Enabled: true Name: VirtualWall (StopLine) Namespaces: - {} + stop_factor_text: true + stop_virtual_wall: true Topic: Depth: 5 Durability Policy: Volatile @@ -2400,7 +1937,12 @@ Visualization Manager: Enabled: false Name: Info (Avoidance) 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 @@ -2506,52 +2048,33 @@ Visualization Manager: Value: false Enabled: false Name: InfoMarker - Enabled: false + Enabled: true Name: BehaviorPlanning - Class: rviz_common/Group Displays: - Class: rviz_plugins/Trajectory Color Border Vel Max: 3 - Enabled: true + Enabled: false Name: Trajectory Topic: Depth: 5 Durability Policy: Volatile - Filter size: 10 History Policy: Keep Last Reliability Policy: Reliable - Value: /planning/planning_evaluator/debug/motion_velocity_smoother_trajectory - Value: true - View Footprint: - Alpha: 1 - Color: 230; 230; 50 - Offset from BaseLink: 0 - Rear Overhang: 1.0299999713897705 - Value: false - Vehicle Length: 4.769999980926514 - Vehicle Width: 1.8300000429153442 + Value: /planning/scenario_planning/lane_driving/trajectory + Value: false View Path: - Alpha: 0.9990000128746033 + Alpha: 0.999 Color: 0; 0; 0 Constant Color: false - Constant Width: false - Value: false - Width: 2 - View Point: - Alpha: 1 - Color: 0; 60; 255 - Offset: 0 - Radius: 0.10000000149011612 Value: true - View Text Velocity: - Scale: 0.30000001192092896 - Value: false + Width: 2 View Velocity: - Alpha: 0.9990000128746033 + Alpha: 0.999 Color: 0; 0; 0 Constant Color: false Scale: 0.30000001192092896 - Value: false + Value: true - Class: rviz_common/Group Displays: - Class: rviz_default_plugins/MarkerArray @@ -2602,7 +2125,7 @@ Visualization Manager: Reliability Policy: Reliable Value: /planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/virtual_wall Value: true - Enabled: false + Enabled: true Name: VirtualWall - Class: rviz_common/Group Displays: @@ -2742,7 +2265,6 @@ 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 @@ -2754,7 +2276,7 @@ Visualization Manager: Value: /planning/scenario_planning/parking/costmap_generator/occupancy_grid_updates Use Timestamp: false Value: false - - Alpha: 0.9990000128746033 + - Alpha: 0.999 Arrow Length: 0.30000001192092896 Axes Length: 0.30000001192092896 Axes Radius: 0.009999999776482582 @@ -2770,12 +2292,11 @@ 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: 0.9990000128746033 + - Alpha: 0.999 Arrow Length: 0.5 Axes Length: 0.30000001192092896 Axes Radius: 0.009999999776482582 @@ -2791,15 +2312,14 @@ 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 Value: true - Enabled: false + Enabled: true Name: Parking - Class: rviz_plugins/PoseWithUuidStamped - Enabled: false + Enabled: true Length: 1.5 Name: ModifiedGoal Radius: 0.5 @@ -2813,7 +2333,7 @@ Visualization Manager: UUID: Scale: 0.30000001192092896 Value: false - Value: false + Value: true Enabled: true Name: ScenarioPlanning - Class: rviz_common/Group @@ -2821,8 +2341,7 @@ Visualization Manager: - Class: rviz_default_plugins/MarkerArray Enabled: true Name: PlanningErrorMarker - Namespaces: - {} + Namespaces: {} Topic: Depth: 5 Durability Policy: Volatile @@ -2843,35 +2362,17 @@ Visualization Manager: Topic: Depth: 5 Durability Policy: Volatile - Filter size: 10 History Policy: Keep Last Reliability Policy: Reliable - Value: /planning/planning_evaluator/debug/modified_predicted_trajectory + Value: /control/trajectory_follower/lateral/predicted_trajectory Value: true - View Footprint: - Alpha: 1 - Color: 230; 230; 50 - Offset from BaseLink: 0 - Rear Overhang: 1.0299999713897705 - Value: false - Vehicle Length: 4.769999980926514 - Vehicle Width: 1.8300000429153442 View Path: Alpha: 1 Color: 255; 255; 255 Constant Color: true + Value: true Constant Width: true - Value: false Width: 0.05000000074505806 - View Point: - Alpha: 1 - Color: 255; 255; 255 - Offset: 0 - Radius: 0.10000000149011612 - Value: true - View Text Velocity: - Scale: 0.30000001192092896 - Value: false View Velocity: Alpha: 1 Color: 0; 0; 0 @@ -2881,8 +2382,7 @@ Visualization Manager: - Class: rviz_default_plugins/MarkerArray Enabled: false Name: Debug/MPC - Namespaces: - {} + Namespaces: {} Topic: Depth: 5 Durability Policy: Volatile @@ -2893,8 +2393,7 @@ Visualization Manager: - Class: rviz_default_plugins/MarkerArray Enabled: false Name: Debug/PurePursuit - Namespaces: - {} + Namespaces: {} Topic: Depth: 5 Durability Policy: Volatile @@ -2906,7 +2405,10 @@ Visualization Manager: Enabled: false Name: Debug/AEB Namespaces: - {} + ego_path: true + ego_polygons: true + predicted_path: true + predicted_polygons: true Topic: Depth: 5 Durability Policy: Volatile @@ -2919,6 +2421,7 @@ Visualization Manager: Enabled: true Global Options: Background Color: 10; 10; 10 + Default Light: true Fixed Frame: map Frame Rate: 30 Name: root @@ -2931,15 +2434,15 @@ Visualization Manager: - Class: rviz_default_plugins/Measure Line color: 128; 128; 0 - Class: rviz_default_plugins/SetInitialPose - Covariance x: 0.25 - Covariance y: 0.25 - Covariance yaw: 0.06853891909122467 + 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 @@ -2954,47 +2457,26 @@ Visualization Manager: History Policy: Keep Last Reliability Policy: Reliable Value: /rviz/routing/rough_goal - - Acceleration: 0 - Class: rviz_plugins/PedestrianInitialPoseTool - Interactive: false - Max velocity: 33.29999923706055 - Min velocity: -33.29999923706055 + - Class: rviz_plugins/PedestrianInitialPoseTool 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 - - Acceleration: 0 - Class: rviz_plugins/CarInitialPoseTool - H vehicle height: 2 - Interactive: false - L vehicle length: 4 - Max velocity: 33.29999923706055 - Min velocity: -33.29999923706055 + - Class: rviz_plugins/CarInitialPoseTool Pose Topic: /simulation/dummy_perception_publisher/object_info - Target Frame: Theta std deviation: 0.0872664600610733 Velocity: 3 - W vehicle width: 1.7999999523162842 X std deviation: 0.029999999329447746 Y std deviation: 0.029999999329447746 Z position: 0 Z std deviation: 0.029999999329447746 - - 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 + - Class: rviz_plugins/BusInitialPoseTool 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 @@ -3007,13 +2489,10 @@ Visualization Manager: Z position: 0 - Class: rviz_plugins/DeleteAllObjectsTool Pose Topic: /simulation/dummy_perception_publisher/object_info - Transformation: - Current: - Class: rviz_default_plugins/TF Value: true Views: Current: - Angle: 3.5950026512145996 + Angle: 0 Class: rviz_default_plugins/TopDownOrtho Enable Stereo Rendering: Stereo Eye Separation: 0.05999999865889549 @@ -3023,11 +2502,11 @@ Visualization Manager: Invert Z Axis: false Name: Current View Near Clip Distance: 0.009999999776482582 - Scale: -12.709793090820312 + Scale: 10 Target Frame: viewer Value: TopDownOrtho (rviz_default_plugins) - X: 16.10267448425293 - Y: -18.311426162719727 + X: 0 + Y: 0 Saved: - Class: rviz_default_plugins/ThirdPersonFollower Distance: 18 @@ -3065,18 +2544,16 @@ Visualization Manager: X: 0 Y: 0 Window Geometry: - AutowareDateTimePanel: - collapsed: false AutowareStatePanel: collapsed: false Displays: collapsed: false - Height: 1016 + Height: 1565 Hide Left Dock: false Hide Right Dock: false - InitialPoseButtonPanel: + Image: collapsed: false - QMainWindow State: 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RecognitionResultOnImage: collapsed: false Selection: @@ -3085,6 +2562,6 @@ Window Geometry: collapsed: false Views: collapsed: false - Width: 1850 - X: 70 + Width: 2813 + X: 67 Y: 27