From ed2fc40bf7e405ef7ac6274c5896f892414ad54b Mon Sep 17 00:00:00 2001 From: Akari Nakano Date: Mon, 10 Feb 2025 13:49:39 +0900 Subject: [PATCH] change RViz display settings for passengers --- autoware_launch/rviz/autoware.rviz | 1329 ++++++++++++++++++++++------ 1 file changed, 1061 insertions(+), 268 deletions(-) diff --git a/autoware_launch/rviz/autoware.rviz b/autoware_launch/rviz/autoware.rviz index 8000f6024f..fe08fea7dc 100644 --- a/autoware_launch/rviz/autoware.rviz +++ b/autoware_launch/rviz/autoware.rviz @@ -3,17 +3,42 @@ Panels: Help Height: 0 Name: Displays Property Tree Widget: - Expanded: ~ + Expanded: + - /System1/Vehicle1/VehicleModel1 + - /Sensing1/LiDAR1/ConcatenatePointCloud1/Autocompute Value Bounds1 + - /Perception1/ObjectRecognition1/Detection1/DetectedObjects1/UNKNOWN1 + - /Perception1/ObjectRecognition1/Detection1/DetectedObjects1/CAR1 + - /Perception1/ObjectRecognition1/Tracking1/TrackedObjects1/CAR1 + - /Perception1/ObjectRecognition1/Prediction1 + - /Perception1/ObjectRecognition1/Prediction1/PredictedObjects1 + - /Perception1/ObjectRecognition1/Prediction1/PredictedObjects1/UNKNOWN1 + - /Perception1/ObjectRecognition1/Prediction1/PredictedObjects1/CAR1 + - /Perception1/ObjectRecognition1/Prediction1/PredictedObjects1/TRUCK1 + - /Perception1/ObjectRecognition1/Prediction1/PredictedObjects1/BUS1 + - /Perception1/ObjectRecognition1/Prediction1/PredictedObjects1/TRAILER1 + - /Perception1/ObjectRecognition1/Prediction1/PredictedObjects1/MOTORCYCLE1 + - /Perception1/ObjectRecognition1/Prediction1/PredictedObjects1/CYCLIST1 + - /Perception1/ObjectRecognition1/Prediction1/PredictedObjects1/PEDESTRIAN1 + - /Perception1/ObjectRecognition1/Prediction1/Maneuver1/Topic1 + - /Perception1/TrafficLight1/MapBasedDetectionResult1/Topic1 + - /Perception1/OccupancyGrid1/Map1 + - /Planning1 + - /Planning1/ScenarioPlanning1 + - /Planning1/ScenarioPlanning1/LaneDriving1 + - /Planning1/ScenarioPlanning1/LaneDriving1/BehaviorPlanning1 Splitter Ratio: 0.557669460773468 - Tree Height: 185 + Tree Height: 396 - Class: rviz_common/Selection Name: Selection - Class: rviz_common/Tool Properties - Expanded: ~ + Expanded: + - /2D Dummy Car1 Name: Tool Properties Splitter Ratio: 0.5886790156364441 - Class: rviz_common/Views - Expanded: ~ + Expanded: + - /Current View1 + - /ThirdPersonView1 Name: Views Splitter Ratio: 0.5 - Class: AutowareDateTimePanel @@ -35,7 +60,8 @@ Visualization Manager: Show Arrows: true Show Axes: true Show Names: true - Tree: {} + Tree: + {} Update Interval: 0 Value: false - Alpha: 0.5 @@ -76,6 +102,11 @@ 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 Show Axes: false @@ -135,56 +166,56 @@ Visualization Manager: 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: + livox_front_left: Alpha: 1 Show Axes: false Show Trail: false - tamagawa/imu_link: + livox_front_left_base_link: Alpha: 1 Show Axes: false Show Trail: false Value: true - traffic_light_left_camera/camera_link: + livox_front_right: Alpha: 1 Show Axes: false Show Trail: false - Value: true - traffic_light_left_camera/camera_optical_link: + livox_front_right_base_link: Alpha: 1 Show Axes: false Show Trail: false - traffic_light_right_camera/camera_link: + Value: true + sensor_kit_base_link: Alpha: 1 Show Axes: false Show Trail: false - Value: true - traffic_light_right_camera/camera_optical_link: + tamagawa/imu_link: Alpha: 1 Show Axes: false Show Trail: false + Value: true velodyne_left: Alpha: 1 Show Axes: false @@ -225,6 +256,9 @@ Visualization Manager: Show Axes: false Show Trail: false Value: true + Mass Properties: + Inertia: false + Mass: false Name: VehicleModel TF Prefix: "" Update Interval: 0 @@ -237,20 +271,26 @@ 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 Wave Color: 255; 255; 255 Wave Velocity: 40 - - Class: autoware_overlay_rviz_plugin/SignalDisplay - Enabled: true + - Background Alpha: 0.5 + Background Color: 23; 28; 31 + Class: autoware_overlay_rviz_plugin/SignalDisplay + Dark Traffic Color: 255; 51; 51 + Enabled: false Gear Topic Test: /vehicle/status/gear_status + Handle Angle Scale: 17 Hazard Lights Topic: /vehicle/status/hazard_lights_status Height: 100 Left: 0 + Light Traffic Color: 255; 153; 153 Name: SignalDisplay + Primary Color: 174; 174; 174 Signal Color: 0; 230; 120 Speed Limit Topic: /planning/scenario_planning/current_max_velocity Speed Topic: /vehicle/status/velocity_status @@ -258,23 +298,19 @@ Visualization Manager: Top: 10 Traffic Topic: /planning/scenario_planning/lane_driving/behavior_planning/debug/traffic_signal Turn Signals Topic: /vehicle/status/turn_indicators_status - Value: true + Value: false Width: 550 - Background Alpha: 0.5 - Background Color: 23; 28; 31 - Dark Traffic Color: 255; 51; 51 - Handle Angle Scale: 17 - Light Traffic Color: 255; 153; 153 - Primary Color: 174; 174; 174 Enabled: true Name: Vehicle - Class: autoware_string_stamped_rviz_plugin/StringStampedOverlayDisplay - Enabled: true + Enabled: false Font Size: 12 Left: 10 Max Letter Num: 70 Name: Error Diag Graph Text Color: 51; 201; 220 + Time To Erase Last Diag: 2 + Time To Keep Last Diag: 1 Top: 10 Topic: Depth: 1 @@ -282,7 +318,7 @@ Visualization Manager: History Policy: Keep Last Reliability Policy: Reliable Value: /logging_diag_graph/debug/error_graph_text - Value: true + Value: false Value height offset: 0 Enabled: true Name: System @@ -310,11 +346,12 @@ 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 @@ -327,31 +364,35 @@ Visualization Manager: Namespaces: center_lane_line: false center_line_arrows: false + crosswalk_lanelet_id: true crosswalk_lanelets: true - crosswalk_areas: false + detection_area: true + detection_area_stopline: true lane_start_bound: false lanelet direction: true lanelet_id: false left_lane_bound: true + no_stopping_area: true + no_stopping_area_stopline: true parking_lots: true parking_space: true - pedestrian_marking: true + partitions: true + pedestrian_line_marking: true + pedestrian_polygon_marking: true right_lane_bound: true road_lanelets: false - speed_bump: true - stop_lines: true shoulder_center_lane_line: false + shoulder_center_line_arrows: true + shoulder_lane_start_bound: true shoulder_left_lane_bound: true shoulder_right_lane_bound: true shoulder_road_lanelets: false + stop_lines: true traffic_light: true traffic_light_id: false traffic_light_reg_elem_id: false traffic_light_triangle: true walkway_lanelets: true - hatched_road_markings_bound: true - hatched_road_markings_area: false - intersection_area: false Topic: Depth: 5 Durability Policy: Transient Local @@ -365,7 +406,7 @@ Visualization Manager: Displays: - Class: rviz_common/Group Displays: - - Alpha: 0.4 + - Alpha: 0.4000000059604645 Autocompute Intensity Bounds: true Autocompute Value Bounds: Max Value: 5 @@ -387,18 +428,19 @@ 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 @@ -406,6 +448,7 @@ 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 @@ -414,7 +457,7 @@ Visualization Manager: Name: LiDAR - Class: rviz_common/Group Displays: - - Alpha: 0.999 + - Alpha: 0.9990000128746033 Axes Length: 1 Axes Radius: 0.10000000149011612 Class: rviz_default_plugins/PoseWithCovariance @@ -444,6 +487,7 @@ Visualization Manager: Topic: Depth: 5 Durability Policy: Volatile + Filter size: 10 History Policy: Keep Last Reliability Policy: Reliable Value: /sensing/gnss/pose_with_covariance @@ -456,7 +500,7 @@ 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 @@ -486,11 +530,12 @@ 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 @@ -520,27 +565,29 @@ 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 @@ -567,13 +614,14 @@ 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 @@ -600,6 +648,7 @@ Visualization Manager: Topic: Depth: 5 Durability Policy: Volatile + Filter size: 10 History Policy: Keep Last Reliability Policy: Reliable Value: /localization/pose_estimator/points_aligned @@ -609,7 +658,8 @@ Visualization Manager: - Class: rviz_default_plugins/MarkerArray Enabled: true Name: MonteCarloInitialPose - Namespaces: {} + Namespaces: + {} Topic: Depth: 5 Durability Policy: Volatile @@ -625,14 +675,15 @@ 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 @@ -645,7 +696,7 @@ Visualization Manager: Displays: - Class: rviz_common/Group Displays: - - Alpha: 0.999 + - Alpha: 0.9990000128746033 Autocompute Intensity Bounds: true Autocompute Value Bounds: Max Value: 15 @@ -667,11 +718,12 @@ 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 @@ -685,38 +737,47 @@ Visualization Manager: - Class: rviz_common/Group Displays: - BUS: - Alpha: 0.999 + Alpha: 0.9990000128746033 Color: 30; 144; 255 CAR: - Alpha: 0.999 + Alpha: 1 Color: 30; 144; 255 CYCLIST: - Alpha: 0.999 + Alpha: 0.9990000128746033 Color: 119; 11; 32 Class: autoware_perception_rviz_plugin/DetectedObjects - Display 3d polygon: true + Confidence Interval: 95% + Display Acceleration: true + Display Existence Probability: false Display Label: true - Display PoseWithCovariance: true + Display Pose Covariance: true Display Predicted Path Confidence: true Display Predicted Paths: true Display Twist: true + Display Twist Covariance: false Display UUID: true Display Velocity: true - Line Width: 0.03 + Display Yaw Covariance: false + Display Yaw Rate: false + Display Yaw Rate Covariance: false Enabled: true + Line Width: 0.029999999329447746 MOTORCYCLE: - Alpha: 0.999 + Alpha: 0.9990000128746033 Color: 119; 11; 32 Name: DetectedObjects - Namespaces: {} + Namespaces: + {} + Object Fill Type: skeleton 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 @@ -725,46 +786,57 @@ 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: 1 Color: 30; 144; 255 CYCLIST: - Alpha: 0.999 + Alpha: 0.9990000128746033 Color: 119; 11; 32 Class: autoware_perception_rviz_plugin/TrackedObjects - Display 3d polygon: true + Confidence Interval: 95% + Display Acceleration: true + Display Existence Probability: false Display Label: true - Display PoseWithCovariance: true + Display Pose Covariance: true Display Predicted Path Confidence: true Display Predicted Paths: true Display Twist: true + Display Twist Covariance: false Display UUID: true Display Velocity: true - Line Width: 0.03 + Display Yaw Covariance: false + Display Yaw Rate: false + Display Yaw Rate Covariance: false + Dynamic Status: All Enabled: true + Line Width: 0.029999999329447746 MOTORCYCLE: - Alpha: 0.999 + Alpha: 0.9990000128746033 Color: 119; 11; 32 Name: TrackedObjects - Namespaces: {} + Namespaces: + {} + Object Fill Type: skeleton 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 @@ -773,46 +845,56 @@ 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: 1 Color: 30; 144; 255 CAR: - Alpha: 0.999 + Alpha: 1 Color: 30; 144; 255 CYCLIST: - Alpha: 0.999 + Alpha: 1 Color: 119; 11; 32 Class: autoware_perception_rviz_plugin/PredictedObjects - Display 3d polygon: true - Display Label: true - Display PoseWithCovariance: false - Display Predicted Path Confidence: true + Confidence Interval: 95% + Display Acceleration: false + Display Existence Probability: false + Display Label: false + Display Pose Covariance: false + Display Predicted Path Confidence: false Display Predicted Paths: true Display Twist: true - Display UUID: true - Display Velocity: true - Line Width: 0.03 + Display Twist Covariance: false + Display UUID: false + Display Velocity: false + Display Yaw Covariance: false + Display Yaw Rate: false + Display Yaw Rate Covariance: false Enabled: true + Line Width: 0.029999999329447746 MOTORCYCLE: - Alpha: 0.999 + Alpha: 1 Color: 119; 11; 32 Name: PredictedObjects - Namespaces: {} + Namespaces: + {} + Object Fill Type: Fill PEDESTRIAN: - Alpha: 0.999 + Alpha: 1 Color: 255; 192; 203 + Polygon Type: 3d TRAILER: - Alpha: 0.999 + Alpha: 1 Color: 30; 144; 255 TRUCK: - Alpha: 0.999 + Alpha: 1 Color: 30; 144; 255 Topic: Depth: 5 @@ -821,20 +903,22 @@ Visualization Manager: Reliability Policy: Best Effort Value: /perception/object_recognition/objects UNKNOWN: - Alpha: 0.999 + Alpha: 1 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 @@ -842,7 +926,7 @@ Visualization Manager: - Class: rviz_common/Group Displays: - Class: rviz_default_plugins/Image - Enabled: true + Enabled: false Max Value: 1 Median window: 5 Min Value: 0 @@ -854,11 +938,12 @@ Visualization Manager: History Policy: Keep Last Reliability Policy: Best Effort Value: /perception/traffic_light_recognition/traffic_light/debug/rois - Value: true + Value: false - Class: rviz_default_plugins/MarkerArray Enabled: true Name: MapBasedDetectionResult - Namespaces: {} + Namespaces: + {} Topic: Depth: 5 Durability Policy: Volatile @@ -874,7 +959,7 @@ Visualization Manager: Class: rviz_default_plugins/Map Color Scheme: map Draw Behind: false - Enabled: true + Enabled: false Name: Map Topic: Depth: 5 @@ -890,8 +975,8 @@ Visualization Manager: Reliability Policy: Best Effort Value: /perception/occupancy_grid_map/map_updates Use Timestamp: false - Value: true - Enabled: false + Value: false + Enabled: true Name: OccupancyGrid Enabled: true Name: Perception @@ -903,11 +988,7 @@ 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 @@ -915,7 +996,7 @@ 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 @@ -930,22 +1011,23 @@ 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 - - Class: autoware_mission_details_overlay_rviz_plugin/MissionDetailsDisplay - Name: MissionDetailsDisplay - Width: 170 + - Background Alpha: 0.5 + Background Color: 23; 28; 31 + Class: autoware_mission_details_overlay_rviz_plugin/MissionDetailsDisplay + Enabled: true Height: 100 + Name: MissionDetailsDisplay + Remaining Distance and Time Topic: /planning/mission_remaining_distance_time Right: 10 + Text Color: 194; 194; 194 Top: 10 - Remaining Distance and Time Topic: /planning/mission_remaining_distance_time - Enabled: true Value: true - Background Alpha: 0.5 - Background Color: 23; 28; 31 - Text Color: 194; 194; 194 + Width: 170 Enabled: true Name: MissionPlanning - Class: rviz_common/Group @@ -957,18 +1039,42 @@ Visualization Manager: Topic: Depth: 5 Durability Policy: Volatile + Filter size: 10 History Policy: Keep Last Reliability Policy: Reliable Value: /planning/scenario_planning/trajectory Value: true + View Footprint: + Alpha: 1 + Color: 230; 230; 50 + Offset from BaseLink: 0 + Rear Overhang: 1.100000023841858 + Value: false + Vehicle Length: 4.889999866485596 + Vehicle Width: 1.8960000276565552 View Path: - Alpha: 0.999 - Color: 0; 0; 0 - Constant Color: false + Alpha: 0.9990000128746033 + Constant Width: false + Fade Out Distance: 0 + Max Velocity Color: 0; 230; 120 + Mid Velocity Color: 32; 138; 174 + Min Velocity Color: 63; 46; 227 Value: true Width: 2 + View Point: + Alpha: 1 + Color: 0; 60; 255 + Offset: 0 + Radius: 0.10000000149011612 + Value: false + View Text Slope: + Scale: 0.30000001192092896 + 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 @@ -979,21 +1085,50 @@ Visualization Manager: Displays: - Class: rviz_plugins/Path Color Border Vel Max: 3 - Enabled: true + Enabled: false Name: Path 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 + 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: 1.100000023841858 + Value: false + Vehicle Length: 4.889999866485596 + Vehicle Width: 1.8960000276565552 View Path: Alpha: 0.4000000059604645 - Color: 0; 0; 0 - Constant Color: false + Constant Width: false + Fade Out Distance: 0 + Max Velocity Color: 0; 230; 120 + Mid Velocity Color: 32; 138; 174 + Min Velocity Color: 63; 46; 227 Value: true Width: 2 + View Point: + Alpha: 1 + Color: 0; 60; 255 + Offset: 0 + Radius: 0.10000000149011612 + Value: false + View Text Slope: + Scale: 0.30000001192092896 + Value: false + View Text Velocity: + Scale: 0.30000001192092896 + Value: false View Velocity: Alpha: 0.4000000059604645 Color: 0; 0; 0 @@ -1007,16 +1142,45 @@ 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 - Color: 210; 110; 10 - Constant Color: true + Alpha: 0.30000001192092896 + Constant Width: false + Fade Out Distance: 0 + Max Velocity Color: 0; 230; 120 + Mid Velocity Color: 32; 138; 174 + Min Velocity Color: 63; 46; 227 Value: true Width: 2 + View Point: + Alpha: 1 + Color: 0; 60; 255 + Offset: 0 + Radius: 0.10000000149011612 + Value: false + View Text Slope: + Scale: 0.30000001192092896 + Value: false + View Text Velocity: + Scale: 0.30000001192092896 + Value: false View Velocity: Alpha: 0.30000001192092896 Color: 0; 0; 0 @@ -1030,16 +1194,45 @@ Visualization Manager: Topic: Depth: 5 Durability Policy: Volatile + Filter size: 10 History Policy: Keep Last Reliability Policy: Reliable Value: /planning/path_reference/static_obstacle_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 - Color: 210; 110; 210 - Constant Color: true + Alpha: 0.30000001192092896 + Constant Width: false + Fade Out Distance: 0 + Max Velocity Color: 0; 230; 120 + Mid Velocity Color: 32; 138; 174 + Min Velocity Color: 63; 46; 227 Value: true Width: 2 + View Point: + Alpha: 1 + Color: 0; 60; 255 + Offset: 0 + Radius: 0.10000000149011612 + Value: false + View Text Slope: + Scale: 0.30000001192092896 + Value: false + View Text Velocity: + Scale: 0.30000001192092896 + Value: false View Velocity: Alpha: 0.30000001192092896 Color: 0; 0; 0 @@ -1053,16 +1246,45 @@ 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 - Color: 210; 210; 110 - Constant Color: true + Alpha: 0.30000001192092896 + Constant Width: false + Fade Out Distance: 0 + Max Velocity Color: 0; 230; 120 + Mid Velocity Color: 32; 138; 174 + Min Velocity Color: 63; 46; 227 Value: true Width: 2 + View Point: + Alpha: 1 + Color: 0; 60; 255 + Offset: 0 + Radius: 0.10000000149011612 + Value: false + View Text Slope: + Scale: 0.30000001192092896 + Value: false + View Text Velocity: + Scale: 0.30000001192092896 + Value: false View Velocity: Alpha: 0.30000001192092896 Color: 0; 0; 0 @@ -1076,16 +1298,45 @@ 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 - Color: 210; 210; 110 - Constant Color: true + Alpha: 0.30000001192092896 + Constant Width: false + Fade Out Distance: 0 + Max Velocity Color: 0; 230; 120 + Mid Velocity Color: 32; 138; 174 + Min Velocity Color: 63; 46; 227 Value: true Width: 2 + View Point: + Alpha: 1 + Color: 0; 60; 255 + Offset: 0 + Radius: 0.10000000149011612 + Value: false + View Text Slope: + Scale: 0.30000001192092896 + Value: false + View Text Velocity: + Scale: 0.30000001192092896 + Value: false View Velocity: Alpha: 0.30000001192092896 Color: 0; 0; 0 @@ -1099,16 +1350,45 @@ 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 - Color: 110; 110; 210 - Constant Color: true + Alpha: 0.30000001192092896 + Constant Width: false + Fade Out Distance: 0 + Max Velocity Color: 0; 230; 120 + Mid Velocity Color: 32; 138; 174 + Min Velocity Color: 63; 46; 227 Value: true Width: 2 + View Point: + Alpha: 1 + Color: 0; 60; 255 + Offset: 0 + Radius: 0.10000000149011612 + Value: false + View Text Slope: + Scale: 0.30000001192092896 + Value: false + View Text Velocity: + Scale: 0.30000001192092896 + Value: false View Velocity: Alpha: 0.30000001192092896 Color: 0; 0; 0 @@ -1122,16 +1402,45 @@ 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 - Color: 210; 110; 110 - Constant Color: true + Alpha: 0.30000001192092896 + Constant Width: false + Fade Out Distance: 0 + Max Velocity Color: 0; 230; 120 + Mid Velocity Color: 32; 138; 174 + Min Velocity Color: 63; 46; 227 Value: true Width: 2 + View Point: + Alpha: 1 + Color: 0; 60; 255 + Offset: 0 + Radius: 0.10000000149011612 + Value: false + View Text Slope: + Scale: 0.30000001192092896 + Value: false + View Text Velocity: + Scale: 0.30000001192092896 + Value: false View Velocity: Alpha: 0.30000001192092896 Color: 0; 0; 0 @@ -1145,16 +1454,45 @@ 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: 1.100000023841858 + Value: false + Vehicle Length: 4.889999866485596 + Vehicle Width: 1.8960000276565552 View Path: Alpha: 0.30000001192092896 - Color: 115; 210; 22 - Constant Color: false + Constant Width: false + Fade Out Distance: 0 + Max Velocity Color: 0; 230; 120 + Mid Velocity Color: 32; 138; 174 + Min Velocity Color: 63; 46; 227 Value: true Width: 2 + View Point: + Alpha: 1 + Color: 0; 60; 255 + Offset: 0 + Radius: 0.10000000149011612 + Value: false + View Text Slope: + Scale: 0.30000001192092896 + Value: false + View Text Velocity: + Scale: 0.30000001192092896 + Value: false View Velocity: Alpha: 0.30000001192092896 Color: 0; 0; 0 @@ -1168,16 +1506,45 @@ 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 + Fade Out Distance: 0 + Max Velocity Color: 0; 230; 120 + Mid Velocity Color: 32; 138; 174 + Min Velocity Color: 63; 46; 227 Value: true Width: 2 + View Point: + Alpha: 1 + Color: 0; 60; 255 + Offset: 0 + Radius: 0.10000000149011612 + Value: false + View Text Slope: + Scale: 0.30000001192092896 + Value: false + View Text Velocity: + Scale: 0.30000001192092896 + Value: false View Velocity: Alpha: 0.30000001192092896 Color: 0; 0; 0 @@ -1191,16 +1558,45 @@ 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: 1.100000023841858 + Value: false + Vehicle Length: 4.889999866485596 + Vehicle Width: 1.8960000276565552 View Path: Alpha: 0.30000001192092896 - Color: 115; 210; 22 - Constant Color: false + Constant Width: false + Fade Out Distance: 0 + Max Velocity Color: 0; 230; 120 + Mid Velocity Color: 32; 138; 174 + Min Velocity Color: 63; 46; 227 Value: true Width: 2 + View Point: + Alpha: 1 + Color: 0; 60; 255 + Offset: 0 + Radius: 0.10000000149011612 + Value: false + View Text Slope: + Scale: 0.30000001192092896 + Value: false + View Text Velocity: + Scale: 0.30000001192092896 + Value: false View Velocity: Alpha: 0.30000001192092896 Color: 0; 0; 0 @@ -1214,16 +1610,45 @@ 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: 1.100000023841858 + Value: false + Vehicle Length: 4.889999866485596 + Vehicle Width: 1.8960000276565552 View Path: Alpha: 0.30000001192092896 - Color: 115; 210; 22 - Constant Color: false + Constant Width: false + Fade Out Distance: 0 + Max Velocity Color: 0; 230; 120 + Mid Velocity Color: 32; 138; 174 + Min Velocity Color: 63; 46; 227 Value: true Width: 2 + View Point: + Alpha: 1 + Color: 0; 60; 255 + Offset: 0 + Radius: 0.10000000149011612 + Value: false + View Text Slope: + Scale: 0.30000001192092896 + Value: false + View Text Velocity: + Scale: 0.30000001192092896 + Value: false View Velocity: Alpha: 0.30000001192092896 Color: 0; 0; 0 @@ -1237,16 +1662,45 @@ 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 + Fade Out Distance: 0 + Max Velocity Color: 0; 230; 120 + Mid Velocity Color: 32; 138; 174 + Min Velocity Color: 63; 46; 227 Value: true Width: 2 + View Point: + Alpha: 1 + Color: 0; 60; 255 + Offset: 0 + Radius: 0.10000000149011612 + Value: false + View Text Slope: + Scale: 0.30000001192092896 + Value: false + View Text Velocity: + Scale: 0.30000001192092896 + Value: false View Velocity: Alpha: 0.30000001192092896 Color: 0; 0; 0 @@ -1260,16 +1714,45 @@ 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 + Fade Out Distance: 0 + Max Velocity Color: 0; 230; 120 + Mid Velocity Color: 32; 138; 174 + Min Velocity Color: 63; 46; 227 Value: true Width: 2 + View Point: + Alpha: 1 + Color: 0; 60; 255 + Offset: 0 + Radius: 0.10000000149011612 + Value: false + View Text Slope: + Scale: 0.30000001192092896 + Value: false + View Text Velocity: + Scale: 0.30000001192092896 + Value: false View Velocity: Alpha: 0.30000001192092896 Color: 0; 0; 0 @@ -1283,16 +1766,45 @@ Visualization Manager: Topic: Depth: 5 Durability Policy: Volatile + Filter size: 10 History Policy: Keep Last Reliability Policy: Reliable Value: /planning/path_candidate/static_obstacle_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: 1.100000023841858 + Value: false + Vehicle Length: 4.889999866485596 + Vehicle Width: 1.8960000276565552 View Path: Alpha: 0.30000001192092896 - Color: 115; 210; 22 - Constant Color: false + Constant Width: false + Fade Out Distance: 0 + Max Velocity Color: 0; 230; 120 + Mid Velocity Color: 32; 138; 174 + Min Velocity Color: 63; 46; 227 Value: true Width: 2 + View Point: + Alpha: 1 + Color: 0; 60; 255 + Offset: 0 + Radius: 0.10000000149011612 + Value: false + View Text Slope: + Scale: 0.30000001192092896 + Value: false + View Text Velocity: + Scale: 0.30000001192092896 + Value: false View Velocity: Alpha: 0.30000001192092896 Color: 0; 0; 0 @@ -1306,16 +1818,45 @@ 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: 1.100000023841858 + Value: false + Vehicle Length: 4.889999866485596 + Vehicle Width: 1.8960000276565552 View Path: Alpha: 0.30000001192092896 - Color: 115; 210; 22 - Constant Color: false + Constant Width: false + Fade Out Distance: 0 + Max Velocity Color: 0; 230; 120 + Mid Velocity Color: 32; 138; 174 + Min Velocity Color: 63; 46; 227 Value: true Width: 2 + View Point: + Alpha: 1 + Color: 0; 60; 255 + Offset: 0 + Radius: 0.10000000149011612 + Value: false + View Text Slope: + Scale: 0.30000001192092896 + Value: false + View Text Velocity: + Scale: 0.30000001192092896 + Value: false View Velocity: Alpha: 0.30000001192092896 Color: 0; 0; 0 @@ -1329,16 +1870,45 @@ 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: 1.100000023841858 + Value: false + Vehicle Length: 4.889999866485596 + Vehicle Width: 1.8960000276565552 View Path: Alpha: 0.30000001192092896 - Color: 115; 210; 22 - Constant Color: false + Constant Width: false + Fade Out Distance: 0 + Max Velocity Color: 0; 230; 120 + Mid Velocity Color: 32; 138; 174 + Min Velocity Color: 63; 46; 227 Value: true Width: 2 + View Point: + Alpha: 1 + Color: 0; 60; 255 + Offset: 0 + Radius: 0.10000000149011612 + Value: false + View Text Slope: + Scale: 0.30000001192092896 + Value: false + View Text Velocity: + Scale: 0.30000001192092896 + Value: false View Velocity: Alpha: 0.30000001192092896 Color: 0; 0; 0 @@ -1349,16 +1919,14 @@ 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 @@ -1557,8 +2125,7 @@ Visualization Manager: Enabled: true Name: VirtualWall (StopLine) Namespaces: - stop_factor_text: true - stop_virtual_wall: true + {} Topic: Depth: 5 Durability Policy: Volatile @@ -1890,12 +2457,7 @@ Visualization Manager: Enabled: false Name: Info (StaticObstacleAvoidance) Namespaces: - avoidable_target_objects_info: false - avoidable_target_objects_info_reason: false - avoidable_target_objects_envelope_polygon: false - unavoidable_target_objects_info: false - unavoidable_target_objects_info_reason: false - unavoidable_target_objects_envelope_polygon: false + {} Topic: Depth: 5 Durability Policy: Volatile @@ -2012,18 +2574,42 @@ Visualization Manager: Topic: Depth: 5 Durability Policy: Volatile + Filter size: 10 History Policy: Keep Last Reliability Policy: Reliable Value: /planning/scenario_planning/lane_driving/trajectory Value: false + View 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 - Color: 0; 0; 0 - Constant Color: false + Alpha: 0.9990000128746033 + Constant Width: false + Fade Out Distance: 0 + Max Velocity Color: 0; 230; 120 + Mid Velocity Color: 32; 138; 174 + Min Velocity Color: 63; 46; 227 Value: true Width: 2 + View Point: + Alpha: 1 + Color: 0; 60; 255 + Offset: 0 + Radius: 0.10000000149011612 + Value: false + View Text Slope: + Scale: 0.30000001192092896 + 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 @@ -2378,6 +2964,7 @@ 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 @@ -2389,7 +2976,7 @@ 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 @@ -2405,11 +2992,12 @@ 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 @@ -2425,6 +3013,7 @@ Visualization Manager: Topic: Depth: 5 Durability Policy: Volatile + Filter size: 10 History Policy: Keep Last Reliability Policy: Reliable Value: /planning/scenario_planning/parking/freespace_planner/debug/pose_array @@ -2454,7 +3043,8 @@ Visualization Manager: - Class: rviz_default_plugins/MarkerArray Enabled: true Name: PlanningErrorMarker - Namespaces: {} + Namespaces: + {} Topic: Depth: 5 Durability Policy: Volatile @@ -2475,17 +3065,40 @@ Visualization Manager: Topic: Depth: 5 Durability Policy: Volatile + Filter size: 10 History Policy: Keep Last Reliability Policy: Reliable Value: /control/trajectory_follower/controller_node_exe/debug/predicted_trajectory_in_frenet_coordinate Value: true + View Footprint: + Alpha: 1 + Color: 230; 230; 50 + Offset from BaseLink: 0 + Rear Overhang: 1.100000023841858 + Value: false + Vehicle Length: 4.889999866485596 + Vehicle Width: 1.8960000276565552 View Path: Alpha: 1 - Color: 255; 255; 255 - Constant Color: true - Value: true Constant Width: true + Fade Out Distance: 0 + Max Velocity Color: 0; 230; 120 + Mid Velocity Color: 32; 138; 174 + Min Velocity Color: 63; 46; 227 + Value: true Width: 0.05000000074505806 + View Point: + Alpha: 1 + Color: 0; 60; 255 + Offset: 0 + Radius: 0.10000000149011612 + Value: false + View Text Slope: + Scale: 0.30000001192092896 + Value: false + View Text Velocity: + Scale: 0.30000001192092896 + Value: false View Velocity: Alpha: 1 Color: 0; 0; 0 @@ -2499,29 +3112,46 @@ Visualization Manager: Topic: Depth: 5 Durability Policy: Volatile + Filter size: 10 History Policy: Keep Last Reliability Policy: Reliable Value: /control/trajectory_follower/controller_node_exe/debug/resampled_reference_trajectory - Value: true - View Path: + Value: false + View Footprint: Alpha: 1 - Color: 153; 193; 241 - Constant Color: true + Color: 230; 230; 50 + Offset from BaseLink: 0 + Rear Overhang: 1.0299999713897705 Value: false - Constant Width: true - Width: 0.2 - View Velocity: + Vehicle Length: 4.769999980926514 + Vehicle Width: 1.8300000429153442 + View Path: Alpha: 1 - Color: 0; 0; 0 - Constant Color: false - Scale: 0.30000001192092896 + Constant Width: true + Fade Out Distance: 0 + Max Velocity Color: 0; 230; 120 + Mid Velocity Color: 32; 138; 174 + Min Velocity Color: 63; 46; 227 Value: false + Width: 0.20000000298023224 View Point: Alpha: 1 Color: 0; 60; 255 Offset: 0 Radius: 0.10000000149011612 Value: true + View Text Slope: + Scale: 0.30000001192092896 + Value: false + View Text Velocity: + Scale: 0.30000001192092896 + Value: false + View Velocity: + Alpha: 1 + Color: 0; 0; 0 + Constant Color: false + Scale: 0.30000001192092896 + Value: false - Class: rviz_common/Group Displays: - Class: rviz_default_plugins/MarkerArray @@ -2566,7 +3196,8 @@ Visualization Manager: - Class: rviz_default_plugins/MarkerArray Enabled: false Name: Debug/MPC - Namespaces: {} + Namespaces: + {} Topic: Depth: 5 Durability Policy: Volatile @@ -2577,7 +3208,8 @@ Visualization Manager: - Class: rviz_default_plugins/MarkerArray Enabled: false Name: Debug/PurePursuit - Namespaces: {} + Namespaces: + {} Topic: Depth: 5 Durability Policy: Volatile @@ -2589,10 +3221,7 @@ 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 @@ -2629,9 +3258,13 @@ Visualization Manager: Debug/MPC: true Debug/PurePursuit: true Predicted Trajectory: true + Resampled Reference Trajectory: true + Stop Reason: true + Value: false VirtualWall: + Value: true VirtualWall (AEB): true - Value: false + VirtualWall (velocity control): true Debug: Control: true Localization: @@ -2647,7 +3280,7 @@ Visualization Manager: CenterpointROIFusion(red2): true CenterpointValidator(red3): true Detection(yellow): true - DetectionByTracker(cyan): true + DetectionByTracker(orange): true PointPainting(light_green1): true PointPaintingROIFusion(light_green2): true PointPaintingValidator(light_green3): true @@ -2655,7 +3288,11 @@ Visualization Manager: RadarFarObjects(white): true Tracking(green): true Value: true - Planning: true + Planning: + "": + "": true + Value: true + Value: true Sensing: ConcatenatePointCloud: true RadarRawObjects(white): true @@ -2718,7 +3355,6 @@ Visualization Manager: Bound: true DebugMarker: Arrow: true - StaticObstacleAvoidance: true Blind Spot: true Crosswalk: true DetectionArea: true @@ -2735,12 +3371,12 @@ Visualization Manager: SideShift: true SpeedBump: true StartPlanner: true + StaticObstacleAvoidance: true StopLine: true TrafficLight: true Value: true VirtualTrafficLight: true InfoMarker: - Info (StaticObstacleAvoidance): true Info (AvoidanceByLC): true Info (DynamicObstacleAvoidance): true Info (ExtLaneChangeLeft): true @@ -2749,6 +3385,7 @@ Visualization Manager: Info (LaneChangeLeft): true Info (LaneChangeRight): true Info (StartPlanner): true + Info (StaticObstacleAvoidance): true Value: true Path: true PathChangeCandidate_Avoidance: true @@ -2768,7 +3405,6 @@ Visualization Manager: Value: true VirtualWall: Value: true - VirtualWall (StaticObstacleAvoidance): true VirtualWall (AvoidanceByLC): true VirtualWall (BlindSpot): true VirtualWall (Crosswalk): true @@ -2786,17 +3422,24 @@ Visualization Manager: VirtualWall (RunOut): true VirtualWall (SpeedBump): true VirtualWall (StartPlanner): true + VirtualWall (StaticObstacleAvoidance): true VirtualWall (StopLine): true VirtualWall (TrafficLight): true VirtualWall (VirtualTrafficLight): true VirtualWall (Walkway): true MotionPlanning: DebugMarker: + MotionVelocityPlanner: + DynamicObstacleStop: true + ObstacleCruise: true + ObstacleSlowDown: true + ObstacleStop: true + ObstacleVelocityLimiter: true + OutOfLane: true + Value: true ObstacleAvoidance: true ObstacleCruise: - CruiseVirtualWall: true DebugMarker: true - SlowDownVirtualWall: true Value: true ObstacleStop: true SurroundObstacleChecker: @@ -2810,9 +3453,17 @@ Visualization Manager: Value: true VirtualWall: Value: true + VirtualWall (DynamicObstacleStop): true + VirtualWall (MotionVelocitySmoother): true VirtualWall (ObstacleAvoidance): true + VirtualWall (ObstacleCruise Cruise): true + VirtualWall (ObstacleCruise SlowDown): true + VirtualWall (ObstacleCruise Stop): true VirtualWall (ObstacleCruise): true + VirtualWall (ObstacleSlowDown): true VirtualWall (ObstacleStop): true + VirtualWall (ObstacleVelocityLimiter): true + VirtualWall (OutOfLane): true VirtualWall (SurroundObstacle): true Value: true ModifiedGoal: true @@ -2834,15 +3485,15 @@ Visualization Manager: Value: true Value: true System: + Error Diag Graph: true Grid: true - MRM Summary: true TF: true Value: false Vehicle: PolarGridDisplay: true + SignalDisplay: true Value: true VehicleModel: true - SignalDisplay: true Value: true Zoom Factor: 1 - Alpha: 1 @@ -2889,14 +3540,20 @@ Visualization Manager: Alpha: 0.5 Color: 255; 255; 255 Class: autoware_perception_rviz_plugin/DetectedObjects + Confidence Interval: 95% Display Acceleration: true + Display Existence Probability: false Display Label: true - Display PoseWithCovariance: true + Display Pose Covariance: true Display Predicted Path Confidence: true Display Predicted Paths: true Display Twist: true + Display Twist Covariance: false Display UUID: true Display Velocity: true + Display Yaw Covariance: false + Display Yaw Rate: false + Display Yaw Rate Covariance: false Enabled: true Line Width: 0.029999999329447746 MOTORCYCLE: @@ -2905,6 +3562,7 @@ Visualization Manager: Name: RadarRawObjects(white) Namespaces: {} + Object Fill Type: skeleton PEDESTRIAN: Alpha: 0.5 Color: 255; 255; 255 @@ -2929,8 +3587,6 @@ Visualization Manager: Enabled: false Name: Sensing - Class: rviz_common/Group - Enabled: true - Name: Localization Displays: - Alpha: 0.9990000128746033 Autocompute Intensity Bounds: true @@ -2988,7 +3644,7 @@ Visualization Manager: Position Transformer: "" Selectable: true Size (Pixels): 3 - Size (m): 0.1 + Size (m): 0.10000000149011612 Style: Flat Squares Topic: Depth: 5 @@ -3034,6 +3690,8 @@ Visualization Manager: Reliability Policy: Reliable Value: /localization/pose_twist_fusion_filter/pose Value: true + Enabled: true + Name: Localization - Class: rviz_common/Group Displays: - BUS: @@ -3046,14 +3704,20 @@ Visualization Manager: Alpha: 0.9990000128746033 Color: 255; 138; 128 Class: autoware_perception_rviz_plugin/DetectedObjects + Confidence Interval: 95% Display Acceleration: true + Display Existence Probability: false Display Label: true - Display PoseWithCovariance: true + Display Pose Covariance: true Display Predicted Path Confidence: true Display Predicted Paths: true Display Twist: true + Display Twist Covariance: false Display UUID: true Display Velocity: true + Display Yaw Covariance: false + Display Yaw Rate: false + Display Yaw Rate Covariance: false Enabled: true Line Width: 0.10000000149011612 MOTORCYCLE: @@ -3062,6 +3726,7 @@ Visualization Manager: Name: Centerpoint(red1) Namespaces: {} + Object Fill Type: skeleton PEDESTRIAN: Alpha: 0.9990000128746033 Color: 255; 138; 128 @@ -3081,7 +3746,7 @@ Visualization Manager: UNKNOWN: Alpha: 0.9990000128746033 Color: 255; 138; 128 - Value: false + Value: true Visualization Type: Normal - BUS: Alpha: 0.9990000128746033 @@ -3093,14 +3758,20 @@ Visualization Manager: Alpha: 0.9990000128746033 Color: 255; 82; 82 Class: autoware_perception_rviz_plugin/DetectedObjects + Confidence Interval: 95% Display Acceleration: true + Display Existence Probability: false Display Label: true - Display PoseWithCovariance: true + Display Pose Covariance: true Display Predicted Path Confidence: true Display Predicted Paths: true Display Twist: true + Display Twist Covariance: false Display UUID: true Display Velocity: true + Display Yaw Covariance: false + Display Yaw Rate: false + Display Yaw Rate Covariance: false Enabled: true Line Width: 0.10000000149011612 MOTORCYCLE: @@ -3109,6 +3780,7 @@ Visualization Manager: Name: CenterpointROIFusion(red2) Namespaces: {} + Object Fill Type: skeleton PEDESTRIAN: Alpha: 0.9990000128746033 Color: 255; 82; 82 @@ -3128,7 +3800,7 @@ Visualization Manager: UNKNOWN: Alpha: 0.9990000128746033 Color: 255; 82; 82 - Value: false + Value: true Visualization Type: Normal - BUS: Alpha: 0.9990000128746033 @@ -3140,14 +3812,20 @@ Visualization Manager: Alpha: 0.9990000128746033 Color: 213; 0; 0 Class: autoware_perception_rviz_plugin/DetectedObjects + Confidence Interval: 95% Display Acceleration: true + Display Existence Probability: false Display Label: true - Display PoseWithCovariance: true + Display Pose Covariance: true Display Predicted Path Confidence: true Display Predicted Paths: true Display Twist: true + Display Twist Covariance: false Display UUID: true Display Velocity: true + Display Yaw Covariance: false + Display Yaw Rate: false + Display Yaw Rate Covariance: false Enabled: true Line Width: 0.10000000149011612 MOTORCYCLE: @@ -3156,6 +3834,7 @@ Visualization Manager: Name: CenterpointValidator(red3) Namespaces: {} + Object Fill Type: skeleton PEDESTRIAN: Alpha: 0.9990000128746033 Color: 213; 0; 0 @@ -3175,7 +3854,7 @@ Visualization Manager: UNKNOWN: Alpha: 0.9990000128746033 Color: 213; 0; 0 - Value: false + Value: true Visualization Type: Normal - BUS: Alpha: 0.9990000128746033 @@ -3187,14 +3866,20 @@ Visualization Manager: Alpha: 0.9990000128746033 Color: 178; 255; 89 Class: autoware_perception_rviz_plugin/DetectedObjects + Confidence Interval: 95% Display Acceleration: true + Display Existence Probability: false Display Label: true - Display PoseWithCovariance: true + Display Pose Covariance: true Display Predicted Path Confidence: true Display Predicted Paths: true Display Twist: true + Display Twist Covariance: false Display UUID: true Display Velocity: true + Display Yaw Covariance: false + Display Yaw Rate: false + Display Yaw Rate Covariance: false Enabled: true Line Width: 0.10000000149011612 MOTORCYCLE: @@ -3203,6 +3888,7 @@ Visualization Manager: Name: PointPainting(light_green1) Namespaces: {} + Object Fill Type: skeleton PEDESTRIAN: Alpha: 0.9990000128746033 Color: 178; 255; 89 @@ -3222,7 +3908,7 @@ Visualization Manager: UNKNOWN: Alpha: 0.9990000128746033 Color: 178; 255; 89 - Value: false + Value: true Visualization Type: Normal - BUS: Alpha: 0.9990000128746033 @@ -3234,14 +3920,20 @@ Visualization Manager: Alpha: 0.9990000128746033 Color: 118; 255; 3 Class: autoware_perception_rviz_plugin/DetectedObjects + Confidence Interval: 95% Display Acceleration: true + Display Existence Probability: false Display Label: true - Display PoseWithCovariance: true + Display Pose Covariance: true Display Predicted Path Confidence: true Display Predicted Paths: true Display Twist: true + Display Twist Covariance: false Display UUID: true Display Velocity: true + Display Yaw Covariance: false + Display Yaw Rate: false + Display Yaw Rate Covariance: false Enabled: true Line Width: 0.10000000149011612 MOTORCYCLE: @@ -3250,6 +3942,7 @@ Visualization Manager: Name: PointPaintingROIFusion(light_green2) Namespaces: {} + Object Fill Type: skeleton PEDESTRIAN: Alpha: 0.9990000128746033 Color: 118; 255; 3 @@ -3269,7 +3962,7 @@ Visualization Manager: UNKNOWN: Alpha: 0.9990000128746033 Color: 118; 255; 3 - Value: false + Value: true Visualization Type: Normal - BUS: Alpha: 0.9990000128746033 @@ -3281,14 +3974,20 @@ Visualization Manager: Alpha: 0.9990000128746033 Color: 100; 221; 23 Class: autoware_perception_rviz_plugin/DetectedObjects + Confidence Interval: 95% Display Acceleration: true + Display Existence Probability: false Display Label: true - Display PoseWithCovariance: true + Display Pose Covariance: true Display Predicted Path Confidence: true Display Predicted Paths: true Display Twist: true + Display Twist Covariance: false Display UUID: true Display Velocity: true + Display Yaw Covariance: false + Display Yaw Rate: false + Display Yaw Rate Covariance: false Enabled: true Line Width: 0.10000000149011612 MOTORCYCLE: @@ -3297,6 +3996,7 @@ Visualization Manager: Name: PointPaintingValidator(light_green3) Namespaces: {} + Object Fill Type: skeleton PEDESTRIAN: Alpha: 0.9990000128746033 Color: 100; 221; 23 @@ -3316,7 +4016,7 @@ Visualization Manager: UNKNOWN: Alpha: 0.9990000128746033 Color: 100; 221; 23 - Value: false + Value: true Visualization Type: Normal - BUS: Alpha: 0.9990000128746033 @@ -3328,14 +4028,20 @@ Visualization Manager: Alpha: 0.9990000128746033 Color: 255; 145; 0 Class: autoware_perception_rviz_plugin/DetectedObjects + Confidence Interval: 95% Display Acceleration: true + Display Existence Probability: false Display Label: true - Display PoseWithCovariance: true + Display Pose Covariance: true Display Predicted Path Confidence: true Display Predicted Paths: true Display Twist: true + Display Twist Covariance: false Display UUID: true Display Velocity: true + Display Yaw Covariance: false + Display Yaw Rate: false + Display Yaw Rate Covariance: false Enabled: true Line Width: 0.10000000149011612 MOTORCYCLE: @@ -3344,6 +4050,7 @@ Visualization Manager: Name: DetectionByTracker(orange) Namespaces: {} + Object Fill Type: skeleton PEDESTRIAN: Alpha: 0.9990000128746033 Color: 255; 145; 0 @@ -3363,7 +4070,7 @@ Visualization Manager: UNKNOWN: Alpha: 0.9990000128746033 Color: 255; 145; 0 - Value: false + Value: true Visualization Type: Normal - BUS: Alpha: 0.9990000128746033 @@ -3375,14 +4082,20 @@ Visualization Manager: Alpha: 0.9990000128746033 Color: 213; 0; 249 Class: autoware_perception_rviz_plugin/DetectedObjects + Confidence Interval: 95% Display Acceleration: true + Display Existence Probability: false Display Label: true - Display PoseWithCovariance: true + Display Pose Covariance: true Display Predicted Path Confidence: true Display Predicted Paths: true Display Twist: true + Display Twist Covariance: false Display UUID: true Display Velocity: true + Display Yaw Covariance: false + Display Yaw Rate: false + Display Yaw Rate Covariance: false Enabled: true Line Width: 0.10000000149011612 MOTORCYCLE: @@ -3391,6 +4104,7 @@ Visualization Manager: Name: CameraLidarFusion(purple) Namespaces: {} + Object Fill Type: skeleton PEDESTRIAN: Alpha: 0.9990000128746033 Color: 213; 0; 249 @@ -3410,7 +4124,7 @@ Visualization Manager: UNKNOWN: Alpha: 0.9990000128746033 Color: 213; 0; 249 - Value: false + Value: true Visualization Type: Normal - BUS: Alpha: 0.9990000128746033 @@ -3422,14 +4136,20 @@ Visualization Manager: Alpha: 0.9990000128746033 Color: 255; 255; 255 Class: autoware_perception_rviz_plugin/DetectedObjects + Confidence Interval: 95% Display Acceleration: true + Display Existence Probability: false Display Label: true - Display PoseWithCovariance: true + Display Pose Covariance: true Display Predicted Path Confidence: true Display Predicted Paths: true Display Twist: true + Display Twist Covariance: false Display UUID: true Display Velocity: true + Display Yaw Covariance: false + Display Yaw Rate: false + Display Yaw Rate Covariance: false Enabled: true Line Width: 0.10000000149011612 MOTORCYCLE: @@ -3438,6 +4158,7 @@ Visualization Manager: Name: RadarFarObjects(white) Namespaces: {} + Object Fill Type: skeleton PEDESTRIAN: Alpha: 0.9990000128746033 Color: 255; 255; 255 @@ -3457,7 +4178,7 @@ Visualization Manager: UNKNOWN: Alpha: 0.9990000128746033 Color: 255; 255; 255 - Value: false + Value: true Visualization Type: Normal - BUS: Alpha: 0.9990000128746033 @@ -3469,14 +4190,20 @@ Visualization Manager: Alpha: 0.9990000128746033 Color: 255; 234; 0 Class: autoware_perception_rviz_plugin/DetectedObjects + Confidence Interval: 95% Display Acceleration: true + Display Existence Probability: false Display Label: true - Display PoseWithCovariance: true + Display Pose Covariance: true Display Predicted Path Confidence: true Display Predicted Paths: true Display Twist: true + Display Twist Covariance: false Display UUID: true Display Velocity: true + Display Yaw Covariance: false + Display Yaw Rate: false + Display Yaw Rate Covariance: false Enabled: true Line Width: 0.10000000149011612 MOTORCYCLE: @@ -3485,6 +4212,7 @@ Visualization Manager: Name: Detection(yellow) Namespaces: {} + Object Fill Type: skeleton PEDESTRIAN: Alpha: 0.9990000128746033 Color: 255; 234; 0 @@ -3504,7 +4232,7 @@ Visualization Manager: UNKNOWN: Alpha: 0.9990000128746033 Color: 255; 234; 0 - Value: false + Value: true Visualization Type: Normal - BUS: Alpha: 0.9990000128746033 @@ -3516,14 +4244,21 @@ Visualization Manager: Alpha: 0.9990000128746033 Color: 0; 230; 118 Class: autoware_perception_rviz_plugin/TrackedObjects + Confidence Interval: 95% Display Acceleration: true + Display Existence Probability: false Display Label: true - Display PoseWithCovariance: true + Display Pose Covariance: true Display Predicted Path Confidence: true Display Predicted Paths: true Display Twist: true + Display Twist Covariance: false Display UUID: true Display Velocity: true + Display Yaw Covariance: false + Display Yaw Rate: false + Display Yaw Rate Covariance: false + Dynamic Status: All Enabled: true Line Width: 0.10000000149011612 MOTORCYCLE: @@ -3532,6 +4267,7 @@ Visualization Manager: Name: Tracking(green) Namespaces: {} + Object Fill Type: skeleton PEDESTRIAN: Alpha: 0.9990000128746033 Color: 0; 230; 118 @@ -3551,7 +4287,7 @@ Visualization Manager: UNKNOWN: Alpha: 0.9990000128746033 Color: 0; 230; 118 - Value: false + Value: true Visualization Type: Normal - BUS: Alpha: 0.9990000128746033 @@ -3563,14 +4299,20 @@ Visualization Manager: Alpha: 0.9990000128746033 Color: 0; 176; 255 Class: autoware_perception_rviz_plugin/PredictedObjects + Confidence Interval: 95% Display Acceleration: true + Display Existence Probability: false Display Label: true - Display PoseWithCovariance: false + Display Pose Covariance: true Display Predicted Path Confidence: true Display Predicted Paths: true Display Twist: true + Display Twist Covariance: false Display UUID: true Display Velocity: true + Display Yaw Covariance: false + Display Yaw Rate: false + Display Yaw Rate Covariance: false Enabled: true Line Width: 0.10000000149011612 MOTORCYCLE: @@ -3579,6 +4321,7 @@ Visualization Manager: Name: Prediction(light_blue) Namespaces: {} + Object Fill Type: skeleton PEDESTRIAN: Alpha: 0.9990000128746033 Color: 0; 176; 255 @@ -3598,7 +4341,7 @@ Visualization Manager: UNKNOWN: Alpha: 0.9990000128746033 Color: 0; 176; 255 - Value: false + Value: true Visualization Type: Normal Enabled: true Name: Perception @@ -3799,7 +4542,6 @@ Visualization Manager: Enabled: true Global Options: Background Color: 15; 20; 23 - Default Light: true Fixed Frame: map Frame Rate: 30 Name: root @@ -3812,15 +4554,15 @@ 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 @@ -3835,26 +4577,47 @@ 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 @@ -3867,24 +4630,32 @@ 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 - Class: rviz_default_plugins/TopDownOrtho + Class: tier4_camera_view_rviz_plugin/ThirdPersonView + Distance: 20 Enable Stereo Rendering: Stereo Eye Separation: 0.05999999865889549 Stereo Focal Distance: 1 Swap Stereo Eyes: false Value: false + Focal Point: + X: 0 + Y: 0 + Z: 0 + Focal Shape Fixed Size: true + Focal Shape Size: 0.05000000074505806 Invert Z Axis: false Name: Current View Near Clip Distance: 0.009999999776482582 - Scale: 10 - Target Frame: viewer - Value: TopDownOrtho (rviz_default_plugins) - X: 0 - Y: 0 + Pitch: 0.7853981852531433 + Target Frame: base_link + Value: ThirdPersonView (tier4_camera_view_rviz_plugin) + Yaw: 0.7853981852531433 Saved: - Class: rviz_default_plugins/ThirdPersonFollower Distance: 18 @@ -3921,17 +4692,39 @@ Visualization Manager: Value: TopDownOrtho (rviz) X: 0 Y: 0 + - Class: tier4_camera_view_rviz_plugin/ThirdPersonView + Distance: 20 + Enable Stereo Rendering: + Stereo Eye Separation: 0.05999999865889549 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Focal Point: + X: 0 + Y: 0 + Z: 0 + Focal Shape Fixed Size: true + Focal Shape Size: 0.05000000074505806 + Invert Z Axis: false + Name: ThirdPersonView + Near Clip Distance: 0.009999999776482582 + Pitch: 0.7853981852531433 + Target Frame: base_link + Value: ThirdPersonView (tier4_camera_view_rviz_plugin) + Yaw: 0.7853981852531433 Window Geometry: + AutowareDateTimePanel: + collapsed: false AutowareStatePanel: collapsed: false Displays: collapsed: false - Height: 1565 + Height: 1043 Hide Left Dock: false Hide Right Dock: false - Image: + PointcloudOnCamera: collapsed: false - QMainWindow State: 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RecognitionResultOnImage: collapsed: false Selection: @@ -3940,6 +4733,6 @@ Window Geometry: collapsed: false Views: collapsed: false - Width: 2813 - X: 67 - Y: 27 + Width: 1920 + X: 0 + Y: 0