From a4a266447ef08f12815226453f6fabf0266770c9 Mon Sep 17 00:00:00 2001 From: Kotaro Yoshimoto Date: Mon, 6 Jan 2025 11:29:29 +0900 Subject: [PATCH] chore: update rviz config based on autoware.rviz --- .../config/scenario_simulator_v2.rviz | 2065 ++++++++++++++--- 1 file changed, 1768 insertions(+), 297 deletions(-) diff --git a/simulation/traffic_simulator/config/scenario_simulator_v2.rviz b/simulation/traffic_simulator/config/scenario_simulator_v2.rviz index 5470f693b8d..456ab199a6f 100644 --- a/simulation/traffic_simulator/config/scenario_simulator_v2.rviz +++ b/simulation/traffic_simulator/config/scenario_simulator_v2.rviz @@ -4,10 +4,11 @@ Panels: Name: Displays Property Tree Widget: Expanded: - - /Map1/Lanelet2VectorMap1 - /Sensing1/LiDAR1/ConcatenatePointCloud1/Autocompute Value Bounds1 + - /Simulation1 + - /Simulation1/Simple Sensor Simulator1 Splitter Ratio: 0.557669460773468 - Tree Height: 1445 + Tree Height: 832 - Class: rviz_common/Selection Name: Selection - Class: rviz_common/Tool Properties @@ -19,8 +20,6 @@ Panels: - /Current View1 Name: Views Splitter Ratio: 0.5 - - Class: tier4_localization_rviz_plugin/InitialPoseButtonPanel - Name: InitialPoseButtonPanel - Class: AutowareDateTimePanel Name: AutowareDateTimePanel - Class: rviz_plugins::AutowareStatePanel @@ -64,56 +63,6 @@ Visualization Manager: Value: false - Class: rviz_common/Group Displays: - - Class: rviz_plugins/SteeringAngle - Enabled: true - Left: 128 - Length: 256 - Name: SteeringAngle - Scale: 17 - Text Color: 25; 255; 240 - Top: 128 - Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - 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: 512 - Length: 256 - Name: ConsoleMeter - Text Color: 25; 255; 240 - Top: 128 - Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Reliable - Value: /vehicle/status/velocity_status - Value: true - Value Scale: 0.14999249577522278 - Value height offset: 0 - - Alpha: 0.9990000128746033 - Class: rviz_plugins/VelocityHistory - Color Border Vel Max: 3 - Constant Color: - Color: 255; 255; 255 - Value: true - Enabled: true - Name: VelocityHistory - Scale: 0.30000001192092896 - Timeout: 10 - Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Reliable - Value: /vehicle/status/velocity_status - Value: true - Alpha: 0.30000001192092896 Class: rviz_default_plugins/RobotModel Collision Enabled: false @@ -132,6 +81,160 @@ 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 + Show Trail: false + Value: true + camera0/camera_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + camera0/camera_optical_link: + Alpha: 1 + Show Axes: false + Show Trail: false + camera1/camera_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + camera1/camera_optical_link: + Alpha: 1 + Show Axes: false + Show Trail: false + camera2/camera_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + camera2/camera_optical_link: + Alpha: 1 + Show Axes: false + Show Trail: false + camera3/camera_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + camera3/camera_optical_link: + Alpha: 1 + Show Axes: false + Show Trail: false + camera4/camera_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + camera4/camera_optical_link: + Alpha: 1 + Show Axes: false + Show Trail: false + camera5/camera_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + camera5/camera_optical_link: + Alpha: 1 + Show Axes: false + Show Trail: false + camera6/camera_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + camera6/camera_optical_link: + Alpha: 1 + Show Axes: false + Show Trail: false + camera7/camera_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + camera7/camera_optical_link: + Alpha: 1 + Show Axes: false + Show Trail: false + gnss_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + livox_front_left: + Alpha: 1 + Show Axes: false + Show Trail: false + livox_front_left_base_link: + Alpha: 1 + 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 + Show Axes: false + Show Trail: false + Value: true + sensor_kit_base_link: + Alpha: 1 + Show Axes: false + Show Trail: false + tamagawa/imu_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + velodyne_left: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + velodyne_left_base_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + velodyne_rear: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + velodyne_rear_base_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + velodyne_right: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + velodyne_right_base_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + velodyne_top: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + velodyne_top_base_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true Mass Properties: Inertia: false Mass: false @@ -154,32 +257,46 @@ Visualization Manager: Value: true Wave Color: 255; 255; 255 Wave Velocity: 40 - - Class: rviz_plugins/MaxVelocity - Enabled: true - Left: 595 - Length: 96 - Name: MaxVelocity - Text Color: 255; 255; 255 - Top: 280 - Topic: /planning/scenario_planning/current_max_velocity - Value: true - Value Scale: 0.25 - - Class: rviz_plugins/TurnSignal + - Background Alpha: 0.5 + Background Color: 23; 28; 31 + Class: autoware_overlay_rviz_plugin/SignalDisplay + Dark Traffic Color: 255; 51; 51 Enabled: true - Height: 256 - Left: 196 - Name: TurnSignal - Top: 350 - Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Reliable - Value: /vehicle/status/turn_indicators_status + 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 + Steering Topic: /vehicle/status/steering_status + Top: 10 + Traffic Topic: /planning/scenario_planning/lane_driving/behavior_planning/debug/traffic_signal + Turn Signals Topic: /vehicle/status/turn_indicators_status Value: true - Width: 512 + Width: 550 Enabled: true Name: Vehicle + - Class: rviz_plugins/MrmSummaryOverlayDisplay + Enabled: false + Font Size: 10 + Left: 512 + Max Letter Num: 100 + Name: MRM Summary + Text Color: 25; 255; 240 + Top: 64 + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /system/emergency/hazard_status + Value: false + Value height offset: 0 Enabled: true Name: System - Class: rviz_common/Group @@ -222,7 +339,23 @@ Visualization Manager: Enabled: true Name: Lanelet2VectorMap Namespaces: - {} + center_lane_line: false + center_line_arrows: false + crosswalk_lanelet_id: true + crosswalk_lanelets: true + lane_start_bound: false + lanelet direction: true + lanelet_id: false + left_lane_bound: true + parking_lots: true + parking_space: true + right_lane_bound: true + road_lanelets: false + stop_lines: true + traffic_light: true + traffic_light_id: false + traffic_light_reg_elem_id: false + traffic_light_triangle: true Topic: Depth: 5 Durability Policy: Transient Local @@ -575,15 +708,21 @@ Visualization Manager: CYCLIST: Alpha: 0.9990000128746033 Color: 119; 11; 32 - Class: autoware_auto_perception_rviz_plugin/DetectedObjects + 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: @@ -592,6 +731,7 @@ Visualization Manager: Name: DetectedObjects Namespaces: {} + Object Fill Type: skeleton PEDESTRIAN: Alpha: 0.9990000128746033 Color: 255; 192; 203 @@ -626,15 +766,22 @@ Visualization Manager: CYCLIST: Alpha: 0.9990000128746033 Color: 119; 11; 32 - Class: autoware_auto_perception_rviz_plugin/TrackedObjects + 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: 0.029999999329447746 MOTORCYCLE: @@ -643,6 +790,7 @@ Visualization Manager: Name: TrackedObjects Namespaces: {} + Object Fill Type: skeleton PEDESTRIAN: Alpha: 0.9990000128746033 Color: 255; 192; 203 @@ -677,23 +825,30 @@ Visualization Manager: CYCLIST: Alpha: 0.9990000128746033 Color: 119; 11; 32 - Class: autoware_auto_perception_rviz_plugin/PredictedObjects + 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: 0.5 + Line Width: 0.029999999329447746 MOTORCYCLE: Alpha: 0.9990000128746033 Color: 119; 11; 32 Name: PredictedObjects Namespaces: {} + Object Fill Type: skeleton PEDESTRIAN: Alpha: 0.9990000128746033 Color: 255; 192; 203 @@ -745,7 +900,7 @@ Visualization Manager: Durability Policy: Volatile History Policy: Keep Last Reliability Policy: Best Effort - Value: /perception/traffic_light_recognition/debug/rois + Value: /perception/traffic_light_recognition/traffic_light/debug/rois Value: false - Class: rviz_default_plugins/MarkerArray Enabled: true @@ -796,7 +951,12 @@ Visualization Manager: Enabled: true Name: RouteArea Namespaces: - {} + end_lanelets: true + 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 @@ -824,6 +984,18 @@ Visualization Manager: Reliability Policy: Reliable Value: /planning/mission_planning/echo_back_goal_pose Value: true + - 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 + Value: true + Width: 170 Enabled: true Name: MissionPlanning - Class: rviz_common/Group @@ -844,15 +1016,17 @@ Visualization Manager: Alpha: 1 Color: 230; 230; 50 Offset from BaseLink: 0 - Rear Overhang: 1.0299999713897705 + Rear Overhang: 1.100000023841858 Value: false - Vehicle Length: 4.769999980926514 - Vehicle Width: 1.8300000429153442 + Vehicle Length: 4.889999866485596 + Vehicle Width: 1.8960000276565552 View Path: Alpha: 0.9990000128746033 - 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: @@ -898,15 +1072,17 @@ Visualization Manager: Alpha: 1 Color: 230; 230; 50 Offset from BaseLink: 0 - Rear Overhang: 1.0299999713897705 + Rear Overhang: 1.100000023841858 Value: false - Vehicle Length: 4.769999980926514 - Vehicle Width: 1.8300000429153442 + 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: @@ -954,9 +1130,11 @@ Visualization Manager: Vehicle Width: 1.8300000429153442 View Path: Alpha: 0.30000001192092896 - Color: 210; 110; 10 - Constant Color: true 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: @@ -987,7 +1165,7 @@ Visualization Manager: Filter size: 10 History Policy: Keep Last Reliability Policy: Reliable - Value: /planning/path_reference/avoidance + Value: /planning/path_reference/static_obstacle_avoidance Value: false View Drivable Area: Alpha: 0.9990000128746033 @@ -1004,9 +1182,11 @@ Visualization Manager: Vehicle Width: 1.8300000429153442 View Path: Alpha: 0.30000001192092896 - Color: 210; 110; 210 - Constant Color: true 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: @@ -1054,9 +1234,11 @@ Visualization Manager: Vehicle Width: 1.8300000429153442 View Path: Alpha: 0.30000001192092896 - Color: 210; 210; 110 - Constant Color: true 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: @@ -1104,9 +1286,11 @@ Visualization Manager: Vehicle Width: 1.8300000429153442 View Path: Alpha: 0.30000001192092896 - Color: 210; 210; 110 - Constant Color: true 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: @@ -1154,9 +1338,11 @@ Visualization Manager: Vehicle Width: 1.8300000429153442 View Path: Alpha: 0.30000001192092896 - Color: 110; 110; 210 - Constant Color: true 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: @@ -1204,9 +1390,11 @@ Visualization Manager: Vehicle Width: 1.8300000429153442 View Path: Alpha: 0.30000001192092896 - Color: 210; 110; 110 - Constant Color: true 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: @@ -1248,15 +1436,17 @@ Visualization Manager: Alpha: 1 Color: 230; 230; 50 Offset from BaseLink: 0 - Rear Overhang: 1.0299999713897705 + Rear Overhang: 1.100000023841858 Value: false - Vehicle Length: 4.769999980926514 - Vehicle Width: 1.8300000429153442 + 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: @@ -1304,9 +1494,11 @@ Visualization Manager: 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: @@ -1348,15 +1540,17 @@ Visualization Manager: Alpha: 1 Color: 230; 230; 50 Offset from BaseLink: 0 - Rear Overhang: 1.0299999713897705 + Rear Overhang: 1.100000023841858 Value: false - Vehicle Length: 4.769999980926514 - Vehicle Width: 1.8300000429153442 + 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: @@ -1398,15 +1592,17 @@ Visualization Manager: Alpha: 1 Color: 230; 230; 50 Offset from BaseLink: 0 - Rear Overhang: 1.0299999713897705 + Rear Overhang: 1.100000023841858 Value: false - Vehicle Length: 4.769999980926514 - Vehicle Width: 1.8300000429153442 + 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: @@ -1454,9 +1650,11 @@ Visualization Manager: 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: @@ -1504,9 +1702,11 @@ Visualization Manager: 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: @@ -1537,7 +1737,7 @@ Visualization Manager: Filter size: 10 History Policy: Keep Last Reliability Policy: Reliable - Value: /planning/path_candidate/avoidance + Value: /planning/path_candidate/static_obstacle_avoidance Value: true View Drivable Area: Alpha: 0.9990000128746033 @@ -1548,15 +1748,17 @@ Visualization Manager: Alpha: 1 Color: 230; 230; 50 Offset from BaseLink: 0 - Rear Overhang: 1.0299999713897705 + Rear Overhang: 1.100000023841858 Value: false - Vehicle Length: 4.769999980926514 - Vehicle Width: 1.8300000429153442 + 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: @@ -1598,15 +1800,17 @@ Visualization Manager: Alpha: 1 Color: 230; 230; 50 Offset from BaseLink: 0 - Rear Overhang: 1.0299999713897705 + Rear Overhang: 1.100000023841858 Value: false - Vehicle Length: 4.769999980926514 - Vehicle Width: 1.8300000429153442 + 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: @@ -1648,15 +1852,17 @@ Visualization Manager: Alpha: 1 Color: 230; 230; 50 Offset from BaseLink: 0 - Rear Overhang: 1.0299999713897705 + Rear Overhang: 1.100000023841858 Value: false - Vehicle Length: 4.769999980926514 - Vehicle Width: 1.8300000429153442 + 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: @@ -1693,7 +1899,7 @@ Visualization Manager: Displays: - Class: rviz_default_plugins/MarkerArray Enabled: true - Name: VirtualWall (Avoidance) + Name: VirtualWall (StaticObstacleAvoidance) Namespaces: {} Topic: @@ -1701,7 +1907,7 @@ Visualization Manager: Durability Policy: Volatile History Policy: Keep Last Reliability Policy: Reliable - Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/virtual_wall/avoidance + Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/virtual_wall/static_obstacle_avoidance Value: true - Class: rviz_default_plugins/MarkerArray Enabled: true @@ -1943,18 +2149,6 @@ Visualization Manager: Reliability Policy: Reliable Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/virtual_wall/speed_bump Value: true - - Class: rviz_default_plugins/MarkerArray - Enabled: true - Name: VirtualWall (OutOfLane) - Namespaces: - {} - Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Reliable - Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/virtual_wall/out_of_lane - Value: true - Class: rviz_default_plugins/MarkerArray Enabled: true Name: VirtualWall (NoDrivableLane) @@ -1967,18 +2161,6 @@ Visualization Manager: Reliability Policy: Reliable Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/virtual_wall/no_drivable_lane Value: true - - Class: rviz_default_plugins/MarkerArray - Enabled: true - Name: VirtualWall (DynamicObstacleStop) - Namespaces: - {} - Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Reliable - Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/virtual_wall/dynamic_obstacle_stop - Value: true Enabled: true Name: VirtualWall - Class: rviz_common/Group @@ -2019,32 +2201,6 @@ Visualization Manager: Reliability Policy: Reliable Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/debug/intersection Value: false - - Alpha: 0.5 - Autocompute Intensity Bounds: true - Class: grid_map_rviz_plugin/GridMap - Color: 200; 200; 200 - Color Layer: color - Color Transformer: IntensityLayer - Enabled: false - Height Layer: elevation - Height Transformer: Layer - History Length: 1 - Invert Rainbow: false - Max Color: 255; 255; 255 - Max Intensity: 10 - Min Color: 0; 0; 0 - Min Intensity: 0 - Name: IntersectionOcclusion - Show Grid Lines: false - Topic: - Depth: 5 - Durability Policy: Volatile - Filter size: 10 - History Policy: Keep Last - Reliability Policy: Reliable - Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/debug/intersection/occlusion_grid - Use Rainbow: true - Value: false - Class: rviz_default_plugins/MarkerArray Enabled: false Name: Blind Spot @@ -2143,7 +2299,7 @@ Visualization Manager: Value: false - Class: rviz_default_plugins/MarkerArray Enabled: false - Name: Avoidance + Name: StaticObstacleAvoidance Namespaces: {} Topic: @@ -2151,11 +2307,11 @@ Visualization Manager: Durability Policy: Volatile History Policy: Keep Last Reliability Policy: Reliable - Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/debug/avoidance + Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/debug/static_obstacle_avoidance Value: false - Class: rviz_default_plugins/MarkerArray Enabled: false - Name: LaneChange + Name: LeftLaneChange Namespaces: {} Topic: @@ -2163,11 +2319,11 @@ Visualization Manager: Durability Policy: Volatile History Policy: Keep Last Reliability Policy: Reliable - Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/debug/lane_change + Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/debug/lane_change_left Value: false - Class: rviz_default_plugins/MarkerArray Enabled: false - Name: LaneFollowing + Name: RightLaneChange Namespaces: {} Topic: @@ -2175,11 +2331,11 @@ Visualization Manager: Durability Policy: Volatile History Policy: Keep Last Reliability Policy: Reliable - Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/debug/lane_following + Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/debug/lane_change_right Value: false - Class: rviz_default_plugins/MarkerArray Enabled: false - Name: GoalPlanner + Name: LaneFollowing Namespaces: {} Topic: @@ -2187,11 +2343,11 @@ Visualization Manager: Durability Policy: Volatile History Policy: Keep Last Reliability Policy: Reliable - Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/debug/goal_planner + Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/debug/lane_following Value: false - Class: rviz_default_plugins/MarkerArray Enabled: false - Name: StartPlanner + Name: GoalPlanner Namespaces: {} Topic: @@ -2199,11 +2355,11 @@ Visualization Manager: Durability Policy: Volatile History Policy: Keep Last Reliability Policy: Reliable - Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/debug/start_planner + Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/debug/goal_planner Value: false - Class: rviz_default_plugins/MarkerArray Enabled: false - Name: SideShift + Name: StartPlanner Namespaces: {} Topic: @@ -2211,11 +2367,11 @@ Visualization Manager: Durability Policy: Volatile History Policy: Keep Last Reliability Policy: Reliable - Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/debug/side_shift + Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/debug/start_planner Value: false - Class: rviz_default_plugins/MarkerArray Enabled: false - Name: SpeedBump + Name: SideShift Namespaces: {} Topic: @@ -2223,11 +2379,11 @@ Visualization Manager: Durability Policy: Volatile History Policy: Keep Last Reliability Policy: Reliable - Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/debug/speed_bump + Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/debug/side_shift Value: false - Class: rviz_default_plugins/MarkerArray Enabled: false - Name: OutOfLane + Name: SpeedBump Namespaces: {} Topic: @@ -2235,11 +2391,11 @@ Visualization Manager: Durability Policy: Volatile History Policy: Keep Last Reliability Policy: Reliable - Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/debug/out_of_lane + Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/debug/speed_bump Value: false - Class: rviz_default_plugins/MarkerArray Enabled: false - Name: DynamicAvoidance + Name: DynamicObstacleAvoidance Namespaces: {} Topic: @@ -2247,7 +2403,7 @@ Visualization Manager: Durability Policy: Volatile History Policy: Keep Last Reliability Policy: Reliable - Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/debug/dynamic_avoidance + Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/debug/dynamic_obstacle_avoidance Value: false - Class: rviz_default_plugins/MarkerArray Enabled: false @@ -2261,25 +2417,13 @@ Visualization Manager: Reliability Policy: Reliable Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/debug/no_drivable_lane Value: false - - Class: rviz_default_plugins/MarkerArray - Enabled: false - Name: DynamicObstacleStop - Namespaces: - {} - Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Reliable - Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/debug/dynamic_obstacle_stop - Value: false Enabled: false Name: DebugMarker - Class: rviz_common/Group Displays: - Class: rviz_default_plugins/MarkerArray Enabled: false - Name: Info (Avoidance) + Name: Info (StaticObstacleAvoidance) Namespaces: {} Topic: @@ -2287,7 +2431,7 @@ Visualization Manager: Durability Policy: Volatile History Policy: Keep Last Reliability Policy: Reliable - Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/info/avoidance + Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/info/static_obstacle_avoidance Value: false - Class: rviz_default_plugins/MarkerArray Enabled: false @@ -2375,7 +2519,7 @@ Visualization Manager: Value: false - Class: rviz_default_plugins/MarkerArray Enabled: false - Name: Info (DynamicAvoidance) + Name: Info (DynamicObstacleAvoidance) Namespaces: {} Topic: @@ -2383,7 +2527,7 @@ Visualization Manager: Durability Policy: Volatile History Policy: Keep Last Reliability Policy: Reliable - Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/info/dynamic_avoidance + Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/info/dynamic_obstacle_avoidance Value: false Enabled: false Name: InfoMarker @@ -2413,9 +2557,11 @@ Visualization Manager: Vehicle Width: 1.8300000429153442 View Path: Alpha: 0.9990000128746033 - 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: @@ -2476,7 +2622,79 @@ Visualization Manager: Value: true - Class: rviz_default_plugins/MarkerArray Enabled: true - Name: VirtualWall (ObstacleCruise) + Name: VirtualWall (ObstacleCruise Stop) + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/virtual_wall/stop + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: VirtualWall (ObstacleCruise Cruise) + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/virtual_wall/cruise + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: VirtualWall (ObstacleCruise SlowDown) + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/virtual_wall/slow_down + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: VirtualWall (MotionVelocitySmoother) + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/velocity_smoother/virtual_wall + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: VirtualWall (OutOfLane) + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/motion_planning/motion_velocity_planner/out_of_lane/virtual_walls + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: VirtualWall (ObstacleVelocityLimiter) + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/motion_planning/motion_velocity_planner/obstacle_velocity_limiter/virtual_walls + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: VirtualWall (DynamicObstacleStop) Namespaces: {} Topic: @@ -2484,7 +2702,7 @@ Visualization Manager: Durability Policy: Volatile History Policy: Keep Last Reliability Policy: Reliable - Value: /planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/virtual_wall + Value: /planning/scenario_planning/lane_driving/motion_planning/motion_velocity_planner/dynamic_obstacle_stop/virtual_walls Value: true Enabled: true Name: VirtualWall @@ -2561,7 +2779,35 @@ Visualization Manager: Displays: - Class: rviz_default_plugins/MarkerArray Enabled: true - Name: CruiseVirtualWall + Name: DebugMarker + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/debug/marker + Value: true + Enabled: false + Name: ObstacleCruise + - Class: rviz_default_plugins/MarkerArray + Enabled: false + Name: ObstacleAvoidance + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/motion_planning/obstacle_avoidance_planner/debug/marker + Value: false + - Class: rviz_common/Group + Displays: + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: OutOfLane Namespaces: {} Topic: @@ -2569,11 +2815,11 @@ Visualization Manager: Durability Policy: Volatile History Policy: Keep Last Reliability Policy: Reliable - Value: /planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/debug/cruise/virtual_wall + Value: /planning/scenario_planning/lane_driving/motion_planning/motion_velocity_planner/out_of_lane/debug_markers Value: true - Class: rviz_default_plugins/MarkerArray Enabled: true - Name: SlowDownVirtualWall + Name: ObstacleVelocityLimiter Namespaces: {} Topic: @@ -2581,11 +2827,11 @@ Visualization Manager: Durability Policy: Volatile History Policy: Keep Last Reliability Policy: Reliable - Value: /planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/debug/slow_down/virtual_wall + Value: /planning/scenario_planning/lane_driving/motion_planning/motion_velocity_planner/obstacle_velocity_limiter/debug_markers Value: true - Class: rviz_default_plugins/MarkerArray Enabled: true - Name: DebugMarker + Name: DynamicObstacleStop Namespaces: {} Topic: @@ -2593,22 +2839,10 @@ Visualization Manager: Durability Policy: Volatile History Policy: Keep Last Reliability Policy: Reliable - Value: /planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/debug/marker + Value: /planning/scenario_planning/lane_driving/motion_planning/motion_velocity_planner/dynamic_obstacle_stop/debug_markers Value: true Enabled: false - Name: ObstacleCruise - - Class: rviz_default_plugins/MarkerArray - Enabled: false - Name: ObstacleAvoidance - Namespaces: - {} - Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Reliable - Value: /planning/scenario_planning/lane_driving/motion_planning/obstacle_avoidance_planner/debug/marker - Value: false + Name: MotionVelocityPlanner Enabled: false Name: DebugMarker Enabled: true @@ -2730,21 +2964,23 @@ Visualization Manager: Filter size: 10 History Policy: Keep Last Reliability Policy: Reliable - Value: /control/trajectory_follower/lateral/predicted_trajectory + 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: 1.0299999713897705 + Rear Overhang: 1.100000023841858 Value: false - Vehicle Length: 4.769999980926514 - Vehicle Width: 1.8300000429153442 + Vehicle Length: 4.889999866485596 + Vehicle Width: 1.8960000276565552 View Path: Alpha: 1 - Color: 255; 255; 255 - Constant Color: 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: @@ -2765,33 +3001,97 @@ Visualization Manager: Constant Color: false Scale: 0.30000001192092896 Value: false - - Class: rviz_default_plugins/MarkerArray + - Class: rviz_plugins/Trajectory + Color Border Vel Max: 3 Enabled: false - Name: Debug/MPC - Namespaces: - {} + Name: Resampled Reference Trajectory Topic: Depth: 5 Durability Policy: Volatile + Filter size: 10 History Policy: Keep Last Reliability Policy: Reliable - Value: /control/trajectory_follower/mpc_follower/debug/markers + Value: /control/trajectory_follower/controller_node_exe/debug/resampled_reference_trajectory Value: false - - Class: rviz_default_plugins/MarkerArray + 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 + 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 + Enabled: true + Name: VirtualWall (AEB) + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /control/autonomous_emergency_braking/virtual_wall + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: VirtualWall (velocity control) + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /control/trajectory_follower/controller_node_exe/virtual_wall + Value: true + Enabled: true + Name: VirtualWall + - Class: rviz_default_plugins/Marker Enabled: false - Name: Debug/PurePursuit + Name: Stop Reason Namespaces: {} Topic: Depth: 5 Durability Policy: Volatile + Filter size: 10 History Policy: Keep Last Reliability Policy: Reliable - Value: /control/trajectory_follower/controller_node_exe/debug/markers + Value: /control/trajectory_follower/longitudinal/stop_reason Value: false - Class: rviz_default_plugins/MarkerArray Enabled: false - Name: Debug/AEB + Name: Debug/MPC Namespaces: {} Topic: @@ -2799,15 +3099,11 @@ Visualization Manager: Durability Policy: Volatile History Policy: Keep Last Reliability Policy: Reliable - Value: /control/autonomous_emergency_braking/debug/markers + Value: /control/trajectory_follower/mpc_follower/debug/markers Value: false - Enabled: true - Name: Control - - Class: rviz_common/Group - Displays: - Class: rviz_default_plugins/MarkerArray - Enabled: true - Name: Debug Marker + Enabled: false + Name: Debug/PurePursuit Namespaces: {} Topic: @@ -2815,11 +3111,11 @@ Visualization Manager: Durability Policy: Volatile History Policy: Keep Last Reliability Policy: Reliable - Value: /simulation/debug_marker - Value: true + Value: /control/trajectory_follower/controller_node_exe/debug/markers + Value: false - Class: rviz_default_plugins/MarkerArray - Enabled: true - Name: Entity Marker + Enabled: false + Name: Debug/AEB Namespaces: {} Topic: @@ -2827,13 +3123,1181 @@ Visualization Manager: Durability Policy: Volatile History Policy: Keep Last Reliability Policy: Reliable - Value: /simulation/entity/marker - Value: true - - Class: rviz_default_plugins/MarkerArray + Value: /control/autonomous_emergency_braking/debug/markers + Value: false + Enabled: true + Name: Control + - Class: rviz_common/Group + Displays: + - Class: rviz_common/Group + Displays: ~ Enabled: true - Name: Lanelet Marker - Namespaces: - {} + Name: Map + - Class: rviz_common/Group + Displays: + - Class: rviz_default_plugins/Camera + Enabled: true + Far Plane Distance: 100 + Image Rendering: background and overlay + Name: PointcloudOnCamera + Overlay Alpha: 0.5 + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Best Effort + Value: /sensing/camera/camera6/image_raw + Value: true + Visibility: + Control: + "": true + Value: false + Debug: + Control: true + Localization: + "": true + Value: true + Map: true + Perception: + "": true + Value: true + Planning: + "": + "": true + Value: true + Value: true + Sensing: + ConcatenatePointCloud: true + RadarRawObjects(white): true + Value: true + Value: true + Localization: + "": + "": true + Value: true + Value: false + Map: + "": true + Value: false + Perception: + "": + "": true + Value: true + Value: false + Planning: + "": + "": true + Value: true + Value: false + Sensing: + "": + "": true + Value: true + Value: true + Simulation: + Condition Group: true + Debug Marker: true + Entity Marker: true + Lanelet Marker: true + Simple Sensor Simulator: + Detected Objects: true + Occupancy Grid Map: true + Simple LiDAR: true + Value: true + Traffic Light Marker: true + Value: true + System: + "": true + Value: false + Value: true + Zoom Factor: 1 + - Alpha: 1 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 5 + Min Value: -1 + Value: false + Axis: Z + Channel Name: intensity + Class: rviz_default_plugins/PointCloud2 + Color: 255; 255; 255 + Color Transformer: AxisColor + Decay Time: 0 + Enabled: true + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 4096 + Min Color: 0; 0; 0 + Min Intensity: 0 + Name: ConcatenatePointCloud + Position Transformer: XYZ + Selectable: false + Size (Pixels): 3 + 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 + - BUS: + Alpha: 0.5 + Color: 255; 255; 255 + CAR: + Alpha: 0.5 + Color: 255; 255; 255 + CYCLIST: + 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 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: + Alpha: 0.5 + Color: 255; 255; 255 + Name: RadarRawObjects(white) + Namespaces: + {} + Object Fill Type: skeleton + PEDESTRIAN: + Alpha: 0.5 + Color: 255; 255; 255 + Polygon Type: 3d + TRAILER: + Alpha: 0.5 + Color: 255; 255; 255 + TRUCK: + Alpha: 0.5 + Color: 255; 255; 255 + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Best Effort + Value: /sensing/radar/detected_objects + UNKNOWN: + Alpha: 0.5 + Color: 255; 255; 255 + Value: true + Visualization Type: Normal + Enabled: false + Name: Sensing + - Class: rviz_common/Group + Displays: + - Alpha: 0.9990000128746033 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 10 + Min Value: -10 + Value: true + Axis: Z + Channel Name: intensity + Class: rviz_default_plugins/PointCloud2 + Color: 85; 255; 0 + Color Transformer: FlatColor + Decay Time: 0 + Enabled: true + Invert Rainbow: false + Max Color: 85; 255; 127 + Max Intensity: 0 + Min Color: 0; 0; 0 + Min Intensity: 0 + Name: NDT pointclouds + Position Transformer: XYZ + Selectable: false + Size (Pixels): 10 + Size (m): 0.5 + Style: Squares + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /localization/pose_estimator/points_aligned + Use Fixed Frame: true + Use rainbow: true + Value: true + - Alpha: 1 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 10 + Min Value: -10 + Value: true + Axis: Z + Channel Name: intensity + Class: rviz_default_plugins/PointCloud2 + Color: 255; 255; 255 + Color Transformer: "" + Decay Time: 0 + Enabled: true + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 4096 + Min Color: 0; 0; 0 + Min Intensity: 0 + Name: NDTLoadedPCDMap + Position Transformer: "" + Selectable: true + Size (Pixels): 3 + Size (m): 0.10000000149011612 + Style: Flat Squares + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /localization/pose_estimator/debug/loaded_pointcloud_map + Use Fixed Frame: true + Use rainbow: true + Value: true + - Buffer Size: 200 + Class: rviz_plugins::PoseHistory + Enabled: true + Line: + Alpha: 0.9990000128746033 + Color: 170; 255; 127 + Value: true + Width: 0.10000000149011612 + Name: NDTPoseHistory + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /localization/pose_estimator/pose + Value: true + - Buffer Size: 1000 + Class: rviz_plugins::PoseHistory + Enabled: true + Line: + Alpha: 0.9990000128746033 + Color: 0; 255; 255 + Value: true + Width: 0.10000000149011612 + Name: EKFPoseHistory + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /localization/pose_twist_fusion_filter/pose + Value: true + Enabled: true + Name: Localization + - Class: rviz_common/Group + Displays: + - BUS: + Alpha: 0.9990000128746033 + Color: 255; 138; 128 + CAR: + Alpha: 0.9990000128746033 + Color: 255; 138; 128 + CYCLIST: + 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 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: + Alpha: 0.9990000128746033 + Color: 255; 138; 128 + Name: Centerpoint(red1) + Namespaces: + {} + Object Fill Type: skeleton + PEDESTRIAN: + Alpha: 0.9990000128746033 + Color: 255; 138; 128 + Polygon Type: 3d + TRAILER: + Alpha: 0.9990000128746033 + Color: 255; 138; 128 + TRUCK: + Alpha: 0.9990000128746033 + Color: 255; 138; 128 + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Best Effort + Value: /perception/object_recognition/detection/centerpoint/objects + UNKNOWN: + Alpha: 0.9990000128746033 + Color: 255; 138; 128 + Value: true + Visualization Type: Normal + - BUS: + Alpha: 0.9990000128746033 + Color: 255; 82; 82 + CAR: + Alpha: 0.9990000128746033 + Color: 255; 82; 82 + CYCLIST: + 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 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: + Alpha: 0.9990000128746033 + Color: 255; 82; 82 + Name: CenterpointROIFusion(red2) + Namespaces: + {} + Object Fill Type: skeleton + PEDESTRIAN: + Alpha: 0.9990000128746033 + Color: 255; 82; 82 + Polygon Type: 3d + TRAILER: + Alpha: 0.9990000128746033 + Color: 255; 82; 82 + TRUCK: + Alpha: 0.9990000128746033 + Color: 255; 82; 82 + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Best Effort + Value: /perception/object_recognition/detection/centerpoint/roi_fusion/objects + UNKNOWN: + Alpha: 0.9990000128746033 + Color: 255; 82; 82 + Value: true + Visualization Type: Normal + - BUS: + Alpha: 0.9990000128746033 + Color: 213; 0; 0 + CAR: + Alpha: 0.9990000128746033 + Color: 213; 0; 0 + CYCLIST: + 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 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: + Alpha: 0.9990000128746033 + Color: 213; 0; 0 + Name: CenterpointValidator(red3) + Namespaces: + {} + Object Fill Type: skeleton + PEDESTRIAN: + Alpha: 0.9990000128746033 + Color: 213; 0; 0 + Polygon Type: 3d + TRAILER: + Alpha: 0.9990000128746033 + Color: 213; 0; 0 + TRUCK: + Alpha: 0.9990000128746033 + Color: 213; 0; 0 + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Best Effort + Value: /perception/object_recognition/detection/centerpoint/validation/objects + UNKNOWN: + Alpha: 0.9990000128746033 + Color: 213; 0; 0 + Value: true + Visualization Type: Normal + - BUS: + Alpha: 0.9990000128746033 + Color: 178; 255; 89 + CAR: + Alpha: 0.9990000128746033 + Color: 178; 255; 89 + CYCLIST: + 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 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: + Alpha: 0.9990000128746033 + Color: 178; 255; 89 + Name: PointPainting(light_green1) + Namespaces: + {} + Object Fill Type: skeleton + PEDESTRIAN: + Alpha: 0.9990000128746033 + Color: 178; 255; 89 + Polygon Type: 3d + TRAILER: + Alpha: 0.9990000128746033 + Color: 178; 255; 89 + TRUCK: + Alpha: 0.9990000128746033 + Color: 178; 255; 89 + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Best Effort + Value: /perception/object_recognition/detection/pointpainting/objects + UNKNOWN: + Alpha: 0.9990000128746033 + Color: 178; 255; 89 + Value: true + Visualization Type: Normal + - BUS: + Alpha: 0.9990000128746033 + Color: 118; 255; 3 + CAR: + Alpha: 0.9990000128746033 + Color: 118; 255; 3 + CYCLIST: + 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 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: + Alpha: 0.9990000128746033 + Color: 118; 255; 3 + Name: PointPaintingROIFusion(light_green2) + Namespaces: + {} + Object Fill Type: skeleton + PEDESTRIAN: + Alpha: 0.9990000128746033 + Color: 118; 255; 3 + Polygon Type: 3d + TRAILER: + Alpha: 0.9990000128746033 + Color: 118; 255; 3 + TRUCK: + Alpha: 0.9990000128746033 + Color: 118; 255; 3 + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Best Effort + Value: /perception/object_recognition/detection/pointpainting/roi_fusion/objects + UNKNOWN: + Alpha: 0.9990000128746033 + Color: 118; 255; 3 + Value: true + Visualization Type: Normal + - BUS: + Alpha: 0.9990000128746033 + Color: 100; 221; 23 + CAR: + Alpha: 0.9990000128746033 + Color: 100; 221; 23 + CYCLIST: + 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 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: + Alpha: 0.9990000128746033 + Color: 100; 221; 23 + Name: PointPaintingValidator(light_green3) + Namespaces: + {} + Object Fill Type: skeleton + PEDESTRIAN: + Alpha: 0.9990000128746033 + Color: 100; 221; 23 + Polygon Type: 3d + TRAILER: + Alpha: 0.9990000128746033 + Color: 100; 221; 23 + TRUCK: + Alpha: 0.9990000128746033 + Color: 100; 221; 23 + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Best Effort + Value: /perception/object_recognition/detection/pointpainting/validation/objects + UNKNOWN: + Alpha: 0.9990000128746033 + Color: 100; 221; 23 + Value: true + Visualization Type: Normal + - BUS: + Alpha: 0.9990000128746033 + Color: 255; 145; 0 + CAR: + Alpha: 0.9990000128746033 + Color: 255; 145; 0 + CYCLIST: + 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 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: + Alpha: 0.9990000128746033 + Color: 255; 145; 0 + Name: DetectionByTracker(orange) + Namespaces: + {} + Object Fill Type: skeleton + PEDESTRIAN: + Alpha: 0.9990000128746033 + Color: 255; 145; 0 + Polygon Type: 3d + TRAILER: + Alpha: 0.9990000128746033 + Color: 255; 145; 0 + TRUCK: + Alpha: 0.9990000128746033 + Color: 255; 145; 0 + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Best Effort + Value: /perception/object_recognition/detection/detection_by_tracker/objects + UNKNOWN: + Alpha: 0.9990000128746033 + Color: 255; 145; 0 + Value: true + Visualization Type: Normal + - BUS: + Alpha: 0.9990000128746033 + Color: 213; 0; 249 + CAR: + Alpha: 0.9990000128746033 + Color: 213; 0; 249 + CYCLIST: + 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 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: + Alpha: 0.9990000128746033 + Color: 213; 0; 249 + Name: CameraLidarFusion(purple) + Namespaces: + {} + Object Fill Type: skeleton + PEDESTRIAN: + Alpha: 0.9990000128746033 + Color: 213; 0; 249 + Polygon Type: 3d + TRAILER: + Alpha: 0.9990000128746033 + Color: 213; 0; 249 + TRUCK: + Alpha: 0.9990000128746033 + Color: 213; 0; 249 + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Best Effort + Value: /perception/object_recognition/detection/clustering/camera_lidar_fusion/objects + UNKNOWN: + Alpha: 0.9990000128746033 + Color: 213; 0; 249 + Value: true + Visualization Type: Normal + - BUS: + Alpha: 0.9990000128746033 + Color: 255; 255; 255 + CAR: + Alpha: 0.9990000128746033 + Color: 255; 255; 255 + CYCLIST: + 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 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: + Alpha: 0.9990000128746033 + Color: 255; 255; 255 + Name: RadarFarObjects(white) + Namespaces: + {} + Object Fill Type: skeleton + PEDESTRIAN: + Alpha: 0.9990000128746033 + Color: 255; 255; 255 + Polygon Type: 3d + TRAILER: + Alpha: 0.9990000128746033 + Color: 255; 255; 255 + TRUCK: + Alpha: 0.9990000128746033 + Color: 255; 255; 255 + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Best Effort + Value: /perception/object_recognition/detection/radar/far_objects + UNKNOWN: + Alpha: 0.9990000128746033 + Color: 255; 255; 255 + Value: true + Visualization Type: Normal + - BUS: + Alpha: 0.9990000128746033 + Color: 255; 234; 0 + CAR: + Alpha: 0.9990000128746033 + Color: 255; 234; 0 + CYCLIST: + 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 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: + Alpha: 0.9990000128746033 + Color: 255; 234; 0 + Name: Detection(yellow) + Namespaces: + {} + Object Fill Type: skeleton + PEDESTRIAN: + Alpha: 0.9990000128746033 + Color: 255; 234; 0 + Polygon Type: 3d + TRAILER: + Alpha: 0.9990000128746033 + Color: 255; 234; 0 + TRUCK: + Alpha: 0.9990000128746033 + Color: 255; 234; 0 + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Best Effort + Value: /perception/object_recognition/detection/objects + UNKNOWN: + Alpha: 0.9990000128746033 + Color: 255; 234; 0 + Value: true + Visualization Type: Normal + - BUS: + Alpha: 0.9990000128746033 + Color: 0; 230; 118 + CAR: + Alpha: 0.9990000128746033 + Color: 0; 230; 118 + CYCLIST: + 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 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: + Alpha: 0.9990000128746033 + Color: 0; 230; 118 + Name: Tracking(green) + Namespaces: + {} + Object Fill Type: skeleton + PEDESTRIAN: + Alpha: 0.9990000128746033 + Color: 0; 230; 118 + Polygon Type: 3d + TRAILER: + Alpha: 0.9990000128746033 + Color: 0; 230; 118 + TRUCK: + Alpha: 0.9990000128746033 + Color: 0; 230; 118 + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Best Effort + Value: /perception/object_recognition/tracking/objects + UNKNOWN: + Alpha: 0.9990000128746033 + Color: 0; 230; 118 + Value: true + Visualization Type: Normal + - BUS: + Alpha: 0.9990000128746033 + Color: 0; 176; 255 + CAR: + Alpha: 0.9990000128746033 + Color: 0; 176; 255 + CYCLIST: + 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 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: + Alpha: 0.9990000128746033 + Color: 0; 176; 255 + Name: Prediction(light_blue) + Namespaces: + {} + Object Fill Type: skeleton + PEDESTRIAN: + Alpha: 0.9990000128746033 + Color: 0; 176; 255 + Polygon Type: 3d + TRAILER: + Alpha: 0.9990000128746033 + Color: 0; 176; 255 + TRUCK: + Alpha: 0.9990000128746033 + Color: 0; 176; 255 + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Best Effort + Value: /perception/object_recognition/objects + UNKNOWN: + Alpha: 0.9990000128746033 + Color: 0; 176; 255 + Value: true + Visualization Type: Normal + Enabled: true + Name: Perception + - Class: rviz_common/Group + Displays: + - Class: rviz_common/Group + Displays: + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: LaneChangeLeft + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/debug/objects_of_interest/lane_change_left + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: LaneChangeRight + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/debug/objects_of_interest/lane_change_right + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: AvoidanceLeft + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/debug/objects_of_interest/static_obstacle_avoidance_left + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: AvoidanceRight + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/debug/objects_of_interest/static_obstacle_avoidance_right + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: AvoidanceByLCLeft + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/debug/objects_of_interest/avoidance_by_lc_left + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: AvoidanceByLCRight + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/debug/objects_of_interest/avoidance_by_lc_right + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: StartPlanner + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/debug/objects_of_interest/start_planner + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: GoalPlanner + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/debug/objects_of_interest/goal_planner + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: Crosswalk + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/debug/objects_of_interest/crosswalk + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: Intersection + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/debug/objects_of_interest/intersection + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: BlindSpot + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/debug/objects_of_interest/blind_spot + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: TrafficLight + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/debug/objects_of_interest/traffic_light + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: DetectionArea + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/debug/objects_of_interest/detection_area + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: NoStoppingArea + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/debug/objects_of_interest/no_stopping_area + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: ObstacleCruise + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/debug/objects_of_interest/obstacle_cruise_planner + Value: true + Enabled: true + Name: Objects Of Interest + Enabled: true + Name: Planning + - Class: rviz_common/Group + Displays: ~ + Enabled: true + Name: Control + Enabled: false + Name: Debug + - Class: rviz_common/Group + Displays: + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: Debug Marker + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /simulation/debug_marker + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: Entity Marker + Namespaces: + ego: true + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /simulation/entity/marker + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: Lanelet Marker + Namespaces: + center_lane_line: true + center_line_arrows: true + crosswalk_lanelets: true + lane_start_bound: true + lanelet direction: true + lanelet_id: true + left_lane_bound: true + parking_lots: true + parking_space: true + right_lane_bound: true + road_lanelets: true + stop_lines: true + traffic_light: true + traffic_light_triangle: true Topic: Depth: 5 Durability Policy: Transient Local @@ -2921,15 +4385,21 @@ Visualization Manager: CYCLIST: Alpha: 0.9990000128746033 Color: 119; 11; 32 - Class: autoware_auto_perception_rviz_plugin/DetectedObjects + 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: @@ -2938,6 +4408,7 @@ Visualization Manager: Name: Detected Objects Namespaces: {} + Object Fill Type: skeleton PEDESTRIAN: Alpha: 0.9990000128746033 Color: 255; 192; 203 @@ -2986,7 +4457,7 @@ Visualization Manager: Name: Simulation Enabled: true Global Options: - Background Color: 10; 10; 10 + Background Color: 15; 20; 23 Fixed Frame: map Frame Rate: 30 Name: root @@ -3094,8 +4565,8 @@ Visualization Manager: Scale: 10 Target Frame: entities Value: TopDownOrtho (rviz_default_plugins) - X: 0 - Y: 0 + X: 66.42724609375 + Y: -19.859375 Saved: - Class: rviz_default_plugins/ThirdPersonFollower Distance: 18 @@ -3139,12 +4610,12 @@ Window Geometry: collapsed: false Displays: collapsed: false - Height: 2096 + Height: 1565 Hide Left Dock: false Hide Right Dock: false - InitialPoseButtonPanel: + PointcloudOnCamera: collapsed: false - QMainWindow State: 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+ QMainWindow State: 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RecognitionResultOnImage: collapsed: false Selection: @@ -3153,6 +4624,6 @@ Window Geometry: collapsed: false Views: collapsed: false - Width: 3770 - X: 70 + Width: 2813 + X: 1510 Y: 27