From 7b2b2f5c10a16c74410d03b8b0965279667c9ffc Mon Sep 17 00:00:00 2001 From: kyoichi-sugahara Date: Fri, 23 Jun 2023 15:02:10 +0900 Subject: [PATCH 1/4] add enable_rtc param Signed-off-by: kyoichi-sugahara --- .../blind_spot.param.yaml | 1 + .../crosswalk.param.yaml | 1 + .../detection_area.param.yaml | 1 + .../intersection.param.yaml | 4 + .../no_stopping_area.param.yaml | 1 + .../traffic_light.param.yaml | 1 + autoware_launch/rviz/autoware.rviz | 841 ++++++++++++++---- 7 files changed, 675 insertions(+), 175 deletions(-) diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/blind_spot.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/blind_spot.param.yaml index 7963766c03..8a57bfeabd 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/blind_spot.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/blind_spot.param.yaml @@ -8,3 +8,4 @@ max_future_movement_time: 10.0 # [second] threshold_yaw_diff: 0.523 # [rad] adjacent_extend_width: 1.5 # [m] + enable_rtc: true # if true, the scene modules should be approved by (request to cooperate)rtc function. if false, the module can be run without approval from rtc. diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/crosswalk.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/crosswalk.param.yaml index 2bbc5d31fc..4c3e7d6295 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/crosswalk.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/crosswalk.param.yaml @@ -2,6 +2,7 @@ ros__parameters: crosswalk: show_processing_time: false # [-] whether to show processing time + enable_rtc: true # if true, the scene modules should be approved by (request to cooperate)rtc function. if false, the module can be run without approval from rtc. # param for stop position stop_line_distance: 3.5 # [m] make stop line away from crosswalk when no explicit stop line exists diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/detection_area.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/detection_area.param.yaml index ad4e32cb4e..55b627cce7 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/detection_area.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/detection_area.param.yaml @@ -8,3 +8,4 @@ state_clear_time: 2.0 hold_stop_margin_distance: 0.0 distance_to_judge_over_stop_line: 0.5 + enable_rtc: true # if true, the scene modules should be approved by (request to cooperate)rtc function. if false, the module can be run without approval from rtc. diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/intersection.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/intersection.param.yaml index efb4c4c4be..9786b88551 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/intersection.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/intersection.param.yaml @@ -44,5 +44,9 @@ denoise_kernel: 1.0 # [m] pub_debug_grid: false + enable_rtc: + interaction: true # If set to true, the scene modules require approval from the rtc (request to cooperate) function. If set to false, the modules can be executed without requiring rtc approval + intersection_to_occlusion: true + merge_from_private: stop_duration_sec: 1.0 diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/no_stopping_area.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/no_stopping_area.param.yaml index 32cd05a9cc..f550188d4f 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/no_stopping_area.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/no_stopping_area.param.yaml @@ -8,3 +8,4 @@ stop_line_margin: 1.0 # [m] margin to auto-gen stop line at no stopping area detection_area_length: 200.0 # [m] used to create detection area polygon stuck_vehicle_front_margin: 6.0 # [m] obstacle stop max distance(5.0m) + enable_rtc: true # If set to true, the scene modules require approval from the rtc (request to cooperate) function. If set to false, the modules can be executed without requiring rtc approval diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/traffic_light.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/traffic_light.param.yaml index 444fa5ca65..e8e0357daa 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/traffic_light.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/traffic_light.param.yaml @@ -5,3 +5,4 @@ tl_state_timeout: 1.0 yellow_lamp_period: 2.75 enable_pass_judge: true + enable_rtc: true # If set to true, the scene modules require approval from the rtc (request to cooperate) function. If set to false, the modules can be executed without requiring rtc approval diff --git a/autoware_launch/rviz/autoware.rviz b/autoware_launch/rviz/autoware.rviz index d18d37cbfd..56949cdfc7 100644 --- a/autoware_launch/rviz/autoware.rviz +++ b/autoware_launch/rviz/autoware.rviz @@ -3,9 +3,11 @@ Panels: Help Height: 0 Name: Displays Property Tree Widget: - Expanded: ~ + Expanded: + - /Map1 + - /Sensing1/LiDAR1/ConcatenatePointCloud1/Autocompute Value Bounds1 Splitter Ratio: 0.557669460773468 - Tree Height: 397 + Tree Height: 298 - Class: rviz_common/Selection Name: Selection - Class: rviz_common/Tool Properties @@ -13,7 +15,8 @@ Panels: Name: Tool Properties Splitter Ratio: 0.5886790156364441 - Class: rviz_common/Views - Expanded: ~ + Expanded: + - /Current View1 Name: Views Splitter Ratio: 0.5 - Class: tier4_localization_rviz_plugin/InitialPoseButtonPanel @@ -37,7 +40,8 @@ Visualization Manager: Show Arrows: true Show Axes: true Show Names: true - Tree: {} + Tree: + {} Update Interval: 0 Value: false - Alpha: 0.5 @@ -62,9 +66,12 @@ Visualization Manager: 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 @@ -72,12 +79,15 @@ Visualization Manager: Reliability Policy: Reliable Value: /vehicle/status/steering_status Value: true + Value Scale: 0.14999249577522278 Value height offset: 0 - Class: rviz_plugins/ConsoleMeter Enabled: true + Left: 512 + Length: 256 Name: ConsoleMeter - Scale: 3 Text Color: 25; 255; 240 + Top: 128 Topic: Depth: 5 Durability Policy: Volatile @@ -85,8 +95,9 @@ Visualization Manager: Reliability Policy: Reliable Value: /vehicle/status/velocity_status Value: true + Value Scale: 0.14999249577522278 Value height offset: 0 - - Alpha: 0.999 + - Alpha: 0.9990000128746033 Class: rviz_plugins/VelocityHistory Color Border Vel Max: 3 Constant Color: @@ -122,154 +133,157 @@ Visualization Manager: Expand Tree: false Link Tree Style: Links in Alphabetic Order base_link: - Alpha: 0.999 + Alpha: 1 Show Axes: false Show Trail: false Value: true camera0/camera_link: - Alpha: 0.999 + Alpha: 1 Show Axes: false Show Trail: false Value: true camera0/camera_optical_link: - Alpha: 0.999 + Alpha: 1 Show Axes: false Show Trail: false camera1/camera_link: - Alpha: 0.999 + Alpha: 1 Show Axes: false Show Trail: false Value: true camera1/camera_optical_link: - Alpha: 0.999 + Alpha: 1 Show Axes: false Show Trail: false camera2/camera_link: - Alpha: 0.999 + Alpha: 1 Show Axes: false Show Trail: false Value: true camera2/camera_optical_link: - Alpha: 0.999 + Alpha: 1 Show Axes: false Show Trail: false camera3/camera_link: - Alpha: 0.999 + Alpha: 1 Show Axes: false Show Trail: false Value: true camera3/camera_optical_link: - Alpha: 0.999 + Alpha: 1 Show Axes: false Show Trail: false camera4/camera_link: - Alpha: 0.999 + Alpha: 1 Show Axes: false Show Trail: false Value: true camera4/camera_optical_link: - Alpha: 0.999 + Alpha: 1 Show Axes: false Show Trail: false camera5/camera_link: - Alpha: 0.999 + Alpha: 1 Show Axes: false Show Trail: false Value: true camera5/camera_optical_link: - Alpha: 0.999 + Alpha: 1 Show Axes: false Show Trail: false - gnss_link: - Alpha: 0.999 + camera6/camera_link: + Alpha: 1 Show Axes: false Show Trail: false Value: true - livox_front_left: - Alpha: 0.999 + camera6/camera_optical_link: + Alpha: 1 Show Axes: false Show Trail: false - livox_front_left_base_link: - Alpha: 0.999 + camera7/camera_link: + Alpha: 1 Show Axes: false Show Trail: false Value: true - livox_front_right: - Alpha: 0.999 + camera7/camera_optical_link: + Alpha: 1 Show Axes: false Show Trail: false - livox_front_right_base_link: - Alpha: 0.999 + gnss_link: + Alpha: 1 Show Axes: false Show Trail: false Value: true - sensor_kit_base_link: - Alpha: 0.999 + livox_front_left: + Alpha: 1 Show Axes: false Show Trail: false - tamagawa/imu_link: - Alpha: 0.999 + livox_front_left_base_link: + Alpha: 1 Show Axes: false Show Trail: false Value: true - traffic_light_left_camera/camera_link: - Alpha: 0.999 + livox_front_right: + Alpha: 1 Show Axes: false Show Trail: false - Value: true - traffic_light_left_camera/camera_optical_link: - Alpha: 0.999 + livox_front_right_base_link: + Alpha: 1 Show Axes: false Show Trail: false - traffic_light_right_camera/camera_link: - Alpha: 0.999 + Value: true + sensor_kit_base_link: + Alpha: 1 Show Axes: false Show Trail: false - Value: true - traffic_light_right_camera/camera_optical_link: - Alpha: 0.999 + tamagawa/imu_link: + Alpha: 1 Show Axes: false Show Trail: false + Value: true velodyne_left: - Alpha: 0.999 + Alpha: 1 Show Axes: false Show Trail: false Value: true velodyne_left_base_link: - Alpha: 0.999 + Alpha: 1 Show Axes: false Show Trail: false Value: true velodyne_rear: - Alpha: 0.999 + Alpha: 1 Show Axes: false Show Trail: false Value: true velodyne_rear_base_link: - Alpha: 0.999 + Alpha: 1 Show Axes: false Show Trail: false Value: true velodyne_right: - Alpha: 0.999 + Alpha: 1 Show Axes: false Show Trail: false Value: true velodyne_right_base_link: - Alpha: 0.999 + Alpha: 1 Show Axes: false Show Trail: false Value: true velodyne_top: - Alpha: 0.999 + Alpha: 1 Show Axes: false Show Trail: false Value: true velodyne_top_base_link: - Alpha: 0.999 + Alpha: 1 Show Axes: false Show Trail: false Value: true + Mass Properties: + Inertia: false + Mass: false Name: VehicleModel TF Prefix: "" Update Interval: 0 @@ -282,8 +296,8 @@ Visualization Manager: Max Alpha: 0.5 Max Range: 100 Max Wave Alpha: 0.5 - Min Alpha: 0.01 - Min Wave Alpha: 0.01 + Min Alpha: 0.009999999776482582 + Min Wave Alpha: 0.009999999776482582 Name: PolarGridDisplay Reference Frame: base_link Value: true @@ -291,18 +305,20 @@ Visualization Manager: Wave Velocity: 40 - Class: rviz_plugins/MaxVelocity Enabled: true + Left: 595 + Length: 96 Name: MaxVelocity Text Color: 255; 255; 255 - Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Reliable - Value: /planning/scenario_planning/current_max_velocity + Top: 280 + Topic: /planning/scenario_planning/current_max_velocity Value: true + Value Scale: 0.25 - Class: rviz_plugins/TurnSignal Enabled: true + Height: 256 + Left: 196 Name: TurnSignal + Top: 350 Topic: Depth: 5 Durability Policy: Volatile @@ -310,6 +326,7 @@ Visualization Manager: Reliability Policy: Reliable Value: /vehicle/status/turn_indicators_status Value: true + Width: 512 Enabled: true Name: Vehicle Enabled: true @@ -328,7 +345,7 @@ Visualization Manager: Color: 255; 255; 255 Color Transformer: FlatColor Decay Time: 0 - Enabled: true + Enabled: false Invert Rainbow: false Max Color: 255; 255; 255 Max Intensity: 237 @@ -338,17 +355,18 @@ Visualization Manager: Position Transformer: XYZ Selectable: false Size (Pixels): 1 - Size (m): 0.02 + Size (m): 0.019999999552965164 Style: Points Topic: Depth: 5 Durability Policy: Transient Local + Filter size: 10 History Policy: Keep Last Reliability Policy: Reliable Value: /map/pointcloud_map Use Fixed Frame: true Use rainbow: false - Value: true + Value: false - Class: rviz_default_plugins/MarkerArray Enabled: true Name: Lanelet2VectorMap @@ -356,7 +374,8 @@ Visualization Manager: center_lane_line: false center_line_arrows: false crosswalk_lanelets: true - crosswalk_areas: false + detection_area: true + detection_area_stopline: true lane_start_bound: false lanelet direction: true lanelet_id: false @@ -366,18 +385,11 @@ Visualization Manager: pedestrian_marking: true right_lane_bound: true road_lanelets: false - speed_bump: true stop_lines: true - shoulder_center_lane_line: false - shoulder_left_lane_bound: true - shoulder_right_lane_bound: true - shoulder_road_lanelets: false traffic_light: true traffic_light_id: false traffic_light_triangle: true walkway_lanelets: true - hatched_road_markings_bound: true - hatched_road_markings_area: false Topic: Depth: 5 Durability Policy: Transient Local @@ -391,7 +403,7 @@ Visualization Manager: Displays: - Class: rviz_common/Group Displays: - - Alpha: 0.4 + - Alpha: 0.4000000059604645 Autocompute Intensity Bounds: true Autocompute Value Bounds: Max Value: 5 @@ -413,18 +425,19 @@ 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 @@ -432,6 +445,7 @@ 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 @@ -470,6 +484,7 @@ Visualization Manager: Topic: Depth: 5 Durability Policy: Volatile + Filter size: 10 History Policy: Keep Last Reliability Policy: Reliable Value: /sensing/gnss/pose_with_covariance @@ -482,7 +497,7 @@ 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 @@ -512,11 +527,12 @@ 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 @@ -546,27 +562,29 @@ 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 @@ -593,13 +611,14 @@ 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 @@ -626,6 +645,7 @@ Visualization Manager: Topic: Depth: 5 Durability Policy: Volatile + Filter size: 10 History Policy: Keep Last Reliability Policy: Reliable Value: /localization/pose_estimator/points_aligned @@ -635,7 +655,8 @@ Visualization Manager: - Class: rviz_default_plugins/MarkerArray Enabled: true Name: MonteCarloInitialPose - Namespaces: {} + Namespaces: + {} Topic: Depth: 5 Durability Policy: Volatile @@ -651,14 +672,15 @@ 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 @@ -671,7 +693,7 @@ Visualization Manager: Displays: - Class: rviz_common/Group Displays: - - Alpha: 0.999 + - Alpha: 0.9990000128746033 Autocompute Intensity Bounds: true Autocompute Value Bounds: Max Value: 15 @@ -693,11 +715,12 @@ 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 @@ -711,16 +734,16 @@ Visualization Manager: - Class: rviz_common/Group Displays: - BUS: - Alpha: 0.999 + Alpha: 0.9990000128746033 Color: 30; 144; 255 CAR: - Alpha: 0.999 + Alpha: 0.9990000128746033 Color: 30; 144; 255 CYCLIST: - Alpha: 0.999 + Alpha: 0.9990000128746033 Color: 119; 11; 32 Class: autoware_auto_perception_rviz_plugin/DetectedObjects - Display 3d polygon: true + Display Acceleration: true Display Label: true Display PoseWithCovariance: true Display Predicted Path Confidence: true @@ -728,21 +751,23 @@ Visualization Manager: Display Twist: true Display UUID: true Display Velocity: true - Line Width: 0.03 Enabled: true + Line Width: 0.029999999329447746 MOTORCYCLE: - Alpha: 0.999 + Alpha: 0.9990000128746033 Color: 119; 11; 32 Name: DetectedObjects - Namespaces: {} + Namespaces: + {} PEDESTRIAN: - Alpha: 0.999 + Alpha: 0.9990000128746033 Color: 255; 192; 203 + Polygon Type: 3d TRAILER: - Alpha: 0.999 + Alpha: 0.9990000128746033 Color: 30; 144; 255 TRUCK: - Alpha: 0.999 + Alpha: 0.9990000128746033 Color: 30; 144; 255 Topic: Depth: 5 @@ -751,24 +776,25 @@ Visualization Manager: Reliability Policy: Best Effort Value: /perception/object_recognition/detection/objects UNKNOWN: - Alpha: 0.999 + Alpha: 0.9990000128746033 Color: 255; 255; 255 Value: true + Visualization Type: Normal Enabled: false Name: Detection - Class: rviz_common/Group Displays: - BUS: - Alpha: 0.999 + Alpha: 0.9990000128746033 Color: 30; 144; 255 CAR: - Alpha: 0.999 + Alpha: 0.9990000128746033 Color: 30; 144; 255 CYCLIST: - Alpha: 0.999 + Alpha: 0.9990000128746033 Color: 119; 11; 32 Class: autoware_auto_perception_rviz_plugin/TrackedObjects - Display 3d polygon: true + Display Acceleration: true Display Label: true Display PoseWithCovariance: true Display Predicted Path Confidence: true @@ -776,21 +802,23 @@ Visualization Manager: Display Twist: true Display UUID: true Display Velocity: true - Line Width: 0.03 Enabled: true + Line Width: 0.029999999329447746 MOTORCYCLE: - Alpha: 0.999 + Alpha: 0.9990000128746033 Color: 119; 11; 32 Name: TrackedObjects - Namespaces: {} + Namespaces: + {} PEDESTRIAN: - Alpha: 0.999 + Alpha: 0.9990000128746033 Color: 255; 192; 203 + Polygon Type: 3d TRAILER: - Alpha: 0.999 + Alpha: 0.9990000128746033 Color: 30; 144; 255 TRUCK: - Alpha: 0.999 + Alpha: 0.9990000128746033 Color: 30; 144; 255 Topic: Depth: 5 @@ -799,24 +827,25 @@ Visualization Manager: Reliability Policy: Best Effort Value: /perception/object_recognition/tracking/objects UNKNOWN: - Alpha: 0.999 + Alpha: 0.9990000128746033 Color: 255; 255; 255 Value: true + Visualization Type: Normal Enabled: false Name: Tracking - Class: rviz_common/Group Displays: - BUS: - Alpha: 0.999 + Alpha: 0.9990000128746033 Color: 30; 144; 255 CAR: - Alpha: 0.999 + Alpha: 0.9990000128746033 Color: 30; 144; 255 CYCLIST: - Alpha: 0.999 + Alpha: 0.9990000128746033 Color: 119; 11; 32 Class: autoware_auto_perception_rviz_plugin/PredictedObjects - Display 3d polygon: true + Display Acceleration: true Display Label: true Display PoseWithCovariance: false Display Predicted Path Confidence: true @@ -824,21 +853,23 @@ Visualization Manager: Display Twist: true Display UUID: true Display Velocity: true - Line Width: 0.03 Enabled: true + Line Width: 0.029999999329447746 MOTORCYCLE: - Alpha: 0.999 + Alpha: 0.9990000128746033 Color: 119; 11; 32 Name: PredictedObjects - Namespaces: {} + Namespaces: + {} PEDESTRIAN: - Alpha: 0.999 + Alpha: 0.9990000128746033 Color: 255; 192; 203 + Polygon Type: 3d TRAILER: - Alpha: 0.999 + Alpha: 0.9990000128746033 Color: 30; 144; 255 TRUCK: - Alpha: 0.999 + Alpha: 0.9990000128746033 Color: 30; 144; 255 Topic: Depth: 5 @@ -847,20 +878,22 @@ Visualization Manager: Reliability Policy: Best Effort Value: /perception/object_recognition/objects UNKNOWN: - Alpha: 0.999 + Alpha: 0.9990000128746033 Color: 255; 255; 255 Value: true + Visualization Type: Normal - Class: rviz_default_plugins/MarkerArray Enabled: false Name: Maneuver - Namespaces: {} + Namespaces: + {} Topic: Depth: 5 Durability Policy: Volatile History Policy: Keep Last Reliability Policy: Best Effort Value: /perception/object_recognition/prediction/maneuver - Value: true + Value: false Enabled: true Name: Prediction Enabled: true @@ -884,7 +917,8 @@ Visualization Manager: - Class: rviz_default_plugins/MarkerArray Enabled: true Name: MapBasedDetectionResult - Namespaces: {} + Namespaces: + {} Topic: Depth: 5 Durability Policy: Volatile @@ -929,11 +963,7 @@ 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 @@ -941,7 +971,7 @@ 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 @@ -956,6 +986,7 @@ Visualization Manager: Topic: Depth: 5 Durability Policy: Volatile + Filter size: 10 History Policy: Keep Last Reliability Policy: Reliable Value: /planning/mission_planning/echo_back_goal_pose @@ -971,18 +1002,37 @@ 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: 1.0299999713897705 + Value: false + Vehicle Length: 4.769999980926514 + Vehicle Width: 1.8300000429153442 View Path: - Alpha: 0.999 + Alpha: 0.9990000128746033 Color: 0; 0; 0 Constant Color: false + Constant Width: false Value: true Width: 2 + View Point: + Alpha: 1 + Color: 0; 60; 255 + Offset: 0 + Radius: 0.10000000149011612 + Value: false + View Text Velocity: + Scale: 0.30000001192092896 + Value: false View Velocity: - Alpha: 0.999 + Alpha: 0.9990000128746033 Color: 0; 0; 0 Constant Color: false Scale: 0.30000001192092896 @@ -998,16 +1048,40 @@ Visualization Manager: Topic: Depth: 5 Durability Policy: Volatile + Filter size: 10 History Policy: Keep Last Reliability Policy: Reliable Value: /planning/scenario_planning/lane_driving/behavior_planning/path Value: true + View Drivable Area: + Alpha: 0.9990000128746033 + Color: 0; 148; 205 + Value: true + Width: 0.30000001192092896 + View Footprint: + Alpha: 1 + Color: 230; 230; 50 + Offset from BaseLink: 0 + Rear Overhang: 1.0299999713897705 + Value: false + Vehicle Length: 4.769999980926514 + Vehicle Width: 1.8300000429153442 View Path: Alpha: 0.4000000059604645 Color: 0; 0; 0 Constant Color: false + Constant Width: false Value: true Width: 2 + View Point: + Alpha: 1 + Color: 0; 60; 255 + Offset: 0 + Radius: 0.10000000149011612 + Value: false + View Text Velocity: + Scale: 0.30000001192092896 + Value: false View Velocity: Alpha: 0.4000000059604645 Color: 0; 0; 0 @@ -1021,16 +1095,40 @@ Visualization Manager: Topic: Depth: 5 Durability Policy: Volatile + Filter size: 10 History Policy: Keep Last Reliability Policy: Reliable Value: /planning/path_reference/avoidance_by_lane_change - Value: true + Value: false + View Drivable Area: + Alpha: 0.9990000128746033 + Color: 0; 148; 205 + Value: true + Width: 0.30000001192092896 + View Footprint: + Alpha: 1 + Color: 230; 230; 50 + Offset from BaseLink: 0 + Rear Overhang: 1.0299999713897705 + Value: false + Vehicle Length: 4.769999980926514 + Vehicle Width: 1.8300000429153442 View Path: - Alpha: 0.3 + Alpha: 0.30000001192092896 Color: 210; 110; 10 Constant Color: true + Constant Width: false Value: true Width: 2 + View Point: + Alpha: 1 + Color: 0; 60; 255 + Offset: 0 + Radius: 0.10000000149011612 + Value: false + View Text Velocity: + Scale: 0.30000001192092896 + Value: false View Velocity: Alpha: 0.30000001192092896 Color: 0; 0; 0 @@ -1044,16 +1142,40 @@ Visualization Manager: Topic: Depth: 5 Durability Policy: Volatile + Filter size: 10 History Policy: Keep Last Reliability Policy: Reliable Value: /planning/path_reference/avoidance - Value: true + Value: false + View Drivable Area: + Alpha: 0.9990000128746033 + Color: 0; 148; 205 + Value: true + Width: 0.30000001192092896 + View Footprint: + Alpha: 1 + Color: 230; 230; 50 + Offset from BaseLink: 0 + Rear Overhang: 1.0299999713897705 + Value: false + Vehicle Length: 4.769999980926514 + Vehicle Width: 1.8300000429153442 View Path: - Alpha: 0.3 + Alpha: 0.30000001192092896 Color: 210; 110; 210 Constant Color: true + Constant Width: false Value: true Width: 2 + View Point: + Alpha: 1 + Color: 0; 60; 255 + Offset: 0 + Radius: 0.10000000149011612 + Value: false + View Text Velocity: + Scale: 0.30000001192092896 + Value: false View Velocity: Alpha: 0.30000001192092896 Color: 0; 0; 0 @@ -1067,16 +1189,40 @@ Visualization Manager: Topic: Depth: 5 Durability Policy: Volatile + Filter size: 10 History Policy: Keep Last Reliability Policy: Reliable Value: /planning/path_reference/lane_change_right - Value: true + Value: false + View Drivable Area: + Alpha: 0.9990000128746033 + Color: 0; 148; 205 + Value: true + Width: 0.30000001192092896 + View Footprint: + Alpha: 1 + Color: 230; 230; 50 + Offset from BaseLink: 0 + Rear Overhang: 1.0299999713897705 + Value: false + Vehicle Length: 4.769999980926514 + Vehicle Width: 1.8300000429153442 View Path: - Alpha: 0.3 + Alpha: 0.30000001192092896 Color: 210; 210; 110 Constant Color: true + Constant Width: false Value: true Width: 2 + View Point: + Alpha: 1 + Color: 0; 60; 255 + Offset: 0 + Radius: 0.10000000149011612 + Value: false + View Text Velocity: + Scale: 0.30000001192092896 + Value: false View Velocity: Alpha: 0.30000001192092896 Color: 0; 0; 0 @@ -1090,16 +1236,40 @@ Visualization Manager: Topic: Depth: 5 Durability Policy: Volatile + Filter size: 10 History Policy: Keep Last Reliability Policy: Reliable Value: /planning/path_reference/lane_change_left - Value: true + Value: false + View Drivable Area: + Alpha: 0.9990000128746033 + Color: 0; 148; 205 + Value: true + Width: 0.30000001192092896 + View Footprint: + Alpha: 1 + Color: 230; 230; 50 + Offset from BaseLink: 0 + Rear Overhang: 1.0299999713897705 + Value: false + Vehicle Length: 4.769999980926514 + Vehicle Width: 1.8300000429153442 View Path: - Alpha: 0.3 + Alpha: 0.30000001192092896 Color: 210; 210; 110 Constant Color: true + Constant Width: false Value: true Width: 2 + View Point: + Alpha: 1 + Color: 0; 60; 255 + Offset: 0 + Radius: 0.10000000149011612 + Value: false + View Text Velocity: + Scale: 0.30000001192092896 + Value: false View Velocity: Alpha: 0.30000001192092896 Color: 0; 0; 0 @@ -1113,16 +1283,40 @@ Visualization Manager: Topic: Depth: 5 Durability Policy: Volatile + Filter size: 10 History Policy: Keep Last Reliability Policy: Reliable Value: /planning/path_reference/goal_planner - Value: true + Value: false + View Drivable Area: + Alpha: 0.9990000128746033 + Color: 0; 148; 205 + Value: true + Width: 0.30000001192092896 + View Footprint: + Alpha: 1 + Color: 230; 230; 50 + Offset from BaseLink: 0 + Rear Overhang: 1.0299999713897705 + Value: false + Vehicle Length: 4.769999980926514 + Vehicle Width: 1.8300000429153442 View Path: - Alpha: 0.3 + Alpha: 0.30000001192092896 Color: 110; 110; 210 Constant Color: true + Constant Width: false Value: true Width: 2 + View Point: + Alpha: 1 + Color: 0; 60; 255 + Offset: 0 + Radius: 0.10000000149011612 + Value: false + View Text Velocity: + Scale: 0.30000001192092896 + Value: false View Velocity: Alpha: 0.30000001192092896 Color: 0; 0; 0 @@ -1136,16 +1330,40 @@ Visualization Manager: Topic: Depth: 5 Durability Policy: Volatile + Filter size: 10 History Policy: Keep Last Reliability Policy: Reliable Value: /planning/path_reference/start_planner - Value: true + Value: false + View Drivable Area: + Alpha: 0.9990000128746033 + Color: 0; 148; 205 + Value: true + Width: 0.30000001192092896 + View Footprint: + Alpha: 1 + Color: 230; 230; 50 + Offset from BaseLink: 0 + Rear Overhang: 1.0299999713897705 + Value: false + Vehicle Length: 4.769999980926514 + Vehicle Width: 1.8300000429153442 View Path: - Alpha: 0.3 + Alpha: 0.30000001192092896 Color: 210; 110; 110 Constant Color: true + Constant Width: false Value: true Width: 2 + View Point: + Alpha: 1 + Color: 0; 60; 255 + Offset: 0 + Radius: 0.10000000149011612 + Value: false + View Text Velocity: + Scale: 0.30000001192092896 + Value: false View Velocity: Alpha: 0.30000001192092896 Color: 0; 0; 0 @@ -1159,16 +1377,40 @@ Visualization Manager: Topic: Depth: 5 Durability Policy: Volatile + Filter size: 10 History Policy: Keep Last Reliability Policy: Reliable Value: /planning/path_candidate/avoidance_by_lane_change Value: true + View Drivable Area: + Alpha: 0.9990000128746033 + Color: 0; 148; 205 + Value: true + Width: 0.30000001192092896 + View Footprint: + Alpha: 1 + Color: 230; 230; 50 + Offset from BaseLink: 0 + Rear Overhang: 1.0299999713897705 + Value: false + Vehicle Length: 4.769999980926514 + Vehicle Width: 1.8300000429153442 View Path: Alpha: 0.30000001192092896 Color: 115; 210; 22 Constant Color: false + Constant Width: false Value: true Width: 2 + View Point: + Alpha: 1 + Color: 0; 60; 255 + Offset: 0 + Radius: 0.10000000149011612 + Value: false + View Text Velocity: + Scale: 0.30000001192092896 + Value: false View Velocity: Alpha: 0.30000001192092896 Color: 0; 0; 0 @@ -1182,16 +1424,40 @@ Visualization Manager: Topic: Depth: 5 Durability Policy: Volatile + Filter size: 10 History Policy: Keep Last Reliability Policy: Reliable Value: /planning/path_candidate/lane_change Value: true + View Drivable Area: + Alpha: 0.9990000128746033 + Color: 0; 148; 205 + Value: true + Width: 0.30000001192092896 + View Footprint: + Alpha: 1 + Color: 230; 230; 50 + Offset from BaseLink: 0 + Rear Overhang: 1.0299999713897705 + Value: false + Vehicle Length: 4.769999980926514 + Vehicle Width: 1.8300000429153442 View Path: Alpha: 0.30000001192092896 Color: 115; 210; 22 Constant Color: false + Constant Width: false Value: true Width: 2 + View Point: + Alpha: 1 + Color: 0; 60; 255 + Offset: 0 + Radius: 0.10000000149011612 + Value: false + View Text Velocity: + Scale: 0.30000001192092896 + Value: false View Velocity: Alpha: 0.30000001192092896 Color: 0; 0; 0 @@ -1205,16 +1471,40 @@ Visualization Manager: Topic: Depth: 5 Durability Policy: Volatile + Filter size: 10 History Policy: Keep Last Reliability Policy: Reliable Value: /planning/path_candidate/lane_change_right Value: true + View Drivable Area: + Alpha: 0.9990000128746033 + Color: 0; 148; 205 + Value: true + Width: 0.30000001192092896 + View Footprint: + Alpha: 1 + Color: 230; 230; 50 + Offset from BaseLink: 0 + Rear Overhang: 1.0299999713897705 + Value: false + Vehicle Length: 4.769999980926514 + Vehicle Width: 1.8300000429153442 View Path: Alpha: 0.30000001192092896 Color: 115; 210; 22 Constant Color: false + Constant Width: false Value: true Width: 2 + View Point: + Alpha: 1 + Color: 0; 60; 255 + Offset: 0 + Radius: 0.10000000149011612 + Value: false + View Text Velocity: + Scale: 0.30000001192092896 + Value: false View Velocity: Alpha: 0.30000001192092896 Color: 0; 0; 0 @@ -1228,16 +1518,40 @@ Visualization Manager: Topic: Depth: 5 Durability Policy: Volatile + Filter size: 10 History Policy: Keep Last Reliability Policy: Reliable Value: /planning/path_candidate/lane_change_left Value: true + View Drivable Area: + Alpha: 0.9990000128746033 + Color: 0; 148; 205 + Value: true + Width: 0.30000001192092896 + View Footprint: + Alpha: 1 + Color: 230; 230; 50 + Offset from BaseLink: 0 + Rear Overhang: 1.0299999713897705 + Value: false + Vehicle Length: 4.769999980926514 + Vehicle Width: 1.8300000429153442 View Path: Alpha: 0.30000001192092896 Color: 115; 210; 22 Constant Color: false + Constant Width: false Value: true Width: 2 + View Point: + Alpha: 1 + Color: 0; 60; 255 + Offset: 0 + Radius: 0.10000000149011612 + Value: false + View Text Velocity: + Scale: 0.30000001192092896 + Value: false View Velocity: Alpha: 0.30000001192092896 Color: 0; 0; 0 @@ -1251,16 +1565,40 @@ Visualization Manager: Topic: Depth: 5 Durability Policy: Volatile + Filter size: 10 History Policy: Keep Last Reliability Policy: Reliable Value: /planning/path_candidate/external_request_lane_change_right Value: true + View Drivable Area: + Alpha: 0.9990000128746033 + Color: 0; 148; 205 + Value: true + Width: 0.30000001192092896 + View Footprint: + Alpha: 1 + Color: 230; 230; 50 + Offset from BaseLink: 0 + Rear Overhang: 1.0299999713897705 + Value: false + Vehicle Length: 4.769999980926514 + Vehicle Width: 1.8300000429153442 View Path: Alpha: 0.30000001192092896 Color: 115; 210; 22 Constant Color: false + Constant Width: false Value: true Width: 2 + View Point: + Alpha: 1 + Color: 0; 60; 255 + Offset: 0 + Radius: 0.10000000149011612 + Value: false + View Text Velocity: + Scale: 0.30000001192092896 + Value: false View Velocity: Alpha: 0.30000001192092896 Color: 0; 0; 0 @@ -1274,16 +1612,40 @@ Visualization Manager: Topic: Depth: 5 Durability Policy: Volatile + Filter size: 10 History Policy: Keep Last Reliability Policy: Reliable Value: /planning/path_candidate/external_request_lane_change_left Value: true + View Drivable Area: + Alpha: 0.9990000128746033 + Color: 0; 148; 205 + Value: true + Width: 0.30000001192092896 + View Footprint: + Alpha: 1 + Color: 230; 230; 50 + Offset from BaseLink: 0 + Rear Overhang: 1.0299999713897705 + Value: false + Vehicle Length: 4.769999980926514 + Vehicle Width: 1.8300000429153442 View Path: Alpha: 0.30000001192092896 Color: 115; 210; 22 Constant Color: false + Constant Width: false Value: true Width: 2 + View Point: + Alpha: 1 + Color: 0; 60; 255 + Offset: 0 + Radius: 0.10000000149011612 + Value: false + View Text Velocity: + Scale: 0.30000001192092896 + Value: false View Velocity: Alpha: 0.30000001192092896 Color: 0; 0; 0 @@ -1297,16 +1659,40 @@ Visualization Manager: Topic: Depth: 5 Durability Policy: Volatile + Filter size: 10 History Policy: Keep Last Reliability Policy: Reliable Value: /planning/path_candidate/avoidance Value: true + View Drivable Area: + Alpha: 0.9990000128746033 + Color: 0; 148; 205 + Value: true + Width: 0.30000001192092896 + View Footprint: + Alpha: 1 + Color: 230; 230; 50 + Offset from BaseLink: 0 + Rear Overhang: 1.0299999713897705 + Value: false + Vehicle Length: 4.769999980926514 + Vehicle Width: 1.8300000429153442 View Path: Alpha: 0.30000001192092896 Color: 115; 210; 22 Constant Color: false + Constant Width: false Value: true Width: 2 + View Point: + Alpha: 1 + Color: 0; 60; 255 + Offset: 0 + Radius: 0.10000000149011612 + Value: false + View Text Velocity: + Scale: 0.30000001192092896 + Value: false View Velocity: Alpha: 0.30000001192092896 Color: 0; 0; 0 @@ -1320,16 +1706,40 @@ Visualization Manager: Topic: Depth: 5 Durability Policy: Volatile + Filter size: 10 History Policy: Keep Last Reliability Policy: Reliable Value: /planning/path_candidate/start_planner Value: true + View Drivable Area: + Alpha: 0.9990000128746033 + Color: 0; 148; 205 + Value: true + Width: 0.30000001192092896 + View Footprint: + Alpha: 1 + Color: 230; 230; 50 + Offset from BaseLink: 0 + Rear Overhang: 1.0299999713897705 + Value: false + Vehicle Length: 4.769999980926514 + Vehicle Width: 1.8300000429153442 View Path: Alpha: 0.30000001192092896 Color: 115; 210; 22 Constant Color: false + Constant Width: false Value: true Width: 2 + View Point: + Alpha: 1 + Color: 0; 60; 255 + Offset: 0 + Radius: 0.10000000149011612 + Value: false + View Text Velocity: + Scale: 0.30000001192092896 + Value: false View Velocity: Alpha: 0.30000001192092896 Color: 0; 0; 0 @@ -1343,16 +1753,40 @@ Visualization Manager: Topic: Depth: 5 Durability Policy: Volatile + Filter size: 10 History Policy: Keep Last Reliability Policy: Reliable Value: /planning/path_candidate/goal_planner Value: true + View Drivable Area: + Alpha: 0.9990000128746033 + Color: 0; 148; 205 + Value: true + Width: 0.30000001192092896 + View Footprint: + Alpha: 1 + Color: 230; 230; 50 + Offset from BaseLink: 0 + Rear Overhang: 1.0299999713897705 + Value: false + Vehicle Length: 4.769999980926514 + Vehicle Width: 1.8300000429153442 View Path: Alpha: 0.30000001192092896 Color: 115; 210; 22 Constant Color: false + Constant Width: false Value: true Width: 2 + View Point: + Alpha: 1 + Color: 0; 60; 255 + Offset: 0 + Radius: 0.10000000149011612 + Value: false + View Text Velocity: + Scale: 0.30000001192092896 + Value: false View Velocity: Alpha: 0.30000001192092896 Color: 0; 0; 0 @@ -1363,16 +1797,14 @@ 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 @@ -1571,8 +2003,7 @@ Visualization Manager: Enabled: true Name: VirtualWall (StopLine) Namespaces: - stop_factor_text: true - stop_virtual_wall: true + {} Topic: Depth: 5 Durability Policy: Volatile @@ -1942,12 +2373,7 @@ Visualization Manager: Enabled: false Name: Info (Avoidance) Namespaces: - avoidable_target_objects_info: false - avoidable_target_objects_info_reason: false - avoidable_target_objects_envelope_polygon: false - unavoidable_target_objects_info: false - unavoidable_target_objects_info_reason: false - unavoidable_target_objects_envelope_polygon: false + {} Topic: Depth: 5 Durability Policy: Volatile @@ -2064,18 +2490,37 @@ 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 + Alpha: 0.9990000128746033 Color: 0; 0; 0 Constant Color: false + Constant Width: false Value: true Width: 2 + View Point: + Alpha: 1 + Color: 0; 60; 255 + Offset: 0 + Radius: 0.10000000149011612 + Value: false + View Text Velocity: + Scale: 0.30000001192092896 + Value: false View Velocity: - Alpha: 0.999 + Alpha: 0.9990000128746033 Color: 0; 0; 0 Constant Color: false Scale: 0.30000001192092896 @@ -2270,6 +2715,7 @@ 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 @@ -2281,7 +2727,7 @@ 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 @@ -2297,11 +2743,12 @@ 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 @@ -2317,6 +2764,7 @@ 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 @@ -2346,7 +2794,8 @@ Visualization Manager: - Class: rviz_default_plugins/MarkerArray Enabled: true Name: PlanningErrorMarker - Namespaces: {} + Namespaces: + {} Topic: Depth: 5 Durability Policy: Volatile @@ -2367,17 +2816,35 @@ Visualization Manager: Topic: Depth: 5 Durability Policy: Volatile + Filter size: 10 History Policy: Keep Last Reliability Policy: Reliable Value: /control/trajectory_follower/lateral/predicted_trajectory Value: true + View Footprint: + Alpha: 1 + Color: 230; 230; 50 + Offset from BaseLink: 0 + Rear Overhang: 1.0299999713897705 + Value: false + Vehicle Length: 4.769999980926514 + Vehicle Width: 1.8300000429153442 View Path: Alpha: 1 Color: 255; 255; 255 Constant Color: true - Value: true Constant Width: true + Value: true Width: 0.05000000074505806 + View Point: + Alpha: 1 + Color: 0; 60; 255 + Offset: 0 + Radius: 0.10000000149011612 + Value: false + View Text Velocity: + Scale: 0.30000001192092896 + Value: false View Velocity: Alpha: 1 Color: 0; 0; 0 @@ -2387,7 +2854,8 @@ Visualization Manager: - Class: rviz_default_plugins/MarkerArray Enabled: false Name: Debug/MPC - Namespaces: {} + Namespaces: + {} Topic: Depth: 5 Durability Policy: Volatile @@ -2398,7 +2866,8 @@ Visualization Manager: - Class: rviz_default_plugins/MarkerArray Enabled: false Name: Debug/PurePursuit - Namespaces: {} + Namespaces: + {} Topic: Depth: 5 Durability Policy: Volatile @@ -2410,10 +2879,7 @@ 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 @@ -2426,7 +2892,6 @@ Visualization Manager: Enabled: true Global Options: Background Color: 10; 10; 10 - Default Light: true Fixed Frame: map Frame Rate: 30 Name: root @@ -2439,15 +2904,15 @@ 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 @@ -2462,26 +2927,47 @@ 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 @@ -2494,10 +2980,13 @@ Visualization Manager: Z position: 0 - Class: rviz_plugins/DeleteAllObjectsTool Pose Topic: /simulation/dummy_perception_publisher/object_info + Transformation: + Current: + Class: rviz_default_plugins/TF Value: true Views: Current: - Angle: 0 + Angle: 1.404999852180481 Class: rviz_default_plugins/TopDownOrtho Enable Stereo Rendering: Stereo Eye Separation: 0.05999999865889549 @@ -2549,6 +3038,8 @@ Visualization Manager: X: 0 Y: 0 Window Geometry: + AutowareDateTimePanel: + collapsed: false AutowareStatePanel: collapsed: false Displays: @@ -2556,9 +3047,9 @@ Window Geometry: Height: 1565 Hide Left Dock: false Hide Right Dock: false - Image: + InitialPoseButtonPanel: collapsed: false - QMainWindow State: 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+ QMainWindow State: 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RecognitionResultOnImage: collapsed: false Selection: From e62a9a32ab01083f8650bf803afd750d1ff59204 Mon Sep 17 00:00:00 2001 From: kyoichi-sugahara Date: Wed, 5 Jul 2023 16:16:25 +0900 Subject: [PATCH 2/4] fix typo Signed-off-by: kyoichi-sugahara --- .../behavior_velocity_planner/intersection.param.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/intersection.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/intersection.param.yaml index ab204a2992..f861cbb991 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/intersection.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/intersection.param.yaml @@ -45,7 +45,7 @@ pub_debug_grid: false enable_rtc: - interaction: true # If set to true, the scene modules require approval from the rtc (request to cooperate) function. If set to false, the modules can be executed without requiring rtc approval + intersection: true # If set to true, the scene modules require approval from the rtc (request to cooperate) function. If set to false, the modules can be executed without requiring rtc approval intersection_to_occlusion: true merge_from_private: From 7fbc5dc2a54d3700bc0818cbd5235350ac068acd Mon Sep 17 00:00:00 2001 From: kyoichi-sugahara Date: Wed, 19 Jul 2023 11:27:53 +0900 Subject: [PATCH 3/4] revert change of rviz config Signed-off-by: kyoichi-sugahara --- autoware_launch/rviz/autoware.rviz | 857 +++++++---------------------- 1 file changed, 189 insertions(+), 668 deletions(-) diff --git a/autoware_launch/rviz/autoware.rviz b/autoware_launch/rviz/autoware.rviz index 56949cdfc7..97f73bc672 100644 --- a/autoware_launch/rviz/autoware.rviz +++ b/autoware_launch/rviz/autoware.rviz @@ -3,11 +3,9 @@ Panels: Help Height: 0 Name: Displays Property Tree Widget: - Expanded: - - /Map1 - - /Sensing1/LiDAR1/ConcatenatePointCloud1/Autocompute Value Bounds1 + Expanded: ~ Splitter Ratio: 0.557669460773468 - Tree Height: 298 + Tree Height: 397 - Class: rviz_common/Selection Name: Selection - Class: rviz_common/Tool Properties @@ -15,8 +13,7 @@ Panels: Name: Tool Properties Splitter Ratio: 0.5886790156364441 - Class: rviz_common/Views - Expanded: - - /Current View1 + Expanded: ~ Name: Views Splitter Ratio: 0.5 - Class: tier4_localization_rviz_plugin/InitialPoseButtonPanel @@ -40,8 +37,7 @@ Visualization Manager: Show Arrows: true Show Axes: true Show Names: true - Tree: - {} + Tree: {} Update Interval: 0 Value: false - Alpha: 0.5 @@ -66,12 +62,9 @@ Visualization Manager: 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 @@ -79,15 +72,12 @@ Visualization Manager: Reliability Policy: Reliable Value: /vehicle/status/steering_status Value: true - Value Scale: 0.14999249577522278 Value height offset: 0 - Class: rviz_plugins/ConsoleMeter Enabled: true - Left: 512 - Length: 256 Name: ConsoleMeter + Scale: 3 Text Color: 25; 255; 240 - Top: 128 Topic: Depth: 5 Durability Policy: Volatile @@ -95,9 +85,8 @@ Visualization Manager: Reliability Policy: Reliable Value: /vehicle/status/velocity_status Value: true - Value Scale: 0.14999249577522278 Value height offset: 0 - - Alpha: 0.9990000128746033 + - Alpha: 0.999 Class: rviz_plugins/VelocityHistory Color Border Vel Max: 3 Constant Color: @@ -133,157 +122,154 @@ Visualization Manager: Expand Tree: false Link Tree Style: Links in Alphabetic Order base_link: - Alpha: 1 + Alpha: 0.999 Show Axes: false Show Trail: false Value: true camera0/camera_link: - Alpha: 1 + Alpha: 0.999 Show Axes: false Show Trail: false Value: true camera0/camera_optical_link: - Alpha: 1 + Alpha: 0.999 Show Axes: false Show Trail: false camera1/camera_link: - Alpha: 1 + Alpha: 0.999 Show Axes: false Show Trail: false Value: true camera1/camera_optical_link: - Alpha: 1 + Alpha: 0.999 Show Axes: false Show Trail: false camera2/camera_link: - Alpha: 1 + Alpha: 0.999 Show Axes: false Show Trail: false Value: true camera2/camera_optical_link: - Alpha: 1 + Alpha: 0.999 Show Axes: false Show Trail: false camera3/camera_link: - Alpha: 1 + Alpha: 0.999 Show Axes: false Show Trail: false Value: true camera3/camera_optical_link: - Alpha: 1 + Alpha: 0.999 Show Axes: false Show Trail: false camera4/camera_link: - Alpha: 1 + Alpha: 0.999 Show Axes: false Show Trail: false Value: true camera4/camera_optical_link: - Alpha: 1 + Alpha: 0.999 Show Axes: false Show Trail: false camera5/camera_link: - Alpha: 1 + Alpha: 0.999 Show Axes: false Show Trail: false Value: true camera5/camera_optical_link: - Alpha: 1 + Alpha: 0.999 Show Axes: false Show Trail: false - camera6/camera_link: - Alpha: 1 + gnss_link: + Alpha: 0.999 Show Axes: false Show Trail: false Value: true - camera6/camera_optical_link: - Alpha: 1 + livox_front_left: + Alpha: 0.999 Show Axes: false Show Trail: false - camera7/camera_link: - Alpha: 1 + livox_front_left_base_link: + Alpha: 0.999 Show Axes: false Show Trail: false Value: true - camera7/camera_optical_link: - Alpha: 1 + livox_front_right: + Alpha: 0.999 Show Axes: false Show Trail: false - gnss_link: - Alpha: 1 + livox_front_right_base_link: + Alpha: 0.999 Show Axes: false Show Trail: false Value: true - livox_front_left: - Alpha: 1 + sensor_kit_base_link: + Alpha: 0.999 Show Axes: false Show Trail: false - livox_front_left_base_link: - Alpha: 1 + tamagawa/imu_link: + Alpha: 0.999 Show Axes: false Show Trail: false Value: true - livox_front_right: - Alpha: 1 - Show Axes: false - Show Trail: false - livox_front_right_base_link: - Alpha: 1 + traffic_light_left_camera/camera_link: + Alpha: 0.999 Show Axes: false Show Trail: false Value: true - sensor_kit_base_link: - Alpha: 1 + traffic_light_left_camera/camera_optical_link: + Alpha: 0.999 Show Axes: false Show Trail: false - tamagawa/imu_link: - Alpha: 1 + traffic_light_right_camera/camera_link: + Alpha: 0.999 Show Axes: false Show Trail: false Value: true + traffic_light_right_camera/camera_optical_link: + Alpha: 0.999 + Show Axes: false + Show Trail: false velodyne_left: - Alpha: 1 + Alpha: 0.999 Show Axes: false Show Trail: false Value: true velodyne_left_base_link: - Alpha: 1 + Alpha: 0.999 Show Axes: false Show Trail: false Value: true velodyne_rear: - Alpha: 1 + Alpha: 0.999 Show Axes: false Show Trail: false Value: true velodyne_rear_base_link: - Alpha: 1 + Alpha: 0.999 Show Axes: false Show Trail: false Value: true velodyne_right: - Alpha: 1 + Alpha: 0.999 Show Axes: false Show Trail: false Value: true velodyne_right_base_link: - Alpha: 1 + Alpha: 0.999 Show Axes: false Show Trail: false Value: true velodyne_top: - Alpha: 1 + Alpha: 0.999 Show Axes: false Show Trail: false Value: true velodyne_top_base_link: - Alpha: 1 + Alpha: 0.999 Show Axes: false Show Trail: false Value: true - Mass Properties: - Inertia: false - Mass: false Name: VehicleModel TF Prefix: "" Update Interval: 0 @@ -296,8 +282,8 @@ Visualization Manager: Max Alpha: 0.5 Max Range: 100 Max Wave Alpha: 0.5 - Min Alpha: 0.009999999776482582 - Min Wave Alpha: 0.009999999776482582 + Min Alpha: 0.01 + Min Wave Alpha: 0.01 Name: PolarGridDisplay Reference Frame: base_link Value: true @@ -305,20 +291,18 @@ Visualization Manager: 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 + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/current_max_velocity Value: true - Value Scale: 0.25 - Class: rviz_plugins/TurnSignal Enabled: true - Height: 256 - Left: 196 Name: TurnSignal - Top: 350 Topic: Depth: 5 Durability Policy: Volatile @@ -326,7 +310,6 @@ Visualization Manager: Reliability Policy: Reliable Value: /vehicle/status/turn_indicators_status Value: true - Width: 512 Enabled: true Name: Vehicle Enabled: true @@ -345,7 +328,7 @@ Visualization Manager: Color: 255; 255; 255 Color Transformer: FlatColor Decay Time: 0 - Enabled: false + Enabled: true Invert Rainbow: false Max Color: 255; 255; 255 Max Intensity: 237 @@ -355,18 +338,17 @@ Visualization Manager: Position Transformer: XYZ Selectable: false Size (Pixels): 1 - Size (m): 0.019999999552965164 + Size (m): 0.02 Style: Points Topic: Depth: 5 Durability Policy: Transient Local - Filter size: 10 History Policy: Keep Last Reliability Policy: Reliable Value: /map/pointcloud_map Use Fixed Frame: true Use rainbow: false - Value: false + Value: true - Class: rviz_default_plugins/MarkerArray Enabled: true Name: Lanelet2VectorMap @@ -374,8 +356,7 @@ Visualization Manager: center_lane_line: false center_line_arrows: false crosswalk_lanelets: true - detection_area: true - detection_area_stopline: true + crosswalk_areas: false lane_start_bound: false lanelet direction: true lanelet_id: false @@ -385,11 +366,18 @@ Visualization Manager: pedestrian_marking: true right_lane_bound: true road_lanelets: false + speed_bump: true stop_lines: true + shoulder_center_lane_line: false + shoulder_left_lane_bound: true + shoulder_right_lane_bound: true + shoulder_road_lanelets: false traffic_light: true traffic_light_id: false traffic_light_triangle: true walkway_lanelets: true + hatched_road_markings_bound: true + hatched_road_markings_area: false Topic: Depth: 5 Durability Policy: Transient Local @@ -403,7 +391,7 @@ Visualization Manager: Displays: - Class: rviz_common/Group Displays: - - Alpha: 0.4000000059604645 + - Alpha: 0.4 Autocompute Intensity Bounds: true Autocompute Value Bounds: Max Value: 5 @@ -425,19 +413,18 @@ Visualization Manager: Position Transformer: XYZ Selectable: false Size (Pixels): 1 - Size (m): 0.019999999552965164 + Size (m): 0.02 Style: Points Topic: Depth: 5 Durability Policy: Volatile - Filter size: 10 History Policy: Keep Last Reliability Policy: Best Effort Value: /sensing/lidar/concatenated/pointcloud Use Fixed Frame: false Use rainbow: true Value: true - - Alpha: 0.9990000128746033 + - Alpha: 0.999 Class: rviz_default_plugins/Polygon Color: 25; 255; 0 Enabled: false @@ -445,7 +432,6 @@ Visualization Manager: Topic: Depth: 5 Durability Policy: Volatile - Filter size: 10 History Policy: Keep Last Reliability Policy: Reliable Value: /sensing/lidar/crop_box_filter/crop_box_polygon @@ -484,7 +470,6 @@ Visualization Manager: Topic: Depth: 5 Durability Policy: Volatile - Filter size: 10 History Policy: Keep Last Reliability Policy: Reliable Value: /sensing/gnss/pose_with_covariance @@ -497,7 +482,7 @@ Visualization Manager: Displays: - Class: rviz_common/Group Displays: - - Alpha: 0.9990000128746033 + - Alpha: 0.999 Axes Length: 1 Axes Radius: 0.10000000149011612 Class: rviz_default_plugins/PoseWithCovariance @@ -527,12 +512,11 @@ Visualization Manager: Topic: Depth: 5 Durability Policy: Volatile - Filter size: 10 History Policy: Keep Last Reliability Policy: Reliable Value: /localization/pose_estimator/initial_pose_with_covariance - Value: false - - Alpha: 0.9990000128746033 + Value: true + - Alpha: 0.999 Axes Length: 1 Axes Radius: 0.10000000149011612 Class: rviz_default_plugins/PoseWithCovariance @@ -562,29 +546,27 @@ Visualization Manager: Topic: Depth: 5 Durability Policy: Volatile - Filter size: 10 History Policy: Keep Last Reliability Policy: Reliable Value: /localization/pose_estimator/pose_with_covariance - Value: false + Value: true - Buffer Size: 200 Class: rviz_plugins::PoseHistory Enabled: false Line: - Alpha: 0.9990000128746033 Color: 170; 255; 127 Value: true Width: 0.10000000149011612 + Alpha: 0.999 Name: PoseHistory Topic: Depth: 5 Durability Policy: Volatile - Filter size: 10 History Policy: Keep Last Reliability Policy: Reliable Value: /localization/pose_estimator/pose - Value: false - - Alpha: 0.9990000128746033 + Value: true + - Alpha: 0.999 Autocompute Intensity Bounds: true Autocompute Value Bounds: Max Value: 10 @@ -611,14 +593,13 @@ Visualization Manager: Topic: Depth: 5 Durability Policy: Volatile - Filter size: 10 History Policy: Keep Last Reliability Policy: Best Effort Value: /localization/util/downsample/pointcloud Use Fixed Frame: true Use rainbow: true Value: false - - Alpha: 0.9990000128746033 + - Alpha: 0.999 Autocompute Intensity Bounds: true Autocompute Value Bounds: Max Value: 10 @@ -645,7 +626,6 @@ Visualization Manager: Topic: Depth: 5 Durability Policy: Volatile - Filter size: 10 History Policy: Keep Last Reliability Policy: Reliable Value: /localization/pose_estimator/points_aligned @@ -655,8 +635,7 @@ Visualization Manager: - Class: rviz_default_plugins/MarkerArray Enabled: true Name: MonteCarloInitialPose - Namespaces: - {} + Namespaces: {} Topic: Depth: 5 Durability Policy: Volatile @@ -672,15 +651,14 @@ Visualization Manager: Class: rviz_plugins::PoseHistory Enabled: true Line: - Alpha: 0.9990000128746033 Color: 0; 255; 255 Value: true Width: 0.10000000149011612 + Alpha: 0.999 Name: PoseHistory Topic: Depth: 5 Durability Policy: Volatile - Filter size: 10 History Policy: Keep Last Reliability Policy: Reliable Value: /localization/pose_twist_fusion_filter/pose @@ -693,7 +671,7 @@ Visualization Manager: Displays: - Class: rviz_common/Group Displays: - - Alpha: 0.9990000128746033 + - Alpha: 0.999 Autocompute Intensity Bounds: true Autocompute Value Bounds: Max Value: 15 @@ -715,12 +693,11 @@ Visualization Manager: Position Transformer: XYZ Selectable: false Size (Pixels): 3 - Size (m): 0.019999999552965164 + Size (m): 0.02 Style: Points Topic: Depth: 5 Durability Policy: Volatile - Filter size: 10 History Policy: Keep Last Reliability Policy: Best Effort Value: /perception/obstacle_segmentation/pointcloud @@ -734,16 +711,16 @@ Visualization Manager: - Class: rviz_common/Group Displays: - BUS: - Alpha: 0.9990000128746033 + Alpha: 0.999 Color: 30; 144; 255 CAR: - Alpha: 0.9990000128746033 + Alpha: 0.999 Color: 30; 144; 255 CYCLIST: - Alpha: 0.9990000128746033 + Alpha: 0.999 Color: 119; 11; 32 Class: autoware_auto_perception_rviz_plugin/DetectedObjects - Display Acceleration: true + Display 3d polygon: true Display Label: true Display PoseWithCovariance: true Display Predicted Path Confidence: true @@ -751,23 +728,21 @@ Visualization Manager: Display Twist: true Display UUID: true Display Velocity: true + Line Width: 0.03 Enabled: true - Line Width: 0.029999999329447746 MOTORCYCLE: - Alpha: 0.9990000128746033 + Alpha: 0.999 Color: 119; 11; 32 Name: DetectedObjects - Namespaces: - {} + Namespaces: {} PEDESTRIAN: - Alpha: 0.9990000128746033 + Alpha: 0.999 Color: 255; 192; 203 - Polygon Type: 3d TRAILER: - Alpha: 0.9990000128746033 + Alpha: 0.999 Color: 30; 144; 255 TRUCK: - Alpha: 0.9990000128746033 + Alpha: 0.999 Color: 30; 144; 255 Topic: Depth: 5 @@ -776,25 +751,24 @@ Visualization Manager: Reliability Policy: Best Effort Value: /perception/object_recognition/detection/objects UNKNOWN: - Alpha: 0.9990000128746033 + Alpha: 0.999 Color: 255; 255; 255 Value: true - Visualization Type: Normal Enabled: false Name: Detection - Class: rviz_common/Group Displays: - BUS: - Alpha: 0.9990000128746033 + Alpha: 0.999 Color: 30; 144; 255 CAR: - Alpha: 0.9990000128746033 + Alpha: 0.999 Color: 30; 144; 255 CYCLIST: - Alpha: 0.9990000128746033 + Alpha: 0.999 Color: 119; 11; 32 Class: autoware_auto_perception_rviz_plugin/TrackedObjects - Display Acceleration: true + Display 3d polygon: true Display Label: true Display PoseWithCovariance: true Display Predicted Path Confidence: true @@ -802,23 +776,21 @@ Visualization Manager: Display Twist: true Display UUID: true Display Velocity: true + Line Width: 0.03 Enabled: true - Line Width: 0.029999999329447746 MOTORCYCLE: - Alpha: 0.9990000128746033 + Alpha: 0.999 Color: 119; 11; 32 Name: TrackedObjects - Namespaces: - {} + Namespaces: {} PEDESTRIAN: - Alpha: 0.9990000128746033 + Alpha: 0.999 Color: 255; 192; 203 - Polygon Type: 3d TRAILER: - Alpha: 0.9990000128746033 + Alpha: 0.999 Color: 30; 144; 255 TRUCK: - Alpha: 0.9990000128746033 + Alpha: 0.999 Color: 30; 144; 255 Topic: Depth: 5 @@ -827,25 +799,24 @@ Visualization Manager: Reliability Policy: Best Effort Value: /perception/object_recognition/tracking/objects UNKNOWN: - Alpha: 0.9990000128746033 + Alpha: 0.999 Color: 255; 255; 255 Value: true - Visualization Type: Normal Enabled: false Name: Tracking - Class: rviz_common/Group Displays: - BUS: - Alpha: 0.9990000128746033 + Alpha: 0.999 Color: 30; 144; 255 CAR: - Alpha: 0.9990000128746033 + Alpha: 0.999 Color: 30; 144; 255 CYCLIST: - Alpha: 0.9990000128746033 + Alpha: 0.999 Color: 119; 11; 32 Class: autoware_auto_perception_rviz_plugin/PredictedObjects - Display Acceleration: true + Display 3d polygon: true Display Label: true Display PoseWithCovariance: false Display Predicted Path Confidence: true @@ -853,23 +824,21 @@ Visualization Manager: Display Twist: true Display UUID: true Display Velocity: true + Line Width: 0.03 Enabled: true - Line Width: 0.029999999329447746 MOTORCYCLE: - Alpha: 0.9990000128746033 + Alpha: 0.999 Color: 119; 11; 32 Name: PredictedObjects - Namespaces: - {} + Namespaces: {} PEDESTRIAN: - Alpha: 0.9990000128746033 + Alpha: 0.999 Color: 255; 192; 203 - Polygon Type: 3d TRAILER: - Alpha: 0.9990000128746033 + Alpha: 0.999 Color: 30; 144; 255 TRUCK: - Alpha: 0.9990000128746033 + Alpha: 0.999 Color: 30; 144; 255 Topic: Depth: 5 @@ -878,22 +847,20 @@ Visualization Manager: Reliability Policy: Best Effort Value: /perception/object_recognition/objects UNKNOWN: - Alpha: 0.9990000128746033 + Alpha: 0.999 Color: 255; 255; 255 Value: true - Visualization Type: Normal - Class: rviz_default_plugins/MarkerArray Enabled: false Name: Maneuver - Namespaces: - {} + Namespaces: {} Topic: Depth: 5 Durability Policy: Volatile History Policy: Keep Last Reliability Policy: Best Effort Value: /perception/object_recognition/prediction/maneuver - Value: false + Value: true Enabled: true Name: Prediction Enabled: true @@ -917,8 +884,7 @@ Visualization Manager: - Class: rviz_default_plugins/MarkerArray Enabled: true Name: MapBasedDetectionResult - Namespaces: - {} + Namespaces: {} Topic: Depth: 5 Durability Policy: Volatile @@ -963,7 +929,11 @@ Visualization Manager: Enabled: true Name: RouteArea Namespaces: - {} + goal_lanelets: true + lane_start_bound: false + left_lane_bound: false + right_lane_bound: false + route_lanelets: true Topic: Depth: 5 Durability Policy: Transient Local @@ -971,7 +941,7 @@ Visualization Manager: Reliability Policy: Reliable Value: /planning/mission_planning/route_marker Value: true - - Alpha: 0.9990000128746033 + - Alpha: 0.999 Axes Length: 1 Axes Radius: 0.30000001192092896 Class: rviz_default_plugins/Pose @@ -986,7 +956,6 @@ 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 @@ -1002,37 +971,18 @@ 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: 1.0299999713897705 - Value: false - Vehicle Length: 4.769999980926514 - Vehicle Width: 1.8300000429153442 View Path: - Alpha: 0.9990000128746033 + Alpha: 0.999 Color: 0; 0; 0 Constant Color: false - Constant Width: false Value: true Width: 2 - View Point: - Alpha: 1 - Color: 0; 60; 255 - Offset: 0 - Radius: 0.10000000149011612 - Value: false - View Text Velocity: - Scale: 0.30000001192092896 - Value: false View Velocity: - Alpha: 0.9990000128746033 + Alpha: 0.999 Color: 0; 0; 0 Constant Color: false Scale: 0.30000001192092896 @@ -1048,40 +998,16 @@ Visualization Manager: Topic: Depth: 5 Durability Policy: Volatile - Filter size: 10 History Policy: Keep Last Reliability Policy: Reliable Value: /planning/scenario_planning/lane_driving/behavior_planning/path Value: true - View Drivable Area: - Alpha: 0.9990000128746033 - Color: 0; 148; 205 - Value: true - Width: 0.30000001192092896 - View Footprint: - Alpha: 1 - Color: 230; 230; 50 - Offset from BaseLink: 0 - Rear Overhang: 1.0299999713897705 - Value: false - Vehicle Length: 4.769999980926514 - Vehicle Width: 1.8300000429153442 View Path: Alpha: 0.4000000059604645 Color: 0; 0; 0 Constant Color: false - Constant Width: false Value: true Width: 2 - View Point: - Alpha: 1 - Color: 0; 60; 255 - Offset: 0 - Radius: 0.10000000149011612 - Value: false - View Text Velocity: - Scale: 0.30000001192092896 - Value: false View Velocity: Alpha: 0.4000000059604645 Color: 0; 0; 0 @@ -1095,40 +1021,16 @@ Visualization Manager: Topic: Depth: 5 Durability Policy: Volatile - Filter size: 10 History Policy: Keep Last Reliability Policy: Reliable Value: /planning/path_reference/avoidance_by_lane_change - Value: false - View Drivable Area: - Alpha: 0.9990000128746033 - Color: 0; 148; 205 - Value: true - Width: 0.30000001192092896 - View Footprint: - Alpha: 1 - Color: 230; 230; 50 - Offset from BaseLink: 0 - Rear Overhang: 1.0299999713897705 - Value: false - Vehicle Length: 4.769999980926514 - Vehicle Width: 1.8300000429153442 + Value: true View Path: - Alpha: 0.30000001192092896 + Alpha: 0.3 Color: 210; 110; 10 Constant Color: true - Constant Width: false Value: true Width: 2 - View Point: - Alpha: 1 - Color: 0; 60; 255 - Offset: 0 - Radius: 0.10000000149011612 - Value: false - View Text Velocity: - Scale: 0.30000001192092896 - Value: false View Velocity: Alpha: 0.30000001192092896 Color: 0; 0; 0 @@ -1142,40 +1044,16 @@ Visualization Manager: Topic: Depth: 5 Durability Policy: Volatile - Filter size: 10 History Policy: Keep Last Reliability Policy: Reliable Value: /planning/path_reference/avoidance - Value: false - View Drivable Area: - Alpha: 0.9990000128746033 - Color: 0; 148; 205 - Value: true - Width: 0.30000001192092896 - View Footprint: - Alpha: 1 - Color: 230; 230; 50 - Offset from BaseLink: 0 - Rear Overhang: 1.0299999713897705 - Value: false - Vehicle Length: 4.769999980926514 - Vehicle Width: 1.8300000429153442 + Value: true View Path: - Alpha: 0.30000001192092896 + Alpha: 0.3 Color: 210; 110; 210 Constant Color: true - Constant Width: false Value: true Width: 2 - View Point: - Alpha: 1 - Color: 0; 60; 255 - Offset: 0 - Radius: 0.10000000149011612 - Value: false - View Text Velocity: - Scale: 0.30000001192092896 - Value: false View Velocity: Alpha: 0.30000001192092896 Color: 0; 0; 0 @@ -1189,40 +1067,16 @@ Visualization Manager: Topic: Depth: 5 Durability Policy: Volatile - Filter size: 10 History Policy: Keep Last Reliability Policy: Reliable Value: /planning/path_reference/lane_change_right - Value: false - View Drivable Area: - Alpha: 0.9990000128746033 - Color: 0; 148; 205 - Value: true - Width: 0.30000001192092896 - View Footprint: - Alpha: 1 - Color: 230; 230; 50 - Offset from BaseLink: 0 - Rear Overhang: 1.0299999713897705 - Value: false - Vehicle Length: 4.769999980926514 - Vehicle Width: 1.8300000429153442 + Value: true View Path: - Alpha: 0.30000001192092896 + Alpha: 0.3 Color: 210; 210; 110 Constant Color: true - Constant Width: false Value: true Width: 2 - View Point: - Alpha: 1 - Color: 0; 60; 255 - Offset: 0 - Radius: 0.10000000149011612 - Value: false - View Text Velocity: - Scale: 0.30000001192092896 - Value: false View Velocity: Alpha: 0.30000001192092896 Color: 0; 0; 0 @@ -1236,40 +1090,16 @@ Visualization Manager: Topic: Depth: 5 Durability Policy: Volatile - Filter size: 10 History Policy: Keep Last Reliability Policy: Reliable Value: /planning/path_reference/lane_change_left - Value: false - View Drivable Area: - Alpha: 0.9990000128746033 - Color: 0; 148; 205 - Value: true - Width: 0.30000001192092896 - View Footprint: - Alpha: 1 - Color: 230; 230; 50 - Offset from BaseLink: 0 - Rear Overhang: 1.0299999713897705 - Value: false - Vehicle Length: 4.769999980926514 - Vehicle Width: 1.8300000429153442 + Value: true View Path: - Alpha: 0.30000001192092896 + Alpha: 0.3 Color: 210; 210; 110 Constant Color: true - Constant Width: false Value: true Width: 2 - View Point: - Alpha: 1 - Color: 0; 60; 255 - Offset: 0 - Radius: 0.10000000149011612 - Value: false - View Text Velocity: - Scale: 0.30000001192092896 - Value: false View Velocity: Alpha: 0.30000001192092896 Color: 0; 0; 0 @@ -1283,40 +1113,16 @@ Visualization Manager: Topic: Depth: 5 Durability Policy: Volatile - Filter size: 10 History Policy: Keep Last Reliability Policy: Reliable Value: /planning/path_reference/goal_planner - Value: false - View Drivable Area: - Alpha: 0.9990000128746033 - Color: 0; 148; 205 - Value: true - Width: 0.30000001192092896 - View Footprint: - Alpha: 1 - Color: 230; 230; 50 - Offset from BaseLink: 0 - Rear Overhang: 1.0299999713897705 - Value: false - Vehicle Length: 4.769999980926514 - Vehicle Width: 1.8300000429153442 + Value: true View Path: - Alpha: 0.30000001192092896 + Alpha: 0.3 Color: 110; 110; 210 Constant Color: true - Constant Width: false Value: true Width: 2 - View Point: - Alpha: 1 - Color: 0; 60; 255 - Offset: 0 - Radius: 0.10000000149011612 - Value: false - View Text Velocity: - Scale: 0.30000001192092896 - Value: false View Velocity: Alpha: 0.30000001192092896 Color: 0; 0; 0 @@ -1330,40 +1136,16 @@ Visualization Manager: Topic: Depth: 5 Durability Policy: Volatile - Filter size: 10 History Policy: Keep Last Reliability Policy: Reliable Value: /planning/path_reference/start_planner - Value: false - View Drivable Area: - Alpha: 0.9990000128746033 - Color: 0; 148; 205 - Value: true - Width: 0.30000001192092896 - View Footprint: - Alpha: 1 - Color: 230; 230; 50 - Offset from BaseLink: 0 - Rear Overhang: 1.0299999713897705 - Value: false - Vehicle Length: 4.769999980926514 - Vehicle Width: 1.8300000429153442 + Value: true View Path: - Alpha: 0.30000001192092896 + Alpha: 0.3 Color: 210; 110; 110 Constant Color: true - Constant Width: false Value: true Width: 2 - View Point: - Alpha: 1 - Color: 0; 60; 255 - Offset: 0 - Radius: 0.10000000149011612 - Value: false - View Text Velocity: - Scale: 0.30000001192092896 - Value: false View Velocity: Alpha: 0.30000001192092896 Color: 0; 0; 0 @@ -1377,40 +1159,16 @@ Visualization Manager: Topic: Depth: 5 Durability Policy: Volatile - Filter size: 10 History Policy: Keep Last Reliability Policy: Reliable Value: /planning/path_candidate/avoidance_by_lane_change Value: true - View Drivable Area: - Alpha: 0.9990000128746033 - Color: 0; 148; 205 - Value: true - Width: 0.30000001192092896 - View Footprint: - Alpha: 1 - Color: 230; 230; 50 - Offset from BaseLink: 0 - Rear Overhang: 1.0299999713897705 - Value: false - Vehicle Length: 4.769999980926514 - Vehicle Width: 1.8300000429153442 View Path: Alpha: 0.30000001192092896 Color: 115; 210; 22 Constant Color: false - Constant Width: false Value: true Width: 2 - View Point: - Alpha: 1 - Color: 0; 60; 255 - Offset: 0 - Radius: 0.10000000149011612 - Value: false - View Text Velocity: - Scale: 0.30000001192092896 - Value: false View Velocity: Alpha: 0.30000001192092896 Color: 0; 0; 0 @@ -1424,40 +1182,16 @@ Visualization Manager: Topic: Depth: 5 Durability Policy: Volatile - Filter size: 10 History Policy: Keep Last Reliability Policy: Reliable Value: /planning/path_candidate/lane_change Value: true - View Drivable Area: - Alpha: 0.9990000128746033 - Color: 0; 148; 205 - Value: true - Width: 0.30000001192092896 - View Footprint: - Alpha: 1 - Color: 230; 230; 50 - Offset from BaseLink: 0 - Rear Overhang: 1.0299999713897705 - Value: false - Vehicle Length: 4.769999980926514 - Vehicle Width: 1.8300000429153442 View Path: Alpha: 0.30000001192092896 Color: 115; 210; 22 Constant Color: false - Constant Width: false Value: true Width: 2 - View Point: - Alpha: 1 - Color: 0; 60; 255 - Offset: 0 - Radius: 0.10000000149011612 - Value: false - View Text Velocity: - Scale: 0.30000001192092896 - Value: false View Velocity: Alpha: 0.30000001192092896 Color: 0; 0; 0 @@ -1471,40 +1205,16 @@ Visualization Manager: Topic: Depth: 5 Durability Policy: Volatile - Filter size: 10 History Policy: Keep Last Reliability Policy: Reliable Value: /planning/path_candidate/lane_change_right Value: true - View Drivable Area: - Alpha: 0.9990000128746033 - Color: 0; 148; 205 - Value: true - Width: 0.30000001192092896 - View Footprint: - Alpha: 1 - Color: 230; 230; 50 - Offset from BaseLink: 0 - Rear Overhang: 1.0299999713897705 - Value: false - Vehicle Length: 4.769999980926514 - Vehicle Width: 1.8300000429153442 View Path: Alpha: 0.30000001192092896 Color: 115; 210; 22 Constant Color: false - Constant Width: false Value: true Width: 2 - View Point: - Alpha: 1 - Color: 0; 60; 255 - Offset: 0 - Radius: 0.10000000149011612 - Value: false - View Text Velocity: - Scale: 0.30000001192092896 - Value: false View Velocity: Alpha: 0.30000001192092896 Color: 0; 0; 0 @@ -1518,40 +1228,16 @@ Visualization Manager: Topic: Depth: 5 Durability Policy: Volatile - Filter size: 10 History Policy: Keep Last Reliability Policy: Reliable Value: /planning/path_candidate/lane_change_left Value: true - View Drivable Area: - Alpha: 0.9990000128746033 - Color: 0; 148; 205 - Value: true - Width: 0.30000001192092896 - View Footprint: - Alpha: 1 - Color: 230; 230; 50 - Offset from BaseLink: 0 - Rear Overhang: 1.0299999713897705 - Value: false - Vehicle Length: 4.769999980926514 - Vehicle Width: 1.8300000429153442 View Path: Alpha: 0.30000001192092896 Color: 115; 210; 22 Constant Color: false - Constant Width: false Value: true Width: 2 - View Point: - Alpha: 1 - Color: 0; 60; 255 - Offset: 0 - Radius: 0.10000000149011612 - Value: false - View Text Velocity: - Scale: 0.30000001192092896 - Value: false View Velocity: Alpha: 0.30000001192092896 Color: 0; 0; 0 @@ -1565,40 +1251,16 @@ Visualization Manager: Topic: Depth: 5 Durability Policy: Volatile - Filter size: 10 History Policy: Keep Last Reliability Policy: Reliable Value: /planning/path_candidate/external_request_lane_change_right Value: true - View Drivable Area: - Alpha: 0.9990000128746033 - Color: 0; 148; 205 - Value: true - Width: 0.30000001192092896 - View Footprint: - Alpha: 1 - Color: 230; 230; 50 - Offset from BaseLink: 0 - Rear Overhang: 1.0299999713897705 - Value: false - Vehicle Length: 4.769999980926514 - Vehicle Width: 1.8300000429153442 View Path: Alpha: 0.30000001192092896 Color: 115; 210; 22 Constant Color: false - Constant Width: false Value: true Width: 2 - View Point: - Alpha: 1 - Color: 0; 60; 255 - Offset: 0 - Radius: 0.10000000149011612 - Value: false - View Text Velocity: - Scale: 0.30000001192092896 - Value: false View Velocity: Alpha: 0.30000001192092896 Color: 0; 0; 0 @@ -1612,40 +1274,16 @@ Visualization Manager: Topic: Depth: 5 Durability Policy: Volatile - Filter size: 10 History Policy: Keep Last Reliability Policy: Reliable Value: /planning/path_candidate/external_request_lane_change_left Value: true - View Drivable Area: - Alpha: 0.9990000128746033 - Color: 0; 148; 205 - Value: true - Width: 0.30000001192092896 - View Footprint: - Alpha: 1 - Color: 230; 230; 50 - Offset from BaseLink: 0 - Rear Overhang: 1.0299999713897705 - Value: false - Vehicle Length: 4.769999980926514 - Vehicle Width: 1.8300000429153442 View Path: Alpha: 0.30000001192092896 Color: 115; 210; 22 Constant Color: false - Constant Width: false Value: true Width: 2 - View Point: - Alpha: 1 - Color: 0; 60; 255 - Offset: 0 - Radius: 0.10000000149011612 - Value: false - View Text Velocity: - Scale: 0.30000001192092896 - Value: false View Velocity: Alpha: 0.30000001192092896 Color: 0; 0; 0 @@ -1659,40 +1297,16 @@ Visualization Manager: Topic: Depth: 5 Durability Policy: Volatile - Filter size: 10 History Policy: Keep Last Reliability Policy: Reliable Value: /planning/path_candidate/avoidance Value: true - View Drivable Area: - Alpha: 0.9990000128746033 - Color: 0; 148; 205 - Value: true - Width: 0.30000001192092896 - View Footprint: - Alpha: 1 - Color: 230; 230; 50 - Offset from BaseLink: 0 - Rear Overhang: 1.0299999713897705 - Value: false - Vehicle Length: 4.769999980926514 - Vehicle Width: 1.8300000429153442 View Path: Alpha: 0.30000001192092896 Color: 115; 210; 22 Constant Color: false - Constant Width: false Value: true Width: 2 - View Point: - Alpha: 1 - Color: 0; 60; 255 - Offset: 0 - Radius: 0.10000000149011612 - Value: false - View Text Velocity: - Scale: 0.30000001192092896 - Value: false View Velocity: Alpha: 0.30000001192092896 Color: 0; 0; 0 @@ -1706,40 +1320,16 @@ Visualization Manager: Topic: Depth: 5 Durability Policy: Volatile - Filter size: 10 History Policy: Keep Last Reliability Policy: Reliable Value: /planning/path_candidate/start_planner Value: true - View Drivable Area: - Alpha: 0.9990000128746033 - Color: 0; 148; 205 - Value: true - Width: 0.30000001192092896 - View Footprint: - Alpha: 1 - Color: 230; 230; 50 - Offset from BaseLink: 0 - Rear Overhang: 1.0299999713897705 - Value: false - Vehicle Length: 4.769999980926514 - Vehicle Width: 1.8300000429153442 View Path: Alpha: 0.30000001192092896 Color: 115; 210; 22 Constant Color: false - Constant Width: false Value: true Width: 2 - View Point: - Alpha: 1 - Color: 0; 60; 255 - Offset: 0 - Radius: 0.10000000149011612 - Value: false - View Text Velocity: - Scale: 0.30000001192092896 - Value: false View Velocity: Alpha: 0.30000001192092896 Color: 0; 0; 0 @@ -1753,40 +1343,16 @@ Visualization Manager: Topic: Depth: 5 Durability Policy: Volatile - Filter size: 10 History Policy: Keep Last Reliability Policy: Reliable Value: /planning/path_candidate/goal_planner Value: true - View Drivable Area: - Alpha: 0.9990000128746033 - Color: 0; 148; 205 - Value: true - Width: 0.30000001192092896 - View Footprint: - Alpha: 1 - Color: 230; 230; 50 - Offset from BaseLink: 0 - Rear Overhang: 1.0299999713897705 - Value: false - Vehicle Length: 4.769999980926514 - Vehicle Width: 1.8300000429153442 View Path: Alpha: 0.30000001192092896 Color: 115; 210; 22 Constant Color: false - Constant Width: false Value: true Width: 2 - View Point: - Alpha: 1 - Color: 0; 60; 255 - Offset: 0 - Radius: 0.10000000149011612 - Value: false - View Text Velocity: - Scale: 0.30000001192092896 - Value: false View Velocity: Alpha: 0.30000001192092896 Color: 0; 0; 0 @@ -1797,14 +1363,16 @@ Visualization Manager: Enabled: false Name: Bound Namespaces: - {} + left_bound: true + right_bound: true Topic: Depth: 5 Durability Policy: Volatile + Filter size: 10 History Policy: Keep Last Reliability Policy: Reliable Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/debug/bound - Value: false + Value: true - Class: rviz_common/Group Displays: - Class: rviz_default_plugins/MarkerArray @@ -2003,7 +1571,8 @@ Visualization Manager: Enabled: true Name: VirtualWall (StopLine) Namespaces: - {} + stop_factor_text: true + stop_virtual_wall: true Topic: Depth: 5 Durability Policy: Volatile @@ -2259,7 +1828,7 @@ Visualization Manager: Value: false - Class: rviz_default_plugins/MarkerArray Enabled: false - Name: LaneChange + Name: LeftLaneChange Namespaces: {} Topic: @@ -2267,7 +1836,19 @@ 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: RightLaneChange + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/debug/lane_change_right Value: false - Class: rviz_default_plugins/MarkerArray Enabled: false @@ -2373,7 +1954,12 @@ Visualization Manager: Enabled: false Name: Info (Avoidance) Namespaces: - {} + avoidable_target_objects_info: false + avoidable_target_objects_info_reason: false + avoidable_target_objects_envelope_polygon: false + unavoidable_target_objects_info: false + unavoidable_target_objects_info_reason: false + unavoidable_target_objects_envelope_polygon: false Topic: Depth: 5 Durability Policy: Volatile @@ -2490,37 +2076,18 @@ 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: 0.9990000128746033 + Alpha: 0.999 Color: 0; 0; 0 Constant Color: false - Constant Width: false Value: true Width: 2 - View Point: - Alpha: 1 - Color: 0; 60; 255 - Offset: 0 - Radius: 0.10000000149011612 - Value: false - View Text Velocity: - Scale: 0.30000001192092896 - Value: false View Velocity: - Alpha: 0.9990000128746033 + Alpha: 0.999 Color: 0; 0; 0 Constant Color: false Scale: 0.30000001192092896 @@ -2715,7 +2282,6 @@ Visualization Manager: Topic: Depth: 5 Durability Policy: Volatile - Filter size: 10 History Policy: Keep Last Reliability Policy: Reliable Value: /planning/scenario_planning/parking/costmap_generator/occupancy_grid @@ -2727,7 +2293,7 @@ Visualization Manager: Value: /planning/scenario_planning/parking/costmap_generator/occupancy_grid_updates Use Timestamp: false Value: false - - Alpha: 0.9990000128746033 + - Alpha: 0.999 Arrow Length: 0.30000001192092896 Axes Length: 0.30000001192092896 Axes Radius: 0.009999999776482582 @@ -2743,12 +2309,11 @@ Visualization Manager: Topic: Depth: 5 Durability Policy: Volatile - Filter size: 10 History Policy: Keep Last Reliability Policy: Reliable Value: /planning/scenario_planning/parking/freespace_planner/debug/partial_pose_array Value: true - - Alpha: 0.9990000128746033 + - Alpha: 0.999 Arrow Length: 0.5 Axes Length: 0.30000001192092896 Axes Radius: 0.009999999776482582 @@ -2764,7 +2329,6 @@ 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 @@ -2794,8 +2358,7 @@ Visualization Manager: - Class: rviz_default_plugins/MarkerArray Enabled: true Name: PlanningErrorMarker - Namespaces: - {} + Namespaces: {} Topic: Depth: 5 Durability Policy: Volatile @@ -2816,35 +2379,17 @@ Visualization Manager: Topic: Depth: 5 Durability Policy: Volatile - Filter size: 10 History Policy: Keep Last Reliability Policy: Reliable Value: /control/trajectory_follower/lateral/predicted_trajectory Value: true - View Footprint: - Alpha: 1 - Color: 230; 230; 50 - Offset from BaseLink: 0 - Rear Overhang: 1.0299999713897705 - Value: false - Vehicle Length: 4.769999980926514 - Vehicle Width: 1.8300000429153442 View Path: Alpha: 1 Color: 255; 255; 255 Constant Color: true - Constant Width: true Value: true + Constant Width: true Width: 0.05000000074505806 - View Point: - Alpha: 1 - Color: 0; 60; 255 - Offset: 0 - Radius: 0.10000000149011612 - Value: false - View Text Velocity: - Scale: 0.30000001192092896 - Value: false View Velocity: Alpha: 1 Color: 0; 0; 0 @@ -2854,8 +2399,7 @@ Visualization Manager: - Class: rviz_default_plugins/MarkerArray Enabled: false Name: Debug/MPC - Namespaces: - {} + Namespaces: {} Topic: Depth: 5 Durability Policy: Volatile @@ -2866,8 +2410,7 @@ Visualization Manager: - Class: rviz_default_plugins/MarkerArray Enabled: false Name: Debug/PurePursuit - Namespaces: - {} + Namespaces: {} Topic: Depth: 5 Durability Policy: Volatile @@ -2879,7 +2422,10 @@ Visualization Manager: Enabled: false Name: Debug/AEB Namespaces: - {} + ego_path: true + ego_polygons: true + predicted_path: true + predicted_polygons: true Topic: Depth: 5 Durability Policy: Volatile @@ -2892,6 +2438,7 @@ Visualization Manager: Enabled: true Global Options: Background Color: 10; 10; 10 + Default Light: true Fixed Frame: map Frame Rate: 30 Name: root @@ -2904,15 +2451,15 @@ Visualization Manager: - Class: rviz_default_plugins/Measure Line color: 128; 128; 0 - Class: rviz_default_plugins/SetInitialPose - Covariance x: 0.25 - Covariance y: 0.25 - Covariance yaw: 0.06853891909122467 + Theta std deviation: 0.2617993950843811 Topic: Depth: 5 Durability Policy: Volatile History Policy: Keep Last Reliability Policy: Reliable Value: /initialpose + X std deviation: 0.5 + Y std deviation: 0.5 - Class: rviz_default_plugins/SetGoal Topic: Depth: 5 @@ -2927,47 +2474,26 @@ Visualization Manager: History Policy: Keep Last Reliability Policy: Reliable Value: /rviz/routing/rough_goal - - Acceleration: 0 - Class: rviz_plugins/PedestrianInitialPoseTool - Interactive: false - Max velocity: 33.29999923706055 - Min velocity: -33.29999923706055 + - Class: rviz_plugins/PedestrianInitialPoseTool Pose Topic: /simulation/dummy_perception_publisher/object_info - Target Frame: Theta std deviation: 0.0872664600610733 Velocity: 0 X std deviation: 0.029999999329447746 Y std deviation: 0.029999999329447746 Z position: 1 Z std deviation: 0.029999999329447746 - - Acceleration: 0 - Class: rviz_plugins/CarInitialPoseTool - H vehicle height: 2 - Interactive: false - L vehicle length: 4 - Max velocity: 33.29999923706055 - Min velocity: -33.29999923706055 + - Class: rviz_plugins/CarInitialPoseTool Pose Topic: /simulation/dummy_perception_publisher/object_info - Target Frame: Theta std deviation: 0.0872664600610733 Velocity: 3 - W vehicle width: 1.7999999523162842 X std deviation: 0.029999999329447746 Y std deviation: 0.029999999329447746 Z position: 0 Z std deviation: 0.029999999329447746 - - Acceleration: 0 - Class: rviz_plugins/BusInitialPoseTool - H vehicle height: 3.5 - Interactive: false - L vehicle length: 10.5 - Max velocity: 33.29999923706055 - Min velocity: -33.29999923706055 + - Class: rviz_plugins/BusInitialPoseTool Pose Topic: /simulation/dummy_perception_publisher/object_info - Target Frame: Theta std deviation: 0.0872664600610733 Velocity: 0 - W vehicle width: 2.5 X std deviation: 0.029999999329447746 Y std deviation: 0.029999999329447746 Z position: 0 @@ -2980,13 +2506,10 @@ Visualization Manager: Z position: 0 - Class: rviz_plugins/DeleteAllObjectsTool Pose Topic: /simulation/dummy_perception_publisher/object_info - Transformation: - Current: - Class: rviz_default_plugins/TF Value: true Views: Current: - Angle: 1.404999852180481 + Angle: 0 Class: rviz_default_plugins/TopDownOrtho Enable Stereo Rendering: Stereo Eye Separation: 0.05999999865889549 @@ -3038,8 +2561,6 @@ Visualization Manager: X: 0 Y: 0 Window Geometry: - AutowareDateTimePanel: - collapsed: false AutowareStatePanel: collapsed: false Displays: @@ -3047,9 +2568,9 @@ Window Geometry: Height: 1565 Hide Left Dock: false Hide Right Dock: false - InitialPoseButtonPanel: + Image: collapsed: false - QMainWindow State: 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RecognitionResultOnImage: collapsed: false Selection: From cf0c7af4abaf51e4eb2c190a27f7eb9f09d7c5b9 Mon Sep 17 00:00:00 2001 From: Kyoichi Sugahara Date: Wed, 19 Jul 2023 11:30:10 +0900 Subject: [PATCH 4/4] revert change of rviz config Signed-off-by: kyoichi-sugahara --- autoware_launch/rviz/autoware.rviz | 16 ++-------------- 1 file changed, 2 insertions(+), 14 deletions(-) diff --git a/autoware_launch/rviz/autoware.rviz b/autoware_launch/rviz/autoware.rviz index 97f73bc672..d18d37cbfd 100644 --- a/autoware_launch/rviz/autoware.rviz +++ b/autoware_launch/rviz/autoware.rviz @@ -1828,7 +1828,7 @@ Visualization Manager: Value: false - Class: rviz_default_plugins/MarkerArray Enabled: false - Name: LeftLaneChange + Name: LaneChange Namespaces: {} Topic: @@ -1836,19 +1836,7 @@ Visualization Manager: Durability Policy: Volatile History Policy: Keep Last Reliability Policy: Reliable - Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/debug/lane_change_left - Value: false - - Class: rviz_default_plugins/MarkerArray - Enabled: false - Name: RightLaneChange - Namespaces: - {} - Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Reliable - Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/debug/lane_change_right + Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/debug/lane_change Value: false - Class: rviz_default_plugins/MarkerArray Enabled: false