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chore: change lifetime of object marker #267

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merged 1 commit into from
Feb 1, 2023
Merged

chore: change lifetime of object marker #267

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16 changes: 8 additions & 8 deletions common/autoware_auto_perception_rviz_plugin/src/object_detection/object_polygon_detail.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -56,7 +56,7 @@ visualization_msgs::msg::Marker::SharedPtr get_path_confidence_marker_ptr(
marker_ptr->type = visualization_msgs::msg::Marker::TEXT_VIEW_FACING;
marker_ptr->ns = std::string("path confidence");
marker_ptr->action = visualization_msgs::msg::Marker::MODIFY;
marker_ptr->lifetime = rclcpp::Duration::from_seconds(0.2);
marker_ptr->lifetime = rclcpp::Duration::from_seconds(1.0);
marker_ptr->scale.x = 0.5;
marker_ptr->scale.y = 0.5;
marker_ptr->scale.z = 0.5;
Expand All @@ -78,7 +78,7 @@ visualization_msgs::msg::Marker::SharedPtr get_predicted_path_marker_ptr(
marker_ptr->type = visualization_msgs::msg::Marker::LINE_LIST;
marker_ptr->ns = std::string("path");
marker_ptr->action = visualization_msgs::msg::Marker::MODIFY;
marker_ptr->lifetime = rclcpp::Duration::from_seconds(0.2);
marker_ptr->lifetime = rclcpp::Duration::from_seconds(1.0);
marker_ptr->pose = initPose();
marker_ptr->color = predicted_path_color;
marker_ptr->color.a = std::max(
Expand Down Expand Up @@ -114,7 +114,7 @@ visualization_msgs::msg::Marker::SharedPtr get_twist_marker_ptr(
pt_e.z = twist_with_covariance.twist.linear.z;
marker_ptr->points.push_back(pt_e);

marker_ptr->lifetime = rclcpp::Duration::from_seconds(0.2);
marker_ptr->lifetime = rclcpp::Duration::from_seconds(1.0);
marker_ptr->color.a = 0.999;
marker_ptr->color.r = 1.0;
marker_ptr->color.g = 0.0;
Expand All @@ -139,7 +139,7 @@ visualization_msgs::msg::Marker::SharedPtr get_velocity_text_marker_ptr(
marker_ptr->text = std::to_string(static_cast<int>(vel * 3.6)) + std::string("[km/h]");
marker_ptr->action = visualization_msgs::msg::Marker::MODIFY;
marker_ptr->pose.position = vis_pos;
marker_ptr->lifetime = rclcpp::Duration::from_seconds(0.2);
marker_ptr->lifetime = rclcpp::Duration::from_seconds(1.0);
marker_ptr->color = color_rgba;
return marker_ptr;
}
Expand All @@ -160,7 +160,7 @@ visualization_msgs::msg::Marker::SharedPtr get_acceleration_text_marker_ptr(
marker_ptr->text = getRoundedDoubleString(acc) + std::string("[m/s^2]");
marker_ptr->action = visualization_msgs::msg::Marker::MODIFY;
marker_ptr->pose.position = vis_pos;
marker_ptr->lifetime = rclcpp::Duration::from_seconds(0.2);
marker_ptr->lifetime = rclcpp::Duration::from_seconds(1.0);
marker_ptr->color = color_rgba;
return marker_ptr;
}
Expand Down Expand Up @@ -204,7 +204,7 @@ visualization_msgs::msg::Marker::SharedPtr get_pose_with_covariance_marker_ptr(
point.y = e2.y() * sigma2;
point.z = 0;
marker_ptr->points.push_back(point);
marker_ptr->lifetime = rclcpp::Duration::from_seconds(0.2);
marker_ptr->lifetime = rclcpp::Duration::from_seconds(1.0);
marker_ptr->color.a = 0.999;
marker_ptr->color.r = 1.0;
marker_ptr->color.g = 1.0;
Expand Down Expand Up @@ -239,7 +239,7 @@ visualization_msgs::msg::Marker::SharedPtr get_label_marker_ptr(
marker_ptr->text = label;
marker_ptr->action = visualization_msgs::msg::Marker::MODIFY;
marker_ptr->pose = marker_ptr->pose = to_pose(centroid, orientation);
marker_ptr->lifetime = rclcpp::Duration::from_seconds(0.2);
marker_ptr->lifetime = rclcpp::Duration::from_seconds(1.0);
marker_ptr->color = color_rgba;
return marker_ptr;
}
Expand Down Expand Up @@ -269,7 +269,7 @@ visualization_msgs::msg::Marker::SharedPtr get_shape_marker_ptr(

marker_ptr->action = visualization_msgs::msg::Marker::MODIFY;
marker_ptr->pose = to_pose(centroid, orientation);
marker_ptr->lifetime = rclcpp::Duration::from_seconds(0.2);
marker_ptr->lifetime = rclcpp::Duration::from_seconds(1.0);
marker_ptr->scale.x = line_width;
marker_ptr->color = color_rgba;

Expand Down