From 8b2379df53b9fc696a0a680375e8cae7676dd5a9 Mon Sep 17 00:00:00 2001 From: kminoda Date: Tue, 20 Dec 2022 00:18:57 +0000 Subject: [PATCH 01/47] chore: sync launch files Signed-off-by: GitHub --- autoware_launch/autoware_launch.drawio.svg | 2 +- autoware_launch/launch/autoware.launch.xml | 122 ++-- .../launch/e2e_simulator.launch.xml | 65 +++ .../launch/logging_simulator.launch.xml | 163 ++---- .../launch/planning_simulator.launch.xml | 112 ++-- autoware_launch/package.xml | 14 +- autoware_launch/rviz/autoware.rviz | 549 ++++++++++-------- 7 files changed, 545 insertions(+), 482 deletions(-) create mode 100644 autoware_launch/launch/e2e_simulator.launch.xml diff --git a/autoware_launch/autoware_launch.drawio.svg b/autoware_launch/autoware_launch.drawio.svg index b0f7660b0..aa1735d15 100644 --- a/autoware_launch/autoware_launch.drawio.svg +++ b/autoware_launch/autoware_launch.drawio.svg @@ -1,4 +1,4 @@ -
autoware.launch.xml

package: autoware_launch
autoware.launch.xml...
launch name

package: package name
launch name...
ex:
ex:
node name

package: package name
node name...
vehicle_info_launch.py

package: vehicle_launch
vehicle_info_launch.py...
vehicle.launch.xml

package: vehicle_launch
vehicle.launch.xml...
system.launch.xml

package: system_launch
system.launch.xml...
map.launch.py

package: map_launch
map.launch.py...
localization.launch.xml

package: localization_launch
localization.launch.xml...
perception.launch.xml

package: perception_launch
perception.launch.xml...
planning.launch.xml

package: planning_launch
planning.launch.xml...
control.launch.py

package: control_launch
control.launch.py...
awapi_awiv_adapter.launch.xml

package: control_launch
awapi_awiv_adapter.launch.xml...
web_controller.launch.xml

package: control_launch
web_controller.launch.xml...
clock_publisher.launch.xml

package: control_launch
clock_publisher.launch.xml...
rviz2

package: rviz2
rviz2...
planning_simulator.xml

package: autoware_launch
planning_simulator.xml...
vehicle_info_launch.py

package: vehicle_launch
vehicle_info_launch.py...
vehicle.launch.xml

package: vehicle_launch
vehicle.launch.xml...
system.launch.xml

package: system_launch
system.launch.xml...
map.launch.py

package: map_launch
map.launch.py...
planning.launch.xml

package: planning_launch
planning.launch.xml...
control.launch.py

package: control_launch
control.launch.py...
awapi_awiv_adapter.launch.xml

package: control_launch
awapi_awiv_adapter.launch.xml...
web_controller.launch.xml

package: control_launch
web_controller.launch.xml...
clock_publisher.launch.xml

package: control_launch
clock_publisher.launch.xml...
rviz2

package: rviz2
rviz2...
logging_simulator.launch.xml

package: autoware_launch
logging_simulator.launch.xml...
vehicle_info_launch.py

package: vehicle_launch
vehicle_info_launch.py...
vehicle_description.launch.xml

package: vehicle_launch
vehicle_description.launch.xml...
system.launch.xml

package: system_launch
system.launch.xml...
map.launch.py

package: map_launch
map.launch.py...
perception.launch.xml

package: perception_launch
perception.launch.xml...
planning.launch.xml

package: planning_launch
planning.launch.xml...
control.launch.py

package: control_launch
control.launch.py...
web_controller.launch.xml

package: control_launch
web_controller.launch.xml...
rviz2

package: rviz2
rviz2...
$(var vehicle)
$(var vehicle)
True
True
$(var system)
$(var system)
True
True
$(var map)
$(var map)
True
True
sensing.launch.xml

package: sensing_launch
sensing.launch.xml...
sensing.launch.xml

package: sensing_launch
sensing.launch.xml...
$(var sensing)
$(var sensing)
True
True
localization.launch.xml

package: localization_launch
localization.launch.xml...
$(var localization)
$(var localization)
True
True
$(var perception)
$(var perception)
True
True
$(var planning)
$(var planning)
True
True
$(var control)
$(var control)
True
True
simulator.launch.xml

package: simulator_launch
simulator.launch.xml...
simulator.launch.xml

package: simulator_launch
simulator.launch.xml...Viewer does not support full SVG 1.1 +
autoware.launch.xml

package: autoware_launch
autoware.launch.xml...
launch name

package: package name
launch name...
ex:
ex:
node name

package: package name
node name...
vehicle_info_launch.py

package: tier4_vehicle_launch
vehicle_info_launch.py...
vehicle.launch.xml

package: tier4_vehicle_launch
vehicle.launch.xml...
system.launch.xml

package: tier4_system_launch
system.launch.xml...
map.launch.py

package: tier4_map_launch
map.launch.py...
localization.launch.xml

package: tier4_localization_launch
localization.launch.xml...
perception.launch.xml

package: tier4_perception_launch
perception.launch.xml...
planning.launch.xml

package: tier4_planning_launch
planning.launch.xml...
control.launch.py

package: tier4_control_launch
control.launch.py...
awapi_awiv_adapter.launch.xml

package: tier4_control_launch
awapi_awiv_adapter.launch.xml...
web_controller.launch.xml

package: tier4_control_launch
web_controller.launch.xml...
clock_publisher.launch.xml

package: tier4_control_launch
clock_publisher.launch.xml...
rviz2

package: rviz2
rviz2...
planning_simulator.xml

package: autoware_launch
planning_simulator.xml...
vehicle_info_launch.py

package: tier4_vehicle_launch
vehicle_info_launch.py...
vehicle.launch.xml

package: tier4_vehicle_launch
vehicle.launch.xml...
system.launch.xml

package: tier4_system_launch
system.launch.xml...
map.launch.py

package: tier4_map_launch
map.launch.py...
planning.launch.xml

package: tier4_planning_launch
planning.launch.xml...
control.launch.py

package: tier4_control_launch
control.launch.py...
awapi_awiv_adapter.launch.xml

package: tier4_control_launch
awapi_awiv_adapter.launch.xml...
web_controller.launch.xml

package: tier4_control_launch
web_controller.launch.xml...
clock_publisher.launch.xml

package: tier4_control_launch
clock_publisher.launch.xml...
rviz2

package: rviz2
rviz2...
logging_simulator.launch.xml

package: autoware_launch
logging_simulator.launch.xml...
vehicle_info_launch.py

package: tier4_vehicle_launch
vehicle_info_launch.py...
vehicle_description.launch.xml

package: tier4_vehicle_launch
vehicle_description.launch.xml...
system.launch.xml

package: tier4_system_launch
system.launch.xml...
map.launch.py

package: tier4_map_launch
map.launch.py...
perception.launch.xml

package: tier4_perception_launch
perception.launch.xml...
planning.launch.xml

package: tier4_planning_launch
planning.launch.xml...
control.launch.py

package: tier4_control_launch
control.launch.py...
web_controller.launch.xml

package: tier4_control_launch
web_controller.launch.xml...
rviz2

package: rviz2
rviz2...
$(var vehicle)
$(var vehicle)
True
True
$(var system)
$(var system)
True
True
$(var map)
$(var map)
True
True
sensing.launch.xml

package: tier4_sensing_launch
sensing.launch.xml...
sensing.launch.xml

package: tier4_sensing_launch
sensing.launch.xml...
$(var sensing)
$(var sensing)
True
True
localization.launch.xml

package: tier4_localization_launch
localization.launch.xml...
$(var localization)
$(var localization)
True
True
$(var perception)
$(var perception)
True
True
$(var planning)
$(var planning)
True
True
$(var control)
$(var control)
True
True
simulator.launch.xml

package: tier4_simulator_launch
simulator.launch.xml...
simulator.launch.xml

package: tier4_simulator_launch
simulator.launch.xml...Viewer does not support full SVG 1.1 \ No newline at end of file diff --git a/autoware_launch/launch/autoware.launch.xml b/autoware_launch/launch/autoware.launch.xml index 105aeea3f..3d4c11b7f 100644 --- a/autoware_launch/launch/autoware.launch.xml +++ b/autoware_launch/launch/autoware.launch.xml @@ -4,116 +4,140 @@ - - - - - + + + + + + + + + + + + + + + + + + - + + + + + + + + + + + + - - - - + + + + + + - - - + + + - + - - + + - - - + + + + - + - + - + - + + - + - - - + + - - - - + + + + + + - - + + + - - - - - + + + + + + + - + - + - - + diff --git a/autoware_launch/launch/e2e_simulator.launch.xml b/autoware_launch/launch/e2e_simulator.launch.xml new file mode 100644 index 000000000..317decda5 --- /dev/null +++ b/autoware_launch/launch/e2e_simulator.launch.xml @@ -0,0 +1,65 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/autoware_launch/launch/logging_simulator.launch.xml b/autoware_launch/launch/logging_simulator.launch.xml index d40700521..3d7745d5f 100644 --- a/autoware_launch/launch/logging_simulator.launch.xml +++ b/autoware_launch/launch/logging_simulator.launch.xml @@ -1,6 +1,5 @@ - @@ -8,127 +7,65 @@ - - - - - - - - - - - - - + + + + + + + + + + - + - + + + + + + + + + + - - - - - - - - - - - - - - - - - - + + + + - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - + + + + + + + + + + + - - - - - - - - - + + + + + + + + + + + + + + - - - - - - - - - - - - diff --git a/autoware_launch/launch/planning_simulator.launch.xml b/autoware_launch/launch/planning_simulator.launch.xml index f3a6f7806..e848c5275 100644 --- a/autoware_launch/launch/planning_simulator.launch.xml +++ b/autoware_launch/launch/planning_simulator.launch.xml @@ -4,97 +4,61 @@ - - - + - - + + + + + + + + - - + - + - - - - - - - - + + - + + + + + + + + + + - + + + + + + + + + + + + + - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - @@ -103,16 +67,16 @@ - + - + diff --git a/autoware_launch/package.xml b/autoware_launch/package.xml index 2fa28bd87..9d8606dc6 100644 --- a/autoware_launch/package.xml +++ b/autoware_launch/package.xml @@ -9,20 +9,18 @@ ament_cmake_auto - ad_api_adaptors - autoware_api_launch - control_launch global_parameter_loader - localization_launch - perception_launch - planning_launch python3-bson python3-tornado rviz2 - simulator_launch - system_launch + tier4_control_launch + tier4_localization_launch tier4_map_launch + tier4_perception_launch + tier4_planning_launch tier4_sensing_launch + tier4_simulator_launch + tier4_system_launch tier4_vehicle_launch ament_lint_auto diff --git a/autoware_launch/rviz/autoware.rviz b/autoware_launch/rviz/autoware.rviz index 36bf7252d..54932371a 100644 --- a/autoware_launch/rviz/autoware.rviz +++ b/autoware_launch/rviz/autoware.rviz @@ -18,15 +18,10 @@ Panels: Splitter Ratio: 0.5 - Class: tier4_localization_rviz_plugin/InitialPoseButtonPanel Name: InitialPoseButtonPanel - - Class: rviz_common/Time - Experimental: false - Name: Time - SyncMode: 0 - SyncSource: "" -Preferences: - PromptSaveOnExit: true -Toolbars: - toolButtonStyle: 2 + - Class: AutowareDateTimePanel + Name: AutowareDateTimePanel + - Class: rviz_plugins::AutowareStatePanel + Name: AutowareStatePanel Visualization Manager: Class: "" Displays: @@ -589,13 +584,13 @@ Visualization Manager: Position Transformer: XYZ Selectable: false Size (Pixels): 10 - Size (m): 0.02 + Size (m): 0.5 Style: Squares Topic: Depth: 5 Durability Policy: Volatile History Policy: Keep Last - Reliability Policy: Reliable + Reliability Policy: Best Effort Value: /localization/util/downsample/pointcloud Use Fixed Frame: true Use rainbow: true @@ -622,7 +617,7 @@ Visualization Manager: Position Transformer: XYZ Selectable: false Size (Pixels): 10 - Size (m): 0.02 + Size (m): 0.5 Style: Squares Topic: Depth: 5 @@ -709,160 +704,163 @@ Visualization Manager: Name: Segmentation - Class: rviz_common/Group Displays: - - BUS: - Alpha: 0.999 - Color: 30; 144; 255 - CAR: - Alpha: 0.999 - Color: 30; 144; 255 - CYCLIST: - Alpha: 0.999 - Color: 119; 11; 32 - Class: autoware_auto_perception_rviz_plugin/DetectedObjects - Display 3d polygon: true - Display Label: true - Display PoseWithCovariance: true - Display Predicted Path Confidence: true - Display Predicted Paths: true - Display Twist: true - Display UUID: true - Display Velocity: true - Line Width: 0.03 - Enabled: true - MOTORCYCLE: - Alpha: 0.999 - Color: 119; 11; 32 - Name: DetectedObjects - Namespaces: {} - PEDESTRIAN: - Alpha: 0.999 - Color: 255; 192; 203 - TRAILER: - Alpha: 0.999 - Color: 30; 144; 255 - TRUCK: - Alpha: 0.999 - Color: 30; 144; 255 - Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Reliable - Value: /perception/object_recognition/detection/objects - UNKNOWN: - Alpha: 0.999 - Color: 255; 255; 255 - Value: true - Enabled: false - Name: Detection - - Class: rviz_common/Group - Displays: - - BUS: - Alpha: 0.999 - Color: 30; 144; 255 - CAR: - Alpha: 0.999 - Color: 30; 144; 255 - CYCLIST: - Alpha: 0.999 - Color: 119; 11; 32 - Class: autoware_auto_perception_rviz_plugin/TrackedObjects - Display 3d polygon: true - Display Label: true - Display PoseWithCovariance: true - Display Predicted Path Confidence: true - Display Predicted Paths: true - Display Twist: true - Display UUID: true - Display Velocity: true - Line Width: 0.03 - Enabled: true - MOTORCYCLE: - Alpha: 0.999 - Color: 119; 11; 32 - Name: TrackedObjects - Namespaces: {} - PEDESTRIAN: - Alpha: 0.999 - Color: 255; 192; 203 - TRAILER: - Alpha: 0.999 - Color: 30; 144; 255 - TRUCK: - Alpha: 0.999 - Color: 30; 144; 255 - Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Reliable - Value: /perception/object_recognition/tracking/objects - UNKNOWN: - Alpha: 0.999 - Color: 255; 255; 255 - Value: true - Enabled: false - Name: Tracking - - Class: rviz_common/Group - Displays: - - BUS: - Alpha: 0.999 - Color: 30; 144; 255 - CAR: - Alpha: 0.999 - Color: 30; 144; 255 - CYCLIST: - Alpha: 0.999 - Color: 119; 11; 32 - Class: autoware_auto_perception_rviz_plugin/PredictedObjects - Display 3d polygon: true - Display Label: true - Display PoseWithCovariance: false - Display Predicted Path Confidence: true - Display Predicted Paths: true - Display Twist: false - Display UUID: true - Display Velocity: true - Line Width: 0.03 - Enabled: true - MOTORCYCLE: - Alpha: 0.999 - Color: 119; 11; 32 - Name: PredictedObjects - Namespaces: {} - PEDESTRIAN: - Alpha: 0.999 - Color: 255; 192; 203 - TRAILER: - Alpha: 0.999 - Color: 30; 144; 255 - TRUCK: - Alpha: 0.999 - Color: 30; 144; 255 - Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Reliable - Value: /perception/object_recognition/objects - UNKNOWN: - Alpha: 0.999 - Color: 255; 255; 255 - Value: true - - Class: rviz_default_plugins/MarkerArray + - Class: rviz_common/Group + Displays: + - BUS: + Alpha: 0.999 + Color: 30; 144; 255 + CAR: + Alpha: 0.999 + Color: 30; 144; 255 + CYCLIST: + Alpha: 0.999 + Color: 119; 11; 32 + Class: autoware_auto_perception_rviz_plugin/DetectedObjects + Display 3d polygon: true + Display Label: true + Display PoseWithCovariance: true + Display Predicted Path Confidence: true + Display Predicted Paths: true + Display Twist: true + Display UUID: true + Display Velocity: true + Line Width: 0.03 + Enabled: true + MOTORCYCLE: + Alpha: 0.999 + Color: 119; 11; 32 + Name: DetectedObjects + Namespaces: {} + PEDESTRIAN: + Alpha: 0.999 + Color: 255; 192; 203 + TRAILER: + Alpha: 0.999 + Color: 30; 144; 255 + TRUCK: + Alpha: 0.999 + Color: 30; 144; 255 + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Best Effort + Value: /perception/object_recognition/detection/objects + UNKNOWN: + Alpha: 0.999 + Color: 255; 255; 255 + Value: true Enabled: false - Name: Maneuver - Namespaces: - maneuver: true - Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Reliable - Value: /perception/object_recognition/prediction/maneuver - Value: true + Name: Detection + - Class: rviz_common/Group + Displays: + - BUS: + Alpha: 0.999 + Color: 30; 144; 255 + CAR: + Alpha: 0.999 + Color: 30; 144; 255 + CYCLIST: + Alpha: 0.999 + Color: 119; 11; 32 + Class: autoware_auto_perception_rviz_plugin/TrackedObjects + Display 3d polygon: true + Display Label: true + Display PoseWithCovariance: true + Display Predicted Path Confidence: true + Display Predicted Paths: true + Display Twist: true + Display UUID: true + Display Velocity: true + Line Width: 0.03 + Enabled: true + MOTORCYCLE: + Alpha: 0.999 + Color: 119; 11; 32 + Name: TrackedObjects + Namespaces: {} + PEDESTRIAN: + Alpha: 0.999 + Color: 255; 192; 203 + TRAILER: + Alpha: 0.999 + Color: 30; 144; 255 + TRUCK: + Alpha: 0.999 + Color: 30; 144; 255 + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Best Effort + Value: /perception/object_recognition/tracking/objects + UNKNOWN: + Alpha: 0.999 + Color: 255; 255; 255 + Value: true + Enabled: false + Name: Tracking + - Class: rviz_common/Group + Displays: + - BUS: + Alpha: 0.999 + Color: 30; 144; 255 + CAR: + Alpha: 0.999 + Color: 30; 144; 255 + CYCLIST: + Alpha: 0.999 + Color: 119; 11; 32 + Class: autoware_auto_perception_rviz_plugin/PredictedObjects + Display 3d polygon: true + Display Label: true + Display PoseWithCovariance: false + Display Predicted Path Confidence: true + Display Predicted Paths: true + Display Twist: true + Display UUID: true + Display Velocity: true + Line Width: 0.03 + Enabled: true + MOTORCYCLE: + Alpha: 0.999 + Color: 119; 11; 32 + Name: PredictedObjects + Namespaces: {} + PEDESTRIAN: + Alpha: 0.999 + Color: 255; 192; 203 + TRAILER: + Alpha: 0.999 + Color: 30; 144; 255 + TRUCK: + Alpha: 0.999 + Color: 30; 144; 255 + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Best Effort + Value: /perception/object_recognition/objects + UNKNOWN: + Alpha: 0.999 + Color: 255; 255; 255 + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: false + Name: Maneuver + Namespaces: {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Best Effort + Value: /perception/object_recognition/prediction/maneuver + Value: true + Enabled: true + Name: Prediction Enabled: true - Name: Prediction + Name: ObjectRecognition - Class: rviz_common/Group Displays: - Class: rviz_default_plugins/Image @@ -876,7 +874,7 @@ Visualization Manager: Depth: 5 Durability Policy: Volatile History Policy: Keep Last - Reliability Policy: Reliable + Reliability Policy: Best Effort Value: /perception/traffic_light_recognition/debug/rois Value: true - Class: rviz_default_plugins/MarkerArray @@ -887,11 +885,36 @@ Visualization Manager: Depth: 5 Durability Policy: Volatile History Policy: Keep Last - Reliability Policy: Reliable + Reliability Policy: Best Effort Value: /perception/traffic_light_recognition/traffic_light_map_based_detector/debug/markers Value: true Enabled: true Name: TrafficLight + - Class: rviz_common/Group + Displays: + - Alpha: 0.5 + Class: rviz_default_plugins/Map + Color Scheme: map + Draw Behind: false + Enabled: true + Name: Map + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Best Effort + Value: /perception/occupancy_grid_map/map + Update Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Best Effort + Value: /perception/occupancy_grid_map/map_updates + Use Timestamp: false + Value: true + Enabled: false + Name: OccupancyGrid Enabled: true Name: Perception - Class: rviz_common/Group @@ -990,13 +1013,59 @@ Visualization Manager: - Class: rviz_plugins/Path Color Border Vel Max: 3 Enabled: true - Name: PathChangeCandidate + Name: PathChangeCandidate_LaneChange + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/path_candidate/lane_change + Value: true + View Path: + Alpha: 0.30000001192092896 + Color: 115; 210; 22 + Constant Color: false + Value: true + Width: 2 + View Velocity: + Alpha: 0.30000001192092896 + Color: 0; 0; 0 + Constant Color: false + Scale: 0.30000001192092896 + Value: false + - Class: rviz_plugins/Path + Color Border Vel Max: 3 + Enabled: true + Name: PathChangeCandidate_Avoidance + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/path_candidate/avoidance + Value: true + View Path: + Alpha: 0.30000001192092896 + Color: 115; 210; 22 + Constant Color: false + Value: true + Width: 2 + View Velocity: + Alpha: 0.30000001192092896 + Color: 0; 0; 0 + Constant Color: false + Scale: 0.30000001192092896 + Value: false + - Class: rviz_plugins/Path + Color Border Vel Max: 3 + Enabled: true + Name: PathChangeCandidate_PullOut Topic: Depth: 5 Durability Policy: Volatile History Policy: Keep Last Reliability Policy: Reliable - Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/output/path_candidate + Value: /planning/path_candidate/pull_out Value: true View Path: Alpha: 0.30000001192092896 @@ -1010,20 +1079,29 @@ Visualization Manager: Constant Color: false Scale: 0.30000001192092896 Value: false - - Class: rviz_default_plugins/MarkerArray + - Class: rviz_plugins/Path + Color Border Vel Max: 3 Enabled: true - Name: Bound - Namespaces: - left_bound: true - right_bound: true + Name: PathChangeCandidate_PullOver 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: /planning/path_candidate/pull_over Value: true + View Path: + Alpha: 0.30000001192092896 + Color: 115; 210; 22 + Constant Color: false + Value: true + Width: 2 + View Velocity: + Alpha: 0.30000001192092896 + Color: 0; 0; 0 + Constant Color: false + Scale: 0.30000001192092896 + Value: false - Class: rviz_common/Group Displays: - Class: rviz_default_plugins/MarkerArray @@ -1050,18 +1128,6 @@ Visualization Manager: Reliability Policy: Reliable Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/virtual_wall/crosswalk Value: true - - Class: rviz_default_plugins/MarkerArray - Enabled: true - Name: VirtualWall (Walkway) - Namespaces: - {} - Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Reliable - Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/virtual_wall/walkway - Value: true - Class: rviz_default_plugins/MarkerArray Enabled: true Name: VirtualWall (DetectionArea) @@ -1199,18 +1265,6 @@ Visualization Manager: Reliability Policy: Reliable Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/debug/crosswalk Value: false - - Class: rviz_default_plugins/MarkerArray - Enabled: false - Name: Walkway - Namespaces: - {} - Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Reliable - Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/debug/walkway - Value: false - Class: rviz_default_plugins/MarkerArray Enabled: false Name: Intersection @@ -1391,7 +1445,6 @@ Visualization Manager: Reliability Policy: Reliable Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/debug/sideshift Value: false - Enabled: false Name: DebugMarker Enabled: true Name: BehaviorPlanning @@ -1458,39 +1511,15 @@ Visualization Manager: Reliability Policy: Reliable Value: /planning/scenario_planning/lane_driving/motion_planning/obstacle_avoidance_planner/debug/virtual_wall Value: true - - Class: rviz_default_plugins/MarkerArray - Enabled: true - Name: VirtualWall (ObstacleCruise) - Namespaces: - {} - Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Reliable - Value: /planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/virtual_wall - Value: true Enabled: true Name: VirtualWall - Class: rviz_common/Group Displays: - - Class: rviz_default_plugins/MarkerArray - Enabled: true - Name: ObstacleStop - Namespaces: - {} - Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Reliable - Value: /planning/scenario_planning/lane_driving/motion_planning/obstacle_stop_planner/debug/marker - Value: true - Class: rviz_common/Group Displays: - Class: rviz_default_plugins/MarkerArray Enabled: true - Name: CruiseVirtualWall + Name: SurroundObstacleCheck Namespaces: {} Topic: @@ -1498,25 +1527,52 @@ Visualization Manager: Durability Policy: Volatile History Policy: Keep Last Reliability Policy: Reliable - Value: /planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/debug/cruise/virtual_wall + Value: /planning/scenario_planning/lane_driving/motion_planning/surround_obstacle_checker/debug/marker Value: true - - Class: rviz_default_plugins/MarkerArray - Enabled: true - Name: DebugMarker - Namespaces: - {} + - Alpha: 1 + Class: rviz_default_plugins/Polygon + Color: 25; 255; 0 + Enabled: false + Name: Footprint Topic: Depth: 5 Durability Policy: Volatile + Filter size: 10 History Policy: Keep Last Reliability Policy: Reliable - Value: /planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/debug/marker - Value: true + Value: /planning/scenario_planning/lane_driving/motion_planning/surround_obstacle_checker/debug/footprint + Value: false + - Alpha: 1 + Class: rviz_default_plugins/Polygon + Color: 239; 41; 41 + Enabled: false + Name: FootprintOffset + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/motion_planning/surround_obstacle_checker/debug/footprint_offset + Value: false + - Alpha: 1 + Class: rviz_default_plugins/Polygon + Color: 10; 21; 255 + Enabled: false + Name: FootprintRecoverOffset + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/motion_planning/surround_obstacle_checker/debug/footprint_recover_offset + Value: false Enabled: true - Name: ObstacleCruise + Name: SurroundObstacleChecker - Class: rviz_default_plugins/MarkerArray Enabled: true - Name: SurroundObstacleCheck + Name: ObstacleStop Namespaces: {} Topic: @@ -1630,6 +1686,21 @@ Visualization Manager: Value: true Enabled: true Name: ScenarioPlanning + - Class: rviz_common/Group + Displays: + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: PlanningErrorMarker + Namespaces: {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Best Effort + Value: /planning/planning_diagnostics/planning_error_monitor/debug/marker + Value: true + Enabled: false + Name: Diagnostic Enabled: true Name: Planning - Class: rviz_common/Group @@ -1677,7 +1748,7 @@ Visualization Manager: Durability Policy: Volatile History Policy: Keep Last Reliability Policy: Reliable - Value: /control/trajectory_follower/pure_pursuit/debug/markers + Value: /control/trajectory_follower/controller_node_exe/debug/markers Value: false Enabled: true Name: Control @@ -1800,6 +1871,8 @@ Visualization Manager: X: 0 Y: 0 Window Geometry: + AutowareStatePanel: + collapsed: false Displays: collapsed: false Height: 1565 @@ -1807,7 +1880,9 @@ Window Geometry: Hide Right Dock: false Image: collapsed: false - QMainWindow State: 000000ff00000000fd000000040000000000000329000006fffc020000000cfb0000001200530065006c0065006300740069006f006e00000001e10000009b000000b000fffffffb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000006e000001fb0000018200fffffffc00000275000002840000016c01000039fa000000000100000002fb0000000a0056006900650077007301000000000000033c0000015f00fffffffb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000000ffffffff0000010b00fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000c00430061006d0065007200610100000682000000eb0000000000000000fb0000000a0049006d0061006700650100000505000002680000002600fffffffb0000002c0049006e0069007400690061006c0050006f007300650042007500740074006f006e00500061006e0065006c000000068f000000de000000de00fffffffb0000002c0049006e0069007400690061006c0050006f007300650042007500740074006f006e00500061006e0065006c000000068f000000de000000de00ffffff000000010000015f000006fffc0200000002fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000e7a0000005afc0100000001fb0000000a00560069006500770073030000004e00000080000002e1000001970000000300000e7a0000005afc0100000002fb0000000800540069006d0065010000000000000e7a0000057100fffffffb0000000800540069006d0065010000000000000450000000000000000000000b45000006ff00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 + QMainWindow State: 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 + RecognitionResultOnImage: + collapsed: false Selection: collapsed: false Tool Properties: From 7afdee2048a7649a77b098d9f760a31c9f44570f Mon Sep 17 00:00:00 2001 From: h-ohta Date: Tue, 20 Dec 2022 11:11:25 +0900 Subject: [PATCH 02/47] revert changes --- autoware_launch/package.xml | 14 ++++++++------ 1 file changed, 8 insertions(+), 6 deletions(-) diff --git a/autoware_launch/package.xml b/autoware_launch/package.xml index 9d8606dc6..3dd3bacdd 100644 --- a/autoware_launch/package.xml +++ b/autoware_launch/package.xml @@ -9,18 +9,20 @@ ament_cmake_auto + ad_api_adaptors + autoware_api_launch global_parameter_loader python3-bson python3-tornado rviz2 - tier4_control_launch - tier4_localization_launch + control_launch + localization_launch tier4_map_launch - tier4_perception_launch - tier4_planning_launch + perception_launch + planning_launch tier4_sensing_launch - tier4_simulator_launch - tier4_system_launch + simulator_launch + system_launch tier4_vehicle_launch ament_lint_auto From 347d020991c0e894f7279351c426db5f10c8cfd2 Mon Sep 17 00:00:00 2001 From: "pre-commit-ci[bot]" <66853113+pre-commit-ci[bot]@users.noreply.github.com> Date: Tue, 20 Dec 2022 02:13:07 +0000 Subject: [PATCH 03/47] ci(pre-commit): autofix --- autoware_launch/package.xml | 12 ++++++------ 1 file changed, 6 insertions(+), 6 deletions(-) diff --git a/autoware_launch/package.xml b/autoware_launch/package.xml index 3dd3bacdd..2fa28bd87 100644 --- a/autoware_launch/package.xml +++ b/autoware_launch/package.xml @@ -11,18 +11,18 @@ ad_api_adaptors autoware_api_launch - global_parameter_loader - python3-bson - python3-tornado - rviz2 control_launch + global_parameter_loader localization_launch - tier4_map_launch perception_launch planning_launch - tier4_sensing_launch + python3-bson + python3-tornado + rviz2 simulator_launch system_launch + tier4_map_launch + tier4_sensing_launch tier4_vehicle_launch ament_lint_auto From 37bbcc0c8faa10f6ede63d4fa0fae3d26da501b1 Mon Sep 17 00:00:00 2001 From: Hiroki OTA Date: Tue, 20 Dec 2022 11:19:43 +0900 Subject: [PATCH 04/47] Update autoware_launch/launch/autoware.launch.xml --- autoware_launch/launch/autoware.launch.xml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/autoware_launch/launch/autoware.launch.xml b/autoware_launch/launch/autoware.launch.xml index 3d4c11b7f..a9d6bbf72 100644 --- a/autoware_launch/launch/autoware.launch.xml +++ b/autoware_launch/launch/autoware.launch.xml @@ -67,7 +67,7 @@ - + From 57ceb89ac6197867830043be995d93a9d7cc5491 Mon Sep 17 00:00:00 2001 From: Hiroki OTA Date: Tue, 20 Dec 2022 11:24:41 +0900 Subject: [PATCH 05/47] Update autoware_launch/launch/autoware.launch.xml --- autoware_launch/launch/autoware.launch.xml | 1 + 1 file changed, 1 insertion(+) diff --git a/autoware_launch/launch/autoware.launch.xml b/autoware_launch/launch/autoware.launch.xml index a9d6bbf72..4d62a4926 100644 --- a/autoware_launch/launch/autoware.launch.xml +++ b/autoware_launch/launch/autoware.launch.xml @@ -62,6 +62,7 @@ + From a5904532dae299be1a315809f64ee4973cd244fa Mon Sep 17 00:00:00 2001 From: Hiroki OTA Date: Tue, 20 Dec 2022 11:27:15 +0900 Subject: [PATCH 06/47] Update autoware_launch/launch/autoware.launch.xml --- autoware_launch/launch/autoware.launch.xml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/autoware_launch/launch/autoware.launch.xml b/autoware_launch/launch/autoware.launch.xml index 4d62a4926..d399cf3b1 100644 --- a/autoware_launch/launch/autoware.launch.xml +++ b/autoware_launch/launch/autoware.launch.xml @@ -97,7 +97,7 @@ - + From 08cc0fbdd3334f416abddc07cd969b23204d265e Mon Sep 17 00:00:00 2001 From: Hiroki OTA Date: Tue, 20 Dec 2022 11:27:47 +0900 Subject: [PATCH 07/47] Update autoware_launch/launch/autoware.launch.xml --- autoware_launch/launch/autoware.launch.xml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/autoware_launch/launch/autoware.launch.xml b/autoware_launch/launch/autoware.launch.xml index d399cf3b1..85c030b93 100644 --- a/autoware_launch/launch/autoware.launch.xml +++ b/autoware_launch/launch/autoware.launch.xml @@ -102,7 +102,7 @@ - + From 1baeb6ca332cb73afcfa6f824688b65603824de1 Mon Sep 17 00:00:00 2001 From: Hiroki OTA Date: Tue, 20 Dec 2022 11:28:54 +0900 Subject: [PATCH 08/47] Update autoware_launch/launch/autoware.launch.xml --- autoware_launch/launch/autoware.launch.xml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/autoware_launch/launch/autoware.launch.xml b/autoware_launch/launch/autoware.launch.xml index 85c030b93..16753b622 100644 --- a/autoware_launch/launch/autoware.launch.xml +++ b/autoware_launch/launch/autoware.launch.xml @@ -113,7 +113,7 @@ - + From 2e380f3e6e7474847927de21a216e26c9afc4357 Mon Sep 17 00:00:00 2001 From: Hiroki OTA Date: Tue, 20 Dec 2022 11:29:12 +0900 Subject: [PATCH 09/47] Update autoware_launch/launch/autoware.launch.xml --- autoware_launch/launch/autoware.launch.xml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/autoware_launch/launch/autoware.launch.xml b/autoware_launch/launch/autoware.launch.xml index 16753b622..c83d759e6 100644 --- a/autoware_launch/launch/autoware.launch.xml +++ b/autoware_launch/launch/autoware.launch.xml @@ -122,7 +122,7 @@ - + From 87e67ffe6b1fd0419b92bda70af936bc31950ff6 Mon Sep 17 00:00:00 2001 From: Hiroki OTA Date: Tue, 20 Dec 2022 11:29:59 +0900 Subject: [PATCH 10/47] Update autoware_launch/launch/autoware.launch.xml --- autoware_launch/launch/autoware.launch.xml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/autoware_launch/launch/autoware.launch.xml b/autoware_launch/launch/autoware.launch.xml index c83d759e6..6c400b8e4 100644 --- a/autoware_launch/launch/autoware.launch.xml +++ b/autoware_launch/launch/autoware.launch.xml @@ -133,7 +133,7 @@ - + From 88fc73ecfa1826d8e8b4385a110846a46e9f5d58 Mon Sep 17 00:00:00 2001 From: Hiroki OTA Date: Tue, 20 Dec 2022 11:30:30 +0900 Subject: [PATCH 11/47] Update autoware_launch/launch/autoware.launch.xml --- autoware_launch/launch/autoware.launch.xml | 10 +++++++++- 1 file changed, 9 insertions(+), 1 deletion(-) diff --git a/autoware_launch/launch/autoware.launch.xml b/autoware_launch/launch/autoware.launch.xml index 6c400b8e4..8e85c895c 100644 --- a/autoware_launch/launch/autoware.launch.xml +++ b/autoware_launch/launch/autoware.launch.xml @@ -139,6 +139,14 @@ - + + From 47661f9e29f370fa69372438b98fc3378e603b55 Mon Sep 17 00:00:00 2001 From: Hiroki OTA Date: Tue, 20 Dec 2022 11:30:55 +0900 Subject: [PATCH 12/47] Update autoware_launch/launch/autoware.launch.xml --- autoware_launch/launch/autoware.launch.xml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/autoware_launch/launch/autoware.launch.xml b/autoware_launch/launch/autoware.launch.xml index 8e85c895c..f7bf664ed 100644 --- a/autoware_launch/launch/autoware.launch.xml +++ b/autoware_launch/launch/autoware.launch.xml @@ -131,7 +131,7 @@ - + From 778f504487a90bcbf2146896a3e53efc9bec3f86 Mon Sep 17 00:00:00 2001 From: Hiroki OTA Date: Tue, 20 Dec 2022 11:31:23 +0900 Subject: [PATCH 13/47] Update autoware_launch/launch/planning_simulator.launch.xml --- autoware_launch/launch/planning_simulator.launch.xml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/autoware_launch/launch/planning_simulator.launch.xml b/autoware_launch/launch/planning_simulator.launch.xml index e848c5275..46dcec00a 100644 --- a/autoware_launch/launch/planning_simulator.launch.xml +++ b/autoware_launch/launch/planning_simulator.launch.xml @@ -67,7 +67,7 @@ - + From a8fe8274deefbf9286ab381937080ee5f13ce14d Mon Sep 17 00:00:00 2001 From: Hiroki OTA Date: Tue, 20 Dec 2022 11:38:50 +0900 Subject: [PATCH 14/47] Update autoware_launch/launch/autoware.launch.xml --- autoware_launch/launch/autoware.launch.xml | 1 - 1 file changed, 1 deletion(-) diff --git a/autoware_launch/launch/autoware.launch.xml b/autoware_launch/launch/autoware.launch.xml index f7bf664ed..ab228466e 100644 --- a/autoware_launch/launch/autoware.launch.xml +++ b/autoware_launch/launch/autoware.launch.xml @@ -70,7 +70,6 @@ - From b84142c18e65022f9c37eb7f26b61e61b155f14f Mon Sep 17 00:00:00 2001 From: h-ohta Date: Tue, 20 Dec 2022 11:46:39 +0900 Subject: [PATCH 15/47] add rviz config --- autoware_launch/launch/autoware.launch.xml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/autoware_launch/launch/autoware.launch.xml b/autoware_launch/launch/autoware.launch.xml index ab228466e..b2829f739 100644 --- a/autoware_launch/launch/autoware.launch.xml +++ b/autoware_launch/launch/autoware.launch.xml @@ -143,7 +143,7 @@ exec="rviz2" name="rviz2" output="screen" - args="-d $(find-pkg-share autoware_launch)/rviz/autoware.rviz -s $(find-pkg-share autoware_launch)/rviz/image/autoware.png" + args="-d $(var rviz_config) -s $(find-pkg-share autoware_launch)/rviz/image/autoware.png" if="$(var rviz)" /> From 3f4621c33c14fddf4cd02dd68db1de702c66c80a Mon Sep 17 00:00:00 2001 From: Hiroki OTA Date: Tue, 20 Dec 2022 11:49:14 +0900 Subject: [PATCH 16/47] Update autoware_launch/launch/autoware.launch.xml --- autoware_launch/launch/autoware.launch.xml | 1 - 1 file changed, 1 deletion(-) diff --git a/autoware_launch/launch/autoware.launch.xml b/autoware_launch/launch/autoware.launch.xml index b2829f739..f15613bf8 100644 --- a/autoware_launch/launch/autoware.launch.xml +++ b/autoware_launch/launch/autoware.launch.xml @@ -30,7 +30,6 @@ - From 50eda17272481717f19c4ba4f93728777429a706 Mon Sep 17 00:00:00 2001 From: Hiroki OTA Date: Tue, 20 Dec 2022 12:00:21 +0900 Subject: [PATCH 17/47] Update autoware_launch/launch/autoware.launch.xml --- autoware_launch/launch/autoware.launch.xml | 1 - 1 file changed, 1 deletion(-) diff --git a/autoware_launch/launch/autoware.launch.xml b/autoware_launch/launch/autoware.launch.xml index f15613bf8..af994d16a 100644 --- a/autoware_launch/launch/autoware.launch.xml +++ b/autoware_launch/launch/autoware.launch.xml @@ -86,7 +86,6 @@ - From 8028ae67a9413534fb0c2923be1177e07c810b85 Mon Sep 17 00:00:00 2001 From: Hiroki OTA Date: Tue, 20 Dec 2022 12:28:22 +0900 Subject: [PATCH 18/47] Update autoware_launch/launch/autoware.launch.xml --- autoware_launch/launch/autoware.launch.xml | 1 + 1 file changed, 1 insertion(+) diff --git a/autoware_launch/launch/autoware.launch.xml b/autoware_launch/launch/autoware.launch.xml index af994d16a..eff545af1 100644 --- a/autoware_launch/launch/autoware.launch.xml +++ b/autoware_launch/launch/autoware.launch.xml @@ -114,6 +114,7 @@ + From c8f6921fd103d5de60417e005dfc7dad6e8fecc0 Mon Sep 17 00:00:00 2001 From: Hiroki OTA Date: Tue, 20 Dec 2022 12:28:46 +0900 Subject: [PATCH 19/47] Update autoware_launch/launch/autoware.launch.xml --- autoware_launch/launch/autoware.launch.xml | 1 + 1 file changed, 1 insertion(+) diff --git a/autoware_launch/launch/autoware.launch.xml b/autoware_launch/launch/autoware.launch.xml index eff545af1..dbe0d183e 100644 --- a/autoware_launch/launch/autoware.launch.xml +++ b/autoware_launch/launch/autoware.launch.xml @@ -26,6 +26,7 @@ + From eb6056836c189c68d8b81dd5d60a5d3d5e275a46 Mon Sep 17 00:00:00 2001 From: Hiroki OTA Date: Tue, 20 Dec 2022 12:29:58 +0900 Subject: [PATCH 20/47] Update autoware_launch/launch/autoware.launch.xml --- autoware_launch/launch/autoware.launch.xml | 1 + 1 file changed, 1 insertion(+) diff --git a/autoware_launch/launch/autoware.launch.xml b/autoware_launch/launch/autoware.launch.xml index dbe0d183e..7fefefe0e 100644 --- a/autoware_launch/launch/autoware.launch.xml +++ b/autoware_launch/launch/autoware.launch.xml @@ -35,6 +35,7 @@ + From c8efce66b4ed87230b4ac234b62088384c45738f Mon Sep 17 00:00:00 2001 From: Hiroki OTA Date: Tue, 20 Dec 2022 12:31:01 +0900 Subject: [PATCH 21/47] Update autoware_launch/launch/autoware.launch.xml --- autoware_launch/launch/autoware.launch.xml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/autoware_launch/launch/autoware.launch.xml b/autoware_launch/launch/autoware.launch.xml index 7fefefe0e..77193265a 100644 --- a/autoware_launch/launch/autoware.launch.xml +++ b/autoware_launch/launch/autoware.launch.xml @@ -102,7 +102,7 @@ - + From f9a4d0b89967feeca9f592921af276010bac9988 Mon Sep 17 00:00:00 2001 From: Hiroki OTA Date: Tue, 20 Dec 2022 12:48:48 +0900 Subject: [PATCH 22/47] Update autoware_launch/launch/autoware.launch.xml --- autoware_launch/launch/autoware.launch.xml | 1 + 1 file changed, 1 insertion(+) diff --git a/autoware_launch/launch/autoware.launch.xml b/autoware_launch/launch/autoware.launch.xml index 77193265a..58f957a88 100644 --- a/autoware_launch/launch/autoware.launch.xml +++ b/autoware_launch/launch/autoware.launch.xml @@ -91,6 +91,7 @@ + From 2ec1ec1c91a9b5b86d75886bf5807392188869a1 Mon Sep 17 00:00:00 2001 From: Hiroki OTA Date: Tue, 20 Dec 2022 12:49:18 +0900 Subject: [PATCH 23/47] Update autoware_launch/launch/autoware.launch.xml --- autoware_launch/launch/autoware.launch.xml | 1 - 1 file changed, 1 deletion(-) diff --git a/autoware_launch/launch/autoware.launch.xml b/autoware_launch/launch/autoware.launch.xml index 58f957a88..d1928d729 100644 --- a/autoware_launch/launch/autoware.launch.xml +++ b/autoware_launch/launch/autoware.launch.xml @@ -104,7 +104,6 @@ - From 72700fb6fa57d2256cce7b5a349ce874147bbc59 Mon Sep 17 00:00:00 2001 From: Hiroki OTA Date: Tue, 20 Dec 2022 12:50:39 +0900 Subject: [PATCH 24/47] Update autoware_launch/launch/autoware.launch.xml --- autoware_launch/launch/autoware.launch.xml | 1 - 1 file changed, 1 deletion(-) diff --git a/autoware_launch/launch/autoware.launch.xml b/autoware_launch/launch/autoware.launch.xml index d1928d729..92c0d6649 100644 --- a/autoware_launch/launch/autoware.launch.xml +++ b/autoware_launch/launch/autoware.launch.xml @@ -113,7 +113,6 @@ - From 35b334d1a942b1d76455b4c1b57d55de2d53941b Mon Sep 17 00:00:00 2001 From: Hiroki OTA Date: Tue, 20 Dec 2022 12:51:15 +0900 Subject: [PATCH 25/47] Update autoware_launch/launch/autoware.launch.xml --- autoware_launch/launch/autoware.launch.xml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/autoware_launch/launch/autoware.launch.xml b/autoware_launch/launch/autoware.launch.xml index 92c0d6649..57bbaf435 100644 --- a/autoware_launch/launch/autoware.launch.xml +++ b/autoware_launch/launch/autoware.launch.xml @@ -121,7 +121,7 @@ - + From 733e8fec2e27f10fefd89b6a251e7c3a71b08813 Mon Sep 17 00:00:00 2001 From: Hiroki OTA Date: Tue, 20 Dec 2022 12:51:53 +0900 Subject: [PATCH 26/47] Update autoware_launch/launch/autoware.launch.xml --- autoware_launch/launch/autoware.launch.xml | 1 + 1 file changed, 1 insertion(+) diff --git a/autoware_launch/launch/autoware.launch.xml b/autoware_launch/launch/autoware.launch.xml index 57bbaf435..ceec12791 100644 --- a/autoware_launch/launch/autoware.launch.xml +++ b/autoware_launch/launch/autoware.launch.xml @@ -122,6 +122,7 @@ + From 785eedcb4eda3a22416eab1be0dc68e82b259a74 Mon Sep 17 00:00:00 2001 From: Hiroki OTA Date: Tue, 20 Dec 2022 12:52:15 +0900 Subject: [PATCH 27/47] Update autoware_launch/launch/autoware.launch.xml --- autoware_launch/launch/autoware.launch.xml | 1 - 1 file changed, 1 deletion(-) diff --git a/autoware_launch/launch/autoware.launch.xml b/autoware_launch/launch/autoware.launch.xml index ceec12791..8508b7924 100644 --- a/autoware_launch/launch/autoware.launch.xml +++ b/autoware_launch/launch/autoware.launch.xml @@ -124,7 +124,6 @@ - From 34df981715738adc66a53355ca405bd0d49cafdd Mon Sep 17 00:00:00 2001 From: Hiroki OTA Date: Tue, 20 Dec 2022 12:53:14 +0900 Subject: [PATCH 28/47] Update autoware_launch/launch/autoware.launch.xml --- autoware_launch/launch/autoware.launch.xml | 1 - 1 file changed, 1 deletion(-) diff --git a/autoware_launch/launch/autoware.launch.xml b/autoware_launch/launch/autoware.launch.xml index 8508b7924..c35b7ef8f 100644 --- a/autoware_launch/launch/autoware.launch.xml +++ b/autoware_launch/launch/autoware.launch.xml @@ -124,7 +124,6 @@ - From c95b09bac377b8cd09e86534ab2b078c9616ccfe Mon Sep 17 00:00:00 2001 From: Hiroki OTA Date: Tue, 20 Dec 2022 12:53:37 +0900 Subject: [PATCH 29/47] Update autoware_launch/launch/autoware.launch.xml --- autoware_launch/launch/autoware.launch.xml | 1 - 1 file changed, 1 deletion(-) diff --git a/autoware_launch/launch/autoware.launch.xml b/autoware_launch/launch/autoware.launch.xml index c35b7ef8f..c137c12d9 100644 --- a/autoware_launch/launch/autoware.launch.xml +++ b/autoware_launch/launch/autoware.launch.xml @@ -124,7 +124,6 @@ - From 89b3e17f11c5a4947a94b3aaf8cd953dedccb8e5 Mon Sep 17 00:00:00 2001 From: Hiroki OTA Date: Tue, 20 Dec 2022 12:54:12 +0900 Subject: [PATCH 30/47] Update autoware_launch/launch/autoware.launch.xml --- autoware_launch/launch/autoware.launch.xml | 2 -- 1 file changed, 2 deletions(-) diff --git a/autoware_launch/launch/autoware.launch.xml b/autoware_launch/launch/autoware.launch.xml index c137c12d9..a8bd3f479 100644 --- a/autoware_launch/launch/autoware.launch.xml +++ b/autoware_launch/launch/autoware.launch.xml @@ -27,8 +27,6 @@ - - From 6b799c2b7b877975cea1b866a57593fa329ce61f Mon Sep 17 00:00:00 2001 From: Hiroki OTA Date: Tue, 20 Dec 2022 12:56:12 +0900 Subject: [PATCH 31/47] Update autoware_launch/launch/logging_simulator.launch.xml --- autoware_launch/launch/logging_simulator.launch.xml | 2 -- 1 file changed, 2 deletions(-) diff --git a/autoware_launch/launch/logging_simulator.launch.xml b/autoware_launch/launch/logging_simulator.launch.xml index 3d7745d5f..5ed4f60ad 100644 --- a/autoware_launch/launch/logging_simulator.launch.xml +++ b/autoware_launch/launch/logging_simulator.launch.xml @@ -24,8 +24,6 @@ - - From 072bba52b6742abe2070babb23fcc6ba5bb73597 Mon Sep 17 00:00:00 2001 From: Hiroki OTA Date: Tue, 20 Dec 2022 12:56:33 +0900 Subject: [PATCH 32/47] Update autoware_launch/launch/logging_simulator.launch.xml --- autoware_launch/launch/logging_simulator.launch.xml | 2 -- 1 file changed, 2 deletions(-) diff --git a/autoware_launch/launch/logging_simulator.launch.xml b/autoware_launch/launch/logging_simulator.launch.xml index 5ed4f60ad..2dd6245ae 100644 --- a/autoware_launch/launch/logging_simulator.launch.xml +++ b/autoware_launch/launch/logging_simulator.launch.xml @@ -24,8 +24,6 @@ - - From b0e4c2eb429cce6b5a6708d254666fee1f6eff5f Mon Sep 17 00:00:00 2001 From: Hiroki OTA Date: Tue, 20 Dec 2022 12:57:57 +0900 Subject: [PATCH 33/47] Update autoware_launch/launch/logging_simulator.launch.xml --- autoware_launch/launch/logging_simulator.launch.xml | 1 - 1 file changed, 1 deletion(-) diff --git a/autoware_launch/launch/logging_simulator.launch.xml b/autoware_launch/launch/logging_simulator.launch.xml index 2dd6245ae..2d3fe6395 100644 --- a/autoware_launch/launch/logging_simulator.launch.xml +++ b/autoware_launch/launch/logging_simulator.launch.xml @@ -54,7 +54,6 @@ - From 224d8cef38f3d8f56c8a72c22c1ff75401daaaa7 Mon Sep 17 00:00:00 2001 From: Hiroki OTA Date: Tue, 20 Dec 2022 12:59:11 +0900 Subject: [PATCH 34/47] Update autoware_launch/launch/logging_simulator.launch.xml --- autoware_launch/launch/logging_simulator.launch.xml | 2 -- 1 file changed, 2 deletions(-) diff --git a/autoware_launch/launch/logging_simulator.launch.xml b/autoware_launch/launch/logging_simulator.launch.xml index 2d3fe6395..50d7425bf 100644 --- a/autoware_launch/launch/logging_simulator.launch.xml +++ b/autoware_launch/launch/logging_simulator.launch.xml @@ -57,8 +57,6 @@ - - From 5424752802ade7adbb7aceeed7ecfe8a7f9b98a2 Mon Sep 17 00:00:00 2001 From: Hiroki OTA Date: Tue, 20 Dec 2022 13:02:30 +0900 Subject: [PATCH 35/47] Update autoware_launch/launch/planning_simulator.launch.xml --- autoware_launch/launch/planning_simulator.launch.xml | 2 -- 1 file changed, 2 deletions(-) diff --git a/autoware_launch/launch/planning_simulator.launch.xml b/autoware_launch/launch/planning_simulator.launch.xml index 46dcec00a..d36f2d8b9 100644 --- a/autoware_launch/launch/planning_simulator.launch.xml +++ b/autoware_launch/launch/planning_simulator.launch.xml @@ -9,8 +9,6 @@ - - From 06e423f51788cdee757b10ba2de8b034fe95e316 Mon Sep 17 00:00:00 2001 From: Hiroki OTA Date: Tue, 20 Dec 2022 13:02:49 +0900 Subject: [PATCH 36/47] Update autoware_launch/launch/planning_simulator.launch.xml --- autoware_launch/launch/planning_simulator.launch.xml | 2 -- 1 file changed, 2 deletions(-) diff --git a/autoware_launch/launch/planning_simulator.launch.xml b/autoware_launch/launch/planning_simulator.launch.xml index d36f2d8b9..63544bd60 100644 --- a/autoware_launch/launch/planning_simulator.launch.xml +++ b/autoware_launch/launch/planning_simulator.launch.xml @@ -9,8 +9,6 @@ - - From f4ac8c74a0658547ec0588342fa46ac5cd34533d Mon Sep 17 00:00:00 2001 From: Hiroki OTA Date: Tue, 20 Dec 2022 13:04:43 +0900 Subject: [PATCH 37/47] Update autoware_launch/launch/planning_simulator.launch.xml --- autoware_launch/launch/planning_simulator.launch.xml | 1 - 1 file changed, 1 deletion(-) diff --git a/autoware_launch/launch/planning_simulator.launch.xml b/autoware_launch/launch/planning_simulator.launch.xml index 63544bd60..2efb8e9f1 100644 --- a/autoware_launch/launch/planning_simulator.launch.xml +++ b/autoware_launch/launch/planning_simulator.launch.xml @@ -41,7 +41,6 @@ - From ff5ecd2198ee56746a343607ed190b58dd986838 Mon Sep 17 00:00:00 2001 From: Hiroki OTA Date: Tue, 20 Dec 2022 13:05:10 +0900 Subject: [PATCH 38/47] Update autoware_launch/launch/planning_simulator.launch.xml --- autoware_launch/launch/planning_simulator.launch.xml | 2 -- 1 file changed, 2 deletions(-) diff --git a/autoware_launch/launch/planning_simulator.launch.xml b/autoware_launch/launch/planning_simulator.launch.xml index 2efb8e9f1..2b5b8d46d 100644 --- a/autoware_launch/launch/planning_simulator.launch.xml +++ b/autoware_launch/launch/planning_simulator.launch.xml @@ -44,8 +44,6 @@ - - From 10a6588362a9059c72d199e153f3b692638f93b5 Mon Sep 17 00:00:00 2001 From: Hiroki OTA Date: Tue, 20 Dec 2022 13:05:54 +0900 Subject: [PATCH 39/47] Update autoware_launch/launch/planning_simulator.launch.xml --- autoware_launch/launch/planning_simulator.launch.xml | 1 - 1 file changed, 1 deletion(-) diff --git a/autoware_launch/launch/planning_simulator.launch.xml b/autoware_launch/launch/planning_simulator.launch.xml index 2b5b8d46d..ea118ff8e 100644 --- a/autoware_launch/launch/planning_simulator.launch.xml +++ b/autoware_launch/launch/planning_simulator.launch.xml @@ -69,7 +69,6 @@ - From 4a6372110c1e69080904f8f0507f44bceb200c27 Mon Sep 17 00:00:00 2001 From: Hiroki OTA Date: Thu, 22 Dec 2022 11:03:35 +0900 Subject: [PATCH 40/47] Update autoware_launch/rviz/autoware.rviz --- autoware_launch/rviz/autoware.rviz | 12 ++++++++++++ 1 file changed, 12 insertions(+) diff --git a/autoware_launch/rviz/autoware.rviz b/autoware_launch/rviz/autoware.rviz index aab3adb92..b9ec3e4d6 100644 --- a/autoware_launch/rviz/autoware.rviz +++ b/autoware_launch/rviz/autoware.rviz @@ -1534,6 +1534,18 @@ Visualization Manager: Reliability Policy: Reliable Value: /planning/scenario_planning/lane_driving/motion_planning/obstacle_avoidance_planner/debug/virtual_wall Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: VirtualWall (ObstacleCruise) + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/virtual_wall + Value: true Enabled: true Name: VirtualWall - Class: rviz_common/Group From 09f616112ca99ea4ccb735c4b7c5aeb309167297 Mon Sep 17 00:00:00 2001 From: Hiroki OTA Date: Thu, 22 Dec 2022 11:05:07 +0900 Subject: [PATCH 41/47] Update autoware_launch/rviz/autoware.rviz --- autoware_launch/rviz/autoware.rviz | 12 ++++++++++++ 1 file changed, 12 insertions(+) diff --git a/autoware_launch/rviz/autoware.rviz b/autoware_launch/rviz/autoware.rviz index b9ec3e4d6..e776101d5 100644 --- a/autoware_launch/rviz/autoware.rviz +++ b/autoware_launch/rviz/autoware.rviz @@ -1550,6 +1550,18 @@ Visualization Manager: Name: VirtualWall - Class: rviz_common/Group Displays: + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: ObstacleStop + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/motion_planning/obstacle_stop_planner/debug/marker + Value: true - Class: rviz_common/Group Displays: - Class: rviz_default_plugins/MarkerArray From 8a7b7a378e25c33727aca86967980dd0e10ea3ed Mon Sep 17 00:00:00 2001 From: Hiroki OTA Date: Thu, 22 Dec 2022 11:18:19 +0900 Subject: [PATCH 42/47] Update autoware_launch/rviz/autoware.rviz --- autoware_launch/rviz/autoware.rviz | 12 ++++++++++++ 1 file changed, 12 insertions(+) diff --git a/autoware_launch/rviz/autoware.rviz b/autoware_launch/rviz/autoware.rviz index e776101d5..20704a077 100644 --- a/autoware_launch/rviz/autoware.rviz +++ b/autoware_launch/rviz/autoware.rviz @@ -1564,6 +1564,18 @@ Visualization Manager: Value: true - Class: rviz_common/Group Displays: + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: CruiseVirtualWall + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/debug/cruise/virtual_wall + Value: true - Class: rviz_default_plugins/MarkerArray Enabled: true Name: SurroundObstacleCheck From c5d1aabde2931b0802940daacf7097377acca63a Mon Sep 17 00:00:00 2001 From: Hiroki OTA Date: Thu, 22 Dec 2022 11:20:05 +0900 Subject: [PATCH 43/47] Update autoware_launch/rviz/autoware.rviz --- autoware_launch/rviz/autoware.rviz | 12 ++++++++++++ 1 file changed, 12 insertions(+) diff --git a/autoware_launch/rviz/autoware.rviz b/autoware_launch/rviz/autoware.rviz index 20704a077..898623ae6 100644 --- a/autoware_launch/rviz/autoware.rviz +++ b/autoware_launch/rviz/autoware.rviz @@ -1576,6 +1576,18 @@ Visualization Manager: Reliability Policy: Reliable Value: /planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/debug/cruise/virtual_wall Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: DebugMarker + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/debug/marker + Value: true - Class: rviz_default_plugins/MarkerArray Enabled: true Name: SurroundObstacleCheck From 5865c567087e8f04baf9767e4d07ccccf19bb6dc Mon Sep 17 00:00:00 2001 From: Hiroki OTA Date: Thu, 22 Dec 2022 11:25:02 +0900 Subject: [PATCH 44/47] Update autoware_launch/rviz/autoware.rviz --- autoware_launch/rviz/autoware.rviz | 1 + 1 file changed, 1 insertion(+) diff --git a/autoware_launch/rviz/autoware.rviz b/autoware_launch/rviz/autoware.rviz index 898623ae6..5fa1cb7ac 100644 --- a/autoware_launch/rviz/autoware.rviz +++ b/autoware_launch/rviz/autoware.rviz @@ -1468,6 +1468,7 @@ Visualization Manager: Reliability Policy: Reliable Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/debug/sideshift Value: false + Enabled: false Name: DebugMarker Enabled: true Name: BehaviorPlanning From 333b43dd9db51423bb68aa08d7b6cf298f8dc1ba Mon Sep 17 00:00:00 2001 From: h-ohta Date: Thu, 22 Dec 2022 11:33:45 +0900 Subject: [PATCH 45/47] fix for rviz --- autoware_launch/rviz/autoware.rviz | 16 ++++------------ 1 file changed, 4 insertions(+), 12 deletions(-) diff --git a/autoware_launch/rviz/autoware.rviz b/autoware_launch/rviz/autoware.rviz index 5fa1cb7ac..b55e0f88b 100644 --- a/autoware_launch/rviz/autoware.rviz +++ b/autoware_launch/rviz/autoware.rviz @@ -1589,6 +1589,10 @@ Visualization Manager: Reliability Policy: Reliable Value: /planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/debug/marker Value: true + Enabled: true + Name: ObstacleCruise + - Class: rviz_common/Group + Displays: - Class: rviz_default_plugins/MarkerArray Enabled: true Name: SurroundObstacleCheck @@ -1642,18 +1646,6 @@ Visualization Manager: Value: false Enabled: true Name: SurroundObstacleChecker - - Class: rviz_default_plugins/MarkerArray - Enabled: true - Name: ObstacleStop - Namespaces: - {} - Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Reliable - Value: /planning/scenario_planning/lane_driving/motion_planning/surround_obstacle_checker/debug/marker - Value: true - Class: rviz_default_plugins/MarkerArray Enabled: true Name: ObstacleAvoidance From bbefff9ef87d8ee5a4b43b3819f675dccd46af69 Mon Sep 17 00:00:00 2001 From: Hiroki OTA Date: Thu, 22 Dec 2022 14:36:00 +0900 Subject: [PATCH 46/47] Update autoware_launch/rviz/autoware.rviz --- autoware_launch/rviz/autoware.rviz | 12 ++++++++++++ 1 file changed, 12 insertions(+) diff --git a/autoware_launch/rviz/autoware.rviz b/autoware_launch/rviz/autoware.rviz index b55e0f88b..38bbe4452 100644 --- a/autoware_launch/rviz/autoware.rviz +++ b/autoware_launch/rviz/autoware.rviz @@ -1151,6 +1151,18 @@ Visualization Manager: Reliability Policy: Reliable Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/virtual_wall/crosswalk Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: VirtualWall (Walkway) + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/virtual_wall/walkway + Value: true - Class: rviz_default_plugins/MarkerArray Enabled: true Name: VirtualWall (DetectionArea) From ff123fedc3b4de3f6229c7983d93cc63ce2b27d0 Mon Sep 17 00:00:00 2001 From: Hiroki OTA Date: Thu, 22 Dec 2022 14:36:55 +0900 Subject: [PATCH 47/47] Update autoware_launch/rviz/autoware.rviz --- autoware_launch/rviz/autoware.rviz | 12 ++++++++++++ 1 file changed, 12 insertions(+) diff --git a/autoware_launch/rviz/autoware.rviz b/autoware_launch/rviz/autoware.rviz index 38bbe4452..d32fe7d3d 100644 --- a/autoware_launch/rviz/autoware.rviz +++ b/autoware_launch/rviz/autoware.rviz @@ -1300,6 +1300,18 @@ Visualization Manager: Reliability Policy: Reliable Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/debug/crosswalk Value: false + - Class: rviz_default_plugins/MarkerArray + Enabled: false + Name: Walkway + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/debug/walkway + Value: false - Class: rviz_default_plugins/MarkerArray Enabled: false Name: Intersection