feat(rviz): update rviz planning module's debug marker (#85)

* feat(rviz): add behavior path debug markers (#441) Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> * feat(rviz): add 2D dummy bus button as default (#453) Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> * feat(rviz): add behavior path debug markers (#462) Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> * feat(rviz): remove old pull over marker Signed-off-by: kosuke55 <kosuke.tnp@gmail.com> Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com> Signed-off-by: kosuke55 <kosuke.tnp@gmail.com> Co-authored-by: kosuke55 <kosuke.tnp@gmail.com>
tier4 · Sep 13, 2022 · 515239b · 515239b
1 parent 966ac10
commit 515239b
Showing 1 changed file with 78 additions and 36 deletions.
diff --git a/autoware_launch/rviz/autoware.rviz b/autoware_launch/rviz/autoware.rviz
@@ -1306,44 +1306,78 @@ Visualization Manager:
                             Reliability Policy: Reliable
                             Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/debug/run_out
                           Value: false
-                        - Class: rviz_common/Group
-                          Displays:
-                            - Class: rviz_default_plugins/MarkerArray
-                              Enabled: true
-                              Name: MarkerArray
-                              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/pull_over/debug/parking_area
-                              Value: true
-                            - Alpha: 0.999
-                              Arrow Length: 0.3
-                              Axes Length: 0.3
-                              Axes Radius: 0.01
-                              Class: rviz_default_plugins/PoseArray
-                              Color: 255; 25; 0
-                              Enabled: false
-                              Head Length: 0.1
-                              Head Radius: 0.2
-                              Name: PullOverPathPoseArray
-                              Shaft Length: 0.2
-                              Shaft Radius: 0.05
-                              Shape: Arrow (3D)
-                              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/pull_over/debug/path_pose_array
-                              Value: false
+                        - Class: rviz_default_plugins/MarkerArray
+                          Enabled: false
+                          Name: Avoidance
+                          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/avoidance
+                          Value: false
+                        - Class: rviz_default_plugins/MarkerArray
+                          Enabled: false
+                          Name: LaneChange
+                          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/lanechange
+                          Value: false
+                        - Class: rviz_default_plugins/MarkerArray
+                          Enabled: false
+                          Name: LaneFollowing
+                          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/lanefollowing
+                          Value: false
+                        - Class: rviz_default_plugins/MarkerArray
                           Enabled: false
                           Name: PullOver
-                      Enabled: false
+                          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/pullover
+                          Value: false
+                        - Class: rviz_default_plugins/MarkerArray
+                          Enabled: false
+                          Name: PullOut
+                          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/pullout
+                          Value: false
+                        - Class: rviz_default_plugins/MarkerArray
+                          Enabled: false
+                          Name: SideShift
+                          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/sideshift
+                          Value: false
                       Name: DebugMarker
                   Enabled: true
                   Name: BehaviorPlanning
@@ -1699,6 +1733,14 @@ Visualization Manager:
       Y std deviation: 0.029999999329447746
       Z position: 0
       Z std deviation: 0.029999999329447746
+    - Class: rviz_plugins/BusInitialPoseTool
+      Pose Topic: /simulation/dummy_perception_publisher/object_info
+      Theta std deviation: 0.0872664600610733
+      Velocity: 0
+      X std deviation: 0.029999999329447746
+      Y std deviation: 0.029999999329447746
+      Z position: 0
+      Z std deviation: 0.029999999329447746
     - Class: rviz_plugins/MissionCheckpointTool
       Pose Topic: /planning/mission_planning/checkpoint
       Theta std deviation: 0.2617993950843811