diff --git a/.github/CODEOWNERS b/.github/CODEOWNERS index dd28f74253..94740e295e 100644 --- a/.github/CODEOWNERS +++ b/.github/CODEOWNERS @@ -1,14 +1,14 @@ ### Automatically generated from package.xml ### -autoware_launch/** yukihiro.saito@tier4.jp +autoware_launch/** mfc@leodrive.ai ryohsuke.mitsudome@tier4.jp yukihiro.saito@tier4.jp ### Copied from .github/CODEOWNERS-manual ### # /** # .github/** -autoware_launch/** yukihiro.saito@tier4.jp ryohsuke.mitsudome@tier4.jp +autoware_launch/** yukihiro.saito@tier4.jp ryohsuke.mitsudome@tier4.jp mfc@leodrive.ai autoware_launch/config/control/** takayuki.murooka@tier4.jp fumiya.watanabe@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp autoware_launch/config/localization/** masahiro.sakamoto@tier4.jp yamato.ando@tier4.jp ryu.yamamoto@tier4.jp kento.yabuuchi.2@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp anh.nguyen.2@tier4.jp autoware_launch/config/map/** masahiro.sakamoto@tier4.jp yamato.ando@tier4.jp ryu.yamamoto@tier4.jp kento.yabuuchi.2@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp anh.nguyen.2@tier4.jp -autoware_launch/config/perception/** shunsuke.miura@tier4.jp yoshi.ri@tier4.jp koji.minoda@tier4.jp +autoware_launch/config/perception/** shunsuke.miura@tier4.jp yoshi.ri@tier4.jp koji.minoda@tier4.jp taekjin.lee@tier4.jp autoware_launch/config/planning/** takayuki.murooka@tier4.jp fumiya.watanabe@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp autoware_launch/config/simulator/** takayuki.murooka@tier4.jp fumiya.watanabe@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp autoware_launch/config/system/** fumihito.ito@tier4.jp isamu.takagi@tier4.jp @@ -17,10 +17,10 @@ autoware_launch/launch/components/tier4_autoware_api_component.launch.xml isamu. autoware_launch/launch/components/tier4_control_component.launch.xml takayuki.murooka@tier4.jp fumiya.watanabe@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp autoware_launch/launch/components/tier4_localization_component.launch.xml masahiro.sakamoto@tier4.jp yamato.ando@tier4.jp ryu.yamamoto@tier4.jp kento.yabuuchi.2@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp anh.nguyen.2@tier4.jp autoware_launch/launch/components/tier4_map_component.launch.xml masahiro.sakamoto@tier4.jp yamato.ando@tier4.jp ryu.yamamoto@tier4.jp kento.yabuuchi.2@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp anh.nguyen.2@tier4.jp -autoware_launch/launch/components/tier4_perception_component.launch.xml shunsuke.miura@tier4.jp yoshi.ri@tier4.jp koji.minoda@tier4.jp +autoware_launch/launch/components/tier4_perception_component.launch.xml shunsuke.miura@tier4.jp yoshi.ri@tier4.jp koji.minoda@tier4.jp taekjin.lee@tier4.jp autoware_launch/launch/components/tier4_planning_component.launch.xml takayuki.murooka@tier4.jp fumiya.watanabe@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp autoware_launch/launch/components/tier4_sensing_component.launch.xml shunsuke.miura@tier4.jp yoshi.ri@tier4.jp koji.minoda@tier4.jp autoware_launch/launch/components/tier4_simulator_component.launch.xml takayuki.murooka@tier4.jp fumiya.watanabe@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp -autoware_launch/launch/components/tier4_system_component.launch.xml fumihito.ito@tier4.jp isamu.takagi@tier4.jp +autoware_launch/launch/components/tier4_system_component.launch.xml fumihito.ito@tier4.jp isamu.takagi@tier4.jp shumpei.wakabayashi@tier4.jp tomoya.kimura@tier4.jp autoware_launch/rviz/** # no codeowners autoware_launch/rviz/image/** yukihiro.saito@tier4.jp ryohsuke.mitsudome@tier4.jp diff --git a/.github/CODEOWNERS-manual b/.github/CODEOWNERS-manual index cd10e1fbc4..5415bc479e 100644 --- a/.github/CODEOWNERS-manual +++ b/.github/CODEOWNERS-manual @@ -1,10 +1,10 @@ # /** # .github/** autoware_launch/** yukihiro.saito@tier4.jp ryohsuke.mitsudome@tier4.jp mfc@leodrive.ai -autoware_launch/config/control/** takayuki.murooka@tier4.jp fumiya.watanabe@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp +autoware_launch/config/control/** takayuki.murooka@tier4.jp fumiya.watanabe@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp kosuke.takeuchi@tier4.jp yuki.takagi@tier4.jp alqudah.mohammad@tier4.jp autoware_launch/config/localization/** masahiro.sakamoto@tier4.jp yamato.ando@tier4.jp ryu.yamamoto@tier4.jp kento.yabuuchi.2@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp anh.nguyen.2@tier4.jp autoware_launch/config/map/** masahiro.sakamoto@tier4.jp yamato.ando@tier4.jp ryu.yamamoto@tier4.jp kento.yabuuchi.2@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp anh.nguyen.2@tier4.jp -autoware_launch/config/perception/** shunsuke.miura@tier4.jp yoshi.ri@tier4.jp koji.minoda@tier4.jp +autoware_launch/config/perception/** shunsuke.miura@tier4.jp yoshi.ri@tier4.jp koji.minoda@tier4.jp taekjin.lee@tier4.jp autoware_launch/config/planning/** takayuki.murooka@tier4.jp fumiya.watanabe@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp autoware_launch/config/simulator/** takayuki.murooka@tier4.jp fumiya.watanabe@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp autoware_launch/config/system/** fumihito.ito@tier4.jp isamu.takagi@tier4.jp @@ -13,10 +13,10 @@ autoware_launch/launch/components/tier4_autoware_api_component.launch.xml isamu. autoware_launch/launch/components/tier4_control_component.launch.xml takayuki.murooka@tier4.jp fumiya.watanabe@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp autoware_launch/launch/components/tier4_localization_component.launch.xml masahiro.sakamoto@tier4.jp yamato.ando@tier4.jp ryu.yamamoto@tier4.jp kento.yabuuchi.2@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp anh.nguyen.2@tier4.jp autoware_launch/launch/components/tier4_map_component.launch.xml masahiro.sakamoto@tier4.jp yamato.ando@tier4.jp ryu.yamamoto@tier4.jp kento.yabuuchi.2@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp anh.nguyen.2@tier4.jp -autoware_launch/launch/components/tier4_perception_component.launch.xml shunsuke.miura@tier4.jp yoshi.ri@tier4.jp koji.minoda@tier4.jp +autoware_launch/launch/components/tier4_perception_component.launch.xml shunsuke.miura@tier4.jp yoshi.ri@tier4.jp koji.minoda@tier4.jp taekjin.lee@tier4.jp autoware_launch/launch/components/tier4_planning_component.launch.xml takayuki.murooka@tier4.jp fumiya.watanabe@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp autoware_launch/launch/components/tier4_sensing_component.launch.xml shunsuke.miura@tier4.jp yoshi.ri@tier4.jp koji.minoda@tier4.jp autoware_launch/launch/components/tier4_simulator_component.launch.xml takayuki.murooka@tier4.jp fumiya.watanabe@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp -autoware_launch/launch/components/tier4_system_component.launch.xml fumihito.ito@tier4.jp isamu.takagi@tier4.jp +autoware_launch/launch/components/tier4_system_component.launch.xml fumihito.ito@tier4.jp isamu.takagi@tier4.jp shumpei.wakabayashi@tier4.jp tomoya.kimura@tier4.jp autoware_launch/rviz/** # no codeowners autoware_launch/rviz/image/** yukihiro.saito@tier4.jp ryohsuke.mitsudome@tier4.jp diff --git a/.github/ISSUE_TEMPLATE/bug.yaml b/.github/ISSUE_TEMPLATE/bug.yaml index 12a857998a..5c74f7c5e4 100644 --- a/.github/ISSUE_TEMPLATE/bug.yaml +++ b/.github/ISSUE_TEMPLATE/bug.yaml @@ -1,3 +1,7 @@ +# This file is automatically synced from: +# https://github.com/autowarefoundation/sync-file-templates +# To make changes, update the source repository and follow the guidelines in its README. + name: Bug description: Report a bug body: diff --git a/.github/ISSUE_TEMPLATE/config.yml b/.github/ISSUE_TEMPLATE/config.yml index 48765c24a7..deccbf336f 100644 --- a/.github/ISSUE_TEMPLATE/config.yml +++ b/.github/ISSUE_TEMPLATE/config.yml @@ -1,3 +1,7 @@ +# This file is automatically synced from: +# https://github.com/autowarefoundation/sync-file-templates +# To make changes, update the source repository and follow the guidelines in its README. + blank_issues_enabled: false contact_links: - name: Question diff --git a/.github/ISSUE_TEMPLATE/task.yaml b/.github/ISSUE_TEMPLATE/task.yaml index cd8322f507..58307325ce 100644 --- a/.github/ISSUE_TEMPLATE/task.yaml +++ b/.github/ISSUE_TEMPLATE/task.yaml @@ -1,3 +1,7 @@ +# This file is automatically synced from: +# https://github.com/autowarefoundation/sync-file-templates +# To make changes, update the source repository and follow the guidelines in its README. + name: Task description: Plan a task body: diff --git a/.github/PULL_REQUEST_TEMPLATE.md b/.github/PULL_REQUEST_TEMPLATE.md deleted file mode 100644 index 97b0e95452..0000000000 --- a/.github/PULL_REQUEST_TEMPLATE.md +++ /dev/null @@ -1,8 +0,0 @@ -**Note**: Confirm the [contribution guidelines](https://autowarefoundation.github.io/autoware-documentation/main/contributing/) before submitting a pull request. - -Click the `Preview` tab and select a PR template: - -- [Standard change](?expand=1&template=standard-change.md) -- [Small change](?expand=1&template=small-change.md) - -**Do NOT send a PR with this description.** diff --git a/.github/PULL_REQUEST_TEMPLATE/small-change.md b/.github/PULL_REQUEST_TEMPLATE/small-change.md deleted file mode 100644 index 2ff933c43a..0000000000 --- a/.github/PULL_REQUEST_TEMPLATE/small-change.md +++ /dev/null @@ -1,40 +0,0 @@ -## Description - - - -## Tests performed - - - - -Not applicable. - -## Effects on system behavior - - - -Not applicable. - -## Pre-review checklist for the PR author - -The PR author **must** check the checkboxes below when creating the PR. - -- [ ] I've confirmed the [contribution guidelines]. -- [ ] The PR follows the [pull request guidelines]. - -## In-review checklist for the PR reviewers - -The PR reviewers **must** check the checkboxes below before approval. - -- [ ] The PR follows the [pull request guidelines]. - -## Post-review checklist for the PR author - -The PR author **must** check the checkboxes below before merging. - -- [ ] There are no open discussions or they are tracked via tickets. - -After all checkboxes are checked, anyone who has write access can merge the PR. - -[contribution guidelines]: https://autowarefoundation.github.io/autoware-documentation/main/contributing/ -[pull request guidelines]: https://autowarefoundation.github.io/autoware-documentation/main/contributing/pull-request-guidelines/ diff --git a/.github/PULL_REQUEST_TEMPLATE/standard-change.md b/.github/PULL_REQUEST_TEMPLATE/standard-change.md deleted file mode 100644 index 7aedefd0a7..0000000000 --- a/.github/PULL_REQUEST_TEMPLATE/standard-change.md +++ /dev/null @@ -1,50 +0,0 @@ -## Description - - - -## Related links - - - -## Tests performed - - - -## Notes for reviewers - - - -## Interface changes - - - -## Effects on system behavior - - - -## Pre-review checklist for the PR author - -The PR author **must** check the checkboxes below when creating the PR. - -- [ ] I've confirmed the [contribution guidelines]. -- [ ] The PR follows the [pull request guidelines]. - -## In-review checklist for the PR reviewers - -The PR reviewers **must** check the checkboxes below before approval. - -- [ ] The PR follows the [pull request guidelines]. -- [ ] The PR has been properly tested. -- [ ] The PR has been reviewed by the code owners. - -## Post-review checklist for the PR author - -The PR author **must** check the checkboxes below before merging. - -- [ ] There are no open discussions or they are tracked via tickets. -- [ ] The PR is ready for merge. - -After all checkboxes are checked, anyone who has write access can merge the PR. - -[contribution guidelines]: https://autowarefoundation.github.io/autoware-documentation/main/contributing/ -[pull request guidelines]: https://autowarefoundation.github.io/autoware-documentation/main/contributing/pull-request-guidelines/ diff --git a/.github/dependabot.yaml b/.github/dependabot.yaml index 3f3bf243f6..8e2d7193ae 100644 --- a/.github/dependabot.yaml +++ b/.github/dependabot.yaml @@ -1,10 +1,15 @@ +# This file is automatically synced from: +# https://github.com/autowarefoundation/sync-file-templates +# To make changes, update the source repository and follow the guidelines in its README. + version: 2 updates: - package-ecosystem: github-actions directory: / + # https://docs.github.com/en/code-security/dependabot/dependabot-version-updates/configuration-options-for-the-dependabot.yml-file#scheduleinterval schedule: - interval: daily + interval: monthly open-pull-requests-limit: 1 labels: - - bot - - github-actions + - tag:bot + - type:github-actions diff --git a/.github/labeler.yaml b/.github/labeler.yaml new file mode 100644 index 0000000000..412523c3a3 --- /dev/null +++ b/.github/labeler.yaml @@ -0,0 +1,33 @@ +"type:ci": + - .github/**/* + - "*.json" + - "*.yaml" + - "*.cfg" + - .clang-format + - .gitignore + - .prettierignore +"type:documentation": + - "**/*.md" + - "**/*.rst" + - "**/*.jpg" + - "**/*.png" + - "**/*.svg" +"component:control": + - "**/*control*" +"component:localization": + - "**/*localization*" +"component:map": + - "**/*map*" +"component:perception": + - "**/*perception*" +"component:planning": + - "**/*planning*" +"component:sensing": + - "**/*sensing*" +"component:simulation": + - "**/*simulator*" +"component:system": + - "**/*system*" +"component:ui": + - "**/*.rviz" + - "**/rviz" diff --git a/.github/pull_request_template.md b/.github/pull_request_template.md new file mode 100644 index 0000000000..4c4081a67e --- /dev/null +++ b/.github/pull_request_template.md @@ -0,0 +1,11 @@ +## Description + +## How was this PR tested? + +## Notes for reviewers + +None. + +## Effects on system behavior + +None. diff --git a/.github/stale.yml b/.github/stale.yml index 84928d1b81..ffce036c8d 100644 --- a/.github/stale.yml +++ b/.github/stale.yml @@ -1,10 +1,14 @@ +# This file is automatically synced from: +# https://github.com/autowarefoundation/sync-file-templates +# To make changes, update the source repository and follow the guidelines in its README. + # Modified from https://github.com/probot/stale#usage # Number of days of inactivity before an Issue or Pull Request with the stale label is closed daysUntilClose: false # Label to use when marking as stale -staleLabel: stale +staleLabel: status:stale # Comment to post when marking as stale markComment: > diff --git a/.github/sync-files.yaml b/.github/sync-files.yaml index 4deb334463..1d2baf16b6 100644 --- a/.github/sync-files.yaml +++ b/.github/sync-files.yaml @@ -1,4 +1,5 @@ -- repository: autowarefoundation/autoware +- repository: autowarefoundation/sync-file-templates + source-dir: sources files: - source: CODE_OF_CONDUCT.md - source: CONTRIBUTING.md @@ -7,27 +8,27 @@ - source: .github/ISSUE_TEMPLATE/bug.yaml - source: .github/ISSUE_TEMPLATE/config.yml - source: .github/ISSUE_TEMPLATE/task.yaml - - source: .github/PULL_REQUEST_TEMPLATE.md - - source: .github/PULL_REQUEST_TEMPLATE/small-change.md - - source: .github/PULL_REQUEST_TEMPLATE/standard-change.md + - source: .github/pull_request_template.md - source: .github/dependabot.yaml - source: .github/stale.yml + - source: .github/workflows/comment-on-pr.yaml - source: .github/workflows/github-release.yaml - source: .github/workflows/pre-commit.yaml - source: .github/workflows/pre-commit-optional.yaml - source: .github/workflows/semantic-pull-request.yaml + - source: .github/workflows/spell-check-daily.yaml - source: .github/workflows/spell-check-differential.yaml - source: .github/workflows/sync-files.yaml - source: .markdown-link-check.json - source: .markdownlint.yaml + - source: .pre-commit-config.yaml - source: .pre-commit-config-optional.yaml - source: .prettierignore + pre-commands: | + sd "rviz\n" "rviz\n**/diagnostic_graph_aggregator/\n" {source} - source: .prettierrc.yaml - source: .yamllint.yaml - source: setup.cfg - -- repository: autowarefoundation/autoware_common - files: - source: .github/workflows/build-and-test.yaml - source: .github/workflows/build-and-test-differential.yaml - source: .github/workflows/cancel-previous-workflows.yaml diff --git a/.github/workflows/build-and-test-differential.yaml b/.github/workflows/build-and-test-differential.yaml index 8eeb1de069..151269cc71 100644 --- a/.github/workflows/build-and-test-differential.yaml +++ b/.github/workflows/build-and-test-differential.yaml @@ -1,11 +1,27 @@ +# This file is automatically synced from: +# https://github.com/autowarefoundation/sync-file-templates +# To make changes, update the source repository and follow the guidelines in its README. + name: build-and-test-differential on: pull_request: + types: + - opened + - synchronize + - reopened + - labeled jobs: + make-sure-label-is-present: + uses: autowarefoundation/autoware-github-actions/.github/workflows/make-sure-label-is-present.yaml@v1 + with: + label: run:build-and-test-differential + build-and-test-differential: - runs-on: ubuntu-latest + needs: make-sure-label-is-present + if: ${{ needs.make-sure-label-is-present.outputs.result == 'true' }} + runs-on: ubuntu-22.04 container: ${{ matrix.container }} strategy: fail-fast: false @@ -17,10 +33,17 @@ jobs: container: ros:humble build-depends-repos: build_depends.repos steps: - - name: Check out repository - uses: actions/checkout@v3 + - name: Set PR fetch depth + run: echo "PR_FETCH_DEPTH=$(( ${{ github.event.pull_request.commits }} + 1 ))" >> "${GITHUB_ENV}" + + - name: Checkout PR branch and all PR commits + uses: actions/checkout@v4 with: - fetch-depth: 0 + ref: ${{ github.event.pull_request.head.sha }} + fetch-depth: ${{ env.PR_FETCH_DEPTH }} + + - name: Show disk space before the tasks + run: df -h - name: Remove exec_depend uses: autowarefoundation/autoware-github-actions/remove-exec-depend@v1 @@ -48,44 +71,12 @@ jobs: - name: Upload coverage to CodeCov if: ${{ steps.test.outputs.coverage-report-files != '' }} - uses: codecov/codecov-action@v3 + uses: codecov/codecov-action@v4 with: files: ${{ steps.test.outputs.coverage-report-files }} fail_ci_if_error: false verbose: true flags: differential - clang-tidy-differential: - runs-on: ubuntu-latest - container: ros:humble - needs: build-and-test-differential - steps: - - name: Check out repository - uses: actions/checkout@v3 - with: - fetch-depth: 0 - - - name: Remove exec_depend - uses: autowarefoundation/autoware-github-actions/remove-exec-depend@v1 - - - name: Get modified packages - id: get-modified-packages - uses: autowarefoundation/autoware-github-actions/get-modified-packages@v1 - - - name: Get modified files - id: get-modified-files - uses: tj-actions/changed-files@v35 - with: - files: | - **/*.cpp - **/*.hpp - - - name: Run clang-tidy - if: ${{ steps.get-modified-files.outputs.all_changed_files != '' }} - uses: autowarefoundation/autoware-github-actions/clang-tidy@v1 - with: - rosdistro: humble - target-packages: ${{ steps.get-modified-packages.outputs.modified-packages }} - target-files: ${{ steps.get-modified-files.outputs.all_changed_files }} - clang-tidy-config-url: https://raw.githubusercontent.com/autowarefoundation/autoware/main/.clang-tidy - build-depends-repos: build_depends.repos + - name: Show disk space after the tasks + run: df -h diff --git a/.github/workflows/build-and-test.yaml b/.github/workflows/build-and-test.yaml index 6459a98044..0af7487814 100644 --- a/.github/workflows/build-and-test.yaml +++ b/.github/workflows/build-and-test.yaml @@ -1,3 +1,7 @@ +# This file is automatically synced from: +# https://github.com/autowarefoundation/sync-file-templates +# To make changes, update the source repository and follow the guidelines in its README. + name: build-and-test on: @@ -9,7 +13,7 @@ on: jobs: build-and-test: if: ${{ github.event_name != 'push' || github.ref_name == github.event.repository.default_branch }} - runs-on: ubuntu-latest + runs-on: ubuntu-22.04 container: ${{ matrix.container }} strategy: fail-fast: false @@ -22,7 +26,12 @@ jobs: build-depends-repos: build_depends.repos steps: - name: Check out repository - uses: actions/checkout@v3 + uses: actions/checkout@v4 + with: + fetch-depth: 1 + + - name: Show disk space before the tasks + run: df -h - name: Remove exec_depend uses: autowarefoundation/autoware-github-actions/remove-exec-depend@v1 @@ -50,9 +59,12 @@ jobs: - name: Upload coverage to CodeCov if: ${{ steps.test.outputs.coverage-report-files != '' }} - uses: codecov/codecov-action@v3 + uses: codecov/codecov-action@v4 with: files: ${{ steps.test.outputs.coverage-report-files }} fail_ci_if_error: false verbose: true flags: total + + - name: Show disk space after the tasks + run: df -h diff --git a/.github/workflows/cancel-previous-workflows.yaml b/.github/workflows/cancel-previous-workflows.yaml index f9c29b81b6..ee79ce0e4d 100644 --- a/.github/workflows/cancel-previous-workflows.yaml +++ b/.github/workflows/cancel-previous-workflows.yaml @@ -1,3 +1,7 @@ +# This file is automatically synced from: +# https://github.com/autowarefoundation/sync-file-templates +# To make changes, update the source repository and follow the guidelines in its README. + name: cancel-previous-workflows on: @@ -5,10 +9,10 @@ on: jobs: cancel-previous-workflows: - runs-on: ubuntu-latest + runs-on: ubuntu-22.04 steps: - name: Cancel previous runs - uses: styfle/cancel-workflow-action@0.11.0 + uses: styfle/cancel-workflow-action@0.12.1 with: workflow_id: all all_but_latest: true diff --git a/.github/workflows/check-build-depends.yaml b/.github/workflows/check-build-depends.yaml index 01132cd0df..b2d14fa751 100644 --- a/.github/workflows/check-build-depends.yaml +++ b/.github/workflows/check-build-depends.yaml @@ -7,7 +7,7 @@ on: jobs: check-build-depends: - runs-on: ubuntu-latest + runs-on: ubuntu-22.04 container: ${{ matrix.container }} strategy: fail-fast: false @@ -24,7 +24,7 @@ jobs: build-depends-repos: build_depends.repos steps: - name: Check out repository - uses: actions/checkout@v3 + uses: actions/checkout@v4 - name: Remove exec_depend uses: autowarefoundation/autoware-github-actions/remove-exec-depend@v1 diff --git a/.github/workflows/comment-on-pr.yaml b/.github/workflows/comment-on-pr.yaml new file mode 100644 index 0000000000..0f2ecf519d --- /dev/null +++ b/.github/workflows/comment-on-pr.yaml @@ -0,0 +1,29 @@ +# This file is automatically synced from: +# https://github.com/autowarefoundation/sync-file-templates +# To make changes, update the source repository and follow the guidelines in its README. + +name: comment-on-pr +on: + pull_request_target: + +jobs: + comment-on-pr: + runs-on: ubuntu-22.04 + permissions: + pull-requests: write + steps: + - name: Check out repository + uses: actions/checkout@v4 + + - name: Initial PR comment + uses: marocchino/sticky-pull-request-comment@v2 + with: + message: | + Thank you for contributing to the Autoware project! + + 🚧 If your pull request is in progress, [switch it to draft mode](https://docs.github.com/en/pull-requests/collaborating-with-pull-requests/proposing-changes-to-your-work-with-pull-requests/changing-the-stage-of-a-pull-request#converting-a-pull-request-to-a-draft). + + Please ensure: + - You've checked our [contribution guidelines](https://autowarefoundation.github.io/autoware-documentation/main/contributing/). + - Your PR follows our [pull request guidelines](https://autowarefoundation.github.io/autoware-documentation/main/contributing/pull-request-guidelines/). + - All required CI checks pass before [marking the PR ready for review](https://docs.github.com/en/pull-requests/collaborating-with-pull-requests/proposing-changes-to-your-work-with-pull-requests/changing-the-stage-of-a-pull-request#marking-a-pull-request-as-ready-for-review). diff --git a/.github/workflows/github-release.yaml b/.github/workflows/github-release.yaml index 95ebb8725f..bbe2ac512d 100644 --- a/.github/workflows/github-release.yaml +++ b/.github/workflows/github-release.yaml @@ -1,3 +1,7 @@ +# This file is automatically synced from: +# https://github.com/autowarefoundation/sync-file-templates +# To make changes, update the source repository and follow the guidelines in its README. + name: github-release on: @@ -15,7 +19,7 @@ on: jobs: github-release: - runs-on: ubuntu-latest + runs-on: ubuntu-22.04 steps: - name: Set tag name id: set-tag-name @@ -30,7 +34,7 @@ jobs: echo "tag-name=${REF_NAME#beta/}" >> $GITHUB_OUTPUT - name: Check out repository - uses: actions/checkout@v3 + uses: actions/checkout@v4 with: fetch-depth: 0 ref: ${{ steps.set-tag-name.outputs.ref-name }} diff --git a/.github/workflows/pr-labeler.yaml b/.github/workflows/pr-labeler.yaml new file mode 100644 index 0000000000..0ad3413589 --- /dev/null +++ b/.github/workflows/pr-labeler.yaml @@ -0,0 +1,16 @@ +name: pr-labeler +on: + pull_request_target: + types: + - opened + - edited + - synchronize + +jobs: + label: + runs-on: ubuntu-22.04 + steps: + - uses: actions/labeler@v5 + with: + repo-token: ${{ secrets.GITHUB_TOKEN }} + configuration-path: .github/labeler.yaml diff --git a/.github/workflows/pre-commit-autoupdate.yaml b/.github/workflows/pre-commit-autoupdate.yaml new file mode 100644 index 0000000000..8d57a53b5c --- /dev/null +++ b/.github/workflows/pre-commit-autoupdate.yaml @@ -0,0 +1,37 @@ +name: pre-commit-autoupdate + +on: + schedule: + - cron: 0 0 * * * + workflow_dispatch: + +jobs: + check-secret: + uses: autowarefoundation/autoware-github-actions/.github/workflows/check-secret.yaml@v1 + secrets: + secret: ${{ secrets.APP_ID }} + + pre-commit-autoupdate: + needs: check-secret + if: ${{ needs.check-secret.outputs.set == 'true' }} + runs-on: ubuntu-22.04 + steps: + - name: Generate token + id: generate-token + uses: tibdex/github-app-token@v2 + with: + app_id: ${{ secrets.APP_ID }} + private_key: ${{ secrets.PRIVATE_KEY }} + + - name: Run pre-commit-autoupdate + uses: autowarefoundation/autoware-github-actions/pre-commit-autoupdate@v1 + with: + token: ${{ steps.generate-token.outputs.token }} + pre-commit-config: .pre-commit-config.yaml + pr-labels: | + tag:bot + tag:pre-commit-autoupdate + pr-branch: pre-commit-autoupdate + pr-title: "ci(pre-commit): autoupdate" + pr-commit-message: "ci(pre-commit): autoupdate" + auto-merge-method: squash diff --git a/.github/workflows/pre-commit-optional.yaml b/.github/workflows/pre-commit-optional.yaml index 93e05dc2c7..3d0867028f 100644 --- a/.github/workflows/pre-commit-optional.yaml +++ b/.github/workflows/pre-commit-optional.yaml @@ -1,3 +1,7 @@ +# This file is automatically synced from: +# https://github.com/autowarefoundation/sync-file-templates +# To make changes, update the source repository and follow the guidelines in its README. + name: pre-commit-optional on: @@ -5,12 +9,15 @@ on: jobs: pre-commit-optional: - runs-on: ubuntu-latest + runs-on: ubuntu-22.04 steps: - name: Check out repository - uses: actions/checkout@v3 + uses: actions/checkout@v4 + with: + fetch-depth: 0 - name: Run pre-commit uses: autowarefoundation/autoware-github-actions/pre-commit@v1 with: pre-commit-config: .pre-commit-config-optional.yaml + base-branch: origin/${{ github.base_ref }} diff --git a/.github/workflows/pre-commit.yaml b/.github/workflows/pre-commit.yaml index b231dbda87..15c8e86c4f 100644 --- a/.github/workflows/pre-commit.yaml +++ b/.github/workflows/pre-commit.yaml @@ -1,3 +1,7 @@ +# This file is automatically synced from: +# https://github.com/autowarefoundation/sync-file-templates +# To make changes, update the source repository and follow the guidelines in its README. + name: pre-commit on: @@ -6,17 +10,17 @@ on: jobs: pre-commit: if: ${{ github.event.repository.private }} # Use pre-commit.ci for public repositories - runs-on: ubuntu-latest + runs-on: ubuntu-22.04 steps: - name: Generate token id: generate-token - uses: tibdex/github-app-token@v1 + uses: tibdex/github-app-token@v2 with: app_id: ${{ secrets.APP_ID }} private_key: ${{ secrets.PRIVATE_KEY }} - name: Check out repository - uses: actions/checkout@v3 + uses: actions/checkout@v4 with: ref: ${{ github.event.pull_request.head.ref }} diff --git a/.github/workflows/semantic-pull-request.yaml b/.github/workflows/semantic-pull-request.yaml index 71224c224e..b56040b084 100644 --- a/.github/workflows/semantic-pull-request.yaml +++ b/.github/workflows/semantic-pull-request.yaml @@ -1,3 +1,7 @@ +# This file is automatically synced from: +# https://github.com/autowarefoundation/sync-file-templates +# To make changes, update the source repository and follow the guidelines in its README. + name: semantic-pull-request on: diff --git a/.github/workflows/spell-check-daily.yaml b/.github/workflows/spell-check-daily.yaml new file mode 100644 index 0000000000..2ff647acf0 --- /dev/null +++ b/.github/workflows/spell-check-daily.yaml @@ -0,0 +1,26 @@ +# This file is automatically synced from: +# https://github.com/autowarefoundation/sync-file-templates +# To make changes, update the source repository and follow the guidelines in its README. + +name: spell-check-daily + +on: + schedule: + - cron: 0 0 * * * + workflow_dispatch: + +jobs: + spell-check-daily: + runs-on: ubuntu-22.04 + steps: + - name: Check out repository + uses: actions/checkout@v4 + + - name: Run spell-check + uses: autowarefoundation/autoware-github-actions/spell-check@v1 + with: + incremental-files-only: false + cspell-json-url: https://raw.githubusercontent.com/tier4/autoware-spell-check-dict/main/.cspell.json + dict-packages: | + https://github.com/autowarefoundation/autoware-spell-check-dict + https://github.com/tier4/cspell-dicts diff --git a/.github/workflows/spell-check-differential.yaml b/.github/workflows/spell-check-differential.yaml index eb18ccdba3..e3af4327f2 100644 --- a/.github/workflows/spell-check-differential.yaml +++ b/.github/workflows/spell-check-differential.yaml @@ -1,3 +1,7 @@ +# This file is automatically synced from: +# https://github.com/autowarefoundation/sync-file-templates +# To make changes, update the source repository and follow the guidelines in its README. + name: spell-check-differential on: @@ -5,12 +9,15 @@ on: jobs: spell-check-differential: - runs-on: ubuntu-latest + runs-on: ubuntu-22.04 steps: - name: Check out repository - uses: actions/checkout@v3 + uses: actions/checkout@v4 - name: Run spell-check uses: autowarefoundation/autoware-github-actions/spell-check@v1 with: - cspell-json-url: https://raw.githubusercontent.com/tier4/autoware-spell-check-dict/main/.cspell.json + cspell-json-url: https://raw.githubusercontent.com/autowarefoundation/autoware-spell-check-dict/main/.cspell.json + dict-packages: | + https://github.com/autowarefoundation/autoware-spell-check-dict + https://github.com/tier4/cspell-dicts diff --git a/.github/workflows/sync-files.yaml b/.github/workflows/sync-files.yaml index b9dc5907a5..9224c1503e 100644 --- a/.github/workflows/sync-files.yaml +++ b/.github/workflows/sync-files.yaml @@ -1,3 +1,7 @@ +# This file is automatically synced from: +# https://github.com/autowarefoundation/sync-file-templates +# To make changes, update the source repository and follow the guidelines in its README. + name: sync-files on: @@ -14,11 +18,11 @@ jobs: sync-files: needs: check-secret if: ${{ needs.check-secret.outputs.set == 'true' }} - runs-on: ubuntu-latest + runs-on: ubuntu-22.04 steps: - name: Generate token id: generate-token - uses: tibdex/github-app-token@v1 + uses: tibdex/github-app-token@v2 with: app_id: ${{ secrets.APP_ID }} private_key: ${{ secrets.PRIVATE_KEY }} @@ -28,6 +32,6 @@ jobs: with: token: ${{ steps.generate-token.outputs.token }} pr-labels: | - bot - sync-files + tag:bot + tag:sync-files auto-merge-method: squash diff --git a/.github/workflows/update-codeowners-from-packages.yaml b/.github/workflows/update-codeowners-from-packages.yaml index 7898dfe091..760a647ffb 100644 --- a/.github/workflows/update-codeowners-from-packages.yaml +++ b/.github/workflows/update-codeowners-from-packages.yaml @@ -14,11 +14,11 @@ jobs: update-codeowners-from-packages: needs: check-secret if: ${{ needs.check-secret.outputs.set == 'true' }} - runs-on: ubuntu-latest + runs-on: ubuntu-22.04 steps: - name: Generate token id: generate-token - uses: tibdex/github-app-token@v1 + uses: tibdex/github-app-token@v2 with: app_id: ${{ secrets.APP_ID }} private_key: ${{ secrets.PRIVATE_KEY }} diff --git a/.github/workflows/update-sync-param-files.yaml b/.github/workflows/update-sync-param-files.yaml index 00203870c5..aa2859eef1 100644 --- a/.github/workflows/update-sync-param-files.yaml +++ b/.github/workflows/update-sync-param-files.yaml @@ -7,17 +7,17 @@ on: jobs: update-sync-param-files: - runs-on: ubuntu-latest + runs-on: ubuntu-22.04 steps: - name: Generate token id: generate-token - uses: tibdex/github-app-token@v1 + uses: tibdex/github-app-token@v2 with: app_id: ${{ secrets.APP_ID }} private_key: ${{ secrets.PRIVATE_KEY }} - name: Check out repository - uses: actions/checkout@v3 + uses: actions/checkout@v4 - name: Install GitPython run: | @@ -30,7 +30,7 @@ jobs: - name: Create PR id: create-pr - uses: peter-evans/create-pull-request@v5 + uses: peter-evans/create-pull-request@v7 with: token: ${{ steps.generate-token.outputs.token }} base: ${{ github.event.repository.default_branch }} diff --git a/.gitignore b/.gitignore new file mode 100644 index 0000000000..abab7a83bb --- /dev/null +++ b/.gitignore @@ -0,0 +1,2 @@ +#prettier +node_modules/ diff --git a/.markdownlint.yaml b/.markdownlint.yaml index babaaa1f15..584154b200 100644 --- a/.markdownlint.yaml +++ b/.markdownlint.yaml @@ -1,3 +1,7 @@ +# This file is automatically synced from: +# https://github.com/autowarefoundation/sync-file-templates +# To make changes, update the source repository and follow the guidelines in its README. + # See https://github.com/DavidAnson/markdownlint/blob/main/doc/Rules.md for all rules. default: true MD013: false @@ -7,5 +11,6 @@ MD029: style: ordered MD033: false MD041: false +MD045: false MD046: false MD049: false diff --git a/.pre-commit-config-optional.yaml b/.pre-commit-config-optional.yaml index eb008730c1..56000d93a8 100644 --- a/.pre-commit-config-optional.yaml +++ b/.pre-commit-config-optional.yaml @@ -1,6 +1,10 @@ +# This file is automatically synced from: +# https://github.com/autowarefoundation/sync-file-templates +# To make changes, update the source repository and follow the guidelines in its README. + repos: - repo: https://github.com/tcort/markdown-link-check - rev: v3.11.1 + rev: v3.13.6 hooks: - id: markdown-link-check args: [--quiet, --config=.markdown-link-check.json] diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml index 5ad60de003..a87ad293fd 100644 --- a/.pre-commit-config.yaml +++ b/.pre-commit-config.yaml @@ -1,16 +1,24 @@ +# This file is automatically synced from: +# https://github.com/autowarefoundation/sync-file-templates +# To make changes, update the source repository and follow the guidelines in its README. + +# https://pre-commit.ci/#configuration ci: autofix_commit_msg: "style(pre-commit): autofix" - autoupdate_commit_msg: "ci(pre-commit): autoupdate" + # we already have our own daily update mechanism, we set this to quarterly + autoupdate_schedule: quarterly + autoupdate_commit_msg: "ci(pre-commit): quarterly autoupdate" repos: - repo: https://github.com/pre-commit/pre-commit-hooks - rev: v4.4.0 + rev: v5.0.0 hooks: - id: check-json - id: check-merge-conflict - id: check-toml - id: check-xml - id: check-yaml + args: [--unsafe] - id: detect-private-key - id: end-of-file-fixer - id: mixed-line-ending @@ -18,23 +26,23 @@ repos: args: [--markdown-linebreak-ext=md] - repo: https://github.com/igorshubovych/markdownlint-cli - rev: v0.34.0 + rev: v0.43.0 hooks: - id: markdownlint args: [-c, .markdownlint.yaml, --fix] - repo: https://github.com/pre-commit/mirrors-prettier - rev: v3.0.0-alpha.9-for-vscode + rev: v4.0.0-alpha.8 hooks: - id: prettier - repo: https://github.com/adrienverge/yamllint - rev: v1.32.0 + rev: v1.35.1 hooks: - id: yamllint - repo: https://github.com/tier4/pre-commit-hooks-ros - rev: v0.8.0 + rev: v0.10.0 hooks: - id: flake8-ros - id: prettier-xacro @@ -44,25 +52,58 @@ repos: - id: sort-package-xml - repo: https://github.com/shellcheck-py/shellcheck-py - rev: v0.9.0.5 + rev: v0.10.0.1 hooks: - id: shellcheck - repo: https://github.com/scop/pre-commit-shfmt - rev: v3.6.0-2 + rev: v3.10.0-2 hooks: - id: shfmt args: [-w, -s, -i=4] - repo: https://github.com/pycqa/isort - rev: 5.12.0 + rev: 5.13.2 hooks: - id: isort - repo: https://github.com/psf/black - rev: 23.3.0 + rev: 24.10.0 hooks: - id: black args: [--line-length=100] -exclude: .svg + - repo: https://github.com/pre-commit/mirrors-clang-format + rev: v19.1.4 + hooks: + - id: clang-format + types_or: [c++, c, cuda] + + - repo: https://github.com/cpplint/cpplint + rev: 2.0.0 + hooks: + - id: cpplint + args: [--quiet] + exclude: .cu + + - repo: https://github.com/python-jsonschema/check-jsonschema + rev: 0.30.0 + hooks: + - id: check-metaschema + files: ^.+/schema/.*schema\.json$ + + - repo: local + hooks: + - id: prettier-svg + name: prettier svg + description: Apply Prettier with plugin-xml to svg. + entry: prettier --write --list-different --ignore-unknown --print-width 200 --xml-self-closing-space false --xml-whitespace-sensitivity ignore + language: node + files: .svg$ + additional_dependencies: [prettier@2.7.1, "@prettier/plugin-xml@2.2.0"] + + - repo: https://github.com/AleksaC/hadolint-py + rev: v2.12.1b3 + hooks: + - id: hadolint + exclude: .svg$ diff --git a/.prettierignore b/.prettierignore index a3c34d00a1..e7a5e761a0 100644 --- a/.prettierignore +++ b/.prettierignore @@ -1,2 +1,7 @@ +# This file is automatically synced from: +# https://github.com/autowarefoundation/sync-file-templates +# To make changes, update the source repository and follow the guidelines in its README. + *.param.yaml *.rviz +**/diagnostic_graph_aggregator/ diff --git a/.prettierrc.yaml b/.prettierrc.yaml index e29bf32762..fe476936f7 100644 --- a/.prettierrc.yaml +++ b/.prettierrc.yaml @@ -1,3 +1,7 @@ +# This file is automatically synced from: +# https://github.com/autowarefoundation/sync-file-templates +# To make changes, update the source repository and follow the guidelines in its README. + printWidth: 100 tabWidth: 2 overrides: diff --git a/.yamllint.yaml b/.yamllint.yaml index 2c7bd088e2..e0be62dbcb 100644 --- a/.yamllint.yaml +++ b/.yamllint.yaml @@ -1,3 +1,7 @@ +# This file is automatically synced from: +# https://github.com/autowarefoundation/sync-file-templates +# To make changes, update the source repository and follow the guidelines in its README. + extends: default ignore: | diff --git a/autoware_launch/CHANGELOG.rst b/autoware_launch/CHANGELOG.rst new file mode 100644 index 0000000000..eb70402c40 --- /dev/null +++ b/autoware_launch/CHANGELOG.rst @@ -0,0 +1,2460 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package autoware_launch +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +0.40.0 (2024-12-12) +------------------- +* Merge remote-tracking branch 'origin/main' into release-0.40.0 +* refactor(obstacle_cruise_planner)!: refactor rviz and terminal info (`#1264 `_) +* fix(pointcloud_container.launch.py): autoware_glog_component (`#1260 `_) + Fixed autoware_glog_component +* chore(package.xml): bump version to 0.39.0 (`#1248 `_) (`#1261 `_) + Co-authored-by: Yutaka Kondo +* feat(lane_change): add new lane change parameter (`#1224 `_) + * add minimum prepare duration parameter + * increase min_prepare_duration to 1.0 s + * increase min prepare duration value, add new parameter + --------- +* refactor(global_parameter_loader): prefix package and namespace with autoware (`#1246 `_) +* refactor(glog_component): prefix package and namespace with autoware (`#1245 `_) +* fix(rviz): fix a bug about visualizing ego model (`#1257 `_) + fix a visulization bug. +* feat(object_lanelet_filter): add configurable margin for object lanel… (`#1210 `_) + feat(object_lanelet_filter): add configurable margin for object lanelet filter + Co-authored-by: Sebastian Zęderowski +* refactor(system_diagnostic_monitor, dummy_diag_publisher, diagnostic_graph_aggregator): combine diag list setting directories (`#1253 `_) +* feat(autonomous_emergency_braking): add parameter to limit IMU path length and rename longitudinal offset (`#1251 `_) +* feat(lane_change): add delay lane change parameters (`#1256 `_) + add delay lane change parameters +* refactor(autoware_behavior_velocity_planner_common,autoware_behavior_velocity_planner): separate param files (`#1254 `_) +* fix(dynamic_obstacle_avoidance): improve avoidance for moving NPCs (`#1170 `_) +* fix(static_obstacle_avoidance): improve avoidance for parked NPCs (`#1129 `_) +* refactor(lane_change): refactor lane change parameters (`#1247 `_) + refactor lane change params +* change username +* feat(scan_ground_filter): update grid size for ground segmentation (`#1223 `_) + feat: update grid size for ground segmentation + The grid size for ground segmentation has been updated from 0.1 to 0.5. This change improves the performance with the new grid data structure. +* Update autoware_launch/CHANGELOG.rst + Co-authored-by: Ryohsuke Mitsudome <43976834+mitsudome-r@users.noreply.github.com> +* feat(autonomous_emergency_braking) add params for limiting imu path with lat deviation (`#1244 `_) + add params +* 0.39.0 +* update changelog +* youtalk username +* Merge commit '9d0e7055a' into release-0.39.0 +* feat(processing_time_checker): update processing time list (`#1236 `_) +* fix: default value for control_module_preset (`#1243 `_) +* fix: default value for control_module_preset (`#1242 `_) +* feat: add an option of odometry uncertainty consideration in multi_object_tracker_node (`#1196 `_) + feat: add an option of odometry uncertainty consideration in multi_object_tracker_node.param.yaml +* feat(control): use preset.yaml to control which modules to launch for control modules (`#1237 `_) + * add control_module_preset + * fix typo + --------- +* chore(system_diagnostic_monitor): sort paths (`#1230 `_) +* feat(freespace_planner): lower safety distance margin from 0.5 to 0.4m (`#1234 `_) +* feat(rviz): show velocity/steering factors (`#1235 `_) +* chore(crosswalk)!: delete wide crosswalk corresponding function (`#1233 `_) +* feat(goal_planner): loosen safety check to prevent unnecessary stop (`#1231 `_) +* feat(crosswalk): disable slowdowns when the crosswalk is occluded (`#1232 `_) +* chore(package.xml): bump version to 0.38.0 (`#1226 `_) (`#1229 `_) + * add changelog + * unify package.xml version to 0.37.0 + * 0.38.0 + * fix organization + --------- +* feat(psim, dummy_diag, diagnostic_graph_aggregator)!: launch dummy_diag_publisher (`#1220 `_) +* feat: change the old diagnostic_convertor to scenario_simulator_v2_adapter (`#1227 `_) + Co-authored-by: xtk8532704 <1041084556@qq.com> +* feat(costmap_generator): change lidar height thresholds to vehicle frame (`#1225 `_) +* revert(obstacle_cruise): disable ouside stop feature (`#1222 `_) +* feat(aeb): set global param to override autoware state check (`#1218 `_) + * set global param to override autoware state check + * change variable for a more generic name + * set var to false by default + * move param to control component launch + * change param name to be more straightforward + --------- +* fix(pid_longitudinal_controller): revive hysteresis of state transition (`#1219 `_) +* feat(detection_area)!: add retruction feature (`#1216 `_) +* feat(system_monitor): add on/off config for network traffic monitor (`#1186 `_) + feat(system_monitor): add config for network traffic monitor + Co-authored-by: ito-san <57388357+ito-san@users.noreply.github.com> +* feat(goal_planner): set lane departure check margin 0.20 (`#1214 `_) +* fix(autoware_ekf_localizer): removed `publish_tf` (`#1212 `_) + Removed `publish_tf` +* feat(rviz): add rviz config for debugging (`#1213 `_) + * feat(rviz): add rviz config for debugging + * feat(launch): select rviz config name + --------- +* feat(lane_change): enable cancel when ego in turn direction lane main (RT0-33893) (`#1209 `_) + RT0-33893 add dist from prev intersection +* fix: changed `loc_config_path` declaration from let to arg (`#1204 `_) + Changed loc_config_path declaration from let to arg +* chore: update fusion_common.param.yaml with new image projection sett… (`#1207 `_) + chore: update fusion_common.param.yaml with new image projection settings +* feat(goal_planner): set lane departure check margin 0.3 (`#1199 `_) +* feat(collision detector): add collision detector to launch/config (`#1205 `_) + * add collision_detector + * change collision detector default to false + --------- +* chore(diagnostic_graph_aggregator, system_diagnostic_monitor)!: change the config file directories from universe to autoware_launch (`#1201 `_) + * prepare dir + * copy files from universe +* Contributors: Ahmed Ebrahim, Esteve Fernandez, Fumiya Watanabe, Go Sakayori, Kazunori-Nakajima, Kem (TiankuiXian), Kosuke Takeuchi, Kyoichi Sugahara, Maxime CLEMENT, Ryohsuke Mitsudome, SakodaShintaro, Satoshi OTA, Sebastian Zęderowski, Taekjin LEE, Takayuki Murooka, Yuki TAKAGI, Yukinari Hisaki, Yutaka Kondo, Zulfaqar Azmi, beyzanurkaya, danielsanchezaran, iwatake, mkquda + +0.39.0 (2024-11-25) +------------------- +* autowarefoundation username +* Merge commit '9d0e7055a' into release-0.39.0 +* feat: change the old diagnostic_convertor to scenario_simulator_v2_adapter (`#1227 `_) + Co-authored-by: xtk8532704 <1041084556@qq.com> +* feat(costmap_generator): change lidar height thresholds to vehicle frame (`#1225 `_) +* revert(obstacle_cruise): disable ouside stop feature (`#1222 `_) +* feat(aeb): set global param to override autoware state check (`#1218 `_) + * set global param to override autoware state check + * change variable for a more generic name + * set var to false by default + * move param to control component launch + * change param name to be more straightforward + --------- +* fix(pid_longitudinal_controller): revive hysteresis of state transition (`#1219 `_) +* feat(detection_area)!: add retruction feature (`#1216 `_) +* feat(system_monitor): add on/off config for network traffic monitor (`#1186 `_) + feat(system_monitor): add config for network traffic monitor + Co-authored-by: ito-san <57388357+ito-san@users.noreply.github.com> +* feat(goal_planner): set lane departure check margin 0.20 (`#1214 `_) +* fix(autoware_ekf_localizer): removed `publish_tf` (`#1212 `_) + Removed `publish_tf` +* feat(rviz): add rviz config for debugging (`#1213 `_) + * feat(rviz): add rviz config for debugging + * feat(launch): select rviz config name + --------- +* feat(lane_change): enable cancel when ego in turn direction lane main (RT0-33893) (`#1209 `_) + RT0-33893 add dist from prev intersection +* fix: changed `loc_config_path` declaration from let to arg (`#1204 `_) + Changed loc_config_path declaration from let to arg +* chore: update fusion_common.param.yaml with new image projection sett… (`#1207 `_) + chore: update fusion_common.param.yaml with new image projection settings +* feat(goal_planner): set lane departure check margin 0.3 (`#1199 `_) +* feat(collision detector): add collision detector to launch/config (`#1205 `_) + * add collision_detector + * change collision detector default to false + --------- +* chore(diagnostic_graph_aggregator, system_diagnostic_monitor)!: change the config file directories from universe to autoware_launch (`#1201 `_) + * prepare dir + * copy files from universe +* Contributors: Go Sakayori, Kosuke Takeuchi, Maxime CLEMENT, Ryohsuke Mitsudome, SakodaShintaro, Satoshi OTA, Taekjin LEE, Takayuki Murooka, Yuki TAKAGI, Yutaka Kondo, Zulfaqar Azmi, danielsanchezaran, iwatake + +0.38.0 (2024-11-13) +------------------- +* feat(start/goal_planner): increse max dry steering angle (`#1200 `_) +* fix(start_planner): set ignore_distance_from_lane_end param to 0.0 since it is not needed (`#1198 `_) + set param to 0.0 since it is not needed +* chore(tier4_perception_launch): enable to use argument `centerpoint_model_name` (`#1182 `_) + * add arguments + * adopt transfusion + * add lidar_detection_model_type + * integrate all in lidar_detection_model + * adopt universe + * fix typo + * change description + * change description + * for pre-commit + --------- +* feat(processing_time_checker): add five module. (`#1192 `_) +* feat(autonomous_emergency_braking): change params to cater to urban scenario (`#1197 `_) + update scenarios +* feat(control_validator): add hold and lpf (`#1193 `_) +* chore(simple_planning_simulator): add stop_filter_param_path (`#1195 `_) +* feat(crosswalk_module): set the velocity of occluded objects to 2.0m/s (`#1194 `_) +* fix(pointcloud_map_filter): add threshold for split map grid size (`#1184 `_) + * fix(pointcloud_map_filter): add param + * fix: disable dynamic map loader for default unsplit-map + --------- +* refactor(rviz): add VirtualWall display for Autonomous Emergency Braking (`#1187 `_) + feat(rviz): add VirtualWall display for Autonomous Emergency Braking +* revert(obstacle_cruisse): revert "fix(obstacle_cruise_planner): guarantee the stop margin (`#1076 `_)" (`#1185 `_) +* feat(obstacle_cruise_planner): improve stop and cruise behavior for cut-in & out (`#1142 `_) +* chore(crop_box_filter): add missing default parameter (`#1155 `_) + fix: add missing parameter after crop_box_filter rework +* feat(autonomous_emergency_braking): set max imu path length (`#1183 `_) + * set param for max imu path distance + * change param + --------- +* fix(obstacle_cruise_planner): tune obstacle_cruise_planner for cruising front NPCs in dense urban ODD scenarios (`#1166 `_) + fix(obstacle_cruise_planner): tune obstacle_cruise_planner for cruising front NPCs in dense urban ODD scenarios +* feat(pose_initializer): add new parameter for check error between initial pose and GNSS pose (`#1180 `_) + * add pose_error_check_enabled parameter + * change default value + --------- +* feat(autonomous_emergency_braking): initiate speed_calculation_expansion_margin parameter (`#1168 `_) + initiate speed_calculation_expansion_margin parameter +* feat(system_error_monitor): delete system error monitor (`#1178 `_) + feat: delete system error monitor +* revert: feat: change visualization of localization results from PoseHistory to PoseWithCovarianceHistory (`#1164 `_) (`#1179 `_) + Revert "feat: change visualization of localization results from PoseHistory to PoseWithCovarianceHistory (`#1164 `_)" + This reverts commit 593ad1f6c2ad967d8d04b349d7970deeed3f47a1. +* fix(perception): adopt awsim (tlr) camera topic (`#1177 `_) +* feat(lane_change): add lane change parameter (`#1157 `_) + add parameter to enable/disable bound check +* fix(avoidance_by_lane_change): remove unused parameter (`#1176 `_) + remove unused parameter +* feat(emergency_handler): delete package (`#1173 `_) + * feat(emergency_handler): delete package +* refactor(system_monitor/net_monitor): remove-missing-patameters (`#1175 `_) + refactor: remove-missing-patameters +* refactor(system_monitor/ntp_monitor): add-missing-parameters (`#1174 `_) + refactor: add-missing-parameters +* refactor(behavior_path_planner): remove unnecessary parameters (`#1172 `_) +* feat(tier4_perception_launch): enable to use multi camera on traffic light recognition (`#1144 `_) + change the way to declare camera num +* style(rviz-config): use colors consistent with new theme (`#1169 `_) +* feat: change visualization of localization results from PoseHistory to PoseWithCovarianceHistory (`#1164 `_) + * PoseHistory to PoseWithCovarianceHistory + * style(pre-commit): autofix + * fix param of alpha related to PoseWithCovarianceHistory + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* feat(crosswalk)!: update stop position caluculation (`#1162 `_) +* feat: add an env variable to enable the new rviz2 theme (`#1017 `_) +* feat(start_planner): add option to skip rear vehicle check (`#1165 `_) +* feat(run_out): speed up run out response (`#1163 `_) + speed up run out response +* feat(mission_planner): add option to prevent rerouting in autonomous driving mode (`#1153 `_) +* feat: add parameters for restart suppression in crosswalk (`#1160 `_) + * feat: add parameters for restart suppression in crosswalk + * update parameter + --------- +* feat(goal_planner): dense goal candidate sampling in BusStopArea (`#1156 `_) +* chore(tier4_pereption_component): add image_segmentation_based_filter option param (`#1158 `_) +* feat(occupancy_grid_map): add option for time keeper (`#1138 `_) + * add option for time keeper + * set default to false + --------- + Co-authored-by: Taekjin LEE +* feat(ground_segmentation): add option for time keeper (`#1134 `_) + add option for time keeper + Co-authored-by: Taekjin LEE +* feat(occupancy_grid_map_outlier_filter): add option for time keeper (`#1147 `_) + add timekeeper option + Co-authored-by: Taekjin LEE +* feat(autoware_mpc_lateral_controller): add resampled reference trajectory for debug purpose (`#1114 `_) + * chore: add debug_publish_resampled_reference_trajectory to parameter + * feat: add use_delayed_initial_state flag to lateral MPC configuration + --------- +* feat(autoware_launch): add expansion params (`#1133 `_) + make expansion optional +* feat: add simulator rviz config (`#1150 `_) +* feat(autoware_lidar_transfusion): add transfusion config (`#1093 `_) +* fix(static_obstacle_avoidance): increase prepare time (`#1148 `_) +* fix(static_obstacle_avoidance): tune parameters (`#1143 `_) +* fix(min-velocity-map-based-prediction): reduce min_velocity_for_map_based_prediction (`#994 `_) + fix(min-velocity-map-based-prediction): reduce min_velocity_for_map_based_prediction to let intersection module run with low speed npc +* chore(stop_filter): extract stop_filter.param.yaml to autoware_launch (`#1145 `_) + Extract stop_filter.param.yaml to autoware_launch +* feat: fix parameter type error in occupancy_grid_map_outlier_filter.param.yaml (`#1146 `_) + * feat: fix parameter type + * chore: change param name + --------- +* feat(detected_object_validation): copy parameter files update from universe (`#1126 `_) + feat: copy params from universe +* feat(pid_longitudinal_controller)!: add acceleration feedback block (`#1139 `_) + * add params + --------- +* feat(occupancy_grid_based_outlier_fillter): add config file to autoware_launch (`#1137 `_) + * feat: add config file + * style(pre-commit): autofix + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* feat(obstacle_pointcloud_based_validator): add enable_debugger parameter (`#1123 `_) + * feat: add enable debugger parameter + * style(pre-commit): autofix + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* fix(ekf_localizer): change roll, pitch proc dev (`#1140 `_) + change roll, pitch proc dev +* feat(out_of_lane): redesign to improve accuracy and performance (`#1117 `_) +* feat(localization): add lidar_marker_localizer (`#861 `_) + * add config files + * style(pre-commit): autofix + * add param marker_height_from_ground + * save log param + * apply PointXYZIRC + * to pass spell-check + * refactor + * change flag + * fix typo + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> + Co-authored-by: SakodaShintaro +* feat(raw_vehicle_cmd_converter): disable actuation to steering (`#1132 `_) +* chore(e2e_launch): add launch_sensing_driver arg (`#1095 `_) +* feat(raw_vehicle_cmd_converter): add steer command conversion with VGR (`#1131 `_) +* feat(lane_change): consider deceleration in safety check for cancel (`#1068 `_) +* refactor(lane_change): rename prepare_segment_ignore_object_velocity_thresh (`#1125 `_) + change parameter name to a more expressive one +* feat(static_obstacle_avoidance): add parameter for envelope polygon creation (`#1130 `_) + * add threshold for eclipse long radius + * change parameter + --------- +* perf(goal_planner): faster path sorting and selection (`#1119 `_) +* chore(vehicle_cmd_gate): delete deprecated parameters (`#1127 `_) + delete deprecated params in vehicle_cmd_gate.param.yaml +* feat(freespace_planning_algorithms): add new parameters for astar planning algorithm (`#1120 `_) + * add new astar planner parameters + * add flag for obstacle confidence check + * reduce freespace planner th_arrived_distance_m param value + * reduce object polygon expand size in costmap generator + * reduce vehicle shape margin in freespace planner + * replace flag param by time threshold param + --------- +* feat(tier4_perception_launch): add transfusion option for lidar_detection_model (`#1124 `_) +* fix(lidar_model): add centerpoint_sigma param file (`#1086 `_) + fix: add centerpoint_sigma param file +* chore(autoware_multi_object_tracker): fix typo in input_channels (`#1121 `_) + chore: fix typo of lidar_pointpainitng channel +* feat(psim)!: preapre settings to launch localization modules on psim (`#1094 `_) +* fix(lane_change): parameter update (`#1115 `_) +* feat(autoware_map_based_prediction): add debug parameters for map-based prediction (`#1118 `_) + * feat: add debug parameters for map-based prediction + * style(pre-commit): autofix + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* feat(psim)!: change a setting parameter type from bool to string (`#1106 `_) + * change a param type, bool to string + --------- +* fix(goal_planner): fix lane departure check not working correctly due to uninitialized variable (`#1116 `_) +* feat(static_obstacle_avoidance): change policy for ambiguous avoidance situation (`#1113 `_) + * feat(static_obstacle_avoidance): change policy for ambiguous avoidance situation + * fix(static_obstacle_avoidance): tune ambiguous vehicle ignore area + --------- +* fix(lane_change): skip generating path if longitudinal distance difference is less than threshold (`#1108 `_) + add skip process lon dist diff threshold +* feat(tracking_object_merger): add merge frame (`#1112 `_) +* fix(mpc_lateral_controller): publish predicted trajectory in Frenet coordinate and visualize it on Rviz (`#1111 `_) +* feat: increase the number of processes monitored by process_monitor (`#1110 `_) +* feat(lane_change): use different rss param to deal with parked vehicle (`#1104 `_) + use separate rss for parked vehicle +* feat(lane_change): add param for lateral angle deviation (`#1087 `_) + * RT1-6514 adding lateral angle deviation param + * decrease angle deviation threshold to fix rtc issue + --------- +* feat(autonomous_emergency_braking): add info marker to aeb and state check override (`#1103 `_) + * add info marker and override for state + * make stop wall viz default + --------- +* feat(behavior_path _planner): divide planner manager modules into dependent slots (`#1091 `_) +* feat(autonomous_emergency_braking): enable AEB stop in vehicle_cmd_gate and diag_graph_agg (`#1099 `_) + * enable emergency handling for AEB stop + * update AEB params to work better at 30 kmph + --------- +* feat(static_obstacle_avoidance): add force deactivation duration time (`#1101 `_) + add force cancel duration time +* perf(freespace_planning_algorithms): tune freespace planner parameters (`#1097 `_) + * reduce longitudinal goal range + * tune parameters + --------- +* feat(dynamic_obstacle_avoidance): shorter predicted path for pedestrians (`#1084 `_) +* feat(crosswalk): more conservative when the ego pass first (`#1085 `_) + * feat: use obstacle_cruise_planner and change safe_distance_margin + * feat: set max_vel to 40km/h + * feat: enable surround_obstacle_checker + * feat: enable surround_obstacle_checker + * feat: enable dynamic_avoidance and disable outside_drivable_area_stop + * feat: disable AEB and set the maximum velocity to 40km/h + * enable intersection_occlusion detection + * chore(planning_launch): update motion module name (`#1014 `_) + * disable AEB diag check + * feat(diagnostic_graph_utils): launch logging node for diagnostic_graph + * feat(api): set launch_deprecated_api true (`#496 `_) + feat(api): launch_deprecated_api=true + * fix(api): disable rosbridge to fix duplicated node (`#497 `_) + * feat(crosswalk): more conservative when the ego pass first + --------- + Co-authored-by: tier4-autoware-public-bot[bot] <98652886+tier4-autoware-public-bot[bot]@users.noreply.github.com> + Co-authored-by: Mamoru Sobue + Co-authored-by: Mamoru Sobue + Co-authored-by: badai nguyen <94814556+badai-nguyen@users.noreply.github.com> + Co-authored-by: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> + Co-authored-by: Daniel Sanchez + Co-authored-by: danielsanchezaran + Co-authored-by: Takamasa Horibe + Co-authored-by: Kosuke Takeuchi +* perf(ndt_scan_matcher): change the temperature of multi_ndt_score to 0.05 (`#1096 `_) + Changed the temperature of multi_ndt_score +* feat(out_of_lane): add lateral buffer between the lane and stop pose (`#1098 `_) +* feat(freespace_planning_algorithm): update freespace planner params (`#1080 `_) + * update freespace planner params + * update goal planner params + * update start planner params + * rename parameter + * change parameter value + --------- +* feat(dynamic_drivable_area_expansion): min_bound_interval parameter (`#1092 `_) +* feat(pid_longitudinal_controller): re-organize diff limit structure (`#1052 `_) + * rearange params +* feat(start_planner): set end_pose_curvature_threshold 0.1 (`#1088 `_) +* feat(out_of_lane): add parameter to ignore objects behind ego (`#1062 `_) +* feat(start_planner): add end_pose_curvature_threshold (`#1059 `_) +* feat(vehicle_cmd_gate): change param to relax pedal rate limit when the vehicle velocity is slow enough (`#1077 `_) + * change param +* feat(ndt_scan_matcher): add scale_factor to covariance_estimation (`#1081 `_) + Added scale_factor to ndt_scan_matcher.covariance_estimation +* feat(simple_planning_simulator): add actuation command simulator (`#1078 `_) +* feat(e2e_simulator.launch): renamed carla interface package in e2e_launch (`#1075 `_) + renamed carla package to autoware_carla_interface +* feat(control_validator)!: add velocity check (`#1050 `_) + add param +* chore: add ml detectors' buffer size (`#1067 `_) +* fix(obstacle_cruise_planner): guarantee the stop margin (`#1076 `_) +* fix(static_obstacle_avoidance): check stopped time in freespace (`#1074 `_) +* feat(autoware_behavior_path_planner): remove max_iteration_num parameter (`#1064 `_) + Update the behavior_path_planner.param.yaml file to remove the max_iteration_num parameter +* feat: add config for processing_time_checker (`#1072 `_) +* feat(duplicated_node_checker): add duplicate nodes to ignore (`#1070 `_) + * feat(duplicated_node_checker): add duplicate nodes to ignore + * pre-commit + --------- + Co-authored-by: Dmitrii Koldaev + Co-authored-by: Tomoya Kimura +* feat(tier4_perception_component): refactored launch options (`#1060 `_) + * chore: refactored launch options + * modify launcher + * fix args + --------- + Co-authored-by: kminoda <44218668+kminoda@users.noreply.github.com> +* feat(static_obstacle_avoidance): add new option to change policy (`#1065 `_) +* feat(map_loader, route_handler)!: add format_version validation (`#993 `_) + feat(map_loader): add format_version validation +* feat(autonomous_emergency_braking): add param for oublishing debug markers (`#1063 `_) + add param for oublishing debug markers +* feat(ndt_scan_matcher): add params (`#1038 `_) + * add params (ndt_scan_matcher) + * fix param + * rviz + * rviz + * rviz + * style(pre-commit): autofix + * true2false + * Add temperature to parameters in autoware_launch + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* feat(goal_planner): prioritize pull over path by curvature (`#1048 `_) +* refactor(tier4_control_launch): replace python launch with xml (`#1047 `_) + migrate to control.launch.xml +* feat(obstacle_cruise_planner): support pointcloud-based obstacles (`#980 `_) + * feat: use obstacle_cruise_planner and change safe_distance_margin + * feat: set max_vel to 40km/h + * feat: enable surround_obstacle_checker + * feat: enable surround_obstacle_checker + * feat: enable dynamic_avoidance and disable outside_drivable_area_stop + * feat: disable AEB and set the maximum velocity to 40km/h + * enable intersection_occlusion detection + * add parameters for obstacle_cruise_planner + * add parameters for pointcloud filtering + * chore(planning_launch): update motion module name (`#1014 `_) + * move use_pointcloud to common parameter + * disable using pointcloud by default + * disable AEB diag check + * remove use_pointcloud parameter + * feat(diagnostic_graph_utils): launch logging node for diagnostic_graph + * reset to autowarefoundation:main + --------- + Co-authored-by: Takayuki Murooka + Co-authored-by: tier4-autoware-public-bot[bot] <98652886+tier4-autoware-public-bot[bot]@users.noreply.github.com> + Co-authored-by: Mamoru Sobue + Co-authored-by: Mamoru Sobue + Co-authored-by: badai nguyen <94814556+badai-nguyen@users.noreply.github.com> + Co-authored-by: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> + Co-authored-by: Daniel Sanchez + Co-authored-by: danielsanchezaran + Co-authored-by: Takamasa Horibe +* chore(eagleye): add septentrio msg option in eagleye_config (`#1049 `_) + Added septentrio option for velocity_source in eagleye_config.param.yaml +* feat(behavior_path_planner): remove max_module_size param (`#1045 `_) + The max_module_size param has been removed from the behavior_path_planner scene_module_manager.param.yaml file. This param was unnecessary and has been removed to simplify the configuration. +* feat(ekf_localizer): add covariance ellipse diagnostics (`#1041 `_) + * Added ellipse diagnostics to ekf + * Fixed to ellipse_scale + --------- +* feat(autoware_launch): use mrm handler by default (`#1043 `_) +* refactor(static_obstacle_avoidance): organize params for drivable lane (`#1042 `_) +* feat(behavior_path_planner): add yaw threshold param (`#1040 `_) + add yaw threshold param +* feat(autonomous_emergency_braking): add and tune params (`#1037 `_) + * add and tune params + * set back voxel grid z + * fix grid to what it is in OSS launch + --------- +* feat(static_obstacle_avoidance)!: add param to select path generation method (`#1036 `_) + feat(static_obstacle_avoidance): add param to select path generation method +* fix(object_lanelet_filter): radar object lanelet filter parameter update (`#1032 `_) + fix: radar object lanelet filter parameter update + fix +* feat(autonomous_emergency_braking): add params to enable or disable PC and predicted objects (`#1031 `_) + * add params to enable or disable PC and predicted objects + * set predicted object usage to false + --------- +* feat: add use_waypoints parameter in map_loader (`#1028 `_) +* feat(autonomous_emergency_braking): add param to toggle on or off object speed calc for aeb (`#1029 `_) + add param to toggle on or off object speed calc for aeb +* refactor(ndt scan matcher): update parameter (`#1018 `_) + * rename to sensor_points.timeout_sec + * parameterize skipping_publish_num + * parameterize initial_to_result_distance_tolerance_m + * add new line + --------- +* refactor(dynamic_obstacle_stop): move to motion_velocity_planner (`#1025 `_) +* fix(start_planner): redefine the necessary parameters (`#1027 `_) + restore necessary param +* refactor(start_planner): remove unused parameters in start planner module (`#1022 `_) + refactor: remove unused parameters in start planner module +* feat(obstacle_velocity_limiter): move to motion_velocity_planner (`#1023 `_) +* refactor(raw_vehicle_cmd_converter)!: prefix package and namespace with autoware (`#1021 `_) + fix +* refactor(out_of_lane): remove from behavior_velocity (`#1020 `_) +* feat(autonomous_emergency_braking): add autoware prefix to AEB (`#1019 `_) + * rename AEB param folder + * change param path and add commented out emergency stop enabling + --------- +* feat(obstacle_cruise)!: type specified stop deccel limit and enabling abandon to stop (`#1003 `_) + abandon_to_stop +* feat(obstacle_curise): revert lateral stop margin for unknown objects (`#1015 `_) +* feat!: change from autoware_auto_msgs to autoware_msgs (`#1012 `_) + * feat(autoware_launch): replace autoware_auto_mapping_msg with autoware_map_msg (`#688 `_) + feat(autoware_launch): remove autoware auto mapping msg + * fix: planning_msg (`#717 `_) + fix:planning_msg + * feat(autoware_launch): replace autoware_control_msg with autoware_con… (`#725 `_) + feat(autoware_launch): replace autoware_control_msg with autoware_control_msg + * feat(autoware_launch): replace autoware_auto_vehicle_msgs with autoware_vehicle_msgs + * fix(topics.yaml): fix AUTO button bug + * feat(autoware_launch): rename autoware_auto_perception_rviz_plugin to autoware_perception_rviz_plugin + * feat: rename TrafficSignal messages to TrafficLightGroup + --------- + Co-authored-by: cyn-liu <104069308+cyn-liu@users.noreply.github.com> + Co-authored-by: shulanbushangshu <102840938+shulanbushangshu@users.noreply.github.com> + Co-authored-by: NorahXiong <103234047+NorahXiong@users.noreply.github.com> + Co-authored-by: liu cui + Co-authored-by: Ryohsuke Mitsudome +* chore(planning_launch): update motion module name (`#1014 `_) +* feat: rename autoware_auto_perception_rviz_plugin to autoware_perception_rviz_plugin (`#1013 `_) +* feat: update rviz layout (`#1004 `_) +* feat(lane_departure_checker): add params for lane departure margin (`#1011 `_) + * add params + * add param for start planner lane departure expansion margin + --------- +* refactor(image_projection_based_fusion): rework params (`#845 `_) +* feat(obstacle_cruise_planner)!: ignore to garze against unknwon objects (`#1009 `_) +* chore(planning_launch): update module name (`#1008 `_) + * chore(planning_launch): update module name + * chore(rviz): update rviz config + * chore(avoidance): update module name + --------- +* feat(motion_velocity_planner): add new motion velocity planning (`#992 `_) +* feat(map_based_prediction): use different time horizon (`#1005 `_) +* feat(behavior_path_planner_common,turn_signal_decider): add turn_signal_remaining_shift_length_threshold (`#1007 `_) + add turn_signal_remaining_shift_length_threshold +* revert(map_based_prediction): use different time horizon (`#967 `_) (`#1006 `_) +* feat(map_based_prediction): use different time horizon (`#967 `_) +* feat(blind_spot): consider time to collision (`#1002 `_) +* feat(object_lanelet_filter): update object_lanelet_filter parameter yaml (`#998 `_) + feat: update object_lanelet_filter parameter +* feat(autoware_launch): add diagnostic graph config for awsim (`#1000 `_) +* fix(rviz): remove StringStampedOverlayDisplay reference (`#1001 `_) +* feat(e2e_simulator.launch): add argument for running the CARLA interface (`#924 `_) +* feat: add diagnostic graph settings (`#991 `_) +* feat(multi_object_tracker): add multi object input config file (`#989 `_) + * feat: add multi-input channel config + * fix: component config + * fix: remove expected interval, add spawn + * fix: missing config, default value + --------- +* feat!(avoidance): make it selectable output debug marker from yaml (`#996 `_) + feat(avoidance): make it selectable output debug marker from yaml +* fix(avoidance): change lateral jerk param (`#995 `_) +* fix(ndt_scan_matchere): improved tpe (`#985 `_) + Improved tpe +* feat(out_of_lane): add option to ignore overlaps in lane changes (`#986 `_) +* feat(map_based_prediction): incorporate crosswalk user history (`#987 `_) +* feat(remaining_dist_eta): add MissionDetailsDisplay plugin rviz configuration (`#963 `_) +* fix: update widget size and position (`#982 `_) +* feat(path_planner): params to adjust hard constraints and path reuse (`#983 `_) +* fix(componet_state_monitor): remove ndt node alive monitoring (`#984 `_) + remove ndt node alive monitoring +* feat(autonomous_emergency_braking): add obstacle velocity estimation for aeb (`#978 `_) + * rebase to awf main + * set debug PC as false + * dictionary + * eliminate duplicate parameter + * eliminate duplicate parameter + --------- +* feat(crosswalk)!: change a hard coding number and set as param (`#977 `_) + * change param +* fix: update traffic topic in autoware.rviz (`#981 `_) +* chore(component_state_monitor): relax pose_estimator_pose timeout (`#979 `_) +* feat(system diags): rename diag of ndt scan matcher (`#973 `_) + rename ndt diag +* fix(avoidance): add target filtering threshold for merging/deviating vehicle (`#974 `_) +* fix(ekf_localizer): updated ekf gate_dist params (`#965 `_) + Updated ekf gate_dist +* fix(lidar_centerpoint): add param file for centerpoint_tiny (`#976 `_) + fix(lidar_centerpoint): add param file +* feat(probabilistic_occupancy_grid_map): add downsample filter option to ogm creation (`#962 `_) + * feat(probabilistic_occupancy_grid_map): add downsample filter option to ogm creation + * chore: do not use pointcloud filter when downsample is true + * Update autoware_launch/config/perception/occupancy_grid_map/multi_lidar_pointcloud_based_occupancy_grid_map.param.yaml + Co-authored-by: Yukihiro Saito + --------- + Co-authored-by: Yukihiro Saito +* refactor(centerpoint, pointpainting): rearrange ML model and package params (`#915 `_) + * chore: separate param files + * chore: fix launch + * chore: rearrange param + * style(pre-commit): autofix + * refactor: rearrange param file + * chore: move densification_params + * style(pre-commit): autofix + * fix(centerpoint): align param namespace with pointpainting + * fix: param + * fix: remove build_only from yaml + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* feat(autoware_launch): add centerpoint_sigma param to pointpainting.param.yaml (`#955 `_) + fix: add has_variance to pointpainting.param.yaml +* feat(autonomous_emergency_braking): add params for aeb (`#966 `_) + * add params for aeb + * set collision keep time to be more conservative + --------- +* fix(roi_pointcloud_fusion): add param (`#956 `_) +* refactor(bpp): remove unused params (`#961 `_) +* feat(api): add launch option (`#960 `_) +* feat(dynamic_avoidance): avoid pedestrians (`#958 `_) + new feature +* chore(intersection_occlusion): more increase possible_object_bbox size to ignore small occlusion and ghost stop (`#959 `_) +* feat(obstacle_cruise): change stop lateral margin (`#948 `_) +* refactor(avoidance): unify redundant parameters (`#953 `_) + refactor(avoidance): remove unused parameters +* refactor(avoidance, AbLC): rebuild parameter structure (`#951 `_) + * refactor(avoidance): update yaml + * refactor(AbLC): update yaml + --------- +* chore(intersection_occlusion): increase possible_object_bbox size to ignore small occlusion and ghost stop (`#950 `_) +* fix(tier4_control_component_launch): fix duplicate declaration of controller parameter paths (`#940 `_) +* fix(trajectory_follower): accommodate the parameters of the controllers to the dynamics in the simulator. (`#941 `_) + correct the parameters of the controller. The parameters of the dynamics and the controller are identical after this commit +* feat(avoidance): limit acceleration during avoidance maneuver (`#947 `_) + * feat(avoidance): limit acceleration during avoidance maneuver + * fix(avoidance): tune longitudinal max acceleration + --------- +* chore(ground_segmentation): add tuning param (`#946 `_) +* feat(run_out): maintain stop wall for some seconds (`#944 `_) + update stop wall maintain time to 1 sec +* feat(lane_change): check prepare phase in turn direction lanes (`#943 `_) +* feat(autoware_launch): add centerpoint_sigma param (`#945 `_) + add: centerpoint_sigma.param +* fix(lane_change): collision check for prepare in intersection (`#930 `_) +* feat(start_planner): add path validation check (`#942 `_) + add param +* feat(pose_initilizer): set intial pose directly (`#937 `_) + * feat(pose_initilizer): set intial pose directly + * rename params + --------- +* feat(run_out): add params to exclude obstacles already on the ego's path (`#939 `_) + * add params + * add extra param + --------- +* feat(crosswalk): rename parameter to ignore traffic light (`#919 `_) +* feat(dynamic_obstacle_stop): split the duration buffer parameter in 2 (add/remove) (`#933 `_) +* chore: add option to select graph path depending on running mode (`#938 `_) + chore: add option of using graph path for simulation +* feat: add option to launch mrm handler (`#929 `_) +* feat(run_out): add obstacle types to run out (`#936 `_) + add obstacle types to run out +* feat(run_out_module): new params for run out, add ego cut lane (`#935 `_) + * new params for run out + * rename param + * update description + --------- +* feat: add dummy doors for planning simulator (`#921 `_) +* feat(AEB): add detection range params (`#934 `_) + * feat(AEB): add new params for detection_range + * fix(AEB): fix mistake + --------- +* feat(run_out): adjust parameter (`#931 `_) + chore(run_out): adjust parameter (`#777 `_) + Co-authored-by: Shumpei Wakabayashi <42209144+shmpwk@users.noreply.github.com> +* refactor(avoidance): update parameter namespace (`#928 `_) +* feat: add a param file of a mrm handler node (`#927 `_) +* feat(dynamic_obstacle_stop): add parameter to ignore unavoidable collisions (`#916 `_) +* fix(avoidance): wait and see objects (`#925 `_) +* refactor(obstacle_cruise_planner): move slow down params to a clear location (`#926 `_) + move slow down params to a clear location +* refactor(avoidance): rename param (`#923 `_) +* feat(crosswalk): increase minimum occlusion size that causes slowdown to 1m (`#909 `_) +* feat: add marker for control's stop reason, false by default (`#912 `_) +* chore(duplicated_node_checker): print duplication name (`#888 `_) +* feat(pointcloud_preprocessor, probabilistic_occupancy_grid_map): enable multi lidar occupancy grid map creation pipeline (`#740 `_) + * add multi lidar pointcloud based ogm creation + * enable sensing launch to control concatenate node + * style(pre-commit): autofix + * refactor : change concatenate node parameter name + * chore: set single lidar ogm to be default + * feat: update multi_lidar_ogm param file + * chore: remove sensing launch changes because it does not needed + * chore: fix multi lidar settings for sample sensor kit + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* chore: change default of low_height_crop filter use (`#918 `_) +* feat(ndt_scan_matcher): added a parameter of sensor points (`#908 `_) + * Added parameters of sensor points + * Added unit + --------- +* feat(obstacle_cruise_planner): enable obstacle cruise's yield function by default (`#917 `_) + enable obstacle cruise's yield function by default +* fix(avoidance): tune safety check params (`#914 `_) +* fix(avoidance): tune lateral margin params (`#913 `_) +* fix(component_state_monitor): change pose_estimator_pose rate (`#910 `_) +* feat(out_of_lane): add cut_beyond_red_traffic_lights parameter (`#885 `_) +* feat(planning_simulator): default use_sim_time arg to scenario_simulation (`#903 `_) +* fix(raw_vehicle_cmd_converter): csv paths are resolved in param.yaml (`#884 `_) +* feat(start_planner): prevent hindering rear vehicles (`#905 `_) + Add params to add extra margin to rear vehicle width +* feat(avoidance): change lateral margin based on if it's parked vehicle (`#894 `_) + * feat(avoidance): change lateral margin based on if it's parked vehicle + * fix(AbLC): update values + --------- +* chore: change max_z of cropbox filter to vehicle_height (`#906 `_) + chore: change max_z of cropbox filter to vehicle_heigh +* fix: the parameter name of max_vel (`#907 `_) +* feat: switch to obstacle_cruise_planner (`#765 `_) +* feat: enable autonomous emergency braking (`#764 `_) +* feat: set the max velocity to 15km/h (`#763 `_) +* feat(tier4_localization_component_launch): change the default input pointcloud of localization into the concatenated pointcloud (`#899 `_) + * Make concat pointcloud default + * style(pre-commit): autofix + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* feat(start_planner): add object_types_to_check_for_path_generation (`#902 `_) + add object_types_to_check_for_path_generation +* chore: update package maintainers for autoware_launch package (`#897 `_) +* revert: feat(autoware_launch): set use_sim_time parameter equal to true when (`#746 `_) (`#901 `_) +* feat(autoware_launch): add argument to enable/disable simulation time (`#886 `_) +* refactor(behavior_path_planner): remove unused drivable area parameters (`#883 `_) +* feat(start_planner): allow lane departure check override (`#893 `_) + new param added +* feat: add is_simulation variable in autoware.launch.xml (`#889 `_) +* feat(avoidance): wait next shift approval until the ego reaches shift length threshold (`#891 `_) + * feat(avoidance): wait next shift approval until the ego reaches shift length threshold + * fix(avoidance): param description + --------- +* feat(rviz): make rviz2 background lighter, lower the contrast (`#887 `_) +* feat(crosswalk): add parameters for occlusion slowdown feature (`#807 `_) +* feat(lane_change): cancel hysteresis (`#844 `_) + * feat(lane_change): cancel hysteresis + * reduce the hysteresis value + --------- +* feat(autoware_launch): set use_sim_time parameter equal to true when … (`#746 `_) +* fix: recovery default parameter (`#882 `_) +* feat(goal_planner): change pull over path candidate priority with soft and hard margins (`#874 `_) +* feat(traffic_light_arbiter): add parameter of signal match validator (`#879 `_) +* feat(strat_planner): add a prepare time for blinker before taking action for approval (`#881 `_) +* feat(avoidance): use free steer policy for safety check (`#865 `_) +* fix(system_error_monitor): changed settings of /autoware/localization/performance_monitoring (`#877 `_) + Fixed settings of /autoware/localization/performance_monitoring +* fix(start_planner): fix safety_check_time_horizon (`#875 `_) +* chore(start_planner): remove unused parameter (`#878 `_) +* fix(planning_validator): add missing params (`#876 `_) +* feat(tier4_control_launch): disable the trajectory extension (`#866 `_) + disable the trajectory extending for terminal yaw control +* refactor(blind_spot): find first_conflicting_lane just as intersection module (`#873 `_) + temp +* feat: define common max_vel (`#870 `_) +* feat(motion_velocity_smoother): increase engage_acceleration (`#736 `_) + * feat(motion_velocity_smoother): increase engage_acceleration + * Update autoware_launch/config/planning/scenario_planning/common/motion_velocity_smoother/motion_velocity_smoother.param.yaml +* fix(localization): add ar tag based localizer param (`#871 `_) + Added ar_tag_based_localizer.param.yaml +* chore(crosswalk): change LATER param (`#868 `_) + crosswalk/change-LATER-param +* feat(planning_simulator): use fit_target=vector_map in planning_simulator (`#859 `_) + * Added fit_target + * Fixed arg name + --------- +* feat(goal_planne): check objects within the area between ego edge and boudary of pull_over_lanes (`#867 `_) +* fix(log-messages): reduce excessive log messages (`#760 `_) +* fix(avoidance): tuning shiftable ratio & deviation param (`#869 `_) +* chore(radar_object_tracker): move radar object tracker param to yaml (`#838 `_) + chore: move radar object tracker param to yaml +* feat(pid_longitudinal_controller): adjust slope compensation parameters (`#585 `_) +* feat(map based prediction, crosswalk)!: transplantation of pedestrians' behavior prediction against green signal (`#860 `_) + pedestrians' intention estimation feature against the green signal +* fix(autoware_launch): remove use_pointcloud_container flag completely (`#864 `_) +* chore(intersection): target type param (`#851 `_) +* feat: remove use_pointcloud_container (`#806 `_) + * feat!: remove use_pointcloud_container + * style(pre-commit): autofix + * remove unnecessary files + * revert: revert change in declaration of sample vehicle and sensor_kit + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* feat(start/goal_planner): remove unused param and update time horizon for goal planner's safety check (`#863 `_) + * remove unused param + * update safety check time horizon + --------- +* chore(ndt_scan_matcher): rename config path (`#854 `_) + * chore(ndt_scan_matcher): rename config path + * rename path + * style(pre-commit): autofix + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* refactor(rviz): update the class name and turn signal color (`#855 `_) +* feat(intersection): use different expected deceleration for bike/car (`#852 `_) +* chore(planning/control/vehicle): declare ROS params in yaml files (`#833 `_) + * update yaml +* chore(map): rework parameters of map (`#843 `_) + * Added reference to launch parameters to yaml files of map/ + * style(pre-commit): autofix + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* fix(lidar_centerpoint): remove build_only param from param.yaml (`#856 `_) +* refactor(pose_initializer): rework parameters (`#853 `_) +* feat(traffic_light_recognition): add tlr args in tier4_perception_component.launch.xml (`#840 `_) + * feat(traffic_light_recognition): add tlr args in tier4_perception_component.launch.xml + * fix dfault value of fusion_only to false + * fix arg passing way + --------- +* feat(behavior_path_sampling_planner): add sampling based planner to behavior path planner (`#810 `_) + * Add sampling based planner params + * update keep_last param + * change priority of sampling based planner + * Set parameters for frenet planner + * changes for testing + * change curvature weight for testing + * tuning params + * tuning + * for integ w/ other modules + * add support for soft constraints weight reconfig + * rebase + * temp + * update default params + * Tune params + * Set defaults back to normal + * fix name of ablc + * formatting fix + * set verbose to false + --------- +* refactor(map_tf_generator): rework parameters (`#835 `_) +* fix(pointpainting): update parameter (`#850 `_) +* chore(lidar_centerpoint): rework parameters (`#822 `_) + * chore(lidar_centerpoint): use config + * fix: remove build_only param + --------- + Co-authored-by: Kenzo Lobos Tsunekawa +* refactor(ekf_localizer): rework parameters (`#847 `_) + refactor: Add the classification names to yaml file +* feat(obstacle_cruise_planner): yield function for ocp (`#837 `_) + * add params for yield + * param name change + * add params + * refactoring + * fix typo, tuning + * update parameters + * delete unused param + * set cruise planner as default for testing + * add param for stopped obj speed threshold + * change back param + * set default false + --------- +* fix(planning_launch): align parameters to real vehicle (`#848 `_) + update param +* feat(map_based_prediction): consider crosswalks signals (`#849 `_) + add param +* chore(image_projection_based_fusion): rework parameters (`#824 `_) + chore(image_projection_based_fusion): use config +* feat: update rviz splash and vehicle UI display (`#836 `_) +* feat(detection): add container option (`#834 `_) + feat: use pointcloud_container +* chore(twist2accel): rework parameters (`#842 `_) + Added twist2accel.param.yaml +* refactor(ndt_scan_matcher): hierarchize parameters (`#830 `_) + * refactor(ndt_scan_matcher): hierarchize parameters + * add new lines + --------- +* fix(autoware_launch): add config file (`#829 `_) + * fix(autoware_launch): add config file + * style(pre-commit): autofix + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* refactor(map_projection_loader): rework parameters (`#839 `_) + * Added launch argument map_projection_loader_param_path to tier4_map_component.launch.xml + Copied map_projection_loader.launch.xml from universe + * style(pre-commit): autofix + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* chore(object_velocity_splitter): rework parameters (`#820 `_) + chore(object_velocity_splitter): add config +* feat(autoware_launch): set default vehicle/sensor models to sample ones (`#768 `_) +* chore(ground_segmentation): add default params (`#831 `_) + Co-authored-by: kminoda <44218668+kminoda@users.noreply.github.com> +* feat(start_planner): add collision check distances for shift and geometric pull out (`#832 `_) + * Add collision check distances for shift and geometric pull out + --------- +* refactor(tier4_map_lcomponent): use map.launch.xml instead of map.launch.py (`#826 `_) +* fix(tracking_object_merger): fix bug and rework parameters (`#823 `_) + fix(tracking_object_merger): fix bug and use param file +* refactor(ndt_scan_matcher): rename de-grounded (`#827 `_) + * refactor(ndt_scan_matcher): rename de-grounded + * fix value + --------- +* chore(object_range_splitter): rework parameters (`#821 `_) + * chore(object_range_splitter): add config + * revert change + --------- +* feat(intersection): publish and visualize the reason for dangerous situation to blame past detection fault retrospectively (`#828 `_) +* fix(avoidance): change return dead line param (`#814 `_) +* feat(avoidance): add new flag to use freespace in avoidance module (`#818 `_) +* refactor(system_error_monitor): rename localization_accuracy (`#605 `_) + refactor: Rename localization_accuracy + to localization_error_ellipse +* fix(tracking_object_merger): fix unknown is not associated problem (`#825 `_) + fix: unknown is not associated problem +* feat(crosswalk)!: improve stuck prevention on crosswalk (`#816 `_) + * change a param definition +* feat(start_planner): change collision_check_distance_from_end to shorten back distance (`#757 `_)" (`#813 `_) + Revert "feat(start_planner): revert change collision_check_distance_from_end to shorten back distance (`#757 `_)" + This reverts commit 96f2f18d23ba829804415135b241065ecf53b13d. +* fix(ndt_scan_matcher): fix type of critical_upper_bound_exe_time_ms (`#819 `_) + * fix type + * fix order + --------- +* fix(avoidance): decrease velocity threshold for avoidance target objects (`#817 `_) +* fix(vehicle_launch): add raw_vehicle_cmd_converter parameter file (`#812 `_) +* chore(detection_by_tracker): organize parameter structure (`#811 `_) +* refactor(run_out): reorganize the parameter (`#784 `_) + * chore(run_out): reorganize the parameter + * style(pre-commit): autofix + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* chore(intersection): align param to robotaxi (`#809 `_) +* feat(goal_planner): expand pull over lanes for detection area of path generation collision check (`#808 `_) +* chore(pointcloud_container): move glog_component to autoware_launch (`#805 `_) +* feat(planning): add enable_all_modules_auto_mode argument to launch files for planning modules (`#798 `_) + * Add auto mode setting for all modules +* chore(planning): change params to vehicle tested values (`#797 `_) + change params to vehicle tested values +* feat(map_based_prediction): use acc for map prediction (`#788 `_) + * add param to toggle on and off acc consideration + * add params + * set default to true for evaluator testing + * set back to false default + --------- +* feat: always separate lidar preprocessing from pointcloud_container (`#796 `_) + * feat!: replace use_pointcloud_container + * change default value + * remove from planning + * revert: revert change in planning.launch + * revert: revert rename of use_pointcloud_container + * revert: revert pointcloud_container launch + * style(pre-commit): autofix + * feat: move glog to pointcloud_container.launch.py + * revert: revert unnecessary change + * revert: revert glog porting + * fix: fix comment in localization launch + * style(pre-commit): autofix + * remove pointcloud_container_name from localization launcher + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* fix(surround_obstacle_checker): use xx1 params (`#800 `_) +* chore(pointcloud_container): fix output log from screen to both (`#804 `_) +* feat(start_planner): enable shift path lane departure check (`#803 `_) + enable shift path lane departure check in start planner +* feat(intersection): consider 1st/2nd pass judge line (`#792 `_) +* chore: update roi_cluster_fusion default param (`#802 `_) +* feat(rviz): add marker to show bpp internal state (`#801 `_) +* fix(AbLC): fix module name inconsistency (`#795 `_) +* feat(avoidance/goal_planner): execute avoidance and pull over simultaneously (`#782 `_) +* fix: change the way to disable surround_obstacle_checker (`#794 `_) +* fix(image_projection_based_fusion): add image_porojection_based_fusion params (`#789 `_) + add image_porojection_based_fusion params +* feat(mpc): add parameter for debug trajectory publisher (`#790 `_) +* refactor(ekf_localizer): add Simple1DFilter params to parameter file (`#710 `_) + * feat(ekf_localizer): Add Simple1DFilter params to parameter file + * Update autoware_launch/config/localization/ekf_localizer.param.yaml + --------- + Co-authored-by: Kento Yabuuchi +* feat(start_planner): shorten max backward distance (`#734 `_) + Update start_planner.param.yaml +* feat(multi_object_tracker): fix typo in param name and change default value (`#785 `_) + * fix(multi_object_tracker): fix typo in param name + * feat: update default param + --------- +* chore(crosswalk): change params (`#780 `_) + * change params +* fix(intersection): fix bugs (`#781 `_) +* feat(start_planner): define collision check margin as list (`#770 `_) + * Update collision check margins in start planner configuration + --------- +* feat(ekf_localizer): add publish_tf arg (`#772 `_) +* feat(start_planner): keep distance against front objects (`#766 `_) + Add collision check margin from front object +* feat: tune parameters for optimization path planning (`#774 `_) + * feat: tune parameters for optimization path planning + * disable warm start + * Update autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_avoidance_planner/obstacle_avoidance_planner.param.yaml + --------- +* feat(surround_obstacle_checker): disable the surround obstacle checker (`#685 `_) +* fix(rviz): hide traffic light regulatory element id (`#777 `_) +* feat(behavior_velocity_planner): add new 'dynamic_obstacle_stop' module (`#730 `_) +* fix(pointpainting): update parameter structure (`#778 `_) + * fix(pointpainting): update parameter structure + * update roi_sync.param.yaml + * style(pre-commit): autofix + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* fix(lane_change): set lane change parameters to real vehicle environment (`#761 `_) +* feat: tune dynamic avoidance parameters with the real vehicle (`#775 `_) +* feat: add behavior_output_path_interval in behavior_velocity_planner (`#773 `_) +* refactor(ndt_scan_matcher, map_loader): remove unused parameters (`#769 `_) + Removed unused parameters +* feat: add parameters to avoid sudden steering in dynamic avoidance (`#756 `_) +* feat(autoware_launch): update traffic light recognition models (`#752 `_) + * fix: update model names + * fix: argument name + * Update autoware_launch/launch/components/tier4_perception_component.launch.xml + * fix: model name + * fix: add model path + * Update autoware_launch/launch/components/tier4_perception_component.launch.xml + --------- + Co-authored-by: Yusuke Muramatsu + Co-authored-by: Shunsuke Miura <37187849+miursh@users.noreply.github.com> +* feat: make crosswalk decision more aggressive towards the real world's driving (`#762 `_) +* feat(map_based_prediction): map prediction with acc constraints (`#759 `_) + * Add params for acceleration constraints for map_based_prediction + * add new param + * tune params + * add parameter to switch on and off constraints check + * improve comment + --------- +* feat(obstacle_stop_planner): change stop distance after goal (`#758 `_) + * feat(obstacle_stop/cruise): change stop distance after goal + * Update autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/obstacle_cruise_planner.param.yaml + --------- +* fix(avoidance): apply params used in xx1 vehicle (`#751 `_) + * fix(avoidance): use xx1 params + * fix(avoidance): expand safety check polygon lateral margin + --------- +* refactor(behavior_path_planner): rename parameter "extra_arc_length" to "arc_length_range" (`#755 `_) +* feat(start_planner): revert change collision_check_distance_from_end to shorten back distance (`#757 `_) + Revert "feat(start_planner): change collision_check_distance_from_end to shorten back distance" + This reverts commit 680fb05e9bebdff6cf2c9734631cb4e949d7c499. +* feat(start_planner): change collision_check_distance_from_end to shorten back distance ## Description (`#754 `_) + feat(start_planner): change collision_check_distance_from_end to shorten back distance +* feat: add stopped_object.max_object_vel in dynamic_avoidance (`#753 `_) +* revert: "fix(avoidance): shorten the parameter (`#745 `_)" (`#750 `_) + revert "fix(avoidance): shorten the parameter (`#745 `_)" + This reverts commit 024254c82f2687deddfadba716afe0f2b8a3a03c. +* feat: run_out does not plan to stop when there is enough time for stopping (`#749 `_) +* feat(avoidance): enable avoidance for objects that stop longer time than thresh (`#743 `_) +* feat(avoidance): enable avoidance for objects that stop longer time than thresh (`#747 `_) +* feat(intersection): disable stuck detection against private lane (`#744 `_) +* fix(avoidance): shorten the parameter (`#745 `_) +* feat(blind_spot): consider opposite adjacent lane for wrong vehicles (`#695 `_) +* feat(run_out)!: ignore the collision points on crosswalk (`#737 `_) + suppress on crosswalk +* fix(intersection): generate yield stuck detect area from multiple lanes (`#742 `_) +* refactor(autoware_launch): remove use_experimental_lane_change_function (`#741 `_) +* chore(image_projection_based_fusion): add param (`#739 `_) + * chore(image_projection_based_fusion): add param + * style(pre-commit): autofix + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* feat(crosswalk): ignore predicted path going across the crosswalk (`#733 `_) +* feat(rviz_config): add objects of interest marker (`#738 `_) +* refactor(localization_component_launch): rename lidar topic (`#722 `_) + rename lidar topic + Co-authored-by: yamato-ando +* feat(multi_object_tracker): update tracker parameter yaml (`#732 `_) + * add multi_object_tracker node param + * add additional node parameters for future update + * style(pre-commit): autofix + * fix default value + * update simulator component launch + * feat: update multi_object_tracker node param + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* fix(crosswalk): fix inappropriate sync (`#731 `_) + fix in-appropriate sync +* chore(crosswalk): sync a config file to the univese one (`#729 `_) + update comment, by sync to the univese one +* feat(obstacle_cruise_planner): add slow down acc and jerk params (`#726 `_) + Add slow down acc and jerk params +* fix(traffic_light): stop if the traffic light signal timed out (`#727 `_) +* fix(multi_object_tracker): fix psim launcher related to tracking launch changes (`#724 `_) + * add multi_object_tracker node param + * add additional node parameters for future update + * style(pre-commit): autofix + * fix default value + * update simulator component launch + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* feat(start_planner): add surround moving obstacle check (`#723 `_) + update start_planner.param.yaml +* feat: add polygon_generation_method in dynamic_avoidance (`#715 `_) +* feat(rviz): fix perception debug topics in Rviz (`#721 `_) + fix perception debug topics in Rviz +* feat(component_state_monitor): monitor traffic light recognition output (`#720 `_) +* refactor(start_planner): refactor debug and safety check logic (`#719 `_) + refactor(start_planner): refactor debug parameters + This commit removes the `verbose` parameter under `start_planner` and introduces a new `debug` section. The newly added `debug` section includes a `print_debug_info` parameter, set to false by default. This change provides a more structured way to handle debugging configurations for the start planner. +* refactor(multi_object_tracker): add multi_object_tracker node param (`#718 `_) + * add multi_object_tracker node param + * add additional node parameters for future update + * style(pre-commit): autofix + * fix default value + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* chore(obstacle_cruise)!: remove unused params (`#716 `_) + chore!: remove unused params +* refactor(intersection): rename param, update doc (`#708 `_) +* feat(avoidance): keep stopping until all shift lines are registered (`#699 `_) +* fix(crosswalk): don't stop in front of the crosswalk if vehicle stuck in intersection (`#714 `_) +* feat: add several min_object_vel in dynamic_avoidance (`#707 `_) +* feat: disable obstacle avoidance debug marker for optimization (`#711 `_) + feat: disable obstacle avoidance debug marker +* feat(avoidance): configurable object type for safety check (`#709 `_) +* feat: add parameters for the front object decision in dynamic_avoidance module (`#706 `_) +* feat(pid_longitudinal_controller): error integration on vehicle takeoff (`#698 `_) + * add parameter for PID integration time threshold + * add param to enable or disable low speed error integration + --------- +* feat(run_out): add parameter to decide whether to use the object's velocity (`#704 `_) +* feat(goal_planenr): enable safety check (`#705 `_) +* feat(goal_planner): safer safety checker (`#701 `_) + * feat(goal_planner): safer safety checker + fix + fix + fix + fix + * disable safety check + --------- +* feat(map_based_prediction): consider only routable neighbours for lane change (`#703 `_) +* feat(avoidance): add new parameter for target object filtering (`#668 `_) +* feat(start_planner): enable safety check for start planner (`#702 `_) + Enable safety check feature for start planner +* feat(goal_planner): add time hysteresis to keep unsafe (`#700 `_) + feat(goal_planner): add tiem hysteresis to keep unsafe +* fix(start_planner): disbale verbose flag to false in start_planner.param.yaml (`#696 `_) + Change verbose flag to false in start_planner.param.yaml +* refactor(start_planner): add verbose parameter for debug print (`#693 `_) + Add verbose option to start planner parameters +* feat(component_state_monitor): monitor pose_estimator output (`#692 `_) +* fix(lane_change): regulate at the traffic light (`#673 `_) +* feat: enable and tune drivable area expansion (`#689 `_) + enable drivable area expansion +* feat: lane_departure_checker with curbstones (`#687 `_) +* feat(out_of_lane): more stable decisions (`#612 `_) +* fix(avoidance): prevent sudden steering at yield maneuver (`#690 `_) +* feat(radar_object_clustering): move radar object clustering params to autoware_launch (`#672 `_) + * add radar object clustering param path + * style(pre-commit): autofix + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* fix(detected_object_validation): add param (`#669 `_) + * fix(detected_object_validation): add param + * fix: change to 2d validator use + --------- +* feat: add motion_velocity_smoother's virtual wall in rviz (`#684 `_) +* feat(duplicated_node_checker): enable duplicated_node_checker in simulation (`#686 `_) + Enable duplicated node checker in planning + simulation +* feat(obstacle_cruise_planner): use obstacle velocity based obstacle parameters (`#681 `_) + * add moving parameters for testing + * param tuning for tests + * wip params for velocity-based obscruise planner + * add different values for debugging + * set hysteresis-based obstacle moving classification + * set params to match previous values + * eliminate pedestrian mention + --------- +* fix(perception): add detection_by_tracker param file (`#676 `_) +* feat: enable the run_out module (`#683 `_) + feat: enable run_out +* refactor(launch): add new option to select planning preset (`#680 `_) + * chore(config): remove behavior launch modules + * refactor(config): add preset yaml file + * refactor(launch): add new option to select planning preset + * refactor(config): remove unused params + --------- +* feat(intersection): rectify initial accel/velocity profile in ego velocity profile (`#677 `_) + feat(intersection): rectify smoothed velocity +* chore(tier4_planning_launch): add costmap generator config (`#679 `_) +* feat(ndt_scan_matcher): add parameters of real-time covariance estimation (`#643 `_) + * add covariance_estimation + * fix + * fix + * fix: parameter names and explanations + * fix: A parameter that I forgot to add + * fix: remove white space + * fix: remove white spaces + --------- +* feat(ekf_localizer, system_error_monitor): system_error_monitor handles ekf diags (`#674 `_) + * fix(ekf_localizer): change default parameter for no update count + * update system_error_monitor + --------- +* chore(goal_planner): fix typo (`#670 `_) +* refactor(planning): update args name (`#675 `_) +* refactor(planning): update args name (`#671 `_) +* feat(vehicle_cmd_gate): improve debug marker activation (`#659 `_) + * feat(vehicle_cmd_gate): add filter activated threshold + * feat: update parameter + * feat: add condition for filtering marker + --------- +* feat(intersection): add ttc debug plotter (`#666 `_) +* feat(avoidance): return original lane by red traffic light (`#663 `_) +* refactor(avoidance): cleanup force avoidance params (`#667 `_) +* feat(radar_object_tracker): update and add parameter about radar_object_tracker for far away perecption (`#658 `_) + update and add parameter about radar_object_tracker for far away detection +* feat(behavior_path_planner): add traffic light recognition timeout threshold (`#662 `_) +* fix(lane_change): separate backward buffer for blocking object (`#661 `_) +* fix(rviz2): update traffic_light/debug/rois topic name (`#642 `_) +* feat(AEB): implement parameterized prediction time horizon and interval (`#657 `_) +* chore(rviz): hide interseciton area polygon as default (`#655 `_) +* feat: add use_conservative_buffer_longitudinal in avoidance (`#656 `_) +* feat(intersection): check path margin for overshoot vehicles on red light (`#654 `_) +* feat(rviz): add sensing/perception debug topics (`#653 `_) + * add perception debug topics + * add sensing debug topics + * change color of dbt to orange + --------- +* perf(elastic_band_smoother): increase lateral replan threshold (`#652 `_) +* feat(behavior_velocity_run_out): ignore momentary detection caused by false positive (`#647 `_) + * feat(behavior_velocity_run_out): ignore momentary detection caused by false positive + * style(pre-commit): autofix + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* feat(duplicated_node_checker): add duplicated node names to msg (`#651 `_) + add duplicated node names to msg +* feat(intersection): use own max acc/jerk param (`#650 `_) +* feat(duplicated_node_checker): disable duplicated_node_checker (`#649 `_) + * disable duplicated_node_checker + * enable duplicated_node_checker + --------- +* feat(intersection): timeout static occlusion with traffic light (`#646 `_) +* feat(map_based_prediction): enable to control lateral path convergence time (`#637 `_) + enable to control lateral path convergence time +* feat(planner_manager): limit iteration number by parameter (`#645 `_) +* feat(avoidance): add paramenters for dynamic detection area (`#634 `_) +* fix(intersection): lower state_transit_margi_time to 0 (`#638 `_) +* fix(drivable_area_expansion): disable by default (`#639 `_) +* fix(tier4_simulator_component): add lacked param path (`#640 `_) +* feat(lane_change): change stuck velocity to 0.5 (`#636 `_) +* feat(behavior_path_planner): curvature based drivable area expansion (`#632 `_) + * Modify parameters for curvature based dynamic drivable area expansion + * Add parameter to enable/disable printing the runtime + * Add smoothing.extra_arc_length param + --------- +* add tracking object merger for long range radar sensor (`#627 `_) + * add tracking object merger paramters + * fix typo + --------- +* feat(lane_change): add rss paramas for stuck (`#633 `_) +* feat(intersection): ignore decelerating vehicle on amber traffic light (`#635 `_) + * feat(intersection): ignore decelerating vehicle on amber traffic light + * tuning + --------- +* feat(duplicated_node_checker): add duplicated_node_checker (`#631 `_) + * add duplicated_node_checker + * add arguments for duplicated node checker, required by new PR on the universe + * fix type + * add config inside launch + * style(pre-commit): autofix + * the default should be set to 10 + --------- + Co-authored-by: Owen-Liuyuxuan + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* feat(autoware_launch): add yield_stuck.distance_thr in intersection (`#628 `_) + * feat(autoware_launch): add yield_stuck.distance_thr in intersection + * use turn_direction + * update param + --------- +* feat(ndt_scan_matcher): added a new parameter "n_startup_trials" (`#602 `_) + * Added a new parameter "n_startup_trials" + * Changed default `n_startup_trials` to 20 + --------- +* chore(intersection): parameterize stuck vehicle detection turn_direction (`#630 `_) +* feat(avoidance): check if the avoidance path is in drivable area (`#584 `_) + * feat(avoidance): check if the avoidance path is in drivable area + * refactor(avoidance): remove unused param + --------- +* feat(rtc_auto_mode_manager): eliminate rtc auto mode manager (`#625 `_) + * disable RTC + * remove rtc auto mode manager + * fix file name + --------- +* feat(intersection): yield initially on green light (`#623 `_) +* feat(lane_change): separate execution and cancel safety check param (`#626 `_) +* feat(obstacle_cruise_planner): obstacle type dependent slow down for obstacle cruise planner param change (`#621 `_) + * set obstacle type dependant params + * Set obstacle cruise planner as default to test changes + * Change back testing parameters to default + --------- +* feat(intersection)!: disable the exception behavior in the private areas (`#622 `_) + feat: add enabling param for the private areas +* refactor(avoidance): use safety check parameter struct (`#617 `_) +* fix: add param file for obstacle pointcloud based validator (`#606 `_) + * fix: add param file for obstacle pointcloud based validator + * fix: tier4_perception launch + --------- +* feat(intersection): ignore occlusion beyond high curvature point (`#619 `_) +* perf(ndt_scan_matcher): changed default `initial_estimate_particles_num` to 200 (`#618 `_) + Changed initial_estimate_particles_num to 200 +* feat(intersection): aggressively peek into attention area if traffic light does not exist (`#611 `_) +* feat(autoware_launch): dynamic timeout for no intention to walk decision in crosswalk (`#610 `_) + * feat(autoware_launch): dynamic timeout for no intention to walk decision in crosswalk + * update config + * revert a parg of config + --------- +* fix(autoware_launch): improve stop decision in out_of_lane (`#615 `_) +* feat(localization_error_monitor): update parameter (`#614 `_) +* feat(behavior_path_planner): update rss param (`#604 `_) + update param +* feat(lane_change): expand target lanes for object filtering (`#601 `_) +* feat(autoware_launch): add predicted_path_checker package (`#385 `_) +* refactor(ndt_scan_matcher): modified ndt_scan_matcher.param.yaml to match with the one in universe (`#596 `_) + Modified ndt_scan_matcher.param.yaml to match with the one in universe +* feat(intersection): use planned velocity from upstream modules (`#597 `_) +* feat(goal_planner): prioritize goals before objects to avoid (`#594 `_) + * feat(goal_planner): extend goal search are + * feat(goal_planner): prioritize goals before objects to avoid + --------- +* feat(start_planner): change th_distance_to_middle_of_the_road 0.5 (`#599 `_) +* feat(start_planner): enable divide_pull_out_path (`#600 `_) +* feat(goal_planner): change minimum_request_length 0.0 (`#598 `_) +* feat(goal_planner): extend goal search area (`#592 `_) + feat(goal_planner): extend goal search are +* feat(autoware_launch): add max_obstacle_vel in dynamic_avoidance (`#595 `_) +* feat: add system monitor param file for awsim (`#568 `_) + * feat: add system monitor param file for awsim + * feat: use system_error_monitor.awsim.param in e2e_simulator.launch + --------- +* feat(autoware_launch): move dynamic_avoidance last (`#593 `_) +* feat(ndt_scan_matcher): adding exe time parameter (`#559 `_) + add critical_upper_bound_exe_time_ms for ndt +* feat(lane_change): enable lane change in crosswalk/intersection if ego vehicle gets stuck (`#590 `_) +* feat(goal_planner): sort goal candidates priority by weighted distance (`#591 `_) +* feat(intersection): ensure-temporal-stop-before-upcoming-lane (`#578 `_) +* feat(obstacle_cruise_planner): add parameters for a new feature (`#581 `_) + * feat: add parameters for the feature "cosider-current-ego-pose" + * set the params to be merged. + use stop planner as cruise planner type (conventional setting) + polygon expansion in obstacle_cruise_planner is true + --------- +* feat(autoware_launch): add traffic protected level for amber color in intersection (`#588 `_) + * feat(autoware_launch): add traffic protected level for amber color in intersection + * update + * update + --------- +* feat(autoware_launch): add stop_distance_threshold in merge_from_private (`#587 `_) +* feat(autoware_launch): add check_footprint_inside_lanes in mission_planner (`#589 `_) +* chore(motion_velocity_smoother): add enable curve filtering param (`#580 `_) +* fix(start/goal_planner): resample path and make params (`#586 `_) +* fix(motion_velocity_smoother): change curvature calculation distance parameter (`#556 `_) +* feat(planning_launch): add config for regulate lane change (`#582 `_) +* refactor(ndt_scan_matcher): match ndt_scan_matcher.param.yaml (`#583 `_) + * Added ndt_base_link parameter in ndt_scan_matcher.param.yaml + Deleted neighborhood_search_mathod paramter in ndt_scan_matcher.param.yaml + * Copy-pasted the ndt_scan_matcher.param.yaml from universe + * Correct spelling + --------- +* feat: prevent start planner execution in the middle of the road (`#579 `_) + * start planner:new param: dist th to middle of road + * refactor param order + --------- +* feat(vehicle_cmd_gate): add steering angle and rate filter (`#576 `_) +* feat(perception): add data_path argument to launch file (`#577 `_) + * feat(perception): add data_path argument to launch file + * style(pre-commit): autofix + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* feat(ekf_localizer): ignore dead band of velocity sensor (`#574 `_) + * feat(ekf_localizer): ignore dead band of velocity sensor + * style(pre-commit): autofix + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* feat(ekf_lolicazer): add diagnostics parameters (`#554 `_) + * feat(ekf_lolicazer): add diagnostics parameters + * remote param + --------- + Co-authored-by: yamato-ando +* fix(autoware_launch): add radar lanelet filter parameter (`#566 `_) +* refactor(perception): rearrange clustering pipeline parameters (`#567 `_) + * fix: use downsample before compare map + * fix: remove downsample after compare map + * fix: add low range crop filter param + * chore: refactor + * chore: typo + --------- +* feat(behavior_path_planner): set param ignore_object_velocity_threshold (`#573 `_) + set param ignore_object_velocity_threshold +* fix(behavior_path_planner): change safety check default disable (`#572 `_) + * change safety check default disable + * add warning message + --------- +* feat(behavior_path_planner): update start_goal_planner's parameter (`#571 `_) + update start_goal_planner's parameter +* fix(behavior_path_planner): define hysteresis_factor_expand_rate (`#569 `_) + * hysteresis_factor_expand_rate + * style(pre-commit): autofix + * add hysteresis_factor_expand_rate in SafetyCheckParams + * delete setting files + * revert unnecessary change + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* feat(goal_planner): add options of occupancy grid map to use only for goal search (`#563 `_) +* feat(tier4_system_rviz_plugin): add package (`#564 `_) + * feat(tier4_system_rviz_plugin): add package + * fix + --------- +* chore(localization_error_monitor): update default parameter (`#565 `_) +* feat(goal_planner): use only static objects in pull over lanes to path generation (`#562 `_) +* feat(autoware_launch): add approaching stop on curve in obstacle cruise planner (`#560 `_) + * feat(autoware_launch): add approaching stop on curve in obstacle cruise planner + * update config + --------- +* fix(autoware.rviz): remove initial_pose_button_panel (`#561 `_) + Co-authored-by: yamato-ando +* feat(autoware_launch): additional margin parameters in surround obstacle checker (`#557 `_) + feat(autoware_launch): additional margin parameters in surround ostacle checker +* feat(ndt_scan_matcher): add param lidar_topic_timeout_sec (`#540 `_) + Co-authored-by: yamato-ando +* feat(lane_departure_checker): add border types to check (`#549 `_) + update lane_departure_checker.param.yaml +* feat: add traffic light recogition namespace to e2e sim launch (`#555 `_) +* feat(operation_transition_mannager): add param enable_engage_on_driving (`#553 `_) +* feat(goal_planner): do not use minimum_request_length for fixed goal … (`#546 `_) + feat(goal_planner): do not use minimum_request_length for fixed goal planner +* feat(goal_planner): set ignore_distance_from_lane_start 0.0 (`#552 `_) +* feat(behavior_path_planner): add safety check against dynamic objects for start/goal planner (`#550 `_) + add params for safety check +* feat(out_of_lane): add min_assumed_velocity parameter (`#548 `_) +* feat(behavior_path_planner): add path resampling interval param (`#522 `_) +* feat(interface): add new option `keep_last` (`#543 `_) + feat(planner_manager): keep last module +* chore(rviz_config): add localization debug config (`#544 `_) +* fix(control_validator): default false for publishing diag and display terminal (`#545 `_) + default false for publishing diag and display terminal +* feat(autoware_launch): enable emergency handling when resource monitoring state becomes error (`#542 `_) +* chore(rviz_config): add debug marker group (`#541 `_) +* feat(autoware_launch): remove polygon_generation_method from dynamic_avoidance (`#539 `_) +* feat(intersection): strict definition of stuck vehicle detection area (`#532 `_) +* feat(intersection): suppress intersection occlusion chattering (`#533 `_) +* feat(autoware_launch): add no stop decision parameters in crosswalk (`#537 `_) +* chore: add default args for TLR models (`#538 `_) +* feat(autoware_launch): add max_crosswalk_user_delta_yaw_threshold_for_lanelet in map_based_prediction (`#536 `_) +* feat(autoware_launch): add min_longitudinal_polygon_margin and use object_path_base in dynamic_avoidance (`#534 `_) +* feat(autoware_launch): set larger max_area for pedestrian with umbrella (`#535 `_) + set larger max_area for pedestrian with umbrella +* feat(avoidance): flexible avoidance safety check param (`#529 `_) +* feat(avoidance): add time series hysteresis (`#530 `_) +* refactor(map_based_prediction): update prediction yaml file (`#531 `_) + update prediction yaml file +* feat(autoware_launch): add suppress_sudden_obstacle_stop in obstacle_cruise_planner (`#525 `_) + * feat(autoware_launch): add suppress_sudden_obstacle_stop in obstacle_cruise_planner + * update + --------- +* fix(smoother): fix smoother jerk weight params (`#528 `_) +* fix(avoidance): avoidance shift line processing bug (`#527 `_) + fix(avoidance): safety check chattering +* feat(autoware_launch): add hold stop threshold in obstacle_cruise_planner (`#524 `_) + * feat(autoware_launch): add hold stop threshold in obstacle_cruise_planner + * update + --------- +* refactor(safety_check): use safety check common param struct (`#526 `_) +* fix(freespace_planner): fixed by adding parameters of RRTstar algorithm (`#517 `_) + * fix(freespace_planner): add parameters of RRTstar algorithm + * style(pre-commit): autofix + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> + Co-authored-by: Kyoichi Sugahara +* feat(vehicle_cmd_gate): adaptive filter limit (`#510 `_) + * feat(vehicle_cmd_gate): adaptive filter limit + * update + --------- +* fix(autoware_launch): correct prediction_time_horizon default value (`#523 `_) + correct prediction_time_horizon value +* feat(goal_planner): add extra front margin for collision check considering stopping distance (`#520 `_) + * feat(goal_planner): add extra front margin for collision check considering stopping distance + * object_recognition_collision_check_margin: 0.6 + * rename args and params + * add comments + --------- +* feat(autoware_launch): add use_raw_remote_control_command_input argument (`#460 `_) + * update external_cmd_converter + * update default value + * update argument name + * move enable_cmd_limit_filter argument to param file + * update enable_cmd_filter default value + --------- +* feat(rviz): respawn rviz (`#518 `_) +* feat(merge_from_private): use separate param (`#521 `_) +* feat(start_planner): support freespace pull out (`#514 `_) +* fix(ekf_localizer): fix parameter first capital letter (`#519 `_) +* chore(tier4_simulator_component): add traffic light arbiter param path (`#502 `_) +* feat(control_validator): measure predicted path deviation from trajectory (`#509 `_) + * update launcher + * add config and modify launch file + * style(pre-commit): autofix + * feat(lane_departure_checker): add road_border departure checker (`#511 `_) + add param + * feat(system_error_monitor): check lateral deviation in sim (`#516 `_) + * restore rviz config change + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> + Co-authored-by: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> +* feat(avoidance): reduce road shoulder margin if lateral distance is not enough to avoid (`#513 `_) +* feat(autoware_launch): add enable_pub_extra_debug_marker in obstacle_avoidance_planner (`#512 `_) +* feat(system_error_monitor): check lateral deviation in sim (`#516 `_) +* feat(lane_departure_checker): add road_border departure checker (`#511 `_) + add param +* feat(autoware_launch): add polygon_generation_method in dynamic_avoidance (`#508 `_) +* feat(avoidance): make it selectable avoidance policy (`#505 `_) +* feat(map_projection_loader): add map_projection_loader (`#483 `_) + feat(map_loader): add map_projection_loader +* feat(tier4_perception_launch): update pointpainting param (`#506 `_) +* feat(autoware_launch): use hatched road markings in dynamic avoidance (`#504 `_) + * feat(autoware_launch): add use_hatched_road_markings in dynamic_avoidance + * add parameters + * update + --------- +* feat(avoidance): enable avoidance cancel (`#476 `_) +* feat(autoware_launch): update dynamic_avoidance parameters (`#503 `_) +* feat(routing_no_drivable_lane_when_module_enabled): add solution for routing no_drivable_lane only when module enabled (`#457 `_) + * feat(routing_no_drivable_lane_when_module_enabled): add proposed solution + * style(pre-commit): autofix + * feat(routing_no_drivable_lane_when_module_enabled): improving comments regarding new parameter + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* refactor(autoware_launch): add an option for filtering and validation (`#479 `_) + * init commit + * style(pre-commit): autofix + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* feat(autoware_launch): add cut out parameters for dynamic avoidance (`#500 `_) +* feat(lane_change): remove an unused parameter (`#501 `_) +* feat(autoware_launch): add successive_num_to_exit_dynamic_avoidance_condition in dynamic_avoidance (`#484 `_) +* feat(rviz): add acceleration meter for debugging which is disabled by default (`#499 `_) + * feat: add acceleration meter for debugging, disabled by default; https://github.com/autowarefoundation/autoware.universe/pull/4506 + * not directly setting pixel numbers in rviz for display on screen with various resolutions + --------- + Co-authored-by: Owen-Liuyuxuan +* feat(start_planner): use stop objects in pull out lanes for collision check (`#498 `_) +* fix(object_merger): separate GIoU (`#497 `_) +* feat(autoware_launch): add gradable pass margin in crosswalk (`#496 `_) +* feat(autoware_launch): add pass juge line parameter in crosswalk (`#495 `_) +* feat(autoware_launch): add chattering suppression margin in crosswalk (`#494 `_) +* refactor(traffic_light_arbiter): add traffic_light_arbiter param file (`#489 `_) + Co-authored-by: Kenzo Lobos Tsunekawa +* feat(out_of_lane): add param for the min confidence of a predicted path (`#440 `_) + Co-authored-by: Takayuki Murooka +* feat(autoware_launch): add option of disable_yield_for_new_stopped_object in crosswalk (`#491 `_) +* feat(intersection_occlusion): ignore occlusion behind parked vehicles on the attention lane (`#492 `_) +* feat(autoware_launch): add acc/jerk parameters for stuck vehicle detection in crosswalk (`#487 `_) +* feat(avoidance): add parameter to configurate avoidance return point (`#493 `_) +* feat(intersection): extract occlusion contour as polygon (`#485 `_) +* refactor(tier4_localization_component): input_pointcloud param added (`#480 `_) + * refactor(tier4_localization_component): input_pointcloud param added + * style(pre-commit): autofix + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* feat(autoware_launch): add cut_in_object.min_lon_offset_ego_to_object in dynamic avoidance (`#481 `_) + * feat(autoware_launch): add cut_in_object.min_lon_offset_ego_to_object in dynamic avoidance + * update + --------- +* feat(autoware_launch): add enable_debug_info for dynamic_avoidance (`#478 `_) +* feat(path_smoother): add parameters for the replan checker (`#482 `_) +* refactor(avoidance): use common safety checker (`#477 `_) +* refactor(planning_launch): clean stop line parameters (`#475 `_) +* feat(autoware_launch): add dynamic avoidance parameters (`#474 `_) +* perf(path_sampler): tune lateral_deviation_weight for more stable planning (`#455 `_) + Set lateral_deviation_weight 0.1 -> 1.0 +* fix(compare_map_segmentation): add param for skip lower neighbor points comparision option (`#447 `_) + * fix(compare_map_segmentation): add param for check lower neighbor points option + * fix: update param for reduce z distance threshold + * fix: change param type + --------- +* feat(autoware_launch): update pointpainting param (`#473 `_) +* fix(autoware_launch): rename pull over to goal planner (`#472 `_) +* add radar tracker parameter files and settings (`#470 `_) + * add radar tracker parameter files and settings + * style(pre-commit): autofix + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* refactor(autoware_launch): add lidar models params (`#450 `_) + * init commit + * add centerpoint params + * remove dupplicated commits + --------- +* feat(avoidance_by_lc): make it possible to configurate flexibly (`#469 `_) + feat(avodiance_by_lc): make it possible to configurate flexibly +* feat(behavior_velocity_planner): add flag to enable auto mode without rtc_auto_mode_manager (`#435 `_) + * add enable_rtc param + * fix typo + * revert change of rviz config + * revert change of rviz config + --------- +* refactor(avoidance): parameterize magic number (`#426 `_) +* feat(avoidance): flexible avoidance path generation (`#454 `_) +* refactor(autoware_launch): add object_merger param files (`#464 `_) + init commit +* chore(autoware_launch): zero margin for outside the drivable area (`#468 `_) +* fix(avoidance): update config to prevent unconfortable deceleration (`#466 `_) +* refactor(autoware_launch): rename crosswalk/walkway parameters (`#459 `_) +* refactor(autoware_launch): add walkway param yaml (`#458 `_) +* fix(tier4_simulator_component): add missing argument (`#465 `_) + update simulator launch component +* fix(obstacle_avoidance_planner): adding missing functionality for stop margin due to out of drivable area (`#438 `_) +* refactor(autoware_launch): add map_based_prediction param file (`#463 `_) + init commit +* feat(planning_launch): add safety check flags for lane change (`#462 `_) +* feat: use `pose_source` and `twist_source` for selecting localization methods (`#442 `_) + * feat: add pose and twist sources args for localization + * removed unnecessary params + * allow only one source + * Move configs to tier4_localization_component.launch.xml + * Remove unnecessary line + * fix comment + --------- +* feat(intersection): add behavior for arrow signal (`#456 `_) +* fix(occlusion_spot): add lacking param (`#452 `_) +* refactor(avoidance): update parameter names (`#453 `_) +* refactor(autoware_launch): add euclidean_clustering params (`#445 `_) + * add euclidean_clustering param + * style(pre-commit): autofix + * update and rearrange comments + * style(pre-commit): autofix + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* feat(autoware_launch): update lane change rviz configuration (`#451 `_) + * feat(autoware_launch): update autoware rviz + * update + --------- +* feat(autoware_launch): add disable_stop_for_yield_cancel in crosswalk (`#449 `_) + * feat(autoware_launch): add disable_stop_for_yield_cancel in crosswalk + * update + --------- +* feat(start_planner): add curvature limit for path generation (`#446 `_) + * add param for curvature shift start + * update + * change param + * maximum_curvature: 0.07 + --------- + Co-authored-by: kosuke55 +* feat(avoidance): enable zebra zone avoidance (`#448 `_) +* feat(avoidance): enable to use intersection area (`#443 `_) +* feat(avoidance): consider acceleration during avoidance maneuver (`#436 `_) + feat(avoidance): use improved path shifting logic +* refactor(behavior_path_planner): remove unused config files (`#441 `_) + * refactor(behavior_path_planner): remove unused config files + * refactor(behavior_path_planner): remove unnecessary code + --------- +* feat(avoidance): use intersection areas (`#439 `_) +* refactor(obstacle_avoidance_planner): move the elastic band smoothing to a new package (`#420 `_) +* feat(probabilistic_occupancy_grid_map): add projective raytracing option from scan_origin (`#434 `_) +* feat(behavior_path_planner): shorten the wating time of force avoidance (`#437 `_) +* feat(autoware_launch): add min_obj_lat_offset_to_ego_path in dynamic_avoidance (`#427 `_) +* feat(autoware_launch): add intersection param for wrong direction vehicles (`#394 `_) + add consider_wrong_direction_vehicle param + Co-authored-by: beyza +* feat(avoidance): insert slow down speed (`#429 `_) +* fix(avoidance): don't output new candidate path if there is huge offset between the ego and previous output path (`#431 `_) +* feat(avoidance): extend object ignore section (`#433 `_) + feat(avoidance): increase object ignore section +* feat(start_planner): add option for lane departure (`#432 `_) +* fix(autoware_launch): add missing pose_initializer param (`#430 `_) +* feat(autoware_launch): no slow down against unknown object (`#428 `_) +* feat(avoidance): update avoidance params (`#424 `_) +* fix(behavior_velocity_intersection_module): fix condition of use_stuck_stopline (`#425 `_) +* feat(lane_change): add param for a lateral distance margin where the abort can be performed (`#421 `_) +* refactor(lane_change): add namespace for lane-change-cancel (`#423 `_) + * refactor(lane_change): add namespace for lane-change-cancel + * update + --------- +* refactor(avoidance): rename ununderstandable params (`#422 `_) +* fix(autoware_launch): use experimental lane change function (`#418 `_) +* feat: use vehicle_stop_checker for judging vehicle stop vehicle_cmd_gate (`#417 `_) +* fix(occupancy grid): fix launcher (`#419 `_) + updated yaml +* feat(planning_launch): add parameters for delaying lane change (`#401 `_) +* feat(avoidance): set additional buffer margin independently (`#412 `_) +* revert: "feat(behavior_path_planner): relax longitudinal_velocity_delta_time" (`#415 `_) + Revert "feat(behavior_path_planner): relax longitudinal_velocity_delta_time (`#410 `_)" + This reverts commit e100e566ddae26173e4bc0d1e8aea40022bad658. +* feat(avoidance): enable avoidance for unknown object (`#416 `_) +* feat(autoware_launch): update dynamic avoidance param (`#413 `_) +* chore(probabilistic_occupancy_grid_map): revert map size (`#414 `_) +* refactor(probabilistic_occupancy_grid_map): move param to yaml (`#409 `_) +* feat(avoidance): avoid non car-like object (pedestrian, bicycle, motorcycle) (`#408 `_) + feat(avoidance): avoid non vehicle object +* feat(behavior_path_planner): relax longitudinal_velocity_delta_time (`#410 `_) +* feat(yabloc): add camera and vector map localization (`#393 `_) + * add yabloc_localization_component.launch.xml + * add pose_initializer.logging_simulator.yabloc.param.yaml + * add yabloc params + * add graph_segment.param.yaml + * integrate yabloc_loc_launch into tier_loc_launch + * fix some config files + * add conditional branch for yabloc + * add sample config for yabloc + * style(pre-commit): autofix + * removed some obsolete parameters + * style(pre-commit): autofix + * removed is_swap_mode from yabloc config + * rename AbstParaticleFilter in config files + * fixed typo + * removed optional param files + * refactored tier4_loc_comp.launch.xml + * changed localization_mode option names + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* feat(intersection): timeout stuck vehicle stop in private area (`#406 `_) +* feat(start_planner): add length_ratio_for_turn_signal_deactivation_near_intersection (`#407 `_) +* fix(mpc): relax steering rate limit (`#405 `_) +* feat(start_planner): change lateral acceleration sampling num (`#404 `_) +* feat(start_planner): start with acceleration (`#402 `_) +* feat(avoidance): can set stop/move judge threshold for each object class (`#399 `_) +* feat(planning_launch): add a turn signal deactivation parameter for lane change (`#398 `_) +* feat(avoidance): change object_check_backward_distance from 100m to 10m (`#388 `_) +* feat(avoidance): additional buffer for perception noise (`#373 `_) + feat(avoidance): additional offset for perception noise +* feat(velocity_smoother): plan from ego velocity on manual mode (`#396 `_) +* feat(rviz): hide crosswalk areas (`#395 `_) +* feat(planning_launch): add a parameter for turn signal activation (`#397 `_) +* refactor: intersection module (`#391 `_) +* fix(autoware_launch): add missing parameter in autonmous emergency braking (`#392 `_) +* feat(behavior_path_planner): add flag to enable auto mode without rtc_auto_mode_manager (`#387 `_) + * add param + * enable rtc to false for default auto mode module + * update + * set avoidance module enable_rtc as false + * set all module enable_rtc param as true + --------- +* refactor(behavior_velocity_planner): load all module parameters (`#389 `_) + load all module parameters +* refactor(behavior_velocity_planner): update launch and parameter files for plugin (`#369 `_) + * feat: update parameter files + * feat: update param name + * feat: add disabled module as comment + * feat: use behavior_velocity_config_path + --------- +* refactor(start_planner): rename pull out to start planner (`#386 `_) +* fix(planning_launch): parameterize scale for lc safety check (`#384 `_) +* feat(avoidance): add option for yield during shifting (`#383 `_) +* feat(autoware_launch): suppress flickering to entry slow down (`#382 `_) +* feat(avoidance): add new parameter (`#374 `_) +* feat(autoware_launch): dynamic steer rate limit in mpc (`#381 `_) + * feat(autoware_launch): dynamic steer rate limit in mpc + * update + * update + --------- +* fix(trajectory_follower_nodes): mpc_follower does not send proper converged data under low steering rate limit (`#378 `_) +* feat(rtc_auto_mode_manager): delete external_request_lane_change from rtc auto mode manager config (`#379 `_) +* feat(pull_out): support pull out normal lane (`#377 `_) + * add th_blinker_on_lateral_offset: 1.0 + * minimum_shift_pull_out_distance: 0.0 + * minimum_lateral_jerk: 0.1 + --------- +* fix(tier4_perception_component_launch): add sync_param_path (`#350 `_) + * fix(tier4_perception_component_launch): add sync_param_path + * style(pre-commit): autofix + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* feat(lane_change): check lateral offset at lc finish judgement (`#375 `_) +* feat: first draft proposal implementation for handling invalid lanelets (`#235 `_) + * feat: first draft proposal implementation for handling invalid lanelets + * style(pre-commit): autofix + * feat: adding invalid lanelet for rviz visualization + * feat: fixing review comment + * feat: changing module name from invalid_lanelet to no_drivable_lane + * feat: fixing merge conflict mistakes + * feat: fixing merge conflict mistakes + * feat: fixing merge conflicts + * feat: removing rtc handing + * feat(no_drivable_lane): reflecting refactoring changes to no_drivable_lane + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* refactor(autoware_launch): remove duplicated path in planning launch (`#365 `_) +* feat(behavior_path_planner): relax margin_from_boundary in goal_planner param (`#371 `_) +* fix(intersection): add the flag for intersection_occlusion grid publication (`#372 `_) +* feat(planning_launch): add minimum reroute length (`#370 `_) +* fix(behavior_path_planner): fix lateral distance max threshold (`#368 `_) +* feat(planning_launch): add maximum and minimum longitudinal acceleration for the lane change (`#363 `_) +* feat(vehicle_cmd_gate): add moderate_stop_interface parameter (`#367 `_) +* feat(intersection): add the option to use intersection_area (`#366 `_) + add option to use intersection_area +* feat(autoware_launch): update obstacle_cruise_planner param (`#364 `_) + * feat(autoware_launch): update obstacle_cruise_planner param + * update + --------- +* feat(autoware_launch): remove min_acc in obstacle_cruise_planner for slow down (`#356 `_) +* feat(autoware_launch): add time margins for dynamic avoidance (`#360 `_) +* feat(avoidance): don't avoid objects around crosswalks (`#362 `_) +* feat(autoware_launch): time margin for slow down (`#359 `_) +* feat(autoware_launch): add hysteresis for slow down decision (`#354 `_) +* feat(intersection): denoise occlusion by morphology open process (`#361 `_) + parameterize kernel size +* feat(planning_launch): change lane change sampling number (`#358 `_) +* feat(behavior): increase dynamic avoidance module priority (`#355 `_) +* feat(planning_launch): add lateral acceleration map (`#352 `_) + * feat(planning_launch): add lateral acceleration map + * udpate + --------- +* feat(autoware_launch): add lane change abort param (`#351 `_) + * feat(autoware_launch): add lane change abort param + * fix(autoware_launch): restore some parameters + --------- +* feat(path_sampler): add parameter file for the `path_sampler` node (`#322 `_) +* fix(planning_launch): add backward_path_length_parameter (`#346 `_) +* feat(planning_launch): side shift debug marker (`#298 `_) + * feat(planning_launch): side shift debug marker + * delete blank line + * style(pre-commit): autofix + --------- + Co-authored-by: kyoichi-sugahara + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* refactor(avoidance): remove redundant parameter (`#340 `_) + * refactor(avoidance): rename parameter + * fix(avoidance): remove redundant parameter + --------- +* feat(obstacle_stop_planner): add filtering feature for predicted objects (`#330 `_) +* feat(autoware_launch): add marker of dynamic avoidance (`#345 `_) + * feat(autoware_launch): add marker of dynamic avoidance + * update + --------- +* feat(autoware_launch): add a flag to use hatched road markings for av… (`#337 `_) + feat(autoware_launch): add a flag to use hatched road markings for avoidance +* chore(autoware_launch): update rviz for hatched road markings (`#343 `_) + * chore(autoware_launch): update rviz for hatched road markings + * fix typo + --------- +* refactor(avoidance): remove hard code params in shift line triming process (`#341 `_) +* fix(behavior): don't show behaivor module's marker (`#342 `_) + fix(rviz): hide all info markers +* feat(avoidance): hide detail information (`#339 `_) +* refactor(behavior_path_planner): refactoring goal_planner and pull_out params (`#338 `_) +* feat(behavior): add interface in order to publish marker that is always shown in rviz (`#333 `_) + feat(behavior): output module info markers +* feat(autoware_launch): add min_drivable_width (`#334 `_) + * feat(autoware_launch): add min_drivable_width + * update + --------- +* feat(autoware_launch): avoid oncoming vehicles (`#335 `_) +* perf(mpc_lateral_controller): mpc works more stably (`#336 `_) +* feat(autoware_launch): dynamic obstacle avoidance (`#299 `_) + * add param + * update launch + * update for dynamic avoidance + * update + * update + * disable dynamic avoidance module + * pre-commit + --------- +* feat(behavior_velocity_planner::intersection): add intersection occlusion gridmap marker (`#332 `_) +* feat(autoware.rviz): disable right and left bound (`#329 `_) + * feat(autoware.rviz): disable right and left bound + * update + --------- +* feat: add gnss/imu localizer (`#200 `_) + * Add gnss_imu_localizar + * Eagleye parameter update fot sample data + * Restore perception/planning/control parameters in lsim + * Change use_gnss_mode + * Fix spell + * Fix spell + * Delete unnecessary white spaces + * Remove unnecessary trailing spaces + * Prettier format + * prettier format + * clang-format + * Revert "clang-format" + This reverts commit 46cd907089e6551a975bcff2f3971679598da24c. + * Rename GNSS/Lidar localization switching parameters + * Remove conditional branching by pose_estimatar_mode in system_error_monitor + * Change launch directory structure + * Delete unnecessary parameters and files + * Integrate map4_localization_component1,2 + * Fix comment out in localization launch + --------- +* refactor(planning_launch): remove duplicated lane change parameter (`#328 `_) +* fix(lanelet2_map_loader): update comment for available projector type (`#327 `_) +* refactor(rviz): fix typo (`#326 `_) +* feat(rviz): add behavior path virtual wall (`#325 `_) +* refactor(behavior_path_planner): rename pull_over to goal_planner (`#313 `_) + refactor(behavior_path_planenr): renaem pull_over to goal_planenr +* feat(autoware_launch): expand ogm size from 100m to 150m (`#324 `_) + expand ogm size from 100m to 150m +* chore(autoware_launch): tune intersection parameters (`#323 `_) +* refactor(planning_launch): remove minimum prepare length (`#319 `_) +* feat(behavior_path_planner): run avoidance and pull out simultaneously (`#321 `_) +* feat(behavior_velocity_planner::intersection): add parameter for occlusion peeking offset (`#320 `_) +* refactor(planning_launch): use common params for lane change (`#317 `_) +* fix(autoware_launch): old architecture lane change path in rviz (`#316 `_) +* feat(intersection): add flag to enable creep towards intersection occlusion (`#315 `_) +* feat(behavior_velocity_planner::intersection): add occlusion detection feature (`#305 `_) + * migrated + * fixed param + * remove some params + * organized param + * disable occlusion feature off by default + --------- +* feat(autoware_launch): make drivable area expansion parameters common (`#310 `_) +* chore(autoware_launch): make backward detection length for avoidance longer (`#312 `_) + * chore(autoware_launch): make backward detection length for avoidance longer + * make longer + --------- +* feat(obstacle_avoidance_planner): replan when forward path shape changes (`#309 `_) + * feat(obstacle_avoidance_planner): replan when forward path shape changes + * update + --------- +* feat(autoware_launch): add time to fix reference points's boundary width (`#311 `_) +* chore(autoware_launch): visualize thin predicted trajectory on rviz (`#314 `_) +* refactor(planning_launch): remove minimum lane changing length (`#308 `_) + * refactor(planning_launch): remove minimum lane changing length + * fix + --------- +* feat(tier4_simulator_launch): add use_baselink_z option for dummy_perception_publisher (`#304 `_) +* fix(planning_launch): change minimum prepare length (`#307 `_) +* feat(planning_launch): add reroute safety check parameter (`#306 `_) +* refactor(occupancy_grid_map): add occupancy_grid_map method/param var to launcher (`#294 `_) + add occcupancy_grid_map method/param var to launcher and use those ones in autoware_launch by default +* feat(autoware_launch): visualization for slow down (`#303 `_) +* feat(behavior_path_planner): move lane_following_params to behavior path params (`#302 `_) +* fix: compare map filter param (`#291 `_) +* feat(behavior_path_planner): pull over support road_lane and right_hand_traffic (`#300 `_) +* feat(obstacle_cruise_planner): implement slow down planner (`#288 `_) + * feat(obstacle_cruise_planner): add param for slow down + * update + --------- +* refactor(behavior_velocity_planner::intersection): organize param intersection (`#297 `_) + reorganize intersection param for readability +* refactor(behavior_velocity_planner): removed external input from behavior_velocity (`#296 `_) + removed external input from behavior_velocity +* feat(rviz): add rough goal (`#295 `_) +* feat(avoidance): margin can be set independently for each class (`#286 `_) +* feat(map_loader): add param for selected_map_loader (`#285 `_) + feat(map_loader): add param for selected_nap_loader +* refactor(obstacle_cruise_planner): clean up a part of the code (`#287 `_) + * modify parameters + * use cruise planner temporarily + * update + * use obstacle_stop_planner by default + --------- +* fix(behavior_path_planner): pull over deceleration (`#273 `_) +* fix(rviz): fix debug marker topic name (`#289 `_) +* feat(behavior_velocity_planner): add out of lane module (`#269 `_) + * Add initial param file for new out_of_lane module + * Add params for extending the ego footprint + * Add more parameters + * add a few more params + * Add/rename parameters for new version with 3 methods (thr, inter, ttc) + * Add parameters for "skip_if\_*", "strict", and "use_predicted_path" + * Update default parameters + * style(pre-commit): autofix + * Fix typo + * Change param ego.extra_front_offset 1.0 -> 0.0 + * Update rviz config with "out_of_lane" virtual wall and debug markers + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* feat(behavior_path_planner): add new lateral acceleration (`#283 `_) +* feat: add option of enable_cog_on_centerline (`#278 `_) +* feat(behavior_path_planner): multiple candidate modules can run simultaneously (`#266 `_) +* refactor(behavior_path_planner): rename lane chagne parameters (`#284 `_) +* refactor(behavior_path_planner): rename lane change parameters (`#282 `_) + update +* fix(behavior_path_planner): remove unnecessary lane change parameter (`#280 `_) +* feat(behavior_path_planner): enable LC+Avoidacne simultaneous execution (`#271 `_) +* refactor(behavior_path_planner): remove lane change planner parameters (`#281 `_) +* refactor(behavior_velocity_planner): add default values (`#272 `_) + * fix(behavior): add missing params + * fix(behavior): add missing params + * fix(behavior): add missing params + * fix(behavior): add missing params + * fix(behavior): add missing params + * fix typo + --------- + Co-authored-by: satoshi-ota + Co-authored-by: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> +* feat(avoidance_by_lc): add new module to avoid obstacle by lane change (`#261 `_) + * feat(avoidance_by_lc): add config + * feat(launch): add avoidance by lc param path + * feat(rviz): add marker for avoidance by lc + --------- +* feat(behavior_velocity_planner::blind_spot): consider adjacent lane (`#267 `_) +* fix(autoware_launch): fix external lane change name (`#276 `_) + * fix(autoware_launch): fix external lane change name + * update rviz + --------- +* feat(autoware_launch): ext_lane_change -> external_lane_change in rtc (`#274 `_) + * fix + * empty commit + --------- +* refactor(behavior_path_planner): separate config file (`#270 `_) + feat(behavior_path_planner): add new config for manager +* feat(avoidance): update avoidance param (`#263 `_) + * feat(avoidance): enable safety check and yield + * feat(avoidance): update lateral margin + --------- +* feat(lane_following): consider lane ego angle diff (`#250 `_) + feat(lane_following): consider lane-ego angle diff +* feat(compare_map_segmentation): add param for dynamic map loading (`#257 `_) +* feat(autoware_launch): consider behavior's drivable area violation (`#254 `_) +* fix(behavior_velocity_planner): fix detection area being ignored when the ego vehicle stops over the stop line (`#260 `_) + * chore(behavior_velocity_planner): follow the latest implementation + (hold_stop_margin_distance) + * feat(behavior_velocity_planner): add a parameter for judging over the stop line + --------- +* feat(autoware_launch): add check_external_emergency_heartbeat option (`#253 `_) +* fix(behavior_path_planner): enable simlunateous executione (`#258 `_) +* chore(ekf_localizer): move parameters to its dedicated yaml file (`#244 `_) + * chores(ekf_localizer): move parameters to its dedicated yaml file + * style(pre-commit): autofix + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* fix(planning_launch): disable external lc module in new framework (`#262 `_) +* feat(autoware_launch): add missing stop line parameter (`#252 `_) +* chore(ground_segmentation): add optional param (`#259 `_) +* fix(rviz): fix lane change topic name (`#256 `_) + * fix(rviz): fix lane change topic name + * fix(rviz): rename + --------- +* feat(control_launch): add parameter for aeb (`#232 `_) +* fix(behavior_velocity_planner): disable launch_virtual_traffic_light parameter by default (`#251 `_) +* feat(autoware_launch): enable pose initialization while running (only for sim) (`#243 `_) + * feat(autoware_launch): enable pose initialization while running (only for sim) + * style(pre-commit): autofix + * update localization param + * both logsim and psim params + * only one pose_initializer_param_path arg + * style(pre-commit): autofix + * use two param files for pose_initializer + * style(pre-commit): autofix + * debug + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* feat(lane_change): support param for new framework (include external lc) (`#248 `_) + * feat(lane_change): support param for new framework (include external lc) + * rename external lane change + --------- +* feat(rviz): add path reference marker (`#245 `_) + * feat(rviz): add path reference (hide as default) + * fix(rviz): fix typo + Co-authored-by: Zulfaqar Azmi <93502286+zulfaqar-azmi-t4@users.noreply.github.com> + * differentiate path color + --------- + Co-authored-by: Zulfaqar Azmi <93502286+zulfaqar-azmi-t4@users.noreply.github.com> + Co-authored-by: Muhammad Zulfaqar Azmi +* feat(autoware_launch): add option to use akima spline at first (`#247 `_) + * feat(autoware_launch): enable akima spline for xy only first + * disable akima spline + --------- +* fix(autoware_launch): perception mode (`#249 `_) +* fix(pull_over): add params (`#246 `_) + * fix(pull_over): add params + * Update autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/pull_over/pull_over.param.yaml + --------- + Co-authored-by: Kosuke Takeuchi +* feat(planning_evaluator): delete_launch_planning_evaluator_arg (`#240 `_) + * delete_launch_planning_evaluator_arg + * delete_launch_planning_evaluator_arg + --------- +* feat(avoidance): add config for new framework (`#233 `_) + * feat(behavior_path_planner): add config for avoidance on new framework + * fix(behavior_path_planner): fix priority + * fix(behavior_path_planner): add description of priority param + --------- +* feat(pull_over): support new framework (`#237 `_) + feat(behavior_path_planner): add config for pull over on new framework +* feat(lane_change): add config for new framework (`#239 `_) + * feat(lane_change): add config for new framework + * rearrange module alphabetically + --------- +* fix(avoidance): increase road shoulder margin 0.0 -> 0.3 (`#242 `_) +* feat: lengthen safety_check_backward_distance in avoidance module (`#241 `_) +* feat(side_shift): add config for new framework (`#234 `_) + feat(behavior_path_planner): add config for side shift on new framework +* feat(pull_out): add config for new framework (`#236 `_) + feat(behavior_path_planner): add config for pull out on new framework +* feat(planning_evaluator): launch planning_evaluator when scenario simulation is running (`#219 `_) + * feat(planning_evaluator): launch planning_evaluator when scenario simulation is running + * refactoring + --------- +* feat(behavior_path_planner): pull over freespace parking (`#221 `_) + * feat(behavior_path_planner): pull over freespace parking + * fix typo + --------- +* fix(behavior_path_planner): change pull over maximum_deceleration (`#229 `_) +* fix(autoware_launch): add walkway visualization (`#231 `_) +* feat(autoware_launch): update obstacle avoidance planner parameter (`#220 `_) + * update obstacle_avoidance_planner's param + * update + --------- +* feat(avoidance): add new param for avoidance target object filtering logic (`#226 `_) + feat(avoidance): add new param for avoidance +* feat(behavior_path_planner): add param for new planner manager (`#218 `_) +* feat(obstacle_stop_planner): add margin behind goal (`#228 `_) +* fix(autoware_launch): use tier4_sensing_component.launch.xml (`#227 `_) +* feat(mission_planner): add config param file for mission_planner package (`#225 `_) + * add mission_planner param file + * style(pre-commit): autofix + --------- + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* feat(osbtacle_stop_planner): add new trajectory checker parameter (`#224 `_) + add new trajectory checker parameter +* fix(obstacle_stop_planner): add lacking param (`#222 `_) + add param + Co-authored-by: yamazakiTasuku +* feat(lane_departure_checker): add optional neighbor lanelets parameters (`#217 `_) + feat(lane_departure_checker): add optional neighbor lanelets parameters (`#217 `_) +* feat(vehicle_cmd_gate): enable filter with actual steer in manual mode (`#189 `_) +* chore(run_out): update parameter for mandatory detection area (`#205 `_) +* feat(autoware_launch): update rviz and rtc config for planning (`#213 `_) +* fix(autoware_launch): add missing system file (`#211 `_) +* fix(autoware_launch): unify with tier4 launch (`#210 `_) + * fix + * fix + * fix + * fix + * fix + * fix + --------- +* feat(system_component_launch): add config param for dummy diag publisher (`#206 `_) + * add config param for dummy diag publisher + * fixed dummy_diag_publisher param yaml (add empty diag) + * launch dummy diag publisher by launch_dummy_diag_publisher param + --------- +* refactor(autoware_launch): clean up component launch (`#207 `_) + * refactor(autoware_launch): clean up component launch + * fix + * Update autoware_launch/launch/components/tier4_map_component.launch.xml + Co-authored-by: kminoda <44218668+kminoda@users.noreply.github.com> + --------- + Co-authored-by: kminoda <44218668+kminoda@users.noreply.github.com> +* fix: revert "chore: sync param files (`#161 `_)" (`#209 `_) + This reverts commit 6fe7144c4d8e7909b58c5abbccd59c8c200e0618. + Co-authored-by: awf-autoware-bot[bot] <94889083+awf-autoware-bot[bot]@users.noreply.github.com> +* fix(autoware_launch): fix the planning param (`#208 `_) +* fix(autoware_launch): add z_axis_filtering params for obstacle_stop_planner node (`#150 `_) +* fix(obstacle_avoidance_planner.param.yaml): add a margin for vehicle to stop before the end of drivable area boundary (`#192 `_) + * fix: add margin for vehicle stop before the end of drivable area boundary + Adding ros parameter for vehicle stop margin for obstacle avoidance planner + * style(pre-commit): autofix + --------- + Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* feat(behavior_path_planner): expand the drivable area based on the vehicle footprint (`#204 `_) +* feat(autoware_launch): add param for configurable lateral_distance (`#140 `_) + add param for configurable lateral_distance & debug flag + Co-authored-by: beyza +* chore: add lanelet2 map config (`#169 `_) + * add_lanelet2_map_config to autoware_launch config + * set projector type as default + --------- +* fix(behavior_velocity_planner): continue collision checking after pass judge (`#203 `_) + fix(behavior_velocity_planner): revert part of `#2719 `_ +* chore: sync param files (`#161 `_) + Co-authored-by: takayuki5168 +* feat(autoware_launch): add option to disable path update during avoidance (`#198 `_) +* chore(autoware_launch): minor parameter change for planning and control (`#195 `_) +* chore(autoware_launch): minor fix with trajectory_follower param (`#167 `_) +* fix(autoware_launch): change behavior_velocity parameters (`#179 `_) +* fix(multi_object_tracker): update data association matrix (`#196 `_) + * fix(multi_object_tracker): update data association matrix + * Update autoware_launch/config/perception/object_recognition/tracking/multi_object_tracker/data_association_matrix.param.yaml + also update for other CAR->(other objects) + Co-authored-by: Yukihiro Saito + --------- + Co-authored-by: Yukihiro Saito +* feat(planning_config): update params to enable 60kmph speed (`#194 `_) +* feat(autoware_launch): add NDT parameters for dynamic_map_loading (`#151 `_) + * feat(autoware_launch): add NDT parameters for dynamic_map_loading + * set default param to false + * set default use_dynamic_map_loading to true + * fix parameter description + --------- +* fix(lane_change): update default parameter (`#183 `_) +* fix(autoware_launch): minor change with tier4_control_component (`#186 `_) +* fix(autoware_launch): minor change with tier4_planning_component (`#185 `_) + * fix(autoware_launch): minor change with tier4_planning_component + * update + --------- +* fix(occlusion_spot): occlusion spot parameter disable as default (`#191 `_) +* feat(mpc_lateral_controller): add steering bias removal (`#190 `_) + * feat(mpc_lateral_controller): add steering bias removal + * change name +* feat(intersection): add param for stuck stopline overshoot margin (`#188 `_) +* fix(autoware_launch): enable launch_deprecated_api (`#187 `_) + * fix(autoware_launch): enable launch_deprecated_api + * Update autoware_launch/launch/components/tier4_autoware_api_component.launch.xml + Co-authored-by: Takagi, Isamu <43976882+isamu-takagi@users.noreply.github.com> + Co-authored-by: Takagi, Isamu <43976882+isamu-takagi@users.noreply.github.com> +* feat(control_launch): add min_braking_distance to lane_departure_checker (`#184 `_) +* feat(intersection): improve ego velocity prediction in collision detection (`#181 `_) +* feat(autoware_launch): visualize modified_goal as PoseWithUuidStamped (`#182 `_) +* feat(autoware_launch): add param for considering footprint edges when check the drivable area (`#175 `_) + * add is_considering_footprint_edges param + * add description + Co-authored-by: beyza +* fix(autoware_launch): add missing simulator param (`#164 `_) +* fix(obstacle_stop_planner): rename param for obstacle stop planner (`#174 `_) + fix(obstacle_stop_planner): hunting -> chattering +* feat(autoware_lauch): modify launch for planning_validator (`#180 `_) + * modify launch for planning_validator + * fix +* feat(autoware_launch): add tier4 autoware api component (`#173 `_) +* fix(autoware_launch): change planning parameters (`#178 `_) +* fix(lane_change): fix default abort param (`#177 `_) + * fix(lane_change): fix default abort param + * revert safety time margin +* fix(lane_change): behavior planning common and lane change param (`#158 `_) + * fix(planning): behavior planning common and lane change param + * revert forward_path_length +* refactor(autoware_launch/bpp-avoidance): remove redundant parameters (`#170 `_) +* feat(autoware_launch): add fitting_uniform_circle parameter for mpt (`#159 `_) + * feat(autoware_launch): add new config params for fitting uniform circle + * reformat +* feat(behavior_path_planner): ignore pull out start near lane end (`#171 `_) +* fix(autoware_launch): fix wrong parameter name (`#172 `_) + * fix(autoware_launch): fix wrong parameter name + * fix +* refactor(autoware_launch): organize arguments for planning (`#165 `_) + * refactor(tier4_planning_launch): organize arguments + * update +* feat(behavior_path_planner): add option for combining arc pull out paths (`#168 `_) + * feat(behavior_path_planner): add option for combining arc pull out paths + * divide_pull_out_path +* feat(behavior_path_planner): ignore pull over goal near lane start (`#166 `_) + feat(behavior_path_planner) ignore pull over goal near lane start +* feat(autoware_launch): add point cloud container to localization launch (`#108 `_) +* fix(rviz): fix topic name for obstacle_stop_planner debug marker (`#162 `_) +* feat(behavior_path_planner): param to skip some linestring types when expanding the drivable area (`#160 `_) + [behavior_path_planner] add types to skip in drivable_area_expansion +* feat(autoware_launch): update pure_pursuit parameters (`#154 `_) +* feat(obstacle_stop_planner): add parameter for voxel_grid (`#156 `_) + * feat(obstacle_stop_planner): add parameter for voxel grid + * fix: parameter +* feat(avoidance): add new param for yield maneuver in avoidance module (`#146 `_) + * feat(avoidance): add new param for yield maneuver in avoidance module + * fix(avoidance): fix param name for readability + * fix(planning_launch): add missing param +* feat: add speed bump debug markers to autoware.rviz (`#63 `_) +* feat(autoware_launch): add speed bump parameters (`#138 `_) +* fix(autoware-launch): add NDT parameters for de-grounded lidar scan matching (`#155 `_) + * fix(autoware-launch):add NDT parameters for de-grounded lidar scan matching + * style(pre-commit): autofix + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* fix(behavior_velocity_planner): fix blind spot over-detection (`#153 `_) +* fix(planning_launch): ignore unavoidable objects around the goal (`#152 `_) + * fix(planning_launch): ignore unavoidable objects around the goal + * Update autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml + Co-authored-by: Kosuke Takeuchi +* feat(autoware_launch): enable use_individual_control_param (`#148 `_) + * fix(autoware_launch): add missing param of vehicle_cmd_gate in yaml + * feat(autoware_launch): enable use_individual_control_param +* fix(autoware_launch): add missing param of vehicle_cmd_gate in yaml (`#149 `_) +* refactor(autoware_launch): organize control yaml (`#147 `_) +* feat: update param path (`#144 `_) + * feat: update param path + * fix + * organize param files +* fix: avoidance parameter file (`#145 `_) + * fix: avoidance parameter file + * Update autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml +* feat(perception): change detection region (`#141 `_) +* fix(autoware_launch): remove unnecessary `config` declaration (`#137 `_) + * fix(autoware_launch): remove unnecessary `config` declaration + * follow alphabetical order +* feat(autoware_launch): move config from autoware.universe for simulator (`#132 `_) + * feat(autoware_launch): move config to autoware_launch for perception + * first commit + * fix(autoware_launch): fix config path of system_error_monitor + * fix typo again + * resolve conflict +* fix(autoware_launch): fix config path of system_error_monitor (`#136 `_) + * fix(autoware_launch): fix config path of system_error_monitor + * fix typo again +* feat(autoware_launch): move config from autoware.universe for control (`#134 `_) + * feat(autoware_launch): move config from autoware.universe for control + * fix + * update operation_mode_transition_manager.param.yaml + Co-authored-by: kminoda +* feat(autoware_launch): move config from autoware.universe for map (`#128 `_) + feat(autoware_launch): move config to autoware_launch for map +* feat(autoware_launch): move config from autoware.universe for localization (`#129 `_) + * feat(autoware_launch): move config to autoware_launch for localization + * fix order +* feat(autoware_launch): move config from autoware.universe for perception (`#131 `_) + feat(autoware_launch): move config to autoware_launch for perception +* feat(autoware_launch): move config from autoware.universe for planning (`#133 `_) + * feat(autoware_launch): move config from autoware.universe for planning + * remove unnecessary config + * add rtc + * apply universe param change +* feat(autoware_launch): move config from autoware.universe for system (`#130 `_) + * feat(autoware_launch): move config to autoware_launch for system + * fix +* feat(autoware_launch): add bound visualization (`#135 `_) +* feat(autoware_launch): visualize multiple candidate paths (`#125 `_) + * feat(autoware_launch): visualize multiple candidate paths + * feature(autoware.rviz): fix name space +* fix: change check_external_emergency_heartbeat false (`#119 `_) + * fix: use_external_emergenc_stop false + * Update autoware.launch.xml +* fix(autoware_launch): remove web_controller (`#121 `_) +* fix: rename use_external_emergency_stop to check_external_emergency_heartbeat (`#120 `_) +* feat: remove web controller (`#117 `_) +* fix(autoware_launch): add parameter to launch launch_system_monitor (`#113 `_) +* fix(rviz): update obstacle_avoidance_planner virtual_wall topic name (`#115 `_) +* feat: set use_external_emergency_stop to false by default when launching psim (`#109 `_) +* refactor(autoware_launch): change pure_pursuit debug marker topic name (`#110 `_) + Co-authored-by: Berkay Karaman +* feat(autoware_launch): add obstacle_collision_checker to launch (`#106 `_) + * feat(autoware_launch): add obstacle_collision_checker to launch + * ci(pre-commit): autofix + * add option to other launch files + * ci(pre-commit): autofix + Co-authored-by: Berkay Karaman + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* feat(autoware_launch): add autoware_state_panel to autoware.rviz (`#104 `_) +* fix(rviz): enlarge pointcloud size for NDT results (`#103 `_) + * fix(rviz): enlarge pointcloud size for NDT results + * change default settings of Initial pointcloud +* feat(autoware_launch): add e2e_simulator.launch.xml (`#98 `_) + * feat(autoware_launch): add e2e_simulator.launch.xml + * chore: rename + * chore: remove unnecessary option +* fix(autoware_launch): launch dummy_localization regardless of scenario_simulation flag (`#95 `_) +* feat: move adapi rviz adaptor (`#88 `_) + feat: move adapi rviz adaptor +* chore(autoware_launch): designate vehicle_id to tier4_control_launch (`#74 `_) + Co-authored-by: Shumpei Wakabayashi <42209144+shmpwk@users.noreply.github.com> +* fix: add adapi dependency (`#86 `_) +* feat(autoware_launch): apply the change of pose initializer (`#72 `_) + * feat(autoware_launch): apply the change of pose initializer + * fix: add group for include scope +* feat(autoware_launch): add rviz helper for ad api (`#70 `_) + * feat(autoware_launch): add rviz helper for ad api + * feat: change launch file +* feat(rviz): update rviz planning module's debug marker (`#85 `_) + * feat(rviz): add behavior path debug markers (`#441 `_) + * feat(rviz): add 2D dummy bus button as default (`#453 `_) + * feat(rviz): add behavior path debug markers (`#462 `_) + * feat(rviz): remove old pull over marker + Co-authored-by: kosuke55 +* feat: disable visualization of object pose covariance (`#79 `_) +* feat(autoware_launch): add vehicle footprint to autoware.rviz (`#81 `_) + feat: add vehicle footprint to autoware.rviz +* fix: use sim time option (`#69 `_) + * fix: use sim time option + * fix: minimum usesim time option + * ci(pre-commit): autofix + * fix: add simulation flag to distinguish + * ci(pre-commit): autofix + * Revert "ci(pre-commit): autofix" + This reverts commit 291770d114baae38c7645b51c2569a66fa6353d3. + * Revert "Merge commit '7b1424eaeb2b06a6fb2921ff242a3c4e5fef6169' into fix/use_sim_time_option" + This reverts commit 02fede2df4099d5019b60fddb585e53357e62535, reversing + changes made to 9aeaa88f39c152333cac658a908f9ab8d7dcd037. + * Revert "fix: add simulation flag to distinguish" + This reverts commit 9aeaa88f39c152333cac658a908f9ab8d7dcd037. + * fix: remove duplicated arg + * fix: use sim time option + * ci(pre-commit): autofix + * fix: ungroup autoware launch + * Revert "fix: ungroup autoware launch" + This reverts commit cb3e3aa536ae2aa740cd846c97fe6cf373ba8744. + * fix: to scoped false + * chore: better comment + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* refactor(autoware_launch): use autoware.launch.xml in planning/logging_simulator.launch.xml (`#59 `_) + * refactor(autoware_launch): use autoware.launch.xml in planning_simulator.launch.xml + * fix planning_launcher launch and use autoware.launch.xml in logging_simulator.launch.xml + * fix arguments + * fix argument order + * remove init_localization_pose + * move if tag + * reorder arguments + * add description for arguments +* chore(rviz): update rviz config for pull_over (`#58 `_) +* feat: add line_width property to object display (`#56 `_) +* chore: update to universe config (`#52 `_) + * chore: to universe rviz config + * feat: replace rostime to date time panel + * fix : to best effott + * feat: add manuever topic + * chore: disable marker by default + * feat: add diag marker +* fix(mission_planner): disable lane_start_bound in Rviz (`#51 `_) +* feat: add arguments for pointcloud container to planning (`#37 `_) + * feat: add arguments for pointcloud container to planning + * add marker for run out module +* feat: disable some namespace for lanelet2 (`#50 `_) +* feat(rviz_plugin): adaptive scaling for display size (`#44 `_) +* refactor: update rviz config for virtual wall marker separation (`#42 `_) +* feat: add autoware_api.launch.xml to launch files in autoware_launch package (`#26 `_) + * feat: add autoware_api.launch.xml to launch files in autoware_launch package + * fix(autoware_launch): fix flags for autoware.launch and logging_simulator.launch +* feat(obstacle_avoidance_planner): add obstacle_avoidance_planner wall marker in autoware.rviz (`#28 `_) +* feat: cosmetic change autoware.rviz for perception (`#24 `_) +* feat(autoware_launch): update autoware.rviz not to visualize occlusion spot markers (`#25 `_) + Co-authored-by: taikitanaka3 +* feat(autoware_launch): update autoware.rviz not to visualize obstacle_avoidance_planner markers (`#23 `_) +* fix: incorrect arguments and including launch (`#19 `_) + * fix: incorrect arguments and including launch + * add launch_vehicle_interface + * bug fix +* ci(pre-commit): update pre-commit-hooks-ros (`#18 `_) + * ci(pre-commit): update pre-commit-hooks-ros + * ci(pre-commit): autofix + * Update .pre-commit-config.yaml + * Update .pre-commit-config.yaml + * Update .pre-commit-config.yaml + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> +* fix: fix launch args (`#6 `_) +* fix: add group to each section (`#5 `_) + * chore: apply pre-commit + * fix: add group +* feat: add autoware_launch (`#1 `_) + * feat: change launch package name (`#186 `_) + * rename launch folder + * autoware_launch -> tier4_autoware_launch + * integration_launch -> tier4_integration_launch + * map_launch -> tier4_map_launch + * fix + * planning_launch -> tier4_planning_launch + * simulator_launch -> tier4_simulator_launch + * control_launch -> tier4_control_launch + * localization_launch -> tier4_localization_launch + * perception_launch -> tier4_perception_launch + * sensing_launch -> tier4_sensing_launch + * system_launch -> tier4_system_launch + * ci(pre-commit): autofix + * vehicle_launch -> tier4_vehicle_launch + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> + Co-authored-by: tanaka3 + Co-authored-by: taikitanaka3 <65527974+taikitanaka3@users.noreply.github.com> + * feat(atutoware.rviz): disable selectable for pointcloud visualization (`#402 `_) + * fix: change the default mode of perception.launch (`#409 `_) + * fix: change the default mode of perception.launch + * chore: remove unnecessary comments + * chore: remove default values + * rename package name + * ci(pre-commit): autofix + * add build_depends.repos + Co-authored-by: Tomoya Kimura + Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> + Co-authored-by: tanaka3 + Co-authored-by: taikitanaka3 <65527974+taikitanaka3@users.noreply.github.com> + Co-authored-by: Yamato Ando +* Contributors: Ahmed Ebrahim, Alexey Panferov, Amadeusz Szymko, Anh Nguyen, Autumn60, Azumi Suzuki, Berkay Karaman, Dmitrii Koldaev, Fumiya Watanabe, Giovanni Muhammad Raditya, Go Sakayori, Hasan Özfidan, Hiroki OTA, Ismet Atabay, Kaan Çolak, Kazunori-Nakajima, Kenji Miyake, Kento Yabuuchi, Kenzo Lobos Tsunekawa, Khalil Selyan, KokiAoki, Kosuke Takeuchi, Kyoichi Sugahara, M. Fatih Cırıt, Makoto Kurihara, Mamoru Sobue, Masaki Baba, Masato Saeki, Maxime CLEMENT, Mehmet Dogru, Mitsuhiro Sakamoto, Motz, Muhammed Yavuz Köseoğlu, Naophis, Phoebe Wu, Ryohsuke Mitsudome, RyuYamamoto, Ryuta Kambe, SakodaShintaro, SaltUhey, Satoshi OTA, Satoshi Tanaka, Shintaro Tomie, Shumpei Wakabayashi, Shunsuke Miura, Taekjin LEE, TaikiYamada4, Takagi, Isamu, Takamasa Horibe, Takayuki Murooka, Takeshi Miura, Tao Zhong, TetsuKawa, Tomohito ANDO, Tomoya Kimura, Vincent Richard, Xuyuan Han, Yamato Ando, Yoshi Ri, Yuki TAKAGI, Yukihiro Saito, Yusuke Muramatsu, Yutaka Shimizu, Yuxuan Liu, Zhe Shen, Zulfaqar Azmi, asana17, awf-autoware-bot[bot], badai nguyen, beginningfan, beyzanurkaya, cyn-liu, danielsanchezaran, ito-san, keisuke, kminoda, melike tanrikulu, mkquda, pawellech1, ryohei sasaki, taikitanaka3, yamazakiTasuku, Łukasz Chojnacki diff --git a/autoware_launch/autoware_launch.drawio.svg b/autoware_launch/autoware_launch.drawio.svg index aa1735d154..77d9f7795f 100644 --- a/autoware_launch/autoware_launch.drawio.svg +++ b/autoware_launch/autoware_launch.drawio.svg @@ -1,4 +1,1360 @@ -
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
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+ + simulator.launch.xml... + + + + + + + Viewer does not support full SVG 1.1 + + + diff --git a/autoware_launch/config/control/autonomous_emergency_braking/autonomous_emergency_braking.param.yaml b/autoware_launch/config/control/autonomous_emergency_braking/autonomous_emergency_braking.param.yaml deleted file mode 100644 index 1a870aff7a..0000000000 --- a/autoware_launch/config/control/autonomous_emergency_braking/autonomous_emergency_braking.param.yaml +++ /dev/null @@ -1,20 +0,0 @@ -/**: - ros__parameters: - publish_debug_pointcloud: false - use_predicted_trajectory: true - use_imu_path: true - voxel_grid_x: 0.05 - voxel_grid_y: 0.05 - voxel_grid_z: 100000.0 - min_generated_path_length: 0.5 - expand_width: 0.1 - longitudinal_offset: 2.0 - t_response: 1.0 - a_ego_min: -3.0 - a_obj_min: -1.0 - imu_prediction_time_horizon: 1.5 - imu_prediction_time_interval: 0.1 - mpc_prediction_time_horizon: 1.5 - mpc_prediction_time_interval: 0.1 - collision_keeping_sec: 0.0 - aeb_hz: 10.0 diff --git a/autoware_launch/config/control/autoware_autonomous_emergency_braking/autonomous_emergency_braking.param.yaml b/autoware_launch/config/control/autoware_autonomous_emergency_braking/autonomous_emergency_braking.param.yaml new file mode 100644 index 0000000000..b23c3bbdd4 --- /dev/null +++ b/autoware_launch/config/control/autoware_autonomous_emergency_braking/autonomous_emergency_braking.param.yaml @@ -0,0 +1,49 @@ +/**: + ros__parameters: + # Ego path calculation + use_predicted_trajectory: true + use_imu_path: true + limit_imu_path_lat_dev: false + limit_imu_path_length: true + use_pointcloud_data: true + use_predicted_object_data: false + use_object_velocity_calculation: true + check_autoware_state: true + imu_path_lat_dev_threshold: 1.75 + min_generated_imu_path_length: 0.5 + max_generated_imu_path_length: 10.0 + imu_prediction_time_horizon: 1.5 + imu_prediction_time_interval: 0.1 + mpc_prediction_time_horizon: 4.5 + mpc_prediction_time_interval: 0.1 + + # Debug + publish_debug_pointcloud: false + publish_debug_markers: true + + # Point cloud partitioning + detection_range_min_height: 0.0 + detection_range_max_height_margin: 0.0 + voxel_grid_x: 0.1 + voxel_grid_y: 0.1 + voxel_grid_z: 0.5 + + # Point cloud cropping + expand_width: -0.2 + path_footprint_extra_margin: 1.0 + speed_calculation_expansion_margin: 0.7 + + # Point cloud clustering + cluster_tolerance: 0.15 #[m] + cluster_minimum_height: 0.1 + minimum_cluster_size: 10 + maximum_cluster_size: 10000 + + # RSS distance collision check + longitudinal_offset_margin: 1.0 + t_response: 1.0 + a_ego_min: -3.0 + a_obj_min: -1.0 + collision_keeping_sec: 3.0 + previous_obstacle_keep_time: 1.0 + aeb_hz: 10.0 diff --git a/autoware_launch/config/control/autoware_collision_detector/collision_detector.param.yaml b/autoware_launch/config/control/autoware_collision_detector/collision_detector.param.yaml new file mode 100644 index 0000000000..842654c66f --- /dev/null +++ b/autoware_launch/config/control/autoware_collision_detector/collision_detector.param.yaml @@ -0,0 +1,16 @@ +/**: + ros__parameters: + use_pointcloud: false # use pointcloud as obstacle check + use_dynamic_object: true # use dynamic object as obstacle check + collision_distance: 0.1 # Distance at which an object is determined to have collided with ego [m] + nearby_filter_radius: 5.0 # Radius to filter nearby objects [m] + keep_ignoring_time: 10.0 # Time to keep filtering objects that first appeared in the vicinity + nearby_object_type_filters: # Classes subject to filtering for objects first appearing in the vicinity + filter_car: false + filter_truck: false + filter_bus: false + filter_trailer: false + filter_bicycle: false + filter_motorcycle: false + filter_pedestrian: false + filter_unknown: true diff --git a/autoware_launch/config/control/control_validator/control_validator.param.yaml b/autoware_launch/config/control/control_validator/control_validator.param.yaml index ffd259e5e5..7485df43a5 100644 --- a/autoware_launch/config/control/control_validator/control_validator.param.yaml +++ b/autoware_launch/config/control/control_validator/control_validator.param.yaml @@ -1,6 +1,5 @@ /**: ros__parameters: - # If the number of consecutive invalid predicted_path exceeds this threshold, the Diag will be set to ERROR. # (For example, threshold = 1 means, even if the predicted_path is invalid, Diag will not be ERROR if # the next predicted_path is valid.) @@ -10,3 +9,9 @@ thresholds: max_distance_deviation: 1.0 + rolling_back_velocity: 0.5 + over_velocity_offset: 2.0 + over_velocity_ratio: 0.2 + + vel_lpf_gain: 0.9 # Time constant 0.33 + hold_velocity_error_until_stop: true diff --git a/autoware_launch/config/control/lane_departure_checker/lane_departure_checker.param.yaml b/autoware_launch/config/control/lane_departure_checker/lane_departure_checker.param.yaml index 253737609b..3094edf914 100644 --- a/autoware_launch/config/control/lane_departure_checker/lane_departure_checker.param.yaml +++ b/autoware_launch/config/control/lane_departure_checker/lane_departure_checker.param.yaml @@ -16,6 +16,7 @@ # Core footprint_margin_scale: 1.0 + footprint_extra_margin: 0.0 resample_interval: 0.3 max_deceleration: 2.8 delay_time: 1.3 diff --git a/autoware_launch/config/control/preset/default_preset.yaml b/autoware_launch/config/control/preset/default_preset.yaml new file mode 100644 index 0000000000..74ba17b0a1 --- /dev/null +++ b/autoware_launch/config/control/preset/default_preset.yaml @@ -0,0 +1,39 @@ +launch: + # controller + - arg: + name: trajectory_follower_mode + default: trajectory_follower_node + # option: trajectory_follower_node + # smart_mpc_trajectory_follower + # none + + # external_cmd selector/converter + - arg: + name: launch_external_cmd_selector + default: "true" + - arg: + name: launch_external_cmd_converter + default: "true" + + # optional control checkers + - arg: + name: launch_lane_departure_checker + default: "true" + - arg: + name: launch_control_validator + default: "true" + - arg: + name: launch_autonomous_emergency_braking + default: "true" + - arg: + name: launch_collision_detector + default: "true" + - arg: + name: launch_obstacle_collision_checker + default: "false" + - arg: + name: launch_predicted_path_checker + default: "false" + - arg: + name: launch_control_evaluator + default: "true" diff --git a/autoware_launch/config/control/preset/dlr_control_validator_preset.yaml b/autoware_launch/config/control/preset/dlr_control_validator_preset.yaml new file mode 100644 index 0000000000..1ad7ce9ac9 --- /dev/null +++ b/autoware_launch/config/control/preset/dlr_control_validator_preset.yaml @@ -0,0 +1,39 @@ +launch: + # controller + - arg: + name: trajectory_follower_mode + default: none + # option: trajectory_follower_node + # smart_mpc_trajectory_follower + # none + + # external_cmd selector/converter + - arg: + name: launch_external_cmd_selector + default: "false" + - arg: + name: launch_external_cmd_converter + default: "false" + + # optional control checkers + - arg: + name: launch_lane_departure_checker + default: "false" + - arg: + name: launch_control_validator + default: "true" + - arg: + name: launch_autonomous_emergency_braking + default: "false" + - arg: + name: launch_collision_detector + default: "false" + - arg: + name: launch_obstacle_collision_checker + default: "false" + - arg: + name: launch_predicted_path_checker + default: "false" + - arg: + name: launch_control_evaluator + default: "false" diff --git a/autoware_launch/config/control/trajectory_follower/lateral/mpc.param.yaml b/autoware_launch/config/control/trajectory_follower/lateral/mpc.param.yaml index 7820c562e8..1d30a28d05 100644 --- a/autoware_launch/config/control/trajectory_follower/lateral/mpc.param.yaml +++ b/autoware_launch/config/control/trajectory_follower/lateral/mpc.param.yaml @@ -3,8 +3,7 @@ # -- system -- traj_resample_dist: 0.1 # path resampling interval [m] use_steer_prediction: false # flag for using steer prediction (do not use steer measurement) - admissible_position_error: 5.0 # stop mpc calculation when error is larger than the following value - admissible_yaw_error_rad: 1.57 # stop mpc calculation when error is larger than the following value + use_delayed_initial_state: true # flag to use x0_delayed as initial state for predicted trajectory # -- path smoothing -- enable_path_smoothing: false # flag for path smoothing @@ -46,7 +45,7 @@ # -- vehicle model -- vehicle_model_type: "kinematics" # vehicle model type for mpc prediction. option is kinematics, kinematics_no_delay, and dynamics input_delay: 0.24 # steering input delay time for delay compensation - vehicle_model_steer_tau: 0.3 # steering dynamics time constant (1d approximation) [s] + vehicle_model_steer_tau: 0.27 # steering dynamics time constant (1d approximation) [s] steer_rate_lim_dps_list_by_curvature: [40.0, 50.0, 60.0] # steering angle rate limit list depending on curvature [deg/s] curvature_list_for_steer_rate_lim: [0.001, 0.002, 0.01] # curvature list for steering angle rate limit interpolation in ascending order [/m] steer_rate_lim_dps_list_by_velocity: [60.0, 50.0, 40.0] # steering angle rate limit list depending on velocity [deg/s] @@ -75,4 +74,4 @@ average_num: 1000 steering_offset_limit: 0.02 - debug_publish_predicted_trajectory: false # publish debug predicted trajectory in Frenet coordinate + publish_debug_trajectories: true # flag to publish predicted trajectory and resampled reference trajectory for debug purpose diff --git a/autoware_launch/config/control/trajectory_follower/longitudinal/pid.param.yaml b/autoware_launch/config/control/trajectory_follower/longitudinal/pid.param.yaml index ad6217663f..411477d2ba 100644 --- a/autoware_launch/config/control/trajectory_follower/longitudinal/pid.param.yaml +++ b/autoware_launch/config/control/trajectory_follower/longitudinal/pid.param.yaml @@ -1,6 +1,6 @@ /**: ros__parameters: - delay_compensation_time: 0.17 + delay_compensation_time: 0.1 enable_smooth_stop: true enable_overshoot_emergency: true @@ -11,13 +11,11 @@ # state transition drive_state_stop_dist: 0.5 drive_state_offset_stop_dist: 1.0 - stopping_state_stop_dist: 0.5 + stopping_state_stop_dist: 0.49 stopped_state_entry_duration_time: 0.1 stopped_state_entry_vel: 0.01 stopped_state_entry_acc: 0.1 emergency_state_overshoot_stop_dist: 1.5 - emergency_state_traj_trans_dev: 3.0 - emergency_state_traj_rot_dev: 0.7854 # drive state kp: 1.0 @@ -53,14 +51,17 @@ # stopped state stopped_vel: 0.0 - stopped_acc: -3.4 - stopped_jerk: -5.0 + stopped_acc: -3.4 # denotes pedal position # emergency state emergency_vel: 0.0 - emergency_acc: -5.0 + emergency_acc: -5.0 # denotes acceleration emergency_jerk: -3.0 + # acceleration feedback + lpf_acc_error_gain: 0.98 + acc_feedback_gain: 0.0 + # acceleration limit max_acc: 3.0 min_acc: -5.0 @@ -68,10 +69,11 @@ # jerk limit max_jerk: 2.0 min_jerk: -5.0 + max_acc_cmd_diff: 50.0 # [m/s^2 * s^-1] # slope compensation lpf_pitch_gain: 0.95 - slope_source: "raw_pitch" # raw_pitch, trajectory_pitch or trajectory_adaptive + slope_source: "trajectory_goal_adaptive" # raw_pitch, trajectory_pitch, trajectory_adaptive or trajectory_goal_adaptive adaptive_trajectory_velocity_th: 1.0 max_pitch_rad: 0.1 min_pitch_rad: -0.1 diff --git a/autoware_launch/config/control/vehicle_cmd_gate/vehicle_cmd_gate.param.yaml b/autoware_launch/config/control/vehicle_cmd_gate/vehicle_cmd_gate.param.yaml index 54c87f45b6..8b11cdb85a 100644 --- a/autoware_launch/config/control/vehicle_cmd_gate/vehicle_cmd_gate.param.yaml +++ b/autoware_launch/config/control/vehicle_cmd_gate/vehicle_cmd_gate.param.yaml @@ -2,9 +2,8 @@ ros__parameters: update_rate: 10.0 system_emergency_heartbeat_timeout: 0.5 - use_emergency_handling: false + use_emergency_handling: true check_external_emergency_heartbeat: $(var check_external_emergency_heartbeat) - use_start_request: false enable_cmd_limit_filter: true filter_activated_count_threshold: 5 filter_activated_velocity_threshold: 1.0 @@ -12,18 +11,17 @@ stop_hold_acceleration: -1.5 emergency_acceleration: -2.4 moderate_stop_service_acceleration: -1.5 - stopped_state_entry_duration_time: 0.1 stop_check_duration: 1.0 nominal: vel_lim: 25.0 - reference_speed_points: [20.0, 30.0] - steer_lim: [1.0, 0.8] - steer_rate_lim: [1.0, 0.8] - lon_acc_lim: [5.0, 4.0] - lon_jerk_lim: [5.0, 4.0] - lat_acc_lim: [5.0, 4.0] - lat_jerk_lim: [7.0, 6.0] - actual_steer_diff_lim: [1.0, 0.8] + reference_speed_points: [0.1, 0.3, 20.0, 30.0] + steer_lim: [1.0, 1.0, 1.0, 0.8] + steer_rate_lim: [1.0, 1.0, 1.0, 0.8] + lon_acc_lim: [5.0, 5.0, 5.0, 4.0] + lon_jerk_lim: [80.0, 5.0, 5.0, 4.0] # The first element is required for quick pedal changes when stopping and starting. + lat_acc_lim: [5.0, 5.0, 5.0, 4.0] + lat_jerk_lim: [7.0, 7.0, 7.0, 6.0] + actual_steer_diff_lim: [1.0, 1.0, 1.0, 0.8] on_transition: vel_lim: 50.0 reference_speed_points: [20.0, 30.0] diff --git a/autoware_launch/config/localization/eagleye_config.param.yaml b/autoware_launch/config/localization/eagleye_config.param.yaml index e83376e841..046a041188 100644 --- a/autoware_launch/config/localization/eagleye_config.param.yaml +++ b/autoware_launch/config/localization/eagleye_config.param.yaml @@ -10,7 +10,7 @@ twist_topic: /sensing/vehicle_velocity_converter/twist_with_covariance imu_topic: /sensing/imu/imu_data gnss: - velocity_source_type: 2 # rtklib_msgs/RtklibNav: 0, nmea_msgs/Sentence: 1, ublox_msgs/NavPVT: 2, geometry_msgs/TwistWithCovarianceStamped: 3 + velocity_source_type: 2 # rtklib_msgs/RtklibNav: 0, nmea_msgs/Sentence: 1, ublox_msgs/NavPVT: 2, geometry_msgs/TwistWithCovarianceStamped: 3, septentrio_gnss_driver/PVTGeodetic: 4 velocity_source_topic: /sensing/gnss/ublox/navpvt llh_source_type: 2 # rtklib_msgs/RtklibNav: 0, nmea_msgs/Sentence: 1, sensor_msgs/NavSatFix: 2 llh_source_topic: /sensing/gnss/ublox/nav_sat_fix diff --git a/autoware_launch/config/localization/ekf_localizer.param.yaml b/autoware_launch/config/localization/ekf_localizer.param.yaml index 4cc71e0904..e00d5e1c10 100644 --- a/autoware_launch/config/localization/ekf_localizer.param.yaml +++ b/autoware_launch/config/localization/ekf_localizer.param.yaml @@ -5,7 +5,6 @@ enable_yaw_bias_estimation: true predict_frequency: 50.0 tf_rate: 50.0 - publish_tf: true extend_state_step: 50 pose_measurement: @@ -13,13 +12,13 @@ pose_additional_delay: 0.0 pose_measure_uncertainty_time: 0.01 pose_smoothing_steps: 5 - pose_gate_dist: 10000.0 + pose_gate_dist: 49.5 # corresponds to significance level = 10^-10 twist_measurement: # for twist measurement twist_additional_delay: 0.0 twist_smoothing_steps: 2 - twist_gate_dist: 10000.0 + twist_gate_dist: 46.1 # corresponds to significance level = 10^-10 process_noise: # for process model @@ -30,8 +29,8 @@ simple_1d_filter_parameters: #Simple1DFilter parameters z_filter_proc_dev: 1.0 - roll_filter_proc_dev: 0.01 - pitch_filter_proc_dev: 0.01 + roll_filter_proc_dev: 0.1 + pitch_filter_proc_dev: 0.1 diagnostics: # for diagnostics @@ -39,6 +38,11 @@ pose_no_update_count_threshold_error: 100 twist_no_update_count_threshold_warn: 50 twist_no_update_count_threshold_error: 100 + ellipse_scale: 3.0 + error_ellipse_size: 1.5 + warn_ellipse_size: 1.2 + error_ellipse_size_lateral_direction: 0.3 + warn_ellipse_size_lateral_direction: 0.25 misc: # for velocity measurement limitation (Set 0.0 if you want to ignore) diff --git a/autoware_launch/config/localization/lidar_marker_localizer/lidar_marker_localizer.param.yaml b/autoware_launch/config/localization/lidar_marker_localizer/lidar_marker_localizer.param.yaml new file mode 100644 index 0000000000..1c04d51e5d --- /dev/null +++ b/autoware_launch/config/localization/lidar_marker_localizer/lidar_marker_localizer.param.yaml @@ -0,0 +1,42 @@ +/**: + ros__parameters: + + # marker name + marker_name: "reflector" + + # for marker detection algorithm + resolution: 0.05 + # A sequence of high/low intensity to perform pattern matching. + # 1: high intensity (positive match), 0: not consider, -1: low intensity (negative match) + intensity_pattern: [-1, -1, 0, 1, 1, 1, 1, 1, 0, -1, -1] + match_intensity_difference_threshold: 20 + positive_match_num_threshold: 3 + negative_match_num_threshold: 3 + vote_threshold_for_detect_marker: 20 + marker_height_from_ground: 1.075 + + # for interpolate algorithm + self_pose_timeout_sec: 1.0 + self_pose_distance_tolerance_m: 1.0 + + # for validation + limit_distance_from_self_pose_to_nearest_marker: 2.0 + limit_distance_from_self_pose_to_marker: 2.0 + + # base_covariance + # [TBD] This value is dynamically scaled according to the distance at which markers are detected. + base_covariance: [0.04, 0.0, 0.0, 0.0, 0.0, 0.0, + 0.0, 0.04, 0.0, 0.0, 0.0, 0.0, + 0.0, 0.0, 0.01, 0.0, 0.0, 0.0, + 0.0, 0.0, 0.0, 0.00007569, 0.0, 0.0, + 0.0, 0.0, 0.0, 0.0, 0.00007569, 0.0, + 0.0, 0.0, 0.0, 0.0, 0.0, 0.00030625] + + # for visualize the detected marker pointcloud + marker_width: 0.8 + + # for save log + enable_save_log: false + save_file_directory_path: detected_reflector_intensity + save_file_name: detected_reflector_intensity + save_frame_id: velodyne_top diff --git a/autoware_launch/config/localization/lidar_marker_localizer/pointcloud_preprocessor/crop_box_filter_measurement_range.param.yaml b/autoware_launch/config/localization/lidar_marker_localizer/pointcloud_preprocessor/crop_box_filter_measurement_range.param.yaml new file mode 100644 index 0000000000..6b3986540d --- /dev/null +++ b/autoware_launch/config/localization/lidar_marker_localizer/pointcloud_preprocessor/crop_box_filter_measurement_range.param.yaml @@ -0,0 +1,11 @@ +/**: + ros__parameters: + input_frame: "base_link" + output_frame: "base_link" + min_x: -10.0 + max_x: 10.0 + min_y: 0.0 + max_y: 7.5 + min_z: -5.0 + max_z: 5.0 + negative: False diff --git a/autoware_launch/config/localization/lidar_marker_localizer/pointcloud_preprocessor/ring_filter.param.yaml b/autoware_launch/config/localization/lidar_marker_localizer/pointcloud_preprocessor/ring_filter.param.yaml new file mode 100644 index 0000000000..7d87f797c1 --- /dev/null +++ b/autoware_launch/config/localization/lidar_marker_localizer/pointcloud_preprocessor/ring_filter.param.yaml @@ -0,0 +1,9 @@ +/**: + ros__parameters: + input_frame: "base_link" + output_frame: "base_link" + filter_field_name: "channel" + filter_limit_min: 5 + filter_limit_max: 45 + filter_limit_negative: False + keep_organized: False diff --git a/autoware_launch/config/localization/ndt_scan_matcher/ndt_scan_matcher.param.yaml b/autoware_launch/config/localization/ndt_scan_matcher/ndt_scan_matcher.param.yaml index 144449ce75..5d6b8d7344 100644 --- a/autoware_launch/config/localization/ndt_scan_matcher/ndt_scan_matcher.param.yaml +++ b/autoware_launch/config/localization/ndt_scan_matcher/ndt_scan_matcher.param.yaml @@ -11,6 +11,15 @@ map_frame: "map" + sensor_points: + # Tolerance of timestamp difference between current time and sensor pointcloud. [sec] + timeout_sec: 1.0 + + # Required distance of input sensor points. [m] + # If the max distance of input sensor points is lower than this value, the scan matching will not be performed. + required_distance: 10.0 + + ndt: # The maximum difference between two consecutive # transformations in order to consider convergence @@ -42,22 +51,25 @@ # The number of initial random trials in the TPE (Tree-Structured Parzen Estimator). # This value should be equal to or less than 'initial_estimate_particles_num' and more than 0. # If it is equal to 'initial_estimate_particles_num', the search will be the same as a full random search. - n_startup_trials: 20 + n_startup_trials: 100 validation: - # Tolerance of timestamp difference between current time and sensor pointcloud. [sec] - lidar_topic_timeout_sec: 1.0 - # Tolerance of timestamp difference between initial_pose and sensor pointcloud. [sec] initial_pose_timeout_sec: 1.0 # Tolerance of distance difference between two initial poses used for linear interpolation. [m] initial_pose_distance_tolerance_m: 10.0 + # Tolerance of distance difference from initial pose to result pose. [m] + initial_to_result_distance_tolerance_m: 3.0 + # The execution time which means probably NDT cannot matches scans properly. [ms] critical_upper_bound_exe_time_ms: 100.0 + # Tolerance for the number of times rejected estimation results consecutively + skipping_publish_num: 5 + score_estimation: # Converged param type @@ -95,13 +107,21 @@ # 2D Real-time covariance estimation with multiple searches (output_pose_covariance is the minimum value) covariance_estimation: - enable: false + # Covariance estimation type + # 0=FIXED_VALUE, 1=LAPLACE_APPROXIMATION, 2=MULTI_NDT, 3=MULTI_NDT_SCORE + covariance_estimation_type: 0 # Offset arrangement in covariance estimation [m] # initial_pose_offset_model_x & initial_pose_offset_model_y must have the same number of elements. initial_pose_offset_model_x: [0.0, 0.0, 0.5, -0.5, 1.0, -1.0] initial_pose_offset_model_y: [0.5, -0.5, 0.0, 0.0, 0.0, 0.0] + # In MULTI_NDT_SCORE, the parameter that adjusts the estimated 2D covariance + temperature: 0.05 + + # Scale value for adjusting the estimated covariance by a constant multiplication + scale_factor: 1.0 + dynamic_map_loading: # Dynamic map loading distance diff --git a/autoware_launch/config/localization/pose_initializer.param.yaml b/autoware_launch/config/localization/pose_initializer.param.yaml index 88acbfb526..80e0b4aac1 100644 --- a/autoware_launch/config/localization/pose_initializer.param.yaml +++ b/autoware_launch/config/localization/pose_initializer.param.yaml @@ -1,7 +1,13 @@ /**: ros__parameters: + user_defined_initial_pose: + enable: $(var user_defined_initial_pose/enable) + pose: $(var user_defined_initial_pose/pose) + gnss_pose_timeout: 3.0 # [sec] stop_check_duration: 3.0 # [sec] + pose_error_threshold: 5.0 # [m] + pose_error_check_enabled: false ekf_enabled: $(var ekf_enabled) gnss_enabled: $(var gnss_enabled) yabloc_enabled: $(var yabloc_enabled) diff --git a/autoware_launch/config/localization/stop_filter.param.yaml b/autoware_launch/config/localization/stop_filter.param.yaml new file mode 100644 index 0000000000..ded090b75b --- /dev/null +++ b/autoware_launch/config/localization/stop_filter.param.yaml @@ -0,0 +1,4 @@ +/**: + ros__parameters: + vx_threshold: 0.1 # [m/s] + wz_threshold: 0.02 # [rad/s] diff --git a/autoware_launch/config/map/lanelet2_map_loader.param.yaml b/autoware_launch/config/map/lanelet2_map_loader.param.yaml index b830e038f1..48d392a1b8 100755 --- a/autoware_launch/config/map/lanelet2_map_loader.param.yaml +++ b/autoware_launch/config/map/lanelet2_map_loader.param.yaml @@ -1,4 +1,6 @@ /**: ros__parameters: - center_line_resolution: 5.0 # [m] + allow_unsupported_version: true # flag to load unsupported format_version anyway. If true, just prints warning. + center_line_resolution: 5.0 # [m] + use_waypoints: true # "centerline" in the Lanelet2 map will be used as a "waypoints" tag. lanelet2_map_path: $(var lanelet2_map_path) # The lanelet2 map path diff --git a/autoware_launch/config/perception/object_recognition/detection/clustering/voxel_grid_based_euclidean_cluster.param.yaml b/autoware_launch/config/perception/object_recognition/detection/clustering/voxel_grid_based_euclidean_cluster.param.yaml index 26b027f007..15f03fb959 100644 --- a/autoware_launch/config/perception/object_recognition/detection/clustering/voxel_grid_based_euclidean_cluster.param.yaml +++ b/autoware_launch/config/perception/object_recognition/detection/clustering/voxel_grid_based_euclidean_cluster.param.yaml @@ -15,3 +15,4 @@ min_y: -200.0 max_z: 2.0 min_z: -10.0 + negative: false diff --git a/autoware_launch/config/perception/object_recognition/detection/detected_object_validation/object_lanelet_filter.param.yaml b/autoware_launch/config/perception/object_recognition/detection/detected_object_validation/object_lanelet_filter.param.yaml new file mode 100644 index 0000000000..d15b2c81cf --- /dev/null +++ b/autoware_launch/config/perception/object_recognition/detection/detected_object_validation/object_lanelet_filter.param.yaml @@ -0,0 +1,23 @@ +/**: + ros__parameters: + filter_target_label: + UNKNOWN : true + CAR : false + TRUCK : false + BUS : false + TRAILER : false + MOTORCYCLE : false + BICYCLE : false + PEDESTRIAN : false + + filter_settings: + # polygon overlap based filter + polygon_overlap_filter: + enabled: true + # velocity direction based filter + lanelet_direction_filter: + enabled: false + velocity_yaw_threshold: 0.785398 # [rad] (45 deg) + object_speed_threshold: 3.0 # [m/s] + debug: false + lanelet_extra_margin: 0.0 diff --git a/autoware_launch/config/perception/object_recognition/detection/detected_object_validation/object_position_filter.param.yaml b/autoware_launch/config/perception/object_recognition/detection/detected_object_validation/object_position_filter.param.yaml new file mode 100644 index 0000000000..70afd9d31b --- /dev/null +++ b/autoware_launch/config/perception/object_recognition/detection/detected_object_validation/object_position_filter.param.yaml @@ -0,0 +1,16 @@ +/**: + ros__parameters: + filter_target_label: + UNKNOWN : true + CAR : false + TRUCK : false + BUS : false + TRAILER : false + MOTORCYCLE : false + BICYCLE : false + PEDESTRIAN : false + + upper_bound_x: 100.0 + lower_bound_x: 0.0 + upper_bound_y: 10.0 + lower_bound_y: -10.0 diff --git a/autoware_launch/config/perception/object_recognition/detection/detected_object_validation/obstacle_pointcloud_based_validator.param.yaml b/autoware_launch/config/perception/object_recognition/detection/detected_object_validation/obstacle_pointcloud_based_validator.param.yaml index b98f8adfb5..fa04c2c632 100644 --- a/autoware_launch/config/perception/object_recognition/detection/detected_object_validation/obstacle_pointcloud_based_validator.param.yaml +++ b/autoware_launch/config/perception/object_recognition/detection/detected_object_validation/obstacle_pointcloud_based_validator.param.yaml @@ -2,14 +2,17 @@ ros__parameters: min_points_num: #UNKNOWN, CAR, TRUCK, BUS, TRAILER, MOTORBIKE, BICYCLE, PEDESTRIAN - [10, 10, 10, 10, 10,10, 10, 10] + [10, 10, 10, 10, 10, 10, 10, 10] max_points_num: #UNKNOWN, CAR, TRUCK, BUS, TRAILER, MOTORBIKE, BICYCLE, PEDESTRIAN - [10, 10, 10, 10, 10,10, 10, 10] + [10, 10, 10, 10, 10, 10, 10, 10] min_points_and_distance_ratio: - #UNKNOWN, CAR, TRUCK, BUS, TRAILER, MOTORBIKE, BICYCLE, PEDESTRIAN - [800.0, 880.0, 800.0, 800.0, 800.0, 800.0, 800.0, 800.0] + #UNKNOWN, CAR, TRUCK, BUS, TRAILER, MOTORBIKE, BICYCLE, PEDESTRIAN + [800.0, 800.0, 800.0, 800.0, 800.0, 800.0, 800.0, 800.0] + + validate_max_distance_m: 70.0 # [m] using_2d_validator: true + enable_debugger: false diff --git a/autoware_launch/config/perception/object_recognition/detection/detected_object_validation/occupancy_grid_based_validator.param.yaml b/autoware_launch/config/perception/object_recognition/detection/detected_object_validation/occupancy_grid_based_validator.param.yaml new file mode 100644 index 0000000000..bb996f1197 --- /dev/null +++ b/autoware_launch/config/perception/object_recognition/detection/detected_object_validation/occupancy_grid_based_validator.param.yaml @@ -0,0 +1,4 @@ +/**: + ros__parameters: + mean_threshold: 0.6 + enable_debug: false diff --git a/autoware_launch/config/perception/object_recognition/detection/image_projection_based_fusion/fusion_common.param.yaml b/autoware_launch/config/perception/object_recognition/detection/image_projection_based_fusion/fusion_common.param.yaml new file mode 100644 index 0000000000..86db3bad4f --- /dev/null +++ b/autoware_launch/config/perception/object_recognition/detection/image_projection_based_fusion/fusion_common.param.yaml @@ -0,0 +1,24 @@ +/**: + ros__parameters: + input_offset_ms: [61.67, 111.67, 45.0, 28.33, 78.33, 95.0] + timeout_ms: 70.0 + match_threshold_ms: 50.0 + image_buffer_size: 15 + # projection setting for each ROI whether unrectify image + point_project_to_unrectified_image: [false, false, false, false, false, false] + debug_mode: false + filter_scope_min_x: -100.0 + filter_scope_min_y: -100.0 + filter_scope_min_z: -100.0 + filter_scope_max_x: 100.0 + filter_scope_max_y: 100.0 + filter_scope_max_z: 100.0 + + # camera cache setting for each ROI + approximate_camera_projection: [true, true, true, true, true, true] + # grid size in pixels + approximation_grid_cell_width: 1.0 + approximation_grid_cell_height: 1.0 + + # debug parameters + publish_processing_time_detail: false diff --git a/autoware_launch/config/perception/object_recognition/detection/image_projection_based_fusion/roi_pointcloud_fusion.param.yaml b/autoware_launch/config/perception/object_recognition/detection/image_projection_based_fusion/roi_pointcloud_fusion.param.yaml index 5b86b8e81d..acf5f75163 100644 --- a/autoware_launch/config/perception/object_recognition/detection/image_projection_based_fusion/roi_pointcloud_fusion.param.yaml +++ b/autoware_launch/config/perception/object_recognition/detection/image_projection_based_fusion/roi_pointcloud_fusion.param.yaml @@ -2,4 +2,5 @@ ros__parameters: fuse_unknown_only: true min_cluster_size: 2 + max_cluster_size: 20 cluster_2d_tolerance: 0.5 diff --git a/autoware_launch/config/perception/object_recognition/detection/image_projection_based_fusion/roi_sync.param.yaml b/autoware_launch/config/perception/object_recognition/detection/image_projection_based_fusion/roi_sync.param.yaml deleted file mode 100644 index 99d85089be..0000000000 --- a/autoware_launch/config/perception/object_recognition/detection/image_projection_based_fusion/roi_sync.param.yaml +++ /dev/null @@ -1,13 +0,0 @@ -/**: - ros__parameters: - input_offset_ms: [61.67, 111.67, 45.0, 28.33, 78.33, 95.0] - timeout_ms: 70.0 - match_threshold_ms: 50.0 - image_buffer_size: 15 - debug_mode: false - filter_scope_min_x: -100.0 - filter_scope_min_y: -100.0 - filter_scope_min_z: -100.0 - filter_scope_max_x: 100.0 - filter_scope_max_y: 100.0 - filter_scope_max_z: 100.0 diff --git a/autoware_launch/config/perception/object_recognition/detection/lidar_model/centerpoint.param.yaml b/autoware_launch/config/perception/object_recognition/detection/lidar_model/centerpoint.param.yaml index a9c3174846..f4a5d59c3c 100644 --- a/autoware_launch/config/perception/object_recognition/detection/lidar_model/centerpoint.param.yaml +++ b/autoware_launch/config/perception/object_recognition/detection/lidar_model/centerpoint.param.yaml @@ -1,26 +1,20 @@ /**: ros__parameters: - class_names: ["CAR", "TRUCK", "BUS", "BICYCLE", "PEDESTRIAN"] - point_feature_size: 4 - max_voxel_size: 40000 - point_cloud_range: [-76.8, -76.8, -4.0, 76.8, 76.8, 6.0] - voxel_size: [0.32, 0.32, 10.0] - downsample_factor: 1 - encoder_in_feature_size: 9 - # post-process params - circle_nms_dist_threshold: 0.5 - iou_nms_target_class_names: ["CAR"] - iou_nms_search_distance_2d: 10.0 - iou_nms_threshold: 0.1 - yaw_norm_thresholds: [0.3, 0.3, 0.3, 0.3, 0.0] - score_threshold: 0.35 - has_twist: false - trt_precision: fp16 - densification_num_past_frames: 1 - densification_world_frame_id: map # weight files encoder_onnx_path: "$(var model_path)/pts_voxel_encoder_$(var model_name).onnx" encoder_engine_path: "$(var model_path)/pts_voxel_encoder_$(var model_name).engine" head_onnx_path: "$(var model_path)/pts_backbone_neck_head_$(var model_name).onnx" head_engine_path: "$(var model_path)/pts_backbone_neck_head_$(var model_name).engine" + trt_precision: fp16 + cloud_capacity: 2000000 + post_process_params: + # post-process params + circle_nms_dist_threshold: 0.5 + iou_nms_search_distance_2d: 10.0 + iou_nms_threshold: 0.1 + yaw_norm_thresholds: [0.3, 0.3, 0.3, 0.3, 0.0] + score_threshold: 0.35 + densification_params: + world_frame_id: map + num_past_frames: 1 diff --git a/autoware_launch/config/perception/object_recognition/detection/lidar_model/centerpoint_sigma.param.yaml b/autoware_launch/config/perception/object_recognition/detection/lidar_model/centerpoint_sigma.param.yaml new file mode 100644 index 0000000000..f4a5d59c3c --- /dev/null +++ b/autoware_launch/config/perception/object_recognition/detection/lidar_model/centerpoint_sigma.param.yaml @@ -0,0 +1,20 @@ +/**: + ros__parameters: + + # weight files + encoder_onnx_path: "$(var model_path)/pts_voxel_encoder_$(var model_name).onnx" + encoder_engine_path: "$(var model_path)/pts_voxel_encoder_$(var model_name).engine" + head_onnx_path: "$(var model_path)/pts_backbone_neck_head_$(var model_name).onnx" + head_engine_path: "$(var model_path)/pts_backbone_neck_head_$(var model_name).engine" + trt_precision: fp16 + cloud_capacity: 2000000 + post_process_params: + # post-process params + circle_nms_dist_threshold: 0.5 + iou_nms_search_distance_2d: 10.0 + iou_nms_threshold: 0.1 + yaw_norm_thresholds: [0.3, 0.3, 0.3, 0.3, 0.0] + score_threshold: 0.35 + densification_params: + world_frame_id: map + num_past_frames: 1 diff --git a/autoware_launch/config/perception/object_recognition/detection/lidar_model/centerpoint_tiny.param.yaml b/autoware_launch/config/perception/object_recognition/detection/lidar_model/centerpoint_tiny.param.yaml index 474d0e2b69..f4a5d59c3c 100644 --- a/autoware_launch/config/perception/object_recognition/detection/lidar_model/centerpoint_tiny.param.yaml +++ b/autoware_launch/config/perception/object_recognition/detection/lidar_model/centerpoint_tiny.param.yaml @@ -1,26 +1,20 @@ /**: ros__parameters: - class_names: ["CAR", "TRUCK", "BUS", "BICYCLE", "PEDESTRIAN"] - point_feature_size: 4 - max_voxel_size: 40000 - point_cloud_range: [-76.8, -76.8, -4.0, 76.8, 76.8, 6.0] - voxel_size: [0.32, 0.32, 10.0] - downsample_factor: 2 - encoder_in_feature_size: 9 - # post-process params - circle_nms_dist_threshold: 0.5 - iou_nms_target_class_names: ["CAR"] - iou_nms_search_distance_2d: 10.0 - iou_nms_threshold: 0.1 - yaw_norm_thresholds: [0.3, 0.3, 0.3, 0.3, 0.0] - score_threshold: 0.35 - has_twist: false - trt_precision: fp16 - densification_num_past_frames: 1 - densification_world_frame_id: map # weight files encoder_onnx_path: "$(var model_path)/pts_voxel_encoder_$(var model_name).onnx" encoder_engine_path: "$(var model_path)/pts_voxel_encoder_$(var model_name).engine" head_onnx_path: "$(var model_path)/pts_backbone_neck_head_$(var model_name).onnx" head_engine_path: "$(var model_path)/pts_backbone_neck_head_$(var model_name).engine" + trt_precision: fp16 + cloud_capacity: 2000000 + post_process_params: + # post-process params + circle_nms_dist_threshold: 0.5 + iou_nms_search_distance_2d: 10.0 + iou_nms_threshold: 0.1 + yaw_norm_thresholds: [0.3, 0.3, 0.3, 0.3, 0.0] + score_threshold: 0.35 + densification_params: + world_frame_id: map + num_past_frames: 1 diff --git a/autoware_launch/config/perception/object_recognition/detection/lidar_model/detection_class_remapper.param.yaml b/autoware_launch/config/perception/object_recognition/detection/lidar_model/detection_class_remapper.param.yaml deleted file mode 100644 index baea087c96..0000000000 --- a/autoware_launch/config/perception/object_recognition/detection/lidar_model/detection_class_remapper.param.yaml +++ /dev/null @@ -1,38 +0,0 @@ -/**: - ros__parameters: - allow_remapping_by_area_matrix: - # NOTE(kl): We turn all vehicles into trailers if they go over 3x12 [m^2]. - # NOTE(kl): We turn cars into trucks if they have an area between 2.2 x 5.5 and 3.0 * 12.0 [m^2] - # row: original class. column: class to remap to - #UNKNOWN, CAR, TRUCK, BUS, TRAILER, MOTORBIKE, BICYCLE,PEDESTRIAN - [0, 0, 0, 0, 0, 0, 0, 0, #UNKNOWN - 0, 0, 1, 0, 1, 0, 0, 0, #CAR - 0, 0, 0, 0, 1, 0, 0, 0, #TRUCK - 0, 0, 0, 0, 1, 0, 0, 0, #BUS - 0, 0, 0, 0, 0, 0, 0, 0, #TRAILER - 0, 0, 0, 0, 0, 0, 0, 0, #MOTORBIKE - 0, 0, 0, 0, 0, 0, 0, 0, #BICYCLE - 0, 0, 0, 0, 0, 0, 0, 0] #PEDESTRIAN - - min_area_matrix: - #UNKNOWN, CAR, TRUCK, BUS, TRAILER, MOTORBIKE, BICYCLE, PEDESTRIAN - [ 0.000, 0.000, 0.000, 0.000, 0.000, 0.000, 0.000, 0.000, #UNKNOWN - 0.000, 0.000, 12.100, 0.000, 36.000, 0.000, 0.000, 0.000, #CAR - 0.000, 0.000, 0.000, 0.000, 36.000, 0.000, 0.000, 0.000, #TRUCK - 0.000, 0.000, 0.000, 0.000, 36.000, 0.000, 0.000, 0.000, #BUS - 0.000, 0.000, 0.000, 0.000, 0.000, 0.000, 0.000, 0.000, #TRAILER - 0.000, 0.000, 0.000, 0.000, 0.000, 0.000, 0.000, 0.000, #MOTORBIKE - 0.000, 0.000, 0.000, 0.000, 0.000, 0.000, 0.000, 0.000, #BICYCLE - 0.000, 0.000, 0.000, 0.000, 0.000, 0.000, 0.000, 0.000] #PEDESTRIAN - - - max_area_matrix: - #UNKNOWN, CAR, TRUCK, BUS, TRAILER, MOTORBIKE, BICYCLE, PEDESTRIAN - [ 0.000, 0.000, 0.000, 0.000, 0.000, 0.000, 0.000, 0.000, #UNKNOWN - 0.000, 0.000, 36.000, 0.000, 999.999, 0.000, 0.000, 0.000, #CAR - 0.000, 0.000, 0.000, 0.000, 999.999, 0.000, 0.000, 0.000, #TRUCK - 0.000, 0.000, 0.000, 0.000, 999.999, 0.000, 0.000, 0.000, #BUS - 0.000, 0.000, 0.000, 0.000, 0.000, 0.000, 0.000, 0.000, #TRAILER - 0.000, 0.000, 0.000, 0.000, 0.000, 0.000, 0.000, 0.000, #MOTORBIKE - 0.000, 0.000, 0.000, 0.000, 0.000, 0.000, 0.000, 0.000, #BICYCLE - 0.000, 0.000, 0.000, 0.000, 0.000, 0.000, 0.000, 0.000] #PEDESTRIAN diff --git a/autoware_launch/config/perception/object_recognition/detection/lidar_model/pointpainting.param.yaml b/autoware_launch/config/perception/object_recognition/detection/lidar_model/pointpainting.param.yaml old mode 100755 new mode 100644 index 3abaffb243..89841193d5 --- a/autoware_launch/config/perception/object_recognition/detection/lidar_model/pointpainting.param.yaml +++ b/autoware_launch/config/perception/object_recognition/detection/lidar_model/pointpainting.param.yaml @@ -1,32 +1,21 @@ /**: ros__parameters: - trt_precision: fp16 encoder_onnx_path: "$(var model_path)/pts_voxel_encoder_$(var model_name).onnx" encoder_engine_path: "$(var model_path)/pts_voxel_encoder_$(var model_name).engine" head_onnx_path: "$(var model_path)/pts_backbone_neck_head_$(var model_name).onnx" head_engine_path: "$(var model_path)/pts_backbone_neck_head_$(var model_name).engine" - - model_params: - class_names: ["CAR", "TRUCK", "BUS", "BICYCLE", "PEDESTRIAN"] - paint_class_names: ["CAR", "BICYCLE", "PEDESTRIAN"] - point_feature_size: 7 # x, y, z, time-lag and car, pedestrian, bicycle - max_voxel_size: 40000 - point_cloud_range: [-121.6, -76.8, -3.0, 121.6, 76.8, 5.0] - voxel_size: [0.32, 0.32, 8.0] - downsample_factor: 1 - encoder_in_feature_size: 12 - yaw_norm_thresholds: [0.3, 0.3, 0.3, 0.3, 0.0] - has_twist: false - densification_params: - world_frame_id: "map" - num_past_frames: 0 + trt_precision: fp16 + cloud_capacity: 2000000 post_process_params: # post-process params circle_nms_dist_threshold: 0.3 - iou_nms_target_class_names: ["CAR"] iou_nms_search_distance_2d: 10.0 iou_nms_threshold: 0.1 - score_threshold: 0.35 + score_threshold: 0.45 + yaw_norm_thresholds: [0.3, 0.3, 0.3, 0.3, 0.0] + densification_params: + world_frame_id: "map" + num_past_frames: 1 omp_params: # omp params num_threads: 1 diff --git a/autoware_launch/config/perception/object_recognition/detection/lidar_model/transfusion.param.yaml b/autoware_launch/config/perception/object_recognition/detection/lidar_model/transfusion.param.yaml new file mode 100644 index 0000000000..979f8b9cc0 --- /dev/null +++ b/autoware_launch/config/perception/object_recognition/detection/lidar_model/transfusion.param.yaml @@ -0,0 +1,16 @@ +/**: + ros__parameters: + # network + trt_precision: fp16 + cloud_capacity: 2000000 + onnx_path: "$(var model_path)/transfusion.onnx" + engine_path: "$(var model_path)/transfusion.engine" + # pre-process params + densification_num_past_frames: 1 + densification_world_frame_id: map + # post-process params + circle_nms_dist_threshold: 0.5 + iou_nms_search_distance_2d: 10.0 + iou_nms_threshold: 0.1 + yaw_norm_thresholds: [0.3, 0.3, 0.3, 0.3, 0.0] # refers to the class_names + score_threshold: 0.1 diff --git a/autoware_launch/config/perception/object_recognition/detection/object_filter/object_lanelet_filter.param.yaml b/autoware_launch/config/perception/object_recognition/detection/object_filter/object_lanelet_filter.param.yaml index dfdee95642..da9b694564 100644 --- a/autoware_launch/config/perception/object_recognition/detection/object_filter/object_lanelet_filter.param.yaml +++ b/autoware_launch/config/perception/object_recognition/detection/object_filter/object_lanelet_filter.param.yaml @@ -9,3 +9,15 @@ MOTORCYCLE : false BICYCLE : false PEDESTRIAN : false + + filter_settings: + # polygon overlap based filter + polygon_overlap_filter: + enabled: true + # velocity direction based filter + lanelet_direction_filter: + enabled: false + velocity_yaw_threshold: 0.785398 # [rad] (45 deg) + object_speed_threshold: 3.0 # [m/s] + debug: false + lanelet_extra_margin: 0.0 diff --git a/autoware_launch/config/perception/object_recognition/detection/object_filter/radar_lanelet_filter.param.yaml b/autoware_launch/config/perception/object_recognition/detection/object_filter/radar_lanelet_filter.param.yaml index 62051e1c5e..a784fcb8c0 100644 --- a/autoware_launch/config/perception/object_recognition/detection/object_filter/radar_lanelet_filter.param.yaml +++ b/autoware_launch/config/perception/object_recognition/detection/object_filter/radar_lanelet_filter.param.yaml @@ -9,3 +9,15 @@ MOTORCYCLE : true BICYCLE : true PEDESTRIAN : true + + filter_settings: + # polygon overlap based filter + polygon_overlap_filter: + enabled: true + # velocity direction based filter + lanelet_direction_filter: + enabled: false + velocity_yaw_threshold: 0.785398 # [rad] (45 deg) + object_speed_threshold: 3.0 # [m/s] + debug: false + lanelet_extra_margin: 0.0 diff --git a/autoware_launch/config/perception/object_recognition/detection/pointcloud_filter/pointcloud_map_filter.param.yaml b/autoware_launch/config/perception/object_recognition/detection/pointcloud_filter/pointcloud_map_filter.param.yaml index 62b3074c15..a9ded1a9b5 100644 --- a/autoware_launch/config/perception/object_recognition/detection/pointcloud_filter/pointcloud_map_filter.param.yaml +++ b/autoware_launch/config/perception/object_recognition/detection/pointcloud_filter/pointcloud_map_filter.param.yaml @@ -14,7 +14,7 @@ publish_debug_pcd: False # use dynamic map loading - use_dynamic_map_loading: True + use_dynamic_map_loading: False # time interval to check dynamic map loading timer_interval_ms: 100 @@ -24,3 +24,6 @@ # radius map for dynamic map loading map_loader_radius: 150.0 + + # Threshold of grid size to split map pointcloud + max_map_grid_size: 100.0 diff --git a/autoware_launch/config/perception/object_recognition/prediction/map_based_prediction.param.yaml b/autoware_launch/config/perception/object_recognition/prediction/map_based_prediction.param.yaml index f8ad371ab9..9034ff65b2 100644 --- a/autoware_launch/config/perception/object_recognition/prediction/map_based_prediction.param.yaml +++ b/autoware_launch/config/perception/object_recognition/prediction/map_based_prediction.param.yaml @@ -1,10 +1,13 @@ /**: ros__parameters: enable_delay_compensation: true - prediction_time_horizon: 10.0 #[s] + prediction_time_horizon: + vehicle: 15.0 #[s] + pedestrian: 10.0 #[s] + unknown: 10.0 #[s] lateral_control_time_horizon: 5.0 #[s] prediction_sampling_delta_time: 0.5 #[s] - min_velocity_for_map_based_prediction: 1.39 #[m/s] + min_velocity_for_map_based_prediction: 1.0 #[m/s] min_crosswalk_user_velocity: 1.39 #[m/s] max_crosswalk_user_delta_yaw_threshold_for_lanelet: 0.785 #[m/s] dist_threshold_for_searching_lanelet: 3.0 #[m] @@ -27,6 +30,9 @@ timeout_set_for_no_intention_to_walk: [1.0, 0.0] # [s] values of map # parameter for shoulder lane prediction prediction_time_horizon_rate_for_validate_shoulder_lane_length: 0.8 + use_crosswalk_user_history: + match_lost_and_appeared_users: false + remember_lost_users: false # parameters for lc prediction lane_change_detection: @@ -44,3 +50,8 @@ consider_only_routable_neighbours: false reference_path_resolution: 0.5 #[m] + + # debug parameters + publish_processing_time: true + publish_processing_time_detail: true + publish_debug_markers: true diff --git a/autoware_launch/config/perception/object_recognition/tracking/multi_object_tracker/input_channels.param.yaml b/autoware_launch/config/perception/object_recognition/tracking/multi_object_tracker/input_channels.param.yaml new file mode 100644 index 0000000000..6f9bfcf621 --- /dev/null +++ b/autoware_launch/config/perception/object_recognition/tracking/multi_object_tracker/input_channels.param.yaml @@ -0,0 +1,82 @@ +/**: + ros__parameters: + input_channels: + detected_objects: + topic: "/perception/object_recognition/detection/objects" + can_spawn_new_tracker: true + optional: + name: "detected_objects" + short_name: "all" + # LIDAR - rule-based + lidar_clustering: + topic: "/perception/object_recognition/detection/clustering/objects" + can_spawn_new_tracker: true + optional: + name: "clustering" + short_name: "Lcl" + # LIDAR - DNN + lidar_centerpoint: + topic: "/perception/object_recognition/detection/centerpoint/objects" + can_spawn_new_tracker: true + optional: + name: "centerpoint" + short_name: "Lcp" + lidar_centerpoint_validated: + topic: "/perception/object_recognition/detection/centerpoint/validation/objects" + can_spawn_new_tracker: true + optional: + name: "centerpoint" + short_name: "Lcp" + lidar_apollo: + topic: "/perception/object_recognition/detection/apollo/objects" + can_spawn_new_tracker: true + optional: + name: "apollo" + short_name: "Lap" + lidar_apollo_validated: + topic: "/perception/object_recognition/detection/apollo/validation/objects" + can_spawn_new_tracker: true + optional: + name: "apollo" + short_name: "Lap" + # LIDAR-CAMERA - DNN + # cspell:ignore lidar_pointpainting pointpainting + lidar_pointpainting: + topic: "/perception/object_recognition/detection/pointpainting/objects" + can_spawn_new_tracker: true + optional: + name: "pointpainting" + short_name: "Lpp" + lidar_pointpainting_validated: + topic: "/perception/object_recognition/detection/pointpainting/validation/objects" + can_spawn_new_tracker: true + optional: + name: "pointpainting" + short_name: "Lpp" + # CAMERA-LIDAR + camera_lidar_fusion: + topic: "/perception/object_recognition/detection/clustering/camera_lidar_fusion/objects" + can_spawn_new_tracker: true + optional: + name: "camera_lidar_fusion" + short_name: "CLf" + # CAMERA-LIDAR+TRACKER + detection_by_tracker: + topic: "/perception/object_recognition/detection/detection_by_tracker/objects" + can_spawn_new_tracker: false + optional: + name: "detection_by_tracker" + short_name: "dbT" + # RADAR + radar: + topic: "/sensing/radar/detected_objects" + can_spawn_new_tracker: true + optional: + name: "radar" + short_name: "R" + radar_far: + topic: "/perception/object_recognition/detection/radar/far_objects" + can_spawn_new_tracker: true + optional: + name: "radar_far" + short_name: "Rf" diff --git a/autoware_launch/config/perception/object_recognition/tracking/multi_object_tracker/multi_object_tracker_node.param.yaml b/autoware_launch/config/perception/object_recognition/tracking/multi_object_tracker/multi_object_tracker_node.param.yaml index 32a12f8bf5..fdab3a382a 100644 --- a/autoware_launch/config/perception/object_recognition/tracking/multi_object_tracker/multi_object_tracker_node.param.yaml +++ b/autoware_launch/config/perception/object_recognition/tracking/multi_object_tracker/multi_object_tracker_node.param.yaml @@ -13,11 +13,26 @@ publish_rate: 10.0 world_frame_id: map enable_delay_compensation: true - pass_through_unknown_objects: false - publish_untracked_objects: false + consider_odometry_uncertainty: false + + # tracker parameters + tracker_lifetime: 1.0 # [s] + min_known_object_removal_iou: 0.1 # [ratio] + min_unknown_object_removal_iou: 0.001 # [ratio] + distance_threshold: 5.0 # [m] + confident_count_threshold: + UNKNOWN: 3 + CAR: 3 + TRUCK: 3 + BUS: 3 + TRAILER: 3 + MOTORBIKE: 3 + BICYCLE: 3 + PEDESTRIAN: 3 # debug parameters publish_processing_time: true publish_tentative_objects: false + publish_debug_markers: true diagnostics_warn_delay: 0.5 # [sec] diagnostics_error_delay: 1.0 # [sec] diff --git a/autoware_launch/config/perception/object_recognition/tracking/tracking_object_merger/decorative_tracker_merger.param.yaml b/autoware_launch/config/perception/object_recognition/tracking/tracking_object_merger/decorative_tracker_merger.param.yaml index e4ea2becd7..5286206876 100644 --- a/autoware_launch/config/perception/object_recognition/tracking/tracking_object_merger/decorative_tracker_merger.param.yaml +++ b/autoware_launch/config/perception/object_recognition/tracking/tracking_object_merger/decorative_tracker_merger.param.yaml @@ -2,6 +2,7 @@ /**: ros__parameters: base_link_frame_id: "base_link" + merge_frame_id: "map" time_sync_threshold: 0.999 sub_object_timeout_sec: 0.8 publish_interpolated_sub_objects: true #for debug diff --git a/autoware_launch/config/perception/obstacle_segmentation/ground_segmentation/ground_segmentation.param.yaml b/autoware_launch/config/perception/obstacle_segmentation/ground_segmentation/ground_segmentation.param.yaml index 4c58c066ed..cc7c52ed47 100644 --- a/autoware_launch/config/perception/obstacle_segmentation/ground_segmentation/ground_segmentation.param.yaml +++ b/autoware_launch/config/perception/obstacle_segmentation/ground_segmentation/ground_segmentation.param.yaml @@ -11,8 +11,8 @@ max_x: 150.0 min_y: -70.0 max_y: 70.0 - max_z: 2.5 - min_z: -2.5 # recommended 0.0 for non elevation_grid_mode + margin_max_z: 0.0 # to extend the crop box max_z from vehicle_height + margin_min_z: -2.5 # to extend the crop box min_z from ground negative: False common_ground_filter: @@ -24,12 +24,16 @@ use_virtual_ground_point: True split_height_distance: 0.2 non_ground_height_threshold: 0.20 - grid_size_m: 0.1 + grid_size_m: 0.5 grid_mode_switch_radius: 20.0 gnd_grid_buffer_size: 4 detection_range_z_max: 2.5 elevation_grid_mode: true use_recheck_ground_cluster: true + use_lowest_point: true low_priority_region_x: -20.0 center_pcl_shift: 0.0 radial_divider_angle_deg: 1.0 + + # debug parameters + publish_processing_time_detail: false diff --git a/autoware_launch/config/perception/obstacle_segmentation/occupancy_grid_based_outlier_filter/occupancy_grid_map_outlier_filter.param.yaml b/autoware_launch/config/perception/obstacle_segmentation/occupancy_grid_based_outlier_filter/occupancy_grid_map_outlier_filter.param.yaml new file mode 100644 index 0000000000..20289d02f9 --- /dev/null +++ b/autoware_launch/config/perception/obstacle_segmentation/occupancy_grid_based_outlier_filter/occupancy_grid_map_outlier_filter.param.yaml @@ -0,0 +1,15 @@ +/**: + ros__parameters: + radius_search_2d_filter.search_radius: 1.0 + radius_search_2d_filter.min_points_and_distance_ratio: 400.0 + radius_search_2d_filter.min_points: 4 + radius_search_2d_filter.max_points: 70 + radius_search_2d_filter.max_filter_points_nb: 15000 + map_frame: "map" + base_link_frame: "base_link" + cost_threshold: 45 + use_radius_search_2d_filter: true + enable_debugger: false + + # debug parameters + publish_processing_time_detail: False diff --git a/autoware_launch/config/perception/occupancy_grid_map/laserscan_based_occupancy_grid_map.param.yaml b/autoware_launch/config/perception/occupancy_grid_map/laserscan_based_occupancy_grid_map.param.yaml index 9dcc722587..eaaeb026d0 100644 --- a/autoware_launch/config/perception/occupancy_grid_map/laserscan_based_occupancy_grid_map.param.yaml +++ b/autoware_launch/config/perception/occupancy_grid_map/laserscan_based_occupancy_grid_map.param.yaml @@ -16,3 +16,6 @@ map_length: 150.0 map_width: 150.0 map_resolution: 0.5 + + # debug parameters + publish_processing_time_detail: false diff --git a/autoware_launch/config/perception/occupancy_grid_map/multi_lidar_pointcloud_based_occupancy_grid_map.param.yaml b/autoware_launch/config/perception/occupancy_grid_map/multi_lidar_pointcloud_based_occupancy_grid_map.param.yaml new file mode 100644 index 0000000000..8ed3fdddfa --- /dev/null +++ b/autoware_launch/config/perception/occupancy_grid_map/multi_lidar_pointcloud_based_occupancy_grid_map.param.yaml @@ -0,0 +1,60 @@ +# sample grid map fusion parameters for sample sensor kit +/**: + ros__parameters: + # shared parameters + shared_config: + map_frame: "map" + base_link_frame: "base_link" + # center of the grid map + gridmap_origin_frame: "base_link" + + map_resolution: 0.5 # [m] + map_length_x: 150.0 # [m] + map_length_y: 150.0 # [m] + + # debug parameters + publish_processing_time_detail: false + + # downsample input pointcloud + downsample_input_pointcloud: true + downsample_voxel_size: 0.25 # [m] + + # each grid map parameters + ogm_creation_config: + height_filter: + use_height_filter: true + min_height: -1.0 + max_height: 2.0 + enable_single_frame_mode: true + # use sensor pointcloud to filter obstacle pointcloud + filter_obstacle_pointcloud_by_raw_pointcloud: false + + grid_map_type: "OccupancyGridMapFixedBlindSpot" + OccupancyGridMapFixedBlindSpot: + distance_margin: 1.0 + OccupancyGridMapProjectiveBlindSpot: + projection_dz_threshold: 0.01 # [m] for avoiding null division + obstacle_separation_threshold: 1.0 # [m] fill the interval between obstacles with unknown for this length + pub_debug_grid: false + + # parameter settings for ogm fusion + fusion_config: + # following parameters are shared: map_frame, base_link_frame, gridmap_origin_frame, map_resolution, map_length + # Setting1: tune ogm creation parameters + raw_pointcloud_topics: # put each sensor's pointcloud topic + - "/sensing/lidar/top/pointcloud" + - "/sensing/lidar/left/pointcloud" + - "/sensing/lidar/right/pointcloud" + fusion_input_ogm_topics: + - "/perception/occupancy_grid_map/top_lidar/map" + - "/perception/occupancy_grid_map/left_lidar/map" + - "/perception/occupancy_grid_map/right_lidar/map" + # reliability of each sensor (0.0 ~ 1.0) only work with "log-odds" and "dempster-shafer" + input_ogm_reliabilities: + - 1.0 + - 0.6 + - 0.6 + + # Setting2: tune ogm fusion parameters + ## choose fusion method from ["overwrite", "log-odds", "dempster-shafer"] + fusion_method: "overwrite" diff --git a/autoware_launch/config/perception/occupancy_grid_map/pointcloud_based_occupancy_grid_map.param.yaml b/autoware_launch/config/perception/occupancy_grid_map/pointcloud_based_occupancy_grid_map.param.yaml index 8077bdec50..c739c68306 100644 --- a/autoware_launch/config/perception/occupancy_grid_map/pointcloud_based_occupancy_grid_map.param.yaml +++ b/autoware_launch/config/perception/occupancy_grid_map/pointcloud_based_occupancy_grid_map.param.yaml @@ -8,6 +8,10 @@ min_height: -1.0 max_height: 2.0 + # downsample input pointcloud + downsample_input_pointcloud: true + downsample_voxel_size: 0.125 # [m] + enable_single_frame_mode: false # use sensor pointcloud to filter obstacle pointcloud filter_obstacle_pointcloud_by_raw_pointcloud: false @@ -28,3 +32,6 @@ projection_dz_threshold: 0.01 # [m] for avoiding null division obstacle_separation_threshold: 1.0 # [m] fill the interval between obstacles with unknown for this length pub_debug_grid: false + + # debug parameters + publish_processing_time_detail: false diff --git a/autoware_launch/config/perception/occupancy_grid_map/synchronized_grid_map_fusion_node.param.yaml b/autoware_launch/config/perception/occupancy_grid_map/synchronized_grid_map_fusion_node.param.yaml new file mode 100644 index 0000000000..42966e01fa --- /dev/null +++ b/autoware_launch/config/perception/occupancy_grid_map/synchronized_grid_map_fusion_node.param.yaml @@ -0,0 +1,23 @@ +/**: + ros__parameters: + # 1. fusion parameters + fusion_input_ogm_topics: ["topic1", "topic2"] + input_ogm_reliabilities: [0.8, 0.2] + fusion_method: "overwrite" # choose from ["overwrite", "log-odds", "dempster-shafer"] + + # 2. synchronization settings + match_threshold_sec: 0.01 # 10ms + timeout_sec: 0.1 # 100ms + input_offset_sec: [0.0, 0.0] # no offset + + # 3. settings for fused fusion map + # remember resolution and map size should be same with input maps + map_frame_: "map" + base_link_frame_: "base_link" + grid_map_origin_frame_: "base_link" + fusion_map_length_x: 100.0 + fusion_map_length_y: 100.0 + fusion_map_resolution: 0.5 + + # debug parameters + publish_processing_time_detail: false diff --git a/autoware_launch/config/perception/traffic_light_arbiter/traffic_light_arbiter.param.yaml b/autoware_launch/config/perception/traffic_light_arbiter/traffic_light_arbiter.param.yaml index dfe12ff352..36e1b8593b 100644 --- a/autoware_launch/config/perception/traffic_light_arbiter/traffic_light_arbiter.param.yaml +++ b/autoware_launch/config/perception/traffic_light_arbiter/traffic_light_arbiter.param.yaml @@ -1,5 +1,6 @@ /**: ros__parameters: + external_delay_tolerance: 5.0 external_time_tolerance: 5.0 perception_time_tolerance: 1.0 external_priority: false diff --git a/autoware_launch/config/planning/mission_planning/mission_planner/mission_planner.param.yaml b/autoware_launch/config/planning/mission_planning/mission_planner/mission_planner.param.yaml index 9b7dcffbc6..ecfbdab9e5 100644 --- a/autoware_launch/config/planning/mission_planning/mission_planner/mission_planner.param.yaml +++ b/autoware_launch/config/planning/mission_planning/mission_planner/mission_planner.param.yaml @@ -10,3 +10,4 @@ minimum_reroute_length: 30.0 consider_no_drivable_lanes: false # This flag is for considering no_drivable_lanes in planning or not. check_footprint_inside_lanes: true + allow_reroute_in_autonomous_mode: true diff --git a/autoware_launch/config/planning/preset/default_preset.yaml b/autoware_launch/config/planning/preset/default_preset.yaml index 69328a9b79..5a3139e4c5 100644 --- a/autoware_launch/config/planning/preset/default_preset.yaml +++ b/autoware_launch/config/planning/preset/default_preset.yaml @@ -1,13 +1,13 @@ launch: # behavior path modules - arg: - name: launch_avoidance_module + name: launch_static_obstacle_avoidance default: "true" - arg: name: launch_avoidance_by_lane_change_module default: "true" - arg: - name: launch_dynamic_avoidance_module + name: launch_dynamic_obstacle_avoidance default: "false" - arg: name: launch_sampling_planner_module @@ -74,15 +74,9 @@ launch: - arg: name: launch_speed_bump_module default: "false" - - arg: - name: launch_out_of_lane_module - default: "true" - arg: name: launch_no_drivable_lane_module default: "false" - - arg: - name: launch_dynamic_obstacle_stop_module - default: "true" # motion planning modules - arg: @@ -93,20 +87,31 @@ launch: - arg: name: motion_path_planner_type - default: obstacle_avoidance_planner - # option: obstacle_avoidance_planner + default: path_optimizer + # option: path_optimizer # path_sampler # none + # motion velocity planner modules + - arg: + name: launch_dynamic_obstacle_stop_module + default: "true" + - arg: + name: launch_out_of_lane_module + default: "true" + - arg: + name: launch_obstacle_velocity_limiter_module + default: "true" + - arg: name: motion_stop_planner_type - default: obstacle_stop_planner + default: obstacle_cruise_planner # option: obstacle_stop_planner # obstacle_cruise_planner # none - arg: - name: motion_velocity_smoother_type + name: velocity_smoother_type default: JerkFiltered # option: JerkFiltered # L2 diff --git a/autoware_launch/config/planning/scenario_planning/common/motion_velocity_smoother/Analytical.param.yaml b/autoware_launch/config/planning/scenario_planning/common/autoware_velocity_smoother/Analytical.param.yaml similarity index 100% rename from autoware_launch/config/planning/scenario_planning/common/motion_velocity_smoother/Analytical.param.yaml rename to autoware_launch/config/planning/scenario_planning/common/autoware_velocity_smoother/Analytical.param.yaml diff --git a/autoware_launch/config/planning/scenario_planning/common/motion_velocity_smoother/JerkFiltered.param.yaml b/autoware_launch/config/planning/scenario_planning/common/autoware_velocity_smoother/JerkFiltered.param.yaml similarity index 100% rename from autoware_launch/config/planning/scenario_planning/common/motion_velocity_smoother/JerkFiltered.param.yaml rename to autoware_launch/config/planning/scenario_planning/common/autoware_velocity_smoother/JerkFiltered.param.yaml diff --git a/autoware_launch/config/planning/scenario_planning/common/motion_velocity_smoother/L2.param.yaml b/autoware_launch/config/planning/scenario_planning/common/autoware_velocity_smoother/L2.param.yaml similarity index 100% rename from autoware_launch/config/planning/scenario_planning/common/motion_velocity_smoother/L2.param.yaml rename to autoware_launch/config/planning/scenario_planning/common/autoware_velocity_smoother/L2.param.yaml diff --git a/autoware_launch/config/planning/scenario_planning/common/motion_velocity_smoother/Linf.param.yaml b/autoware_launch/config/planning/scenario_planning/common/autoware_velocity_smoother/Linf.param.yaml similarity index 100% rename from autoware_launch/config/planning/scenario_planning/common/motion_velocity_smoother/Linf.param.yaml rename to autoware_launch/config/planning/scenario_planning/common/autoware_velocity_smoother/Linf.param.yaml diff --git a/autoware_launch/config/planning/scenario_planning/common/motion_velocity_smoother/motion_velocity_smoother.param.yaml b/autoware_launch/config/planning/scenario_planning/common/autoware_velocity_smoother/velocity_smoother.param.yaml similarity index 100% rename from autoware_launch/config/planning/scenario_planning/common/motion_velocity_smoother/motion_velocity_smoother.param.yaml rename to autoware_launch/config/planning/scenario_planning/common/autoware_velocity_smoother/velocity_smoother.param.yaml diff --git a/autoware_launch/config/planning/scenario_planning/common/common.param.yaml b/autoware_launch/config/planning/scenario_planning/common/common.param.yaml index face8610c7..4edbbf2d35 100644 --- a/autoware_launch/config/planning/scenario_planning/common/common.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/common/common.param.yaml @@ -1,6 +1,6 @@ /**: ros__parameters: - max_vel: 11.1 # max velocity limit [m/s] + max_vel: 4.17 # max velocity limit [m/s] # constraints param for normal driving normal: @@ -9,10 +9,6 @@ min_jerk: -1.0 # min jerk [m/sss] max_jerk: 1.0 # max jerk [m/sss] - slow_down: - min_acc: -1.0 # min deceleration [m/ss] - min_jerk: -1.0 # min jerk [m/sss] - # constraints to be observed limit: min_acc: -2.5 # min deceleration limit [m/ss] diff --git a/autoware_launch/config/planning/scenario_planning/common/costmap_generator.param.yaml b/autoware_launch/config/planning/scenario_planning/common/costmap_generator.param.yaml index cf4f73dc79..e31886cce6 100644 --- a/autoware_launch/config/planning/scenario_planning/common/costmap_generator.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/common/costmap_generator.param.yaml @@ -7,16 +7,16 @@ activate_by_scenario: False grid_min_value: 0.0 grid_max_value: 1.0 - grid_resolution: 0.2 + grid_resolution: 0.3 grid_length_x: 70.0 grid_length_y: 70.0 grid_position_x: 0.0 grid_position_y: 0.0 - maximum_lidar_height_thres: 0.3 - minimum_lidar_height_thres: -2.2 + maximum_lidar_height_thres: 2.5 # [m] when use_points is true, ignore points with a z value above this (in the vehicle_frame) + minimum_lidar_height_thres: 0.0 # [m] when use_points is true, ignore points with a z value bellow this (in the vehicle_frame) use_wayarea: true use_parkinglot: true use_objects: true use_points: true - expand_polygon_size: 1.0 + expand_polygon_size: 0.5 size_of_expansion_kernel: 9 diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/dynamic_avoidance/dynamic_avoidance.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/autoware_behavior_path_dynamic_obstacle_avoidance_module/dynamic_obstacle_avoidance.param.yaml similarity index 88% rename from autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/dynamic_avoidance/dynamic_avoidance.param.yaml rename to autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/autoware_behavior_path_dynamic_obstacle_avoidance_module/dynamic_obstacle_avoidance.param.yaml index 0a563498be..9bba8c52dc 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/dynamic_avoidance/dynamic_avoidance.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/autoware_behavior_path_dynamic_obstacle_avoidance_module/dynamic_obstacle_avoidance.param.yaml @@ -12,9 +12,9 @@ bus: true trailer: true unknown: false - bicycle: false + bicycle: true motorcycle: true - pedestrian: false + pedestrian: true max_obstacle_vel: 100.0 # [m/s] min_obstacle_vel: 0.0 # [m/s] @@ -40,6 +40,7 @@ max_overtaking_object_angle: 1.05 min_oncoming_object_vel: 1.0 max_oncoming_object_angle: 0.523 + max_pedestrian_crossing_vel: 0.8 front_object: max_object_angle: 0.785 @@ -50,11 +51,16 @@ max_object_vel: 0.5 # [m/s] The object will be determined as stopped if the velocity is smaller than this value. drivable_area_generation: + expand_drivable_area: false polygon_generation_method: "ego_path_base" # choose "ego_path_base" and "object_path_base" object_path_base: min_longitudinal_polygon_margin: 3.0 # [m] - lat_offset_from_obstacle: 1.0 # [m] + lat_offset_from_obstacle: 0.3 # [m] + margin_distance_around_pedestrian: 0.8 # [m] + predicted_path: + end_time_to_consider: 1.0 # [s] + threshold_confidence: 0.0 # [] not probability max_lat_offset_to_avoid: 0.5 # [m] max_time_for_object_lat_shift: 0.0 # [s] lpf_gain_for_lat_avoid_to_offset: 0.9 # [-] diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/static_obstacle_avoidance.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/static_obstacle_avoidance.param.yaml new file mode 100644 index 0000000000..3480bb66e5 --- /dev/null +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/autoware_behavior_path_static_obstacle_avoidance_module/static_obstacle_avoidance.param.yaml @@ -0,0 +1,337 @@ +# see AvoidanceParameters description in avoidance_module_data.hpp for description. +/**: + ros__parameters: + avoidance: + resample_interval_for_planning: 0.3 # [m] FOR DEVELOPER + resample_interval_for_output: 4.0 # [m] FOR DEVELOPER + + # drivable lane setting. this module is able to use not only current lane but also right/left lane + # if the current lane(=lanelet::Lanelet) and the right/left lane share the boundary(=lanelet::Linestring) in HDMap. + # "current_lane" : use only current lane. this module doesn't use adjacent lane to avoid object. + # "same_direction_lane" : this module uses same direction lane to avoid object if need. + # "opposite_direction_lane": this module uses both same direction and opposite direction lane. + use_lane_type: "opposite_direction_lane" + # drivable area setting + use_intersection_areas: true + use_hatched_road_markings: true + use_freespace_areas: true + + # avoidance is performed for the object type with true + target_object: + car: + th_moving_speed: 1.0 # [m/s] + th_moving_time: 2.0 # [s] + longitudinal_margin: 0.0 # [m] + lateral_margin: + soft_margin: 0.5 # [m] + hard_margin: 0.2 # [m] + hard_margin_for_parked_vehicle: 0.2 # [m] + max_expand_ratio: 0.0 # [-] FOR DEVELOPER + envelope_buffer_margin: 0.1 # [m] FOR DEVELOPER + th_error_eclipse_long_radius : 0.6 # [m] + truck: + th_moving_speed: 1.0 + th_moving_time: 2.0 + longitudinal_margin: 0.0 + lateral_margin: + soft_margin: 0.5 + hard_margin: 0.2 + hard_margin_for_parked_vehicle: 0.2 + max_expand_ratio: 0.0 + envelope_buffer_margin: 0.1 + th_error_eclipse_long_radius : 0.6 + bus: + th_moving_speed: 1.0 + th_moving_time: 2.0 + longitudinal_margin: 0.0 + lateral_margin: + soft_margin: 0.5 + hard_margin: 0.2 + hard_margin_for_parked_vehicle: 0.2 + max_expand_ratio: 0.0 + envelope_buffer_margin: 0.1 + th_error_eclipse_long_radius : 0.6 + trailer: + th_moving_speed: 1.0 + th_moving_time: 2.0 + longitudinal_margin: 0.0 + lateral_margin: + soft_margin: 0.5 + hard_margin: 0.2 + hard_margin_for_parked_vehicle: 0.2 + max_expand_ratio: 0.0 + envelope_buffer_margin: 0.1 + th_error_eclipse_long_radius : 0.6 + unknown: + th_moving_speed: 0.28 + th_moving_time: 1.0 + longitudinal_margin: 0.0 + lateral_margin: + soft_margin: 0.5 + hard_margin: -0.2 + hard_margin_for_parked_vehicle: -0.2 + max_expand_ratio: 0.0 + envelope_buffer_margin: 0.1 + th_error_eclipse_long_radius : 0.6 + bicycle: + th_moving_speed: 0.28 + th_moving_time: 1.0 + longitudinal_margin: 0.6 + lateral_margin: + soft_margin: 0.7 + hard_margin: 0.5 + hard_margin_for_parked_vehicle: 0.2 + max_expand_ratio: 0.0 + envelope_buffer_margin: 0.5 + th_error_eclipse_long_radius : 0.6 + motorcycle: + th_moving_speed: 1.0 + th_moving_time: 1.0 + longitudinal_margin: 0.6 + lateral_margin: + soft_margin: 0.5 + hard_margin: 0.3 + hard_margin_for_parked_vehicle: 0.2 + max_expand_ratio: 0.0 + envelope_buffer_margin: 0.5 + th_error_eclipse_long_radius : 0.6 + pedestrian: + th_moving_speed: 0.28 + th_moving_time: 1.0 + longitudinal_margin: 0.6 + lateral_margin: + soft_margin: 0.7 + hard_margin: 0.5 + hard_margin_for_parked_vehicle: 0.2 + max_expand_ratio: 0.0 + envelope_buffer_margin: 0.5 + th_error_eclipse_long_radius : 0.6 + lower_distance_for_polygon_expansion: 30.0 # [m] FOR DEVELOPER + upper_distance_for_polygon_expansion: 100.0 # [m] FOR DEVELOPER + + # For target object filtering + target_filtering: + # avoidance target type + target_type: + car: true # [-] + truck: true # [-] + bus: true # [-] + trailer: true # [-] + unknown: true # [-] + bicycle: true # [-] + motorcycle: true # [-] + pedestrian: true # [-] + # detection range + object_check_goal_distance: 20.0 # [m] + object_check_return_pose_distance: 20.0 # [m] + # lost object compensation + max_compensation_time: 2.0 + + # detection area generation parameters + detection_area: + static: false # [-] + min_forward_distance: 50.0 # [m] + max_forward_distance: 150.0 # [m] + backward_distance: 10.0 # [m] + + # filtering parking objects + parked_vehicle: + th_offset_from_centerline: 1.0 # [m] + th_shiftable_ratio: 0.8 # [-] + min_road_shoulder_width: 0.5 # [m] FOR DEVELOPER + + # for merging/deviating vehicle + merging_vehicle: + th_overhang_distance: 0.0 # [m] + + # params for avoidance of vehicle type objects that are ambiguous as to whether they are parked. + avoidance_for_ambiguous_vehicle: + # policy for ego behavior for ambiguous vehicle. + # "auto" : generate candidate path. if RTC is running as AUTO mode, the ego avoids it automatically. + # "manual" : generate candidate path and wait operator approval even if RTC is running as AUTO mode. + # "ignore" : never avoid it. + policy: "manual" # [-] + condition: + th_stopped_time: 3.0 # [s] + th_moving_distance: 1.0 # [m] + ignore_area: + traffic_light: + front_distance: 20.0 # [m] + crosswalk: + front_distance: 20.0 # [m] + behind_distance: 0.0 # [m] + wait_and_see: + target_behaviors: ["MERGING", "DEVIATING"] # [-] + th_closest_distance: 10.0 # [m] + + # params for filtering objects that are in intersection + intersection: + yaw_deviation: 0.349 # [rad] (default 20.0deg) + + freespace: + condition: + th_stopped_time: 5.0 # [-] + + # For safety check + safety_check: + # safety check target type + target_type: + car: true # [-] + truck: true # [-] + bus: true # [-] + trailer: true # [-] + unknown: false # [-] + bicycle: true # [-] + motorcycle: true # [-] + pedestrian: true # [-] + # safety check configuration + enable: true # [-] + check_current_lane: false # [-] + check_shift_side_lane: true # [-] + check_other_side_lane: false # [-] + check_unavoidable_object: false # [-] + check_other_object: true # [-] + # collision check parameters + check_all_predicted_path: false # [-] + safety_check_backward_distance: 100.0 # [m] + hysteresis_factor_expand_rate: 1.5 # [-] + hysteresis_factor_safe_count: 3 # [-] + collision_check_yaw_diff_threshold: 3.1416 # [rad] + # predicted path parameters + min_velocity: 1.38 # [m/s] + max_velocity: 50.0 # [m/s] + time_resolution: 0.5 # [s] + time_horizon_for_front_object: 3.0 # [s] + time_horizon_for_rear_object: 10.0 # [s] + delay_until_departure: 0.0 # [s] + # rss parameters + extended_polygon_policy: "along_path" # [-] select "rectangle" or "along_path" + expected_front_deceleration: -1.0 # [m/ss] + expected_rear_deceleration: -1.0 # [m/ss] + rear_vehicle_reaction_time: 2.0 # [s] + rear_vehicle_safety_time_margin: 1.0 # [s] + lateral_distance_max_threshold: 2.0 # [m] + longitudinal_distance_min_threshold: 3.0 # [m] + longitudinal_velocity_delta_time: 0.0 # [s] + + # For avoidance maneuver + avoidance: + # avoidance lateral parameters + lateral: + th_avoid_execution: 0.09 # [m] FOR DEVELOPER + th_small_shift_length: 0.101 # [m] FOR DEVELOPER + soft_drivable_bound_margin: 0.3 # [m] + hard_drivable_bound_margin: 0.3 # [m] + max_right_shift_length: 5.0 # [m] FOR DEVELOPER + max_left_shift_length: 5.0 # [m] FOR DEVELOPER + max_deviation_from_lane: 0.2 # [m] + # approve the next shift line after reaching this percentage of the current shift line length. + # this parameter is added to allow waiting for the return of shift approval until the occlusion behind the avoid target is clear. + # this feature can be disabled by setting this parameter to 0.0. + ratio_for_return_shift_approval: 0.5 # [-] + # avoidance distance parameters + longitudinal: + min_prepare_time: 1.0 # [s] + max_prepare_time: 2.0 # [s] + min_prepare_distance: 1.0 # [m] + min_slow_down_speed: 1.38 # [m/s] + buf_slow_down_speed: 0.56 # [m/s] FOR DEVELOPER + nominal_avoidance_speed: 8.33 # [m/s] FOR DEVELOPER + consider_front_overhang: true # [-] + consider_rear_overhang: true # [-] + # return dead line + return_dead_line: + goal: + enable: true # [-] + buffer: 3.0 # [m] + traffic_light: + enable: true # [-] + buffer: 3.0 # [m] + + # For cancel maneuver + cancel: + enable: true # [-] + force: + duration_time: 2.0 # [s] + + # For yield maneuver + yield: + enable: true # [-] + enable_during_shifting: false # [-] + + # For stop maneuver + stop: + max_distance: 20.0 # [m] + stop_buffer: 1.0 # [m] FOR DEVELOPER + + policy: + # policy for rtc request. select "per_shift_line" or "per_avoidance_maneuver". + # "per_shift_line": request approval for each shift line. + # "per_avoidance_maneuver": request approval for avoidance maneuver (avoid + return). + make_approval_request: "per_shift_line" + # policy for vehicle slow down behavior. select "best_effort" or "reliable". + # "best_effort": slow down deceleration & jerk are limited by constraints. + # but there is a possibility that the vehicle can't stop in front of the vehicle. + # "reliable": insert stop or slow down point with ignoring decel/jerk constraints. + # make it possible to increase chance to avoid but uncomfortable deceleration maybe happen. + deceleration: "best_effort" # [-] + # policy for avoidance lateral margin. select "best_effort" or "reliable". + # "best_effort": output avoidance path with shorten lateral margin when there is no enough longitudinal + # margin to avoid. + # "reliable": module output avoidance path with safe (rtc cooperate) state only when the vehicle can avoid + # with expected lateral margin. + lateral_margin: "best_effort" # [-] + # if true, module doesn't wait deceleration and outputs avoidance path by best effort margin. + use_shorten_margin_immediately: true # [-] + + # -------------------------------------- + # FOLLOWING PARAMETERS ARE FOR DEVELOPER + # -------------------------------------- + + constraints: + # lateral constraints + lateral: + velocity: [1.39, 4.17, 11.1] # [m/s] + max_accel_values: [0.5, 0.5, 0.5] # [m/ss] + min_jerk_values: [0.2, 0.2, 0.2] # [m/sss] + max_jerk_values: [3.0, 3.0, 3.0] # [m/sss] + + # longitudinal constraints + longitudinal: + nominal_deceleration: -1.0 # [m/ss] + nominal_jerk: 0.5 # [m/sss] + max_deceleration: -1.5 # [m/ss] + max_jerk: 1.0 # [m/sss] + max_acceleration: 0.5 # [m/ss] + min_velocity_to_limit_max_acceleration: 2.78 # [m/ss] + + # path generation method. select "shift_line_base" or "optimization_base" or "both". + # "shift_line_base" : Create avoidance path based on shift line. + # User can control avoidance maneuver execution via RTC. + # However, this method doesn't support complex avoidance scenario (e.g. S-shape maneuver). + # "optimization_base": This module selects avoidance target object + # and bpp module clips drivable area based on avoidance target object polygon shape. + # But this module doesn't modify the path shape. + # On the other hand, autoware_path_optimizer module optimizes path shape instead of this module + # so that the path can be within drivable area. This method is able to deal with complex avoidance scenario. + # However, user can't control avoidance manuever execution. + # "both" : Use both method. + path_generation_method: "shift_line_base" + + shift_line_pipeline: + trim: + quantize_size: 0.1 + th_similar_grad_1: 0.1 + th_similar_grad_2: 0.2 + th_similar_grad_3: 0.5 + + # for debug + debug: + enable_other_objects_marker: true + enable_other_objects_info: true + enable_detection_area_marker: false + enable_drivable_bound_marker: false + enable_safety_check_marker: false + enable_shift_line_marker: false + enable_lane_marker: false + enable_misc_marker: false diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml deleted file mode 100644 index ac7873a994..0000000000 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml +++ /dev/null @@ -1,281 +0,0 @@ -# see AvoidanceParameters description in avoidance_module_data.hpp for description. -/**: - ros__parameters: - avoidance: - resample_interval_for_planning: 0.3 # [m] - resample_interval_for_output: 4.0 # [m] - - # avoidance module common setting - enable_bound_clipping: false - enable_yield_maneuver: true - enable_yield_maneuver_during_shifting: false - enable_cancel_maneuver: true - disable_path_update: false - - # drivable area setting - use_adjacent_lane: true - use_opposite_lane: true - use_intersection_areas: true - use_hatched_road_markings: true - use_freespace_areas: true - - # for debug - publish_debug_marker: false - print_debug_info: false - - # avoidance is performed for the object type with true - target_object: - car: - execute_num: 1 # [-] - moving_speed_threshold: 1.0 # [m/s] - moving_time_threshold: 2.0 # [s] - max_expand_ratio: 0.0 # [-] - envelope_buffer_margin: 0.5 # [m] - avoid_margin_lateral: 0.7 # [m] - safety_buffer_lateral: 0.3 # [m] - safety_buffer_longitudinal: 0.0 # [m] - use_conservative_buffer_longitudinal: true # [-] When set to true, the base_link2front is added to the longitudinal buffer before avoidance. - truck: - execute_num: 1 - moving_speed_threshold: 1.0 # 3.6km/h - moving_time_threshold: 2.0 - max_expand_ratio: 0.0 - envelope_buffer_margin: 0.5 - avoid_margin_lateral: 0.9 - safety_buffer_lateral: 0.1 - safety_buffer_longitudinal: 0.0 - use_conservative_buffer_longitudinal: true - bus: - execute_num: 1 - moving_speed_threshold: 1.0 # 3.6km/h - moving_time_threshold: 2.0 - max_expand_ratio: 0.0 - envelope_buffer_margin: 0.5 - avoid_margin_lateral: 0.9 - safety_buffer_lateral: 0.1 - safety_buffer_longitudinal: 0.0 - use_conservative_buffer_longitudinal: true - trailer: - execute_num: 1 - moving_speed_threshold: 1.0 # 3.6km/h - moving_time_threshold: 2.0 - max_expand_ratio: 0.0 - envelope_buffer_margin: 0.5 - avoid_margin_lateral: 0.9 - safety_buffer_lateral: 0.1 - safety_buffer_longitudinal: 0.0 - use_conservative_buffer_longitudinal: true - unknown: - execute_num: 1 - moving_speed_threshold: 0.28 # 1.0km/h - moving_time_threshold: 1.0 - max_expand_ratio: 0.0 - envelope_buffer_margin: 0.1 - avoid_margin_lateral: 0.7 - safety_buffer_lateral: -0.2 - safety_buffer_longitudinal: 0.0 - use_conservative_buffer_longitudinal: true - bicycle: - execute_num: 1 - moving_speed_threshold: 0.28 # 1.0km/h - moving_time_threshold: 1.0 - max_expand_ratio: 0.0 - envelope_buffer_margin: 0.5 - avoid_margin_lateral: 0.7 - safety_buffer_lateral: 0.5 - safety_buffer_longitudinal: 1.0 - use_conservative_buffer_longitudinal: true - motorcycle: - execute_num: 1 - moving_speed_threshold: 1.0 # 3.6km/h - moving_time_threshold: 1.0 - max_expand_ratio: 0.0 - envelope_buffer_margin: 0.5 - avoid_margin_lateral: 0.7 - safety_buffer_lateral: 0.3 - safety_buffer_longitudinal: 1.0 - use_conservative_buffer_longitudinal: true - pedestrian: - execute_num: 1 - moving_speed_threshold: 0.28 # 1.0km/h - moving_time_threshold: 1.0 - max_expand_ratio: 0.0 - envelope_buffer_margin: 0.5 - avoid_margin_lateral: 0.7 - safety_buffer_lateral: 0.5 - safety_buffer_longitudinal: 1.0 - use_conservative_buffer_longitudinal: true - lower_distance_for_polygon_expansion: 30.0 # [m] - upper_distance_for_polygon_expansion: 100.0 # [m] - - # For target object filtering - target_filtering: - # avoidance target type - target_type: - car: true # [-] - truck: true # [-] - bus: true # [-] - trailer: true # [-] - unknown: true # [-] - bicycle: true # [-] - motorcycle: true # [-] - pedestrian: true # [-] - # detection range - object_check_goal_distance: 20.0 # [m] - object_check_return_pose_distance: 20.0 # [m] - # filtering parking objects - threshold_distance_object_is_on_center: 1.0 # [m] - object_check_shiftable_ratio: 0.8 # [-] - object_check_min_road_shoulder_width: 0.5 # [m] - # lost object compensation - object_last_seen_threshold: 2.0 - - # detection area generation parameters - detection_area: - static: false # [-] - min_forward_distance: 50.0 # [m] - max_forward_distance: 150.0 # [m] - backward_distance: 10.0 # [m] - - # params for avoidance of vehicle type objects that are ambiguous as to whether they are parked. - force_avoidance: - enable: true # [-] - time_threshold: 3.0 # [s] - distance_threshold: 1.0 # [m] - ignore_area: - traffic_light: - front_distance: 100.0 # [m] - crosswalk: - front_distance: 30.0 # [m] - behind_distance: 30.0 # [m] - - # params for filtering objects that are in intersection - intersection: - yaw_deviation: 0.349 # [rad] (default 20.0deg) - - # For safety check - safety_check: - # safety check target type - target_type: - car: true # [-] - truck: true # [-] - bus: true # [-] - trailer: true # [-] - unknown: false # [-] - bicycle: true # [-] - motorcycle: true # [-] - pedestrian: true # [-] - # safety check configuration - enable: true # [-] - check_current_lane: false # [-] - check_shift_side_lane: true # [-] - check_other_side_lane: false # [-] - check_unavoidable_object: false # [-] - check_other_object: true # [-] - # collision check parameters - check_all_predicted_path: false # [-] - safety_check_backward_distance: 100.0 # [m] - hysteresis_factor_expand_rate: 1.5 # [-] - hysteresis_factor_safe_count: 10 # [-] - # predicted path parameters - min_velocity: 1.38 # [m/s] - max_velocity: 50.0 # [m/s] - time_resolution: 0.5 # [s] - time_horizon_for_front_object: 3.0 # [s] - time_horizon_for_rear_object: 10.0 # [s] - delay_until_departure: 0.0 # [s] - # rss parameters - extended_polygon_policy: "along_path" # [-] select "rectangle" or "along_path" - expected_front_deceleration: -1.0 # [m/ss] - expected_rear_deceleration: -1.0 # [m/ss] - rear_vehicle_reaction_time: 2.0 # [s] - rear_vehicle_safety_time_margin: 1.0 # [s] - lateral_distance_max_threshold: 2.0 # [m] - longitudinal_distance_min_threshold: 3.0 # [m] - longitudinal_velocity_delta_time: 0.8 # [s] - - # For avoidance maneuver - avoidance: - # avoidance lateral parameters - lateral: - lateral_execution_threshold: 0.09 # [m] - lateral_small_shift_threshold: 0.101 # [m] - lateral_avoid_check_threshold: 0.1 # [m] - soft_road_shoulder_margin: 0.3 # [m] - hard_road_shoulder_margin: 0.3 # [m] - max_right_shift_length: 5.0 - max_left_shift_length: 5.0 - max_deviation_from_lane: 0.2 # [m] - # approve the next shift line after reaching this percentage of the current shift line length. - # this parameter is added to allow waiting for the return of shift approval until the occlusion behind the avoid target is clear. - # this feature can be disabled by setting this parameter to 0.0. - ratio_for_return_shift_approval: 0.5 # [-] - # avoidance distance parameters - longitudinal: - min_prepare_time: 1.0 # [s] - max_prepare_time: 2.0 # [s] - min_prepare_distance: 1.0 # [m] - min_slow_down_speed: 1.38 # [m/s] - buf_slow_down_speed: 0.56 # [m/s] - nominal_avoidance_speed: 8.33 # [m/s] - # return dead line - return_dead_line: - goal: - enable: true # [-] - buffer: 3.0 # [m] - traffic_light: - enable: true # [-] - buffer: 3.0 # [m] - - # For yield maneuver - yield: - yield_velocity: 2.78 # [m/s] - - # For stop maneuver - stop: - max_distance: 20.0 # [m] - stop_buffer: 1.0 # [m] - - policy: - # policy for rtc request. select "per_shift_line" or "per_avoidance_maneuver". - # "per_shift_line": request approval for each shift line. - # "per_avoidance_maneuver": request approval for avoidance maneuver (avoid + return). - make_approval_request: "per_shift_line" - # policy for vehicle slow down behavior. select "best_effort" or "reliable". - # "best_effort": slow down deceleration & jerk are limited by constraints. - # but there is a possibility that the vehicle can't stop in front of the vehicle. - # "reliable": insert stop or slow down point with ignoring decel/jerk constraints. - # make it possible to increase chance to avoid but uncomfortable deceleration maybe happen. - deceleration: "best_effort" # [-] - # policy for avoidance lateral margin. select "best_effort" or "reliable". - # "best_effort": output avoidance path with shorten lateral margin when there is no enough longitudinal - # margin to avoid. - # "reliable": module output avoidance path with safe (rtc cooperate) state only when the vehicle can avoid - # with expected lateral margin. - lateral_margin: "best_effort" # [-] - # if true, module doesn't wait deceleration and outputs avoidance path by best effort margin. - use_shorten_margin_immediately: true # [-] - - constraints: - # lateral constraints - lateral: - velocity: [1.0, 1.38, 11.1] # [m/s] - max_accel_values: [0.5, 0.5, 0.5] # [m/ss] - min_jerk_values: [0.2, 0.2, 0.2] # [m/sss] - max_jerk_values: [1.0, 1.0, 1.0] # [m/sss] - - # longitudinal constraints - longitudinal: - nominal_deceleration: -1.0 # [m/ss] - nominal_jerk: 0.5 # [m/sss] - max_deceleration: -1.5 # [m/ss] - max_jerk: 1.0 # [m/sss] - max_acceleration: 1.0 # [m/ss] - - shift_line_pipeline: - trim: - quantize_filter_threshold: 0.1 - same_grad_filter_1_threshold: 0.1 - same_grad_filter_2_threshold: 0.2 - same_grad_filter_3_threshold: 0.5 - sharp_shift_filter_threshold: 0.2 diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance_by_lane_change/avoidance_by_lane_change.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance_by_lane_change/avoidance_by_lane_change.param.yaml index 74c6112c0e..f6974e38a2 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance_by_lane_change/avoidance_by_lane_change.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance_by_lane_change/avoidance_by_lane_change.param.yaml @@ -7,69 +7,77 @@ # avoidance is performed for the object type with true target_object: car: - execute_num: 2 # [-] - moving_speed_threshold: 1.0 # [m/s] - moving_time_threshold: 1.0 # [s] + th_moving_speed: 1.0 # [m/s] + th_moving_time: 1.0 # [s] max_expand_ratio: 0.0 # [-] envelope_buffer_margin: 0.3 # [m] - avoid_margin_lateral: 0.0 # [m] - safety_buffer_lateral: 0.0 # [m] + lateral_margin: + soft_margin: 0.0 # [m] + hard_margin: 0.0 # [m] + hard_margin_for_parked_vehicle: 0.0 # [m] truck: - execute_num: 2 - moving_speed_threshold: 1.0 # 3.6km/h - moving_time_threshold: 1.0 + th_moving_speed: 1.0 # 3.6km/h + th_moving_time: 1.0 max_expand_ratio: 0.0 envelope_buffer_margin: 0.3 - avoid_margin_lateral: 0.0 - safety_buffer_lateral: 0.0 + lateral_margin: + soft_margin: 0.0 # [m] + hard_margin: 0.0 # [m] + hard_margin_for_parked_vehicle: 0.0 # [m] bus: - execute_num: 2 - moving_speed_threshold: 1.0 # 3.6km/h - moving_time_threshold: 1.0 + th_moving_speed: 1.0 # 3.6km/h + th_moving_time: 1.0 max_expand_ratio: 0.0 envelope_buffer_margin: 0.3 - avoid_margin_lateral: 0.0 - safety_buffer_lateral: 0.0 + lateral_margin: + soft_margin: 0.0 # [m] + hard_margin: 0.0 # [m] + hard_margin_for_parked_vehicle: 0.0 # [m] trailer: - execute_num: 2 - moving_speed_threshold: 1.0 # 3.6km/h - moving_time_threshold: 1.0 + th_moving_speed: 1.0 # 3.6km/h + th_moving_time: 1.0 max_expand_ratio: 0.0 envelope_buffer_margin: 0.3 - avoid_margin_lateral: 0.0 - safety_buffer_lateral: 0.0 + lateral_margin: + soft_margin: 0.0 # [m] + hard_margin: 0.0 # [m] + hard_margin_for_parked_vehicle: 0.0 # [m] unknown: - execute_num: 1 - moving_speed_threshold: 0.28 # 1.0km/h - moving_time_threshold: 1.0 + th_moving_speed: 0.28 # 1.0km/h + th_moving_time: 1.0 max_expand_ratio: 0.0 envelope_buffer_margin: 0.3 - avoid_margin_lateral: 0.0 - safety_buffer_lateral: 0.0 + lateral_margin: + soft_margin: 0.0 # [m] + hard_margin: 0.0 # [m] + hard_margin_for_parked_vehicle: 0.0 # [m] bicycle: - execute_num: 2 - moving_speed_threshold: 0.28 # 1.0km/h - moving_time_threshold: 1.0 + th_moving_speed: 0.28 # 1.0km/h + th_moving_time: 1.0 max_expand_ratio: 0.0 envelope_buffer_margin: 0.8 - avoid_margin_lateral: 0.0 - safety_buffer_lateral: 1.0 + lateral_margin: + soft_margin: 0.0 # [m] + hard_margin: 1.0 # [m] + hard_margin_for_parked_vehicle: 1.0 # [m] motorcycle: - execute_num: 2 - moving_speed_threshold: 1.0 # 3.6km/h - moving_time_threshold: 1.0 + th_moving_speed: 1.0 # 3.6km/h + th_moving_time: 1.0 max_expand_ratio: 0.0 envelope_buffer_margin: 0.8 - avoid_margin_lateral: 0.0 - safety_buffer_lateral: 1.0 + lateral_margin: + soft_margin: 0.0 # [m] + hard_margin: 1.0 # [m] + hard_margin_for_parked_vehicle: 1.0 # [m] pedestrian: - execute_num: 2 - moving_speed_threshold: 0.28 # 1.0km/h - moving_time_threshold: 1.0 + th_moving_speed: 0.28 # 1.0km/h + th_moving_time: 1.0 max_expand_ratio: 0.0 envelope_buffer_margin: 0.8 - avoid_margin_lateral: 0.0 - safety_buffer_lateral: 1.0 + lateral_margin: + soft_margin: 0.0 # [m] + hard_margin: 1.0 # [m] + hard_margin_for_parked_vehicle: 1.0 # [m] lower_distance_for_polygon_expansion: 0.0 # [m] upper_distance_for_polygon_expansion: 1.0 # [m] diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/behavior_path_planner.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/behavior_path_planner.param.yaml index 6dee628c59..41f8f53a8f 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/behavior_path_planner.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/behavior_path_planner.param.yaml @@ -1,8 +1,5 @@ /**: ros__parameters: - verbose: false - max_iteration_num: 100 - traffic_light_signal_timeout: 1.0 planning_hz: 10.0 @@ -20,11 +17,10 @@ turn_signal_minimum_search_distance: 10.0 turn_signal_search_time: 3.0 turn_signal_shift_length_threshold: 0.3 + turn_signal_remaining_shift_length_threshold: 0.1 turn_signal_on_swerving: true enable_akima_spline_first: false enable_cog_on_centerline: false input_path_interval: 2.0 output_path_interval: 2.0 - - visualize_maximum_drivable_area: true diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/drivable_area_expansion.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/drivable_area_expansion.param.yaml index f3393ff5a4..2e4984afe7 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/drivable_area_expansion.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/drivable_area_expansion.param.yaml @@ -10,6 +10,7 @@ enabled: true print_runtime: false max_expansion_distance: 0.0 # [m] maximum distance by which the drivable area can be expended (0.0 means no limit) + min_bound_interval: 1.0 # [m] minimum interval between two consecutive bound points (before expansion) smoothing: curvature_average_window: 3 # window size used for smoothing the curvatures using a moving window average max_bound_rate: 1.0 # [m/m] maximum rate of change of the bound lateral distance over its arc length diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/goal_planner/goal_planner.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/goal_planner/goal_planner.param.yaml index eea6d0acdc..723e34e61a 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/goal_planner/goal_planner.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/goal_planner/goal_planner.param.yaml @@ -22,6 +22,11 @@ lateral_offset_interval: 0.5 ignore_distance_from_lane_start: 0.0 margin_from_boundary: 0.75 + high_curvature_threshold: 0.1 + bus_stop_area: + use_bus_stop_area: false + goal_search_interval: 0.5 + lateral_offset_interval: 0.25 # occupancy grid map occupancy_grid: @@ -35,7 +40,7 @@ # object recognition object_recognition: use_object_recognition: true - collision_check_soft_margins: [2.0, 1.5, 1.0] + collision_check_soft_margins: [5.0, 4.5, 4.0, 3.5, 3.0, 2.5, 2.0, 1.5, 1.0] # the maximum margin when ego and objects are oriented. collision_check_hard_margins: [0.6] # this should be larger than `surround_check_distance` of surround_obstacle_checker object_recognition_collision_check_max_extra_stopping_margin: 1.0 th_moving_object_velocity: 1.0 @@ -54,6 +59,7 @@ maximum_jerk: 1.0 path_priority: "efficient_path" # "efficient_path" or "close_goal" efficient_path_order: ["SHIFT", "ARC_FORWARD", "ARC_BACKWARD"] # only lane based pull over(exclude freespace parking) + lane_departure_check_expansion_margin: 0.2 # shift parking shift_parking: @@ -67,21 +73,21 @@ # parallel parking path parallel_parking: path_interval: 1.0 - max_steer_angle: 0.35 # 20deg + max_steer_angle: 0.4 #22.9deg forward: enable_arc_forward_parking: true after_forward_parking_straight_distance: 2.0 forward_parking_velocity: 1.38 forward_parking_lane_departure_margin: 0.0 forward_parking_path_interval: 1.0 - forward_parking_max_steer_angle: 0.35 # 20deg + forward_parking_max_steer_angle: 0.4 # 22.9deg backward: enable_arc_backward_parking: true after_backward_parking_straight_distance: 2.0 backward_parking_velocity: -1.38 backward_parking_lane_departure_margin: 0.0 backward_parking_path_interval: 1.0 - backward_parking_max_steer_angle: 0.35 # 20deg + backward_parking_max_steer_angle: 0.4 # 22.9deg # freespace parking freespace_parking: @@ -90,25 +96,32 @@ velocity: 1.0 vehicle_shape_margin: 1.0 time_limit: 3000.0 - minimum_turning_radius: 5.0 - maximum_turning_radius: 5.0 - turning_radius_size: 1 + max_turning_ratio: 0.5 + turning_steps: 1 # search configs search_configs: - theta_size: 144 + theta_size: 120 angle_goal_range: 6.0 - curve_weight: 1.2 - reverse_weight: 1.0 lateral_goal_range: 0.5 longitudinal_goal_range: 2.0 + curve_weight: 0.5 + reverse_weight: 1.0 + direction_change_weight: 1.5 # costmap configs costmap_configs: obstacle_threshold: 30 # -- A* search Configurations -- astar: + search_method: "forward" # options: forward, backward only_behind_solutions: false - use_back: false - distance_heuristic_weight: 1.0 + use_back: true + adapt_expansion_distance: true + expansion_distance: 0.5 + near_goal_distance: 3.0 + distance_heuristic_weight: 2.0 + smoothness_weight: 0.5 + obstacle_distance_weight: 1.75 + goal_lat_distance_weight: 5.0 # -- RRT* search Configurations -- rrtstar: enable_update: true @@ -126,13 +139,13 @@ min_velocity: 1.0 min_acceleration: 1.0 max_velocity: 1.0 - time_horizon_for_front_object: 10.0 - time_horizon_for_rear_object: 10.0 + time_horizon_for_front_object: 5.0 + time_horizon_for_rear_object: 5.0 time_resolution: 0.5 delay_until_departure: 1.0 # For target object filtering target_filtering: - safety_check_time_horizon: 10.0 + safety_check_time_horizon: 5.0 safety_check_time_resolution: 1.0 # detection range object_check_forward_distance: 100.0 @@ -166,7 +179,7 @@ # safety check configuration enable_safety_check: true method: "integral_predicted_polygon" - keep_unsafe_time: 3.0 + keep_unsafe_time: 0.5 # collision check parameters publish_debug_marker: false rss_params: @@ -179,9 +192,10 @@ forward_margin: 1.0 backward_margin: 1.0 lat_margin: 1.0 - time_horizon: 10.0 + time_horizon: 5.0 # hysteresis factor to expand/shrink polygon with the value hysteresis_factor_expand_rate: 1.0 + collision_check_yaw_diff_threshold: 3.1416 # temporary backward_path_length: 30.0 forward_path_length: 100.0 diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/lane_change/lane_change.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/lane_change/lane_change.param.yaml index a25234e100..27349f077d 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/lane_change/lane_change.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/lane_change/lane_change.param.yaml @@ -1,35 +1,40 @@ /**: ros__parameters: lane_change: - backward_lane_length: 200.0 #[m] - prepare_duration: 4.0 # [s] - + backward_lane_length: 200.0 backward_length_buffer_for_end_of_lane: 3.0 # [m] backward_length_buffer_for_blocking_object: 3.0 # [m] - lane_change_finish_judge_buffer: 2.0 # [m] - - lane_changing_lateral_jerk: 0.5 # [m/s3] - - minimum_lane_changing_velocity: 2.78 # [m/s] - prediction_time_resolution: 0.5 # [s] - longitudinal_acceleration_sampling_num: 5 - lateral_acceleration_sampling_num: 3 - - # side walk parked vehicle - object_check_min_road_shoulder_width: 0.5 # [m] - object_shiftable_ratio_threshold: 0.6 + backward_length_from_intersection: 5.0 # [m] # turn signal min_length_for_turn_signal_activation: 10.0 # [m] - length_ratio_for_turn_signal_deactivation: 0.8 # ratio (desired end position) - # longitudinal acceleration - min_longitudinal_acc: -1.0 - max_longitudinal_acc: 1.0 + # trajectory generation + trajectory: + max_prepare_duration: 4.0 + min_prepare_duration: 2.0 + lateral_jerk: 0.5 + min_longitudinal_acc: -1.0 + max_longitudinal_acc: 1.0 + th_prepare_length_diff: 1.0 + th_lane_changing_length_diff: 1.0 + min_lane_changing_velocity: 2.78 + lon_acc_sampling_num: 5 + lat_acc_sampling_num: 3 + lane_changing_decel_factor: 0.5 + + # delay lane change + delay_lane_change: + enable: true + check_only_parked_vehicle: false + min_road_shoulder_width: 0.5 # [m] + th_parked_vehicle_shift_ratio: 0.6 # safety check safety_check: allow_loose_check_for_cancel: true + enable_target_lane_bound_check: true + stopped_object_velocity_threshold: 1.0 # [m/s] execution: expected_front_deceleration: -1.0 expected_rear_deceleration: -1.0 @@ -37,7 +42,15 @@ rear_vehicle_safety_time_margin: 1.0 lateral_distance_max_threshold: 2.0 longitudinal_distance_min_threshold: 3.0 - longitudinal_velocity_delta_time: 0.8 + longitudinal_velocity_delta_time: 0.0 + parked: + expected_front_deceleration: -1.0 + expected_rear_deceleration: -2.0 + rear_vehicle_reaction_time: 1.0 + rear_vehicle_safety_time_margin: 0.8 + lateral_distance_max_threshold: 1.0 + longitudinal_distance_min_threshold: 3.0 + longitudinal_velocity_delta_time: 0.0 cancel: expected_front_deceleration: -1.0 expected_rear_deceleration: -2.0 @@ -45,7 +58,7 @@ rear_vehicle_safety_time_margin: 0.8 lateral_distance_max_threshold: 1.0 longitudinal_distance_min_threshold: 2.5 - longitudinal_velocity_delta_time: 0.6 + longitudinal_velocity_delta_time: 0.0 stuck: expected_front_deceleration: -1.0 expected_rear_deceleration: -1.0 @@ -53,7 +66,7 @@ rear_vehicle_safety_time_margin: 1.0 lateral_distance_max_threshold: 2.0 longitudinal_distance_min_threshold: 3.0 - longitudinal_velocity_delta_time: 0.8 + longitudinal_velocity_delta_time: 0.0 # lane expansion for object filtering lane_expansion: @@ -78,11 +91,16 @@ pedestrian: true # collision check - enable_prepare_segment_collision_check: false - prepare_segment_ignore_object_velocity_thresh: 0.1 # [m/s] - check_objects_on_current_lanes: false - check_objects_on_other_lanes: false - use_all_predicted_path: true + collision_check: + enable_for_prepare_phase: + general_lanes: false + intersection: true + turns: true + prediction_time_resolution: 0.5 + yaw_diff_threshold: 3.1416 + check_current_lanes: false + check_other_lanes: false + use_all_predicted_paths: false # lane change regulations regulation: @@ -104,8 +122,11 @@ max_lateral_jerk: 100.0 # [m/s3] overhang_tolerance: 0.0 # [m] unsafe_hysteresis_threshold: 5 # [/] + deceleration_sampling_num: 5 # [/] - finish_judge_lateral_threshold: 0.2 # [m] + lane_change_finish_judge_buffer: 2.0 # [m] + finish_judge_lateral_threshold: 0.1 # [m] + finish_judge_lateral_angle_deviation: 1.0 # [deg] # debug publish_debug_marker: true diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/scene_module_manager.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/scene_module_manager.param.yaml index 8d4fe057b4..9f270b0637 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/scene_module_manager.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/scene_module_manager.param.yaml @@ -3,91 +3,80 @@ # NOTE: The smaller the priority number is, the higher the module priority is. /**: ros__parameters: + # NOTE: modules which are not set true in the preset is ignored in the slot configuration + slots: + # NOTE: array of array is not supported + - slot1 + - slot2 + - slot3 + - slot4 + slot1: + - "start_planner" + slot2: + - "side_shift" + - "avoidance_by_lane_change" + - "static_obstacle_avoidance" + - "lane_change_left" + - "lane_change_right" + - "external_request_lane_change_left" + - "external_request_lane_change_right" + slot3: + - "goal_planner" + slot4: + - "dynamic_obstacle_avoidance" + external_request_lane_change_left: enable_rtc: false enable_simultaneous_execution_as_approved_module: false enable_simultaneous_execution_as_candidate_module: true - keep_last: false - priority: 6 - max_module_size: 1 external_request_lane_change_right: enable_rtc: false enable_simultaneous_execution_as_approved_module: false enable_simultaneous_execution_as_candidate_module: true - keep_last: false - priority: 6 - max_module_size: 1 lane_change_left: enable_rtc: false enable_simultaneous_execution_as_approved_module: true enable_simultaneous_execution_as_candidate_module: true - keep_last: false - priority: 5 - max_module_size: 1 lane_change_right: enable_rtc: false enable_simultaneous_execution_as_approved_module: true enable_simultaneous_execution_as_candidate_module: true - keep_last: false - priority: 5 - max_module_size: 1 start_planner: enable_rtc: false enable_simultaneous_execution_as_approved_module: true enable_simultaneous_execution_as_candidate_module: false - keep_last: false - priority: 0 - max_module_size: 1 side_shift: enable_rtc: false enable_simultaneous_execution_as_approved_module: false enable_simultaneous_execution_as_candidate_module: false - keep_last: false - priority: 2 - max_module_size: 1 goal_planner: enable_rtc: false enable_simultaneous_execution_as_approved_module: true enable_simultaneous_execution_as_candidate_module: false - keep_last: true - priority: 1 - max_module_size: 1 - avoidance: + static_obstacle_avoidance: enable_rtc: false enable_simultaneous_execution_as_approved_module: true enable_simultaneous_execution_as_candidate_module: false - keep_last: false - priority: 4 - max_module_size: 1 avoidance_by_lane_change: enable_rtc: false enable_simultaneous_execution_as_approved_module: false enable_simultaneous_execution_as_candidate_module: false - keep_last: false - priority: 3 - max_module_size: 1 - dynamic_avoidance: + dynamic_obstacle_avoidance: enable_rtc: false enable_simultaneous_execution_as_approved_module: true enable_simultaneous_execution_as_candidate_module: true - keep_last: true - priority: 7 - max_module_size: 1 sampling_planner: enable_module: true enable_rtc: false enable_simultaneous_execution_as_approved_module: false enable_simultaneous_execution_as_candidate_module: false - keep_last: false - priority: 16 - max_module_size: 1 diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/start_planner/start_planner.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/start_planner/start_planner.param.yaml index c31299ab0c..9ad5510ab2 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/start_planner/start_planner.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/start_planner/start_planner.param.yaml @@ -7,7 +7,18 @@ th_stopped_time: 1.0 collision_check_margins: [2.0, 1.0, 0.5, 0.1] collision_check_margin_from_front_object: 5.0 + skip_rear_vehicle_check: false + extra_width_margin_for_rear_obstacle: 0.5 th_moving_object_velocity: 1.0 + object_types_to_check_for_path_generation: + check_car: true + check_truck: true + check_bus: true + check_trailer: true + check_bicycle: true + check_motorcycle: true + check_pedestrian: true + check_unknown: true th_distance_to_middle_of_the_road: 0.5 center_line_path_interval: 1.0 # shift pull out @@ -16,33 +27,32 @@ allow_check_shift_path_lane_departure_override: false shift_collision_check_distance_from_end: -10.0 minimum_shift_pull_out_distance: 0.0 - deceleration_interval: 15.0 + maximum_longitudinal_deviation: 1.0 # Note, should be the same or less than planning validator's "longitudinal_distance_deviation" lateral_jerk: 0.5 lateral_acceleration_sampling_num: 3 minimum_lateral_acc: 0.15 maximum_lateral_acc: 0.5 maximum_curvature: 0.07 + end_pose_curvature_threshold: 0.1 # geometric pull out enable_geometric_pull_out: true geometric_collision_check_distance_from_end: 0.0 + arc_path_interval: 1.0 divide_pull_out_path: true geometric_pull_out_velocity: 1.0 - arc_path_interval: 1.0 lane_departure_margin: 0.2 + lane_departure_check_expansion_margin: 0.0 backward_velocity: -1.0 - pull_out_max_steer_angle: 0.26 # 15deg + pull_out_max_steer_angle: 0.4 # 22.9deg # search start pose backward enable_back: true search_priority: "efficient_path" # "efficient_path" or "short_back_distance" max_back_distance: 20.0 backward_search_resolution: 2.0 backward_path_update_duration: 3.0 - ignore_distance_from_lane_end: 15.0 + ignore_distance_from_lane_end: 0.0 # turns signal prepare_time_before_start: 0.0 - th_turn_signal_on_lateral_offset: 1.0 - intersection_search_length: 30.0 - length_ratio_for_turn_signal_deactivation_near_intersection: 0.5 # freespace planner freespace_planner: enable_freespace_planner: true @@ -53,25 +63,32 @@ velocity: 1.0 vehicle_shape_margin: 1.0 time_limit: 3000.0 - minimum_turning_radius: 5.0 - maximum_turning_radius: 5.0 - turning_radius_size: 1 + max_turning_ratio: 0.7 + turning_steps: 1 # search configs search_configs: - theta_size: 144 + theta_size: 120 angle_goal_range: 6.0 - curve_weight: 1.2 - reverse_weight: 1.0 lateral_goal_range: 0.5 longitudinal_goal_range: 2.0 + curve_weight: 0.5 + reverse_weight: 1.0 + direction_change_weight: 1.5 # costmap configs costmap_configs: obstacle_threshold: 30 # -- A* search Configurations -- astar: + search_method: "forward" # options: forward, backward only_behind_solutions: false - use_back: false - distance_heuristic_weight: 1.0 + use_back: true + adapt_expansion_distance: true + expansion_distance: 0.5 + near_goal_distance: 3.0 + distance_heuristic_weight: 2.0 + smoothness_weight: 0.5 + obstacle_distance_weight: 1.75 + goal_lat_distance_weight: 5.0 # -- RRT* search Configurations -- rrtstar: enable_update: true @@ -135,8 +152,10 @@ lateral_distance_max_threshold: 2.0 longitudinal_distance_min_threshold: 3.0 longitudinal_velocity_delta_time: 0.8 + extended_polygon_policy: "along_path" # [-] select "rectangle" or "along_path" # hysteresis factor to expand/shrink polygon hysteresis_factor_expand_rate: 1.0 + collision_check_yaw_diff_threshold: 1.578 # temporary backward_path_length: 30.0 forward_path_length: 100.0 diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/behavior_velocity_planner.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/behavior_velocity_planner.param.yaml index b31506918a..49749cd129 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/behavior_velocity_planner.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/behavior_velocity_planner.param.yaml @@ -4,8 +4,3 @@ backward_path_length: 5.0 behavior_output_path_interval: 1.0 stop_line_extend_length: 5.0 - max_accel: -2.8 - max_jerk: -5.0 - system_delay: 0.5 - delay_response_time: 0.5 - is_publish_debug_path: false # publish all debug path with lane id in each module diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/behavior_velocity_planner_common.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/behavior_velocity_planner_common.param.yaml new file mode 100644 index 0000000000..aff2aec9cf --- /dev/null +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/behavior_velocity_planner_common.param.yaml @@ -0,0 +1,7 @@ +/**: + ros__parameters: + max_accel: -2.8 + max_jerk: -5.0 + system_delay: 0.5 + delay_response_time: 0.5 + is_publish_debug_path: false # publish all debug path with lane id in each module 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 424029300a..d7131d8c19 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 @@ -3,10 +3,12 @@ blind_spot: use_pass_judge_line: true stop_line_margin: 1.0 # [m] - backward_length: 50.0 # [m] - ignore_width_from_center_line: 0.0 # [m] - max_future_movement_time: 10.0 # [second] - threshold_yaw_diff: 0.523 # [rad] + backward_detection_length: 100.0 # [m] + ignore_width_from_center_line: 0.7 # [m] adjacent_extend_width: 1.5 # [m] opposite_adjacent_extend_width: 1.5 # [m] - enable_rtc: false # 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. + max_future_movement_time: 10.0 # [second] + ttc_min: -5.0 # [s] + ttc_max: 5.0 # [s] + ttc_ego_minimal_velocity: 5.0 # [m/s] + enable_rtc: false # 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/crosswalk.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/crosswalk.param.yaml index 87140169b4..fe443ca476 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 @@ -13,10 +13,11 @@ # For the Lanelet2 map with no explicit stop lines stop_distance_from_crosswalk: 3.5 # [m] make stop line away from crosswalk - # For the case where the crosswalk width is very wide - far_object_threshold: 10.0 # [m] If objects cross X meters behind the stop line, the stop position is determined according to the object position (stop_distance_from_object meters before the object). # For the case where the stop position is determined according to the object position. - stop_distance_from_object: 3.0 # [m] the vehicle decelerates to be able to stop in front of object with margin + stop_distance_from_object_preferred: 3.0 # [m] + stop_distance_from_object_limit: 3.0 # [m] + min_acc_preferred: -1.0 # min acceleration [m/ss] + min_jerk_preferred: -1.0 # min jerk [m/sss] # params for ego's slow down velocity. These params are not used for the case of "enable_rtc: false". slow_down: @@ -38,17 +39,17 @@ # params for the pass judge logic against the crosswalk users such as pedestrians or bicycles pass_judge: ego_pass_first_margin_x: [0.0] # [[s]] time to collision margin vector for ego pass first situation (the module judges that ego don't have to stop at TTC + MARGIN < TTV condition) - ego_pass_first_margin_y: [3.0] # [[s]] time to vehicle margin vector for ego pass first situation (the module judges that ego don't have to stop at TTC + MARGIN < TTV condition) + ego_pass_first_margin_y: [4.0] # [[s]] time to vehicle margin vector for ego pass first situation (the module judges that ego don't have to stop at TTC + MARGIN < TTV condition) ego_pass_first_additional_margin: 0.5 # [s] additional time margin for ego pass first situation to suppress chattering ego_pass_later_margin_x: [0.0] # [[s]] time to vehicle margin vector for object pass first situation (the module judges that ego don't have to stop at TTV + MARGIN < TTC condition) ego_pass_later_margin_y: [13.0] # [[s]] time to collision margin vector for object pass first situation (the module judges that ego don't have to stop at TTV + MARGIN < TTC condition) ego_pass_later_additional_margin: 0.5 # [s] additional time margin for object pass first situation to suppress chattering + ego_min_assumed_speed: 2.0 # [m/s] assumed speed to calculate the time to collision point - no_stop_decision: # parameters to determine if it is safe to attempt stopping before the crosswalk - max_offset_to_crosswalk_for_yield: 0.0 # [m] maximum offset from ego's front to crosswalk for yield. Positive value means in front of the crosswalk. - min_acc: -1.0 # min acceleration [m/ss] - min_jerk: -1.0 # min jerk [m/sss] - max_jerk: 1.0 # max jerk [m/sss] + no_stop_decision: # parameters to determine stop cancel. {-$overrun_threshold_length + f($min_acc, $min_jerk)} is compared against distance to stop pose. + min_acc: -1.5 # min acceleration [m/ss] + min_jerk: -1.5 # min jerk [m/sss] + overrun_threshold_length: 1.0 # [m] required to avoid giving up against backward movement of the stop position due to approaching pedestrians, etc. stop_object_velocity_threshold: 0.25 # [m/s] velocity threshold for the module to judge whether the objects is stopped (0.25 m/s = 0.9 kmph) min_object_velocity: 1.39 # [m/s] minimum object velocity (compare the estimated velocity by perception module with this parameter and adopt the larger one to calculate TTV. 1.39 m/s = 5.0 kmph) @@ -59,6 +60,11 @@ timeout_set_for_no_intention_to_walk: [1.0, 0.0] # [s] timeout_ego_stop_for_yield: 1.0 # [s] If the ego maintains the stop for this amount of time, then the ego proceeds, assuming it has stopped long time enough. + # params for suppressing the ego to restart when the ego is close to the next stop position. + restart_suppression: + min_distance_to_stop: 0.5 + max_distance_to_stop: 1.0 + # param for target object filtering object_filtering: crosswalk_attention_range: 2.0 # [m] the detection area is defined as -X meters before the crosswalk to +X meters behind the crosswalk @@ -71,14 +77,14 @@ # param for occlusions occlusion: - enable: true # if true, ego will slowdown around crosswalks that are occluded - occluded_object_velocity: 1.0 # [m/s] assumed velocity of objects that may come out of the occluded space + enable: false # if true, ego will slowdown around crosswalks that are occluded + occluded_object_velocity: 2.0 # [m/s] assumed velocity of objects that may come out of the occluded space slow_down_velocity: 1.0 # [m/s] time_buffer: 0.5 # [s] consecutive time with/without an occlusion to add/remove the slowdown - min_size: 0.5 # [m] minimum size of an occlusion (square side size) + min_size: 1.0 # [m] minimum size of an occlusion (square side size) free_space_max: 43 # [-] maximum value of a free space cell in the occupancy grid occupied_min: 58 # [-] minimum value of an occupied cell in the occupancy grid - ignore_with_red_traffic_light: true # [-] if true, occlusions at crosswalks with traffic lights are ignored + ignore_with_traffic_light: true # [-] if true, occlusions at crosswalks with traffic lights are ignored ignore_behind_predicted_objects: true # [-] if true, occlusions behind predicted objects are ignored ignore_velocity_thresholds: default: 0.5 # [m/s] occlusions are only ignored behind objects with a higher or equal velocity 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 ddd8b934d2..5177628360 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 @@ -9,3 +9,4 @@ hold_stop_margin_distance: 0.0 distance_to_judge_over_stop_line: 0.5 enable_rtc: false # 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. + suppress_pass_judge_when_stopping: false 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 68d4070cbf..c9ac6aa1a6 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 @@ -101,7 +101,7 @@ creep_velocity: 0.8333 peeking_offset: -0.5 occlusion_required_clearance_distance: 55.0 - possible_object_bbox: [1.5, 2.5] + possible_object_bbox: [1.9, 2.5] ignore_parked_vehicle_speed_threshold: 0.8333 occlusion_detection_hold_time: 1.5 temporal_stop_time_before_peeking: 0.1 diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/out_of_lane.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/out_of_lane.param.yaml deleted file mode 100644 index b55c3b21de..0000000000 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/out_of_lane.param.yaml +++ /dev/null @@ -1,42 +0,0 @@ -/**: - ros__parameters: - out_of_lane: # module to stop or slowdown before overlapping another lane with other objects - mode: ttc # mode used to consider a conflict with an object. "threshold", "intervals", or "ttc" - skip_if_already_overlapping: false # do not run this module when ego already overlaps another lane - - threshold: - time_threshold: 5.0 # [s] consider objects that will reach an overlap within this time - intervals: # consider objects if their estimated time interval spent on the overlap intersect the estimated time interval of ego - ego_time_buffer: 0.5 # [s] extend the ego time interval by this buffer - objects_time_buffer: 0.5 # [s] extend the time intervals of objects by this buffer - ttc: - threshold: 3.0 # [s] consider objects with an estimated time to collision bellow this value while on the overlap - - objects: - minimum_velocity: 0.5 # [m/s] objects lower than this velocity will be ignored - use_predicted_paths: true # if true, use the predicted paths to estimate future positions. - # if false, assume the object moves at constant velocity along *all* lanelets it currently is located in. - predicted_path_min_confidence : 0.1 # when using predicted paths, ignore the ones whose confidence is lower than this value. - distance_buffer: 1.0 # [m] distance buffer used to determine if a collision will occur in the other lane - - overlap: - minimum_distance: 0.0 # [m] minimum distance inside a lanelet for an overlap to be considered - extra_length: 0.0 # [m] extra arc length to add to the front and back of an overlap (used to calculate enter/exit times) - - action: # action to insert in the path if an object causes a conflict at an overlap - skip_if_over_max_decel: true # if true, do not take an action that would cause more deceleration than the maximum allowed - precision: 0.1 # [m] precision when inserting a stop pose in the path - distance_buffer: 1.5 # [m] buffer distance to try to keep between the ego footprint and lane - min_duration: 1.0 # [s] minimum duration needed before a decision can be canceled - slowdown: - distance_threshold: 30.0 # [m] insert a slowdown when closer than this distance from an overlap - velocity: 2.0 # [m/s] slowdown velocity - stop: - distance_threshold: 15.0 # [m] insert a stop when closer than this distance from an overlap - - ego: - min_assumed_velocity: 2.0 # [m/s] minimum velocity used to calculate the enter and exit times of ego - extra_front_offset: 0.0 # [m] extra front distance - extra_rear_offset: 0.0 # [m] extra rear distance - extra_right_offset: 0.0 # [m] extra right distance - extra_left_offset: 0.0 # [m] extra left distance diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/run_out.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/run_out.param.yaml index 196f7c6296..d5d353742c 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/run_out.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/run_out.param.yaml @@ -2,8 +2,11 @@ ros__parameters: run_out: detection_method: "Object" # [-] candidate: Object, ObjectWithoutPath, Points + target_obstacle_types: ["PEDESTRIAN", "BICYCLE", "MOTORCYCLE"] # [-] Obstacle types considered by this module + exclude_obstacles_already_in_path: true # If the obstacle is already on the ego's path footprint, ignore it. use_partition_lanelet: true # [-] whether to use partition lanelet map data suppress_on_crosswalk: true # [-] whether to suppress on crosswalk lanelet + use_ego_cut_line: true # [-] filter obstacles that pass the backside of ego: if a dynamic obstacle's predicted path intersects this line, it is ignored specify_decel_jerk: true # [-] whether to specify jerk when ego decelerates stop_margin: 2.5 # [m] the vehicle decelerates to be able to stop with this margin passing_margin: 1.1 # [m] the vehicle begins to accelerate if the vehicle's front in predicted position is ahead of the obstacle + this margin @@ -11,6 +14,10 @@ detection_distance: 45.0 # [m] ahead distance from ego to detect the obstacles detection_span: 1.0 # [m] calculate collision with this span to reduce calculation time min_vel_ego_kmph: 3.6 # [km/h] min velocity to calculate time to collision + ego_cut_line_length: 3.0 # The width of the ego's cut line + ego_footprint_extra_margin: 0.5 # [m] expand the ego vehicles' footprint by this value on all sides when building the ego footprint path + keep_obstacle_on_path_time_threshold: 1.0 # [s] How much time a previous run out target obstacle is kept in the run out candidate list if it enters the ego path. + keep_stop_point_time: 2.0 # [s] If a stop point is issued by this module, keep the stop point for this many seconds. Only works if approach is disabled # Parameter to create abstracted dynamic obstacles dynamic_obstacle: @@ -22,7 +29,7 @@ std_dev_multiplier: 1.96 # [-] min and max velocity of the obstacles are calculated from this value and covariance diameter: 0.1 # [m] diameter of obstacles. used for creating dynamic obstacles from points height: 2.0 # [m] height of obstacles. used for creating dynamic obstacles from points - max_prediction_time: 10.0 # [sec] create predicted path until this time + max_prediction_time: 7.0 # [sec] create predicted path until this time time_step: 0.5 # [sec] time step for each path step. used for creating dynamic obstacles from points or objects without path points_interval: 0.1 # [m] divide obstacle points into groups with this interval, and detect only lateral nearest point. used only for Points method @@ -37,7 +44,7 @@ # Parameter to prevent abrupt stops caused by false positives in perception ignore_momentary_detection: enable: true - time_threshold: 0.15 # [sec] ignores detections that persist for less than this duration + time_threshold: 0.15 # [sec] ignores detections that persist for less than this duration # Typically used when the "detection_method" is set to ObjectWithoutPath or Points # Approach if the ego has stopped in front of the obstacle for a certain period diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_avoidance_planner/obstacle_avoidance_planner.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/autoware_path_optimizer/path_optimizer.param.yaml similarity index 100% rename from autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_avoidance_planner/obstacle_avoidance_planner.param.yaml rename to autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/autoware_path_optimizer/path_optimizer.param.yaml diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/dynamic_obstacle_stop.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/motion_velocity_planner/dynamic_obstacle_stop.param.yaml similarity index 51% rename from autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/dynamic_obstacle_stop.param.yaml rename to autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/motion_velocity_planner/dynamic_obstacle_stop.param.yaml index 14483093e8..10d749e57a 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/dynamic_obstacle_stop.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/motion_velocity_planner/dynamic_obstacle_stop.param.yaml @@ -6,5 +6,7 @@ stop_distance_buffer: 0.5 # [m] extra distance to add between the stop point and the collision point time_horizon: 5.0 # [s] time horizon used for collision checks hysteresis: 1.0 # [m] once a collision has been detected, this hysteresis is used on the collision detection - decision_duration_buffer : 1.0 # [s] duration between no collision being detected and the stop decision being cancelled - minimum_object_distance_from_ego_path: 1.0 # [m] minimum distance between the footprints of ego and an object to consider for collision + add_stop_duration_buffer : 0.5 # [s] duration where a collision must be continuously detected before a stop decision is added + remove_stop_duration_buffer : 1.0 # [s] duration between no collision being detected and the stop decision being remove + minimum_object_distance_from_ego_trajectory: 1.0 # [m] minimum distance between the footprints of ego and an object to consider for collision + ignore_unavoidable_collisions : true # if true, ignore collisions that cannot be avoided by stopping (assuming the obstacle continues going straight) diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/motion_velocity_planner/motion_velocity_planner.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/motion_velocity_planner/motion_velocity_planner.param.yaml new file mode 100644 index 0000000000..5b2fea537d --- /dev/null +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/motion_velocity_planner/motion_velocity_planner.param.yaml @@ -0,0 +1,3 @@ +/**: + ros__parameters: + smooth_velocity_before_planning: true # [-] if true, smooth the velocity profile of the input trajectory before planning diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_velocity_limiter/obstacle_velocity_limiter.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/motion_velocity_planner/obstacle_velocity_limiter.param.yaml similarity index 100% rename from autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_velocity_limiter/obstacle_velocity_limiter.param.yaml rename to autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/motion_velocity_planner/obstacle_velocity_limiter.param.yaml diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/motion_velocity_planner/out_of_lane.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/motion_velocity_planner/out_of_lane.param.yaml new file mode 100644 index 0000000000..150478ce26 --- /dev/null +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/motion_velocity_planner/out_of_lane.param.yaml @@ -0,0 +1,36 @@ +/**: + ros__parameters: + out_of_lane: # module to stop or slowdown before overlapping another lane with other objects + mode: ttc # mode used to consider a conflict with an object. "threshold", or "ttc" + skip_if_already_overlapping: false # do not run this module when ego already overlaps another lane + ignore_overlaps_over_lane_changeable_lanelets: true # if true, overlaps on lane changeable lanelets are ignored + max_arc_length: 100.0 # [m] maximum trajectory arc length that is checked for out_of_lane collisions + + threshold: + time_threshold: 5.0 # [s] consider objects that will reach an overlap within this time + ttc: + threshold: 1.0 # [s] consider objects with an estimated time to collision bellow this value while on the overlap + + objects: + minimum_velocity: 0.5 # [m/s] objects lower than this velocity will be ignored + predicted_path_min_confidence : 0.1 # when using predicted paths, ignore the ones whose confidence is lower than this value. + cut_predicted_paths_beyond_red_lights: true # if true, predicted paths are cut beyond the stop line of red traffic lights + ignore_behind_ego: false # if true, objects behind the ego vehicle are ignored + + action: # action to insert in the trajectory if an object causes a conflict at an overlap + precision: 0.1 # [m] precision when inserting a stop pose in the trajectory + longitudinal_distance_buffer: 1.5 # [m] safety distance buffer to keep in front of the ego vehicle + lateral_distance_buffer: 1.0 # [m] safety distance buffer to keep on the side of the ego vehicle + min_duration: 1.0 # [s] minimum duration needed before a decision can be canceled + slowdown: + distance_threshold: 30.0 # [m] insert a slowdown when closer than this distance from an overlap + velocity: 2.0 # [m/s] slowdown velocity + stop: + distance_threshold: 15.0 # [m] insert a stop when closer than this distance from an overlap + + ego: + # extra footprint offsets to calculate out of lane collisions + extra_front_offset: 0.0 # [m] extra footprint front distance + extra_rear_offset: 0.0 # [m] extra footprint rear distance + extra_right_offset: 0.0 # [m] extra footprint right distance + extra_left_offset: 0.0 # [m] extra footprint left distance diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/obstacle_cruise_planner.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/obstacle_cruise_planner.param.yaml index 2ff87e9b01..4b9e96f6bc 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/obstacle_cruise_planner.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/obstacle_cruise_planner.param.yaml @@ -12,10 +12,12 @@ idling_time: 2.0 # idling time to detect front vehicle starting deceleration [s] min_ego_accel_for_rss: -1.0 # ego's acceleration to calculate RSS distance [m/ss] min_object_accel_for_rss: -1.0 # front obstacle's acceleration to calculate RSS distance [m/ss] - safe_distance_margin : 6.0 # This is also used as a stop margin [m] + safe_distance_margin : 4.0 # This is also used as a stop margin [m] terminal_safe_distance_margin : 3.0 # Stop margin at the goal. This value cannot exceed safe distance margin. [m] hold_stop_velocity_threshold: 0.01 # The maximum ego velocity to hold stopping [m/s] hold_stop_distance_threshold: 0.3 # The ego keeps stopping if the distance to stop changes within the threshold [m] + slow_down_min_acc: -1.0 # slow down min deceleration [m/ss] + slow_down_min_jerk: -1.0 # slow down min jerk [m/sss] nearest_dist_deviation_threshold: 3.0 # [m] for finding nearest index nearest_yaw_deviation_threshold: 1.57 # [rad] for finding nearest index @@ -27,14 +29,26 @@ suppress_sudden_obstacle_stop: true stop_obstacle_type: - unknown: true - car: true - truck: true - bus: true - trailer: true - motorcycle: true - bicycle: true - pedestrian: true + pointcloud: false + inside: + unknown: true + car: true + truck: true + bus: true + trailer: true + motorcycle: true + bicycle: true + pedestrian: true + + outside: + unknown: false + car: false + truck: false + bus: false + trailer: false + motorcycle: false + bicycle: false + pedestrian: false cruise_obstacle_type: inside: @@ -66,8 +80,17 @@ motorcycle: true bicycle: true pedestrian: true + pointcloud: false behavior_determination: + pointcloud_search_radius: 5.0 + pointcloud_voxel_grid_x: 0.05 + pointcloud_voxel_grid_y: 0.05 + pointcloud_voxel_grid_z: 100000.0 + pointcloud_cluster_tolerance: 1.0 + pointcloud_min_cluster_size: 1 + pointcloud_max_cluster_size: 100000 + decimate_trajectory_step_length : 2.0 # longitudinal step length to calculate trajectory polygon for collision checking prediction_resampling_time_interval: 0.1 @@ -76,27 +99,36 @@ stop_obstacle_hold_time_threshold : 1.0 # maximum time for holding closest stop obstacle # hysteresis for cruise and stop - obstacle_velocity_threshold_from_cruise_to_stop : 3.0 # stop planning is executed to the obstacle whose velocity is less than this value [m/s] - obstacle_velocity_threshold_from_stop_to_cruise : 3.5 # stop planning is executed to the obstacle whose velocity is less than this value [m/s] + obstacle_velocity_threshold_from_cruise_to_stop : 1.0 # stop planning is executed to the obstacle whose velocity is less than this value [m/s] + obstacle_velocity_threshold_from_stop_to_cruise : 1.5 # stop planning is executed to the obstacle whose velocity is less than this value [m/s] # if crossing vehicle is determined as target obstacles or not crossing_obstacle: - obstacle_velocity_threshold : 3.0 # velocity threshold for crossing obstacle for cruise or stop [m/s] - obstacle_traj_angle_threshold : 1.22 # [rad] = 70 [deg], yaw threshold of crossing obstacle against the nearest trajectory point for cruise or stop + obstacle_velocity_threshold : 1.0 # velocity threshold for crossing obstacle for cruise or stop [m/s] + obstacle_traj_angle_threshold : 0.523599 # [rad] = 30 [deg], yaw threshold of crossing obstacle against the nearest trajectory point for cruise or stop stop: - max_lat_margin: 0.2 # lateral margin between obstacle and trajectory band with ego's width + max_lat_margin: 0.3 # lateral margin between the obstacles and ego's footprint + max_lat_margin_against_unknown: 0.3 # lateral margin between the unknown obstacles and ego's footprint + min_velocity_to_reach_collision_point: 2.0 # minimum velocity margin to calculate time to reach collision [m/s] + outside_obstacle: + max_lateral_time_margin: 4.5 # time threshold of lateral margin between the obstacles and ego's footprint [s] + num_of_predicted_paths: 1 # number of the highest confidence predicted path to check collision between obstacle and ego + pedestrian_deceleration_rate: 0.5 # planner perceives pedestrians will stop with this rate to avoid unnecessary stops [m/ss] + bicycle_deceleration_rate: 0.5 # planner perceives bicycles will stop with this rate to avoid unnecessary stops [m/ss] crossing_obstacle: - collision_time_margin : 4.0 # time threshold of collision between obstacle adn ego for cruise or stop [s] + collision_time_margin : 1.0 # time threshold of collision between obstacle adn ego for cruise or stop [s] cruise: max_lat_margin: 1.0 # lateral margin between obstacle and trajectory band with ego's width outside_obstacle: - obstacle_velocity_threshold : 3.5 # minimum velocity threshold of obstacles outside the trajectory to cruise or stop [m/s] - ego_obstacle_overlap_time_threshold : 2.0 # time threshold to decide cut-in obstacle for cruise or stop [s] - max_prediction_time_for_collision_check : 20.0 # prediction time to check collision between obstacle and ego + obstacle_velocity_threshold : 1.5 # minimum velocity threshold of obstacles outside the trajectory to cruise or stop [m/s] + ego_obstacle_overlap_time_threshold : 0.2 # time threshold to decide cut-in obstacle for cruise or stop [s] + max_prediction_time_for_collision_check : 10.0 # prediction time to check collision between obstacle and ego + max_lateral_time_margin: 5.0 # time threshold of lateral margin between obstacle and trajectory band with ego's width [s] + num_of_predicted_paths: 3 # number of the highest confidence predicted path to check collision between obstacle and ego yield: - enable_yield: false + enable_yield: true lat_distance_threshold: 5.0 # lateral margin between obstacle in neighbor lanes and trajectory band with ego's width for yielding max_lat_dist_between_obstacles: 2.5 # lateral margin between moving obstacle in neighbor lanes and stopped obstacle in front of it max_obstacles_collision_time: 10.0 # how far the blocking obstacle @@ -203,3 +235,15 @@ lpf_gain_slow_down_vel: 0.99 # low-pass filter gain for slow down velocity lpf_gain_lat_dist: 0.999 # low-pass filter gain for lateral distance from obstacle to ego's path lpf_gain_dist_to_slow_down: 0.7 # low-pass filter gain for distance to slow down start + stop: + type_specified_params: + labels: # For the listed types, the node try to read the following type specified values + - "default" + - "unknown" + # default: For the default type, which denotes the other types listed above, the following param is defined implicitly, and the other type-specified parameters are not defined. + # limit_min_acc: common_param.yaml/limit.min_acc + unknown: + limit_min_acc: -1.2 # overwrite the deceleration limit, in usually, common_param.yaml/limit.min_acc is referred. + sudden_object_acc_threshold: -1.1 # If a stop can be achieved by a deceleration smaller than this value, it is not considered as “sudden stop". + sudden_object_dist_threshold: 1000.0 # If a stop distance is longer than this value, it is not considered as “sudden stop". + abandon_to_stop: false # If true, the planner gives up to stop when it cannot avoid to run over while maintaining the deceleration limit. diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/path_sampler/path_sampler.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/path_sampler/path_sampler.param.yaml index d22ce0e6b4..0471ee13aa 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/path_sampler/path_sampler.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/path_sampler/path_sampler.param.yaml @@ -8,25 +8,30 @@ id: 0 # id of the candidate paths for which to print/show details (e.g., footprint in rviz) preprocessing: - force_zero_initial_deviation: True # if true, initial planning starts from the reference path - force_zero_initial_heading: True # if true, initial planning starts with a heading aligned with the reference path + force_zero_initial_deviation: False # if true, initial planning starts from the reference path + force_zero_initial_heading: False # if true, initial planning starts with a heading aligned with the reference path smooth_reference_trajectory: False # if true, the reference trajectory is smoothed before being used for planning constraints: hard: max_curvature: 0.1 # [m⁻¹] maximum curvature of a sampled path min_curvature: -0.1 # [m⁻¹] minimum curvature of a sampled path + min_distance_from_obstacles: 0.5 # [m] min allowed distance from obstacles + limit_footprint_inside_drivable_area: false # if true, paths where the ego footprint exits the drivable area are rejected soft: lateral_deviation_weight: 1.0 # cost weight for lateral deviation between the end of a sampled path and the reference path length_weight: 1.0 # cost weight for the length of a sampled path curvature_weight: 1.0 # cost weight for the curvature of a sampled path + path_reuse: + maximum_lateral_deviation: 1.0 # [m] reset the previous path if ego deviates from it by more than this value + direct_reuse_distance: 2.0 # [m] a new path is generated only after ego travels this distance along the previously calculated path, or if it has become invalid sampling: enable_frenet: True enable_bezier: True resolution: 0.5 # [m] target distance between sampled path points previous_path_reuse_points_nb: 2 # number of points reused from the previously generated path (0:no reuse, 1:replan from end of prev path, 2: end and mid of prev path, etc) target_lengths: [10.0, 20.0] # [m] target lengths of the sampled paths - nb_target_lateral_positions: 2 # number of lateral positions to use for sampling (in addition to 0.0 and the current lateral deviation) - target_lateral_positions: [-0.5, 0.0, 0.5] # manual values that are only used if nb_target_lateral_positions = 0 + nb_target_lateral_positions: 0 # number of lateral positions to use for sampling (in addition to 0.0 and the current lateral deviation) + target_lateral_positions: [-2.0, -1.5, -1.0, -0.5, 0.0, 0.5, 1.0, 1.5, 2.0] # manual values that are only used if nb_target_lateral_positions = 0 frenet: # target values for the sampled "lateral deviation over longitudinal position" polynomial target_lateral_velocities: [-0.1, 0.0, 0.1] target_lateral_accelerations: [0.0] diff --git a/autoware_launch/config/planning/scenario_planning/parking/freespace_planner/freespace_planner.param.yaml b/autoware_launch/config/planning/scenario_planning/parking/freespace_planner/freespace_planner.param.yaml index ffd99df533..1d7048ee39 100644 --- a/autoware_launch/config/planning/scenario_planning/parking/freespace_planner/freespace_planner.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/parking/freespace_planner/freespace_planner.param.yaml @@ -4,11 +4,12 @@ planning_algorithm: "astar" waypoints_velocity: 5.0 update_rate: 10.0 - th_arrived_distance_m: 1.0 + th_arrived_distance_m: 0.5 th_stopped_time_sec: 1.0 th_stopped_velocity_mps: 0.01 th_course_out_distance_m: 1.0 - vehicle_shape_margin_m: 1.0 + th_obstacle_time_sec: 1.0 + vehicle_shape_margin_m: 0.4 replan_when_obstacle_found: true replan_when_course_out: true @@ -16,27 +17,31 @@ # base configs time_limit: 30000.0 # robot configs # TODO replace by vehicle_info - robot_length: 4.5 - robot_width: 1.75 - robot_base2back: 1.0 - minimum_turning_radius: 9.0 - maximum_turning_radius: 9.0 - turning_radius_size: 1 + max_turning_ratio: 0.5 # ratio of actual turning limit of vehicle + turning_steps: 1 # search configs - theta_size: 144 + theta_size: 120 angle_goal_range: 6.0 - curve_weight: 1.2 - reverse_weight: 2.0 lateral_goal_range: 0.5 - longitudinal_goal_range: 2.0 + longitudinal_goal_range: 1.0 + curve_weight: 0.5 + reverse_weight: 0.7 + direction_change_weight: 2.0 # costmap configs obstacle_threshold: 100 # -- A* search Configurations -- astar: + search_method: "forward" # options: forward, backward only_behind_solutions: false use_back: true - distance_heuristic_weight: 1.0 + adapt_expansion_distance: true + expansion_distance: 0.5 + near_goal_distance: 3.0 + distance_heuristic_weight: 2.0 + smoothness_weight: 0.5 + obstacle_distance_weight: 1.75 + goal_lat_distance_weight: 5.0 # -- RRT* search Configurations -- rrtstar: diff --git a/autoware_launch/config/simulator/fault_injection.param.yaml b/autoware_launch/config/simulator/fault_injection.param.yaml index ac02442d70..d608a7ab11 100644 --- a/autoware_launch/config/simulator/fault_injection.param.yaml +++ b/autoware_launch/config/simulator/fault_injection.param.yaml @@ -3,7 +3,7 @@ event_diag_list: vehicle_is_out_of_lane: "lane_departure" trajectory_deviation_is_high: "trajectory_deviation" - localization_matching_score_is_low: "ndt_scan_matcher" + localization_matching_score_is_low: "scan_matching_status" localization_accuracy_is_low: "localization_error_ellipse" map_version_is_different: "map_version" trajectory_is_invalid: "trajectory_point_validation" diff --git a/autoware_launch/config/system/component_state_monitor/topics.yaml b/autoware_launch/config/system/component_state_monitor/topics.yaml index f8c6f9685f..3845a96108 100644 --- a/autoware_launch/config/system/component_state_monitor/topics.yaml +++ b/autoware_launch/config/system/component_state_monitor/topics.yaml @@ -4,7 +4,7 @@ args: node_name_suffix: vector_map topic: /map/vector_map - topic_type: autoware_auto_mapping_msgs/msg/HADMapBin + topic_type: autoware_map_msgs/msg/LaneletMapBin best_effort: false transient_local: true warn_rate: 0.0 @@ -50,19 +50,6 @@ error_rate: 1.0 timeout: 1.0 -- module: localization - mode: [online, logging_simulation] - type: autonomous - args: - node_name_suffix: pose_estimator_pose - topic: /localization/pose_estimator/pose_with_covariance - topic_type: geometry_msgs/msg/PoseWithCovarianceStamped - best_effort: false - transient_local: false - warn_rate: 5.0 - error_rate: 1.0 - timeout: 1.0 - - module: perception mode: [online, logging_simulation] type: launch @@ -82,7 +69,7 @@ args: node_name_suffix: object_recognition_objects topic: /perception/object_recognition/objects - topic_type: autoware_auto_perception_msgs/msg/PredictedObjects + topic_type: autoware_perception_msgs/msg/PredictedObjects best_effort: false transient_local: false warn_rate: 5.0 @@ -95,7 +82,7 @@ args: node_name_suffix: traffic_light_recognition_traffic_signals topic: /perception/traffic_light_recognition/traffic_signals - topic_type: autoware_perception_msgs/msg/TrafficSignalArray + topic_type: autoware_perception_msgs/msg/TrafficLightGroupArray best_effort: false transient_local: false warn_rate: 5.0 @@ -121,7 +108,7 @@ args: node_name_suffix: scenario_planning_trajectory topic: /planning/scenario_planning/trajectory - topic_type: autoware_auto_planning_msgs/msg/Trajectory + topic_type: autoware_planning_msgs/msg/Trajectory best_effort: false transient_local: false warn_rate: 5.0 @@ -134,7 +121,7 @@ args: node_name_suffix: trajectory_follower_control_cmd topic: /control/trajectory_follower/control_cmd - topic_type: autoware_auto_control_msgs/msg/AckermannControlCommand + topic_type: autoware_control_msgs/msg/Control best_effort: false transient_local: false warn_rate: 5.0 @@ -147,7 +134,7 @@ args: node_name_suffix: control_command_control_cmd topic: /control/command/control_cmd - topic_type: autoware_auto_control_msgs/msg/AckermannControlCommand + topic_type: autoware_control_msgs/msg/Control best_effort: false transient_local: false warn_rate: 5.0 @@ -160,7 +147,7 @@ args: node_name_suffix: vehicle_status_velocity_status topic: /vehicle/status/velocity_status - topic_type: autoware_auto_vehicle_msgs/msg/VelocityReport + topic_type: autoware_vehicle_msgs/msg/VelocityReport best_effort: false transient_local: false warn_rate: 5.0 @@ -173,7 +160,7 @@ args: node_name_suffix: vehicle_status_steering_status topic: /vehicle/status/steering_status - topic_type: autoware_auto_vehicle_msgs/msg/SteeringReport + topic_type: autoware_vehicle_msgs/msg/SteeringReport best_effort: false transient_local: false warn_rate: 5.0 @@ -186,7 +173,7 @@ args: node_name_suffix: system_emergency_control_cmd topic: /system/emergency/control_cmd - topic_type: autoware_auto_control_msgs/msg/AckermannControlCommand + topic_type: autoware_control_msgs/msg/Control best_effort: false transient_local: false warn_rate: 5.0 diff --git a/autoware_launch/config/system/diagnostics/autoware-awsim.yaml b/autoware_launch/config/system/diagnostics/autoware-awsim.yaml new file mode 100644 index 0000000000..4abae34a31 --- /dev/null +++ b/autoware_launch/config/system/diagnostics/autoware-awsim.yaml @@ -0,0 +1,5 @@ +files: + - { path: $(dirname)/autoware-main.yaml } + +edits: + - { type: remove, path: /autoware/system/duplicated_node_checker } diff --git a/autoware_launch/config/system/diagnostics/autoware-main.yaml b/autoware_launch/config/system/diagnostics/autoware-main.yaml new file mode 100644 index 0000000000..fbbfe384f2 --- /dev/null +++ b/autoware_launch/config/system/diagnostics/autoware-main.yaml @@ -0,0 +1,70 @@ +files: + - { path: $(dirname)/control.yaml } + - { path: $(dirname)/localization.yaml } + - { path: $(dirname)/map.yaml } + - { path: $(dirname)/perception.yaml } + - { path: $(dirname)/planning.yaml } + - { path: $(dirname)/system.yaml } + - { path: $(dirname)/vehicle.yaml } + +units: + - path: /autoware/modes/local + type: and + list: + - { type: link, link: /autoware/vehicle } + - { type: link, link: /autoware/system } + - { type: link, link: /autoware/control/local } + + - path: /autoware/modes/remote + type: and + list: + - { type: link, link: /autoware/vehicle } + - { type: link, link: /autoware/system } + - { type: link, link: /autoware/control/remote } + + - path: /autoware/modes/stop + type: ok + + - path: /autoware/modes/autonomous + type: and + list: + - { type: link, link: /autoware/map } + - { type: link, link: /autoware/localization } + - { type: link, link: /autoware/planning } + - { type: link, link: /autoware/perception } + - { type: link, link: /autoware/control } + - { type: link, link: /autoware/vehicle } + - { type: link, link: /autoware/system } + + - path: /autoware/modes/pull_over + type: and + list: + - { type: link, link: /autoware/map } + - { type: link, link: /autoware/localization } + - { type: link, link: /autoware/planning } + - { type: link, link: /autoware/perception } + - { type: link, link: /autoware/control } + - { type: link, link: /autoware/vehicle } + - { type: link, link: /autoware/system } + + - path: /autoware/modes/comfortable_stop + type: and + list: + - { type: link, link: /autoware/map } + - { type: link, link: /autoware/localization } + - { type: link, link: /autoware/planning } + - { type: link, link: /autoware/perception } + - { type: link, link: /autoware/control } + - { type: link, link: /autoware/vehicle } + - { type: link, link: /autoware/system } + + - path: /autoware/modes/emergency_stop + type: and + list: + - { type: link, link: /autoware/vehicle } + - { type: link, link: /autoware/system } + + - path: /autoware/debug/tools + type: and + list: + - { type: link, link: /autoware/system/service_log_checker } diff --git a/autoware_launch/config/system/diagnostics/control.yaml b/autoware_launch/config/system/diagnostics/control.yaml new file mode 100644 index 0000000000..5551ed4575 --- /dev/null +++ b/autoware_launch/config/system/diagnostics/control.yaml @@ -0,0 +1,68 @@ +units: + - path: /autoware/control + type: and + list: + - { type: link, link: /autoware/control/topic_rate_check/trajectory_follower } + - { type: link, link: /autoware/control/topic_rate_check/control_command } + - { type: link, link: /autoware/control/node_alive_monitoring/vehicle_cmd_gate } + - { type: link, link: /autoware/control/emergency_braking } + - { type: link, link: /autoware/control/performance_monitoring/lane_departure } + - { type: link, link: /autoware/control/performance_monitoring/trajectory_deviation } + - { type: link, link: /autoware/control/performance_monitoring/control_state } + + - path: /autoware/control/local + type: and + list: + - { type: link, link: /autoware/control/topic_rate_check/external_cmd_selector } + - { type: link, link: /autoware/control/topic_rate_check/external_cmd_converter } + + - path: /autoware/control/remote + type: and + list: + - { type: link, link: /autoware/control/topic_rate_check/external_cmd_selector } + - { type: link, link: /autoware/control/topic_rate_check/external_cmd_converter } + + - path: /autoware/control/topic_rate_check/trajectory_follower + type: diag + node: topic_state_monitor_trajectory_follower_control_cmd + name: control_topic_status + + - path: /autoware/control/topic_rate_check/control_command + type: diag + node: topic_state_monitor_control_command_control_cmd + name: control_topic_status + + - path: /autoware/control/node_alive_monitoring/vehicle_cmd_gate + type: diag + node: vehicle_cmd_gate + name: heartbeat + + - path: /autoware/control/emergency_braking + type: diag + node: autonomous_emergency_braking + name: aeb_emergency_stop + + - path: /autoware/control/performance_monitoring/lane_departure + type: diag + node: lane_departure_checker_node + name: lane_departure + + - path: /autoware/control/performance_monitoring/trajectory_deviation + type: diag + node: lane_departure_checker_node + name: trajectory_deviation + + - path: /autoware/control/performance_monitoring/control_state + type: diag + node: controller_node_exe + name: control_state + + - path: /autoware/control/topic_rate_check/external_cmd_selector + type: diag + node: external_cmd_selector + name: heartbeat + + - path: /autoware/control/topic_rate_check/external_cmd_converter + type: diag + node: external_cmd_converter + name: remote_control_topic_status diff --git a/autoware_launch/config/system/diagnostics/dummy_diag_publisher.param.yaml b/autoware_launch/config/system/diagnostics/dummy_diag_publisher.param.yaml new file mode 100644 index 0000000000..0ed824d3c8 --- /dev/null +++ b/autoware_launch/config/system/diagnostics/dummy_diag_publisher.param.yaml @@ -0,0 +1,36 @@ +# Description: +# required_diags: +# : {is_active: , status: } +# name: diag name +# is_active: Force update or not +# status: diag status set by dummy diag publisher "OK, Warn, Error, Stale" +# +# Note: +# +# default values are: +# is_active: "true" +# status: "OK" +--- +/**: + ros__parameters: + required_diags: + # map + ## /autoware/map/topic_rate_check/pointcloud_map + "topic_state_monitor_pointcloud_map: map_topic_status": default + + # localization + ## /autoware/localization/scan_matching_status + "ndt_scan_matcher: scan_matching_status": default + + ## /autoware/localization/accuracy + "localization_error_monitor: ellipse_error_status": default + + ## /autoware/localization/sensor_fusion_status + "localization: ekf_localizer": default + + ## /autoware/localization/topic_rate_check/pose_twist_fusion + "topic_state_monitor_pose_twist_fusion_filter_pose: localization_topic_status": default + + # perception + ## /autoware/perception/topic_rate_check/pointcloud + "topic_state_monitor_obstacle_segmentation_pointcloud: perception_topic_status": default diff --git a/autoware_launch/config/system/diagnostics/hardware.yaml b/autoware_launch/config/system/diagnostics/hardware.yaml new file mode 100644 index 0000000000..d73f723670 --- /dev/null +++ b/autoware_launch/config/system/diagnostics/hardware.yaml @@ -0,0 +1,121 @@ +# TODO(Takagi, Isamu): This file is under construction. +units: + - path: /autoware/system/resources/clock/offset + diag: ": NTP Offset" + timeout: 10.0 + + - path: /autoware/system/resources/cpu/offset + diag: ": CPU Temperature" + timeout: 3.0 + + - path: /autoware/system/resources/cpu/usage + diag: ": CPU Usage" + timeout: 3.0 + + - path: /autoware/system/resources/cpu/thermal_throttling + diag: ": CPU Thermal Throttling" + timeout: 3.0 + + - path: /autoware/system/resources/cpu/frequency + diag: ": CPU Frequency" + timeout: 3.0 + + - path: /autoware/system/resources/cpu/load_average + diag: ": CPU Load Average" + timeout: 3.0 + + - path: /autoware/system/resources/gpu/temperature + diag: ": GPU Temperature" + timeout: 3.0 + + - path: /autoware/system/resources/gpu/usage + diag: ": GPU Usage" + timeout: 3.0 + + - path: /autoware/system/resources/gpu/memory_usage + diag: ": GPU Memory Usage" + timeout: 3.0 + + - path: /autoware/system/resources/gpu/thermal_throttling + diag: ": GPU Thermal Throttling" + timeout: 3.0 + + - path: /autoware/system/resources/gpu/frequency + diag: ": GPU Frequency" + timeout: 3.0 + + - path: /autoware/system/resources/memory/usage + diag: ": Memory Usage" + timeout: 3.0 + + - path: /autoware/system/resources/network/usage + diag: ": Network Usage" + timeout: 3.0 + + - path: /autoware/system/resources/network/traffic + diag: ": Network Traffic" + timeout: 3.0 + + - path: /autoware/system/resources/network/crc + diag: ": Network CRC Error" + timeout: 3.0 + + - path: /autoware/system/resources/network/packet_reassembles + diag: ": IP Packet Reassembles Failed" + timeout: 3.0 + + - path: /autoware/system/resources/storage/temperature + diag: ": HDD Temperature" + timeout: 3.0 + + - path: /autoware/system/resources/storage/recovered_error + diag: ": HDD RecoveredError" + timeout: 3.0 + + - path: /autoware/system/resources/storage/read_data_rate + diag: ": HDD ReadDataRate" + timeout: 3.0 + + - path: /autoware/system/resources/storage/write_data_rate + diag: ": HDD WriteDataRate" + timeout: 3.0 + + - path: /autoware/system/resources/storage/read_iops + diag: ": HDD ReadIOPS" + timeout: 3.0 + + - path: /autoware/system/resources/storage/write_iops + diag: ": HDD WriteIOPS" + timeout: 3.0 + + - path: /autoware/system/resources/storage/usage + diag: ": HDD Usage" + timeout: 3.0 + + - path: /autoware/system/resources/storage/power_on_hours + diag: ": HDD PowerOnHours" + timeout: 3.0 + + - path: /autoware/system/resources/storage/total_data_written + diag: ": HDD TotalDataWritten" + timeout: 3.0 + + - path: /autoware/system/resources/storage/connection + diag: ": HDD Connection" + timeout: 3.0 + + - path: /autoware/system/resources/process/high_load + diag: ": High-load" + timeout: 3.0 + + - path: /autoware/system/resources/process/high_mem + diag: ": High-mem" + timeout: 3.0 + + - path: /autoware/system/resources/process/tasks_summary + diag: ": Tasks Summary" + timeout: 3.0 + + - path: /autoware/system/resources/voltage/battery + diag: ": CMOS Battery Status" + timeout: 3.0 diff --git a/autoware_launch/config/system/diagnostics/localization.yaml b/autoware_launch/config/system/diagnostics/localization.yaml new file mode 100644 index 0000000000..1100f2edac --- /dev/null +++ b/autoware_launch/config/system/diagnostics/localization.yaml @@ -0,0 +1,43 @@ +units: + - path: /autoware/localization + type: short-circuit-and + list: + - type: link + link: /autoware/localization/state + - type: and + list: + - { type: link, link: /autoware/localization/topic_rate_check/transform } + - { type: link, link: /autoware/localization/topic_rate_check/pose_twist_fusion } + - { type: link, link: /autoware/localization/scan_matching_status } + - { type: link, link: /autoware/localization/accuracy } + - { type: link, link: /autoware/localization/sensor_fusion_status } + + - path: /autoware/localization/state + type: diag + node: component_state_diagnostics + name: localization_state + + - path: /autoware/localization/topic_rate_check/transform + type: diag + node: topic_state_monitor_transform_map_to_base_link + name: localization_topic_status + + - path: /autoware/localization/topic_rate_check/pose_twist_fusion + type: diag + node: topic_state_monitor_pose_twist_fusion_filter_pose + name: localization_topic_status + + - path: /autoware/localization/scan_matching_status + type: diag + node: ndt_scan_matcher + name: scan_matching_status + + - path: /autoware/localization/accuracy + type: diag + node: localization_error_monitor + name: ellipse_error_status + + - path: /autoware/localization/sensor_fusion_status + type: diag + node: localization + name: ekf_localizer diff --git a/autoware_launch/config/system/diagnostics/map.yaml b/autoware_launch/config/system/diagnostics/map.yaml new file mode 100644 index 0000000000..231ac6eb5f --- /dev/null +++ b/autoware_launch/config/system/diagnostics/map.yaml @@ -0,0 +1,16 @@ +units: + - path: /autoware/map + type: and + list: + - { type: link, link: /autoware/map/topic_rate_check/vector_map } + - { type: link, link: /autoware/map/topic_rate_check/pointcloud_map } + + - path: /autoware/map/topic_rate_check/vector_map + type: diag + node: topic_state_monitor_vector_map + name: map_topic_status + + - path: /autoware/map/topic_rate_check/pointcloud_map + type: diag + node: topic_state_monitor_pointcloud_map + name: map_topic_status diff --git a/autoware_launch/config/system/diagnostics/perception.yaml b/autoware_launch/config/system/diagnostics/perception.yaml new file mode 100644 index 0000000000..24e3c4eed5 --- /dev/null +++ b/autoware_launch/config/system/diagnostics/perception.yaml @@ -0,0 +1,16 @@ +units: + - path: /autoware/perception + type: and + list: + - { type: link, link: /autoware/perception/topic_rate_check/objects } + - { type: link, link: /autoware/perception/topic_rate_check/pointcloud } + + - path: /autoware/perception/topic_rate_check/objects + type: diag + node: topic_state_monitor_object_recognition_objects + name: perception_topic_status + + - path: /autoware/perception/topic_rate_check/pointcloud + type: diag + node: topic_state_monitor_obstacle_segmentation_pointcloud + name: perception_topic_status diff --git a/autoware_launch/config/system/diagnostics/planning.yaml b/autoware_launch/config/system/diagnostics/planning.yaml new file mode 100644 index 0000000000..c403fec237 --- /dev/null +++ b/autoware_launch/config/system/diagnostics/planning.yaml @@ -0,0 +1,90 @@ +units: + - path: /autoware/planning + type: short-circuit-and + list: + - type: link + link: /autoware/planning/routing/state + - type: and + list: + - { type: link, link: /autoware/planning/topic_rate_check/route } + - { type: link, link: /autoware/planning/topic_rate_check/trajectory } + - { type: link, link: /autoware/planning/trajectory_validation } + + - path: /autoware/planning/trajectory_validation + type: and + list: + - { type: link, link: /autoware/planning/trajectory_validation/finite } + - { type: link, link: /autoware/planning/trajectory_validation/interval } + - { type: link, link: /autoware/planning/trajectory_validation/curvature } + - { type: link, link: /autoware/planning/trajectory_validation/angle } + - { type: link, link: /autoware/planning/trajectory_validation/lateral_acceleration } + - { type: link, link: /autoware/planning/trajectory_validation/acceleration } + - { type: link, link: /autoware/planning/trajectory_validation/deceleration } + - { type: link, link: /autoware/planning/trajectory_validation/steering } + - { type: link, link: /autoware/planning/trajectory_validation/steering_rate } + - { type: link, link: /autoware/planning/trajectory_validation/velocity_deviation } + + - path: /autoware/planning/routing/state + type: diag + node: component_state_diagnostics + name: route_state + + - path: /autoware/planning/topic_rate_check/route + type: diag + node: topic_state_monitor_mission_planning_route + name: planning_topic_status + + - path: /autoware/planning/topic_rate_check/trajectory + type: diag + node: topic_state_monitor_scenario_planning_trajectory + name: planning_topic_status + + - path: /autoware/planning/trajectory_validation/finite + type: diag + node: planning_validator + name: trajectory_validation_finite + + - path: /autoware/planning/trajectory_validation/interval + type: diag + node: planning_validator + name: trajectory_validation_interval + + - path: /autoware/planning/trajectory_validation/curvature + type: diag + node: planning_validator + name: trajectory_validation_curvature + + - path: /autoware/planning/trajectory_validation/angle + type: diag + node: planning_validator + name: trajectory_validation_relative_angle + + - path: /autoware/planning/trajectory_validation/lateral_acceleration + type: diag + node: planning_validator + name: trajectory_validation_lateral_acceleration + + - path: /autoware/planning/trajectory_validation/acceleration + type: diag + node: planning_validator + name: trajectory_validation_acceleration + + - path: /autoware/planning/trajectory_validation/deceleration + type: diag + node: planning_validator + name: trajectory_validation_deceleration + + - path: /autoware/planning/trajectory_validation/steering + type: diag + node: planning_validator + name: trajectory_validation_steering + + - path: /autoware/planning/trajectory_validation/steering_rate + type: diag + node: planning_validator + name: trajectory_validation_steering_rate + + - path: /autoware/planning/trajectory_validation/velocity_deviation + type: diag + node: planning_validator + name: trajectory_validation_velocity_deviation diff --git a/autoware_launch/config/system/diagnostics/system.yaml b/autoware_launch/config/system/diagnostics/system.yaml new file mode 100644 index 0000000000..cb96c2cd7f --- /dev/null +++ b/autoware_launch/config/system/diagnostics/system.yaml @@ -0,0 +1,27 @@ +units: + - path: /autoware/system + type: and + list: + - { type: link, link: /autoware/system/duplicated_node_checker } + - { type: link, link: /autoware/system/topic_rate_check/emergency_control_command } + - { type: link, link: /autoware/system/emergency_stop_operation } + + - path: /autoware/system/duplicated_node_checker + type: diag + node: duplicated_node_checker + name: duplicated_node_checker + + - path: /autoware/system/service_log_checker + type: diag + node: service_log_checker + name: response_status + + - path: /autoware/system/topic_rate_check/emergency_control_command + type: diag + node: topic_state_monitor_system_emergency_control_cmd + name: system_topic_status + + - path: /autoware/system/emergency_stop_operation + type: diag + node: vehicle_cmd_gate + name: emergency_stop_operation diff --git a/autoware_launch/config/system/diagnostics/vehicle.yaml b/autoware_launch/config/system/diagnostics/vehicle.yaml new file mode 100644 index 0000000000..e040e3c3c3 --- /dev/null +++ b/autoware_launch/config/system/diagnostics/vehicle.yaml @@ -0,0 +1,16 @@ +units: + - path: /autoware/vehicle + type: and + list: + - { type: link, link: /autoware/vehicle/topic_rate_check/velocity } + - { type: link, link: /autoware/vehicle/topic_rate_check/steering } + + - path: /autoware/vehicle/topic_rate_check/velocity + type: diag + node: topic_state_monitor_vehicle_status_velocity_status + name: vehicle_topic_status + + - path: /autoware/vehicle/topic_rate_check/steering + type: diag + node: topic_state_monitor_vehicle_status_steering_status + name: vehicle_topic_status diff --git a/autoware_launch/config/system/dummy_diag_publisher/dummy_diag_publisher.param.yaml b/autoware_launch/config/system/dummy_diag_publisher/dummy_diag_publisher.param.yaml deleted file mode 100644 index 43edd109b5..0000000000 --- a/autoware_launch/config/system/dummy_diag_publisher/dummy_diag_publisher.param.yaml +++ /dev/null @@ -1,17 +0,0 @@ -# Description: -# required_diags: -# : {is_active: , status: } -# name: diag name -# is_active: Force update or not -# status: diag status set by dummy diag publisher "OK, Warn, Error, Stale" -# -# Note: -# -# default values are: -# is_active: "true" -# status: "OK" ---- -/**: - ros__parameters: - required_diags: - dummy_diag_empty: default diff --git a/autoware_launch/config/system/duplicated_node_checker/duplicated_node_checker.param.yaml b/autoware_launch/config/system/duplicated_node_checker/duplicated_node_checker.param.yaml index 54b4f691b6..412c59e66e 100644 --- a/autoware_launch/config/system/duplicated_node_checker/duplicated_node_checker.param.yaml +++ b/autoware_launch/config/system/duplicated_node_checker/duplicated_node_checker.param.yaml @@ -1,4 +1,6 @@ /**: ros__parameters: update_rate: 10.0 - add_duplicated_node_names_to_msg: false # if true, duplicated node names are added to msg + add_duplicated_node_names_to_msg: true # if true, duplicated node names are added to msg + nodes_to_ignore: # List of nodes to ignore when checking for duplicates + - /rviz2 diff --git a/autoware_launch/config/system/emergency_handler/emergency_handler.param.yaml b/autoware_launch/config/system/emergency_handler/emergency_handler.param.yaml deleted file mode 100644 index 652a984ce5..0000000000 --- a/autoware_launch/config/system/emergency_handler/emergency_handler.param.yaml +++ /dev/null @@ -1,14 +0,0 @@ -# Default configuration for emergency handler ---- -/**: - ros__parameters: - update_rate: 10 - timeout_hazard_status: 0.5 - timeout_takeover_request: 10.0 - use_takeover_request: false - use_parking_after_stopped: false - use_comfortable_stop: false - - # setting whether to turn hazard lamp on for each situation - turning_hazard_on: - emergency: true diff --git a/autoware_launch/config/system/mrm_handler/mrm_handler.param.yaml b/autoware_launch/config/system/mrm_handler/mrm_handler.param.yaml new file mode 100644 index 0000000000..2370259cbe --- /dev/null +++ b/autoware_launch/config/system/mrm_handler/mrm_handler.param.yaml @@ -0,0 +1,17 @@ +# Default configuration for mrm handler +--- +/**: + ros__parameters: + update_rate: 10 + timeout_operation_mode_availability: 0.5 + timeout_call_mrm_behavior: 0.01 + timeout_cancel_mrm_behavior: 0.01 + use_emergency_holding: false + timeout_emergency_recovery: 5.0 + use_parking_after_stopped: false + use_pull_over: false + use_comfortable_stop: true + + # setting whether to turn hazard lamp on for each situation + turning_hazard_on: + emergency: true diff --git a/autoware_launch/config/system/processing_time_checker/processing_time_checker.param.yaml b/autoware_launch/config/system/processing_time_checker/processing_time_checker.param.yaml new file mode 100644 index 0000000000..526e413ea1 --- /dev/null +++ b/autoware_launch/config/system/processing_time_checker/processing_time_checker.param.yaml @@ -0,0 +1,47 @@ +/**: + ros__parameters: + update_rate: 10.0 + processing_time_topic_name_list: + - /control/control_evaluator/debug/processing_time_ms + - /control/control_validator/debug/processing_time_ms + - /control/trajectory_follower/controller_node_exe/lateral/debug/processing_time_ms + - /control/trajectory_follower/controller_node_exe/longitudinal/debug/processing_time_ms + - /control/trajectory_follower/lane_departure_checker_node/debug/processing_time_ms + - /control/vehicle_cmd_gate/debug/processing_time_ms + - /perception/object_recognition/prediction/map_based_prediction/debug/processing_time_ms + - /perception/object_recognition/tracking/multi_object_tracker/debug/processing_time_ms + - /planning/mission_planning/mission_planner/debug/processing_time_ms + - /planning/mission_planning/route_selector/debug/processing_time_ms + - /planning/planning_evaluator/debug/processing_time_ms + - /planning/planning_validator/debug/processing_time_ms + - /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/debug/avoidance_by_lane_change/processing_time_ms + - /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/debug/dynamic_obstacle_avoidance/processing_time_ms + - /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/debug/goal_planner/processing_time_ms + - /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/debug/lane_change_left/processing_time_ms + - /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/debug/lane_change_right/processing_time_ms + - /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/debug/side_shift/processing_time_ms + - /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/debug/start_planner/processing_time_ms + - /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/debug/static_obstacle_avoidance/processing_time_ms + - /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/debug/total_time/processing_time_ms + - /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/debug/blind_spot/processing_time_ms + - /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/debug/crosswalk/processing_time_ms + - /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/debug/detection_area/processing_time_ms + - /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/debug/intersection/processing_time_ms + - /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/debug/merge_from_private/processing_time_ms + - /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/debug/no_stopping_area/processing_time_ms + - /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/debug/run_out/processing_time_ms + - /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/debug/stop_line/processing_time_ms + - /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/debug/walkway/processing_time_ms + - /planning/scenario_planning/lane_driving/motion_planning/elastic_band_smoother/debug/processing_time_ms + - /planning/scenario_planning/lane_driving/motion_planning/motion_velocity_planner/debug/dynamic_obstacle_stop/processing_time_ms + - /planning/scenario_planning/lane_driving/motion_planning/motion_velocity_planner/debug/obstacle_velocity_limiter/processing_time_ms + - /planning/scenario_planning/lane_driving/motion_planning/motion_velocity_planner/debug/out_of_lane/processing_time_ms + - /planning/scenario_planning/lane_driving/motion_planning/motion_velocity_planner/debug/processing_time_ms + - /planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/debug/processing_time_ms + - /planning/scenario_planning/lane_driving/motion_planning/path_optimizer/debug/processing_time_ms + - /planning/scenario_planning/lane_driving/motion_planning/surround_obstacle_checker/debug/processing_time_ms + - /planning/scenario_planning/parking/costmap_generator/debug/processing_time_ms + - /planning/scenario_planning/parking/freespace_planner/debug/processing_time_ms + - /planning/scenario_planning/scenario_selector/debug/processing_time_ms + - /planning/scenario_planning/velocity_smoother/debug/processing_time_ms + - /simulation/shape_estimation/debug/processing_time_ms diff --git a/autoware_launch/config/system/system_error_monitor/diagnostic_aggregator/system.param.yaml b/autoware_launch/config/system/system_error_monitor/diagnostic_aggregator/system.param.yaml deleted file mode 100644 index 27cbe3fed2..0000000000 --- a/autoware_launch/config/system/system_error_monitor/diagnostic_aggregator/system.param.yaml +++ /dev/null @@ -1,15 +0,0 @@ -/**: - ros__parameters: - system: - type: diagnostic_aggregator/AnalyzerGroup - path: system - analyzers: - debug_data_logger: - type: diagnostic_aggregator/AnalyzerGroup - path: debug_data_logger - analyzers: - storage_error: - type: diagnostic_aggregator/GenericAnalyzer - path: storage_error - contains: ["bagpacker"] - timeout: 3.0 diff --git a/autoware_launch/config/system/system_error_monitor/diagnostic_aggregator/vehicle.param.yaml b/autoware_launch/config/system/system_error_monitor/diagnostic_aggregator/vehicle.param.yaml deleted file mode 100644 index e96e3b3b05..0000000000 --- a/autoware_launch/config/system/system_error_monitor/diagnostic_aggregator/vehicle.param.yaml +++ /dev/null @@ -1,11 +0,0 @@ -/**: - ros__parameters: - vehicle: - type: diagnostic_aggregator/AnalyzerGroup - path: vehicle - analyzers: - vehicle_errors: - type: diagnostic_aggregator/GenericAnalyzer - path: vehicle_errors - contains: [": vehicle_errors"] - timeout: 1.0 diff --git a/autoware_launch/config/system/system_error_monitor/system_error_monitor.awsim.param.yaml b/autoware_launch/config/system/system_error_monitor/system_error_monitor.awsim.param.yaml deleted file mode 100644 index a3c712d466..0000000000 --- a/autoware_launch/config/system/system_error_monitor/system_error_monitor.awsim.param.yaml +++ /dev/null @@ -1,54 +0,0 @@ -# Description: -# name: diag name -# sf_at: diag level where it becomes Safe Fault -# lf_at: diag level where it becomes Latent Fault -# spf_at: diag level where it becomes Single Point Fault -# auto_recovery: Determines whether the system will automatically recover when it recovers from an error. -# -# Note: -# empty-value for sf_at, lf_at and spf_at is "none" -# default values are: -# sf_at: "none" -# lf_at: "warn" -# spf_at: "error" -# auto_recovery: "true" ---- -/**: - ros__parameters: - required_modules: - autonomous_driving: - /autoware/control/autonomous_driving/node_alive_monitoring: default - /autoware/control/autonomous_driving/performance_monitoring/lane_departure: default - /autoware/control/control_command_gate/node_alive_monitoring: default - - /autoware/localization/node_alive_monitoring: default - /autoware/localization/performance_monitoring/matching_score: { sf_at: "warn", lf_at: "none", spf_at: "none" } - /autoware/localization/performance_monitoring/localization_error_ellipse: { sf_at: "warn", lf_at: "none", spf_at: "none" } - /autoware/localization/performance_monitoring/localization_stability: { sf_at: "warn", lf_at: "none", spf_at: "none" } - /autoware/localization/performance_monitoring/sensor_fusion_status: { sf_at: "warn", lf_at: "none", spf_at: "none" } - - /autoware/map/node_alive_monitoring: default - - /autoware/perception/node_alive_monitoring: default - - /autoware/planning/node_alive_monitoring: default - /autoware/planning/performance_monitoring/trajectory_validation: default - - # /autoware/sensing/node_alive_monitoring: default - - /autoware/system/node_alive_monitoring: default - /autoware/system/emergency_stop_operation: default - /autoware/system/service_log_checker: { sf_at: "warn", lf_at: "none", spf_at: "none" } - # /autoware/system/resource_monitoring: { sf_at: "warn", lf_at: "none", spf_at: "none" } - - /autoware/vehicle/node_alive_monitoring: default - - external_control: - /autoware/control/control_command_gate/node_alive_monitoring: default - /autoware/control/external_control/external_command_selector/node_alive_monitoring: default - - /autoware/system/node_alive_monitoring: default - /autoware/system/emergency_stop_operation: default - /autoware/system/service_log_checker: { sf_at: "warn", lf_at: "none", spf_at: "none" } - - /autoware/vehicle/node_alive_monitoring: default diff --git a/autoware_launch/config/system/system_error_monitor/system_error_monitor.param.yaml b/autoware_launch/config/system/system_error_monitor/system_error_monitor.param.yaml deleted file mode 100644 index 2826e9348c..0000000000 --- a/autoware_launch/config/system/system_error_monitor/system_error_monitor.param.yaml +++ /dev/null @@ -1,55 +0,0 @@ -# Description: -# name: diag name -# sf_at: diag level where it becomes Safe Fault -# lf_at: diag level where it becomes Latent Fault -# spf_at: diag level where it becomes Single Point Fault -# auto_recovery: Determines whether the system will automatically recover when it recovers from an error. -# -# Note: -# empty-value for sf_at, lf_at and spf_at is "none" -# default values are: -# sf_at: "none" -# lf_at: "warn" -# spf_at: "error" -# auto_recovery: "true" ---- -/**: - ros__parameters: - required_modules: - autonomous_driving: - /autoware/control/autonomous_driving/node_alive_monitoring: default - /autoware/control/autonomous_driving/performance_monitoring/lane_departure: default - /autoware/control/control_command_gate/node_alive_monitoring: default - - /autoware/localization/node_alive_monitoring: default - /autoware/localization/performance_monitoring/matching_score: { sf_at: "warn", lf_at: "none", spf_at: "none" } - /autoware/localization/performance_monitoring/localization_error_ellipse: default - /autoware/localization/performance_monitoring/localization_stability: default - /autoware/localization/performance_monitoring/sensor_fusion_status: { sf_at: "error", lf_at: "none", spf_at: "none" } - - /autoware/map/node_alive_monitoring: default - - /autoware/perception/node_alive_monitoring: default - - /autoware/planning/node_alive_monitoring: default - /autoware/planning/performance_monitoring/trajectory_validation: default - - # /autoware/sensing/node_alive_monitoring: default - - /autoware/system/node_alive_monitoring: default - /autoware/system/emergency_stop_operation: default - /autoware/system/service_log_checker: { sf_at: "warn", lf_at: "none", spf_at: "none" } - /autoware/system/resource_monitoring: { sf_at: "warn", lf_at: "error", spf_at: "none" } - /autoware/system/duplicated_node_checker: default - - /autoware/vehicle/node_alive_monitoring: default - - external_control: - /autoware/control/control_command_gate/node_alive_monitoring: default - /autoware/control/external_control/external_command_selector/node_alive_monitoring: default - - /autoware/system/node_alive_monitoring: default - /autoware/system/emergency_stop_operation: default - /autoware/system/service_log_checker: { sf_at: "warn", lf_at: "none", spf_at: "none" } - - /autoware/vehicle/node_alive_monitoring: default diff --git a/autoware_launch/config/system/system_error_monitor/system_error_monitor.planning_simulation.param.yaml b/autoware_launch/config/system/system_error_monitor/system_error_monitor.planning_simulation.param.yaml deleted file mode 100644 index deddf33b34..0000000000 --- a/autoware_launch/config/system/system_error_monitor/system_error_monitor.planning_simulation.param.yaml +++ /dev/null @@ -1,54 +0,0 @@ -# Description: -# name: diag name -# sf_at: diag level where it becomes Safe Fault -# lf_at: diag level where it becomes Latent Fault -# spf_at: diag level where it becomes Single Point Fault -# auto_recovery: Determines whether the system will automatically recover when it recovers from an error. -# -# Note: -# empty-value for sf_at, lf_at and spf_at is "none" -# default values are: -# sf_at: "none" -# lf_at: "warn" -# spf_at: "error" -# auto_recovery: "true" ---- -/**: - ros__parameters: - required_modules: - autonomous_driving: - /autoware/control/autonomous_driving/node_alive_monitoring: default - /autoware/control/autonomous_driving/performance_monitoring/lane_departure: default - /autoware/control/autonomous_driving/performance_monitoring/trajectory_deviation: default - /autoware/control/control_command_gate/node_alive_monitoring: default - - /autoware/localization/node_alive_monitoring: default - # /autoware/localization/performance_monitoring/matching_score: { sf_at: "warn", lf_at: "none", spf_at: "none" } - # /autoware/localization/performance_monitoring/localization_error_ellipse: default - - /autoware/map/node_alive_monitoring: default - - /autoware/perception/node_alive_monitoring: default - - /autoware/planning/node_alive_monitoring: default - /autoware/planning/performance_monitoring/trajectory_validation: default - - # /autoware/sensing/node_alive_monitoring: default - - /autoware/system/node_alive_monitoring: default - /autoware/system/emergency_stop_operation: default - /autoware/system/service_log_checker: { sf_at: "warn", lf_at: "none", spf_at: "none" } - # /autoware/system/resource_monitoring: { sf_at: "warn", lf_at: "error", spf_at: "none" } - /autoware/system/duplicated_node_checker: default - - /autoware/vehicle/node_alive_monitoring: default - - external_control: - /autoware/control/control_command_gate/node_alive_monitoring: default - /autoware/control/external_control/external_command_selector/node_alive_monitoring: default - - /autoware/system/node_alive_monitoring: default - /autoware/system/emergency_stop_operation: default - /autoware/system/service_log_checker: { sf_at: "warn", lf_at: "none", spf_at: "none" } - - /autoware/vehicle/node_alive_monitoring: default diff --git a/autoware_launch/config/system/system_monitor/net_monitor.param.yaml b/autoware_launch/config/system/system_monitor/net_monitor.param.yaml index d72b8d1334..e97df8f7b6 100644 --- a/autoware_launch/config/system/system_monitor/net_monitor.param.yaml +++ b/autoware_launch/config/system/system_monitor/net_monitor.param.yaml @@ -1,8 +1,8 @@ /**: ros__parameters: devices: ["*"] - traffic_reader_port: 7636 monitor_program: "greengrass" + enable_traffic_monitor: true crc_error_check_duration: 1 crc_error_count_threshold: 1 reassembles_failed_check_duration: 1 diff --git a/autoware_launch/config/system/system_monitor/ntp_monitor.param.yaml b/autoware_launch/config/system/system_monitor/ntp_monitor.param.yaml index db54f70d1c..c731865c9e 100644 --- a/autoware_launch/config/system/system_monitor/ntp_monitor.param.yaml +++ b/autoware_launch/config/system/system_monitor/ntp_monitor.param.yaml @@ -3,3 +3,4 @@ server: ntp.nict.jp offset_warn: 0.1 offset_error: 5.0 + timeout: 5 diff --git a/autoware_launch/config/system/system_monitor/process_monitor.param.yaml b/autoware_launch/config/system/system_monitor/process_monitor.param.yaml index 3d6d82fae5..64303dd472 100644 --- a/autoware_launch/config/system/system_monitor/process_monitor.param.yaml +++ b/autoware_launch/config/system/system_monitor/process_monitor.param.yaml @@ -1,3 +1,3 @@ /**: ros__parameters: - num_of_procs: 5 + num_of_procs: 40 diff --git a/autoware_launch/config/vehicle/raw_vehicle_cmd_converter/raw_vehicle_cmd_converter.param.yaml b/autoware_launch/config/vehicle/raw_vehicle_cmd_converter/raw_vehicle_cmd_converter.param.yaml index f6676bdbe7..e108de527e 100644 --- a/autoware_launch/config/vehicle/raw_vehicle_cmd_converter/raw_vehicle_cmd_converter.param.yaml +++ b/autoware_launch/config/vehicle/raw_vehicle_cmd_converter/raw_vehicle_cmd_converter.param.yaml @@ -1,5 +1,8 @@ /**: ros__parameters: + csv_path_accel_map: $(find-pkg-share autoware_raw_vehicle_cmd_converter)/data/default/accel_map.csv + csv_path_brake_map: $(find-pkg-share autoware_raw_vehicle_cmd_converter)/data/default/brake_map.csv + csv_path_steer_map: $(find-pkg-share autoware_raw_vehicle_cmd_converter)/data/default/steer_map.csv convert_accel_cmd: true convert_brake_cmd: true convert_steer_cmd: false @@ -23,3 +26,8 @@ max_d: 0.0 min_d: 0.0 invalid_integration_decay: 0.97 + convert_steer_cmd_method: "vgr" # "vgr" or "steer_map" + vgr_coef_a: 15.713 + vgr_coef_b: 0.053 + vgr_coef_c: 0.042 + convert_actuation_to_steering_status: false diff --git a/autoware_launch/launch/autoware.launch.xml b/autoware_launch/launch/autoware.launch.xml index f446f4c34b..b125d23186 100644 --- a/autoware_launch/launch/autoware.launch.xml +++ b/autoware_launch/launch/autoware.launch.xml @@ -9,6 +9,7 @@ + @@ -21,6 +22,7 @@ + @@ -35,10 +37,11 @@ - + - + + @@ -49,7 +52,7 @@ - + @@ -111,11 +114,13 @@ - + + + - + @@ -129,6 +134,8 @@ args="-d $(var rviz_config) -s $(find-pkg-share autoware_launch)/rviz/image/autoware.png" if="$(var rviz)" respawn="$(var rviz_respawn)" - /> + > + + diff --git a/autoware_launch/launch/components/tier4_control_component.launch.xml b/autoware_launch/launch/components/tier4_control_component.launch.xml index d15e050d7a..99cfe7484f 100644 --- a/autoware_launch/launch/components/tier4_control_component.launch.xml +++ b/autoware_launch/launch/components/tier4_control_component.launch.xml @@ -1,16 +1,18 @@ + + + - - + - + @@ -32,8 +34,6 @@ - - @@ -41,9 +41,9 @@ - - - + + + diff --git a/autoware_launch/launch/components/tier4_localization_component.launch.xml b/autoware_launch/launch/components/tier4_localization_component.launch.xml index 3ccd98104d..a358f16259 100644 --- a/autoware_launch/launch/components/tier4_localization_component.launch.xml +++ b/autoware_launch/launch/components/tier4_localization_component.launch.xml @@ -1,14 +1,11 @@ - + - - + + + @@ -16,11 +13,13 @@ - + + + @@ -53,6 +52,14 @@ + + + + + diff --git a/autoware_launch/launch/components/tier4_perception_component.launch.xml b/autoware_launch/launch/components/tier4_perception_component.launch.xml index 3b0f8eca46..9f00aabe4c 100644 --- a/autoware_launch/launch/components/tier4_perception_component.launch.xml +++ b/autoware_launch/launch/components/tier4_perception_component.launch.xml @@ -1,26 +1,58 @@ - + + + + + + + + + + + + + + + - + + + + + + - + + + + + + + + + + + + + - + + + + + + + - + - + - - - - - - + diff --git a/autoware_launch/launch/components/tier4_planning_component.launch.xml b/autoware_launch/launch/components/tier4_planning_component.launch.xml index f093ce8133..a01a5fca17 100644 --- a/autoware_launch/launch/components/tier4_planning_component.launch.xml +++ b/autoware_launch/launch/components/tier4_planning_component.launch.xml @@ -26,10 +26,16 @@ - + - + @@ -37,8 +43,9 @@ - - + + + @@ -51,9 +58,7 @@ - - @@ -62,17 +67,24 @@ - + - + + + + + - - + + diff --git a/autoware_launch/launch/components/tier4_simulator_component.launch.xml b/autoware_launch/launch/components/tier4_simulator_component.launch.xml index a8503818cd..864088a40a 100644 --- a/autoware_launch/launch/components/tier4_simulator_component.launch.xml +++ b/autoware_launch/launch/components/tier4_simulator_component.launch.xml @@ -2,8 +2,9 @@ - - + + + @@ -11,13 +12,15 @@ + - - + + + @@ -25,6 +28,7 @@ + + + + + + diff --git a/autoware_launch/launch/components/tier4_system_component.launch.xml b/autoware_launch/launch/components/tier4_system_component.launch.xml index a90fdb89a5..31cc739683 100644 --- a/autoware_launch/launch/components/tier4_system_component.launch.xml +++ b/autoware_launch/launch/components/tier4_system_component.launch.xml @@ -1,6 +1,7 @@ - + + @@ -9,15 +10,11 @@ - + - - - - - + @@ -26,5 +23,9 @@ + + + + diff --git a/autoware_launch/launch/e2e_simulator.launch.xml b/autoware_launch/launch/e2e_simulator.launch.xml index 902d9bc33c..c4fd15b41c 100644 --- a/autoware_launch/launch/e2e_simulator.launch.xml +++ b/autoware_launch/launch/e2e_simulator.launch.xml @@ -6,9 +6,11 @@ + + @@ -24,21 +26,22 @@ - + - + + - + + + + + @@ -49,6 +52,7 @@ + @@ -67,12 +71,12 @@ - + - + - + diff --git a/autoware_launch/launch/logging_simulator.launch.xml b/autoware_launch/launch/logging_simulator.launch.xml index 77d17d7897..123bd01ed3 100644 --- a/autoware_launch/launch/logging_simulator.launch.xml +++ b/autoware_launch/launch/logging_simulator.launch.xml @@ -9,6 +9,7 @@ + @@ -43,6 +44,7 @@ + @@ -63,6 +65,7 @@ + diff --git a/autoware_launch/launch/planning_simulator.launch.xml b/autoware_launch/launch/planning_simulator.launch.xml index bb7f1b66f1..3c56e11412 100644 --- a/autoware_launch/launch/planning_simulator.launch.xml +++ b/autoware_launch/launch/planning_simulator.launch.xml @@ -8,6 +8,7 @@ + @@ -16,8 +17,9 @@ + - + @@ -27,13 +29,22 @@ - + + + + + + @@ -48,6 +59,7 @@ + @@ -58,6 +70,7 @@ + @@ -77,14 +90,14 @@ - - + - - + + + @@ -92,6 +105,7 @@ + diff --git a/autoware_launch/launch/pointcloud_container.launch.py b/autoware_launch/launch/pointcloud_container.launch.py index 650e555e27..a71527611f 100644 --- a/autoware_launch/launch/pointcloud_container.launch.py +++ b/autoware_launch/launch/pointcloud_container.launch.py @@ -39,8 +39,8 @@ def add_launch_arg(name: str, default_value=None): ) glog_component = ComposableNode( - package="glog_component", - plugin="GlogComponent", + package="autoware_glog_component", + plugin="autoware::glog_component::GlogComponent", name="glog_component", namespace="pointcloud_container", ) diff --git a/autoware_launch/package.xml b/autoware_launch/package.xml index f8000b8082..1bb9f7e210 100644 --- a/autoware_launch/package.xml +++ b/autoware_launch/package.xml @@ -1,7 +1,7 @@ autoware_launch - 0.1.0 + 0.40.0 The autoware_launch package Yukihiro Saito @@ -12,7 +12,7 @@ ament_cmake_auto ad_api_adaptors - global_parameter_loader + autoware_global_parameter_loader python3-bson python3-tornado rviz2 diff --git a/autoware_launch/rviz/autoware.rviz b/autoware_launch/rviz/autoware.rviz index 9b998dc29b..3f029ff75d 100644 --- a/autoware_launch/rviz/autoware.rviz +++ b/autoware_launch/rviz/autoware.rviz @@ -5,7 +5,7 @@ Panels: Property Tree Widget: Expanded: ~ Splitter Ratio: 0.557669460773468 - Tree Height: 397 + Tree Height: 185 - Class: rviz_common/Selection Name: Selection - Class: rviz_common/Tool Properties @@ -77,62 +77,62 @@ 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: @@ -159,69 +159,69 @@ Visualization Manager: Show Trail: false Value: true sensor_kit_base_link: - Alpha: 0.999 + Alpha: 1 Show Axes: false Show Trail: false tamagawa/imu_link: - Alpha: 0.999 + Alpha: 1 Show Axes: false Show Trail: false Value: true traffic_light_left_camera/camera_link: - Alpha: 0.999 + Alpha: 1 Show Axes: false Show Trail: false Value: true traffic_light_left_camera/camera_optical_link: - Alpha: 0.999 + Alpha: 1 Show Axes: false Show Trail: false traffic_light_right_camera/camera_link: - Alpha: 0.999 + Alpha: 1 Show Axes: false Show Trail: false Value: true traffic_light_right_camera/camera_optical_link: - Alpha: 0.999 + Alpha: 1 Show Axes: false Show Trail: false 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 @@ -248,18 +248,24 @@ Visualization Manager: Enabled: true Gear Topic Test: /vehicle/status/gear_status Hazard Lights Topic: /vehicle/status/hazard_lights_status - Height: 175 - Left: 10 + Height: 100 + Left: 0 Name: SignalDisplay Signal Color: 0; 230; 120 Speed Limit Topic: /planning/scenario_planning/current_max_velocity Speed Topic: /vehicle/status/velocity_status Steering Topic: /vehicle/status/steering_status Top: 10 - Traffic Topic: /perception/traffic_light_recognition/traffic_signals + Traffic Topic: /planning/scenario_planning/lane_driving/behavior_planning/debug/traffic_signal Turn Signals Topic: /vehicle/status/turn_indicators_status Value: true - Width: 517 + Width: 550 + Background Alpha: 0.5 + Background Color: 23; 28; 31 + Dark Traffic Color: 255; 51; 51 + Handle Angle Scale: 17 + Light Traffic Color: 255; 153; 153 + Primary Color: 174; 174; 174 Enabled: true Name: Vehicle - Class: rviz_plugins/MrmSummaryOverlayDisplay @@ -408,7 +414,7 @@ Visualization Manager: Name: LiDAR - Class: rviz_common/Group Displays: - - Alpha: 0.9990000128746033 + - Alpha: 0.999 Axes Length: 1 Axes Radius: 0.10000000149011612 Class: rviz_default_plugins/PoseWithCovariance @@ -687,7 +693,7 @@ Visualization Manager: CYCLIST: Alpha: 0.999 Color: 119; 11; 32 - Class: autoware_auto_perception_rviz_plugin/DetectedObjects + Class: autoware_perception_rviz_plugin/DetectedObjects Display 3d polygon: true Display Label: true Display PoseWithCovariance: true @@ -735,7 +741,7 @@ Visualization Manager: CYCLIST: Alpha: 0.999 Color: 119; 11; 32 - Class: autoware_auto_perception_rviz_plugin/TrackedObjects + Class: autoware_perception_rviz_plugin/TrackedObjects Display 3d polygon: true Display Label: true Display PoseWithCovariance: true @@ -783,7 +789,7 @@ Visualization Manager: CYCLIST: Alpha: 0.999 Color: 119; 11; 32 - Class: autoware_auto_perception_rviz_plugin/PredictedObjects + Class: autoware_perception_rviz_plugin/PredictedObjects Display 3d polygon: true Display Label: true Display PoseWithCovariance: false @@ -928,6 +934,18 @@ Visualization Manager: Reliability Policy: Reliable Value: /planning/mission_planning/echo_back_goal_pose Value: true + - Class: autoware_mission_details_overlay_rviz_plugin/MissionDetailsDisplay + Name: MissionDetailsDisplay + Width: 170 + Height: 100 + Right: 10 + Top: 10 + Remaining Distance and Time Topic: /planning/mission_remaining_distance_time + Enabled: true + Value: true + Background Alpha: 0.5 + Background Color: 23; 28; 31 + Text Color: 194; 194; 194 Enabled: true Name: MissionPlanning - Class: rviz_common/Group @@ -1014,7 +1032,7 @@ Visualization Manager: Durability Policy: Volatile History Policy: Keep Last Reliability Policy: Reliable - Value: /planning/path_reference/avoidance + Value: /planning/path_reference/static_obstacle_avoidance Value: true View Path: Alpha: 0.3 @@ -1267,7 +1285,7 @@ Visualization Manager: Durability Policy: Volatile History Policy: Keep Last Reliability Policy: Reliable - Value: /planning/path_candidate/avoidance + Value: /planning/path_candidate/static_obstacle_avoidance Value: true View Path: Alpha: 0.30000001192092896 @@ -1345,7 +1363,7 @@ Visualization Manager: Displays: - Class: rviz_default_plugins/MarkerArray Enabled: true - Name: VirtualWall (Avoidance) + Name: VirtualWall (StaticObstacleAvoidance) Namespaces: {} Topic: @@ -1353,7 +1371,7 @@ Visualization Manager: Durability Policy: Volatile History Policy: Keep Last Reliability Policy: Reliable - Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/virtual_wall/avoidance + Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/virtual_wall/static_obstacle_avoidance Value: true - Class: rviz_default_plugins/MarkerArray Enabled: true @@ -1596,18 +1614,6 @@ Visualization Manager: Reliability Policy: Reliable Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/virtual_wall/speed_bump Value: true - - Class: rviz_default_plugins/MarkerArray - Enabled: true - Name: VirtualWall (OutOfLane) - Namespaces: - {} - Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Reliable - Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/virtual_wall/out_of_lane - Value: true - Class: rviz_default_plugins/MarkerArray Enabled: true Name: VirtualWall (NoDrivableLane) @@ -1620,18 +1626,6 @@ Visualization Manager: Reliability Policy: Reliable Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/virtual_wall/no_drivable_lane Value: true - - Class: rviz_default_plugins/MarkerArray - Enabled: true - Name: VirtualWall (DynamicObstacleStop) - Namespaces: - {} - Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Reliable - Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/virtual_wall/dynamic_obstacle_stop - Value: true Enabled: true Name: VirtualWall - Class: rviz_common/Group @@ -1770,7 +1764,7 @@ Visualization Manager: Value: false - Class: rviz_default_plugins/MarkerArray Enabled: false - Name: Avoidance + Name: StaticObstacleAvoidance Namespaces: {} Topic: @@ -1778,7 +1772,7 @@ Visualization Manager: Durability Policy: Volatile History Policy: Keep Last Reliability Policy: Reliable - Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/debug/avoidance + Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/debug/static_obstacle_avoidance Value: false - Class: rviz_default_plugins/MarkerArray Enabled: false @@ -1866,19 +1860,7 @@ Visualization Manager: Value: false - Class: rviz_default_plugins/MarkerArray Enabled: false - Name: OutOfLane - Namespaces: - {} - Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Reliable - Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/debug/out_of_lane - Value: false - - Class: rviz_default_plugins/MarkerArray - Enabled: false - Name: DynamicAvoidance + Name: DynamicObstacleAvoidance Namespaces: {} Topic: @@ -1886,7 +1868,7 @@ Visualization Manager: Durability Policy: Volatile History Policy: Keep Last Reliability Policy: Reliable - Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/debug/dynamic_avoidance + Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/debug/dynamic_obstacle_avoidance Value: false - Class: rviz_default_plugins/MarkerArray Enabled: false @@ -1900,25 +1882,13 @@ Visualization Manager: Reliability Policy: Reliable Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/debug/no_drivable_lane Value: false - - Class: rviz_default_plugins/MarkerArray - Enabled: false - Name: DynamicObstacleStop - Namespaces: - {} - Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Reliable - Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/debug/dynamic_obstacle_stop - Value: false Enabled: false Name: DebugMarker - Class: rviz_common/Group Displays: - Class: rviz_default_plugins/MarkerArray Enabled: false - Name: Info (Avoidance) + Name: Info (StaticObstacleAvoidance) Namespaces: avoidable_target_objects_info: false avoidable_target_objects_info_reason: false @@ -1931,7 +1901,7 @@ Visualization Manager: Durability Policy: Volatile History Policy: Keep Last Reliability Policy: Reliable - Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/info/avoidance + Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/info/static_obstacle_avoidance Value: false - Class: rviz_default_plugins/MarkerArray Enabled: false @@ -2019,7 +1989,7 @@ Visualization Manager: Value: false - Class: rviz_default_plugins/MarkerArray Enabled: false - Name: Info (DynamicAvoidance) + Name: Info (DynamicObstacleAvoidance) Namespaces: {} Topic: @@ -2027,7 +1997,7 @@ Visualization Manager: Durability Policy: Volatile History Policy: Keep Last Reliability Policy: Reliable - Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/info/dynamic_avoidance + Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/info/dynamic_obstacle_avoidance Value: false Enabled: false Name: InfoMarker @@ -2098,7 +2068,31 @@ Visualization Manager: Value: true - Class: rviz_default_plugins/MarkerArray Enabled: true - Name: VirtualWall (ObstacleCruise) + Name: VirtualWall (ObstacleCruise Stop) + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/virtual_wall/stop + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: VirtualWall (ObstacleCruise Cruise) + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/virtual_wall/cruise + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: VirtualWall (ObstacleCruise SlowDown) Namespaces: {} Topic: @@ -2106,7 +2100,7 @@ Visualization Manager: Durability Policy: Volatile History Policy: Keep Last Reliability Policy: Reliable - Value: /planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/virtual_wall + Value: /planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/virtual_wall/slow_down Value: true - Class: rviz_default_plugins/MarkerArray Enabled: true @@ -2118,7 +2112,43 @@ Visualization Manager: Durability Policy: Volatile History Policy: Keep Last Reliability Policy: Reliable - Value: /planning/scenario_planning/motion_velocity_smoother/virtual_wall + Value: /planning/scenario_planning/velocity_smoother/virtual_wall + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: VirtualWall (OutOfLane) + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/motion_planning/motion_velocity_planner/out_of_lane/virtual_walls + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: VirtualWall (ObstacleVelocityLimiter) + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/motion_planning/motion_velocity_planner/obstacle_velocity_limiter/virtual_walls + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: VirtualWall (DynamicObstacleStop) + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/motion_planning/motion_velocity_planner/dynamic_obstacle_stop/virtual_walls Value: true Enabled: true Name: VirtualWall @@ -2195,7 +2225,7 @@ Visualization Manager: Displays: - Class: rviz_default_plugins/MarkerArray Enabled: true - Name: CruiseVirtualWall + Name: DebugMarker Namespaces: {} Topic: @@ -2203,11 +2233,27 @@ 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/obstacle_cruise_planner/debug/marker Value: true + Enabled: false + Name: ObstacleCruise + - Class: rviz_default_plugins/MarkerArray + Enabled: false + Name: ObstacleAvoidance + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/motion_planning/obstacle_avoidance_planner/debug/marker + Value: false + - Class: rviz_common/Group + Displays: - Class: rviz_default_plugins/MarkerArray Enabled: true - Name: SlowDownVirtualWall + Name: OutOfLane Namespaces: {} Topic: @@ -2215,11 +2261,11 @@ Visualization Manager: Durability Policy: Volatile History Policy: Keep Last Reliability Policy: Reliable - Value: /planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/debug/slow_down/virtual_wall + Value: /planning/scenario_planning/lane_driving/motion_planning/motion_velocity_planner/out_of_lane/debug_markers Value: true - Class: rviz_default_plugins/MarkerArray Enabled: true - Name: DebugMarker + Name: ObstacleVelocityLimiter Namespaces: {} Topic: @@ -2227,22 +2273,22 @@ Visualization Manager: Durability Policy: Volatile History Policy: Keep Last Reliability Policy: Reliable - Value: /planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/debug/marker + Value: /planning/scenario_planning/lane_driving/motion_planning/motion_velocity_planner/obstacle_velocity_limiter/debug_markers + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: DynamicObstacleStop + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/motion_planning/motion_velocity_planner/dynamic_obstacle_stop/debug_markers Value: true Enabled: false - Name: ObstacleCruise - - Class: rviz_default_plugins/MarkerArray - Enabled: false - Name: ObstacleAvoidance - Namespaces: - {} - Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Reliable - Value: /planning/scenario_planning/lane_driving/motion_planning/obstacle_avoidance_planner/debug/marker - Value: false + Name: MotionVelocityPlanner Enabled: false Name: DebugMarker Enabled: true @@ -2359,7 +2405,7 @@ Visualization Manager: Durability Policy: Volatile History Policy: Keep Last Reliability Policy: Reliable - Value: /control/trajectory_follower/lateral/predicted_trajectory + Value: /control/trajectory_follower/controller_node_exe/debug/predicted_trajectory_in_frenet_coordinate Value: true View Path: Alpha: 1 @@ -2374,6 +2420,77 @@ Visualization Manager: Constant Color: false Scale: 0.30000001192092896 Value: false + - Class: rviz_plugins/Trajectory + Color Border Vel Max: 3 + Enabled: false + Name: Resampled Reference Trajectory + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /control/trajectory_follower/controller_node_exe/debug/resampled_reference_trajectory + Value: true + View Path: + Alpha: 1 + Color: 153; 193; 241 + Constant Color: true + Value: false + Constant Width: true + Width: 0.2 + View Velocity: + Alpha: 1 + Color: 0; 0; 0 + Constant Color: false + Scale: 0.30000001192092896 + Value: false + View Point: + Alpha: 1 + Color: 0; 60; 255 + Offset: 0 + Radius: 0.10000000149011612 + Value: true + - Class: rviz_common/Group + Displays: + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: VirtualWall (AEB) + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /control/autonomous_emergency_braking/virtual_wall + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: VirtualWall (velocity control) + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /control/trajectory_follower/controller_node_exe/virtual_wall + Value: true + Enabled: true + Name: VirtualWall + - Class: rviz_default_plugins/Marker + Enabled: false + Name: Stop Reason + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /control/trajectory_follower/longitudinal/stop_reason + Value: false - Class: rviz_default_plugins/MarkerArray Enabled: false Name: Debug/MPC @@ -2440,6 +2557,8 @@ Visualization Manager: Debug/MPC: true Debug/PurePursuit: true Predicted Trajectory: true + VirtualWall: + VirtualWall (AEB): true Value: false Debug: Control: true @@ -2467,7 +2586,6 @@ Visualization Manager: Planning: true Sensing: ConcatenatePointCloud: true - PointcloudOnCamera: true RadarRawObjects(white): true Value: true Value: true @@ -2518,6 +2636,7 @@ Visualization Manager: Value: true MissionPlanning: GoalPose: true + MissionDetailsDisplay: true RouteArea: true Value: true ScenarioPlanning: @@ -2527,11 +2646,11 @@ Visualization Manager: Bound: true DebugMarker: Arrow: true - Avoidance: true + StaticObstacleAvoidance: true Blind Spot: true Crosswalk: true DetectionArea: true - DynamicAvoidance: true + DynamicObstacleAvoidance: true GoalPlanner: true Intersection: true LaneFollowing: true @@ -2539,7 +2658,6 @@ Visualization Manager: NoDrivableLane: true NoStoppingArea: true OcclusionSpot: true - OutOfLane: true RightLaneChange: true RunOut: true SideShift: true @@ -2550,9 +2668,9 @@ Visualization Manager: Value: true VirtualTrafficLight: true InfoMarker: - Info (Avoidance): true + Info (StaticObstacleAvoidance): true Info (AvoidanceByLC): true - Info (DynamicAvoidance): true + Info (DynamicObstacleAvoidance): true Info (ExtLaneChangeLeft): true Info (ExtLaneChangeRight): true Info (GoalPlanner): true @@ -2578,7 +2696,7 @@ Visualization Manager: Value: true VirtualWall: Value: true - VirtualWall (Avoidance): true + VirtualWall (StaticObstacleAvoidance): true VirtualWall (AvoidanceByLC): true VirtualWall (BlindSpot): true VirtualWall (Crosswalk): true @@ -2593,7 +2711,6 @@ Visualization Manager: VirtualWall (NoDrivableLane): true VirtualWall (NoStoppingArea): true VirtualWall (OcclusionSpot): true - VirtualWall (OutOfLane): true VirtualWall (RunOut): true VirtualWall (SpeedBump): true VirtualWall (StartPlanner): true @@ -2699,7 +2816,7 @@ Visualization Manager: CYCLIST: Alpha: 0.5 Color: 255; 255; 255 - Class: autoware_auto_perception_rviz_plugin/DetectedObjects + Class: autoware_perception_rviz_plugin/DetectedObjects Display Acceleration: true Display Label: true Display PoseWithCovariance: true @@ -2856,7 +2973,7 @@ Visualization Manager: CYCLIST: Alpha: 0.9990000128746033 Color: 255; 138; 128 - Class: autoware_auto_perception_rviz_plugin/DetectedObjects + Class: autoware_perception_rviz_plugin/DetectedObjects Display Acceleration: true Display Label: true Display PoseWithCovariance: true @@ -2903,7 +3020,7 @@ Visualization Manager: CYCLIST: Alpha: 0.9990000128746033 Color: 255; 82; 82 - Class: autoware_auto_perception_rviz_plugin/DetectedObjects + Class: autoware_perception_rviz_plugin/DetectedObjects Display Acceleration: true Display Label: true Display PoseWithCovariance: true @@ -2950,7 +3067,7 @@ Visualization Manager: CYCLIST: Alpha: 0.9990000128746033 Color: 213; 0; 0 - Class: autoware_auto_perception_rviz_plugin/DetectedObjects + Class: autoware_perception_rviz_plugin/DetectedObjects Display Acceleration: true Display Label: true Display PoseWithCovariance: true @@ -2997,7 +3114,7 @@ Visualization Manager: CYCLIST: Alpha: 0.9990000128746033 Color: 178; 255; 89 - Class: autoware_auto_perception_rviz_plugin/DetectedObjects + Class: autoware_perception_rviz_plugin/DetectedObjects Display Acceleration: true Display Label: true Display PoseWithCovariance: true @@ -3044,7 +3161,7 @@ Visualization Manager: CYCLIST: Alpha: 0.9990000128746033 Color: 118; 255; 3 - Class: autoware_auto_perception_rviz_plugin/DetectedObjects + Class: autoware_perception_rviz_plugin/DetectedObjects Display Acceleration: true Display Label: true Display PoseWithCovariance: true @@ -3091,7 +3208,7 @@ Visualization Manager: CYCLIST: Alpha: 0.9990000128746033 Color: 100; 221; 23 - Class: autoware_auto_perception_rviz_plugin/DetectedObjects + Class: autoware_perception_rviz_plugin/DetectedObjects Display Acceleration: true Display Label: true Display PoseWithCovariance: true @@ -3138,7 +3255,7 @@ Visualization Manager: CYCLIST: Alpha: 0.9990000128746033 Color: 255; 145; 0 - Class: autoware_auto_perception_rviz_plugin/DetectedObjects + Class: autoware_perception_rviz_plugin/DetectedObjects Display Acceleration: true Display Label: true Display PoseWithCovariance: true @@ -3185,7 +3302,7 @@ Visualization Manager: CYCLIST: Alpha: 0.9990000128746033 Color: 213; 0; 249 - Class: autoware_auto_perception_rviz_plugin/DetectedObjects + Class: autoware_perception_rviz_plugin/DetectedObjects Display Acceleration: true Display Label: true Display PoseWithCovariance: true @@ -3232,7 +3349,7 @@ Visualization Manager: CYCLIST: Alpha: 0.9990000128746033 Color: 255; 255; 255 - Class: autoware_auto_perception_rviz_plugin/DetectedObjects + Class: autoware_perception_rviz_plugin/DetectedObjects Display Acceleration: true Display Label: true Display PoseWithCovariance: true @@ -3279,7 +3396,7 @@ Visualization Manager: CYCLIST: Alpha: 0.9990000128746033 Color: 255; 234; 0 - Class: autoware_auto_perception_rviz_plugin/DetectedObjects + Class: autoware_perception_rviz_plugin/DetectedObjects Display Acceleration: true Display Label: true Display PoseWithCovariance: true @@ -3326,7 +3443,7 @@ Visualization Manager: CYCLIST: Alpha: 0.9990000128746033 Color: 0; 230; 118 - Class: autoware_auto_perception_rviz_plugin/TrackedObjects + Class: autoware_perception_rviz_plugin/TrackedObjects Display Acceleration: true Display Label: true Display PoseWithCovariance: true @@ -3373,7 +3490,7 @@ Visualization Manager: CYCLIST: Alpha: 0.9990000128746033 Color: 0; 176; 255 - Class: autoware_auto_perception_rviz_plugin/PredictedObjects + Class: autoware_perception_rviz_plugin/PredictedObjects Display Acceleration: true Display Label: true Display PoseWithCovariance: false @@ -3451,7 +3568,7 @@ Visualization Manager: Durability Policy: Volatile History Policy: Keep Last Reliability Policy: Reliable - Value: /planning/debug/objects_of_interest/avoidance_left + Value: /planning/debug/objects_of_interest/static_obstacle_avoidance_left Value: true - Class: rviz_default_plugins/MarkerArray Enabled: true @@ -3463,7 +3580,7 @@ Visualization Manager: Durability Policy: Volatile History Policy: Keep Last Reliability Policy: Reliable - Value: /planning/debug/objects_of_interest/avoidance_right + Value: /planning/debug/objects_of_interest/static_obstacle_avoidance_right Value: true - Class: rviz_default_plugins/MarkerArray Enabled: true @@ -3585,24 +3702,20 @@ Visualization Manager: Reliability Policy: Reliable Value: /planning/debug/objects_of_interest/no_stopping_area Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: ObstacleCruise + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/debug/objects_of_interest/obstacle_cruise_planner + Value: true Enabled: true Name: Objects Of Interest - - Class: rviz_plugins/StringStampedOverlayDisplay - Enabled: true - Font Size: 15 - Left: 1024 - Max Letter Num: 100 - Name: StringStampedOverlayDisplay - Text Color: 25; 255; 240 - Top: 128 - 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/internal_state - Value: true - Value height offset: 0 Enabled: true Name: Planning - Class: rviz_common/Group @@ -3613,7 +3726,7 @@ Visualization Manager: Name: Debug Enabled: true Global Options: - Background Color: 42; 42; 42 + Background Color: 15; 20; 23 Default Light: true Fixed Frame: map Frame Rate: 30 @@ -3746,7 +3859,7 @@ Window Geometry: Hide Right Dock: false Image: collapsed: false - QMainWindow State: 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+ QMainWindow State: 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RecognitionResultOnImage: collapsed: false Selection: diff --git a/autoware_launch/rviz/perception.rviz b/autoware_launch/rviz/perception.rviz new file mode 100644 index 0000000000..635d3c9fb0 --- /dev/null +++ b/autoware_launch/rviz/perception.rviz @@ -0,0 +1,4625 @@ +Panels: + - Class: rviz_common/Displays + Help Height: 0 + Name: Displays + Property Tree Widget: + Expanded: + - /System1/Vehicle1 + - /System1/Vehicle1/SignalDisplay1 + - /Map1/Lanelet2VectorMap1 + - /Map1/Lanelet2VectorMap1/Namespaces1 + - /Sensing1/LiDAR1/ConcatenatePointCloud1/Autocompute Value Bounds1 + - /Perception1/Segmentation1/NoGroundPointCloud1 + - /Perception1/ObjectRecognition1 + - /Planning1/MissionPlanning1 + - /Planning1/ScenarioPlanning1 + - /Planning1/ScenarioPlanning1/LaneDriving1/BehaviorPlanning1/VirtualWall1 + - /Planning1/ScenarioPlanning1/LaneDriving1/BehaviorPlanning1/InfoMarker1 + - /Planning1/ScenarioPlanning1/LaneDriving1/MotionPlanning1 + - /Planning1/ScenarioPlanning1/LaneDriving1/MotionPlanning1/DebugMarker1 + - /Planning1/ScenarioPlanning1/LaneDriving1/MotionPlanning1/DebugMarker1/ObstacleCruise1 + - /Planning1/ScenarioPlanning1/Parking1/PoseArray1 + - /Planning1/Diagnostic1 + - /Control1/Predicted Trajectory1 + - /Debug1 + - /Debug1/Sensing1/PointcloudOnCamera1 + - /Debug1/Sensing1/ConcatenatePointCloud1/Autocompute Value Bounds1 + - /Debug1/Perception1 + - /Debug1/Perception1/Centerpoint(red1)1/UNKNOWN1 + - /Debug1/Perception1/Centerpoint(red1)1/CAR1 + - /Debug1/Perception1/Centerpoint(red1)1/TRUCK1 + - /Debug1/Perception1/Centerpoint(red1)1/BUS1 + - /Debug1/Perception1/Centerpoint(red1)1/TRAILER1 + - /Debug1/Perception1/Centerpoint(red1)1/MOTORCYCLE1 + - /Debug1/Perception1/Centerpoint(red1)1/CYCLIST1 + - /Debug1/Perception1/Centerpoint(red1)1/PEDESTRIAN1 + - /Debug1/Perception1/CenterpointROIFusion(red2)1/UNKNOWN1 + - /Debug1/Perception1/CenterpointValidator(red3)1/UNKNOWN1 + - /Debug1/Perception1/PointPainting(light_green1)1/UNKNOWN1 + - /Debug1/Perception1/PointPaintingROIFusion(light_green2)1/UNKNOWN1 + - /Debug1/Perception1/PointPaintingValidator(light_green3)1/UNKNOWN1 + - /Debug1/Perception1/DetectionByTracker(orange)1/UNKNOWN1 + - /Debug1/Perception1/RadarFarObjects(white)1/UNKNOWN1 + - /Debug1/Perception1/Detection(yellow)1/UNKNOWN1 + - /Image1/Topic1 + Splitter Ratio: 0.7641357183456421 + Tree Height: 588 + - Class: rviz_common/Selection + Name: Selection + - Class: rviz_common/Tool Properties + Expanded: + - /Third Person View1 + - /Bird Eye View1 + Name: Tool Properties + Splitter Ratio: 0.5886790156364441 + - Class: rviz_common/Views + Expanded: + - /Current View1 + Name: Views + Splitter Ratio: 0.5 + - Class: AutowareDateTimePanel + Name: AutowareDateTimePanel + - Class: rviz_plugins::AutowareStatePanel + Name: AutowareStatePanel + - Class: AutowareScreenCapturePanel + Name: AutowareScreenCapturePanel + - Class: multi_data_monitor::MultiDataMonitor + Name: MultiDataMonitor + Path: package://multi_data_monitor_config/data/debug_config.yaml + - Class: rviz_plugin::LoggingLevelConfigureRvizPlugin + Name: LoggingLevelConfigureRvizPlugin + - Class: rviz_plugins::RTCManagerPanel + Name: RTCManagerPanel +Visualization Manager: + Class: "" + Displays: + - Class: rviz_common/Group + Displays: + - Class: rviz_default_plugins/TF + Enabled: false + Frame Timeout: 15 + Frames: + All Enabled: true + Marker Scale: 1 + Name: TF + Show Arrows: true + Show Axes: true + Show Names: true + Tree: + {} + Update Interval: 0 + Value: false + - Alpha: 0.5 + Cell Size: 10 + Class: rviz_default_plugins/Grid + Color: 84; 110; 122 + Enabled: false + Line Style: + Line Width: 0.029999999329447746 + Value: Lines + Name: Grid + Normal Cell Count: 0 + Offset: + X: 0 + Y: 0 + Z: 0 + Plane: XY + Plane Cell Count: 100 + Reference Frame: base_link + Value: false + - Class: rviz_common/Group + Displays: + - Alpha: 0.30000001192092896 + Class: rviz_default_plugins/RobotModel + Collision Enabled: false + Description File: "" + Description Source: Topic + Description Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /robot_description + Enabled: true + Links: + All Links Enabled: true + Expand Joint Details: false + Expand Link Details: false + Expand Tree: false + Link Tree Style: Links in Alphabetic Order + ars408_front_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + base_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + camera0/camera_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + camera0/camera_optical_link: + Alpha: 1 + Show Axes: false + Show Trail: false + camera1/camera_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + camera1/camera_optical_link: + Alpha: 1 + Show Axes: false + Show Trail: false + camera2/camera_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + camera2/camera_optical_link: + Alpha: 1 + Show Axes: false + Show Trail: false + camera3/camera_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + camera3/camera_optical_link: + Alpha: 1 + Show Axes: false + Show Trail: false + camera4/camera_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + camera4/camera_optical_link: + Alpha: 1 + Show Axes: false + Show Trail: false + camera5/camera_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + camera5/camera_optical_link: + Alpha: 1 + Show Axes: false + Show Trail: false + camera6/camera_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + camera6/camera_optical_link: + Alpha: 1 + Show Axes: false + Show Trail: false + camera7/camera_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + camera7/camera_optical_link: + Alpha: 1 + Show Axes: false + Show Trail: false + front_center/radar_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + front_left/radar_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + front_right/radar_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + front_unit_base_link: + Alpha: 1 + Show Axes: false + Show Trail: false + gnss_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + pandar_40p_front: + Alpha: 1 + Show Axes: false + Show Trail: false + pandar_40p_front_base_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + pandar_40p_left: + Alpha: 1 + Show Axes: false + Show Trail: false + pandar_40p_left_base_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + pandar_40p_rear: + Alpha: 1 + Show Axes: false + Show Trail: false + pandar_40p_rear_base_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + pandar_40p_right: + Alpha: 1 + Show Axes: false + Show Trail: false + pandar_40p_right_base_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + pandar_qt_front: + Alpha: 1 + Show Axes: false + Show Trail: false + pandar_qt_front_base_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + pandar_qt_left: + Alpha: 1 + Show Axes: false + Show Trail: false + pandar_qt_left_base_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + pandar_qt_rear: + Alpha: 1 + Show Axes: false + Show Trail: false + pandar_qt_rear_base_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + pandar_qt_right: + Alpha: 1 + Show Axes: false + Show Trail: false + pandar_qt_right_base_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + rear_center/radar_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + rear_left/radar_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + rear_right/radar_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + rear_unit_base_link: + Alpha: 1 + Show Axes: false + Show Trail: false + tamagawa/imu_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + top_unit_base_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Mass Properties: + Inertia: false + Mass: false + Name: VehicleModel + TF Prefix: "" + Update Interval: 0 + Value: true + Visual Enabled: true + - Class: rviz_plugins/PolarGridDisplay + Color: 255; 255; 255 + Delta Range: 10 + Enabled: true + Max Alpha: 0.5 + Max Range: 100 + Max Wave Alpha: 0.5 + Min Alpha: 0.009999999776482582 + Min Wave Alpha: 0.009999999776482582 + Name: PolarGridDisplay + Reference Frame: base_link + Value: true + Wave Color: 255; 255; 255 + Wave Velocity: 40 + - Class: autoware_overlay_rviz_plugin/SignalDisplay + Enabled: true + Gear Topic Test: /vehicle/status/gear_status + Hazard Lights Topic: /vehicle/status/hazard_lights_status + Height: 100 + Left: -660 + Name: SignalDisplay + Signal Color: 0; 230; 120 + Speed Limit Topic: /planning/scenario_planning/current_max_velocity + Speed Topic: /vehicle/status/velocity_status + Steering Topic: /vehicle/status/steering_status + Top: 5 + Traffic Topic: /planning/scenario_planning/lane_driving/behavior_planning/debug/traffic_signal + Turn Signals Topic: /vehicle/status/turn_indicators_status + Value: true + Width: 550 + Enabled: true + Name: Vehicle + - Class: rviz_plugins/MrmSummaryOverlayDisplay + Enabled: false + Font Size: 10 + Left: 512 + Max Letter Num: 100 + Name: MRM Summary + Text Color: 25; 255; 240 + Top: 64 + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /system/emergency/hazard_status + Value: false + Value height offset: 0 + Enabled: true + Name: System + - Class: rviz_common/Group + Displays: + - Alpha: 0.20000000298023224 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 28.71826171875 + Min Value: -7.4224700927734375 + Value: true + Axis: Z + Channel Name: intensity + Class: rviz_default_plugins/PointCloud2 + Color: 255; 255; 255 + Color Transformer: FlatColor + Decay Time: 0 + Enabled: true + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 237 + Min Color: 211; 215; 207 + Min Intensity: 0 + Name: PointCloudMap + Position Transformer: XYZ + Selectable: false + Size (Pixels): 1 + 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 + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: Lanelet2VectorMap + Namespaces: + "": true + center_lane_line: true + center_line_arrows: true + crosswalk_areas: true + crosswalk_lanelet_id: true + crosswalk_lanelets: true + curbstone: true + hatched_road_markings_area: true + hatched_road_markings_bound: true + intersection_area: true + lane_start_bound: true + lanelet direction: true + lanelet_id: true + left_lane_bound: true + no_parking_area: true + no_stopping_area: true + partitions: true + pedestrian_polygon_marking: true + right_lane_bound: true + road_lanelets: false + shoulder_center_lane_line: true + shoulder_center_line_arrows: true + shoulder_lane_start_bound: true + shoulder_left_lane_bound: true + shoulder_right_lane_bound: true + shoulder_road_lanelets: true + stop_lines: true + traffic_light: true + traffic_light_id: true + traffic_light_reg_elem_id: true + traffic_light_triangle: true + walkway_lanelets: true + Topic: + Depth: 5 + Durability Policy: Transient Local + History Policy: Keep Last + Reliability Policy: Reliable + Value: /map/vector_map_marker + Value: true + Enabled: true + Name: Map + - Class: rviz_common/Group + Displays: + - Class: rviz_common/Group + Displays: + - Alpha: 0.4000000059604645 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 5 + Min Value: -1 + Value: false + Axis: Z + Channel Name: intensity + Class: rviz_default_plugins/PointCloud2 + Color: 255; 255; 255 + Color Transformer: AxisColor + Decay Time: 0 + Enabled: true + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 4096 + Min Color: 0; 0; 0 + Min Intensity: 0 + Name: ConcatenatePointCloud + Position Transformer: XYZ + Selectable: false + Size (Pixels): 1 + 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: 0.9990000128746033 + Class: rviz_default_plugins/Polygon + Color: 25; 255; 0 + Enabled: false + Name: MeasurementRange + 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 + Value: false + Enabled: true + Name: LiDAR + - Class: rviz_common/Group + Displays: + - Alpha: 0.9990000128746033 + Axes Length: 1 + Axes Radius: 0.10000000149011612 + Class: rviz_default_plugins/PoseWithCovariance + Color: 233; 185; 110 + Covariance: + Orientation: + Alpha: 0.5 + Color: 255; 255; 127 + Color Style: Unique + Frame: Local + Offset: 1 + Scale: 1 + Value: false + Position: + Alpha: 0.20000000298023224 + Color: 204; 51; 204 + Scale: 1 + Value: true + Value: true + Enabled: true + Head Length: 0.699999988079071 + Head Radius: 1.2000000476837158 + Name: PoseWithCovariance + Shaft Length: 1 + Shaft Radius: 0.5 + Shape: Arrow + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /sensing/gnss/pose_with_covariance + Value: true + Enabled: false + Name: GNSS + Enabled: true + Name: Sensing + - Class: rviz_common/Group + Displays: + - Class: rviz_common/Group + Displays: + - Alpha: 0.9990000128746033 + Axes Length: 1 + Axes Radius: 0.10000000149011612 + Class: rviz_default_plugins/PoseWithCovariance + Color: 0; 170; 255 + Covariance: + Orientation: + Alpha: 0.5 + Color: 255; 255; 127 + Color Style: Unique + Frame: Local + Offset: 1 + Scale: 1 + Value: true + Position: + Alpha: 0.30000001192092896 + Color: 204; 51; 204 + Scale: 1 + Value: true + Value: true + Enabled: false + Head Length: 0.4000000059604645 + Head Radius: 0.6000000238418579 + Name: PoseWithCovInitial + Shaft Length: 0.6000000238418579 + Shaft Radius: 0.30000001192092896 + Shape: Arrow + 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 + Axes Length: 1 + Axes Radius: 0.10000000149011612 + Class: rviz_default_plugins/PoseWithCovariance + Color: 0; 255; 0 + Covariance: + Orientation: + Alpha: 0.5 + Color: 255; 255; 127 + Color Style: Unique + Frame: Local + Offset: 1 + Scale: 1 + Value: true + Position: + Alpha: 0.30000001192092896 + Color: 204; 51; 204 + Scale: 1 + Value: true + Value: true + Enabled: false + Head Length: 0.4000000059604645 + Head Radius: 0.6000000238418579 + Name: PoseWithCovAligned + Shaft Length: 0.6000000238418579 + Shaft Radius: 0.30000001192092896 + Shape: Arrow + 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 + - Buffer Size: 200 + Class: rviz_plugins::PoseHistory + Enabled: false + Line: + Alpha: 0.9990000128746033 + Color: 170; 255; 127 + Value: true + Width: 0.10000000149011612 + 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 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 10 + Min Value: -10 + Value: true + Axis: Z + Channel Name: intensity + Class: rviz_default_plugins/PointCloud2 + Color: 0; 255; 255 + Color Transformer: "" + Decay Time: 0 + Enabled: false + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 4096 + Min Color: 0; 0; 0 + Min Intensity: 0 + Name: Initial + Position Transformer: XYZ + Selectable: false + Size (Pixels): 10 + Size (m): 0.5 + Style: Squares + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Best Effort + Value: /localization/util/downsample/pointcloud + Use Fixed Frame: true + Use rainbow: true + Value: false + - Alpha: 0.9990000128746033 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 10 + Min Value: -10 + Value: true + Axis: Z + Channel Name: intensity + Class: rviz_default_plugins/PointCloud2 + Color: 85; 255; 0 + Color Transformer: FlatColor + Decay Time: 0 + Enabled: false + Invert Rainbow: false + Max Color: 85; 255; 127 + Max Intensity: 0 + Min Color: 0; 0; 0 + Min Intensity: 0 + Name: Aligned + Position Transformer: XYZ + Selectable: false + Size (Pixels): 10 + Size (m): 0.5 + Style: Squares + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /localization/pose_estimator/points_aligned + Use Fixed Frame: true + Use rainbow: true + Value: false + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: MonteCarloInitialPose + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /localization/pose_estimator/monte_carlo_initial_pose_marker + Value: true + Enabled: true + Name: NDT + - Class: rviz_common/Group + Displays: + - Buffer Size: 1000 + Class: rviz_plugins::PoseHistory + Enabled: true + Line: + Alpha: 0.9990000128746033 + Color: 0; 255; 255 + Value: true + Width: 0.10000000149011612 + 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 + Value: true + Enabled: true + Name: EKF + Enabled: true + Name: Localization + - Class: rviz_common/Group + Displays: + - Class: rviz_common/Group + Displays: + - Alpha: 0.9990000128746033 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 15 + Min Value: -2 + Value: false + Axis: Z + Channel Name: z + Class: rviz_default_plugins/PointCloud2 + Color: 200; 200; 200 + Color Transformer: FlatColor + Decay Time: 0 + Enabled: true + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 15 + Min Color: 0; 0; 0 + Min Intensity: -5 + Name: NoGroundPointCloud + Position Transformer: XYZ + Selectable: false + Size (Pixels): 3 + Size (m): 0.019999999552965164 + Style: Points + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Best Effort + Value: /perception/obstacle_segmentation/pointcloud + Use Fixed Frame: true + Use rainbow: true + Value: true + Enabled: true + Name: Segmentation + - Class: rviz_common/Group + Displays: + - Class: rviz_common/Group + Displays: + - BUS: + Alpha: 0.9990000128746033 + Color: 30; 144; 255 + CAR: + Alpha: 0.9990000128746033 + Color: 30; 144; 255 + CYCLIST: + Alpha: 0.9990000128746033 + Color: 119; 11; 32 + Class: autoware_perception_rviz_plugin/DetectedObjects + Confidence Interval: 95% + Display Acceleration: true + Display Existence Probability: false + Display Label: true + Display Pose Covariance: true + Display Predicted Path Confidence: true + Display Predicted Paths: true + Display Twist: true + Display Twist Covariance: false + Display UUID: true + Display Velocity: true + Display Yaw Covariance: false + Display Yaw Rate: false + Display Yaw Rate Covariance: false + Enabled: true + Line Width: 0.029999999329447746 + MOTORCYCLE: + Alpha: 0.9990000128746033 + Color: 119; 11; 32 + Name: DetectedObjects + Namespaces: + {} + Object Fill Type: skeleton + PEDESTRIAN: + Alpha: 0.9990000128746033 + Color: 255; 192; 203 + Polygon Type: 3d + TRAILER: + Alpha: 0.9990000128746033 + Color: 30; 144; 255 + TRUCK: + Alpha: 0.9990000128746033 + 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: 0.9990000128746033 + Color: 255; 255; 255 + Value: true + Visualization Type: Normal + Enabled: false + Name: Detection + - Class: rviz_common/Group + Displays: + - BUS: + Alpha: 0.9990000128746033 + Color: 30; 144; 255 + CAR: + Alpha: 0.9990000128746033 + Color: 30; 144; 255 + CYCLIST: + Alpha: 0.9990000128746033 + Color: 119; 11; 32 + Class: autoware_perception_rviz_plugin/TrackedObjects + Confidence Interval: 95% + Display Acceleration: true + Display Existence Probability: false + Display Label: true + Display Pose Covariance: true + Display Predicted Path Confidence: true + Display Predicted Paths: true + Display Twist: true + Display Twist Covariance: false + Display UUID: true + Display Velocity: true + Display Yaw Covariance: false + Display Yaw Rate: false + Display Yaw Rate Covariance: false + Dynamic Status: All + Enabled: true + Line Width: 0.029999999329447746 + MOTORCYCLE: + Alpha: 0.9990000128746033 + Color: 119; 11; 32 + Name: TrackedObjects + Namespaces: + {} + Object Fill Type: skeleton + PEDESTRIAN: + Alpha: 0.9990000128746033 + Color: 255; 192; 203 + Polygon Type: 3d + TRAILER: + Alpha: 0.9990000128746033 + Color: 30; 144; 255 + TRUCK: + Alpha: 0.9990000128746033 + 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: 0.9990000128746033 + Color: 255; 255; 255 + Value: true + Visualization Type: Normal + Enabled: false + Name: Tracking + - Class: rviz_common/Group + Displays: + - BUS: + Alpha: 0.9990000128746033 + Color: 30; 144; 255 + CAR: + Alpha: 0.9990000128746033 + Color: 30; 144; 255 + CYCLIST: + Alpha: 0.9990000128746033 + Color: 119; 11; 32 + Class: autoware_perception_rviz_plugin/PredictedObjects + Confidence Interval: 95% + Display Acceleration: true + Display Existence Probability: false + Display Label: true + Display Pose Covariance: true + Display Predicted Path Confidence: true + Display Predicted Paths: true + Display Twist: true + Display Twist Covariance: false + Display UUID: true + Display Velocity: true + Display Yaw Covariance: false + Display Yaw Rate: false + Display Yaw Rate Covariance: false + Enabled: true + Line Width: 0.029999999329447746 + MOTORCYCLE: + Alpha: 0.9990000128746033 + Color: 119; 11; 32 + Name: PredictedObjects + Namespaces: + {} + Object Fill Type: skeleton + PEDESTRIAN: + Alpha: 0.9990000128746033 + Color: 255; 192; 203 + Polygon Type: 3d + TRAILER: + Alpha: 0.9990000128746033 + Color: 30; 144; 255 + TRUCK: + Alpha: 0.9990000128746033 + 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: 0.9990000128746033 + Color: 255; 255; 255 + Value: true + Visualization Type: Normal + - 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: false + Enabled: true + Name: Prediction + Enabled: false + Name: ObjectRecognition + - Class: rviz_common/Group + Displays: + - Class: rviz_default_plugins/Image + Enabled: false + Max Value: 1 + Median window: 5 + Min Value: 0 + Name: RecognitionResultOnImage + Normalize Range: true + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Best Effort + Value: /perception/traffic_light_recognition/camera6/debug/rois + Value: false + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: MapBasedDetectionResult + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Best Effort + Value: /perception/traffic_light_recognition/camera6/detection/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 + Displays: + - Class: rviz_common/Group + Displays: + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: RouteArea + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Transient Local + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/mission_planning/route_marker + Value: true + - Alpha: 0.9990000128746033 + Axes Length: 1 + Axes Radius: 0.30000001192092896 + Class: rviz_default_plugins/Pose + Color: 255; 25; 0 + Enabled: true + Head Length: 0.30000001192092896 + Head Radius: 0.5 + Name: GoalPose + Shaft Length: 3 + Shaft Radius: 0.20000000298023224 + Shape: Axes + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/mission_planning/echo_back_goal_pose + Value: true + - Class: autoware_mission_details_overlay_rviz_plugin/MissionDetailsDisplay + Enabled: true + Height: 100 + Name: MissionDetailsDisplay + Remaining Distance and Time Topic: /planning/mission_remaining_distance_time + Right: 10 + Top: 10 + Value: true + Width: 170 + Enabled: true + Name: MissionPlanning + - Class: rviz_common/Group + Displays: + - Class: rviz_plugins/Trajectory + Color Border Vel Max: 3 + Enabled: true + Name: ScenarioTrajectory + 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: 0.8500000238418579 + Value: false + Vehicle Length: 4.400000095367432 + Vehicle Width: 1.6950000524520874 + View Path: + 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 Slope: + Scale: 0.30000001192092896 + Value: false + View Text Velocity: + Scale: 0.30000001192092896 + Value: false + View Velocity: + Alpha: 0.9990000128746033 + Color: 0; 0; 0 + Constant Color: false + Scale: 0.30000001192092896 + Value: true + - Class: rviz_common/Group + Displays: + - Class: rviz_common/Group + Displays: + - Class: rviz_plugins/Path + Color Border Vel Max: 3 + Enabled: true + Name: Path + 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: 0.8500000238418579 + Value: false + Vehicle Length: 4.400000095367432 + Vehicle Width: 1.6950000524520874 + 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 Slope: + Scale: 0.30000001192092896 + Value: false + View Text Velocity: + Scale: 0.30000001192092896 + Value: false + View Velocity: + Alpha: 0.4000000059604645 + Color: 0; 0; 0 + Constant Color: false + Scale: 0.30000001192092896 + Value: true + - Class: rviz_plugins/Path + Color Border Vel Max: 3 + Enabled: true + Name: PathReference_AvoidanceByLC + 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 + 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: 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 Slope: + Scale: 0.30000001192092896 + Value: false + View Text Velocity: + Scale: 0.30000001192092896 + Value: false + 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: PathReference_Avoidance + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/path_reference/static_obstacle_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: 0.8500000238418579 + Value: false + Vehicle Length: 4.400000095367432 + Vehicle Width: 1.6950000524520874 + View Path: + 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 Slope: + Scale: 0.30000001192092896 + Value: false + View Text Velocity: + Scale: 0.30000001192092896 + Value: false + 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: PathReference_LaneChangeRight + 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 + 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: 0.8500000238418579 + Value: false + Vehicle Length: 4.400000095367432 + Vehicle Width: 1.6950000524520874 + View Path: + 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 Slope: + Scale: 0.30000001192092896 + Value: false + View Text Velocity: + Scale: 0.30000001192092896 + Value: false + 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: PathReference_LaneChangeLeft + 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 + 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: 0.8500000238418579 + Value: false + Vehicle Length: 4.400000095367432 + Vehicle Width: 1.6950000524520874 + View Path: + 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 Slope: + Scale: 0.30000001192092896 + Value: false + View Text Velocity: + Scale: 0.30000001192092896 + Value: false + 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: PathReference_GoalPlanner + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/path_reference/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: 0.8500000238418579 + Value: false + Vehicle Length: 4.400000095367432 + Vehicle Width: 1.6950000524520874 + View Path: + 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 Slope: + Scale: 0.30000001192092896 + Value: false + View Text Velocity: + Scale: 0.30000001192092896 + Value: false + 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: PathReference_StartPlanner + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/path_reference/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: 0.8500000238418579 + Value: false + Vehicle Length: 4.400000095367432 + Vehicle Width: 1.6950000524520874 + View Path: + 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 Slope: + Scale: 0.30000001192092896 + Value: false + View Text Velocity: + Scale: 0.30000001192092896 + Value: false + 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_AvoidanceByLC + 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 Slope: + Scale: 0.30000001192092896 + Value: false + View Text Velocity: + Scale: 0.30000001192092896 + Value: false + 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: (old)PathChangeCandidate_LaneChange + 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 Slope: + Scale: 0.30000001192092896 + Value: false + View Text Velocity: + Scale: 0.30000001192092896 + Value: false + 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_LaneChangeRight + 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: 0.8500000238418579 + Value: false + Vehicle Length: 4.400000095367432 + Vehicle Width: 1.6950000524520874 + 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 Slope: + Scale: 0.30000001192092896 + Value: false + View Text Velocity: + Scale: 0.30000001192092896 + Value: false + 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_LaneChangeLeft + 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: 0.8500000238418579 + Value: false + Vehicle Length: 4.400000095367432 + Vehicle Width: 1.6950000524520874 + 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 Slope: + Scale: 0.30000001192092896 + Value: false + View Text Velocity: + Scale: 0.30000001192092896 + Value: false + 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_ExternalRequestLaneChangeRight + 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 Slope: + Scale: 0.30000001192092896 + Value: false + View Text Velocity: + Scale: 0.30000001192092896 + Value: false + 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_ExternalRequestLaneChangeLeft + 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 Slope: + Scale: 0.30000001192092896 + Value: false + View Text Velocity: + Scale: 0.30000001192092896 + Value: false + 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 + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/path_candidate/static_obstacle_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: 0.8500000238418579 + Value: false + Vehicle Length: 4.400000095367432 + Vehicle Width: 1.6950000524520874 + 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 Slope: + Scale: 0.30000001192092896 + Value: false + View Text Velocity: + Scale: 0.30000001192092896 + Value: false + 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_StartPlanner + 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: 0.8500000238418579 + Value: false + Vehicle Length: 4.400000095367432 + Vehicle Width: 1.6950000524520874 + 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 Slope: + Scale: 0.30000001192092896 + Value: false + View Text Velocity: + Scale: 0.30000001192092896 + Value: false + 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_GoalPlanner + 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: 0.8500000238418579 + Value: false + Vehicle Length: 4.400000095367432 + Vehicle Width: 1.6950000524520874 + 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 Slope: + Scale: 0.30000001192092896 + Value: false + View Text Velocity: + Scale: 0.30000001192092896 + Value: false + View Velocity: + Alpha: 0.30000001192092896 + Color: 0; 0; 0 + Constant Color: false + Scale: 0.30000001192092896 + Value: false + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: Bound + 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/bound + Value: true + - Class: rviz_common/Group + Displays: + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: VirtualWall (StaticObstacleAvoidance) + 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/virtual_wall/static_obstacle_avoidance + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: VirtualWall (AvoidanceByLC) + 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/virtual_wall/avoidance_by_lane_change + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: VirtualWall (LaneChangeRight) + 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/virtual_wall/lane_change_right + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: VirtualWall (LaneChangeLeft) + 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/virtual_wall/lane_change_left + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: VirtualWall (ExtLaneChangeRight) + 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/virtual_wall/external_request_lane_change_right + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: VirtualWall (ExtLaneChangeLeft) + 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/virtual_wall/external_request_lane_change_left + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: VirtualWall (GoalPlanner) + 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/virtual_wall/goal_planner + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: VirtualWall (StartPlanner) + 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/virtual_wall/start_planner + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: VirtualWall (BlindSpot) + 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/blind_spot + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: VirtualWall (Crosswalk) + 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/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) + 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/detection_area + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: VirtualWall (Intersection) + 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/intersection + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: VirtualWall (MergeFromPrivateArea) + 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/merge_from_private + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: VirtualWall (NoStoppingArea) + 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/no_stopping_area + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: VirtualWall (OcclusionSpot) + 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/occlusion_spot + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: VirtualWall (StopLine) + 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/stop_line + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: VirtualWall (TrafficLight) + 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/traffic_light + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: VirtualWall (VirtualTrafficLight) + 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/virtual_traffic_light + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: VirtualWall (RunOut) + 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/run_out + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: VirtualWall (SpeedBump) + 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/speed_bump + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: VirtualWall (NoDrivableLane) + 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/no_drivable_lane + Value: true + Enabled: true + Name: VirtualWall + - Class: rviz_common/Group + Displays: + - Class: rviz_default_plugins/MarkerArray + Enabled: false + Name: Arrow + 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/path + Value: false + - Class: rviz_default_plugins/MarkerArray + Enabled: false + Name: Crosswalk + 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/crosswalk + Value: false + - Class: rviz_default_plugins/MarkerArray + Enabled: false + Name: Intersection + 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/intersection + Value: false + - Class: rviz_default_plugins/MarkerArray + Enabled: false + Name: Blind Spot + 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/blind_spot + Value: false + - Class: rviz_default_plugins/MarkerArray + Enabled: false + Name: TrafficLight + 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/traffic_light + Value: false + - Class: rviz_default_plugins/MarkerArray + Enabled: false + Name: VirtualTrafficLight + 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/virtual_traffic_light + Value: false + - Class: rviz_default_plugins/MarkerArray + Enabled: false + Name: StopLine + 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/stop_line + Value: false + - Class: rviz_default_plugins/MarkerArray + Enabled: false + Name: DetectionArea + 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/detection_area + Value: false + - Class: rviz_default_plugins/MarkerArray + Enabled: false + Name: OcclusionSpot + 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/occlusion_spot + Value: false + - Class: rviz_default_plugins/MarkerArray + Enabled: false + Name: NoStoppingArea + 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/no_stopping_area + Value: false + - Class: rviz_default_plugins/MarkerArray + Enabled: false + Name: RunOut + 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/run_out + Value: false + - Class: rviz_default_plugins/MarkerArray + Enabled: false + Name: StaticObstacleAvoidance + 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/static_obstacle_avoidance + Value: false + - Class: rviz_default_plugins/MarkerArray + Enabled: false + Name: LeftLaneChange + 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_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 + 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/lane_following + Value: false + - Class: rviz_default_plugins/MarkerArray + Enabled: false + Name: GoalPlanner + 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/goal_planner + Value: false + - Class: rviz_default_plugins/MarkerArray + Enabled: false + Name: StartPlanner + 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/start_planner + 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/side_shift + Value: false + - Class: rviz_default_plugins/MarkerArray + Enabled: false + Name: SpeedBump + 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/speed_bump + Value: false + - Class: rviz_default_plugins/MarkerArray + Enabled: false + Name: DynamicObstacleAvoidance + 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/dynamic_obstacle_avoidance + Value: false + - Class: rviz_default_plugins/MarkerArray + Enabled: false + Name: NoDrivableLane + 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/no_drivable_lane + Value: false + Enabled: false + Name: DebugMarker + - Class: rviz_common/Group + Displays: + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: Info (StaticObstacleAvoidance) + 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/info/static_obstacle_avoidance + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: Info (AvoidanceByLC) + 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/info/avoidance_by_lane_change + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: Info (LaneChangeLeft) + 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/info/lane_change_left + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: Info (LaneChangeRight) + 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/info/lane_change_right + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: Info (ExtLaneChangeLeft) + 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/info/external_request_lane_change_left + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: Info (ExtLaneChangeRight) + 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/info/external_request_lane_change_right + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: Info (GoalPlanner) + 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/info/goal_planner + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: Info (StartPlanner) + 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/info/start_planner + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: Info (DynamicObstacleAvoidance) + 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/info/dynamic_obstacle_avoidance + Value: true + Enabled: false + Name: InfoMarker + Enabled: true + Name: BehaviorPlanning + - Class: rviz_common/Group + Displays: + - Class: rviz_plugins/Trajectory + Color Border Vel Max: 3 + Enabled: true + Name: Trajectory + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/trajectory + Value: true + View Footprint: + Alpha: 1 + Color: 230; 230; 50 + Offset from BaseLink: 0 + Rear Overhang: 0.8500000238418579 + Value: false + Vehicle Length: 4.400000095367432 + Vehicle Width: 1.6950000524520874 + View Path: + 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 Slope: + Scale: 0.30000001192092896 + Value: false + View Text Velocity: + Scale: 0.30000001192092896 + Value: false + View Velocity: + Alpha: 0.9990000128746033 + Color: 0; 0; 0 + Constant Color: false + Scale: 0.30000001192092896 + Value: true + - Class: rviz_common/Group + Displays: + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: VirtualWall (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/virtual_wall + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: VirtualWall (SurroundObstacle) + 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/virtual_wall + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: VirtualWall (ObstacleAvoidance) + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/motion_planning/obstacle_avoidance_planner/virtual_wall + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: VirtualWall (ObstacleCruise Stop) + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/virtual_wall/stop + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: VirtualWall (ObstacleCruise Cruise) + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/virtual_wall/cruise + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: VirtualWall (ObstacleCruise SlowDown) + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/virtual_wall/slow_down + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: VirtualWall (MotionVelocitySmoother) + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/velocity_smoother/virtual_wall + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: VirtualWall (OutOfLane) + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/motion_planning/motion_velocity_planner/out_of_lane/virtual_walls + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: VirtualWall (ObstacleVelocityLimiter) + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/motion_planning/motion_velocity_planner/obstacle_velocity_limiter/virtual_walls + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: VirtualWall (DynamicObstacleStop) + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/motion_planning/motion_velocity_planner/dynamic_obstacle_stop/virtual_walls + Value: true + Enabled: true + Name: VirtualWall + - Class: rviz_common/Group + Displays: + - Class: rviz_common/Group + Displays: + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: SurroundObstacleCheck + 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 + - 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/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: false + Name: SurroundObstacleChecker + - Class: rviz_default_plugins/MarkerArray + Enabled: false + 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: false + - Class: rviz_common/Group + Displays: + - 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 + Enabled: true + Name: ObstacleCruise + - Class: rviz_default_plugins/MarkerArray + Enabled: false + Name: ObstacleAvoidance + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/motion_planning/obstacle_avoidance_planner/debug/marker + Value: false + - Class: rviz_common/Group + Displays: + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: OutOfLane + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/motion_planning/motion_velocity_planner/out_of_lane/debug_markers + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: ObstacleVelocityLimiter + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/motion_planning/motion_velocity_planner/obstacle_velocity_limiter/debug_markers + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: DynamicObstacleStop + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/motion_planning/motion_velocity_planner/dynamic_obstacle_stop/debug_markers + Value: true + Enabled: false + Name: MotionVelocityPlanner + Enabled: true + Name: DebugMarker + Enabled: true + Name: MotionPlanning + Enabled: true + Name: LaneDriving + - Class: rviz_common/Group + Displays: + - Alpha: 0.699999988079071 + Class: rviz_default_plugins/Map + Color Scheme: map + Draw Behind: false + Enabled: true + Name: Costmap + 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 + Update Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/parking/costmap_generator/occupancy_grid_updates + Use Timestamp: false + Value: true + - Alpha: 0.9990000128746033 + Arrow Length: 0.30000001192092896 + Axes Length: 0.30000001192092896 + Axes Radius: 0.009999999776482582 + Class: rviz_default_plugins/PoseArray + Color: 255; 25; 0 + Enabled: true + Head Length: 0.10000000149011612 + Head Radius: 0.20000000298023224 + Name: PartialPoseArray + Shaft Length: 0.20000000298023224 + Shaft Radius: 0.05000000074505806 + Shape: Arrow (3D) + 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 + Arrow Length: 0.5 + Axes Length: 0.30000001192092896 + Axes Radius: 0.009999999776482582 + Class: rviz_default_plugins/PoseArray + Color: 0; 0; 255 + Enabled: true + Head Length: 0.10000000149011612 + Head Radius: 0.20000000298023224 + Name: PoseArray + Shaft Length: 0.20000000298023224 + Shaft Radius: 0.05000000074505806 + Shape: Arrow (Flat) + 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 + Value: true + Enabled: true + Name: Parking + - Class: rviz_plugins/PoseWithUuidStamped + Enabled: true + Length: 1.5 + Name: ModifiedGoal + Radius: 0.5 + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/modified_goal + UUID: + Scale: 0.30000001192092896 + Value: false + 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: true + Name: Diagnostic + Enabled: false + Name: Planning + - Class: rviz_common/Group + Displays: + - Class: rviz_plugins/Trajectory + Color Border Vel Max: 3 + Enabled: true + Name: Predicted Trajectory + 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: 0.8500000238418579 + Value: false + Vehicle Length: 4.400000095367432 + Vehicle Width: 1.6950000524520874 + View Path: + Alpha: 1 + Color: 255; 255; 255 + Constant Color: 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 Slope: + Scale: 0.30000001192092896 + Value: false + View Text Velocity: + Scale: 0.30000001192092896 + Value: false + View Velocity: + Alpha: 1 + Color: 0; 0; 0 + Constant Color: false + Scale: 0.30000001192092896 + Value: false + - Class: rviz_default_plugins/Marker + Enabled: false + Name: Stop Reason + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /control/trajectory_follower/longitudinal/stop_reason + Value: false + - Class: rviz_default_plugins/MarkerArray + Enabled: false + Name: Debug/MPC + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /control/trajectory_follower/mpc_follower/debug/markers + Value: false + - Class: rviz_default_plugins/MarkerArray + Enabled: false + Name: Debug/PurePursuit + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /control/trajectory_follower/controller_node_exe/debug/markers + Value: false + - Class: rviz_default_plugins/MarkerArray + Enabled: false + Name: Debug/AEB + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /control/autonomous_emergency_braking/debug/markers + Value: false + Enabled: false + Name: Control + - Class: rviz_common/Group + Displays: + - Class: rviz_common/Group + Displays: ~ + Enabled: false + Name: Map + - Class: rviz_common/Group + Displays: + - Class: rviz_default_plugins/Camera + Enabled: true + Far Plane Distance: 100 + Image Rendering: background and overlay + Name: PointcloudOnCamera + Overlay Alpha: 0.5 + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Best Effort + Value: /sensing/camera/camera6/image_raw + Value: true + Visibility: + Control: + Debug/AEB: true + Debug/MPC: true + Debug/PurePursuit: true + Predicted Trajectory: true + Stop Reason: true + Value: false + Debug: + Control: true + Localization: + EKFPoseHistory: true + NDT pointclouds: true + NDTLoadedPCDMap: true + NDTPoseHistory: true + Value: true + Map: true + Perception: + CameraLidarFusion(purple): true + Centerpoint(red1): true + CenterpointROIFusion(red2): true + CenterpointValidator(red3): true + Detection(yellow): true + DetectionByTracker(orange): true + PointPainting(light_green1): true + PointPaintingROIFusion(light_green2): true + PointPaintingValidator(light_green3): true + Prediction(light_blue): true + RadarFarObjects(white): true + Tracking(green): true + Value: true + Planning: + Objects Of Interest: + AvoidanceByLCLeft: true + AvoidanceByLCRight: true + AvoidanceLeft: true + AvoidanceRight: true + BlindSpot: true + Crosswalk: true + DetectionArea: true + GoalPlanner: true + Intersection: true + LaneChangeLeft: true + LaneChangeRight: true + NoStoppingArea: true + StartPlanner: true + TrafficLight: true + Value: true + Value: true + Sensing: + ConcatenatePointCloud: true + RadarRawObjects(white): true + Value: true + Value: true + Image: true + Localization: + EKF: + PoseHistory: true + Value: true + NDT: + Aligned: true + Initial: true + MonteCarloInitialPose: true + PoseHistory: true + PoseWithCovAligned: true + PoseWithCovInitial: true + Value: true + Value: false + Map: + Lanelet2VectorMap: true + PointCloudMap: true + Value: false + MrmSummaryOverlayDisplay: true + Perception: + ObjectRecognition: + Detection: + DetectedObjects: true + Value: true + Prediction: + Maneuver: true + PredictedObjects: true + Value: true + Tracking: + TrackedObjects: true + Value: true + Value: true + OccupancyGrid: + Map: true + Value: true + Segmentation: + NoGroundPointCloud: true + Value: true + TrafficLight: + MapBasedDetectionResult: true + RecognitionResultOnImage: true + Value: true + Value: false + Planning: + Diagnostic: + PlanningErrorMarker: true + Value: true + MissionPlanning: + GoalPose: true + MissionDetailsDisplay: true + RouteArea: true + Value: true + ScenarioPlanning: + LaneDriving: + BehaviorPlanning: + (old)PathChangeCandidate_LaneChange: true + Bound: true + DebugMarker: + Arrow: true + Blind Spot: true + Crosswalk: true + DetectionArea: true + DynamicObstacleAvoidance: true + GoalPlanner: true + Intersection: true + LaneFollowing: true + LeftLaneChange: true + NoDrivableLane: true + NoStoppingArea: true + OcclusionSpot: true + RightLaneChange: true + RunOut: true + SideShift: true + SpeedBump: true + StartPlanner: true + StaticObstacleAvoidance: true + StopLine: true + TrafficLight: true + Value: true + VirtualTrafficLight: true + InfoMarker: + Info (AvoidanceByLC): true + Info (DynamicObstacleAvoidance): true + Info (ExtLaneChangeLeft): true + Info (ExtLaneChangeRight): true + Info (GoalPlanner): true + Info (LaneChangeLeft): true + Info (LaneChangeRight): true + Info (StartPlanner): true + Info (StaticObstacleAvoidance): true + Value: true + Path: true + PathChangeCandidate_Avoidance: true + PathChangeCandidate_AvoidanceByLC: true + PathChangeCandidate_ExternalRequestLaneChangeLeft: true + PathChangeCandidate_ExternalRequestLaneChangeRight: true + PathChangeCandidate_GoalPlanner: true + PathChangeCandidate_LaneChangeLeft: true + PathChangeCandidate_LaneChangeRight: true + PathChangeCandidate_StartPlanner: true + PathReference_Avoidance: true + PathReference_AvoidanceByLC: true + PathReference_GoalPlanner: true + PathReference_LaneChangeLeft: true + PathReference_LaneChangeRight: true + PathReference_StartPlanner: true + Value: true + VirtualWall: + Value: true + VirtualWall (AvoidanceByLC): true + VirtualWall (BlindSpot): true + VirtualWall (Crosswalk): true + VirtualWall (DetectionArea): true + VirtualWall (ExtLaneChangeLeft): true + VirtualWall (ExtLaneChangeRight): true + VirtualWall (GoalPlanner): true + VirtualWall (Intersection): true + VirtualWall (LaneChangeLeft): true + VirtualWall (LaneChangeRight): true + VirtualWall (MergeFromPrivateArea): true + VirtualWall (NoDrivableLane): true + VirtualWall (NoStoppingArea): true + VirtualWall (OcclusionSpot): true + VirtualWall (RunOut): true + VirtualWall (SpeedBump): true + VirtualWall (StartPlanner): true + VirtualWall (StaticObstacleAvoidance): true + VirtualWall (StopLine): true + VirtualWall (TrafficLight): true + VirtualWall (VirtualTrafficLight): true + VirtualWall (Walkway): true + MotionPlanning: + DebugMarker: + MotionVelocityPlanner: + DynamicObstacleStop: true + ObstacleVelocityLimiter: true + OutOfLane: true + Value: true + ObstacleAvoidance: true + ObstacleCruise: + CruiseVirtualWall: true + DebugMarker: true + SlowDownVirtualWall: true + Value: true + ObstacleStop: true + SurroundObstacleChecker: + Footprint: true + FootprintOffset: true + FootprintRecoverOffset: true + SurroundObstacleCheck: true + Value: true + Value: true + Trajectory: true + Value: true + VirtualWall: + Value: true + VirtualWall (DynamicObstacleStop): true + VirtualWall (MotionVelocitySmoother): true + VirtualWall (ObstacleAvoidance): true + VirtualWall (ObstacleCruise): true + VirtualWall (ObstacleStop): true + VirtualWall (ObstacleVelocityLimiter): true + VirtualWall (OutOfLane): true + VirtualWall (SurroundObstacle): true + Value: true + ModifiedGoal: true + Parking: + Costmap: true + PartialPoseArray: true + PoseArray: true + Value: true + ScenarioTrajectory: true + Value: true + Value: false + Sensing: + GNSS: + PoseWithCovariance: true + Value: true + LiDAR: + ConcatenatePointCloud: true + MeasurementRange: true + Value: true + Value: true + StringStampedOverlayDisplay: true + System: + Grid: true + MRM Summary: true + TF: true + Value: false + Vehicle: + PolarGridDisplay: true + SignalDisplay: true + Value: true + VehicleModel: true + Value: true + Zoom Factor: 1 + - Alpha: 1 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 5 + Min Value: -1 + Value: false + Axis: Z + Channel Name: intensity + Class: rviz_default_plugins/PointCloud2 + Color: 255; 255; 255 + Color Transformer: AxisColor + Decay Time: 0 + Enabled: true + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 4096 + Min Color: 0; 0; 0 + Min Intensity: 0 + Name: ConcatenatePointCloud + Position Transformer: XYZ + Selectable: false + Size (Pixels): 3 + Size (m): 0.019999999552965164 + Style: Points + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Best Effort + Value: /sensing/lidar/concatenated/pointcloud + Use Fixed Frame: false + Use rainbow: true + Value: true + - BUS: + Alpha: 0.5 + Color: 255; 255; 255 + CAR: + Alpha: 0.5 + Color: 255; 255; 255 + CYCLIST: + Alpha: 0.5 + Color: 255; 255; 255 + Class: autoware_perception_rviz_plugin/DetectedObjects + Confidence Interval: 95% + Display Acceleration: true + Display Existence Probability: false + Display Label: true + Display Pose Covariance: true + Display Predicted Path Confidence: true + Display Predicted Paths: true + Display Twist: true + Display Twist Covariance: false + Display UUID: true + Display Velocity: true + Display Yaw Covariance: false + Display Yaw Rate: false + Display Yaw Rate Covariance: false + Enabled: true + Line Width: 0.029999999329447746 + MOTORCYCLE: + Alpha: 0.5 + Color: 255; 255; 255 + Name: RadarRawObjects(white) + Namespaces: + {} + Object Fill Type: skeleton + PEDESTRIAN: + Alpha: 0.5 + Color: 255; 255; 255 + Polygon Type: 3d + TRAILER: + Alpha: 0.5 + Color: 255; 255; 255 + TRUCK: + Alpha: 0.5 + Color: 255; 255; 255 + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Best Effort + Value: /sensing/radar/detected_objects + UNKNOWN: + Alpha: 0.5 + Color: 255; 255; 255 + Value: true + Visualization Type: Normal + Enabled: false + Name: Sensing + - Class: rviz_common/Group + Displays: + - Alpha: 0.9990000128746033 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 10 + Min Value: -10 + Value: true + Axis: Z + Channel Name: intensity + Class: rviz_default_plugins/PointCloud2 + Color: 85; 255; 0 + Color Transformer: FlatColor + Decay Time: 0 + Enabled: true + Invert Rainbow: false + Max Color: 85; 255; 127 + Max Intensity: 0 + Min Color: 0; 0; 0 + Min Intensity: 0 + Name: NDT pointclouds + Position Transformer: XYZ + Selectable: false + Size (Pixels): 10 + Size (m): 0.5 + Style: Squares + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /localization/pose_estimator/points_aligned + Use Fixed Frame: true + Use rainbow: true + Value: true + - Alpha: 1 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 10 + Min Value: -10 + Value: true + Axis: Z + Channel Name: intensity + Class: rviz_default_plugins/PointCloud2 + Color: 255; 255; 255 + Color Transformer: "" + Decay Time: 0 + Enabled: true + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 4096 + Min Color: 0; 0; 0 + Min Intensity: 0 + Name: NDTLoadedPCDMap + Position Transformer: "" + Selectable: true + Size (Pixels): 3 + Size (m): 0.10000000149011612 + Style: Flat Squares + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /localization/pose_estimator/debug/loaded_pointcloud_map + Use Fixed Frame: true + Use rainbow: true + Value: true + - Buffer Size: 200 + Class: rviz_plugins::PoseHistory + Enabled: true + Line: + Alpha: 0.9990000128746033 + Color: 170; 255; 127 + Value: true + Width: 0.10000000149011612 + Name: NDTPoseHistory + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /localization/pose_estimator/pose + Value: true + - Buffer Size: 1000 + Class: rviz_plugins::PoseHistory + Enabled: true + Line: + Alpha: 0.9990000128746033 + Color: 0; 255; 255 + Value: true + Width: 0.10000000149011612 + Name: EKFPoseHistory + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /localization/pose_twist_fusion_filter/pose + Value: true + Enabled: false + Name: Localization + - Class: rviz_common/Group + Displays: + - BUS: + Alpha: 0.9990000128746033 + Color: 255; 138; 128 + CAR: + Alpha: 0.9990000128746033 + Color: 255; 138; 128 + CYCLIST: + Alpha: 0.9990000128746033 + Color: 255; 138; 128 + Class: autoware_perception_rviz_plugin/DetectedObjects + Confidence Interval: 95% + Display Acceleration: true + Display Existence Probability: false + Display Label: true + Display Pose Covariance: true + Display Predicted Path Confidence: true + Display Predicted Paths: true + Display Twist: true + Display Twist Covariance: false + Display UUID: true + Display Velocity: true + Display Yaw Covariance: false + Display Yaw Rate: false + Display Yaw Rate Covariance: false + Enabled: true + Line Width: 0.10000000149011612 + MOTORCYCLE: + Alpha: 0.9990000128746033 + Color: 255; 138; 128 + Name: Centerpoint(red1) + Namespaces: + label: true + position covariance: true + shape: true + twist: true + velocity: true + Object Fill Type: skeleton + PEDESTRIAN: + Alpha: 0.9990000128746033 + Color: 255; 138; 128 + Polygon Type: 3d + TRAILER: + Alpha: 0.9990000128746033 + Color: 255; 138; 128 + TRUCK: + Alpha: 0.9990000128746033 + Color: 255; 138; 128 + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Best Effort + Value: /perception/object_recognition/detection/centerpoint/objects + UNKNOWN: + Alpha: 0.9990000128746033 + Color: 255; 138; 128 + Value: true + Visualization Type: Normal + - BUS: + Alpha: 0.9990000128746033 + Color: 255; 82; 82 + CAR: + Alpha: 0.9990000128746033 + Color: 255; 82; 82 + CYCLIST: + Alpha: 0.9990000128746033 + Color: 255; 82; 82 + Class: autoware_perception_rviz_plugin/DetectedObjects + Confidence Interval: 95% + Display Acceleration: true + Display Existence Probability: false + Display Label: true + Display Pose Covariance: true + Display Predicted Path Confidence: true + Display Predicted Paths: true + Display Twist: true + Display Twist Covariance: false + Display UUID: true + Display Velocity: true + Display Yaw Covariance: false + Display Yaw Rate: false + Display Yaw Rate Covariance: false + Enabled: true + Line Width: 0.10000000149011612 + MOTORCYCLE: + Alpha: 0.9990000128746033 + Color: 255; 82; 82 + Name: CenterpointROIFusion(red2) + Namespaces: + {} + Object Fill Type: skeleton + PEDESTRIAN: + Alpha: 0.9990000128746033 + Color: 255; 82; 82 + Polygon Type: 3d + TRAILER: + Alpha: 0.9990000128746033 + Color: 255; 82; 82 + TRUCK: + Alpha: 0.9990000128746033 + Color: 255; 82; 82 + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Best Effort + Value: /perception/object_recognition/detection/centerpoint/roi_fusion/objects + UNKNOWN: + Alpha: 0.9990000128746033 + Color: 255; 82; 82 + Value: true + Visualization Type: Normal + - BUS: + Alpha: 0.9990000128746033 + Color: 213; 0; 0 + CAR: + Alpha: 0.9990000128746033 + Color: 213; 0; 0 + CYCLIST: + Alpha: 0.9990000128746033 + Color: 213; 0; 0 + Class: autoware_perception_rviz_plugin/DetectedObjects + Confidence Interval: 95% + Display Acceleration: true + Display Existence Probability: false + Display Label: true + Display Pose Covariance: true + Display Predicted Path Confidence: true + Display Predicted Paths: true + Display Twist: true + Display Twist Covariance: false + Display UUID: true + Display Velocity: true + Display Yaw Covariance: false + Display Yaw Rate: false + Display Yaw Rate Covariance: false + Enabled: true + Line Width: 0.10000000149011612 + MOTORCYCLE: + Alpha: 0.9990000128746033 + Color: 213; 0; 0 + Name: CenterpointValidator(red3) + Namespaces: + label: true + position covariance: true + shape: true + twist: true + velocity: true + Object Fill Type: skeleton + PEDESTRIAN: + Alpha: 0.9990000128746033 + Color: 213; 0; 0 + Polygon Type: 3d + TRAILER: + Alpha: 0.9990000128746033 + Color: 213; 0; 0 + TRUCK: + Alpha: 0.9990000128746033 + Color: 213; 0; 0 + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Best Effort + Value: /perception/object_recognition/detection/centerpoint/validation/objects + UNKNOWN: + Alpha: 0.9990000128746033 + Color: 213; 0; 0 + Value: true + Visualization Type: Normal + - BUS: + Alpha: 0.9990000128746033 + Color: 178; 255; 89 + CAR: + Alpha: 0.9990000128746033 + Color: 178; 255; 89 + CYCLIST: + Alpha: 0.9990000128746033 + Color: 178; 255; 89 + Class: autoware_perception_rviz_plugin/DetectedObjects + Confidence Interval: 95% + Display Acceleration: true + Display Existence Probability: false + Display Label: false + Display Pose Covariance: true + Display Predicted Path Confidence: true + Display Predicted Paths: true + Display Twist: true + Display Twist Covariance: false + Display UUID: true + Display Velocity: false + Display Yaw Covariance: false + Display Yaw Rate: false + Display Yaw Rate Covariance: false + Enabled: true + Line Width: 0.10000000149011612 + MOTORCYCLE: + Alpha: 0.9990000128746033 + Color: 178; 255; 89 + Name: PointPainting(light_green1) + Namespaces: + {} + Object Fill Type: skeleton + PEDESTRIAN: + Alpha: 0.9990000128746033 + Color: 178; 255; 89 + Polygon Type: 2d + TRAILER: + Alpha: 0.9990000128746033 + Color: 178; 255; 89 + TRUCK: + Alpha: 0.9990000128746033 + Color: 178; 255; 89 + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Best Effort + Value: /perception/object_recognition/detection/pointpainting/objects + UNKNOWN: + Alpha: 0.9990000128746033 + Color: 178; 255; 89 + Value: true + Visualization Type: Normal + - BUS: + Alpha: 0.9990000128746033 + Color: 118; 255; 3 + CAR: + Alpha: 0.9990000128746033 + Color: 118; 255; 3 + CYCLIST: + Alpha: 0.9990000128746033 + Color: 118; 255; 3 + Class: autoware_perception_rviz_plugin/DetectedObjects + Confidence Interval: 95% + Display Acceleration: true + Display Existence Probability: false + Display Label: false + Display Pose Covariance: true + Display Predicted Path Confidence: true + Display Predicted Paths: true + Display Twist: true + Display Twist Covariance: false + Display UUID: false + Display Velocity: false + Display Yaw Covariance: false + Display Yaw Rate: false + Display Yaw Rate Covariance: false + Enabled: true + Line Width: 0.10000000149011612 + MOTORCYCLE: + Alpha: 0.9990000128746033 + Color: 118; 255; 3 + Name: PointPaintingROIFusion(light_green2) + Namespaces: + {} + Object Fill Type: skeleton + PEDESTRIAN: + Alpha: 0.9990000128746033 + Color: 118; 255; 3 + Polygon Type: 2d + TRAILER: + Alpha: 0.9990000128746033 + Color: 118; 255; 3 + TRUCK: + Alpha: 0.9990000128746033 + Color: 118; 255; 3 + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Best Effort + Value: /perception/object_recognition/detection/pointpainting/roi_fusion/objects + UNKNOWN: + Alpha: 0.9990000128746033 + Color: 118; 255; 3 + Value: true + Visualization Type: Normal + - BUS: + Alpha: 0.9990000128746033 + Color: 100; 221; 23 + CAR: + Alpha: 0.9990000128746033 + Color: 100; 221; 23 + CYCLIST: + Alpha: 0.9990000128746033 + Color: 100; 221; 23 + Class: autoware_perception_rviz_plugin/DetectedObjects + Confidence Interval: 95% + Display Acceleration: true + Display Existence Probability: false + Display Label: false + Display Pose Covariance: true + Display Predicted Path Confidence: true + Display Predicted Paths: true + Display Twist: true + Display Twist Covariance: false + Display UUID: false + Display Velocity: false + Display Yaw Covariance: false + Display Yaw Rate: false + Display Yaw Rate Covariance: false + Enabled: true + Line Width: 0.10000000149011612 + MOTORCYCLE: + Alpha: 0.9990000128746033 + Color: 100; 221; 23 + Name: PointPaintingValidator(light_green3) + Namespaces: + {} + Object Fill Type: skeleton + PEDESTRIAN: + Alpha: 0.9990000128746033 + Color: 100; 221; 23 + Polygon Type: 2d + TRAILER: + Alpha: 0.9990000128746033 + Color: 100; 221; 23 + TRUCK: + Alpha: 0.9990000128746033 + Color: 100; 221; 23 + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Best Effort + Value: /perception/object_recognition/detection/pointpainting/validation/objects + UNKNOWN: + Alpha: 0.9990000128746033 + Color: 100; 221; 23 + Value: true + Visualization Type: Normal + - BUS: + Alpha: 0.9990000128746033 + Color: 255; 145; 0 + CAR: + Alpha: 0.9990000128746033 + Color: 255; 145; 0 + CYCLIST: + Alpha: 0.9990000128746033 + Color: 255; 145; 0 + Class: autoware_perception_rviz_plugin/DetectedObjects + Confidence Interval: 95% + Display Acceleration: true + Display Existence Probability: false + Display Label: true + Display Pose Covariance: true + Display Predicted Path Confidence: true + Display Predicted Paths: true + Display Twist: true + Display Twist Covariance: false + Display UUID: true + Display Velocity: true + Display Yaw Covariance: false + Display Yaw Rate: false + Display Yaw Rate Covariance: false + Enabled: true + Line Width: 0.10000000149011612 + MOTORCYCLE: + Alpha: 0.9990000128746033 + Color: 255; 145; 0 + Name: DetectionByTracker(orange) + Namespaces: + label: true + position covariance: true + shape: true + twist: true + velocity: true + Object Fill Type: skeleton + PEDESTRIAN: + Alpha: 0.9990000128746033 + Color: 255; 145; 0 + Polygon Type: 2d + TRAILER: + Alpha: 0.9990000128746033 + Color: 255; 145; 0 + TRUCK: + Alpha: 0.9990000128746033 + Color: 255; 145; 0 + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Best Effort + Value: /perception/object_recognition/detection/detection_by_tracker/objects + UNKNOWN: + Alpha: 0.9990000128746033 + Color: 255; 145; 0 + Value: true + Visualization Type: Normal + - BUS: + Alpha: 0.30000001192092896 + Color: 213; 0; 249 + CAR: + Alpha: 0.30000001192092896 + Color: 213; 0; 249 + CYCLIST: + Alpha: 0.30000001192092896 + Color: 213; 0; 249 + Class: autoware_perception_rviz_plugin/DetectedObjects + Confidence Interval: 95% + Display Acceleration: true + Display Existence Probability: false + Display Label: false + Display Pose Covariance: true + Display Predicted Path Confidence: true + Display Predicted Paths: true + Display Twist: true + Display Twist Covariance: false + Display UUID: false + Display Velocity: false + Display Yaw Covariance: false + Display Yaw Rate: false + Display Yaw Rate Covariance: false + Enabled: false + Line Width: 0.10000000149011612 + MOTORCYCLE: + Alpha: 0.30000001192092896 + Color: 213; 0; 249 + Name: CameraLidarFusion(purple) + Namespaces: + {} + Object Fill Type: skeleton + PEDESTRIAN: + Alpha: 0.30000001192092896 + Color: 213; 0; 249 + Polygon Type: 2d + TRAILER: + Alpha: 0.30000001192092896 + Color: 213; 0; 249 + TRUCK: + Alpha: 0.30000001192092896 + Color: 213; 0; 249 + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Best Effort + Value: /perception/object_recognition/detection/clustering/camera_lidar_fusion/objects + UNKNOWN: + Alpha: 0.30000001192092896 + Color: 213; 0; 249 + Value: false + Visualization Type: Normal + - BUS: + Alpha: 0.9990000128746033 + Color: 255; 255; 255 + CAR: + Alpha: 0.9990000128746033 + Color: 255; 255; 255 + CYCLIST: + Alpha: 0.9990000128746033 + Color: 255; 255; 255 + Class: autoware_perception_rviz_plugin/DetectedObjects + Confidence Interval: 95% + Display Acceleration: true + Display Existence Probability: false + Display Label: true + Display Pose Covariance: true + Display Predicted Path Confidence: true + Display Predicted Paths: true + Display Twist: true + Display Twist Covariance: false + Display UUID: true + Display Velocity: true + Display Yaw Covariance: false + Display Yaw Rate: false + Display Yaw Rate Covariance: false + Enabled: false + Line Width: 0.10000000149011612 + MOTORCYCLE: + Alpha: 0.9990000128746033 + Color: 255; 255; 255 + Name: RadarFarObjects(white) + Namespaces: + {} + Object Fill Type: skeleton + PEDESTRIAN: + Alpha: 0.9990000128746033 + Color: 255; 255; 255 + Polygon Type: 3d + TRAILER: + Alpha: 0.9990000128746033 + Color: 255; 255; 255 + TRUCK: + Alpha: 0.9990000128746033 + Color: 255; 255; 255 + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Best Effort + Value: /perception/object_recognition/detection/radar/far_objects + UNKNOWN: + Alpha: 0.9990000128746033 + Color: 255; 255; 255 + Value: false + Visualization Type: Normal + - BUS: + Alpha: 0.9990000128746033 + Color: 255; 234; 0 + CAR: + Alpha: 0.9990000128746033 + Color: 255; 234; 0 + CYCLIST: + Alpha: 0.9990000128746033 + Color: 255; 234; 0 + Class: autoware_perception_rviz_plugin/DetectedObjects + Confidence Interval: 95% + Display Acceleration: true + Display Existence Probability: false + Display Label: true + Display Pose Covariance: true + Display Predicted Path Confidence: true + Display Predicted Paths: true + Display Twist: true + Display Twist Covariance: false + Display UUID: true + Display Velocity: true + Display Yaw Covariance: false + Display Yaw Rate: false + Display Yaw Rate Covariance: false + Enabled: true + Line Width: 0.10000000149011612 + MOTORCYCLE: + Alpha: 0.9990000128746033 + Color: 255; 234; 0 + Name: Detection(yellow) + Namespaces: + label: true + position covariance: true + shape: true + twist: true + velocity: true + Object Fill Type: skeleton + PEDESTRIAN: + Alpha: 0.9990000128746033 + Color: 255; 234; 0 + Polygon Type: 3d + TRAILER: + Alpha: 0.9990000128746033 + Color: 255; 234; 0 + TRUCK: + Alpha: 0.9990000128746033 + Color: 255; 234; 0 + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Best Effort + Value: /perception/object_recognition/detection/objects + UNKNOWN: + Alpha: 0.9990000128746033 + Color: 255; 234; 0 + Value: true + Visualization Type: Normal + - BUS: + Alpha: 0.9990000128746033 + Color: 0; 230; 118 + CAR: + Alpha: 0.9990000128746033 + Color: 0; 230; 118 + CYCLIST: + Alpha: 0.9990000128746033 + Color: 0; 230; 118 + Class: autoware_perception_rviz_plugin/TrackedObjects + Confidence Interval: 95% + Display Acceleration: true + Display Existence Probability: false + Display Label: true + Display Pose Covariance: true + Display Predicted Path Confidence: true + Display Predicted Paths: true + Display Twist: true + Display Twist Covariance: false + Display UUID: true + Display Velocity: true + Display Yaw Covariance: false + Display Yaw Rate: false + Display Yaw Rate Covariance: false + Dynamic Status: All + Enabled: true + Line Width: 0.10000000149011612 + MOTORCYCLE: + Alpha: 0.9990000128746033 + Color: 0; 230; 118 + Name: Tracking(green) + Namespaces: + acceleration: true + label: true + position covariance: true + shape: true + twist: true + uuid: true + velocity: true + Object Fill Type: skeleton + PEDESTRIAN: + Alpha: 0.9990000128746033 + Color: 0; 230; 118 + Polygon Type: 3d + TRAILER: + Alpha: 0.9990000128746033 + Color: 0; 230; 118 + TRUCK: + Alpha: 0.9990000128746033 + Color: 0; 230; 118 + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Best Effort + Value: /perception/object_recognition/tracking/objects + UNKNOWN: + Alpha: 0.9990000128746033 + Color: 0; 230; 118 + Value: true + Visualization Type: Normal + - BUS: + Alpha: 0.9990000128746033 + Color: 0; 176; 255 + CAR: + Alpha: 0.9990000128746033 + Color: 0; 176; 255 + CYCLIST: + Alpha: 0.9990000128746033 + Color: 0; 176; 255 + Class: autoware_perception_rviz_plugin/PredictedObjects + Confidence Interval: 95% + Display Acceleration: true + Display Existence Probability: false + Display Label: true + Display Pose Covariance: true + Display Predicted Path Confidence: true + Display Predicted Paths: true + Display Twist: true + Display Twist Covariance: false + Display UUID: true + Display Velocity: true + Display Yaw Covariance: false + Display Yaw Rate: false + Display Yaw Rate Covariance: false + Enabled: true + Line Width: 0.10000000149011612 + MOTORCYCLE: + Alpha: 0.9990000128746033 + Color: 0; 176; 255 + Name: Prediction(light_blue) + Namespaces: + acceleration: true + label: true + path: true + path confidence: true + position covariance: true + shape: true + twist: true + uuid: true + velocity: true + Object Fill Type: skeleton + PEDESTRIAN: + Alpha: 0.9990000128746033 + Color: 0; 176; 255 + Polygon Type: 2d + TRAILER: + Alpha: 0.9990000128746033 + Color: 0; 176; 255 + TRUCK: + Alpha: 0.9990000128746033 + Color: 0; 176; 255 + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Best Effort + Value: /perception/object_recognition/objects + UNKNOWN: + Alpha: 0.9990000128746033 + Color: 0; 176; 255 + Value: true + Visualization Type: Normal + Enabled: true + Name: Perception + - Class: rviz_common/Group + Displays: + - Class: rviz_common/Group + Displays: + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: LaneChangeLeft + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/debug/objects_of_interest/lane_change_left + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: LaneChangeRight + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/debug/objects_of_interest/lane_change_right + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: AvoidanceLeft + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/debug/objects_of_interest/static_obstacle_avoidance_left + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: AvoidanceRight + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/debug/objects_of_interest/static_obstacle_avoidance_right + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: AvoidanceByLCLeft + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/debug/objects_of_interest/avoidance_by_lc_left + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: AvoidanceByLCRight + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/debug/objects_of_interest/avoidance_by_lc_right + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: StartPlanner + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/debug/objects_of_interest/start_planner + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: GoalPlanner + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/debug/objects_of_interest/goal_planner + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: Crosswalk + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/debug/objects_of_interest/crosswalk + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: Intersection + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/debug/objects_of_interest/intersection + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: BlindSpot + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/debug/objects_of_interest/blind_spot + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: TrafficLight + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/debug/objects_of_interest/traffic_light + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: DetectionArea + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/debug/objects_of_interest/detection_area + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: NoStoppingArea + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/debug/objects_of_interest/no_stopping_area + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: ObstacleCruise + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/debug/objects_of_interest/obstacle_cruise_planner + Value: true + Enabled: true + Name: Objects Of Interest + Enabled: false + Name: Planning + - Class: rviz_common/Group + Displays: ~ + Enabled: false + Name: Control + Enabled: true + Name: Debug + - Class: rviz_default_plugins/Image + Enabled: true + Max Value: 1 + Median window: 5 + Min Value: 0 + Name: Image + Normalize Range: true + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Best Effort + Value: /sensing/camera/image + Value: true + - Class: rviz_plugins/StringStampedOverlayDisplay + Enabled: true + Font Size: 15 + Left: 24 + Max Letter Num: 42 + Name: StringStampedOverlayDisplay + Text Color: 51; 201; 220 + Top: 960 + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Best Effort + Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/debug/internal_state + Value: true + Value height offset: 0 + - Class: rviz_plugins/MrmSummaryOverlayDisplay + Enabled: true + Font Size: 16 + Left: 24 + Max Letter Num: 100 + Name: MrmSummaryOverlayDisplay + Text Color: 25; 255; 240 + Top: 120 + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /system/emergency/hazard_status + Value: true + Value height offset: 0 + Enabled: true + Global Options: + Background Color: 0; 0; 0 + Fixed Frame: map + Frame Rate: 30 + Name: root + Tools: + - Class: rviz_default_plugins/Interact + Hide Inactive Objects: true + - Class: rviz_default_plugins/MoveCamera + - Class: rviz_default_plugins/Select + - Class: rviz_default_plugins/FocusCamera + - Boost Property: 0.5 + Class: tier4_camera_view_rviz_plugin/ThirdPersonViewTool + Fallback ViewController: tier4_camera_view_rviz_plugin/ThirdPersonView + Fly Mode: false + Left Hand Mode: false + Step Length: 0.10000000149011612 + - Boost Property: 0.5 + Class: tier4_camera_view_rviz_plugin/BirdEyeViewTool + Fallback ViewController: tier4_camera_view_rviz_plugin/BirdEyeView + Fly Mode: false + Left Hand Mode: false + Step Length: 0.10000000149011612 + Transformation: + Current: + Class: rviz_default_plugins/TF + Value: true + Views: + Current: + Class: tier4_camera_view_rviz_plugin/ThirdPersonView + Distance: 111.22172546386719 + Enable Stereo Rendering: + Stereo Eye Separation: 0.05999999865889549 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Focal Point: + X: 0 + Y: 0 + Z: 0 + Focal Shape Fixed Size: false + Focal Shape Size: 0.05000000074505806 + Invert Z Axis: false + Name: Current View + Near Clip Distance: 0.009999999776482582 + Pitch: 1.5697963237762451 + Target Frame: base_link + Value: ThirdPersonView (tier4_camera_view_rviz_plugin) + Yaw: 3.141592025756836 + Saved: + - Class: rviz_default_plugins/ThirdPersonFollower + Distance: 18 + Enable Stereo Rendering: + Stereo Eye Separation: 0.05999999865889549 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Focal Point: + X: 0 + Y: 0 + Z: 0 + Focal Shape Fixed Size: true + Focal Shape Size: 0.05000000074505806 + Invert Z Axis: false + Name: ThirdPersonFollower + Near Clip Distance: 0.009999999776482582 + Pitch: 0.20000000298023224 + Target Frame: base_link + Value: ThirdPersonFollower (rviz) + Yaw: 3.141592025756836 + - Angle: 0 + Class: rviz_default_plugins/TopDownOrtho + Enable Stereo Rendering: + Stereo Eye Separation: 0.05999999865889549 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Invert Z Axis: false + Name: TopDownOrtho + Near Clip Distance: 0.009999999776482582 + Scale: 10 + Target Frame: viewer + Value: TopDownOrtho (rviz) + X: 0 + Y: 0 +Window Geometry: + AutowareDateTimePanel: + collapsed: false + AutowareScreenCapturePanel: + collapsed: false + AutowareStatePanel: + collapsed: false + Displays: + collapsed: false + Height: 1376 + Hide Left Dock: false + Hide Right Dock: false + Image: + collapsed: false + LoggingLevelConfigureRvizPlugin: + collapsed: false + MultiDataMonitor: + collapsed: false + PointcloudOnCamera: + collapsed: false + QMainWindow State: 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+ RTCManagerPanel: + collapsed: false + RecognitionResultOnImage: + collapsed: false + Selection: + collapsed: false + Tool Properties: + collapsed: false + Views: + collapsed: false + Width: 2490 + X: 70 + Y: 27 diff --git a/autoware_launch/rviz/planning_bev.rviz b/autoware_launch/rviz/planning_bev.rviz new file mode 100644 index 0000000000..84b4ec1779 --- /dev/null +++ b/autoware_launch/rviz/planning_bev.rviz @@ -0,0 +1,4433 @@ +Panels: + - Class: rviz_common/Displays + Help Height: 0 + Name: Displays + Property Tree Widget: + Expanded: + - /System1/Vehicle1/VehicleModel1/Description Topic1 + - /System1/Vehicle1/SignalDisplay1 + - /Map1/Lanelet2VectorMap1 + - /Map1/Lanelet2VectorMap1/Namespaces1 + - /Sensing1/LiDAR1/ConcatenatePointCloud1/Autocompute Value Bounds1 + - /Perception1/Segmentation1/NoGroundPointCloud1 + - /Perception1/ObjectRecognition1 + - /Planning1/MissionPlanning1 + - /Planning1/ScenarioPlanning1/LaneDriving1/BehaviorPlanning1 + - /Planning1/ScenarioPlanning1/LaneDriving1/BehaviorPlanning1/InfoMarker1 + - /Planning1/ScenarioPlanning1/LaneDriving1/MotionPlanning1/DebugMarker1 + - /Planning1/ScenarioPlanning1/LaneDriving1/MotionPlanning1/DebugMarker1/ObstacleCruise1 + - /Planning1/ScenarioPlanning1/Parking1/PoseArray1 + - /Planning1/ScenarioPlanning1/ModifiedGoal1 + - /Planning1/Diagnostic1 + - /Control1/Predicted Trajectory1 + - /Debug1/Sensing1/PointcloudOnCamera1 + - /Debug1/Sensing1/ConcatenatePointCloud1/Autocompute Value Bounds1 + - /Debug1/Perception1/Centerpoint(red1)1/UNKNOWN1 + - /Debug1/Perception1/Centerpoint(red1)1/CAR1 + - /Debug1/Perception1/Centerpoint(red1)1/TRUCK1 + - /Debug1/Perception1/Centerpoint(red1)1/BUS1 + - /Debug1/Perception1/Centerpoint(red1)1/TRAILER1 + - /Debug1/Perception1/Centerpoint(red1)1/MOTORCYCLE1 + - /Debug1/Perception1/Centerpoint(red1)1/CYCLIST1 + - /Debug1/Perception1/Centerpoint(red1)1/PEDESTRIAN1 + - /Debug1/Perception1/CenterpointROIFusion(red2)1/UNKNOWN1 + - /Debug1/Perception1/CenterpointValidator(red3)1/UNKNOWN1 + - /Debug1/Perception1/PointPainting(light_green1)1/UNKNOWN1 + - /Debug1/Perception1/PointPaintingROIFusion(light_green2)1/UNKNOWN1 + - /Debug1/Perception1/PointPaintingValidator(light_green3)1/UNKNOWN1 + - /Debug1/Perception1/DetectionByTracker(orange)1/UNKNOWN1 + - /Debug1/Perception1/RadarFarObjects(white)1/UNKNOWN1 + - /Debug1/Perception1/Detection(yellow)1/UNKNOWN1 + - /Debug1/Planning1 + - /MrmSummaryOverlayDisplay1 + Splitter Ratio: 0.7641357183456421 + Tree Height: 378 + - Class: rviz_common/Selection + Name: Selection + - Class: rviz_common/Tool Properties + Expanded: + - /Third Person View1 + - /Bird Eye View1 + Name: Tool Properties + Splitter Ratio: 0.5886790156364441 + - Class: rviz_common/Views + Expanded: + - /Current View1 + Name: Views + Splitter Ratio: 0.5 + - Class: AutowareDateTimePanel + Name: AutowareDateTimePanel + - Class: rviz_plugins::AutowareStatePanel + Name: AutowareStatePanel + - Class: AutowareScreenCapturePanel + Name: AutowareScreenCapturePanel + - Class: multi_data_monitor::MultiDataMonitor + Name: MultiDataMonitor + Path: package://multi_data_monitor_config/data/debug_config.yaml + - Class: rviz_plugin::LoggingLevelConfigureRvizPlugin + Name: LoggingLevelConfigureRvizPlugin + - Class: rviz_plugins::RTCManagerPanel + Name: RTCManagerPanel + - Class: rviz_plugins::VelocitySteeringFactorsPanel + Name: VelocitySteeringFactorsPanel +Visualization Manager: + Class: "" + Displays: + - Class: rviz_common/Group + Displays: + - Class: rviz_default_plugins/TF + Enabled: false + Frame Timeout: 15 + Frames: + All Enabled: true + Marker Scale: 1 + Name: TF + Show Arrows: true + Show Axes: true + Show Names: true + Tree: + {} + Update Interval: 0 + Value: false + - Alpha: 0.5 + Cell Size: 10 + Class: rviz_default_plugins/Grid + Color: 84; 110; 122 + Enabled: true + Line Style: + Line Width: 0.029999999329447746 + Value: Lines + Name: Grid + Normal Cell Count: 0 + Offset: + X: 0 + Y: 0 + Z: 0 + Plane: XY + Plane Cell Count: 100 + Reference Frame: base_link + Value: true + - Class: rviz_common/Group + Displays: + - Alpha: 0.30000001192092896 + Class: rviz_default_plugins/RobotModel + Collision Enabled: false + Description File: "" + Description Source: Topic + Description Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /robot_description + Enabled: true + Links: + All Links Enabled: true + Expand Joint Details: false + Expand Link Details: false + Expand Tree: false + Link Tree Style: Links in Alphabetic Order + Mass Properties: + Inertia: false + Mass: false + Name: VehicleModel + TF Prefix: "" + Update Interval: 0 + Value: true + Visual Enabled: true + - Class: rviz_plugins/PolarGridDisplay + Color: 255; 255; 255 + Delta Range: 10 + Enabled: true + Max Alpha: 0.5 + Max Range: 100 + Max Wave Alpha: 0.5 + Min Alpha: 0.009999999776482582 + Min Wave Alpha: 0.009999999776482582 + Name: PolarGridDisplay + Reference Frame: base_link + Value: true + Wave Color: 255; 255; 255 + Wave Velocity: 40 + - Class: autoware_overlay_rviz_plugin/SignalDisplay + Enabled: true + Gear Topic Test: /vehicle/status/gear_status + Hazard Lights Topic: /vehicle/status/hazard_lights_status + Height: 100 + Left: -420 + Name: SignalDisplay + Signal Color: 0; 230; 120 + Speed Limit Topic: /planning/scenario_planning/current_max_velocity + Speed Topic: /vehicle/status/velocity_status + Steering Topic: /vehicle/status/steering_status + Top: 10 + Traffic Topic: /planning/scenario_planning/lane_driving/behavior_planning/debug/traffic_signal + Turn Signals Topic: /vehicle/status/turn_indicators_status + Value: true + Width: 550 + Enabled: true + Name: Vehicle + - Class: rviz_plugins/MrmSummaryOverlayDisplay + Enabled: false + Font Size: 10 + Left: 512 + Max Letter Num: 100 + Name: MRM Summary + Text Color: 25; 255; 240 + Top: 64 + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /system/emergency/hazard_status + Value: false + Value height offset: 0 + Enabled: true + Name: System + - Class: rviz_common/Group + Displays: + - Alpha: 0.20000000298023224 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 28.71826171875 + Min Value: -7.4224700927734375 + Value: true + Axis: Z + Channel Name: intensity + Class: rviz_default_plugins/PointCloud2 + Color: 255; 255; 255 + Color Transformer: FlatColor + Decay Time: 0 + Enabled: false + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 237 + Min Color: 211; 215; 207 + Min Intensity: 0 + Name: PointCloudMap + Position Transformer: XYZ + Selectable: false + Size (Pixels): 1 + 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: false + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: Lanelet2VectorMap + Namespaces: + "": true + center_lane_line: true + center_line_arrows: true + crosswalk_areas: true + crosswalk_lanelet_id: true + crosswalk_lanelets: true + curbstone: true + hatched_road_markings_area: true + hatched_road_markings_bound: true + intersection_area: true + lane_start_bound: true + lanelet direction: true + lanelet_id: true + left_lane_bound: true + no_parking_area: true + no_stopping_area: true + partitions: true + pedestrian_polygon_marking: true + right_lane_bound: true + road_lanelets: false + shoulder_center_lane_line: true + shoulder_center_line_arrows: true + shoulder_lane_start_bound: true + shoulder_left_lane_bound: true + shoulder_right_lane_bound: true + shoulder_road_lanelets: true + stop_lines: true + traffic_light: true + traffic_light_id: true + traffic_light_reg_elem_id: true + traffic_light_triangle: true + walkway_lanelets: false + Topic: + Depth: 5 + Durability Policy: Transient Local + History Policy: Keep Last + Reliability Policy: Reliable + Value: /map/vector_map_marker + Value: true + Enabled: true + Name: Map + - Class: rviz_common/Group + Displays: + - Class: rviz_common/Group + Displays: + - Alpha: 0.4000000059604645 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 5 + Min Value: -1 + Value: false + Axis: Z + Channel Name: intensity + Class: rviz_default_plugins/PointCloud2 + Color: 255; 255; 255 + Color Transformer: AxisColor + Decay Time: 0 + Enabled: true + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 4096 + Min Color: 0; 0; 0 + Min Intensity: 0 + Name: ConcatenatePointCloud + Position Transformer: XYZ + Selectable: false + Size (Pixels): 1 + 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: 0.9990000128746033 + Class: rviz_default_plugins/Polygon + Color: 25; 255; 0 + Enabled: false + Name: MeasurementRange + 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 + Value: false + Enabled: true + Name: LiDAR + - Class: rviz_common/Group + Displays: + - Alpha: 0.9990000128746033 + Axes Length: 1 + Axes Radius: 0.10000000149011612 + Class: rviz_default_plugins/PoseWithCovariance + Color: 233; 185; 110 + Covariance: + Orientation: + Alpha: 0.5 + Color: 255; 255; 127 + Color Style: Unique + Frame: Local + Offset: 1 + Scale: 1 + Value: false + Position: + Alpha: 0.20000000298023224 + Color: 204; 51; 204 + Scale: 1 + Value: true + Value: true + Enabled: true + Head Length: 0.699999988079071 + Head Radius: 1.2000000476837158 + Name: PoseWithCovariance + Shaft Length: 1 + Shaft Radius: 0.5 + Shape: Arrow + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /sensing/gnss/pose_with_covariance + Value: true + Enabled: false + Name: GNSS + Enabled: true + Name: Sensing + - Class: rviz_common/Group + Displays: + - Class: rviz_common/Group + Displays: + - Alpha: 0.9990000128746033 + Axes Length: 1 + Axes Radius: 0.10000000149011612 + Class: rviz_default_plugins/PoseWithCovariance + Color: 0; 170; 255 + Covariance: + Orientation: + Alpha: 0.5 + Color: 255; 255; 127 + Color Style: Unique + Frame: Local + Offset: 1 + Scale: 1 + Value: true + Position: + Alpha: 0.30000001192092896 + Color: 204; 51; 204 + Scale: 1 + Value: true + Value: true + Enabled: false + Head Length: 0.4000000059604645 + Head Radius: 0.6000000238418579 + Name: PoseWithCovInitial + Shaft Length: 0.6000000238418579 + Shaft Radius: 0.30000001192092896 + Shape: Arrow + 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 + Axes Length: 1 + Axes Radius: 0.10000000149011612 + Class: rviz_default_plugins/PoseWithCovariance + Color: 0; 255; 0 + Covariance: + Orientation: + Alpha: 0.5 + Color: 255; 255; 127 + Color Style: Unique + Frame: Local + Offset: 1 + Scale: 1 + Value: true + Position: + Alpha: 0.30000001192092896 + Color: 204; 51; 204 + Scale: 1 + Value: true + Value: true + Enabled: false + Head Length: 0.4000000059604645 + Head Radius: 0.6000000238418579 + Name: PoseWithCovAligned + Shaft Length: 0.6000000238418579 + Shaft Radius: 0.30000001192092896 + Shape: Arrow + 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 + - Buffer Size: 200 + Class: rviz_plugins::PoseHistory + Enabled: false + Line: + Alpha: 0.9990000128746033 + Color: 170; 255; 127 + Value: true + Width: 0.10000000149011612 + 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 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 10 + Min Value: -10 + Value: true + Axis: Z + Channel Name: intensity + Class: rviz_default_plugins/PointCloud2 + Color: 0; 255; 255 + Color Transformer: "" + Decay Time: 0 + Enabled: false + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 4096 + Min Color: 0; 0; 0 + Min Intensity: 0 + Name: Initial + Position Transformer: XYZ + Selectable: false + Size (Pixels): 10 + Size (m): 0.5 + Style: Squares + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Best Effort + Value: /localization/util/downsample/pointcloud + Use Fixed Frame: true + Use rainbow: true + Value: false + - Alpha: 0.9990000128746033 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 10 + Min Value: -10 + Value: true + Axis: Z + Channel Name: intensity + Class: rviz_default_plugins/PointCloud2 + Color: 85; 255; 0 + Color Transformer: FlatColor + Decay Time: 0 + Enabled: false + Invert Rainbow: false + Max Color: 85; 255; 127 + Max Intensity: 0 + Min Color: 0; 0; 0 + Min Intensity: 0 + Name: Aligned + Position Transformer: XYZ + Selectable: false + Size (Pixels): 10 + Size (m): 0.5 + Style: Squares + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /localization/pose_estimator/points_aligned + Use Fixed Frame: true + Use rainbow: true + Value: false + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: MonteCarloInitialPose + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /localization/pose_estimator/monte_carlo_initial_pose_marker + Value: true + Enabled: true + Name: NDT + - Class: rviz_common/Group + Displays: + - Buffer Size: 1000 + Class: rviz_plugins::PoseHistory + Enabled: true + Line: + Alpha: 0.9990000128746033 + Color: 0; 255; 255 + Value: true + Width: 0.10000000149011612 + 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 + Value: true + Enabled: true + Name: EKF + Enabled: true + Name: Localization + - Class: rviz_common/Group + Displays: + - Class: rviz_common/Group + Displays: + - Alpha: 0.9990000128746033 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 15 + Min Value: -2 + Value: false + Axis: Z + Channel Name: z + Class: rviz_default_plugins/PointCloud2 + Color: 200; 200; 200 + Color Transformer: FlatColor + Decay Time: 0 + Enabled: true + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 15 + Min Color: 0; 0; 0 + Min Intensity: -5 + Name: NoGroundPointCloud + Position Transformer: XYZ + Selectable: false + Size (Pixels): 3 + Size (m): 0.019999999552965164 + Style: Points + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Best Effort + Value: /perception/obstacle_segmentation/pointcloud + Use Fixed Frame: true + Use rainbow: true + Value: true + Enabled: true + Name: Segmentation + - Class: rviz_common/Group + Displays: + - Class: rviz_common/Group + Displays: + - BUS: + Alpha: 0.9990000128746033 + Color: 30; 144; 255 + CAR: + Alpha: 0.9990000128746033 + Color: 30; 144; 255 + CYCLIST: + Alpha: 0.9990000128746033 + Color: 119; 11; 32 + Class: autoware_perception_rviz_plugin/DetectedObjects + Confidence Interval: 95% + Display Acceleration: true + Display Existence Probability: false + Display Label: true + Display Pose Covariance: true + Display Predicted Path Confidence: true + Display Predicted Paths: true + Display Twist: true + Display Twist Covariance: false + Display UUID: true + Display Velocity: true + Display Yaw Covariance: false + Display Yaw Rate: false + Display Yaw Rate Covariance: false + Enabled: true + Line Width: 0.029999999329447746 + MOTORCYCLE: + Alpha: 0.9990000128746033 + Color: 119; 11; 32 + Name: DetectedObjects + Namespaces: + {} + Object Fill Type: skeleton + PEDESTRIAN: + Alpha: 0.9990000128746033 + Color: 255; 192; 203 + Polygon Type: 3d + TRAILER: + Alpha: 0.9990000128746033 + Color: 30; 144; 255 + TRUCK: + Alpha: 0.9990000128746033 + 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: 0.9990000128746033 + Color: 255; 255; 255 + Value: true + Visualization Type: Normal + Enabled: false + Name: Detection + - Class: rviz_common/Group + Displays: + - BUS: + Alpha: 0.9990000128746033 + Color: 30; 144; 255 + CAR: + Alpha: 0.9990000128746033 + Color: 30; 144; 255 + CYCLIST: + Alpha: 0.9990000128746033 + Color: 119; 11; 32 + Class: autoware_perception_rviz_plugin/TrackedObjects + Confidence Interval: 95% + Display Acceleration: true + Display Existence Probability: false + Display Label: true + Display Pose Covariance: true + Display Predicted Path Confidence: true + Display Predicted Paths: true + Display Twist: true + Display Twist Covariance: false + Display UUID: true + Display Velocity: true + Display Yaw Covariance: false + Display Yaw Rate: false + Display Yaw Rate Covariance: false + Dynamic Status: All + Enabled: true + Line Width: 0.029999999329447746 + MOTORCYCLE: + Alpha: 0.9990000128746033 + Color: 119; 11; 32 + Name: TrackedObjects + Namespaces: + {} + Object Fill Type: skeleton + PEDESTRIAN: + Alpha: 0.9990000128746033 + Color: 255; 192; 203 + Polygon Type: 3d + TRAILER: + Alpha: 0.9990000128746033 + Color: 30; 144; 255 + TRUCK: + Alpha: 0.9990000128746033 + 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: 0.9990000128746033 + Color: 255; 255; 255 + Value: true + Visualization Type: Normal + Enabled: false + Name: Tracking + - Class: rviz_common/Group + Displays: + - BUS: + Alpha: 0.9990000128746033 + Color: 30; 144; 255 + CAR: + Alpha: 0.9990000128746033 + Color: 30; 144; 255 + CYCLIST: + Alpha: 0.9990000128746033 + Color: 119; 11; 32 + Class: autoware_perception_rviz_plugin/PredictedObjects + Confidence Interval: 95% + Display Acceleration: true + Display Existence Probability: false + Display Label: true + Display Pose Covariance: true + Display Predicted Path Confidence: true + Display Predicted Paths: true + Display Twist: true + Display Twist Covariance: false + Display UUID: true + Display Velocity: true + Display Yaw Covariance: false + Display Yaw Rate: false + Display Yaw Rate Covariance: false + Enabled: true + Line Width: 0.029999999329447746 + MOTORCYCLE: + Alpha: 0.9990000128746033 + Color: 119; 11; 32 + Name: PredictedObjects + Namespaces: + acceleration: true + label: true + path: true + path confidence: true + position covariance: true + shape: true + twist: true + uuid: true + velocity: true + Object Fill Type: skeleton + PEDESTRIAN: + Alpha: 0.9990000128746033 + Color: 255; 192; 203 + Polygon Type: 3d + TRAILER: + Alpha: 0.9990000128746033 + Color: 30; 144; 255 + TRUCK: + Alpha: 0.9990000128746033 + 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: 0.9990000128746033 + Color: 255; 255; 255 + Value: true + Visualization Type: Normal + - 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: false + Enabled: true + Name: Prediction + Enabled: true + Name: ObjectRecognition + - Class: rviz_common/Group + Displays: + - Class: rviz_default_plugins/Image + Enabled: false + Max Value: 1 + Median window: 5 + Min Value: 0 + Name: RecognitionResultOnImage + Normalize Range: true + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Best Effort + Value: /perception/traffic_light_recognition/camera6/debug/rois + Value: false + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: MapBasedDetectionResult + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Best Effort + Value: /perception/traffic_light_recognition/camera6/detection/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 + Displays: + - Class: rviz_common/Group + Displays: + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: RouteArea + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Transient Local + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/mission_planning/route_marker + Value: true + - Alpha: 0.9990000128746033 + Axes Length: 1 + Axes Radius: 0.30000001192092896 + Class: rviz_default_plugins/Pose + Color: 255; 25; 0 + Enabled: true + Head Length: 0.30000001192092896 + Head Radius: 0.5 + Name: GoalPose + Shaft Length: 3 + Shaft Radius: 0.20000000298023224 + Shape: Axes + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/mission_planning/echo_back_goal_pose + Value: true + - Class: autoware_mission_details_overlay_rviz_plugin/MissionDetailsDisplay + Enabled: true + Height: 100 + Name: MissionDetailsDisplay + Remaining Distance and Time Topic: /planning/mission_remaining_distance_time + Right: 10 + Top: 10 + Value: true + Width: 170 + Enabled: true + Name: MissionPlanning + - Class: rviz_common/Group + Displays: + - Class: rviz_plugins/Trajectory + Color Border Vel Max: 3 + Enabled: true + Name: ScenarioTrajectory + 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: 0.8500000238418579 + Value: false + Vehicle Length: 4.400000095367432 + Vehicle Width: 1.6950000524520874 + View Path: + 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 Slope: + Scale: 0.30000001192092896 + Value: false + View Text Velocity: + Scale: 0.30000001192092896 + Value: false + View Velocity: + Alpha: 0.9990000128746033 + Color: 0; 0; 0 + Constant Color: false + Scale: 0.30000001192092896 + Value: true + - Class: rviz_common/Group + Displays: + - Class: rviz_common/Group + Displays: + - Class: rviz_plugins/Path + Color Border Vel Max: 3 + Enabled: false + Name: Path + 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: 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: 0.8500000238418579 + Value: false + Vehicle Length: 4.400000095367432 + Vehicle Width: 1.6950000524520874 + 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 Slope: + Scale: 0.30000001192092896 + Value: false + View Text Velocity: + Scale: 0.30000001192092896 + Value: false + View Velocity: + Alpha: 0.4000000059604645 + Color: 0; 0; 0 + Constant Color: false + Scale: 0.30000001192092896 + Value: true + - Class: rviz_plugins/Path + Color Border Vel Max: 3 + Enabled: false + Name: PathReference_AvoidanceByLC + 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 + View Path: + 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 Slope: + Scale: 0.30000001192092896 + Value: false + View Text Velocity: + Scale: 0.30000001192092896 + Value: false + 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: false + Name: PathReference_Avoidance + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/path_reference/static_obstacle_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: 0.8500000238418579 + Value: false + Vehicle Length: 4.400000095367432 + Vehicle Width: 1.6950000524520874 + View Path: + 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 Slope: + Scale: 0.30000001192092896 + Value: false + View Text Velocity: + Scale: 0.30000001192092896 + Value: false + 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: false + Name: PathReference_LaneChangeRight + 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: 0.8500000238418579 + Value: false + Vehicle Length: 4.400000095367432 + Vehicle Width: 1.6950000524520874 + View Path: + 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 Slope: + Scale: 0.30000001192092896 + Value: false + View Text Velocity: + Scale: 0.30000001192092896 + Value: false + 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: false + Name: PathReference_LaneChangeLeft + 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: 0.8500000238418579 + Value: false + Vehicle Length: 4.400000095367432 + Vehicle Width: 1.6950000524520874 + View Path: + 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 Slope: + Scale: 0.30000001192092896 + Value: false + View Text Velocity: + Scale: 0.30000001192092896 + Value: false + 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: false + Name: PathReference_GoalPlanner + 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: 0.8500000238418579 + Value: false + Vehicle Length: 4.400000095367432 + Vehicle Width: 1.6950000524520874 + View Path: + 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 Slope: + Scale: 0.30000001192092896 + Value: false + View Text Velocity: + Scale: 0.30000001192092896 + Value: false + 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: false + Name: PathReference_StartPlanner + 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: 0.8500000238418579 + Value: false + Vehicle Length: 4.400000095367432 + Vehicle Width: 1.6950000524520874 + View Path: + 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 Slope: + Scale: 0.30000001192092896 + Value: false + View Text Velocity: + Scale: 0.30000001192092896 + Value: false + 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: false + Name: PathChangeCandidate_AvoidanceByLC + 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: 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: 0.30000001192092896 + 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 Slope: + Scale: 0.30000001192092896 + Value: false + View Text Velocity: + Scale: 0.30000001192092896 + Value: false + 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: false + Name: (old)PathChangeCandidate_LaneChange + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/path_candidate/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 + 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 Slope: + Scale: 0.30000001192092896 + Value: false + View Text Velocity: + Scale: 0.30000001192092896 + Value: false + 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: false + Name: PathChangeCandidate_LaneChangeRight + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/path_candidate/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: 0.8500000238418579 + Value: false + Vehicle Length: 4.400000095367432 + Vehicle Width: 1.6950000524520874 + 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 Slope: + Scale: 0.30000001192092896 + Value: false + View Text Velocity: + Scale: 0.30000001192092896 + Value: false + 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: false + Name: PathChangeCandidate_LaneChangeLeft + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/path_candidate/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: 0.8500000238418579 + Value: false + Vehicle Length: 4.400000095367432 + Vehicle Width: 1.6950000524520874 + 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 Slope: + Scale: 0.30000001192092896 + Value: false + View Text Velocity: + Scale: 0.30000001192092896 + Value: false + 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: false + Name: PathChangeCandidate_ExternalRequestLaneChangeRight + 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: 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: 0.30000001192092896 + 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 Slope: + Scale: 0.30000001192092896 + Value: false + View Text Velocity: + Scale: 0.30000001192092896 + Value: false + 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: false + Name: PathChangeCandidate_ExternalRequestLaneChangeLeft + 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: 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: 0.30000001192092896 + 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 Slope: + Scale: 0.30000001192092896 + Value: false + View Text Velocity: + Scale: 0.30000001192092896 + Value: false + 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: false + Name: PathChangeCandidate_Avoidance + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/path_candidate/static_obstacle_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: 0.8500000238418579 + Value: false + Vehicle Length: 4.400000095367432 + Vehicle Width: 1.6950000524520874 + 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 Slope: + Scale: 0.30000001192092896 + Value: false + View Text Velocity: + Scale: 0.30000001192092896 + Value: false + 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: false + Name: PathChangeCandidate_StartPlanner + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/path_candidate/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: 0.8500000238418579 + Value: false + Vehicle Length: 4.400000095367432 + Vehicle Width: 1.6950000524520874 + 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 Slope: + Scale: 0.30000001192092896 + Value: false + View Text Velocity: + Scale: 0.30000001192092896 + Value: false + 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: false + Name: PathChangeCandidate_GoalPlanner + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/path_candidate/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: 0.8500000238418579 + Value: false + Vehicle Length: 4.400000095367432 + Vehicle Width: 1.6950000524520874 + 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 Slope: + Scale: 0.30000001192092896 + Value: false + View Text Velocity: + Scale: 0.30000001192092896 + Value: false + View Velocity: + Alpha: 0.30000001192092896 + Color: 0; 0; 0 + Constant Color: false + Scale: 0.30000001192092896 + Value: false + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: Bound + Namespaces: + left_bound: true + right_bound: true + 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/bound + Value: true + - Class: rviz_common/Group + Displays: + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: VirtualWall (StaticObstacleAvoidance) + Namespaces: + dead_line_factor_text: true + dead_line_virtual_wall: true + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/virtual_wall/static_obstacle_avoidance + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: VirtualWall (AvoidanceByLC) + 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/virtual_wall/avoidance_by_lane_change + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: VirtualWall (LaneChangeRight) + 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/virtual_wall/lane_change_right + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: VirtualWall (LaneChangeLeft) + 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/virtual_wall/lane_change_left + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: VirtualWall (ExtLaneChangeRight) + 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/virtual_wall/external_request_lane_change_right + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: VirtualWall (ExtLaneChangeLeft) + 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/virtual_wall/external_request_lane_change_left + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: VirtualWall (GoalPlanner) + 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/virtual_wall/goal_planner + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: VirtualWall (StartPlanner) + 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/virtual_wall/start_planner + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: VirtualWall (BlindSpot) + 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/blind_spot + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: VirtualWall (Crosswalk) + 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/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) + 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/detection_area + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: VirtualWall (Intersection) + 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/intersection + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: VirtualWall (MergeFromPrivateArea) + 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/merge_from_private + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: VirtualWall (NoStoppingArea) + 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/no_stopping_area + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: VirtualWall (OcclusionSpot) + 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/occlusion_spot + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: VirtualWall (StopLine) + 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/stop_line + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: VirtualWall (TrafficLight) + Namespaces: + 1202_stop_factor_text: true + 1202_stop_virtual_wall: true + 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/traffic_light + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: VirtualWall (VirtualTrafficLight) + 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/virtual_traffic_light + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: VirtualWall (RunOut) + 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/run_out + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: VirtualWall (SpeedBump) + 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/speed_bump + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: VirtualWall (NoDrivableLane) + 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/no_drivable_lane + Value: true + Enabled: true + Name: VirtualWall + - Class: rviz_common/Group + Displays: + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: Arrow + Namespaces: + "": true + 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/path + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: Crosswalk + Namespaces: + attention range far: true + attention range near: true + crosswalk polygon: true + vehicle polygon: true + 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/crosswalk + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: false + Name: Intersection + 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/intersection + Value: false + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: Blind Spot + 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/blind_spot + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: TrafficLight + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/debug/traffic_light + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: VirtualTrafficLight + 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/virtual_traffic_light + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: StopLine + 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/stop_line + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: DetectionArea + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/debug/detection_area + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: OcclusionSpot + 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/occlusion_spot + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: false + Name: NoStoppingArea + 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/no_stopping_area + Value: false + - Class: rviz_default_plugins/MarkerArray + Enabled: false + Name: RunOut + 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/run_out + Value: false + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: StaticObstacleAvoidance + Namespaces: + others_enough_lateral_distance_cube: true + others_enough_lateral_distance_info: true + others_enough_lateral_distance_info_reason: true + others_enough_lateral_distance_overhang_lanelet: true + others_further_than_threshold_cube: true + others_further_than_threshold_info: true + others_further_than_threshold_info_reason: true + others_further_than_threshold_overhang_lanelet: true + others_is_not_parking_object_cube: true + others_is_not_parking_object_info: true + others_is_not_parking_object_info_reason: true + others_is_not_parking_object_overhang_lanelet: true + others_moving_object_cube: true + others_moving_object_info: true + others_moving_object_info_reason: true + others_moving_object_overhang_lanelet: true + others_out_of_target_area_cube: true + others_out_of_target_area_info: true + others_out_of_target_area_info_reason: true + others_out_of_target_area_overhang_lanelet: true + others_unstable_object_cube: true + others_unstable_object_info: true + others_unstable_object_info_reason: true + others_unstable_object_overhang_lanelet: true + 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/static_obstacle_avoidance + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: false + Name: LeftLaneChange + 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_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 + 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/lane_following + Value: false + - Class: rviz_default_plugins/MarkerArray + Enabled: false + Name: GoalPlanner + 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/goal_planner + Value: false + - Class: rviz_default_plugins/MarkerArray + Enabled: false + Name: StartPlanner + 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/start_planner + 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/side_shift + Value: false + - Class: rviz_default_plugins/MarkerArray + Enabled: false + Name: SpeedBump + 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/speed_bump + Value: false + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: DynamicObstacleAvoidance + 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/dynamic_obstacle_avoidance + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: false + Name: NoDrivableLane + 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/no_drivable_lane + Value: false + Enabled: true + Name: DebugMarker + - Class: rviz_common/Group + Displays: + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: Info (StaticObstacleAvoidance) + Namespaces: + avoidable_target_objects_cube: true + avoidable_target_objects_envelope_polygon: true + avoidable_target_objects_info: true + avoidable_target_objects_info_reason: true + avoidable_target_objects_overhang_lanelet: true + avoidable_target_objects_to_drivable_bound: true + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/info/static_obstacle_avoidance + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: Info (AvoidanceByLC) + 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/info/avoidance_by_lane_change + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: Info (LaneChangeLeft) + 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/info/lane_change_left + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: Info (LaneChangeRight) + 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/info/lane_change_right + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: Info (ExtLaneChangeLeft) + 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/info/external_request_lane_change_left + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: Info (ExtLaneChangeRight) + 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/info/external_request_lane_change_right + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: Info (GoalPlanner) + 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/info/goal_planner + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: Info (StartPlanner) + 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/info/start_planner + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: Info (DynamicObstacleAvoidance) + 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/info/dynamic_obstacle_avoidance + Value: true + Enabled: true + Name: InfoMarker + Enabled: true + Name: BehaviorPlanning + - Class: rviz_common/Group + Displays: + - Class: rviz_plugins/Trajectory + Color Border Vel Max: 3 + Enabled: true + Name: Trajectory + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/trajectory + Value: true + View Footprint: + Alpha: 1 + Color: 230; 230; 50 + Offset from BaseLink: 0 + Rear Overhang: 0.8500000238418579 + Value: false + Vehicle Length: 4.400000095367432 + Vehicle Width: 1.6950000524520874 + View Path: + 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 Slope: + Scale: 0.30000001192092896 + Value: false + View Text Velocity: + Scale: 0.30000001192092896 + Value: false + View Velocity: + Alpha: 0.9990000128746033 + Color: 0; 0; 0 + Constant Color: false + Scale: 0.30000001192092896 + Value: true + - Class: rviz_common/Group + Displays: + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: VirtualWall (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/virtual_wall + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: VirtualWall (SurroundObstacle) + 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/virtual_wall + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: VirtualWall (ObstacleAvoidance) + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/motion_planning/obstacle_avoidance_planner/virtual_wall + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: VirtualWall (ObstacleCruise Stop) + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/virtual_wall/stop + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: VirtualWall (ObstacleCruise Cruise) + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/virtual_wall/cruise + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: VirtualWall (ObstacleCruise SlowDown) + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/virtual_wall/slow_down + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: VirtualWall (MotionVelocitySmoother) + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/velocity_smoother/virtual_wall + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: VirtualWall (OutOfLane) + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/motion_planning/motion_velocity_planner/out_of_lane/virtual_walls + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: VirtualWall (ObstacleVelocityLimiter) + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/motion_planning/motion_velocity_planner/obstacle_velocity_limiter/virtual_walls + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: VirtualWall (DynamicObstacleStop) + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/motion_planning/motion_velocity_planner/dynamic_obstacle_stop/virtual_walls + Value: true + Enabled: true + Name: VirtualWall + - Class: rviz_common/Group + Displays: + - Class: rviz_common/Group + Displays: + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: SurroundObstacleCheck + 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 + - 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/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: false + Name: SurroundObstacleChecker + - Class: rviz_default_plugins/MarkerArray + Enabled: false + 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: false + - Class: rviz_common/Group + Displays: + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: DebugMarker + Namespaces: + cruise_collision_points: true + detection_polygons: true + intentionally_ignored_obstacles: true + obstacles_to_cruise: true + obstacles_to_slow_down: true + obstacles_to_stop: true + slow_down_collision_points: true + slow_down_factor_text: true + slow_down_virtual_wall: true + stop_collision_points: true + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/debug/marker + Value: true + Enabled: true + Name: ObstacleCruise + - Class: rviz_default_plugins/MarkerArray + Enabled: false + Name: ObstacleAvoidance + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/motion_planning/obstacle_avoidance_planner/debug/marker + Value: false + - Class: rviz_common/Group + Displays: + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: OutOfLane + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/motion_planning/motion_velocity_planner/out_of_lane/debug_markers + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: ObstacleVelocityLimiter + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/motion_planning/motion_velocity_planner/obstacle_velocity_limiter/debug_markers + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: DynamicObstacleStop + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/motion_planning/motion_velocity_planner/dynamic_obstacle_stop/debug_markers + Value: true + Enabled: false + Name: MotionVelocityPlanner + Enabled: true + Name: DebugMarker + Enabled: true + Name: MotionPlanning + Enabled: true + Name: LaneDriving + - Class: rviz_common/Group + Displays: + - Alpha: 0.699999988079071 + Class: rviz_default_plugins/Map + Color Scheme: map + Draw Behind: false + Enabled: true + Name: Costmap + 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 + Update Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/parking/costmap_generator/occupancy_grid_updates + Use Timestamp: false + Value: true + - Alpha: 0.9990000128746033 + Arrow Length: 0.30000001192092896 + Axes Length: 0.30000001192092896 + Axes Radius: 0.009999999776482582 + Class: rviz_default_plugins/PoseArray + Color: 255; 25; 0 + Enabled: true + Head Length: 0.10000000149011612 + Head Radius: 0.20000000298023224 + Name: PartialPoseArray + Shaft Length: 0.20000000298023224 + Shaft Radius: 0.05000000074505806 + Shape: Arrow (3D) + 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 + Arrow Length: 0.5 + Axes Length: 0.30000001192092896 + Axes Radius: 0.009999999776482582 + Class: rviz_default_plugins/PoseArray + Color: 0; 0; 255 + Enabled: true + Head Length: 0.10000000149011612 + Head Radius: 0.20000000298023224 + Name: PoseArray + Shaft Length: 0.20000000298023224 + Shaft Radius: 0.05000000074505806 + Shape: Arrow (Flat) + 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 + Value: true + Enabled: true + Name: Parking + - Class: rviz_plugins/PoseWithUuidStamped + Enabled: false + Length: 1.5 + Name: ModifiedGoal + Radius: 0.5 + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/modified_goal + UUID: + Scale: 0.30000001192092896 + Value: false + Value: false + 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: true + Name: Diagnostic + Enabled: true + Name: Planning + - Class: rviz_common/Group + Displays: + - Class: rviz_plugins/Trajectory + Color Border Vel Max: 3 + Enabled: true + Name: Predicted Trajectory + 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: 0.8500000238418579 + Value: false + Vehicle Length: 4.400000095367432 + Vehicle Width: 1.6950000524520874 + View Path: + Alpha: 1 + Color: 255; 255; 255 + Constant Color: 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 Slope: + Scale: 0.30000001192092896 + Value: false + View Text Velocity: + Scale: 0.30000001192092896 + Value: false + View Velocity: + Alpha: 1 + Color: 0; 0; 0 + Constant Color: false + Scale: 0.30000001192092896 + Value: false + - Class: rviz_default_plugins/Marker + Enabled: false + Name: Stop Reason + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /control/trajectory_follower/longitudinal/stop_reason + Value: false + - Class: rviz_default_plugins/MarkerArray + Enabled: false + Name: Debug/MPC + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /control/trajectory_follower/mpc_follower/debug/markers + Value: false + - Class: rviz_default_plugins/MarkerArray + Enabled: false + Name: Debug/PurePursuit + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /control/trajectory_follower/controller_node_exe/debug/markers + Value: false + - Class: rviz_default_plugins/MarkerArray + Enabled: false + Name: Debug/AEB + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /control/autonomous_emergency_braking/debug/markers + Value: false + Enabled: true + Name: Control + - Class: rviz_common/Group + Displays: + - Class: rviz_common/Group + Displays: ~ + Enabled: false + Name: Map + - Class: rviz_common/Group + Displays: + - Class: rviz_default_plugins/Camera + Enabled: false + Far Plane Distance: 100 + Image Rendering: background and overlay + Name: PointcloudOnCamera + Overlay Alpha: 0.5 + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Best Effort + Value: /sensing/camera/camera6/image_raw + Value: false + Visibility: + Control: + Debug/AEB: true + Debug/MPC: true + Debug/PurePursuit: true + Predicted Trajectory: true + Stop Reason: true + Value: false + Debug: + Control: true + Localization: + EKFPoseHistory: true + NDT pointclouds: true + NDTLoadedPCDMap: true + NDTPoseHistory: true + Value: true + Map: true + Perception: + CameraLidarFusion(purple): true + Centerpoint(red1): true + CenterpointROIFusion(red2): true + CenterpointValidator(red3): true + Detection(yellow): true + DetectionByTracker(orange): true + PointPainting(light_green1): true + PointPaintingROIFusion(light_green2): true + PointPaintingValidator(light_green3): true + Prediction(light_blue): true + RadarFarObjects(white): true + Tracking(green): true + Value: true + Planning: + "": + "": true + Value: true + Value: true + Sensing: + ConcatenatePointCloud: true + RadarRawObjects(white): true + Value: true + Value: true + Image: true + Localization: + EKF: + PoseHistory: true + Value: true + NDT: + Aligned: true + Initial: true + MonteCarloInitialPose: true + PoseHistory: true + PoseWithCovAligned: true + PoseWithCovInitial: true + Value: true + Value: false + Map: + Lanelet2VectorMap: true + PointCloudMap: true + Value: false + MrmSummaryOverlayDisplay: true + Perception: + ObjectRecognition: + Detection: + DetectedObjects: true + Value: true + Prediction: + Maneuver: true + PredictedObjects: true + Value: true + Tracking: + TrackedObjects: true + Value: true + Value: true + OccupancyGrid: + Map: true + Value: true + Segmentation: + NoGroundPointCloud: true + Value: true + TrafficLight: + MapBasedDetectionResult: true + RecognitionResultOnImage: true + Value: true + Value: false + Planning: + Diagnostic: + PlanningErrorMarker: true + Value: true + MissionPlanning: + GoalPose: true + MissionDetailsDisplay: true + RouteArea: true + Value: true + ScenarioPlanning: + LaneDriving: + BehaviorPlanning: + (old)PathChangeCandidate_LaneChange: true + Bound: true + DebugMarker: + Arrow: true + Blind Spot: true + Crosswalk: true + DetectionArea: true + DynamicObstacleAvoidance: true + GoalPlanner: true + Intersection: true + LaneFollowing: true + LeftLaneChange: true + NoDrivableLane: true + NoStoppingArea: true + OcclusionSpot: true + RightLaneChange: true + RunOut: true + SideShift: true + SpeedBump: true + StartPlanner: true + StaticObstacleAvoidance: true + StopLine: true + TrafficLight: true + Value: true + VirtualTrafficLight: true + InfoMarker: + Info (AvoidanceByLC): true + Info (DynamicObstacleAvoidance): true + Info (ExtLaneChangeLeft): true + Info (ExtLaneChangeRight): true + Info (GoalPlanner): true + Info (LaneChangeLeft): true + Info (LaneChangeRight): true + Info (StartPlanner): true + Info (StaticObstacleAvoidance): true + Value: true + Path: true + PathChangeCandidate_Avoidance: true + PathChangeCandidate_AvoidanceByLC: true + PathChangeCandidate_ExternalRequestLaneChangeLeft: true + PathChangeCandidate_ExternalRequestLaneChangeRight: true + PathChangeCandidate_GoalPlanner: true + PathChangeCandidate_LaneChangeLeft: true + PathChangeCandidate_LaneChangeRight: true + PathChangeCandidate_StartPlanner: true + PathReference_Avoidance: true + PathReference_AvoidanceByLC: true + PathReference_GoalPlanner: true + PathReference_LaneChangeLeft: true + PathReference_LaneChangeRight: true + PathReference_StartPlanner: true + Value: true + VirtualWall: + Value: true + VirtualWall (AvoidanceByLC): true + VirtualWall (BlindSpot): true + VirtualWall (Crosswalk): true + VirtualWall (DetectionArea): true + VirtualWall (ExtLaneChangeLeft): true + VirtualWall (ExtLaneChangeRight): true + VirtualWall (GoalPlanner): true + VirtualWall (Intersection): true + VirtualWall (LaneChangeLeft): true + VirtualWall (LaneChangeRight): true + VirtualWall (MergeFromPrivateArea): true + VirtualWall (NoDrivableLane): true + VirtualWall (NoStoppingArea): true + VirtualWall (OcclusionSpot): true + VirtualWall (RunOut): true + VirtualWall (SpeedBump): true + VirtualWall (StartPlanner): true + VirtualWall (StaticObstacleAvoidance): true + VirtualWall (StopLine): true + VirtualWall (TrafficLight): true + VirtualWall (VirtualTrafficLight): true + VirtualWall (Walkway): true + MotionPlanning: + DebugMarker: + MotionVelocityPlanner: + DynamicObstacleStop: true + ObstacleVelocityLimiter: true + OutOfLane: true + Value: true + ObstacleAvoidance: true + ObstacleCruise: + CruiseVirtualWall: true + DebugMarker: true + SlowDownVirtualWall: true + Value: true + ObstacleStop: true + SurroundObstacleChecker: + Footprint: true + FootprintOffset: true + FootprintRecoverOffset: true + SurroundObstacleCheck: true + Value: true + Value: true + Trajectory: true + Value: true + VirtualWall: + Value: true + VirtualWall (DynamicObstacleStop): true + VirtualWall (MotionVelocitySmoother): true + VirtualWall (ObstacleAvoidance): true + VirtualWall (ObstacleCruise): true + VirtualWall (ObstacleStop): true + VirtualWall (ObstacleVelocityLimiter): true + VirtualWall (OutOfLane): true + VirtualWall (SurroundObstacle): true + Value: true + ModifiedGoal: true + Parking: + Costmap: true + PartialPoseArray: true + PoseArray: true + Value: true + ScenarioTrajectory: true + Value: true + Value: false + PlanningInternalState: true + Sensing: + GNSS: + PoseWithCovariance: true + Value: true + LiDAR: + ConcatenatePointCloud: true + MeasurementRange: true + Value: true + Value: true + System: + Grid: true + MRM Summary: true + TF: true + Value: false + Vehicle: + PolarGridDisplay: true + SignalDisplay: true + Value: true + VehicleModel: true + Value: true + Zoom Factor: 1 + - Alpha: 1 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 5 + Min Value: -1 + Value: false + Axis: Z + Channel Name: intensity + Class: rviz_default_plugins/PointCloud2 + Color: 255; 255; 255 + Color Transformer: AxisColor + Decay Time: 0 + Enabled: true + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 4096 + Min Color: 0; 0; 0 + Min Intensity: 0 + Name: ConcatenatePointCloud + Position Transformer: XYZ + Selectable: false + Size (Pixels): 3 + Size (m): 0.019999999552965164 + Style: Points + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Best Effort + Value: /sensing/lidar/concatenated/pointcloud + Use Fixed Frame: false + Use rainbow: true + Value: true + - BUS: + Alpha: 0.5 + Color: 255; 255; 255 + CAR: + Alpha: 0.5 + Color: 255; 255; 255 + CYCLIST: + Alpha: 0.5 + Color: 255; 255; 255 + Class: autoware_perception_rviz_plugin/DetectedObjects + Confidence Interval: 95% + Display Acceleration: true + Display Existence Probability: false + Display Label: true + Display Pose Covariance: true + Display Predicted Path Confidence: true + Display Predicted Paths: true + Display Twist: true + Display Twist Covariance: false + Display UUID: true + Display Velocity: true + Display Yaw Covariance: false + Display Yaw Rate: false + Display Yaw Rate Covariance: false + Enabled: true + Line Width: 0.029999999329447746 + MOTORCYCLE: + Alpha: 0.5 + Color: 255; 255; 255 + Name: RadarRawObjects(white) + Namespaces: + {} + Object Fill Type: skeleton + PEDESTRIAN: + Alpha: 0.5 + Color: 255; 255; 255 + Polygon Type: 3d + TRAILER: + Alpha: 0.5 + Color: 255; 255; 255 + TRUCK: + Alpha: 0.5 + Color: 255; 255; 255 + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Best Effort + Value: /sensing/radar/detected_objects + UNKNOWN: + Alpha: 0.5 + Color: 255; 255; 255 + Value: true + Visualization Type: Normal + Enabled: false + Name: Sensing + - Class: rviz_common/Group + Displays: + - Alpha: 0.9990000128746033 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 10 + Min Value: -10 + Value: true + Axis: Z + Channel Name: intensity + Class: rviz_default_plugins/PointCloud2 + Color: 85; 255; 0 + Color Transformer: FlatColor + Decay Time: 0 + Enabled: true + Invert Rainbow: false + Max Color: 85; 255; 127 + Max Intensity: 0 + Min Color: 0; 0; 0 + Min Intensity: 0 + Name: NDT pointclouds + Position Transformer: XYZ + Selectable: false + Size (Pixels): 10 + Size (m): 0.5 + Style: Squares + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /localization/pose_estimator/points_aligned + Use Fixed Frame: true + Use rainbow: true + Value: true + - Alpha: 1 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 10 + Min Value: -10 + Value: true + Axis: Z + Channel Name: intensity + Class: rviz_default_plugins/PointCloud2 + Color: 255; 255; 255 + Color Transformer: "" + Decay Time: 0 + Enabled: true + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 4096 + Min Color: 0; 0; 0 + Min Intensity: 0 + Name: NDTLoadedPCDMap + Position Transformer: "" + Selectable: true + Size (Pixels): 3 + Size (m): 0.10000000149011612 + Style: Flat Squares + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /localization/pose_estimator/debug/loaded_pointcloud_map + Use Fixed Frame: true + Use rainbow: true + Value: true + - Buffer Size: 200 + Class: rviz_plugins::PoseHistory + Enabled: true + Line: + Alpha: 0.9990000128746033 + Color: 170; 255; 127 + Value: true + Width: 0.10000000149011612 + Name: NDTPoseHistory + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /localization/pose_estimator/pose + Value: true + - Buffer Size: 1000 + Class: rviz_plugins::PoseHistory + Enabled: true + Line: + Alpha: 0.9990000128746033 + Color: 0; 255; 255 + Value: true + Width: 0.10000000149011612 + Name: EKFPoseHistory + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /localization/pose_twist_fusion_filter/pose + Value: true + Enabled: false + Name: Localization + - Class: rviz_common/Group + Displays: + - BUS: + Alpha: 0.9990000128746033 + Color: 255; 138; 128 + CAR: + Alpha: 0.9990000128746033 + Color: 255; 138; 128 + CYCLIST: + Alpha: 0.9990000128746033 + Color: 255; 138; 128 + Class: autoware_perception_rviz_plugin/DetectedObjects + Confidence Interval: 95% + Display Acceleration: true + Display Existence Probability: false + Display Label: true + Display Pose Covariance: true + Display Predicted Path Confidence: true + Display Predicted Paths: true + Display Twist: true + Display Twist Covariance: false + Display UUID: true + Display Velocity: true + Display Yaw Covariance: false + Display Yaw Rate: false + Display Yaw Rate Covariance: false + Enabled: true + Line Width: 0.10000000149011612 + MOTORCYCLE: + Alpha: 0.9990000128746033 + Color: 255; 138; 128 + Name: Centerpoint(red1) + Namespaces: + {} + Object Fill Type: skeleton + PEDESTRIAN: + Alpha: 0.9990000128746033 + Color: 255; 138; 128 + Polygon Type: 3d + TRAILER: + Alpha: 0.9990000128746033 + Color: 255; 138; 128 + TRUCK: + Alpha: 0.9990000128746033 + Color: 255; 138; 128 + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Best Effort + Value: /perception/object_recognition/detection/centerpoint/objects + UNKNOWN: + Alpha: 0.9990000128746033 + Color: 255; 138; 128 + Value: true + Visualization Type: Normal + - BUS: + Alpha: 0.9990000128746033 + Color: 255; 82; 82 + CAR: + Alpha: 0.9990000128746033 + Color: 255; 82; 82 + CYCLIST: + Alpha: 0.9990000128746033 + Color: 255; 82; 82 + Class: autoware_perception_rviz_plugin/DetectedObjects + Confidence Interval: 95% + Display Acceleration: true + Display Existence Probability: false + Display Label: true + Display Pose Covariance: true + Display Predicted Path Confidence: true + Display Predicted Paths: true + Display Twist: true + Display Twist Covariance: false + Display UUID: true + Display Velocity: true + Display Yaw Covariance: false + Display Yaw Rate: false + Display Yaw Rate Covariance: false + Enabled: true + Line Width: 0.10000000149011612 + MOTORCYCLE: + Alpha: 0.9990000128746033 + Color: 255; 82; 82 + Name: CenterpointROIFusion(red2) + Namespaces: + {} + Object Fill Type: skeleton + PEDESTRIAN: + Alpha: 0.9990000128746033 + Color: 255; 82; 82 + Polygon Type: 3d + TRAILER: + Alpha: 0.9990000128746033 + Color: 255; 82; 82 + TRUCK: + Alpha: 0.9990000128746033 + Color: 255; 82; 82 + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Best Effort + Value: /perception/object_recognition/detection/centerpoint/roi_fusion/objects + UNKNOWN: + Alpha: 0.9990000128746033 + Color: 255; 82; 82 + Value: true + Visualization Type: Normal + - BUS: + Alpha: 0.9990000128746033 + Color: 213; 0; 0 + CAR: + Alpha: 0.9990000128746033 + Color: 213; 0; 0 + CYCLIST: + Alpha: 0.9990000128746033 + Color: 213; 0; 0 + Class: autoware_perception_rviz_plugin/DetectedObjects + Confidence Interval: 95% + Display Acceleration: true + Display Existence Probability: false + Display Label: true + Display Pose Covariance: true + Display Predicted Path Confidence: true + Display Predicted Paths: true + Display Twist: true + Display Twist Covariance: false + Display UUID: true + Display Velocity: true + Display Yaw Covariance: false + Display Yaw Rate: false + Display Yaw Rate Covariance: false + Enabled: true + Line Width: 0.10000000149011612 + MOTORCYCLE: + Alpha: 0.9990000128746033 + Color: 213; 0; 0 + Name: CenterpointValidator(red3) + Namespaces: + {} + Object Fill Type: skeleton + PEDESTRIAN: + Alpha: 0.9990000128746033 + Color: 213; 0; 0 + Polygon Type: 3d + TRAILER: + Alpha: 0.9990000128746033 + Color: 213; 0; 0 + TRUCK: + Alpha: 0.9990000128746033 + Color: 213; 0; 0 + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Best Effort + Value: /perception/object_recognition/detection/centerpoint/validation/objects + UNKNOWN: + Alpha: 0.9990000128746033 + Color: 213; 0; 0 + Value: true + Visualization Type: Normal + - BUS: + Alpha: 0.9990000128746033 + Color: 178; 255; 89 + CAR: + Alpha: 0.9990000128746033 + Color: 178; 255; 89 + CYCLIST: + Alpha: 0.9990000128746033 + Color: 178; 255; 89 + Class: autoware_perception_rviz_plugin/DetectedObjects + Confidence Interval: 95% + Display Acceleration: true + Display Existence Probability: false + Display Label: false + Display Pose Covariance: true + Display Predicted Path Confidence: true + Display Predicted Paths: true + Display Twist: true + Display Twist Covariance: false + Display UUID: true + Display Velocity: false + Display Yaw Covariance: false + Display Yaw Rate: false + Display Yaw Rate Covariance: false + Enabled: true + Line Width: 0.10000000149011612 + MOTORCYCLE: + Alpha: 0.9990000128746033 + Color: 178; 255; 89 + Name: PointPainting(light_green1) + Namespaces: + {} + Object Fill Type: skeleton + PEDESTRIAN: + Alpha: 0.9990000128746033 + Color: 178; 255; 89 + Polygon Type: 2d + TRAILER: + Alpha: 0.9990000128746033 + Color: 178; 255; 89 + TRUCK: + Alpha: 0.9990000128746033 + Color: 178; 255; 89 + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Best Effort + Value: /perception/object_recognition/detection/pointpainting/objects + UNKNOWN: + Alpha: 0.9990000128746033 + Color: 178; 255; 89 + Value: true + Visualization Type: Normal + - BUS: + Alpha: 0.9990000128746033 + Color: 118; 255; 3 + CAR: + Alpha: 0.9990000128746033 + Color: 118; 255; 3 + CYCLIST: + Alpha: 0.9990000128746033 + Color: 118; 255; 3 + Class: autoware_perception_rviz_plugin/DetectedObjects + Confidence Interval: 95% + Display Acceleration: true + Display Existence Probability: false + Display Label: false + Display Pose Covariance: true + Display Predicted Path Confidence: true + Display Predicted Paths: true + Display Twist: true + Display Twist Covariance: false + Display UUID: false + Display Velocity: false + Display Yaw Covariance: false + Display Yaw Rate: false + Display Yaw Rate Covariance: false + Enabled: true + Line Width: 0.10000000149011612 + MOTORCYCLE: + Alpha: 0.9990000128746033 + Color: 118; 255; 3 + Name: PointPaintingROIFusion(light_green2) + Namespaces: + {} + Object Fill Type: skeleton + PEDESTRIAN: + Alpha: 0.9990000128746033 + Color: 118; 255; 3 + Polygon Type: 2d + TRAILER: + Alpha: 0.9990000128746033 + Color: 118; 255; 3 + TRUCK: + Alpha: 0.9990000128746033 + Color: 118; 255; 3 + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Best Effort + Value: /perception/object_recognition/detection/pointpainting/roi_fusion/objects + UNKNOWN: + Alpha: 0.9990000128746033 + Color: 118; 255; 3 + Value: true + Visualization Type: Normal + - BUS: + Alpha: 0.9990000128746033 + Color: 100; 221; 23 + CAR: + Alpha: 0.9990000128746033 + Color: 100; 221; 23 + CYCLIST: + Alpha: 0.9990000128746033 + Color: 100; 221; 23 + Class: autoware_perception_rviz_plugin/DetectedObjects + Confidence Interval: 95% + Display Acceleration: true + Display Existence Probability: false + Display Label: false + Display Pose Covariance: true + Display Predicted Path Confidence: true + Display Predicted Paths: true + Display Twist: true + Display Twist Covariance: false + Display UUID: false + Display Velocity: false + Display Yaw Covariance: false + Display Yaw Rate: false + Display Yaw Rate Covariance: false + Enabled: true + Line Width: 0.10000000149011612 + MOTORCYCLE: + Alpha: 0.9990000128746033 + Color: 100; 221; 23 + Name: PointPaintingValidator(light_green3) + Namespaces: + {} + Object Fill Type: skeleton + PEDESTRIAN: + Alpha: 0.9990000128746033 + Color: 100; 221; 23 + Polygon Type: 2d + TRAILER: + Alpha: 0.9990000128746033 + Color: 100; 221; 23 + TRUCK: + Alpha: 0.9990000128746033 + Color: 100; 221; 23 + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Best Effort + Value: /perception/object_recognition/detection/pointpainting/validation/objects + UNKNOWN: + Alpha: 0.9990000128746033 + Color: 100; 221; 23 + Value: true + Visualization Type: Normal + - BUS: + Alpha: 0.9990000128746033 + Color: 255; 145; 0 + CAR: + Alpha: 0.9990000128746033 + Color: 255; 145; 0 + CYCLIST: + Alpha: 0.9990000128746033 + Color: 255; 145; 0 + Class: autoware_perception_rviz_plugin/DetectedObjects + Confidence Interval: 95% + Display Acceleration: true + Display Existence Probability: false + Display Label: true + Display Pose Covariance: true + Display Predicted Path Confidence: true + Display Predicted Paths: true + Display Twist: true + Display Twist Covariance: false + Display UUID: true + Display Velocity: true + Display Yaw Covariance: false + Display Yaw Rate: false + Display Yaw Rate Covariance: false + Enabled: true + Line Width: 0.10000000149011612 + MOTORCYCLE: + Alpha: 0.9990000128746033 + Color: 255; 145; 0 + Name: DetectionByTracker(orange) + Namespaces: + {} + Object Fill Type: skeleton + PEDESTRIAN: + Alpha: 0.9990000128746033 + Color: 255; 145; 0 + Polygon Type: 2d + TRAILER: + Alpha: 0.9990000128746033 + Color: 255; 145; 0 + TRUCK: + Alpha: 0.9990000128746033 + Color: 255; 145; 0 + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Best Effort + Value: /perception/object_recognition/detection/detection_by_tracker/objects + UNKNOWN: + Alpha: 0.9990000128746033 + Color: 255; 145; 0 + Value: true + Visualization Type: Normal + - BUS: + Alpha: 0.30000001192092896 + Color: 213; 0; 249 + CAR: + Alpha: 0.30000001192092896 + Color: 213; 0; 249 + CYCLIST: + Alpha: 0.30000001192092896 + Color: 213; 0; 249 + Class: autoware_perception_rviz_plugin/DetectedObjects + Confidence Interval: 95% + Display Acceleration: true + Display Existence Probability: false + Display Label: false + Display Pose Covariance: true + Display Predicted Path Confidence: true + Display Predicted Paths: true + Display Twist: true + Display Twist Covariance: false + Display UUID: false + Display Velocity: false + Display Yaw Covariance: false + Display Yaw Rate: false + Display Yaw Rate Covariance: false + Enabled: false + Line Width: 0.10000000149011612 + MOTORCYCLE: + Alpha: 0.30000001192092896 + Color: 213; 0; 249 + Name: CameraLidarFusion(purple) + Namespaces: + {} + Object Fill Type: skeleton + PEDESTRIAN: + Alpha: 0.30000001192092896 + Color: 213; 0; 249 + Polygon Type: 2d + TRAILER: + Alpha: 0.30000001192092896 + Color: 213; 0; 249 + TRUCK: + Alpha: 0.30000001192092896 + Color: 213; 0; 249 + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Best Effort + Value: /perception/object_recognition/detection/clustering/camera_lidar_fusion/objects + UNKNOWN: + Alpha: 0.30000001192092896 + Color: 213; 0; 249 + Value: false + Visualization Type: Normal + - BUS: + Alpha: 0.9990000128746033 + Color: 255; 255; 255 + CAR: + Alpha: 0.9990000128746033 + Color: 255; 255; 255 + CYCLIST: + Alpha: 0.9990000128746033 + Color: 255; 255; 255 + Class: autoware_perception_rviz_plugin/DetectedObjects + Confidence Interval: 95% + Display Acceleration: true + Display Existence Probability: false + Display Label: true + Display Pose Covariance: true + Display Predicted Path Confidence: true + Display Predicted Paths: true + Display Twist: true + Display Twist Covariance: false + Display UUID: true + Display Velocity: true + Display Yaw Covariance: false + Display Yaw Rate: false + Display Yaw Rate Covariance: false + Enabled: false + Line Width: 0.10000000149011612 + MOTORCYCLE: + Alpha: 0.9990000128746033 + Color: 255; 255; 255 + Name: RadarFarObjects(white) + Namespaces: + {} + Object Fill Type: skeleton + PEDESTRIAN: + Alpha: 0.9990000128746033 + Color: 255; 255; 255 + Polygon Type: 3d + TRAILER: + Alpha: 0.9990000128746033 + Color: 255; 255; 255 + TRUCK: + Alpha: 0.9990000128746033 + Color: 255; 255; 255 + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Best Effort + Value: /perception/object_recognition/detection/radar/far_objects + UNKNOWN: + Alpha: 0.9990000128746033 + Color: 255; 255; 255 + Value: false + Visualization Type: Normal + - BUS: + Alpha: 0.9990000128746033 + Color: 255; 234; 0 + CAR: + Alpha: 0.9990000128746033 + Color: 255; 234; 0 + CYCLIST: + Alpha: 0.9990000128746033 + Color: 255; 234; 0 + Class: autoware_perception_rviz_plugin/DetectedObjects + Confidence Interval: 95% + Display Acceleration: true + Display Existence Probability: false + Display Label: true + Display Pose Covariance: true + Display Predicted Path Confidence: true + Display Predicted Paths: true + Display Twist: true + Display Twist Covariance: false + Display UUID: true + Display Velocity: true + Display Yaw Covariance: false + Display Yaw Rate: false + Display Yaw Rate Covariance: false + Enabled: false + Line Width: 0.10000000149011612 + MOTORCYCLE: + Alpha: 0.9990000128746033 + Color: 255; 234; 0 + Name: Detection(yellow) + Namespaces: + {} + Object Fill Type: skeleton + PEDESTRIAN: + Alpha: 0.9990000128746033 + Color: 255; 234; 0 + Polygon Type: 3d + TRAILER: + Alpha: 0.9990000128746033 + Color: 255; 234; 0 + TRUCK: + Alpha: 0.9990000128746033 + Color: 255; 234; 0 + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Best Effort + Value: /perception/object_recognition/detection/objects + UNKNOWN: + Alpha: 0.9990000128746033 + Color: 255; 234; 0 + Value: false + Visualization Type: Normal + - BUS: + Alpha: 0.9990000128746033 + Color: 0; 230; 118 + CAR: + Alpha: 0.9990000128746033 + Color: 0; 230; 118 + CYCLIST: + Alpha: 0.9990000128746033 + Color: 0; 230; 118 + Class: autoware_perception_rviz_plugin/TrackedObjects + Confidence Interval: 95% + Display Acceleration: true + Display Existence Probability: false + Display Label: true + Display Pose Covariance: true + Display Predicted Path Confidence: true + Display Predicted Paths: true + Display Twist: true + Display Twist Covariance: false + Display UUID: true + Display Velocity: true + Display Yaw Covariance: false + Display Yaw Rate: false + Display Yaw Rate Covariance: false + Dynamic Status: All + Enabled: false + Line Width: 0.10000000149011612 + MOTORCYCLE: + Alpha: 0.9990000128746033 + Color: 0; 230; 118 + Name: Tracking(green) + Namespaces: + {} + Object Fill Type: skeleton + PEDESTRIAN: + Alpha: 0.9990000128746033 + Color: 0; 230; 118 + Polygon Type: 3d + TRAILER: + Alpha: 0.9990000128746033 + Color: 0; 230; 118 + TRUCK: + Alpha: 0.9990000128746033 + Color: 0; 230; 118 + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Best Effort + Value: /perception/object_recognition/tracking/objects + UNKNOWN: + Alpha: 0.9990000128746033 + Color: 0; 230; 118 + Value: false + Visualization Type: Normal + - BUS: + Alpha: 0.9990000128746033 + Color: 0; 176; 255 + CAR: + Alpha: 0.9990000128746033 + Color: 0; 176; 255 + CYCLIST: + Alpha: 0.9990000128746033 + Color: 0; 176; 255 + Class: autoware_perception_rviz_plugin/PredictedObjects + Confidence Interval: 95% + Display Acceleration: true + Display Existence Probability: false + Display Label: true + Display Pose Covariance: true + Display Predicted Path Confidence: true + Display Predicted Paths: true + Display Twist: true + Display Twist Covariance: false + Display UUID: true + Display Velocity: true + Display Yaw Covariance: false + Display Yaw Rate: false + Display Yaw Rate Covariance: false + Enabled: true + Line Width: 0.10000000149011612 + MOTORCYCLE: + Alpha: 0.9990000128746033 + Color: 0; 176; 255 + Name: Prediction(light_blue) + Namespaces: + {} + Object Fill Type: skeleton + PEDESTRIAN: + Alpha: 0.9990000128746033 + Color: 0; 176; 255 + Polygon Type: 2d + TRAILER: + Alpha: 0.9990000128746033 + Color: 0; 176; 255 + TRUCK: + Alpha: 0.9990000128746033 + Color: 0; 176; 255 + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Best Effort + Value: /perception/object_recognition/objects + UNKNOWN: + Alpha: 0.9990000128746033 + Color: 0; 176; 255 + Value: true + Visualization Type: Normal + Enabled: false + Name: Perception + - Class: rviz_common/Group + Displays: + - Class: rviz_common/Group + Displays: + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: LaneChangeLeft + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/debug/objects_of_interest/lane_change_left + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: LaneChangeRight + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/debug/objects_of_interest/lane_change_right + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: AvoidanceLeft + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/debug/objects_of_interest/static_obstacle_avoidance_left + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: AvoidanceRight + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/debug/objects_of_interest/static_obstacle_avoidance_right + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: AvoidanceByLCLeft + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/debug/objects_of_interest/avoidance_by_lc_left + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: AvoidanceByLCRight + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/debug/objects_of_interest/avoidance_by_lc_right + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: StartPlanner + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/debug/objects_of_interest/start_planner + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: GoalPlanner + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/debug/objects_of_interest/goal_planner + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: Crosswalk + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/debug/objects_of_interest/crosswalk + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: Intersection + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/debug/objects_of_interest/intersection + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: BlindSpot + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/debug/objects_of_interest/blind_spot + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: TrafficLight + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/debug/objects_of_interest/traffic_light + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: DetectionArea + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/debug/objects_of_interest/detection_area + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: NoStoppingArea + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/debug/objects_of_interest/no_stopping_area + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: ObstacleCruise + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/debug/objects_of_interest/obstacle_cruise_planner + Value: true + Enabled: true + Name: Objects Of Interest + Enabled: true + Name: Planning + - Class: rviz_common/Group + Displays: ~ + Enabled: true + Name: Control + Enabled: true + Name: Debug + - Class: rviz_default_plugins/Image + Enabled: true + Max Value: 1 + Median window: 5 + Min Value: 0 + Name: Image + Normalize Range: true + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Best Effort + Value: /sensing/camera/image + Value: true + - Class: rviz_plugins/StringStampedOverlayDisplay + Enabled: true + Font Size: 15 + Left: 24 + Max Letter Num: 60 + Name: PlanningInternalState + Text Color: 51; 201; 220 + Top: 980 + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Best Effort + Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/debug/internal_state + Value: true + Value height offset: 0 + - Class: rviz_plugins/MrmSummaryOverlayDisplay + Enabled: true + Font Size: 15 + Left: 24 + Max Letter Num: 100 + Name: MrmSummaryOverlayDisplay + Text Color: 51; 201; 220 + Top: 120 + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /system/emergency/hazard_status + Value: true + Value height offset: 0 + Enabled: true + Global Options: + Background Color: 0; 0; 0 + Fixed Frame: viewer + Frame Rate: 30 + Name: root + Tools: + - Class: rviz_default_plugins/Interact + Hide Inactive Objects: true + - Class: rviz_default_plugins/MoveCamera + - Class: rviz_default_plugins/Select + - Class: rviz_default_plugins/FocusCamera + - Boost Property: 0.5 + Class: tier4_camera_view_rviz_plugin/ThirdPersonViewTool + Fallback ViewController: tier4_camera_view_rviz_plugin/ThirdPersonView + Fly Mode: false + Left Hand Mode: false + Step Length: 0.10000000149011612 + - Boost Property: 0.5 + Class: tier4_camera_view_rviz_plugin/BirdEyeViewTool + Fallback ViewController: tier4_camera_view_rviz_plugin/BirdEyeView + Fly Mode: false + Left Hand Mode: false + Step Length: 0.10000000149011612 + - Boost Property: 0.5 + Class: foa_viewer_plugin/OperationViewTool + Fallback ViewController: foa_viewer_plugin/OperationView + Fly Mode: false + Left Hand Mode: false + Step Length: 0.10000000149011612 + Transformation: + Current: + Class: rviz_default_plugins/TF + Value: true + Views: + Current: + Class: tier4_camera_view_rviz_plugin/ThirdPersonView + Distance: 115.53753662109375 + Enable Stereo Rendering: + Stereo Eye Separation: 0.05999999865889549 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Focal Point: + X: 0 + Y: 0 + Z: 0 + Focal Shape Fixed Size: false + Focal Shape Size: 0.05000000074505806 + Invert Z Axis: false + Name: Current View + Near Clip Distance: 0.009999999776482582 + Pitch: 1.5697963237762451 + Target Frame: base_link + Value: ThirdPersonView (tier4_camera_view_rviz_plugin) + Yaw: 3.1415927410125732 + Saved: + - Class: rviz_default_plugins/ThirdPersonFollower + Distance: 18 + Enable Stereo Rendering: + Stereo Eye Separation: 0.05999999865889549 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Focal Point: + X: 0 + Y: 0 + Z: 0 + Focal Shape Fixed Size: true + Focal Shape Size: 0.05000000074505806 + Invert Z Axis: false + Name: ThirdPersonFollower + Near Clip Distance: 0.009999999776482582 + Pitch: 0.20000000298023224 + Target Frame: base_link + Value: ThirdPersonFollower (rviz) + Yaw: 3.141592025756836 + - Angle: 0 + Class: rviz_default_plugins/TopDownOrtho + Enable Stereo Rendering: + Stereo Eye Separation: 0.05999999865889549 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Invert Z Axis: false + Name: TopDownOrtho + Near Clip Distance: 0.009999999776482582 + Scale: 10 + Target Frame: viewer + Value: TopDownOrtho (rviz) + X: 0 + Y: 0 +Window Geometry: + AutowareDateTimePanel: + collapsed: false + AutowareScreenCapturePanel: + collapsed: false + AutowareStatePanel: + collapsed: false + Displays: + collapsed: false + Height: 1376 + Hide Left Dock: false + Hide Right Dock: false + Image: + collapsed: false + LoggingLevelConfigureRvizPlugin: + collapsed: false + MultiDataMonitor: + collapsed: false + PointcloudOnCamera: + collapsed: false + QMainWindow State: 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+ RTCManagerPanel: + collapsed: false + RecognitionResultOnImage: + collapsed: false + Selection: + collapsed: false + Tool Properties: + collapsed: false + Views: + collapsed: false + Width: 2490 + X: 70 + Y: 27 diff --git a/autoware_launch/rviz/planning_tpv.rviz b/autoware_launch/rviz/planning_tpv.rviz new file mode 100644 index 0000000000..0b88e6724d --- /dev/null +++ b/autoware_launch/rviz/planning_tpv.rviz @@ -0,0 +1,4640 @@ +Panels: + - Class: rviz_common/Displays + Help Height: 0 + Name: Displays + Property Tree Widget: + Expanded: + - /System1/Vehicle1 + - /Map1/Lanelet2VectorMap1 + - /Map1/Lanelet2VectorMap1/Namespaces1 + - /Sensing1/LiDAR1/ConcatenatePointCloud1/Autocompute Value Bounds1 + - /Perception1/Segmentation1/NoGroundPointCloud1 + - /Perception1/ObjectRecognition1 + - /Planning1/MissionPlanning1 + - /Planning1/ScenarioPlanning1 + - /Planning1/ScenarioPlanning1/LaneDriving1/BehaviorPlanning1 + - /Planning1/ScenarioPlanning1/LaneDriving1/BehaviorPlanning1/InfoMarker1 + - /Planning1/ScenarioPlanning1/LaneDriving1/MotionPlanning1/DebugMarker1 + - /Planning1/ScenarioPlanning1/LaneDriving1/MotionPlanning1/DebugMarker1/ObstacleCruise1 + - /Planning1/ScenarioPlanning1/Parking1/PoseArray1 + - /Planning1/Diagnostic1 + - /Control1/Predicted Trajectory1 + - /Debug1/Sensing1/PointcloudOnCamera1 + - /Debug1/Sensing1/ConcatenatePointCloud1/Autocompute Value Bounds1 + - /Debug1/Perception1/Centerpoint(red1)1/UNKNOWN1 + - /Debug1/Perception1/Centerpoint(red1)1/CAR1 + - /Debug1/Perception1/Centerpoint(red1)1/TRUCK1 + - /Debug1/Perception1/Centerpoint(red1)1/BUS1 + - /Debug1/Perception1/Centerpoint(red1)1/TRAILER1 + - /Debug1/Perception1/Centerpoint(red1)1/MOTORCYCLE1 + - /Debug1/Perception1/Centerpoint(red1)1/CYCLIST1 + - /Debug1/Perception1/Centerpoint(red1)1/PEDESTRIAN1 + - /Debug1/Perception1/CenterpointROIFusion(red2)1/UNKNOWN1 + - /Debug1/Perception1/CenterpointValidator(red3)1/UNKNOWN1 + - /Debug1/Perception1/PointPainting(light_green1)1/UNKNOWN1 + - /Debug1/Perception1/PointPaintingROIFusion(light_green2)1/UNKNOWN1 + - /Debug1/Perception1/PointPaintingValidator(light_green3)1/UNKNOWN1 + - /Debug1/Perception1/DetectionByTracker(orange)1/UNKNOWN1 + - /Debug1/Perception1/RadarFarObjects(white)1/UNKNOWN1 + - /Debug1/Perception1/Detection(yellow)1/UNKNOWN1 + - /Debug1/Planning1 + - /Debug1/Planning1/Objects Of Interest1 + Splitter Ratio: 0.7641357183456421 + Tree Height: 423 + - Class: rviz_common/Selection + Name: Selection + - Class: rviz_common/Tool Properties + Expanded: + - /Third Person View1 + - /Bird Eye View1 + Name: Tool Properties + Splitter Ratio: 0.5886790156364441 + - Class: rviz_common/Views + Expanded: + - /Current View1 + Name: Views + Splitter Ratio: 0.5 + - Class: AutowareDateTimePanel + Name: AutowareDateTimePanel + - Class: rviz_plugins::AutowareStatePanel + Name: AutowareStatePanel + - Class: AutowareScreenCapturePanel + Name: AutowareScreenCapturePanel + - Class: multi_data_monitor::MultiDataMonitor + Name: MultiDataMonitor + Path: package://multi_data_monitor_config/data/debug_config.yaml + - Class: rviz_plugin::LoggingLevelConfigureRvizPlugin + Name: LoggingLevelConfigureRvizPlugin + - Class: rviz_plugins::RTCManagerPanel + Name: RTCManagerPanel + - Class: rviz_plugins::VelocitySteeringFactorsPanel + Name: VelocitySteeringFactorsPanel +Visualization Manager: + Class: "" + Displays: + - Class: rviz_common/Group + Displays: + - Class: rviz_default_plugins/TF + Enabled: false + Frame Timeout: 15 + Frames: + All Enabled: true + Marker Scale: 1 + Name: TF + Show Arrows: true + Show Axes: true + Show Names: true + Tree: + {} + Update Interval: 0 + Value: false + - Alpha: 0.5 + Cell Size: 10 + Class: rviz_default_plugins/Grid + Color: 84; 110; 122 + Enabled: false + Line Style: + Line Width: 0.029999999329447746 + Value: Lines + Name: Grid + Normal Cell Count: 0 + Offset: + X: 0 + Y: 0 + Z: 0 + Plane: XY + Plane Cell Count: 100 + Reference Frame: base_link + Value: false + - Class: rviz_common/Group + Displays: + - Alpha: 0.30000001192092896 + Class: rviz_default_plugins/RobotModel + Collision Enabled: false + Description File: "" + Description Source: Topic + Description Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /robot_description + Enabled: true + Links: + All Links Enabled: true + Expand Joint Details: false + Expand Link Details: false + Expand Tree: false + Link Tree Style: Links in Alphabetic Order + ars408_front_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + base_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + camera0/camera_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + camera0/camera_optical_link: + Alpha: 1 + Show Axes: false + Show Trail: false + camera1/camera_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + camera1/camera_optical_link: + Alpha: 1 + Show Axes: false + Show Trail: false + camera2/camera_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + camera2/camera_optical_link: + Alpha: 1 + Show Axes: false + Show Trail: false + camera3/camera_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + camera3/camera_optical_link: + Alpha: 1 + Show Axes: false + Show Trail: false + camera4/camera_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + camera4/camera_optical_link: + Alpha: 1 + Show Axes: false + Show Trail: false + camera5/camera_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + camera5/camera_optical_link: + Alpha: 1 + Show Axes: false + Show Trail: false + camera6/camera_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + camera6/camera_optical_link: + Alpha: 1 + Show Axes: false + Show Trail: false + camera7/camera_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + camera7/camera_optical_link: + Alpha: 1 + Show Axes: false + Show Trail: false + front_center/radar_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + front_left/radar_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + front_right/radar_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + front_unit_base_link: + Alpha: 1 + Show Axes: false + Show Trail: false + gnss_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + pandar_40p_front: + Alpha: 1 + Show Axes: false + Show Trail: false + pandar_40p_front_base_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + pandar_40p_left: + Alpha: 1 + Show Axes: false + Show Trail: false + pandar_40p_left_base_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + pandar_40p_rear: + Alpha: 1 + Show Axes: false + Show Trail: false + pandar_40p_rear_base_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + pandar_40p_right: + Alpha: 1 + Show Axes: false + Show Trail: false + pandar_40p_right_base_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + pandar_qt_front: + Alpha: 1 + Show Axes: false + Show Trail: false + pandar_qt_front_base_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + pandar_qt_left: + Alpha: 1 + Show Axes: false + Show Trail: false + pandar_qt_left_base_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + pandar_qt_rear: + Alpha: 1 + Show Axes: false + Show Trail: false + pandar_qt_rear_base_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + pandar_qt_right: + Alpha: 1 + Show Axes: false + Show Trail: false + pandar_qt_right_base_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + rear_center/radar_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + rear_left/radar_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + rear_right/radar_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + rear_unit_base_link: + Alpha: 1 + Show Axes: false + Show Trail: false + tamagawa/imu_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + top_unit_base_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Mass Properties: + Inertia: false + Mass: false + Name: VehicleModel + TF Prefix: "" + Update Interval: 0 + Value: true + Visual Enabled: true + - Class: rviz_plugins/PolarGridDisplay + Color: 255; 255; 255 + Delta Range: 10 + Enabled: true + Max Alpha: 0.5 + Max Range: 100 + Max Wave Alpha: 0.5 + Min Alpha: 0.009999999776482582 + Min Wave Alpha: 0.009999999776482582 + Name: PolarGridDisplay + Reference Frame: base_link + Value: true + Wave Color: 255; 255; 255 + Wave Velocity: 40 + - Class: autoware_overlay_rviz_plugin/SignalDisplay + Enabled: true + Gear Topic Test: /vehicle/status/gear_status + Hazard Lights Topic: /vehicle/status/hazard_lights_status + Height: 100 + Left: -420 + Name: SignalDisplay + Signal Color: 0; 230; 120 + Speed Limit Topic: /planning/scenario_planning/current_max_velocity + Speed Topic: /vehicle/status/velocity_status + Steering Topic: /vehicle/status/steering_status + Top: 10 + Traffic Topic: /planning/scenario_planning/lane_driving/behavior_planning/debug/traffic_signal + Turn Signals Topic: /vehicle/status/turn_indicators_status + Value: true + Width: 550 + Enabled: true + Name: Vehicle + - Class: rviz_plugins/MrmSummaryOverlayDisplay + Enabled: false + Font Size: 10 + Left: 512 + Max Letter Num: 100 + Name: MRM Summary + Text Color: 25; 255; 240 + Top: 64 + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /system/emergency/hazard_status + Value: false + Value height offset: 0 + Enabled: true + Name: System + - Class: rviz_common/Group + Displays: + - Alpha: 0.20000000298023224 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 28.71826171875 + Min Value: -7.4224700927734375 + Value: true + Axis: Z + Channel Name: intensity + Class: rviz_default_plugins/PointCloud2 + Color: 255; 255; 255 + Color Transformer: FlatColor + Decay Time: 0 + Enabled: false + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 237 + Min Color: 211; 215; 207 + Min Intensity: 0 + Name: PointCloudMap + Position Transformer: XYZ + Selectable: false + Size (Pixels): 1 + 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: false + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: Lanelet2VectorMap + Namespaces: + "": true + center_lane_line: true + center_line_arrows: true + crosswalk_areas: true + crosswalk_lanelet_id: true + crosswalk_lanelets: false + curbstone: true + hatched_road_markings_area: true + hatched_road_markings_bound: true + intersection_area: true + lane_start_bound: true + lanelet direction: true + lanelet_id: true + left_lane_bound: true + no_parking_area: true + no_stopping_area: true + partitions: true + pedestrian_polygon_marking: true + right_lane_bound: true + road_lanelets: false + shoulder_center_lane_line: true + shoulder_center_line_arrows: true + shoulder_lane_start_bound: true + shoulder_left_lane_bound: true + shoulder_right_lane_bound: true + shoulder_road_lanelets: true + stop_lines: true + traffic_light: true + traffic_light_id: true + traffic_light_reg_elem_id: true + traffic_light_triangle: true + walkway_lanelets: false + Topic: + Depth: 5 + Durability Policy: Transient Local + History Policy: Keep Last + Reliability Policy: Reliable + Value: /map/vector_map_marker + Value: true + Enabled: true + Name: Map + - Class: rviz_common/Group + Displays: + - Class: rviz_common/Group + Displays: + - Alpha: 0.4000000059604645 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 5 + Min Value: -1 + Value: false + Axis: Z + Channel Name: intensity + Class: rviz_default_plugins/PointCloud2 + Color: 255; 255; 255 + Color Transformer: AxisColor + Decay Time: 0 + Enabled: true + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 4096 + Min Color: 0; 0; 0 + Min Intensity: 0 + Name: ConcatenatePointCloud + Position Transformer: XYZ + Selectable: false + Size (Pixels): 1 + 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: 0.9990000128746033 + Class: rviz_default_plugins/Polygon + Color: 25; 255; 0 + Enabled: false + Name: MeasurementRange + 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 + Value: false + Enabled: true + Name: LiDAR + - Class: rviz_common/Group + Displays: + - Alpha: 0.9990000128746033 + Axes Length: 1 + Axes Radius: 0.10000000149011612 + Class: rviz_default_plugins/PoseWithCovariance + Color: 233; 185; 110 + Covariance: + Orientation: + Alpha: 0.5 + Color: 255; 255; 127 + Color Style: Unique + Frame: Local + Offset: 1 + Scale: 1 + Value: false + Position: + Alpha: 0.20000000298023224 + Color: 204; 51; 204 + Scale: 1 + Value: true + Value: true + Enabled: true + Head Length: 0.699999988079071 + Head Radius: 1.2000000476837158 + Name: PoseWithCovariance + Shaft Length: 1 + Shaft Radius: 0.5 + Shape: Arrow + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /sensing/gnss/pose_with_covariance + Value: true + Enabled: false + Name: GNSS + Enabled: true + Name: Sensing + - Class: rviz_common/Group + Displays: + - Class: rviz_common/Group + Displays: + - Alpha: 0.9990000128746033 + Axes Length: 1 + Axes Radius: 0.10000000149011612 + Class: rviz_default_plugins/PoseWithCovariance + Color: 0; 170; 255 + Covariance: + Orientation: + Alpha: 0.5 + Color: 255; 255; 127 + Color Style: Unique + Frame: Local + Offset: 1 + Scale: 1 + Value: true + Position: + Alpha: 0.30000001192092896 + Color: 204; 51; 204 + Scale: 1 + Value: true + Value: true + Enabled: false + Head Length: 0.4000000059604645 + Head Radius: 0.6000000238418579 + Name: PoseWithCovInitial + Shaft Length: 0.6000000238418579 + Shaft Radius: 0.30000001192092896 + Shape: Arrow + 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 + Axes Length: 1 + Axes Radius: 0.10000000149011612 + Class: rviz_default_plugins/PoseWithCovariance + Color: 0; 255; 0 + Covariance: + Orientation: + Alpha: 0.5 + Color: 255; 255; 127 + Color Style: Unique + Frame: Local + Offset: 1 + Scale: 1 + Value: true + Position: + Alpha: 0.30000001192092896 + Color: 204; 51; 204 + Scale: 1 + Value: true + Value: true + Enabled: false + Head Length: 0.4000000059604645 + Head Radius: 0.6000000238418579 + Name: PoseWithCovAligned + Shaft Length: 0.6000000238418579 + Shaft Radius: 0.30000001192092896 + Shape: Arrow + 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 + - Buffer Size: 200 + Class: rviz_plugins::PoseHistory + Enabled: false + Line: + Alpha: 0.9990000128746033 + Color: 170; 255; 127 + Value: true + Width: 0.10000000149011612 + 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 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 10 + Min Value: -10 + Value: true + Axis: Z + Channel Name: intensity + Class: rviz_default_plugins/PointCloud2 + Color: 0; 255; 255 + Color Transformer: "" + Decay Time: 0 + Enabled: false + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 4096 + Min Color: 0; 0; 0 + Min Intensity: 0 + Name: Initial + Position Transformer: XYZ + Selectable: false + Size (Pixels): 10 + Size (m): 0.5 + Style: Squares + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Best Effort + Value: /localization/util/downsample/pointcloud + Use Fixed Frame: true + Use rainbow: true + Value: false + - Alpha: 0.9990000128746033 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 10 + Min Value: -10 + Value: true + Axis: Z + Channel Name: intensity + Class: rviz_default_plugins/PointCloud2 + Color: 85; 255; 0 + Color Transformer: FlatColor + Decay Time: 0 + Enabled: false + Invert Rainbow: false + Max Color: 85; 255; 127 + Max Intensity: 0 + Min Color: 0; 0; 0 + Min Intensity: 0 + Name: Aligned + Position Transformer: XYZ + Selectable: false + Size (Pixels): 10 + Size (m): 0.5 + Style: Squares + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /localization/pose_estimator/points_aligned + Use Fixed Frame: true + Use rainbow: true + Value: false + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: MonteCarloInitialPose + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /localization/pose_estimator/monte_carlo_initial_pose_marker + Value: true + Enabled: true + Name: NDT + - Class: rviz_common/Group + Displays: + - Buffer Size: 1000 + Class: rviz_plugins::PoseHistory + Enabled: true + Line: + Alpha: 0.9990000128746033 + Color: 0; 255; 255 + Value: true + Width: 0.10000000149011612 + 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 + Value: true + Enabled: true + Name: EKF + Enabled: true + Name: Localization + - Class: rviz_common/Group + Displays: + - Class: rviz_common/Group + Displays: + - Alpha: 0.9990000128746033 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 15 + Min Value: -2 + Value: false + Axis: Z + Channel Name: z + Class: rviz_default_plugins/PointCloud2 + Color: 200; 200; 200 + Color Transformer: FlatColor + Decay Time: 0 + Enabled: true + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 15 + Min Color: 0; 0; 0 + Min Intensity: -5 + Name: NoGroundPointCloud + Position Transformer: XYZ + Selectable: false + Size (Pixels): 3 + Size (m): 0.019999999552965164 + Style: Points + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Best Effort + Value: /perception/obstacle_segmentation/pointcloud + Use Fixed Frame: true + Use rainbow: true + Value: true + Enabled: true + Name: Segmentation + - Class: rviz_common/Group + Displays: + - Class: rviz_common/Group + Displays: + - BUS: + Alpha: 0.9990000128746033 + Color: 30; 144; 255 + CAR: + Alpha: 0.9990000128746033 + Color: 30; 144; 255 + CYCLIST: + Alpha: 0.9990000128746033 + Color: 119; 11; 32 + Class: autoware_perception_rviz_plugin/DetectedObjects + Confidence Interval: 95% + Display Acceleration: true + Display Existence Probability: false + Display Label: true + Display Pose Covariance: true + Display Predicted Path Confidence: true + Display Predicted Paths: true + Display Twist: true + Display Twist Covariance: false + Display UUID: true + Display Velocity: true + Display Yaw Covariance: false + Display Yaw Rate: false + Display Yaw Rate Covariance: false + Enabled: true + Line Width: 0.029999999329447746 + MOTORCYCLE: + Alpha: 0.9990000128746033 + Color: 119; 11; 32 + Name: DetectedObjects + Namespaces: + {} + Object Fill Type: skeleton + PEDESTRIAN: + Alpha: 0.9990000128746033 + Color: 255; 192; 203 + Polygon Type: 3d + TRAILER: + Alpha: 0.9990000128746033 + Color: 30; 144; 255 + TRUCK: + Alpha: 0.9990000128746033 + 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: 0.9990000128746033 + Color: 255; 255; 255 + Value: true + Visualization Type: Normal + Enabled: false + Name: Detection + - Class: rviz_common/Group + Displays: + - BUS: + Alpha: 0.9990000128746033 + Color: 30; 144; 255 + CAR: + Alpha: 0.9990000128746033 + Color: 30; 144; 255 + CYCLIST: + Alpha: 0.9990000128746033 + Color: 119; 11; 32 + Class: autoware_perception_rviz_plugin/TrackedObjects + Confidence Interval: 95% + Display Acceleration: true + Display Existence Probability: false + Display Label: true + Display Pose Covariance: true + Display Predicted Path Confidence: true + Display Predicted Paths: true + Display Twist: true + Display Twist Covariance: false + Display UUID: true + Display Velocity: true + Display Yaw Covariance: false + Display Yaw Rate: false + Display Yaw Rate Covariance: false + Dynamic Status: All + Enabled: true + Line Width: 0.029999999329447746 + MOTORCYCLE: + Alpha: 0.9990000128746033 + Color: 119; 11; 32 + Name: TrackedObjects + Namespaces: + {} + Object Fill Type: skeleton + PEDESTRIAN: + Alpha: 0.9990000128746033 + Color: 255; 192; 203 + Polygon Type: 3d + TRAILER: + Alpha: 0.9990000128746033 + Color: 30; 144; 255 + TRUCK: + Alpha: 0.9990000128746033 + 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: 0.9990000128746033 + Color: 255; 255; 255 + Value: true + Visualization Type: Normal + Enabled: false + Name: Tracking + - Class: rviz_common/Group + Displays: + - BUS: + Alpha: 0.9990000128746033 + Color: 30; 144; 255 + CAR: + Alpha: 0.9990000128746033 + Color: 30; 144; 255 + CYCLIST: + Alpha: 0.9990000128746033 + Color: 119; 11; 32 + Class: autoware_perception_rviz_plugin/PredictedObjects + Confidence Interval: 95% + Display Acceleration: true + Display Existence Probability: false + Display Label: true + Display Pose Covariance: true + Display Predicted Path Confidence: true + Display Predicted Paths: true + Display Twist: true + Display Twist Covariance: false + Display UUID: true + Display Velocity: true + Display Yaw Covariance: false + Display Yaw Rate: false + Display Yaw Rate Covariance: false + Enabled: true + Line Width: 0.029999999329447746 + MOTORCYCLE: + Alpha: 0.9990000128746033 + Color: 119; 11; 32 + Name: PredictedObjects + Namespaces: + acceleration: true + label: true + path: true + path confidence: true + position covariance: true + shape: true + twist: true + uuid: true + velocity: true + Object Fill Type: skeleton + PEDESTRIAN: + Alpha: 0.9990000128746033 + Color: 255; 192; 203 + Polygon Type: 3d + TRAILER: + Alpha: 0.9990000128746033 + Color: 30; 144; 255 + TRUCK: + Alpha: 0.9990000128746033 + 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: 0.9990000128746033 + Color: 255; 255; 255 + Value: true + Visualization Type: Normal + - 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: false + Enabled: true + Name: Prediction + Enabled: true + Name: ObjectRecognition + - Class: rviz_common/Group + Displays: + - Class: rviz_default_plugins/Image + Enabled: false + Max Value: 1 + Median window: 5 + Min Value: 0 + Name: RecognitionResultOnImage + Normalize Range: true + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Best Effort + Value: /perception/traffic_light_recognition/camera6/debug/rois + Value: false + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: MapBasedDetectionResult + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Best Effort + Value: /perception/traffic_light_recognition/camera6/detection/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 + Displays: + - Class: rviz_common/Group + Displays: + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: RouteArea + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Transient Local + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/mission_planning/route_marker + Value: true + - Alpha: 0.9990000128746033 + Axes Length: 1 + Axes Radius: 0.30000001192092896 + Class: rviz_default_plugins/Pose + Color: 255; 25; 0 + Enabled: true + Head Length: 0.30000001192092896 + Head Radius: 0.5 + Name: GoalPose + Shaft Length: 3 + Shaft Radius: 0.20000000298023224 + Shape: Axes + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/mission_planning/echo_back_goal_pose + Value: true + - Class: autoware_mission_details_overlay_rviz_plugin/MissionDetailsDisplay + Enabled: true + Height: 100 + Name: MissionDetailsDisplay + Remaining Distance and Time Topic: /planning/mission_remaining_distance_time + Right: 10 + Top: 10 + Value: true + Width: 170 + Enabled: true + Name: MissionPlanning + - Class: rviz_common/Group + Displays: + - Class: rviz_plugins/Trajectory + Color Border Vel Max: 3 + Enabled: true + Name: ScenarioTrajectory + 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: 0.8500000238418579 + Value: false + Vehicle Length: 4.400000095367432 + Vehicle Width: 1.6950000524520874 + View Path: + 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 Slope: + Scale: 0.30000001192092896 + Value: false + View Text Velocity: + Scale: 0.30000001192092896 + Value: false + View Velocity: + Alpha: 0.9990000128746033 + Color: 0; 0; 0 + Constant Color: false + Scale: 0.30000001192092896 + Value: true + - Class: rviz_common/Group + Displays: + - Class: rviz_common/Group + Displays: + - Class: rviz_plugins/Path + Color Border Vel Max: 3 + Enabled: false + Name: Path + 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: 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: 0.8500000238418579 + Value: false + Vehicle Length: 4.400000095367432 + Vehicle Width: 1.6950000524520874 + 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 Slope: + Scale: 0.30000001192092896 + Value: false + View Text Velocity: + Scale: 0.30000001192092896 + Value: false + View Velocity: + Alpha: 0.4000000059604645 + Color: 0; 0; 0 + Constant Color: false + Scale: 0.30000001192092896 + Value: true + - Class: rviz_plugins/Path + Color Border Vel Max: 3 + Enabled: false + Name: PathReference_AvoidanceByLC + 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 + View Path: + 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 Slope: + Scale: 0.30000001192092896 + Value: false + View Text Velocity: + Scale: 0.30000001192092896 + Value: false + 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: false + Name: PathReference_Avoidance + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/path_reference/static_obstacle_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: 0.8500000238418579 + Value: false + Vehicle Length: 4.400000095367432 + Vehicle Width: 1.6950000524520874 + View Path: + 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 Slope: + Scale: 0.30000001192092896 + Value: false + View Text Velocity: + Scale: 0.30000001192092896 + Value: false + 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: false + Name: PathReference_LaneChangeRight + 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: 0.8500000238418579 + Value: false + Vehicle Length: 4.400000095367432 + Vehicle Width: 1.6950000524520874 + View Path: + 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 Slope: + Scale: 0.30000001192092896 + Value: false + View Text Velocity: + Scale: 0.30000001192092896 + Value: false + 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: false + Name: PathReference_LaneChangeLeft + 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: 0.8500000238418579 + Value: false + Vehicle Length: 4.400000095367432 + Vehicle Width: 1.6950000524520874 + View Path: + 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 Slope: + Scale: 0.30000001192092896 + Value: false + View Text Velocity: + Scale: 0.30000001192092896 + Value: false + 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: false + Name: PathReference_GoalPlanner + 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: 0.8500000238418579 + Value: false + Vehicle Length: 4.400000095367432 + Vehicle Width: 1.6950000524520874 + View Path: + 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 Slope: + Scale: 0.30000001192092896 + Value: false + View Text Velocity: + Scale: 0.30000001192092896 + Value: false + 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: false + Name: PathReference_StartPlanner + 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: 0.8500000238418579 + Value: false + Vehicle Length: 4.400000095367432 + Vehicle Width: 1.6950000524520874 + View Path: + 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 Slope: + Scale: 0.30000001192092896 + Value: false + View Text Velocity: + Scale: 0.30000001192092896 + Value: false + 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: false + Name: PathChangeCandidate_AvoidanceByLC + 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: 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: 0.30000001192092896 + 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 Slope: + Scale: 0.30000001192092896 + Value: false + View Text Velocity: + Scale: 0.30000001192092896 + Value: false + 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: false + Name: (old)PathChangeCandidate_LaneChange + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/path_candidate/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 + 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 Slope: + Scale: 0.30000001192092896 + Value: false + View Text Velocity: + Scale: 0.30000001192092896 + Value: false + 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: false + Name: PathChangeCandidate_LaneChangeRight + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/path_candidate/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: 0.8500000238418579 + Value: false + Vehicle Length: 4.400000095367432 + Vehicle Width: 1.6950000524520874 + 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 Slope: + Scale: 0.30000001192092896 + Value: false + View Text Velocity: + Scale: 0.30000001192092896 + Value: false + 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: false + Name: PathChangeCandidate_LaneChangeLeft + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/path_candidate/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: 0.8500000238418579 + Value: false + Vehicle Length: 4.400000095367432 + Vehicle Width: 1.6950000524520874 + 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 Slope: + Scale: 0.30000001192092896 + Value: false + View Text Velocity: + Scale: 0.30000001192092896 + Value: false + 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: false + Name: PathChangeCandidate_ExternalRequestLaneChangeRight + 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: 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: 0.30000001192092896 + 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 Slope: + Scale: 0.30000001192092896 + Value: false + View Text Velocity: + Scale: 0.30000001192092896 + Value: false + 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: false + Name: PathChangeCandidate_ExternalRequestLaneChangeLeft + 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: 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: 0.30000001192092896 + 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 Slope: + Scale: 0.30000001192092896 + Value: false + View Text Velocity: + Scale: 0.30000001192092896 + Value: false + 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: false + Name: PathChangeCandidate_Avoidance + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/path_candidate/static_obstacle_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: 0.8500000238418579 + Value: false + Vehicle Length: 4.400000095367432 + Vehicle Width: 1.6950000524520874 + 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 Slope: + Scale: 0.30000001192092896 + Value: false + View Text Velocity: + Scale: 0.30000001192092896 + Value: false + 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: false + Name: PathChangeCandidate_StartPlanner + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/path_candidate/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: 0.8500000238418579 + Value: false + Vehicle Length: 4.400000095367432 + Vehicle Width: 1.6950000524520874 + 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 Slope: + Scale: 0.30000001192092896 + Value: false + View Text Velocity: + Scale: 0.30000001192092896 + Value: false + 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: false + Name: PathChangeCandidate_GoalPlanner + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/path_candidate/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: 0.8500000238418579 + Value: false + Vehicle Length: 4.400000095367432 + Vehicle Width: 1.6950000524520874 + 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 Slope: + Scale: 0.30000001192092896 + Value: false + View Text Velocity: + Scale: 0.30000001192092896 + Value: false + View Velocity: + Alpha: 0.30000001192092896 + Color: 0; 0; 0 + Constant Color: false + Scale: 0.30000001192092896 + Value: false + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: Bound + Namespaces: + left_bound: true + right_bound: true + 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/bound + Value: true + - Class: rviz_common/Group + Displays: + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: VirtualWall (StaticObstacleAvoidance) + 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/virtual_wall/static_obstacle_avoidance + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: VirtualWall (AvoidanceByLC) + 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/virtual_wall/avoidance_by_lane_change + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: VirtualWall (LaneChangeRight) + Namespaces: + stop_factor_text: true + stop_virtual_wall: true + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/virtual_wall/lane_change_right + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: VirtualWall (LaneChangeLeft) + 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/virtual_wall/lane_change_left + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: VirtualWall (ExtLaneChangeRight) + 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/virtual_wall/external_request_lane_change_right + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: VirtualWall (ExtLaneChangeLeft) + 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/virtual_wall/external_request_lane_change_left + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: VirtualWall (GoalPlanner) + 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/virtual_wall/goal_planner + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: VirtualWall (StartPlanner) + 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/virtual_wall/start_planner + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: VirtualWall (BlindSpot) + 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/blind_spot + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: VirtualWall (Crosswalk) + 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/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) + 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/detection_area + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: VirtualWall (Intersection) + 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/intersection + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: VirtualWall (MergeFromPrivateArea) + 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/merge_from_private + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: VirtualWall (NoStoppingArea) + 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/no_stopping_area + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: VirtualWall (OcclusionSpot) + 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/occlusion_spot + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: VirtualWall (StopLine) + 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/stop_line + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: VirtualWall (TrafficLight) + Namespaces: + 1009_stop_factor_text: true + 1009_stop_virtual_wall: true + 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/traffic_light + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: VirtualWall (VirtualTrafficLight) + 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/virtual_traffic_light + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: VirtualWall (RunOut) + Namespaces: + stop_factor_text: true + stop_virtual_wall: true + 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/run_out + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: VirtualWall (SpeedBump) + 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/speed_bump + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: VirtualWall (NoDrivableLane) + 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/no_drivable_lane + Value: true + Enabled: true + Name: VirtualWall + - Class: rviz_common/Group + Displays: + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: Arrow + Namespaces: + "": true + 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/path + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: Crosswalk + Namespaces: + attention range far: true + attention range near: true + collision point: true + collision point state: true + crosswalk polygon: true + object polygon: true + vehicle polygon: true + 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/crosswalk + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: false + Name: Intersection + 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/intersection + Value: false + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: Blind Spot + 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/blind_spot + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: TrafficLight + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/debug/traffic_light + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: VirtualTrafficLight + 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/virtual_traffic_light + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: StopLine + 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/stop_line + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: DetectionArea + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/debug/detection_area + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: OcclusionSpot + 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/occlusion_spot + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: false + Name: NoStoppingArea + 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/no_stopping_area + Value: false + - Class: rviz_default_plugins/MarkerArray + Enabled: false + Name: RunOut + 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/run_out + Value: false + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: StaticObstacleAvoidance + Namespaces: + others_ambiguous_stopped_vehicle_cube: true + others_ambiguous_stopped_vehicle_info: true + others_ambiguous_stopped_vehicle_info_reason: true + others_ambiguous_stopped_vehicle_overhang_lanelet: true + others_deviating_from_ego_lane_cube: true + others_deviating_from_ego_lane_info: true + others_deviating_from_ego_lane_info_reason: true + others_deviating_from_ego_lane_overhang_lanelet: true + others_enough_lateral_distance_cube: true + others_enough_lateral_distance_info: true + others_enough_lateral_distance_info_reason: true + others_enough_lateral_distance_overhang_lanelet: true + others_further_than_threshold_cube: true + others_further_than_threshold_info: true + others_further_than_threshold_info_reason: true + others_further_than_threshold_overhang_lanelet: true + others_is_not_parking_object_cube: true + others_is_not_parking_object_info: true + others_is_not_parking_object_info_reason: true + others_is_not_parking_object_overhang_lanelet: true + others_merging_to_ego_lane_cube: true + others_merging_to_ego_lane_info: true + others_merging_to_ego_lane_info_reason: true + others_merging_to_ego_lane_overhang_lanelet: true + others_moving_object_cube: true + others_moving_object_info: true + others_moving_object_info_reason: true + others_moving_object_overhang_lanelet: true + others_out_of_target_area_cube: true + others_out_of_target_area_info: true + others_out_of_target_area_info_reason: true + others_out_of_target_area_overhang_lanelet: true + 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/static_obstacle_avoidance + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: false + Name: LeftLaneChange + 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_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 + 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/lane_following + Value: false + - Class: rviz_default_plugins/MarkerArray + Enabled: false + Name: GoalPlanner + 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/goal_planner + Value: false + - Class: rviz_default_plugins/MarkerArray + Enabled: false + Name: StartPlanner + 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/start_planner + 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/side_shift + Value: false + - Class: rviz_default_plugins/MarkerArray + Enabled: false + Name: SpeedBump + 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/speed_bump + Value: false + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: DynamicObstacleAvoidance + 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/dynamic_obstacle_avoidance + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: false + Name: NoDrivableLane + 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/no_drivable_lane + Value: false + Enabled: true + Name: DebugMarker + - Class: rviz_common/Group + Displays: + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: Info (StaticObstacleAvoidance) + 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/info/static_obstacle_avoidance + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: Info (AvoidanceByLC) + 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/info/avoidance_by_lane_change + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: Info (LaneChangeLeft) + 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/info/lane_change_left + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: Info (LaneChangeRight) + 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/info/lane_change_right + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: Info (ExtLaneChangeLeft) + 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/info/external_request_lane_change_left + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: Info (ExtLaneChangeRight) + 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/info/external_request_lane_change_right + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: Info (GoalPlanner) + 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/info/goal_planner + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: Info (StartPlanner) + 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/info/start_planner + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: Info (DynamicObstacleAvoidance) + 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/info/dynamic_obstacle_avoidance + Value: true + Enabled: true + Name: InfoMarker + Enabled: true + Name: BehaviorPlanning + - Class: rviz_common/Group + Displays: + - Class: rviz_plugins/Trajectory + Color Border Vel Max: 3 + Enabled: true + Name: Trajectory + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/trajectory + Value: true + View Footprint: + Alpha: 1 + Color: 230; 230; 50 + Offset from BaseLink: 0 + Rear Overhang: 0.8500000238418579 + Value: false + Vehicle Length: 4.400000095367432 + Vehicle Width: 1.6950000524520874 + View Path: + 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 Slope: + Scale: 0.30000001192092896 + Value: false + View Text Velocity: + Scale: 0.30000001192092896 + Value: false + View Velocity: + Alpha: 0.9990000128746033 + Color: 0; 0; 0 + Constant Color: false + Scale: 0.30000001192092896 + Value: true + - Class: rviz_common/Group + Displays: + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: VirtualWall (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/virtual_wall + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: VirtualWall (SurroundObstacle) + 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/virtual_wall + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: VirtualWall (ObstacleAvoidance) + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/motion_planning/obstacle_avoidance_planner/virtual_wall + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: VirtualWall (ObstacleCruise Stop) + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/virtual_wall/stop + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: VirtualWall (ObstacleCruise Cruise) + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/virtual_wall/cruise + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: VirtualWall (ObstacleCruise SlowDown) + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/virtual_wall/slow_down + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: VirtualWall (MotionVelocitySmoother) + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/velocity_smoother/virtual_wall + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: VirtualWall (OutOfLane) + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/motion_planning/motion_velocity_planner/out_of_lane/virtual_walls + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: VirtualWall (ObstacleVelocityLimiter) + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/motion_planning/motion_velocity_planner/obstacle_velocity_limiter/virtual_walls + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: VirtualWall (DynamicObstacleStop) + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/motion_planning/motion_velocity_planner/dynamic_obstacle_stop/virtual_walls + Value: true + Enabled: true + Name: VirtualWall + - Class: rviz_common/Group + Displays: + - Class: rviz_common/Group + Displays: + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: SurroundObstacleCheck + 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 + - 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/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: false + Name: SurroundObstacleChecker + - Class: rviz_default_plugins/MarkerArray + Enabled: false + 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: false + - Class: rviz_common/Group + Displays: + - Class: rviz_default_plugins/MarkerArray + Enabled: false + 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: false + Enabled: true + Name: ObstacleCruise + - Class: rviz_default_plugins/MarkerArray + Enabled: false + Name: ObstacleAvoidance + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/motion_planning/obstacle_avoidance_planner/debug/marker + Value: false + - Class: rviz_common/Group + Displays: + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: OutOfLane + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/motion_planning/motion_velocity_planner/out_of_lane/debug_markers + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: ObstacleVelocityLimiter + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/motion_planning/motion_velocity_planner/obstacle_velocity_limiter/debug_markers + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: DynamicObstacleStop + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/motion_planning/motion_velocity_planner/dynamic_obstacle_stop/debug_markers + Value: true + Enabled: false + Name: MotionVelocityPlanner + Enabled: true + Name: DebugMarker + Enabled: true + Name: MotionPlanning + Enabled: true + Name: LaneDriving + - Class: rviz_common/Group + Displays: + - Alpha: 0.699999988079071 + Class: rviz_default_plugins/Map + Color Scheme: map + Draw Behind: false + Enabled: true + Name: Costmap + 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 + Update Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/parking/costmap_generator/occupancy_grid_updates + Use Timestamp: false + Value: true + - Alpha: 0.9990000128746033 + Arrow Length: 0.30000001192092896 + Axes Length: 0.30000001192092896 + Axes Radius: 0.009999999776482582 + Class: rviz_default_plugins/PoseArray + Color: 255; 25; 0 + Enabled: true + Head Length: 0.10000000149011612 + Head Radius: 0.20000000298023224 + Name: PartialPoseArray + Shaft Length: 0.20000000298023224 + Shaft Radius: 0.05000000074505806 + Shape: Arrow (3D) + 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 + Arrow Length: 0.5 + Axes Length: 0.30000001192092896 + Axes Radius: 0.009999999776482582 + Class: rviz_default_plugins/PoseArray + Color: 0; 0; 255 + Enabled: true + Head Length: 0.10000000149011612 + Head Radius: 0.20000000298023224 + Name: PoseArray + Shaft Length: 0.20000000298023224 + Shaft Radius: 0.05000000074505806 + Shape: Arrow (Flat) + 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 + Value: true + Enabled: true + Name: Parking + - Class: rviz_plugins/PoseWithUuidStamped + Enabled: true + Length: 1.5 + Name: ModifiedGoal + Radius: 0.5 + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/modified_goal + UUID: + Scale: 0.30000001192092896 + Value: false + 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: true + Name: Diagnostic + Enabled: true + Name: Planning + - Class: rviz_common/Group + Displays: + - Class: rviz_plugins/Trajectory + Color Border Vel Max: 3 + Enabled: true + Name: Predicted Trajectory + 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: 0.8500000238418579 + Value: false + Vehicle Length: 4.400000095367432 + Vehicle Width: 1.6950000524520874 + View Path: + Alpha: 1 + Color: 255; 255; 255 + Constant Color: 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 Slope: + Scale: 0.30000001192092896 + Value: false + View Text Velocity: + Scale: 0.30000001192092896 + Value: false + View Velocity: + Alpha: 1 + Color: 0; 0; 0 + Constant Color: false + Scale: 0.30000001192092896 + Value: false + - Class: rviz_default_plugins/Marker + Enabled: false + Name: Stop Reason + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /control/trajectory_follower/longitudinal/stop_reason + Value: false + - Class: rviz_default_plugins/MarkerArray + Enabled: false + Name: Debug/MPC + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /control/trajectory_follower/mpc_follower/debug/markers + Value: false + - Class: rviz_default_plugins/MarkerArray + Enabled: false + Name: Debug/PurePursuit + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /control/trajectory_follower/controller_node_exe/debug/markers + Value: false + - Class: rviz_default_plugins/MarkerArray + Enabled: false + Name: Debug/AEB + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /control/autonomous_emergency_braking/debug/markers + Value: false + Enabled: true + Name: Control + - Class: rviz_common/Group + Displays: + - Class: rviz_common/Group + Displays: ~ + Enabled: false + Name: Map + - Class: rviz_common/Group + Displays: + - Class: rviz_default_plugins/Camera + Enabled: false + Far Plane Distance: 100 + Image Rendering: background and overlay + Name: PointcloudOnCamera + Overlay Alpha: 0.5 + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Best Effort + Value: /sensing/camera/camera6/image_raw + Value: false + Visibility: + Control: + Debug/AEB: true + Debug/MPC: true + Debug/PurePursuit: true + Predicted Trajectory: true + Stop Reason: true + Value: false + Debug: + Control: true + Localization: + "": true + Value: true + Map: true + Perception: + CameraLidarFusion(purple): true + Centerpoint(red1): true + CenterpointROIFusion(red2): true + CenterpointValidator(red3): true + Detection(yellow): true + DetectionByTracker(orange): true + PointPainting(light_green1): true + PointPaintingROIFusion(light_green2): true + PointPaintingValidator(light_green3): true + Prediction(light_blue): true + RadarFarObjects(white): true + Tracking(green): true + Value: true + Planning: + Objects Of Interest: + AvoidanceByLCLeft: true + AvoidanceByLCRight: true + AvoidanceLeft: true + AvoidanceRight: true + BlindSpot: true + Crosswalk: true + DetectionArea: true + GoalPlanner: true + Intersection: true + LaneChangeLeft: true + LaneChangeRight: true + NoStoppingArea: true + StartPlanner: true + TrafficLight: true + Value: true + Value: true + Sensing: + ConcatenatePointCloud: true + RadarRawObjects(white): true + Value: true + Value: true + Image: true + Localization: + EKF: + PoseHistory: true + Value: true + NDT: + Aligned: true + Initial: true + MonteCarloInitialPose: true + PoseHistory: true + PoseWithCovAligned: true + PoseWithCovInitial: true + Value: true + Value: false + Map: + Lanelet2VectorMap: true + PointCloudMap: true + Value: false + MrmSummaryOverlayDisplay: true + Perception: + ObjectRecognition: + Detection: + DetectedObjects: true + Value: true + Prediction: + Maneuver: true + PredictedObjects: true + Value: true + Tracking: + TrackedObjects: true + Value: true + Value: true + OccupancyGrid: + Map: true + Value: true + Segmentation: + NoGroundPointCloud: true + Value: true + TrafficLight: + MapBasedDetectionResult: true + RecognitionResultOnImage: true + Value: true + Value: false + Planning: + Diagnostic: + PlanningErrorMarker: true + Value: true + MissionPlanning: + GoalPose: true + MissionDetailsDisplay: true + RouteArea: true + Value: true + ScenarioPlanning: + LaneDriving: + BehaviorPlanning: + (old)PathChangeCandidate_LaneChange: true + Bound: true + DebugMarker: + Arrow: true + Blind Spot: true + Crosswalk: true + DetectionArea: true + DynamicObstacleAvoidance: true + GoalPlanner: true + Intersection: true + LaneFollowing: true + LeftLaneChange: true + NoDrivableLane: true + NoStoppingArea: true + OcclusionSpot: true + RightLaneChange: true + RunOut: true + SideShift: true + SpeedBump: true + StartPlanner: true + StaticObstacleAvoidance: true + StopLine: true + TrafficLight: true + Value: true + VirtualTrafficLight: true + InfoMarker: + Info (AvoidanceByLC): true + Info (DynamicObstacleAvoidance): true + Info (ExtLaneChangeLeft): true + Info (ExtLaneChangeRight): true + Info (GoalPlanner): true + Info (LaneChangeLeft): true + Info (LaneChangeRight): true + Info (StartPlanner): true + Info (StaticObstacleAvoidance): true + Value: true + Path: true + PathChangeCandidate_Avoidance: true + PathChangeCandidate_AvoidanceByLC: true + PathChangeCandidate_ExternalRequestLaneChangeLeft: true + PathChangeCandidate_ExternalRequestLaneChangeRight: true + PathChangeCandidate_GoalPlanner: true + PathChangeCandidate_LaneChangeLeft: true + PathChangeCandidate_LaneChangeRight: true + PathChangeCandidate_StartPlanner: true + PathReference_Avoidance: true + PathReference_AvoidanceByLC: true + PathReference_GoalPlanner: true + PathReference_LaneChangeLeft: true + PathReference_LaneChangeRight: true + PathReference_StartPlanner: true + Value: true + VirtualWall: + Value: true + VirtualWall (AvoidanceByLC): true + VirtualWall (BlindSpot): true + VirtualWall (Crosswalk): true + VirtualWall (DetectionArea): true + VirtualWall (ExtLaneChangeLeft): true + VirtualWall (ExtLaneChangeRight): true + VirtualWall (GoalPlanner): true + VirtualWall (Intersection): true + VirtualWall (LaneChangeLeft): true + VirtualWall (LaneChangeRight): true + VirtualWall (MergeFromPrivateArea): true + VirtualWall (NoDrivableLane): true + VirtualWall (NoStoppingArea): true + VirtualWall (OcclusionSpot): true + VirtualWall (RunOut): true + VirtualWall (SpeedBump): true + VirtualWall (StartPlanner): true + VirtualWall (StaticObstacleAvoidance): true + VirtualWall (StopLine): true + VirtualWall (TrafficLight): true + VirtualWall (VirtualTrafficLight): true + VirtualWall (Walkway): true + MotionPlanning: + DebugMarker: + MotionVelocityPlanner: + DynamicObstacleStop: true + ObstacleVelocityLimiter: true + OutOfLane: true + Value: true + ObstacleAvoidance: true + ObstacleCruise: + CruiseVirtualWall: true + DebugMarker: true + SlowDownVirtualWall: true + Value: true + ObstacleStop: true + SurroundObstacleChecker: + Footprint: true + FootprintOffset: true + FootprintRecoverOffset: true + SurroundObstacleCheck: true + Value: true + Value: true + Trajectory: true + Value: true + VirtualWall: + Value: true + VirtualWall (DynamicObstacleStop): true + VirtualWall (MotionVelocitySmoother): true + VirtualWall (ObstacleAvoidance): true + VirtualWall (ObstacleCruise): true + VirtualWall (ObstacleStop): true + VirtualWall (ObstacleVelocityLimiter): true + VirtualWall (OutOfLane): true + VirtualWall (SurroundObstacle): true + Value: true + ModifiedGoal: true + Parking: + Costmap: true + PartialPoseArray: true + PoseArray: true + Value: true + ScenarioTrajectory: true + Value: true + Value: false + PlanningInternalState: true + Sensing: + GNSS: + PoseWithCovariance: true + Value: true + LiDAR: + ConcatenatePointCloud: true + MeasurementRange: true + Value: true + Value: true + System: + Grid: true + MRM Summary: true + TF: true + Value: false + Vehicle: + PolarGridDisplay: true + SignalDisplay: true + Value: true + VehicleModel: true + Value: true + Zoom Factor: 1 + - Alpha: 1 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 5 + Min Value: -1 + Value: false + Axis: Z + Channel Name: intensity + Class: rviz_default_plugins/PointCloud2 + Color: 255; 255; 255 + Color Transformer: AxisColor + Decay Time: 0 + Enabled: true + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 4096 + Min Color: 0; 0; 0 + Min Intensity: 0 + Name: ConcatenatePointCloud + Position Transformer: XYZ + Selectable: false + Size (Pixels): 3 + Size (m): 0.019999999552965164 + Style: Points + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Best Effort + Value: /sensing/lidar/concatenated/pointcloud + Use Fixed Frame: false + Use rainbow: true + Value: true + - BUS: + Alpha: 0.5 + Color: 255; 255; 255 + CAR: + Alpha: 0.5 + Color: 255; 255; 255 + CYCLIST: + Alpha: 0.5 + Color: 255; 255; 255 + Class: autoware_perception_rviz_plugin/DetectedObjects + Confidence Interval: 95% + Display Acceleration: true + Display Existence Probability: false + Display Label: true + Display Pose Covariance: true + Display Predicted Path Confidence: true + Display Predicted Paths: true + Display Twist: true + Display Twist Covariance: false + Display UUID: true + Display Velocity: true + Display Yaw Covariance: false + Display Yaw Rate: false + Display Yaw Rate Covariance: false + Enabled: true + Line Width: 0.029999999329447746 + MOTORCYCLE: + Alpha: 0.5 + Color: 255; 255; 255 + Name: RadarRawObjects(white) + Namespaces: + {} + Object Fill Type: skeleton + PEDESTRIAN: + Alpha: 0.5 + Color: 255; 255; 255 + Polygon Type: 3d + TRAILER: + Alpha: 0.5 + Color: 255; 255; 255 + TRUCK: + Alpha: 0.5 + Color: 255; 255; 255 + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Best Effort + Value: /sensing/radar/detected_objects + UNKNOWN: + Alpha: 0.5 + Color: 255; 255; 255 + Value: true + Visualization Type: Normal + Enabled: false + Name: Sensing + - Class: rviz_common/Group + Displays: + - Alpha: 0.9990000128746033 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 10 + Min Value: -10 + Value: true + Axis: Z + Channel Name: intensity + Class: rviz_default_plugins/PointCloud2 + Color: 85; 255; 0 + Color Transformer: FlatColor + Decay Time: 0 + Enabled: true + Invert Rainbow: false + Max Color: 85; 255; 127 + Max Intensity: 0 + Min Color: 0; 0; 0 + Min Intensity: 0 + Name: NDT pointclouds + Position Transformer: XYZ + Selectable: false + Size (Pixels): 10 + Size (m): 0.5 + Style: Squares + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /localization/pose_estimator/points_aligned + Use Fixed Frame: true + Use rainbow: true + Value: true + - Alpha: 1 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 10 + Min Value: -10 + Value: true + Axis: Z + Channel Name: intensity + Class: rviz_default_plugins/PointCloud2 + Color: 255; 255; 255 + Color Transformer: "" + Decay Time: 0 + Enabled: true + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 4096 + Min Color: 0; 0; 0 + Min Intensity: 0 + Name: NDTLoadedPCDMap + Position Transformer: "" + Selectable: true + Size (Pixels): 3 + Size (m): 0.10000000149011612 + Style: Flat Squares + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /localization/pose_estimator/debug/loaded_pointcloud_map + Use Fixed Frame: true + Use rainbow: true + Value: true + - Buffer Size: 200 + Class: rviz_plugins::PoseHistory + Enabled: true + Line: + Alpha: 0.9990000128746033 + Color: 170; 255; 127 + Value: true + Width: 0.10000000149011612 + Name: NDTPoseHistory + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /localization/pose_estimator/pose + Value: true + - Buffer Size: 1000 + Class: rviz_plugins::PoseHistory + Enabled: true + Line: + Alpha: 0.9990000128746033 + Color: 0; 255; 255 + Value: true + Width: 0.10000000149011612 + Name: EKFPoseHistory + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /localization/pose_twist_fusion_filter/pose + Value: true + Enabled: false + Name: Localization + - Class: rviz_common/Group + Displays: + - BUS: + Alpha: 0.9990000128746033 + Color: 255; 138; 128 + CAR: + Alpha: 0.9990000128746033 + Color: 255; 138; 128 + CYCLIST: + Alpha: 0.9990000128746033 + Color: 255; 138; 128 + Class: autoware_perception_rviz_plugin/DetectedObjects + Confidence Interval: 95% + Display Acceleration: true + Display Existence Probability: false + Display Label: true + Display Pose Covariance: true + Display Predicted Path Confidence: true + Display Predicted Paths: true + Display Twist: true + Display Twist Covariance: false + Display UUID: true + Display Velocity: true + Display Yaw Covariance: false + Display Yaw Rate: false + Display Yaw Rate Covariance: false + Enabled: true + Line Width: 0.10000000149011612 + MOTORCYCLE: + Alpha: 0.9990000128746033 + Color: 255; 138; 128 + Name: Centerpoint(red1) + Namespaces: + {} + Object Fill Type: skeleton + PEDESTRIAN: + Alpha: 0.9990000128746033 + Color: 255; 138; 128 + Polygon Type: 3d + TRAILER: + Alpha: 0.9990000128746033 + Color: 255; 138; 128 + TRUCK: + Alpha: 0.9990000128746033 + Color: 255; 138; 128 + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Best Effort + Value: /perception/object_recognition/detection/centerpoint/objects + UNKNOWN: + Alpha: 0.9990000128746033 + Color: 255; 138; 128 + Value: true + Visualization Type: Normal + - BUS: + Alpha: 0.9990000128746033 + Color: 255; 82; 82 + CAR: + Alpha: 0.9990000128746033 + Color: 255; 82; 82 + CYCLIST: + Alpha: 0.9990000128746033 + Color: 255; 82; 82 + Class: autoware_perception_rviz_plugin/DetectedObjects + Confidence Interval: 95% + Display Acceleration: true + Display Existence Probability: false + Display Label: true + Display Pose Covariance: true + Display Predicted Path Confidence: true + Display Predicted Paths: true + Display Twist: true + Display Twist Covariance: false + Display UUID: true + Display Velocity: true + Display Yaw Covariance: false + Display Yaw Rate: false + Display Yaw Rate Covariance: false + Enabled: true + Line Width: 0.10000000149011612 + MOTORCYCLE: + Alpha: 0.9990000128746033 + Color: 255; 82; 82 + Name: CenterpointROIFusion(red2) + Namespaces: + {} + Object Fill Type: skeleton + PEDESTRIAN: + Alpha: 0.9990000128746033 + Color: 255; 82; 82 + Polygon Type: 3d + TRAILER: + Alpha: 0.9990000128746033 + Color: 255; 82; 82 + TRUCK: + Alpha: 0.9990000128746033 + Color: 255; 82; 82 + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Best Effort + Value: /perception/object_recognition/detection/centerpoint/roi_fusion/objects + UNKNOWN: + Alpha: 0.9990000128746033 + Color: 255; 82; 82 + Value: true + Visualization Type: Normal + - BUS: + Alpha: 0.9990000128746033 + Color: 213; 0; 0 + CAR: + Alpha: 0.9990000128746033 + Color: 213; 0; 0 + CYCLIST: + Alpha: 0.9990000128746033 + Color: 213; 0; 0 + Class: autoware_perception_rviz_plugin/DetectedObjects + Confidence Interval: 95% + Display Acceleration: true + Display Existence Probability: false + Display Label: true + Display Pose Covariance: true + Display Predicted Path Confidence: true + Display Predicted Paths: true + Display Twist: true + Display Twist Covariance: false + Display UUID: true + Display Velocity: true + Display Yaw Covariance: false + Display Yaw Rate: false + Display Yaw Rate Covariance: false + Enabled: true + Line Width: 0.10000000149011612 + MOTORCYCLE: + Alpha: 0.9990000128746033 + Color: 213; 0; 0 + Name: CenterpointValidator(red3) + Namespaces: + {} + Object Fill Type: skeleton + PEDESTRIAN: + Alpha: 0.9990000128746033 + Color: 213; 0; 0 + Polygon Type: 3d + TRAILER: + Alpha: 0.9990000128746033 + Color: 213; 0; 0 + TRUCK: + Alpha: 0.9990000128746033 + Color: 213; 0; 0 + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Best Effort + Value: /perception/object_recognition/detection/centerpoint/validation/objects + UNKNOWN: + Alpha: 0.9990000128746033 + Color: 213; 0; 0 + Value: true + Visualization Type: Normal + - BUS: + Alpha: 0.9990000128746033 + Color: 178; 255; 89 + CAR: + Alpha: 0.9990000128746033 + Color: 178; 255; 89 + CYCLIST: + Alpha: 0.9990000128746033 + Color: 178; 255; 89 + Class: autoware_perception_rviz_plugin/DetectedObjects + Confidence Interval: 95% + Display Acceleration: true + Display Existence Probability: false + Display Label: false + Display Pose Covariance: true + Display Predicted Path Confidence: true + Display Predicted Paths: true + Display Twist: true + Display Twist Covariance: false + Display UUID: true + Display Velocity: false + Display Yaw Covariance: false + Display Yaw Rate: false + Display Yaw Rate Covariance: false + Enabled: true + Line Width: 0.10000000149011612 + MOTORCYCLE: + Alpha: 0.9990000128746033 + Color: 178; 255; 89 + Name: PointPainting(light_green1) + Namespaces: + {} + Object Fill Type: skeleton + PEDESTRIAN: + Alpha: 0.9990000128746033 + Color: 178; 255; 89 + Polygon Type: 2d + TRAILER: + Alpha: 0.9990000128746033 + Color: 178; 255; 89 + TRUCK: + Alpha: 0.9990000128746033 + Color: 178; 255; 89 + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Best Effort + Value: /perception/object_recognition/detection/pointpainting/objects + UNKNOWN: + Alpha: 0.9990000128746033 + Color: 178; 255; 89 + Value: true + Visualization Type: Normal + - BUS: + Alpha: 0.9990000128746033 + Color: 118; 255; 3 + CAR: + Alpha: 0.9990000128746033 + Color: 118; 255; 3 + CYCLIST: + Alpha: 0.9990000128746033 + Color: 118; 255; 3 + Class: autoware_perception_rviz_plugin/DetectedObjects + Confidence Interval: 95% + Display Acceleration: true + Display Existence Probability: false + Display Label: false + Display Pose Covariance: true + Display Predicted Path Confidence: true + Display Predicted Paths: true + Display Twist: true + Display Twist Covariance: false + Display UUID: false + Display Velocity: false + Display Yaw Covariance: false + Display Yaw Rate: false + Display Yaw Rate Covariance: false + Enabled: true + Line Width: 0.10000000149011612 + MOTORCYCLE: + Alpha: 0.9990000128746033 + Color: 118; 255; 3 + Name: PointPaintingROIFusion(light_green2) + Namespaces: + {} + Object Fill Type: skeleton + PEDESTRIAN: + Alpha: 0.9990000128746033 + Color: 118; 255; 3 + Polygon Type: 2d + TRAILER: + Alpha: 0.9990000128746033 + Color: 118; 255; 3 + TRUCK: + Alpha: 0.9990000128746033 + Color: 118; 255; 3 + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Best Effort + Value: /perception/object_recognition/detection/pointpainting/roi_fusion/objects + UNKNOWN: + Alpha: 0.9990000128746033 + Color: 118; 255; 3 + Value: true + Visualization Type: Normal + - BUS: + Alpha: 0.9990000128746033 + Color: 100; 221; 23 + CAR: + Alpha: 0.9990000128746033 + Color: 100; 221; 23 + CYCLIST: + Alpha: 0.9990000128746033 + Color: 100; 221; 23 + Class: autoware_perception_rviz_plugin/DetectedObjects + Confidence Interval: 95% + Display Acceleration: true + Display Existence Probability: false + Display Label: false + Display Pose Covariance: true + Display Predicted Path Confidence: true + Display Predicted Paths: true + Display Twist: true + Display Twist Covariance: false + Display UUID: false + Display Velocity: false + Display Yaw Covariance: false + Display Yaw Rate: false + Display Yaw Rate Covariance: false + Enabled: true + Line Width: 0.10000000149011612 + MOTORCYCLE: + Alpha: 0.9990000128746033 + Color: 100; 221; 23 + Name: PointPaintingValidator(light_green3) + Namespaces: + {} + Object Fill Type: skeleton + PEDESTRIAN: + Alpha: 0.9990000128746033 + Color: 100; 221; 23 + Polygon Type: 2d + TRAILER: + Alpha: 0.9990000128746033 + Color: 100; 221; 23 + TRUCK: + Alpha: 0.9990000128746033 + Color: 100; 221; 23 + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Best Effort + Value: /perception/object_recognition/detection/pointpainting/validation/objects + UNKNOWN: + Alpha: 0.9990000128746033 + Color: 100; 221; 23 + Value: true + Visualization Type: Normal + - BUS: + Alpha: 0.9990000128746033 + Color: 255; 145; 0 + CAR: + Alpha: 0.9990000128746033 + Color: 255; 145; 0 + CYCLIST: + Alpha: 0.9990000128746033 + Color: 255; 145; 0 + Class: autoware_perception_rviz_plugin/DetectedObjects + Confidence Interval: 95% + Display Acceleration: true + Display Existence Probability: false + Display Label: true + Display Pose Covariance: true + Display Predicted Path Confidence: true + Display Predicted Paths: true + Display Twist: true + Display Twist Covariance: false + Display UUID: true + Display Velocity: true + Display Yaw Covariance: false + Display Yaw Rate: false + Display Yaw Rate Covariance: false + Enabled: true + Line Width: 0.10000000149011612 + MOTORCYCLE: + Alpha: 0.9990000128746033 + Color: 255; 145; 0 + Name: DetectionByTracker(orange) + Namespaces: + {} + Object Fill Type: skeleton + PEDESTRIAN: + Alpha: 0.9990000128746033 + Color: 255; 145; 0 + Polygon Type: 2d + TRAILER: + Alpha: 0.9990000128746033 + Color: 255; 145; 0 + TRUCK: + Alpha: 0.9990000128746033 + Color: 255; 145; 0 + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Best Effort + Value: /perception/object_recognition/detection/detection_by_tracker/objects + UNKNOWN: + Alpha: 0.9990000128746033 + Color: 255; 145; 0 + Value: true + Visualization Type: Normal + - BUS: + Alpha: 0.30000001192092896 + Color: 213; 0; 249 + CAR: + Alpha: 0.30000001192092896 + Color: 213; 0; 249 + CYCLIST: + Alpha: 0.30000001192092896 + Color: 213; 0; 249 + Class: autoware_perception_rviz_plugin/DetectedObjects + Confidence Interval: 95% + Display Acceleration: true + Display Existence Probability: false + Display Label: false + Display Pose Covariance: true + Display Predicted Path Confidence: true + Display Predicted Paths: true + Display Twist: true + Display Twist Covariance: false + Display UUID: false + Display Velocity: false + Display Yaw Covariance: false + Display Yaw Rate: false + Display Yaw Rate Covariance: false + Enabled: false + Line Width: 0.10000000149011612 + MOTORCYCLE: + Alpha: 0.30000001192092896 + Color: 213; 0; 249 + Name: CameraLidarFusion(purple) + Namespaces: + {} + Object Fill Type: skeleton + PEDESTRIAN: + Alpha: 0.30000001192092896 + Color: 213; 0; 249 + Polygon Type: 2d + TRAILER: + Alpha: 0.30000001192092896 + Color: 213; 0; 249 + TRUCK: + Alpha: 0.30000001192092896 + Color: 213; 0; 249 + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Best Effort + Value: /perception/object_recognition/detection/clustering/camera_lidar_fusion/objects + UNKNOWN: + Alpha: 0.30000001192092896 + Color: 213; 0; 249 + Value: false + Visualization Type: Normal + - BUS: + Alpha: 0.9990000128746033 + Color: 255; 255; 255 + CAR: + Alpha: 0.9990000128746033 + Color: 255; 255; 255 + CYCLIST: + Alpha: 0.9990000128746033 + Color: 255; 255; 255 + Class: autoware_perception_rviz_plugin/DetectedObjects + Confidence Interval: 95% + Display Acceleration: true + Display Existence Probability: false + Display Label: true + Display Pose Covariance: true + Display Predicted Path Confidence: true + Display Predicted Paths: true + Display Twist: true + Display Twist Covariance: false + Display UUID: true + Display Velocity: true + Display Yaw Covariance: false + Display Yaw Rate: false + Display Yaw Rate Covariance: false + Enabled: false + Line Width: 0.10000000149011612 + MOTORCYCLE: + Alpha: 0.9990000128746033 + Color: 255; 255; 255 + Name: RadarFarObjects(white) + Namespaces: + {} + Object Fill Type: skeleton + PEDESTRIAN: + Alpha: 0.9990000128746033 + Color: 255; 255; 255 + Polygon Type: 3d + TRAILER: + Alpha: 0.9990000128746033 + Color: 255; 255; 255 + TRUCK: + Alpha: 0.9990000128746033 + Color: 255; 255; 255 + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Best Effort + Value: /perception/object_recognition/detection/radar/far_objects + UNKNOWN: + Alpha: 0.9990000128746033 + Color: 255; 255; 255 + Value: false + Visualization Type: Normal + - BUS: + Alpha: 0.9990000128746033 + Color: 255; 234; 0 + CAR: + Alpha: 0.9990000128746033 + Color: 255; 234; 0 + CYCLIST: + Alpha: 0.9990000128746033 + Color: 255; 234; 0 + Class: autoware_perception_rviz_plugin/DetectedObjects + Confidence Interval: 95% + Display Acceleration: true + Display Existence Probability: false + Display Label: true + Display Pose Covariance: true + Display Predicted Path Confidence: true + Display Predicted Paths: true + Display Twist: true + Display Twist Covariance: false + Display UUID: true + Display Velocity: true + Display Yaw Covariance: false + Display Yaw Rate: false + Display Yaw Rate Covariance: false + Enabled: false + Line Width: 0.10000000149011612 + MOTORCYCLE: + Alpha: 0.9990000128746033 + Color: 255; 234; 0 + Name: Detection(yellow) + Namespaces: + {} + Object Fill Type: skeleton + PEDESTRIAN: + Alpha: 0.9990000128746033 + Color: 255; 234; 0 + Polygon Type: 3d + TRAILER: + Alpha: 0.9990000128746033 + Color: 255; 234; 0 + TRUCK: + Alpha: 0.9990000128746033 + Color: 255; 234; 0 + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Best Effort + Value: /perception/object_recognition/detection/objects + UNKNOWN: + Alpha: 0.9990000128746033 + Color: 255; 234; 0 + Value: false + Visualization Type: Normal + - BUS: + Alpha: 0.9990000128746033 + Color: 0; 230; 118 + CAR: + Alpha: 0.9990000128746033 + Color: 0; 230; 118 + CYCLIST: + Alpha: 0.9990000128746033 + Color: 0; 230; 118 + Class: autoware_perception_rviz_plugin/TrackedObjects + Confidence Interval: 95% + Display Acceleration: true + Display Existence Probability: false + Display Label: true + Display Pose Covariance: true + Display Predicted Path Confidence: true + Display Predicted Paths: true + Display Twist: true + Display Twist Covariance: false + Display UUID: true + Display Velocity: true + Display Yaw Covariance: false + Display Yaw Rate: false + Display Yaw Rate Covariance: false + Dynamic Status: All + Enabled: false + Line Width: 0.10000000149011612 + MOTORCYCLE: + Alpha: 0.9990000128746033 + Color: 0; 230; 118 + Name: Tracking(green) + Namespaces: + {} + Object Fill Type: skeleton + PEDESTRIAN: + Alpha: 0.9990000128746033 + Color: 0; 230; 118 + Polygon Type: 3d + TRAILER: + Alpha: 0.9990000128746033 + Color: 0; 230; 118 + TRUCK: + Alpha: 0.9990000128746033 + Color: 0; 230; 118 + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Best Effort + Value: /perception/object_recognition/tracking/objects + UNKNOWN: + Alpha: 0.9990000128746033 + Color: 0; 230; 118 + Value: false + Visualization Type: Normal + - BUS: + Alpha: 0.9990000128746033 + Color: 0; 176; 255 + CAR: + Alpha: 0.9990000128746033 + Color: 0; 176; 255 + CYCLIST: + Alpha: 0.9990000128746033 + Color: 0; 176; 255 + Class: autoware_perception_rviz_plugin/PredictedObjects + Confidence Interval: 95% + Display Acceleration: true + Display Existence Probability: false + Display Label: true + Display Pose Covariance: true + Display Predicted Path Confidence: true + Display Predicted Paths: true + Display Twist: true + Display Twist Covariance: false + Display UUID: true + Display Velocity: true + Display Yaw Covariance: false + Display Yaw Rate: false + Display Yaw Rate Covariance: false + Enabled: true + Line Width: 0.10000000149011612 + MOTORCYCLE: + Alpha: 0.9990000128746033 + Color: 0; 176; 255 + Name: Prediction(light_blue) + Namespaces: + {} + Object Fill Type: skeleton + PEDESTRIAN: + Alpha: 0.9990000128746033 + Color: 0; 176; 255 + Polygon Type: 2d + TRAILER: + Alpha: 0.9990000128746033 + Color: 0; 176; 255 + TRUCK: + Alpha: 0.9990000128746033 + Color: 0; 176; 255 + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Best Effort + Value: /perception/object_recognition/objects + UNKNOWN: + Alpha: 0.9990000128746033 + Color: 0; 176; 255 + Value: true + Visualization Type: Normal + Enabled: false + Name: Perception + - Class: rviz_common/Group + Displays: + - Class: rviz_common/Group + Displays: + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: LaneChangeLeft + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/debug/objects_of_interest/lane_change_left + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: LaneChangeRight + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/debug/objects_of_interest/lane_change_right + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: AvoidanceLeft + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/debug/objects_of_interest/static_obstacle_avoidance_left + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: AvoidanceRight + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/debug/objects_of_interest/static_obstacle_avoidance_right + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: AvoidanceByLCLeft + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/debug/objects_of_interest/avoidance_by_lc_left + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: AvoidanceByLCRight + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/debug/objects_of_interest/avoidance_by_lc_right + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: StartPlanner + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/debug/objects_of_interest/start_planner + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: GoalPlanner + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/debug/objects_of_interest/goal_planner + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: Crosswalk + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/debug/objects_of_interest/crosswalk + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: Intersection + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/debug/objects_of_interest/intersection + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: BlindSpot + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/debug/objects_of_interest/blind_spot + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: TrafficLight + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/debug/objects_of_interest/traffic_light + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: DetectionArea + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/debug/objects_of_interest/detection_area + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: NoStoppingArea + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/debug/objects_of_interest/no_stopping_area + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: ObstacleCruise + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/debug/objects_of_interest/obstacle_cruise_planner + Value: true + Enabled: true + Name: Objects Of Interest + Enabled: true + Name: Planning + - Class: rviz_common/Group + Displays: ~ + Enabled: true + Name: Control + Enabled: true + Name: Debug + - Class: rviz_default_plugins/Image + Enabled: true + Max Value: 1 + Median window: 5 + Min Value: 0 + Name: Image + Normalize Range: true + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Best Effort + Value: /sensing/camera/image + Value: true + - Class: rviz_plugins/StringStampedOverlayDisplay + Enabled: true + Font Size: 15 + Left: 24 + Max Letter Num: 100 + Name: PlanningInternalState + Text Color: 51; 201; 220 + Top: 960 + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Best Effort + Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/debug/internal_state + Value: true + Value height offset: 0 + - Class: rviz_plugins/MrmSummaryOverlayDisplay + Enabled: true + Font Size: 16 + Left: 24 + Max Letter Num: 100 + Name: MrmSummaryOverlayDisplay + Text Color: 51; 201; 220 + Top: 120 + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /system/emergency/hazard_status + Value: true + Value height offset: 0 + Enabled: true + Global Options: + Background Color: 0; 0; 0 + Fixed Frame: viewer + Frame Rate: 30 + Name: root + Tools: + - Class: rviz_default_plugins/Interact + Hide Inactive Objects: true + - Class: rviz_default_plugins/MoveCamera + - Class: rviz_default_plugins/Select + - Class: rviz_default_plugins/FocusCamera + - Boost Property: 0.5 + Class: tier4_camera_view_rviz_plugin/ThirdPersonViewTool + Fallback ViewController: tier4_camera_view_rviz_plugin/ThirdPersonView + Fly Mode: false + Left Hand Mode: false + Step Length: 0.10000000149011612 + - Boost Property: 0.5 + Class: tier4_camera_view_rviz_plugin/BirdEyeViewTool + Fallback ViewController: tier4_camera_view_rviz_plugin/BirdEyeView + Fly Mode: false + Left Hand Mode: false + Step Length: 0.10000000149011612 + Transformation: + Current: + Class: rviz_default_plugins/TF + Value: true + Views: + Current: + Class: tier4_camera_view_rviz_plugin/ThirdPersonView + Distance: 52.870243072509766 + Enable Stereo Rendering: + Stereo Eye Separation: 0.05999999865889549 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Focal Point: + X: 0 + Y: 0 + Z: 0 + Focal Shape Fixed Size: false + Focal Shape Size: 0.05000000074505806 + Invert Z Axis: false + Name: Current View + Near Clip Distance: 0.009999999776482582 + Pitch: 0.5235987901687622 + Target Frame: base_link + Value: ThirdPersonView (tier4_camera_view_rviz_plugin) + Yaw: 3.1415927410125732 + Saved: + - Class: rviz_default_plugins/ThirdPersonFollower + Distance: 18 + Enable Stereo Rendering: + Stereo Eye Separation: 0.05999999865889549 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Focal Point: + X: 0 + Y: 0 + Z: 0 + Focal Shape Fixed Size: true + Focal Shape Size: 0.05000000074505806 + Invert Z Axis: false + Name: ThirdPersonFollower + Near Clip Distance: 0.009999999776482582 + Pitch: 0.20000000298023224 + Target Frame: base_link + Value: ThirdPersonFollower (rviz) + Yaw: 3.141592025756836 + - Angle: 0 + Class: rviz_default_plugins/TopDownOrtho + Enable Stereo Rendering: + Stereo Eye Separation: 0.05999999865889549 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Invert Z Axis: false + Name: TopDownOrtho + Near Clip Distance: 0.009999999776482582 + Scale: 10 + Target Frame: viewer + Value: TopDownOrtho (rviz) + X: 0 + Y: 0 +Window Geometry: + AutowareDateTimePanel: + collapsed: false + AutowareScreenCapturePanel: + collapsed: false + AutowareStatePanel: + collapsed: false + Displays: + collapsed: false + Height: 1376 + Hide Left Dock: false + Hide Right Dock: false + Image: + collapsed: false + LoggingLevelConfigureRvizPlugin: + collapsed: false + MultiDataMonitor: + collapsed: false + PointcloudOnCamera: + collapsed: false + QMainWindow State: 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+ RTCManagerPanel: + collapsed: false + RecognitionResultOnImage: + collapsed: false + Selection: + collapsed: false + Tool Properties: + collapsed: false + Views: + collapsed: false + Width: 2490 + X: 70 + Y: 27 diff --git a/autoware_launch/rviz/scenario_simulator.rviz b/autoware_launch/rviz/scenario_simulator.rviz new file mode 100644 index 0000000000..2c4af14446 --- /dev/null +++ b/autoware_launch/rviz/scenario_simulator.rviz @@ -0,0 +1,3154 @@ +Panels: + - Class: rviz_common/Displays + Help Height: 0 + Name: Displays + Property Tree Widget: + Expanded: + - /Sensing1/LiDAR1/ConcatenatePointCloud1/Autocompute Value Bounds1 + Splitter Ratio: 0.557669460773468 + Tree Height: 1060 + - Class: rviz_common/Tool Properties + Expanded: ~ + Name: Tool Properties + Splitter Ratio: 0.5886790156364441 + - Class: rviz_common/Views + Expanded: + - /Current View1 + Name: Views + Splitter Ratio: 0.5 + - Class: rviz_plugins::AutowareStatePanel + Name: AutowareStatePanel +Visualization Manager: + Class: "" + Displays: + - Class: rviz_common/Group + Displays: + - Class: rviz_default_plugins/TF + Enabled: false + Frame Timeout: 15 + Frames: + All Enabled: true + Marker Scale: 1 + Name: TF + Show Arrows: true + Show Axes: true + Show Names: true + Tree: {} + Update Interval: 0 + Value: false + - Alpha: 0.5 + Cell Size: 1 + Class: rviz_default_plugins/Grid + Color: 160; 160; 164 + Enabled: false + Line Style: + Line Width: 0.029999999329447746 + Value: Lines + Name: Grid + Normal Cell Count: 0 + Offset: + X: 0 + Y: 0 + Z: 0 + Plane: XY + Plane Cell Count: 10 + Reference Frame: + Value: false + - Class: rviz_common/Group + Displays: + - Alpha: 0.30000001192092896 + Class: rviz_default_plugins/RobotModel + Collision Enabled: false + Description File: "" + Description Source: Topic + Description Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /robot_description + Enabled: true + Links: + All Links Enabled: true + Expand Joint Details: false + Expand Link Details: false + Expand Tree: false + Link Tree Style: Links in Alphabetic Order + base_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + camera0/camera_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + camera0/camera_optical_link: + Alpha: 1 + Show Axes: false + Show Trail: false + camera1/camera_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + camera1/camera_optical_link: + Alpha: 1 + Show Axes: false + Show Trail: false + camera2/camera_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + camera2/camera_optical_link: + Alpha: 1 + Show Axes: false + Show Trail: false + camera3/camera_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + camera3/camera_optical_link: + Alpha: 1 + Show Axes: false + Show Trail: false + camera4/camera_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + camera4/camera_optical_link: + Alpha: 1 + Show Axes: false + Show Trail: false + camera5/camera_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + camera5/camera_optical_link: + Alpha: 1 + Show Axes: false + Show Trail: false + gnss_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + sensor_kit_base_link: + Alpha: 1 + Show Axes: false + Show Trail: false + tamagawa/imu_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + traffic_light_left_camera/camera_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + traffic_light_left_camera/camera_optical_link: + Alpha: 1 + Show Axes: false + Show Trail: false + traffic_light_right_camera/camera_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + traffic_light_right_camera/camera_optical_link: + Alpha: 1 + Show Axes: false + Show Trail: false + velodyne_left: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + velodyne_left_base_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + velodyne_rear: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + velodyne_rear_base_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + velodyne_right: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + velodyne_right_base_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + velodyne_top: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + velodyne_top_base_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + Mass Properties: + Inertia: false + Mass: false + Name: VehicleModel + TF Prefix: "" + Update Interval: 0 + Value: true + Visual Enabled: true + - Class: rviz_plugins/PolarGridDisplay + Color: 255; 255; 255 + Delta Range: 10 + Enabled: true + Max Alpha: 0.5 + Max Range: 100 + Max Wave Alpha: 0.5 + Min Alpha: 0.009999999776482582 + Min Wave Alpha: 0.009999999776482582 + Name: PolarGridDisplay + Reference Frame: base_link + Value: true + Wave Color: 255; 255; 255 + Wave Velocity: 40 + - Background Alpha: 0.30000001192092896 + Background Color: 0; 0; 0 + Class: autoware_overlay_rviz_plugin/SignalDisplay + Dark Traffic Color: 255; 51; 51 + Enabled: true + Gear Topic Test: /vehicle/status/gear_status + Handle Angle Scale: 17 + Hazard Lights Topic: /vehicle/status/hazard_lights_status + Height: 100 + Left: 0 + Light Traffic Color: 255; 153; 153 + Name: SignalDisplay + Primary Color: 174; 174; 174 + Signal Color: 0; 230; 120 + Speed Limit Topic: /planning/scenario_planning/current_max_velocity + Speed Topic: /vehicle/status/velocity_status + Steering Topic: /vehicle/status/steering_status + Top: 10 + Traffic Topic: /planning/scenario_planning/lane_driving/behavior_planning/debug/traffic_signal + Turn Signals Topic: /vehicle/status/turn_indicators_status + Value: true + Width: 550 + Enabled: true + Name: Vehicle + Enabled: true + Name: System + - Class: rviz_common/Group + Displays: + - Alpha: 0.20000000298023224 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 28.71826171875 + Min Value: -7.4224700927734375 + Value: true + Axis: Z + Channel Name: intensity + Class: rviz_default_plugins/PointCloud2 + Color: 255; 255; 255 + Color Transformer: FlatColor + Decay Time: 0 + Enabled: false + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 237 + Min Color: 211; 215; 207 + Min Intensity: 0 + Name: PointCloudMap + Position Transformer: XYZ + Selectable: false + Size (Pixels): 1 + 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: false + - Class: rviz_default_plugins/MarkerArray + Enabled: false + Name: Lanelet2VectorMap + Namespaces: {} + Topic: + Depth: 5 + Durability Policy: Transient Local + History Policy: Keep Last + Reliability Policy: Reliable + Value: /map/vector_map_marker + Value: false + Enabled: true + Name: Map + - Class: rviz_common/Group + Displays: + - Class: rviz_common/Group + Displays: + - Alpha: 0.4000000059604645 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 5 + Min Value: -1 + Value: false + Axis: Z + Channel Name: intensity + Class: rviz_default_plugins/PointCloud2 + Color: 255; 255; 255 + Color Transformer: AxisColor + Decay Time: 0 + Enabled: true + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 4096 + Min Color: 0; 0; 0 + Min Intensity: 0 + Name: ConcatenatePointCloud + Position Transformer: XYZ + Selectable: false + Size (Pixels): 1 + 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: 0.9990000128746033 + Class: rviz_default_plugins/Polygon + Color: 25; 255; 0 + Enabled: false + Name: MeasurementRange + 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 + Value: false + Enabled: true + Name: LiDAR + - Class: rviz_common/Group + Displays: + - Alpha: 0.9990000128746033 + Axes Length: 1 + Axes Radius: 0.10000000149011612 + Class: rviz_default_plugins/PoseWithCovariance + Color: 233; 185; 110 + Covariance: + Orientation: + Alpha: 0.5 + Color: 255; 255; 127 + Color Style: Unique + Frame: Local + Offset: 1 + Scale: 1 + Value: false + Position: + Alpha: 0.20000000298023224 + Color: 204; 51; 204 + Scale: 1 + Value: true + Value: true + Enabled: true + Head Length: 0.699999988079071 + Head Radius: 1.2000000476837158 + Name: PoseWithCovariance + Shaft Length: 1 + Shaft Radius: 0.5 + Shape: Arrow + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /sensing/gnss/pose_with_covariance + Value: true + Enabled: false + Name: GNSS + Enabled: true + Name: Sensing + - Class: rviz_common/Group + Displays: + - Class: rviz_common/Group + Displays: + - Alpha: 0.9990000128746033 + Axes Length: 1 + Axes Radius: 0.10000000149011612 + Class: rviz_default_plugins/PoseWithCovariance + Color: 0; 170; 255 + Covariance: + Orientation: + Alpha: 0.5 + Color: 255; 255; 127 + Color Style: Unique + Frame: Local + Offset: 1 + Scale: 1 + Value: true + Position: + Alpha: 0.30000001192092896 + Color: 204; 51; 204 + Scale: 1 + Value: true + Value: true + Enabled: false + Head Length: 0.4000000059604645 + Head Radius: 0.6000000238418579 + Name: PoseWithCovInitial + Shaft Length: 0.6000000238418579 + Shaft Radius: 0.30000001192092896 + Shape: Arrow + 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 + Axes Length: 1 + Axes Radius: 0.10000000149011612 + Class: rviz_default_plugins/PoseWithCovariance + Color: 0; 255; 0 + Covariance: + Orientation: + Alpha: 0.5 + Color: 255; 255; 127 + Color Style: Unique + Frame: Local + Offset: 1 + Scale: 1 + Value: true + Position: + Alpha: 0.30000001192092896 + Color: 204; 51; 204 + Scale: 1 + Value: true + Value: true + Enabled: false + Head Length: 0.4000000059604645 + Head Radius: 0.6000000238418579 + Name: PoseWithCovAligned + Shaft Length: 0.6000000238418579 + Shaft Radius: 0.30000001192092896 + Shape: Arrow + 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 + - Buffer Size: 200 + Class: rviz_plugins::PoseHistory + Enabled: false + Line: + Alpha: 0.9990000128746033 + Color: 170; 255; 127 + Value: true + Width: 0.10000000149011612 + 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 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 10 + Min Value: -10 + Value: true + Axis: Z + Channel Name: intensity + Class: rviz_default_plugins/PointCloud2 + Color: 0; 255; 255 + Color Transformer: "" + Decay Time: 0 + Enabled: false + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 4096 + Min Color: 0; 0; 0 + Min Intensity: 0 + Name: Initial + Position Transformer: XYZ + Selectable: false + Size (Pixels): 10 + Size (m): 0.5 + Style: Squares + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Best Effort + Value: /localization/util/downsample/pointcloud + Use Fixed Frame: true + Use rainbow: true + Value: false + - Alpha: 0.9990000128746033 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 10 + Min Value: -10 + Value: true + Axis: Z + Channel Name: intensity + Class: rviz_default_plugins/PointCloud2 + Color: 85; 255; 0 + Color Transformer: FlatColor + Decay Time: 0 + Enabled: false + Invert Rainbow: false + Max Color: 85; 255; 127 + Max Intensity: 0 + Min Color: 0; 0; 0 + Min Intensity: 0 + Name: Aligned + Position Transformer: XYZ + Selectable: false + Size (Pixels): 10 + Size (m): 0.5 + Style: Squares + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /localization/pose_estimator/points_aligned + Use Fixed Frame: true + Use rainbow: true + Value: false + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: MonteCarloInitialPose + Namespaces: {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /localization/pose_estimator/monte_carlo_initial_pose_marker + Value: true + Enabled: true + Name: NDT + - Class: rviz_common/Group + Displays: + - Buffer Size: 1000 + Class: rviz_plugins::PoseHistory + Enabled: true + Line: + Alpha: 0.9990000128746033 + Color: 0; 255; 255 + Value: true + Width: 0.10000000149011612 + 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 + Value: true + Enabled: true + Name: EKF + Enabled: true + Name: Localization + - Class: rviz_common/Group + Displays: + - Class: rviz_common/Group + Displays: + - Alpha: 0.9990000128746033 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 15 + Min Value: -2 + Value: false + Axis: Z + Channel Name: z + Class: rviz_default_plugins/PointCloud2 + Color: 200; 200; 200 + Color Transformer: FlatColor + Decay Time: 0 + Enabled: true + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 15 + Min Color: 0; 0; 0 + Min Intensity: -5 + Name: NoGroundPointCloud + Position Transformer: XYZ + Selectable: false + Size (Pixels): 3 + Size (m): 0.019999999552965164 + Style: Points + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Best Effort + Value: /perception/obstacle_segmentation/pointcloud + Use Fixed Frame: true + Use rainbow: true + Value: true + Enabled: true + Name: Segmentation + - Class: rviz_common/Group + Displays: + - Class: rviz_common/Group + Displays: + - BUS: + Alpha: 0.9990000128746033 + Color: 30; 144; 255 + CAR: + Alpha: 0.9990000128746033 + Color: 30; 144; 255 + CYCLIST: + Alpha: 0.9990000128746033 + Color: 119; 11; 32 + Class: autoware_perception_rviz_plugin/DetectedObjects + Display Acceleration: 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 + Enabled: true + Line Width: 0.029999999329447746 + MOTORCYCLE: + Alpha: 0.9990000128746033 + Color: 119; 11; 32 + Name: DetectedObjects + Namespaces: ~ + PEDESTRIAN: + Alpha: 0.9990000128746033 + Color: 255; 192; 203 + Polygon Type: 3d + TRAILER: + Alpha: 0.9990000128746033 + Color: 30; 144; 255 + TRUCK: + Alpha: 0.9990000128746033 + 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: 0.9990000128746033 + Color: 255; 255; 255 + Value: true + Visualization Type: Normal + Enabled: false + Name: Detection + - Class: rviz_common/Group + Displays: + - BUS: + Alpha: 0.9990000128746033 + Color: 30; 144; 255 + CAR: + Alpha: 0.9990000128746033 + Color: 30; 144; 255 + CYCLIST: + Alpha: 0.9990000128746033 + Color: 119; 11; 32 + Class: autoware_perception_rviz_plugin/TrackedObjects + Display Acceleration: 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 + Enabled: true + Line Width: 0.029999999329447746 + MOTORCYCLE: + Alpha: 0.9990000128746033 + Color: 119; 11; 32 + Name: TrackedObjects + Namespaces: ~ + PEDESTRIAN: + Alpha: 0.9990000128746033 + Color: 255; 192; 203 + Polygon Type: 3d + TRAILER: + Alpha: 0.9990000128746033 + Color: 30; 144; 255 + TRUCK: + Alpha: 0.9990000128746033 + 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: 0.9990000128746033 + Color: 255; 255; 255 + Value: true + Visualization Type: Normal + Enabled: false + Name: Tracking + - Class: rviz_common/Group + Displays: + - BUS: + Alpha: 0.9990000128746033 + Color: 30; 144; 255 + CAR: + Alpha: 0.9990000128746033 + Color: 30; 144; 255 + CYCLIST: + Alpha: 0.9990000128746033 + Color: 119; 11; 32 + Class: autoware_perception_rviz_plugin/PredictedObjects + Display Acceleration: 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 + Enabled: true + Line Width: 0.5 + MOTORCYCLE: + Alpha: 0.9990000128746033 + Color: 119; 11; 32 + Name: PredictedObjects + Namespaces: ~ + PEDESTRIAN: + Alpha: 0.9990000128746033 + Color: 255; 192; 203 + Polygon Type: 3d + TRAILER: + Alpha: 0.9990000128746033 + Color: 30; 144; 255 + TRUCK: + Alpha: 0.9990000128746033 + 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: 0.9990000128746033 + Color: 255; 255; 255 + Value: true + Visualization Type: Normal + - 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: false + Enabled: true + Name: Prediction + Enabled: true + Name: ObjectRecognition + - Class: rviz_common/Group + Displays: + - Class: rviz_default_plugins/Image + Enabled: false + Max Value: 1 + Median window: 5 + Min Value: 0 + Name: RecognitionResultOnImage + Normalize Range: true + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Best Effort + Value: /perception/traffic_light_recognition/debug/rois + Value: false + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: MapBasedDetectionResult + Namespaces: {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + 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 + Displays: + - Class: rviz_common/Group + Displays: + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: RouteArea + Namespaces: {} + Topic: + Depth: 5 + Durability Policy: Transient Local + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/mission_planning/route_marker + Value: true + - Alpha: 0.9990000128746033 + Axes Length: 1 + Axes Radius: 0.30000001192092896 + Class: rviz_default_plugins/Pose + Color: 255; 25; 0 + Enabled: true + Head Length: 0.30000001192092896 + Head Radius: 0.5 + Name: GoalPose + Shaft Length: 3 + Shaft Radius: 0.20000000298023224 + Shape: Axes + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/mission_planning/echo_back_goal_pose + Value: true + - Background Alpha: 0.30000001192092896 + Background Color: 0; 0; 0 + Class: autoware_mission_details_overlay_rviz_plugin/MissionDetailsDisplay + Enabled: true + Height: 100 + Name: MissionDetailsDisplay + Remaining Distance and Time Topic: /planning/mission_remaining_distance_time + Right: 10 + Text Color: 194; 194; 194 + Top: 10 + Value: true + Width: 170 + Enabled: true + Name: MissionPlanning + - Class: rviz_common/Group + Displays: + - Class: rviz_plugins/Trajectory + Color Border Vel Max: 3 + Enabled: true + Name: ScenarioTrajectory + 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 + 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 Slope: + Scale: 0.30000001192092896 + Value: false + View Text Velocity: + Scale: 0.30000001192092896 + Value: false + View Velocity: + Alpha: 0.9990000128746033 + Color: 0; 0; 0 + Constant Color: false + Scale: 0.30000001192092896 + Value: true + - Class: rviz_common/Group + Displays: + - Class: rviz_common/Group + Displays: + - Class: rviz_plugins/Path + Color Border Vel Max: 3 + Enabled: true + Name: Path + 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 Slope: + Scale: 0.30000001192092896 + Value: false + View Text Velocity: + Scale: 0.30000001192092896 + Value: false + View Velocity: + Alpha: 0.4000000059604645 + Color: 0; 0; 0 + Constant Color: false + Scale: 0.30000001192092896 + Value: true + - Class: rviz_plugins/Path + Color Border Vel Max: 3 + Enabled: false + Name: PathReference_AvoidanceByLC + 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 + View Path: + 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 Slope: + Scale: 0.30000001192092896 + Value: false + View Text Velocity: + Scale: 0.30000001192092896 + Value: false + 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: false + Name: PathReference_Avoidance + 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 + View Path: + 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 Slope: + Scale: 0.30000001192092896 + Value: false + View Text Velocity: + Scale: 0.30000001192092896 + Value: false + 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: false + Name: PathReference_LaneChangeRight + 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 + View Path: + 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 Slope: + Scale: 0.30000001192092896 + Value: false + View Text Velocity: + Scale: 0.30000001192092896 + Value: false + 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: false + Name: PathReference_LaneChangeLeft + 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 + View Path: + 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 Slope: + Scale: 0.30000001192092896 + Value: false + View Text Velocity: + Scale: 0.30000001192092896 + Value: false + 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: false + Name: PathReference_GoalPlanner + 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 + View Path: + 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 Slope: + Scale: 0.30000001192092896 + Value: false + View Text Velocity: + Scale: 0.30000001192092896 + Value: false + 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: false + Name: PathReference_StartPlanner + 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 + View Path: + 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 Slope: + Scale: 0.30000001192092896 + Value: false + View Text Velocity: + Scale: 0.30000001192092896 + Value: false + 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_AvoidanceByLC + 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 Slope: + Scale: 0.30000001192092896 + Value: false + View Text Velocity: + Scale: 0.30000001192092896 + Value: false + 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: (old)PathChangeCandidate_LaneChange + 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 Slope: + Scale: 0.30000001192092896 + Value: false + View Text Velocity: + Scale: 0.30000001192092896 + Value: false + 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_LaneChangeRight + 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 Slope: + Scale: 0.30000001192092896 + Value: false + View Text Velocity: + Scale: 0.30000001192092896 + Value: false + 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_LaneChangeLeft + 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 Slope: + Scale: 0.30000001192092896 + Value: false + View Text Velocity: + Scale: 0.30000001192092896 + Value: false + 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_ExternalRequestLaneChangeRight + 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 Slope: + Scale: 0.30000001192092896 + Value: false + View Text Velocity: + Scale: 0.30000001192092896 + Value: false + 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_ExternalRequestLaneChangeLeft + 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 Slope: + Scale: 0.30000001192092896 + Value: false + View Text Velocity: + Scale: 0.30000001192092896 + Value: false + 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 + 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 Slope: + Scale: 0.30000001192092896 + Value: false + View Text Velocity: + Scale: 0.30000001192092896 + Value: false + 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_StartPlanner + 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 Slope: + Scale: 0.30000001192092896 + Value: false + View Text Velocity: + Scale: 0.30000001192092896 + Value: false + 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_GoalPlanner + 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 Slope: + Scale: 0.30000001192092896 + Value: false + View Text Velocity: + Scale: 0.30000001192092896 + Value: false + View Velocity: + Alpha: 0.30000001192092896 + Color: 0; 0; 0 + Constant Color: false + Scale: 0.30000001192092896 + Value: false + - Class: rviz_default_plugins/MarkerArray + Enabled: false + Name: Bound + 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/bound + Value: false + - Class: rviz_common/Group + Displays: + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: VirtualWall (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/virtual_wall/avoidance + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: VirtualWall (AvoidanceByLC) + 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/virtual_wall/avoidance_by_lane_change + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: VirtualWall (LaneChangeRight) + 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/virtual_wall/lane_change_right + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: VirtualWall (LaneChangeLeft) + 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/virtual_wall/lane_change_left + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: VirtualWall (ExtLaneChangeRight) + 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/virtual_wall/external_request_lane_change_right + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: VirtualWall (ExtLaneChangeLeft) + 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/virtual_wall/external_request_lane_change_left + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: VirtualWall (GoalPlanner) + 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/virtual_wall/goal_planner + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: VirtualWall (StartPlanner) + 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/virtual_wall/start_planner + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: VirtualWall (BlindSpot) + 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/blind_spot + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: VirtualWall (Crosswalk) + 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/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) + 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/detection_area + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: VirtualWall (Intersection) + 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/intersection + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: VirtualWall (MergeFromPrivateArea) + 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/merge_from_private + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: VirtualWall (NoStoppingArea) + 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/no_stopping_area + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: VirtualWall (OcclusionSpot) + 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/occlusion_spot + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: VirtualWall (StopLine) + 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/stop_line + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: VirtualWall (TrafficLight) + 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/traffic_light + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: VirtualWall (VirtualTrafficLight) + 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/virtual_traffic_light + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: VirtualWall (RunOut) + 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/run_out + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: VirtualWall (SpeedBump) + 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/speed_bump + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: VirtualWall (OutOfLane) + Namespaces: {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/virtual_wall/out_of_lane + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: VirtualWall (NoDrivableLane) + 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/no_drivable_lane + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: VirtualWall (DynamicObstacleStop) + Namespaces: {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/virtual_wall/dynamic_obstacle_stop + Value: true + Enabled: true + Name: VirtualWall + - Class: rviz_common/Group + Displays: + - Class: rviz_default_plugins/MarkerArray + Enabled: false + Name: Arrow + 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/path + Value: false + - Class: rviz_default_plugins/MarkerArray + Enabled: false + Name: Crosswalk + 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/crosswalk + Value: false + - Class: rviz_default_plugins/MarkerArray + Enabled: false + Name: Intersection + 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/intersection + Value: false + - Alpha: 0.5 + Autocompute Intensity Bounds: true + Class: grid_map_rviz_plugin/GridMap + Color: 200; 200; 200 + Color Layer: color + Color Transformer: IntensityLayer + Enabled: false + Height Layer: elevation + Height Transformer: Layer + History Length: 1 + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 10 + Min Color: 0; 0; 0 + Min Intensity: 0 + Name: IntersectionOcclusion + Show Grid Lines: false + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/debug/intersection/occlusion_grid + Use Rainbow: true + Value: false + - Class: rviz_default_plugins/MarkerArray + Enabled: false + Name: Blind Spot + 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/blind_spot + Value: false + - Class: rviz_default_plugins/MarkerArray + Enabled: false + Name: TrafficLight + 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/traffic_light + Value: false + - Class: rviz_default_plugins/MarkerArray + Enabled: false + Name: VirtualTrafficLight + 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/virtual_traffic_light + Value: false + - Class: rviz_default_plugins/MarkerArray + Enabled: false + Name: StopLine + 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/stop_line + Value: false + - Class: rviz_default_plugins/MarkerArray + Enabled: false + Name: DetectionArea + 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/detection_area + Value: false + - Class: rviz_default_plugins/MarkerArray + Enabled: false + Name: OcclusionSpot + 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/occlusion_spot + Value: false + - Class: rviz_default_plugins/MarkerArray + Enabled: false + Name: NoStoppingArea + 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/no_stopping_area + Value: false + - Class: rviz_default_plugins/MarkerArray + Enabled: false + Name: RunOut + 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/run_out + 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/lane_change + 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/lane_following + Value: false + - Class: rviz_default_plugins/MarkerArray + Enabled: false + Name: GoalPlanner + 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/goal_planner + Value: false + - Class: rviz_default_plugins/MarkerArray + Enabled: false + Name: StartPlanner + 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/start_planner + 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/side_shift + Value: false + - Class: rviz_default_plugins/MarkerArray + Enabled: false + Name: SpeedBump + 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/speed_bump + Value: false + - Class: rviz_default_plugins/MarkerArray + Enabled: false + Name: OutOfLane + Namespaces: {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/debug/out_of_lane + Value: false + - Class: rviz_default_plugins/MarkerArray + Enabled: false + Name: DynamicAvoidance + 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/dynamic_avoidance + Value: false + - Class: rviz_default_plugins/MarkerArray + Enabled: false + Name: NoDrivableLane + 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/no_drivable_lane + Value: false + - Class: rviz_default_plugins/MarkerArray + Enabled: false + Name: DynamicObstacleStop + Namespaces: {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/debug/dynamic_obstacle_stop + Value: false + Enabled: false + Name: DebugMarker + - Class: rviz_common/Group + Displays: + - Class: rviz_default_plugins/MarkerArray + Enabled: false + Name: Info (Avoidance) + 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/info/avoidance + Value: false + - Class: rviz_default_plugins/MarkerArray + Enabled: false + Name: Info (AvoidanceByLC) + 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/info/avoidance_by_lane_change + Value: false + - Class: rviz_default_plugins/MarkerArray + Enabled: false + Name: Info (LaneChangeLeft) + 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/info/lane_change_left + Value: false + - Class: rviz_default_plugins/MarkerArray + Enabled: false + Name: Info (LaneChangeRight) + 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/info/lane_change_right + Value: false + - Class: rviz_default_plugins/MarkerArray + Enabled: false + Name: Info (ExtLaneChangeLeft) + 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/info/external_request_lane_change_left + Value: false + - Class: rviz_default_plugins/MarkerArray + Enabled: false + Name: Info (ExtLaneChangeRight) + 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/info/external_request_lane_change_right + Value: false + - Class: rviz_default_plugins/MarkerArray + Enabled: false + Name: Info (GoalPlanner) + 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/info/goal_planner + Value: false + - Class: rviz_default_plugins/MarkerArray + Enabled: false + Name: Info (StartPlanner) + 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/info/start_planner + Value: false + - Class: rviz_default_plugins/MarkerArray + Enabled: false + Name: Info (DynamicAvoidance) + 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/info/dynamic_avoidance + Value: false + Enabled: false + Name: InfoMarker + Enabled: true + Name: BehaviorPlanning + - Class: rviz_common/Group + Displays: + - Class: rviz_plugins/Trajectory + Color Border Vel Max: 3 + Enabled: false + Name: Trajectory + 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 + 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 Slope: + Scale: 0.30000001192092896 + Value: false + View Text Velocity: + Scale: 0.30000001192092896 + Value: false + View Velocity: + Alpha: 0.9990000128746033 + Color: 0; 0; 0 + Constant Color: false + Scale: 0.30000001192092896 + Value: true + - Class: rviz_common/Group + Displays: + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: VirtualWall (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/virtual_wall + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: VirtualWall (SurroundObstacle) + 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/virtual_wall + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: VirtualWall (ObstacleAvoidance) + Namespaces: {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/motion_planning/obstacle_avoidance_planner/virtual_wall + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: VirtualWall (ObstacleCruise Stop) + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/virtual_wall/stop + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: VirtualWall (ObstacleCruise Cruise) + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/virtual_wall/cruise + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: VirtualWall (ObstacleCruise SlowDown) + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/virtual_wall/slow_down + Value: true + Enabled: true + Name: VirtualWall + - Class: rviz_common/Group + Displays: + - Class: rviz_common/Group + Displays: + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: SurroundObstacleCheck + 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 + - 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/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: false + Name: SurroundObstacleChecker + - Class: rviz_default_plugins/MarkerArray + Enabled: false + 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: false + - Class: rviz_common/Group + Displays: + - 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 + Enabled: false + Name: ObstacleCruise + - Class: rviz_default_plugins/MarkerArray + Enabled: false + Name: ObstacleAvoidance + Namespaces: {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/motion_planning/obstacle_avoidance_planner/debug/marker + Value: false + Enabled: false + Name: DebugMarker + Enabled: true + Name: MotionPlanning + Enabled: true + Name: LaneDriving + - Class: rviz_common/Group + Displays: + - Alpha: 0.699999988079071 + Class: rviz_default_plugins/Map + Color Scheme: map + Draw Behind: false + Enabled: false + Name: Costmap + 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 + Update Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/parking/costmap_generator/occupancy_grid_updates + Use Timestamp: false + Value: false + - Alpha: 0.9990000128746033 + Arrow Length: 0.30000001192092896 + Axes Length: 0.30000001192092896 + Axes Radius: 0.009999999776482582 + Class: rviz_default_plugins/PoseArray + Color: 255; 25; 0 + Enabled: true + Head Length: 0.10000000149011612 + Head Radius: 0.20000000298023224 + Name: PartialPoseArray + Shaft Length: 0.20000000298023224 + Shaft Radius: 0.05000000074505806 + Shape: Arrow (3D) + 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 + Arrow Length: 0.5 + Axes Length: 0.30000001192092896 + Axes Radius: 0.009999999776482582 + Class: rviz_default_plugins/PoseArray + Color: 0; 0; 255 + Enabled: true + Head Length: 0.10000000149011612 + Head Radius: 0.20000000298023224 + Name: PoseArray + Shaft Length: 0.20000000298023224 + Shaft Radius: 0.05000000074505806 + Shape: Arrow (Flat) + 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 + Value: true + Enabled: true + Name: Parking + - Class: rviz_plugins/PoseWithUuidStamped + Enabled: true + Length: 1.5 + Name: ModifiedGoal + Radius: 0.5 + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/modified_goal + UUID: + Scale: 0.30000001192092896 + Value: false + 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 + Displays: + - Class: rviz_plugins/Trajectory + Color Border Vel Max: 3 + Enabled: true + Name: Predicted Trajectory + 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 + Width: 0.05000000074505806 + View Point: + Alpha: 1 + Color: 0; 60; 255 + Offset: 0 + Radius: 0.10000000149011612 + Value: false + View Text Slope: + Scale: 0.30000001192092896 + Value: false + View Text Velocity: + Scale: 0.30000001192092896 + Value: false + View Velocity: + Alpha: 1 + Color: 0; 0; 0 + Constant Color: false + Scale: 0.30000001192092896 + Value: false + - Class: rviz_default_plugins/MarkerArray + Enabled: false + Name: Debug/MPC + Namespaces: {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /control/trajectory_follower/mpc_follower/debug/markers + Value: false + - Class: rviz_default_plugins/MarkerArray + Enabled: false + Name: Debug/PurePursuit + Namespaces: {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /control/trajectory_follower/controller_node_exe/debug/markers + Value: false + - Class: rviz_default_plugins/MarkerArray + Enabled: false + Name: Debug/AEB + Namespaces: {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /control/autonomous_emergency_braking/debug/markers + Value: false + Enabled: true + Name: Control + - Class: rviz_common/Group + Displays: + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: Debug Marker + Namespaces: {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /simulation/debug_marker + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: Entity Marker + Namespaces: {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /simulation/entity/marker + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: Lanelet Marker + Namespaces: {} + Topic: + Depth: 5 + Durability Policy: Transient Local + History Policy: Keep Last + Reliability Policy: Reliable + Value: /simulation/lanelet/marker + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: Traffic Light Marker + Namespaces: {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /simulation/traffic_light/marker + Value: true + - Class: openscenario_visualization/VisualizationConditionGroups + Enabled: true + Left: 0 + Length: 2000 + Name: Condition Group + Text Color: 255; 255; 255 + Top: 450 + Topic: /simulation/context + Value: true + Value Scale: 35 + Width: 2000 + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: Debug Marker + Namespaces: {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /simulation/debug_marker + Value: true + - Class: rviz_common/Group + Displays: + - Alpha: 0.9990000128746033 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 10 + Min Value: -10 + Value: true + Axis: Z + Channel Name: intensity + Class: rviz_default_plugins/PointCloud2 + Color: 255; 255; 255 + Color Transformer: FlatColor + Decay Time: 0 + Enabled: true + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 0 + Min Color: 0; 0; 0 + Min Intensity: 0 + Name: Simple LiDAR + Position Transformer: XYZ + Selectable: true + Size (Pixels): 3 + Size (m): 3 + Style: Points + Topic: + Depth: 5 + Durability Policy: System Default + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /perception/obstacle_segmentation/pointcloud + Use Fixed Frame: true + Use rainbow: true + Value: true + - BUS: + Alpha: 0.9990000128746033 + Color: 30; 144; 255 + CAR: + Alpha: 0.9990000128746033 + Color: 30; 144; 255 + CYCLIST: + Alpha: 0.9990000128746033 + Color: 119; 11; 32 + Class: autoware_perception_rviz_plugin/DetectedObjects + Display Acceleration: 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 + Enabled: true + Line Width: 0.029999999329447746 + MOTORCYCLE: + Alpha: 0.9990000128746033 + Color: 119; 11; 32 + Name: Detected Objects + Namespaces: ~ + PEDESTRIAN: + Alpha: 0.9990000128746033 + Color: 255; 192; 203 + Polygon Type: 3d + TRAILER: + Alpha: 0.9990000128746033 + Color: 30; 144; 255 + TRUCK: + Alpha: 0.9990000128746033 + 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: 0.9990000128746033 + Color: 255; 255; 255 + Value: true + Visualization Type: Normal + - Alpha: 0.699999988079071 + Class: rviz_default_plugins/Map + Color Scheme: map + Draw Behind: false + Enabled: false + Name: Occupancy Grid Map + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /perception/occupancy_grid_map/map + Update Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /perception/occupancy_grid_map/map_updates + Use Timestamp: false + Value: false + Enabled: true + Name: Simple Sensor Simulator + Enabled: true + Name: Simulation + Enabled: true + Global Options: + Background Color: 10; 10; 10 + Fixed Frame: map + Frame Rate: 30 + Name: root + Tools: + - Class: rviz_default_plugins/Interact + Hide Inactive Objects: true + - Class: rviz_default_plugins/MoveCamera + - Class: rviz_default_plugins/Select + - Class: rviz_default_plugins/FocusCamera + - 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 + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /initialpose + - Class: rviz_default_plugins/SetGoal + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/mission_planning/goal + - Class: tier4_adapi_rviz_plugins::RouteTool + Topic: + Depth: 5 + Durability Policy: Volatile + 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 + 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 + 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 + 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 + Z std deviation: 0.029999999329447746 + - Class: rviz_plugins/MissionCheckpointTool + Pose Topic: /planning/mission_planning/checkpoint + Theta std deviation: 0.2617993950843811 + X std deviation: 0.5 + Y std deviation: 0.5 + 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 + Class: rviz_default_plugins/TopDownOrtho + Enable Stereo Rendering: + Stereo Eye Separation: 0.05999999865889549 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Invert Z Axis: false + Name: Current View + Near Clip Distance: 0.009999999776482582 + Scale: 10 + Target Frame: entities + Value: TopDownOrtho (rviz_default_plugins) + X: 0 + Y: 0 + Saved: + - Class: rviz_default_plugins/ThirdPersonFollower + Distance: 18 + Enable Stereo Rendering: + Stereo Eye Separation: 0.05999999865889549 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Focal Point: + X: 0 + Y: 0 + Z: 0 + Focal Shape Fixed Size: true + Focal Shape Size: 0.05000000074505806 + Invert Z Axis: false + Name: ThirdPersonFollower + Near Clip Distance: 0.009999999776482582 + Pitch: 0.20000000298023224 + Target Frame: base_link + Value: ThirdPersonFollower (rviz) + Yaw: 3.141592025756836 + - Angle: 0 + Class: rviz_default_plugins/TopDownOrtho + Enable Stereo Rendering: + Stereo Eye Separation: 0.05999999865889549 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Invert Z Axis: false + Name: TopDownOrtho + Near Clip Distance: 0.009999999776482582 + Scale: 10 + Target Frame: viewer + Value: TopDownOrtho (rviz) + X: 0 + Y: 0 +Window Geometry: + AutowareStatePanel: + collapsed: false + Displays: + collapsed: false + Height: 2091 + Hide Left Dock: false + Hide Right Dock: false + QMainWindow State: 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+ RecognitionResultOnImage: + collapsed: false + Tool Properties: + collapsed: false + Views: + collapsed: false + Width: 3770 + X: 1920 + Y: 0 diff --git a/setup.cfg b/setup.cfg index 5214751c7b..4d7d5e5b95 100644 --- a/setup.cfg +++ b/setup.cfg @@ -1,3 +1,7 @@ +# This file is automatically synced from: +# https://github.com/autowarefoundation/sync-file-templates +# To make changes, update the source repository and follow the guidelines in its README. + [flake8] # Modified from https://github.com/ament/ament_lint/blob/ebd524bb9973d5ec1dc48a670ce54f958a5a0243/ament_flake8/ament_flake8/configuration/ament_flake8.ini extend-ignore = B902,C816,D100,D101,D102,D103,D104,D105,D106,D107,D203,D212,D404,I202,CNL100,E203,E501,Q000