From 593ad1f6c2ad967d8d04b349d7970deeed3f47a1 Mon Sep 17 00:00:00 2001 From: SaltUhey <111027815+SaltUhey@users.noreply.github.com> Date: Tue, 17 Sep 2024 09:48:41 +0900 Subject: [PATCH] feat: change visualization of localization results from PoseHistory to PoseWithCovarianceHistory (#1164) * PoseHistory to PoseWithCovarianceHistory Signed-off-by: yuhei * style(pre-commit): autofix * fix param of alpha related to PoseWithCovarianceHistory Signed-off-by: yuhei --------- Signed-off-by: yuhei Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> --- autoware_launch/rviz/autoware.rviz | 57 +++++++++++++++++++++--------- 1 file changed, 41 insertions(+), 16 deletions(-) diff --git a/autoware_launch/rviz/autoware.rviz b/autoware_launch/rviz/autoware.rviz index d9e60ca5e4..7dcd5510b2 100644 --- a/autoware_launch/rviz/autoware.rviz +++ b/autoware_launch/rviz/autoware.rviz @@ -514,26 +514,39 @@ Visualization Manager: Topic: Depth: 5 Durability Policy: Volatile + Filter size: 10 History Policy: Keep Last Reliability Policy: Reliable Value: /localization/pose_estimator/pose_with_covariance - Value: true + Value: false - Buffer Size: 200 - Class: rviz_plugins::PoseHistory + Class: rviz_plugins::PoseWithCovarianceHistory + Covariance: + Alpha: 0.5 + Color: 204; 51; 204 + Scale: 1 + Value: true Enabled: false - Line: - Color: 170; 255; 127 + Name: PoseWithCovarianceHistory + Path: + Shape Type: + Alpha: 0.999 + Color: 170; 255; 127 + Head Length: 0.20000 + Head diameter: 0.30000 + Shaft Length: 0.30000 + Shaft diameter: 0.15000 + Value: Line + Width: 0.10000 Value: true - Width: 0.10000000149011612 - Alpha: 0.999 - Name: PoseHistory Topic: Depth: 5 Durability Policy: Volatile + Filter size: 10 History Policy: Keep Last Reliability Policy: Reliable - Value: /localization/pose_estimator/pose - Value: true + Value: /localization/pose_estimator/pose_with_covariance + Value: false - Alpha: 0.999 Autocompute Intensity Bounds: true Autocompute Value Bounds: @@ -616,20 +629,32 @@ Visualization Manager: - Class: rviz_common/Group Displays: - Buffer Size: 1000 - Class: rviz_plugins::PoseHistory + Class: rviz_plugins::PoseWithCovarianceHistory + Covariance: + Alpha: 0.5 + Color: 153; 193; 241 + Scale: 1 + Value: false Enabled: true - Line: - Color: 0; 255; 255 + Name: PoseWithCovarianceHistory + Path: + Shape Type: + Alpha: 0.999 + Color: 0; 255; 255 + Head Length: 0.20000 + Head diameter: 0.300000 + Shaft Length: 0.30000 + Shaft diameter: 0.15000 + Value: Line + Width: 0.10000 Value: true - Width: 0.10000000149011612 - Alpha: 0.999 - Name: PoseHistory Topic: Depth: 5 Durability Policy: Volatile + Filter size: 10 History Policy: Keep Last Reliability Policy: Reliable - Value: /localization/pose_twist_fusion_filter/pose + Value: /localization/pose_with_covariance Value: true Enabled: true Name: EKF