refactor(rviz): add VirtualWall display for Autonomous Emergency Brak…

…ing (autowarefoundation#1187) feat(rviz): add VirtualWall display for Autonomous Emergency Braking Signed-off-by: kyoichi-sugahara <[email protected]>
Kazunori-Nakajima · Oct 11, 2024 · b7d1568 · b7d1568
1 parent a68a267
commit b7d1568
Showing 1 changed file with 18 additions and 13 deletions.
diff --git a/autoware_launch/rviz/autoware.rviz b/autoware_launch/rviz/autoware.rviz
@@ -2450,6 +2450,22 @@ Visualization Manager:
             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
+          Enabled: true
+          Name: VirtualWall
         - Class: rviz_default_plugins/Marker
           Enabled: false
           Name: Stop Reason
@@ -2500,19 +2516,6 @@ Visualization Manager:
             Reliability Policy: Reliable
             Value: /control/autonomous_emergency_braking/debug/markers
           Value: false
-        - Class: rviz_default_plugins/MarkerArray
-          Enabled: true
-          Name: Info/AEB
-          Namespaces:
-            stop_factor_text: true
-            stop_virtual_wall: true
-          Topic:
-            Depth: 5
-            Durability Policy: Volatile
-            History Policy: Keep Last
-            Reliability Policy: Reliable
-            Value: /control/autonomous_emergency_braking/info/markers
-          Value: true
       Enabled: true
       Name: Control
     - Class: rviz_common/Group
@@ -2542,6 +2545,8 @@ Visualization Manager:
                   Debug/MPC: true
                   Debug/PurePursuit: true
                   Predicted Trajectory: true
+                  VirtualWall:
+                    VirtualWall (AEB): true
                   Value: false
                 Debug:
                   Control: true