feat(autoware_launch): visualize multiple candidate paths (autowarefo…

…undation#601) * feat(autoware_launch): visualize multiple candidate paths Signed-off-by: Fumiya Watanabe <[email protected]> * feature(autoware_launch): fix name space in autoware.rviz Signed-off-by: Fumiya Watanabe <[email protected]> Signed-off-by: Fumiya Watanabe <[email protected]>
TomohitoAndo · Dec 20, 2022 · 63614a0 · 63614a0
1 parent f3a8baf
commit 63614a0
Showing 1 changed file with 71 additions and 2 deletions.
diff --git a/autoware_launch/rviz/autoware.rviz b/autoware_launch/rviz/autoware.rviz
@@ -990,13 +990,82 @@ Visualization Manager:
                     - Class: rviz_plugins/Path
                       Color Border Vel Max: 3
                       Enabled: true
-                      Name: PathChangeCandidate
+                      Name: PathChangeCandidate_LaneChange
                       Topic:
                         Depth: 5
                         Durability Policy: Volatile
                         History Policy: Keep Last
                         Reliability Policy: Reliable
-                        Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/output/path_candidate
+                        Value: /planning/path_candidate/lane_change
+                      Value: true
+                      View Path:
+                        Alpha: 0.30000001192092896
+                        Color: 115; 210; 22
+                        Constant Color: false
+                        Value: true
+                        Width: 2
+                      View Velocity:
+                        Alpha: 0.30000001192092896
+                        Color: 0; 0; 0
+                        Constant Color: false
+                        Scale: 0.30000001192092896
+                        Value: false
+                    - Class: rviz_plugins/Path
+                      Color Border Vel Max: 3
+                      Enabled: true
+                      Name: PathChangeCandidate_Avoidance
+                      Topic:
+                        Depth: 5
+                        Durability Policy: Volatile
+                        History Policy: Keep Last
+                        Reliability Policy: Reliable
+                        Value: /planning/path_candidate/avoidance
+                      Value: true
+                      View Path:
+                        Alpha: 0.30000001192092896
+                        Color: 115; 210; 22
+                        Constant Color: false
+                        Value: true
+                        Width: 2
+                      View Velocity:
+                        Alpha: 0.30000001192092896
+                        Color: 0; 0; 0
+                        Constant Color: false
+                        Scale: 0.30000001192092896
+                        Value: false
+                    - Class: rviz_plugins/Path
+                      Color Border Vel Max: 3
+                      Enabled: true
+                      Name: PathChangeCandidate_PullOut
+                      Topic:
+                        Depth: 5
+                        Durability Policy: Volatile
+                        History Policy: Keep Last
+                        Reliability Policy: Reliable
+                        Value: /planning/path_candidate/pull_out
+                      Value: true
+                      View Path:
+                        Alpha: 0.30000001192092896
+                        Color: 115; 210; 22
+                        Constant Color: false
+                        Value: true
+                        Width: 2
+                      View Velocity:
+                        Alpha: 0.30000001192092896
+                        Color: 0; 0; 0
+                        Constant Color: false
+                        Scale: 0.30000001192092896
+                        Value: false
+                    - Class: rviz_plugins/Path
+                      Color Border Vel Max: 3
+                      Enabled: true
+                      Name: PathChangeCandidate_PullOver
+                      Topic:
+                        Depth: 5
+                        Durability Policy: Volatile
+                        History Policy: Keep Last
+                        Reliability Policy: Reliable
+                        Value: /planning/path_candidate/pull_over
                       Value: true
                       View Path:
                         Alpha: 0.30000001192092896