Merge branch 'main' into refactor/image_projection_based_fusion

.cspell-partial.json

@@ -5,5 +5,5 @@
     "perception/bytetrack/lib/**"
   ],
   "ignoreRegExpList": [],
-  "words": ["dltype", "tvmgen", "quantizer", "imageio", "mimsave"]
+  "words": ["dltype", "tvmgen"]
 }

.github/workflows/build-and-test-differential.yaml

@@ -16,7 +16,7 @@ jobs:
   build-and-test-differential:
     needs: prevent-no-label-execution
     if: ${{ needs.prevent-no-label-execution.outputs.run == 'true' }}
-    runs-on: ubuntu-latest
+    runs-on: [self-hosted, linux, X64]
     container: ${{ matrix.container }}${{ matrix.container-suffix }}
     strategy:
       fail-fast: false
@@ -76,7 +76,7 @@ jobs:
         run: df -h
 
   clang-tidy-differential:
-    runs-on: ubuntu-latest
+    runs-on: [self-hosted, linux, X64]
     container: ghcr.io/autowarefoundation/autoware-universe:humble-latest-cuda
     needs: build-and-test-differential
     steps:

common/awf_vehicle_rviz_plugin/rviz_2d_overlay_msgs/CMakeLists.txt → common/autoware_overlay_rviz_plugin/autoware_overlay_msgs/CMakeLists.txt

@@ -1,5 +1,5 @@
 cmake_minimum_required(VERSION 3.5)
-project(rviz_2d_overlay_msgs)
+project(autoware_overlay_msgs)
 
 if (NOT CMAKE_CXX_STANDARD)
     set(CMAKE_CXX_STANDARD 17)

common/awf_vehicle_rviz_plugin/rviz_2d_overlay_msgs/package.xml → common/autoware_overlay_rviz_plugin/autoware_overlay_msgs/package.xml

@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
-  <name>rviz_2d_overlay_msgs</name>
+  <name>autoware_overlay_msgs</name>
   <version>1.3.0</version>
   <description>Messages describing 2D overlays for RVIZ, extracted/derived from the jsk_visualization package.</description>
   <maintainer email="[email protected]">Team Spatzenhirn</maintainer>

common/awf_vehicle_rviz_plugin/awf_2d_overlay_vehicle/CMakeLists.txt → common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/CMakeLists.txt

@@ -1,5 +1,5 @@
 cmake_minimum_required(VERSION 3.8)
-project(awf_2d_overlay_vehicle)
+project(autoware_overlay_rviz_plugin)
 
 # find dependencies
 find_package(ament_cmake_auto REQUIRED)
@@ -9,7 +9,7 @@ find_package(tier4_planning_msgs REQUIRED)
 find_package(autoware_perception_msgs REQUIRED)
 ament_auto_find_build_dependencies()
 
-find_package(rviz_2d_overlay_msgs REQUIRED)
+find_package(autoware_overlay_msgs REQUIRED)
 
 find_package(rviz_common REQUIRED)
 find_package(rviz_rendering REQUIRED)
@@ -90,7 +90,7 @@ ament_target_dependencies(
         PUBLIC
         rviz_common
         rviz_rendering
-        rviz_2d_overlay_msgs
+        autoware_overlay_msgs
         autoware_auto_vehicle_msgs
         tier4_planning_msgs
         autoware_perception_msgs
@@ -136,5 +136,5 @@ install(
 add_definitions(-DQT_NO_KEYWORDS)
 
 ament_package(
-        CONFIG_EXTRAS "awf_2d_overlay_vehicle-extras.cmake"
+        CONFIG_EXTRAS "autoware_overlay_rviz_plugin-extras.cmake"
 )

common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/README.md

@@ -0,0 +1,54 @@
+# autoware_overlay_rviz_plugin
+
+Plugin for displaying 2D overlays over the RViz2 3D scene.
+
+Based on the [jsk_visualization](https://github.com/jsk-ros-pkg/jsk_visualization)
+package, under the 3-Clause BSD license.
+
+## Purpose
+
+This plugin provides a visual and easy-to-understand display of vehicle speed, turn signal, steering status and gears.
+
+## Inputs / Outputs
+
+### Input
+
+| Name                                                    | Type                                                    | Description                          |
+| ------------------------------------------------------- | ------------------------------------------------------- | ------------------------------------ |
+| `/vehicle/status/velocity_status`                       | `autoware_auto_vehicle_msgs::msg::VelocityReport`       | The topic is vehicle velocity        |
+| `/vehicle/status/turn_indicators_status`                | `autoware_auto_vehicle_msgs::msg::TurnIndicatorsReport` | The topic is status of turn signal   |
+| `/vehicle/status/hazard_status`                         | `autoware_auto_vehicle_msgs::msg::HazardReport`         | The topic is status of hazard        |
+| `/vehicle/status/steering_status`                       | `autoware_auto_vehicle_msgs::msg::SteeringReport`       | The topic is status of steering      |
+| `/vehicle/status/gear_status`                           | `autoware_auto_vehicle_msgs::msg::GearReport`           | The topic is status of gear          |
+| `/planning/scenario_planning/current_max_velocity`      | `tier4_planning_msgs::msg::VelocityLimit`               | The topic is velocity limit          |
+| `/perception/traffic_light_recognition/traffic_signals` | `autoware_perception_msgs::msg::TrafficSignalArray`     | The topic is status of traffic light |
+
+## Parameter
+
+### Core Parameters
+
+#### SignalDisplay
+
+| Name                     | Type   | Default Value        | Description                       |
+| ------------------------ | ------ | -------------------- | --------------------------------- |
+| `property_width_`        | int    | 128                  | Width of the plotter window [px]  |
+| `property_height_`       | int    | 128                  | Height of the plotter window [px] |
+| `property_left_`         | int    | 128                  | Left of the plotter window [px]   |
+| `property_top_`          | int    | 128                  | Top of the plotter window [px]    |
+| `property_signal_color_` | QColor | QColor(25, 255, 240) | Turn Signal color                 |
+
+## Assumptions / Known limits
+
+TBD.
+
+## Usage
+
+1. Start `rviz2` and click `Add` button under the `Displays` panel.
+
+   ![select_add](./assets/images/select_add.png)
+
+2. Under `By display type` tab, select `autoware_overlay_rviz_plugin/SignalDisplay` and press OK.
+
+3. Enter the names of the topics if necessary.
+
+   ![select_topic_name](./assets/images/select_topic_name.png)

common/awf_vehicle_rviz_plugin/awf_2d_overlay_vehicle/include/gear_display.hpp → common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/include/gear_display.hpp

@@ -29,7 +29,7 @@
 #include <OgreMaterial.h>
 #include <OgreTexture.h>
 
-namespace awf_2d_overlay_vehicle
+namespace autoware_overlay_rviz_plugin
 {
 
 class GearDisplay
@@ -44,6 +44,6 @@ class GearDisplay
   QColor gray = QColor(194, 194, 194);
 };
 
-}  // namespace awf_2d_overlay_vehicle
+}  // namespace autoware_overlay_rviz_plugin
 
 #endif  // GEAR_DISPLAY_HPP_

common/awf_vehicle_rviz_plugin/awf_2d_overlay_vehicle/include/overlay_text_display.hpp → common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/include/overlay_text_display.hpp

@@ -50,7 +50,7 @@
 #ifndef OVERLAY_TEXT_DISPLAY_HPP_
 #define OVERLAY_TEXT_DISPLAY_HPP_
 
-#include "rviz_2d_overlay_msgs/msg/overlay_text.hpp"
+#include "autoware_overlay_msgs/msg/overlay_text.hpp"
 #ifndef Q_MOC_RUN
 #include "overlay_utils.hpp"
 
@@ -69,18 +69,18 @@
 #include <string>
 #endif
 
-namespace awf_2d_overlay_vehicle
+namespace autoware_overlay_rviz_plugin
 {
 class OverlayTextDisplay
-: public rviz_common::RosTopicDisplay<rviz_2d_overlay_msgs::msg::OverlayText>
+: public rviz_common::RosTopicDisplay<autoware_overlay_msgs::msg::OverlayText>
 {
   Q_OBJECT
 public:
   OverlayTextDisplay();
   virtual ~OverlayTextDisplay();
 
 protected:
-  awf_2d_overlay_vehicle::OverlayObject::SharedPtr overlay_;
+  autoware_overlay_rviz_plugin::OverlayObject::SharedPtr overlay_;
 
   int texture_width_;
   int texture_height_;
@@ -150,8 +150,8 @@ protected Q_SLOTS:
   void updateLineWidth();
 
 private:
-  void processMessage(rviz_2d_overlay_msgs::msg::OverlayText::ConstSharedPtr msg) override;
+  void processMessage(autoware_overlay_msgs::msg::OverlayText::ConstSharedPtr msg) override;
 };
-}  // namespace awf_2d_overlay_vehicle
+}  // namespace autoware_overlay_rviz_plugin
 
 #endif  // OVERLAY_TEXT_DISPLAY_HPP_

common/awf_vehicle_rviz_plugin/awf_2d_overlay_vehicle/include/overlay_utils.hpp → common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/include/overlay_utils.hpp

@@ -54,7 +54,7 @@
 #include <QColor>
 #include <QImage>
 
-#include "rviz_2d_overlay_msgs/msg/overlay_text.hpp"
+#include "autoware_overlay_msgs/msg/overlay_text.hpp"
 
 #include <OgreHardwarePixelBuffer.h>
 #include <OgreMaterialManager.h>
@@ -70,7 +70,7 @@
 #include <memory>
 #include <string>
 
-namespace awf_2d_overlay_vehicle
+namespace autoware_overlay_rviz_plugin
 {
 class OverlayObject;
 
@@ -90,15 +90,15 @@ class ScopedPixelBuffer
 };
 
 enum class VerticalAlignment : uint8_t {
-  CENTER = rviz_2d_overlay_msgs::msg::OverlayText::CENTER,
-  TOP = rviz_2d_overlay_msgs::msg::OverlayText::TOP,
-  BOTTOM = rviz_2d_overlay_msgs::msg::OverlayText::BOTTOM,
+  CENTER = autoware_overlay_msgs::msg::OverlayText::CENTER,
+  TOP = autoware_overlay_msgs::msg::OverlayText::TOP,
+  BOTTOM = autoware_overlay_msgs::msg::OverlayText::BOTTOM,
 };
 
 enum class HorizontalAlignment : uint8_t {
-  LEFT = rviz_2d_overlay_msgs::msg::OverlayText::LEFT,
-  RIGHT = rviz_2d_overlay_msgs::msg::OverlayText::RIGHT,
-  CENTER = rviz_2d_overlay_msgs::msg::OverlayText::CENTER
+  LEFT = autoware_overlay_msgs::msg::OverlayText::LEFT,
+  RIGHT = autoware_overlay_msgs::msg::OverlayText::RIGHT,
+  CENTER = autoware_overlay_msgs::msg::OverlayText::CENTER
 };
 
 /**
@@ -136,6 +136,6 @@ class OverlayObject
   Ogre::MaterialPtr panel_material_;
   Ogre::TexturePtr texture_;
 };
-}  // namespace awf_2d_overlay_vehicle
+}  // namespace autoware_overlay_rviz_plugin
 
 #endif  // OVERLAY_UTILS_HPP_

common/awf_vehicle_rviz_plugin/awf_2d_overlay_vehicle/include/signal_display.hpp → common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/include/signal_display.hpp

@@ -39,7 +39,7 @@
 #include <mutex>
 #endif
 
-namespace awf_2d_overlay_vehicle
+namespace autoware_overlay_rviz_plugin
 {
 class SignalDisplay : public rviz_common::Display
 {
@@ -70,7 +70,7 @@ private Q_SLOTS:
 
 private:
   std::mutex mutex_;
-  awf_2d_overlay_vehicle::OverlayObject::SharedPtr overlay_;
+  autoware_overlay_rviz_plugin::OverlayObject::SharedPtr overlay_;
   rviz_common::properties::IntProperty * property_width_;
   rviz_common::properties::IntProperty * property_height_;
   rviz_common::properties::IntProperty * property_left_;
@@ -84,7 +84,8 @@ private Q_SLOTS:
   std::unique_ptr<rviz_common::properties::RosTopicProperty> traffic_topic_property_;
   std::unique_ptr<rviz_common::properties::RosTopicProperty> speed_limit_topic_property_;
 
-  void drawBackground(QPainter & painter, const QRectF & backgroundRect);
+  void drawHorizontalRoundedRectangle(QPainter & painter, const QRectF & backgroundRect);
+  void drawVerticalRoundedRectangle(QPainter & painter, const QRectF & backgroundRect);
   void setupRosSubscriptions();
 
   std::unique_ptr<SteeringWheelDisplay> steering_wheel_display_;
@@ -119,6 +120,6 @@ private Q_SLOTS:
     const autoware_perception_msgs::msg::TrafficSignalArray::ConstSharedPtr msg);
   void drawWidget(QImage & hud);
 };
-}  // namespace awf_2d_overlay_vehicle
+}  // namespace autoware_overlay_rviz_plugin
 
 #endif  // SIGNAL_DISPLAY_HPP_

common/awf_vehicle_rviz_plugin/awf_2d_overlay_vehicle/include/speed_display.hpp → common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/include/speed_display.hpp

@@ -29,7 +29,7 @@
 #include <OgreMaterial.h>
 #include <OgreTexture.h>
 
-namespace awf_2d_overlay_vehicle
+namespace autoware_overlay_rviz_plugin
 {
 
 class SpeedDisplay
@@ -44,6 +44,6 @@ class SpeedDisplay
   QColor gray = QColor(194, 194, 194);
 };
 
-}  // namespace awf_2d_overlay_vehicle
+}  // namespace autoware_overlay_rviz_plugin
 
 #endif  // SPEED_DISPLAY_HPP_

common/awf_vehicle_rviz_plugin/awf_2d_overlay_vehicle/include/speed_limit_display.hpp → common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/include/speed_limit_display.hpp

@@ -23,13 +23,14 @@
 #include <rviz_common/properties/int_property.hpp>
 #include <rviz_common/ros_topic_display.hpp>
 
+#include "autoware_auto_vehicle_msgs/msg/velocity_report.hpp"
 #include <tier4_planning_msgs/msg/velocity_limit.hpp>
 
 #include <OgreColourValue.h>
 #include <OgreMaterial.h>
 #include <OgreTexture.h>
 
-namespace awf_2d_overlay_vehicle
+namespace autoware_overlay_rviz_plugin
 {
 
 class SpeedLimitDisplay
@@ -38,12 +39,14 @@ class SpeedLimitDisplay
   SpeedLimitDisplay();
   void drawSpeedLimitIndicator(QPainter & painter, const QRectF & backgroundRect);
   void updateSpeedLimitData(const tier4_planning_msgs::msg::VelocityLimit::ConstSharedPtr msg);
+  void updateSpeedData(const autoware_auto_vehicle_msgs::msg::VelocityReport::ConstSharedPtr & msg);
 
 private:
-  float current_limit;  // Internal variable to store current gear
+  float current_limit;   // Internal variable to store current gear
+  float current_speed_;  // Internal variable to store current speed
   QColor gray = QColor(194, 194, 194);
 };
 
-}  // namespace awf_2d_overlay_vehicle
+}  // namespace autoware_overlay_rviz_plugin
 
 #endif  // SPEED_LIMIT_DISPLAY_HPP_

common/awf_vehicle_rviz_plugin/awf_2d_overlay_vehicle/include/steering_wheel_display.hpp → common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/include/steering_wheel_display.hpp

@@ -29,7 +29,7 @@
 #include <OgreMaterial.h>
 #include <OgreTexture.h>
 
-namespace awf_2d_overlay_vehicle
+namespace autoware_overlay_rviz_plugin
 {
 
 class SteeringWheelDisplay
@@ -49,6 +49,6 @@ class SteeringWheelDisplay
   QImage coloredImage(const QImage & source, const QColor & color);
 };
 
-}  // namespace awf_2d_overlay_vehicle
+}  // namespace autoware_overlay_rviz_plugin
 
 #endif  // STEERING_WHEEL_DISPLAY_HPP_

common/awf_vehicle_rviz_plugin/awf_2d_overlay_vehicle/include/traffic_display.hpp → common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/include/traffic_display.hpp

@@ -31,7 +31,7 @@
 #include <OgreMaterial.h>
 #include <OgreTexture.h>
 
-namespace awf_2d_overlay_vehicle
+namespace autoware_overlay_rviz_plugin
 {
 
 class TrafficDisplay
@@ -45,18 +45,15 @@ class TrafficDisplay
 
 private:
   QImage traffic_light_image_;
-  // yellow #CFC353
-  QColor yellow = QColor(207, 195, 83);
-  // red #CF5353
-  QColor red = QColor(207, 83, 83);
-  // green #53CF5F
-  QColor green = QColor(83, 207, 95);
-  // gray #C2C2C2
-  QColor gray = QColor(194, 194, 194);
+
+  const QColor tl_red_;
+  const QColor tl_yellow_;
+  const QColor tl_green_;
+  const QColor tl_gray_;
 
   QImage coloredImage(const QImage & source, const QColor & color);
 };
 
-}  // namespace awf_2d_overlay_vehicle
+}  // namespace autoware_overlay_rviz_plugin
 
 #endif  // TRAFFIC_DISPLAY_HPP_

common/awf_vehicle_rviz_plugin/awf_2d_overlay_vehicle/include/turn_signals_display.hpp → common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/include/turn_signals_display.hpp

@@ -32,7 +32,7 @@
 
 #include <chrono>
 
-namespace awf_2d_overlay_vehicle
+namespace autoware_overlay_rviz_plugin
 {
 
 class TurnSignalsDisplay
@@ -47,7 +47,7 @@ class TurnSignalsDisplay
 
 private:
   QImage arrowImage;
-  QColor gray = QColor(194, 194, 194);
+  QColor gray = QColor(46, 46, 46);
 
   int current_turn_signal_;    // Internal variable to store turn signal state
   int current_hazard_lights_;  // Internal variable to store hazard lights state
@@ -58,6 +58,6 @@ class TurnSignalsDisplay
   const std::chrono::milliseconds blink_interval_{500};  // Blink interval in milliseconds
 };
 
-}  // namespace awf_2d_overlay_vehicle
+}  // namespace autoware_overlay_rviz_plugin
 
 #endif  // TURN_SIGNALS_DISPLAY_HPP_