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add sensing debug topics
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Signed-off-by: Shunsuke Miura <[email protected]>
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@miursh
miursh committed Oct 24, 2023
1 parent b50e8c2 commit 2a55571
Showing 1 changed file with 323 additions and 2 deletions.
325 changes: 323 additions & 2 deletions autoware_launch/rviz/autoware.rviz
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Original file line number Diff line number Diff line change
Expand Up @@ -2439,8 +2439,329 @@ Visualization Manager:
Enabled: true
Name: Map
- Class: rviz_common/Group
Displays: ~
Enabled: true
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
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(red3): true
CenterpointValidator(red2): true
Detection(yellow): true
DetectionByTracker(cyan): true
PointPainting(light_green1): true
PointPaintingROIFusion(light_green3): true
PointPaintingValidator(light_green2): true
Prediction(light_blue): true
RadarFarObjects(white): true
Tracking(green): true
Value: true
Planning: true
Sensing:
ConcatenatePointCloud: true
PointcloudOnCamera: true
RadarRawObjects(white): true
Value: true
Value: 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
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
RouteArea: true
Value: true
ScenarioPlanning:
LaneDriving:
BehaviorPlanning:
(old)PathChangeCandidate_LaneChange: true
Bound: true
DebugMarker:
Arrow: true
Avoidance: true
Blind Spot: true
Crosswalk: true
DetectionArea: true
DynamicAvoidance: true
GoalPlanner: true
Intersection: true
LaneFollowing: true
LeftLaneChange: true
NoDrivableLane: true
NoStoppingArea: true
OcclusionSpot: true
OutOfLane: true
RightLaneChange: true
RunOut: true
SideShift: true
SpeedBump: true
StartPlanner: true
StopLine: true
TrafficLight: true
Value: true
VirtualTrafficLight: true
InfoMarker:
Info (Avoidance): true
Info (AvoidanceByLC): true
Info (DynamicAvoidance): true
Info (ExtLaneChangeLeft): true
Info (ExtLaneChangeRight): true
Info (GoalPlanner): true
Info (LaneChangeLeft): true
Info (LaneChangeRight): true
Info (StartPlanner): 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 (Avoidance): 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 (OutOfLane): true
VirtualWall (RunOut): true
VirtualWall (SpeedBump): true
VirtualWall (StartPlanner): true
VirtualWall (StopLine): true
VirtualWall (TrafficLight): true
VirtualWall (VirtualTrafficLight): true
VirtualWall (Walkway): true
MotionPlanning:
DebugMarker:
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 (ObstacleAvoidance): true
VirtualWall (ObstacleCruise): true
VirtualWall (ObstacleStop): 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
System:
Grid: true
MRM Summary: true
TF: true
Value: false
Vehicle:
AccelerationMeter: true
ConsoleMeter: true
MaxVelocity: true
PolarGridDisplay: true
SteeringAngle: true
TurnSignal: true
Value: true
VehicleModel: true
VelocityHistory: 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_auto_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: 0.5
Color: 255; 255; 255
Name: RadarRawObjects(white)
Namespaces:
{}
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
Enabled: true
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