From 2a5557181541f4cf8250e165c9d443510d0e03ab Mon Sep 17 00:00:00 2001 From: Shunsuke Miura Date: Tue, 24 Oct 2023 14:15:03 +0900 Subject: [PATCH] add sensing debug topics Signed-off-by: Shunsuke Miura --- autoware_launch/rviz/autoware.rviz | 325 ++++++++++++++++++++++++++++- 1 file changed, 323 insertions(+), 2 deletions(-) diff --git a/autoware_launch/rviz/autoware.rviz b/autoware_launch/rviz/autoware.rviz index 55fe3e3e42..c663dc5db1 100644 --- a/autoware_launch/rviz/autoware.rviz +++ b/autoware_launch/rviz/autoware.rviz @@ -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