From 42ea6834b876a68b6b60dd0c10b29ae79759ee81 Mon Sep 17 00:00:00 2001
From: Shunsuke Miura <37187849+miursh@users.noreply.github.com>
Date: Tue, 5 Dec 2023 18:47:45 +0900
Subject: [PATCH] feat(rviz): fix perception debug topics in Rviz (#721)

fix perception debug topics in Rviz

Signed-off-by: Shunsuke Miura <shunsuke.miura@tier4.jp>
---
 autoware_launch/rviz/autoware.rviz | 20 ++++++++++----------
 1 file changed, 10 insertions(+), 10 deletions(-)

diff --git a/autoware_launch/rviz/autoware.rviz b/autoware_launch/rviz/autoware.rviz
index c30060659a..97dd22a13d 100644
--- a/autoware_launch/rviz/autoware.rviz
+++ b/autoware_launch/rviz/autoware.rviz
@@ -2485,13 +2485,13 @@ Visualization Manager:
                   Perception:
                     CameraLidarFusion(purple): true
                     Centerpoint(red1): true
-                    CenterpointROIFusion(red3): true
-                    CenterpointValidator(red2): true
+                    CenterpointROIFusion(red2): true
+                    CenterpointValidator(red3): true
                     Detection(yellow): true
                     DetectionByTracker(cyan): true
                     PointPainting(light_green1): true
-                    PointPaintingROIFusion(light_green3): true
-                    PointPaintingValidator(light_green2): true
+                    PointPaintingROIFusion(light_green2): true
+                    PointPaintingValidator(light_green3): true
                     Prediction(light_blue): true
                     RadarFarObjects(white): true
                     Tracking(green): true
@@ -2954,7 +2954,7 @@ Visualization Manager:
               MOTORCYCLE:
                 Alpha: 0.9990000128746033
                 Color: 255; 82; 82
-              Name: CenterpointValidator(red2)
+              Name: CenterpointROIFusion(red2)
               Namespaces:
                 {}
               PEDESTRIAN:
@@ -2972,7 +2972,7 @@ Visualization Manager:
                 Durability Policy: Volatile
                 History Policy: Keep Last
                 Reliability Policy: Best Effort
-                Value: /perception/object_recognition/detection/centerpoint/validation/objects
+                Value: /perception/object_recognition/detection/centerpoint/roi_fusion/objects
               UNKNOWN:
                 Alpha: 0.9990000128746033
                 Color: 255; 82; 82
@@ -3001,7 +3001,7 @@ Visualization Manager:
               MOTORCYCLE:
                 Alpha: 0.9990000128746033
                 Color: 213; 0; 0
-              Name: CenterpointROIFusion(red3)
+              Name: CenterpointValidator(red3)
               Namespaces:
                 {}
               PEDESTRIAN:
@@ -3095,7 +3095,7 @@ Visualization Manager:
               MOTORCYCLE:
                 Alpha: 0.9990000128746033
                 Color: 118; 255; 3
-              Name: PointPaintingValidator(light_green2)
+              Name: PointPaintingROIFusion(light_green2)
               Namespaces:
                 {}
               PEDESTRIAN:
@@ -3113,7 +3113,7 @@ Visualization Manager:
                 Durability Policy: Volatile
                 History Policy: Keep Last
                 Reliability Policy: Best Effort
-                Value: /perception/object_recognition/detection/pointpainting/validation/objects
+                Value: /perception/object_recognition/detection/pointpainting/roi_fusion/objects
               UNKNOWN:
                 Alpha: 0.9990000128746033
                 Color: 118; 255; 3
@@ -3142,7 +3142,7 @@ Visualization Manager:
               MOTORCYCLE:
                 Alpha: 0.9990000128746033
                 Color: 100; 221; 23
-              Name: PointPaintingROIFusion(light_green3)
+              Name: PointPaintingValidator(light_green3)
               Namespaces:
                 {}
               PEDESTRIAN: