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feat(rviz): show avoidance marker
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Signed-off-by: satoshi-ota <[email protected]>
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@satoshi-ota
satoshi-ota committed Jan 16, 2024
1 parent 87afe22 commit 990ce5a
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Showing 2 changed files with 101 additions and 33 deletions.
2 changes: 1 addition & 1 deletion ...nning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -21,7 +21,7 @@
use_hatched_road_markings: true

# for debug
publish_debug_marker: false
publish_debug_marker: true
print_debug_info: false

# avoidance is performed for the object type with true
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132 changes: 100 additions & 32 deletions autoware_launch/rviz/autoware.rviz
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Original file line number Diff line number Diff line change
Expand Up @@ -3,7 +3,15 @@ Panels:
Help Height: 0
Name: Displays
Property Tree Widget:
Expanded: ~
Expanded:
- /Sensing1/LiDAR1/ConcatenatePointCloud1/Autocompute Value Bounds1
- /Planning1
- /Planning1/ScenarioPlanning1
- /Planning1/ScenarioPlanning1/LaneDriving1
- /Planning1/ScenarioPlanning1/LaneDriving1/BehaviorPlanning1
- /Planning1/ScenarioPlanning1/LaneDriving1/BehaviorPlanning1/DebugMarker1
- /Planning1/ScenarioPlanning1/LaneDriving1/BehaviorPlanning1/DebugMarker1/Avoidance1
- /Planning1/ScenarioPlanning1/LaneDriving1/BehaviorPlanning1/DebugMarker1/Avoidance1/Namespaces1
Splitter Ratio: 0.557669460773468
Tree Height: 397
- Class: rviz_common/Selection
Expand All @@ -20,6 +28,8 @@ Panels:
Name: AutowareDateTimePanel
- Class: rviz_plugins::AutowareStatePanel
Name: AutowareStatePanel
- Class: rviz_plugins::RTCManagerPanel
Name: RTCManagerPanel
Visualization Manager:
Class: ""
Displays:
Expand All @@ -39,7 +49,7 @@ Visualization Manager:
Update Interval: 0
Value: false
- Alpha: 0.5
Cell Size: 1
Cell Size: 0.5
Class: rviz_default_plugins/Grid
Color: 160; 160; 164
Enabled: false
Expand All @@ -53,8 +63,8 @@ Visualization Manager:
Y: 0
Z: 0
Plane: XY
Plane Cell Count: 10
Reference Frame: <Fixed Frame>
Plane Cell Count: 500
Reference Frame: base_link
Value: false
- Class: rviz_common/Group
Displays:
Expand Down Expand Up @@ -351,7 +361,7 @@ Visualization Manager:
Color: 255; 255; 255
Color Transformer: FlatColor
Decay Time: 0
Enabled: true
Enabled: false
Invert Rainbow: false
Max Color: 255; 255; 255
Max Intensity: 237
Expand Down Expand Up @@ -402,7 +412,7 @@ Visualization Manager:
walkway_lanelets: true
hatched_road_markings_bound: true
hatched_road_markings_area: false
intersection_area: false
intersection_area: true
Topic:
Depth: 5
Durability Policy: Transient Local
Expand Down Expand Up @@ -892,22 +902,8 @@ Visualization Manager:
Name: ObjectRecognition
- Class: rviz_common/Group
Displays:
- Class: rviz_default_plugins/Image
Enabled: true
Max Value: 1
Median window: 5
Min Value: 0
Name: RecognitionResultOnImage
Normalize Range: true
Topic:
Depth: 5
Durability Policy: Volatile
History Policy: Keep Last
Reliability Policy: Best Effort
Value: /perception/traffic_light_recognition/traffic_light/debug/rois
Value: true
- Class: rviz_default_plugins/MarkerArray
Enabled: true
Enabled: false
Name: MapBasedDetectionResult
Namespaces: {}
Topic:
Expand All @@ -917,7 +913,7 @@ Visualization Manager:
Reliability Policy: Best Effort
Value: /perception/traffic_light_recognition/traffic_light_map_based_detector/debug/markers
Value: true
Enabled: true
Enabled: false
Name: TrafficLight
- Class: rviz_common/Group
Displays:
Expand Down Expand Up @@ -1398,6 +1394,19 @@ Visualization Manager:
Reliability Policy: Reliable
Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/debug/bound
Value: true
- Class: rviz_default_plugins/MarkerArray
Enabled: true
Name: BoundWithPose
Namespaces:
{}
Topic:
Depth: 5
Durability Policy: Volatile
Filter size: 10
History Policy: Keep Last
Reliability Policy: Reliable
Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/bound_with_pose
Value: true
- Class: rviz_common/Group
Displays:
- Class: rviz_default_plugins/MarkerArray
Expand Down Expand Up @@ -1826,10 +1835,71 @@ Visualization Manager:
Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/debug/run_out
Value: false
- Class: rviz_default_plugins/MarkerArray
Enabled: false
Enabled: true
Name: Avoidance
Namespaces:
{}
# shift merge process
merged_length_pos: false
merged_length_neg: false
merged_length_total: false
merged_grad_pos: false
merged_grad_neg: false
grad_forward: false
grad_backward: false

# safety check
object_debug_info: false
ego_predicted_path: false
ego_and_target_polygon_relation: false
ego_and_target_polygon_relation_cube: false
ego_and_target_polygon_relation_text: false
safety_check_lanes: false

# ignore object
others_out_of_target_area_cube: false
others_out_of_target_area_info: false
others_object_is_not_type_cube: false
others_object_is_not_type_info: false
others_moving_object_info: false
others_not_need_avoidance_info: false
others_less_than_execution_threshold_info: false
others_not_parking_object_info: false
others_object_is_behind_threshold_info: false
others_object_is_in_front_threshold_info: false
others_object_behind_path_goal_info: false
others_too_near_to_center_line_info: false
others_too_near_to_goal_info: false

# shift line generation step1
step1_current_shift_line: false
step1_registered_shift_line: false
step1_merged_shift_line: false
step1_filled_shift_line: false
step1_front_shift_line: false
step1_return_shift_line: false

# shift line generation step2
step2_merged_shift_line: false

# shift line generation step3
step3_grad_filtered_1st: false
step3_grad_filtered_2nd: false
step3_grad_filtered_3rd: false
step3_quantized_shift_line: false
step3_noise_removed_shift_line: false

# shift line generation step4
step4_new_shift_line: true
step4_old_shift_line: true
step4_raw_shift_line: false

# misc
centerline: false
centerline_resampled: false
current_lanes: false
drivable_lanes: false
reference_pose: false
overhang: false
Topic:
Depth: 5
Durability Policy: Volatile
Expand Down Expand Up @@ -1969,19 +2039,19 @@ Visualization Manager:
Reliability Policy: Reliable
Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/debug/dynamic_obstacle_stop
Value: false
Enabled: false
Enabled: true
Name: DebugMarker
- Class: rviz_common/Group
Displays:
- Class: rviz_default_plugins/MarkerArray
Enabled: false
Enabled: true
Name: Info (Avoidance)
Namespaces:
avoidable_target_objects_info: false
avoidable_target_objects_info_reason: false
avoidable_target_objects_envelope_polygon: false
unavoidable_target_objects_info: false
unavoidable_target_objects_info_reason: false
unavoidable_target_objects_info_reason: true
unavoidable_target_objects_envelope_polygon: false
Topic:
Depth: 5
Expand Down Expand Up @@ -2086,7 +2156,7 @@ Visualization Manager:
Reliability Policy: Reliable
Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/info/dynamic_avoidance
Value: false
Enabled: false
Enabled: true
Name: InfoMarker
Enabled: true
Name: BehaviorPlanning
Expand Down Expand Up @@ -2479,7 +2549,7 @@ Visualization Manager:
- Class: rviz_common/Group
Displays:
- Class: rviz_default_plugins/Camera
Enabled: true
Enabled: false
Far Plane Distance: 100
Image Rendering: background and overlay
Name: PointcloudOnCamera
Expand Down Expand Up @@ -2566,7 +2636,7 @@ Visualization Manager:
Value: true
TrafficLight:
MapBasedDetectionResult: true
RecognitionResultOnImage: true
RecognitionResultOnImage: false
Value: true
Value: false
Planning:
Expand Down Expand Up @@ -3793,8 +3863,6 @@ Window Geometry:
Image:
collapsed: false
QMainWindow State: 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
RecognitionResultOnImage:
collapsed: false
Selection:
collapsed: false
Tool Properties:
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