From 990ce5a6af74a03d547e44287e845ad5779309ea Mon Sep 17 00:00:00 2001 From: satoshi-ota Date: Tue, 30 May 2023 10:58:59 +0900 Subject: [PATCH] feat(rviz): show avoidance marker Signed-off-by: satoshi-ota --- .../avoidance/avoidance.param.yaml | 2 +- autoware_launch/rviz/autoware.rviz | 132 +++++++++++++----- 2 files changed, 101 insertions(+), 33 deletions(-) diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml index 0618185dcf..3f81cf0b38 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/avoidance/avoidance.param.yaml @@ -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 diff --git a/autoware_launch/rviz/autoware.rviz b/autoware_launch/rviz/autoware.rviz index a0ade56821..3527b95b06 100644 --- a/autoware_launch/rviz/autoware.rviz +++ b/autoware_launch/rviz/autoware.rviz @@ -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 @@ -20,6 +28,8 @@ Panels: Name: AutowareDateTimePanel - Class: rviz_plugins::AutowareStatePanel Name: AutowareStatePanel + - Class: rviz_plugins::RTCManagerPanel + Name: RTCManagerPanel Visualization Manager: Class: "" Displays: @@ -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 @@ -53,8 +63,8 @@ Visualization Manager: Y: 0 Z: 0 Plane: XY - Plane Cell Count: 10 - Reference Frame: + Plane Cell Count: 500 + Reference Frame: base_link Value: false - Class: rviz_common/Group Displays: @@ -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 @@ -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 @@ -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: @@ -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: @@ -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 @@ -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 @@ -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 @@ -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 @@ -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 @@ -2566,7 +2636,7 @@ Visualization Manager: Value: true TrafficLight: MapBasedDetectionResult: true - RecognitionResultOnImage: true + RecognitionResultOnImage: false Value: true Value: false Planning: @@ -3793,8 +3863,6 @@ Window Geometry: Image: collapsed: false QMainWindow State: 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 - RecognitionResultOnImage: - collapsed: false Selection: collapsed: false Tool Properties: