From b50e8c279b928149075c184be1a01d183cb91a0f Mon Sep 17 00:00:00 2001 From: Shunsuke Miura Date: Tue, 24 Oct 2023 14:06:33 +0900 Subject: [PATCH] add perception debug topics Signed-off-by: Shunsuke Miura --- autoware_launch/rviz/autoware.rviz | 566 ++++++++++++++++++++++++++++- 1 file changed, 565 insertions(+), 1 deletion(-) diff --git a/autoware_launch/rviz/autoware.rviz b/autoware_launch/rviz/autoware.rviz index 00e924da39..55fe3e3e42 100644 --- a/autoware_launch/rviz/autoware.rviz +++ b/autoware_launch/rviz/autoware.rviz @@ -2549,7 +2549,571 @@ Visualization Manager: Value: /localization/pose_twist_fusion_filter/pose Value: true - Class: rviz_common/Group - Displays: ~ + Displays: + - BUS: + Alpha: 0.9990000128746033 + Color: 255; 138; 128 + CAR: + Alpha: 0.9990000128746033 + Color: 255; 138; 128 + CYCLIST: + Alpha: 0.9990000128746033 + Color: 255; 138; 128 + 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: 0.10000000149011612 + MOTORCYCLE: + Alpha: 0.9990000128746033 + Color: 255; 138; 128 + Name: Centerpoint(red1) + Namespaces: + {} + PEDESTRIAN: + Alpha: 0.9990000128746033 + Color: 255; 138; 128 + Polygon Type: 3d + TRAILER: + Alpha: 0.9990000128746033 + Color: 255; 138; 128 + TRUCK: + Alpha: 0.9990000128746033 + Color: 255; 138; 128 + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Best Effort + Value: /perception/object_recognition/detection/centerpoint/objects + UNKNOWN: + Alpha: 0.9990000128746033 + Color: 255; 138; 128 + Value: false + Visualization Type: Normal + - BUS: + Alpha: 0.9990000128746033 + Color: 255; 82; 82 + CAR: + Alpha: 0.9990000128746033 + Color: 255; 82; 82 + CYCLIST: + Alpha: 0.9990000128746033 + Color: 255; 82; 82 + 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: 0.10000000149011612 + MOTORCYCLE: + Alpha: 0.9990000128746033 + Color: 255; 82; 82 + Name: CenterpointValidator(red2) + Namespaces: + {} + PEDESTRIAN: + Alpha: 0.9990000128746033 + Color: 255; 82; 82 + Polygon Type: 3d + TRAILER: + Alpha: 0.9990000128746033 + Color: 255; 82; 82 + TRUCK: + Alpha: 0.9990000128746033 + Color: 255; 82; 82 + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Best Effort + Value: /perception/object_recognition/detection/centerpoint/validation/objects + UNKNOWN: + Alpha: 0.9990000128746033 + Color: 255; 82; 82 + Value: false + Visualization Type: Normal + - BUS: + Alpha: 0.9990000128746033 + Color: 213; 0; 0 + CAR: + Alpha: 0.9990000128746033 + Color: 213; 0; 0 + CYCLIST: + Alpha: 0.9990000128746033 + Color: 213; 0; 0 + 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: 0.10000000149011612 + MOTORCYCLE: + Alpha: 0.9990000128746033 + Color: 213; 0; 0 + Name: CenterpointROIFusion(red3) + Namespaces: + {} + PEDESTRIAN: + Alpha: 0.9990000128746033 + Color: 213; 0; 0 + Polygon Type: 3d + TRAILER: + Alpha: 0.9990000128746033 + Color: 213; 0; 0 + TRUCK: + Alpha: 0.9990000128746033 + Color: 213; 0; 0 + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Best Effort + Value: /perception/object_recognition/detection/centerpoint/validation/objects + UNKNOWN: + Alpha: 0.9990000128746033 + Color: 213; 0; 0 + Value: false + Visualization Type: Normal + - BUS: + Alpha: 0.9990000128746033 + Color: 178; 255; 89 + CAR: + Alpha: 0.9990000128746033 + Color: 178; 255; 89 + CYCLIST: + Alpha: 0.9990000128746033 + Color: 178; 255; 89 + 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: 0.10000000149011612 + MOTORCYCLE: + Alpha: 0.9990000128746033 + Color: 178; 255; 89 + Name: PointPainting(light_green1) + Namespaces: + {} + PEDESTRIAN: + Alpha: 0.9990000128746033 + Color: 178; 255; 89 + Polygon Type: 3d + TRAILER: + Alpha: 0.9990000128746033 + Color: 178; 255; 89 + TRUCK: + Alpha: 0.9990000128746033 + Color: 178; 255; 89 + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Best Effort + Value: /perception/object_recognition/detection/pointpainting/objects + UNKNOWN: + Alpha: 0.9990000128746033 + Color: 178; 255; 89 + Value: false + Visualization Type: Normal + - BUS: + Alpha: 0.9990000128746033 + Color: 118; 255; 3 + CAR: + Alpha: 0.9990000128746033 + Color: 118; 255; 3 + CYCLIST: + Alpha: 0.9990000128746033 + Color: 118; 255; 3 + 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: 0.10000000149011612 + MOTORCYCLE: + Alpha: 0.9990000128746033 + Color: 118; 255; 3 + Name: PointPaintingValidator(light_green2) + Namespaces: + {} + PEDESTRIAN: + Alpha: 0.9990000128746033 + Color: 118; 255; 3 + Polygon Type: 3d + TRAILER: + Alpha: 0.9990000128746033 + Color: 118; 255; 3 + TRUCK: + Alpha: 0.9990000128746033 + Color: 118; 255; 3 + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Best Effort + Value: /perception/object_recognition/detection/pointpainting/validation/objects + UNKNOWN: + Alpha: 0.9990000128746033 + Color: 118; 255; 3 + Value: false + Visualization Type: Normal + - BUS: + Alpha: 0.9990000128746033 + Color: 100; 221; 23 + CAR: + Alpha: 0.9990000128746033 + Color: 100; 221; 23 + CYCLIST: + Alpha: 0.9990000128746033 + Color: 100; 221; 23 + 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: 0.10000000149011612 + MOTORCYCLE: + Alpha: 0.9990000128746033 + Color: 100; 221; 23 + Name: PointPaintingROIFusion(light_green3) + Namespaces: + {} + PEDESTRIAN: + Alpha: 0.9990000128746033 + Color: 100; 221; 23 + Polygon Type: 3d + TRAILER: + Alpha: 0.9990000128746033 + Color: 100; 221; 23 + TRUCK: + Alpha: 0.9990000128746033 + Color: 100; 221; 23 + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Best Effort + Value: /perception/object_recognition/detection/pointpainting/validation/objects + UNKNOWN: + Alpha: 0.9990000128746033 + Color: 100; 221; 23 + Value: false + Visualization Type: Normal + - BUS: + Alpha: 0.9990000128746033 + Color: 0; 229; 255 + CAR: + Alpha: 0.9990000128746033 + Color: 0; 229; 255 + CYCLIST: + Alpha: 0.9990000128746033 + Color: 0; 229; 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: 0.10000000149011612 + MOTORCYCLE: + Alpha: 0.9990000128746033 + Color: 0; 229; 255 + Name: DetectionByTracker(cyan) + Namespaces: + {} + PEDESTRIAN: + Alpha: 0.9990000128746033 + Color: 0; 229; 255 + Polygon Type: 3d + TRAILER: + Alpha: 0.9990000128746033 + Color: 0; 229; 255 + TRUCK: + Alpha: 0.9990000128746033 + Color: 0; 229; 255 + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Best Effort + Value: /perception/object_recognition/detection/detection_by_tracker/objects + UNKNOWN: + Alpha: 0.9990000128746033 + Color: 0; 229; 255 + Value: false + Visualization Type: Normal + - BUS: + Alpha: 0.9990000128746033 + Color: 213; 0; 249 + CAR: + Alpha: 0.9990000128746033 + Color: 213; 0; 249 + CYCLIST: + Alpha: 0.9990000128746033 + Color: 213; 0; 249 + 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: 0.10000000149011612 + MOTORCYCLE: + Alpha: 0.9990000128746033 + Color: 213; 0; 249 + Name: CameraLidarFusion(purple) + Namespaces: + {} + PEDESTRIAN: + Alpha: 0.9990000128746033 + Color: 213; 0; 249 + Polygon Type: 3d + TRAILER: + Alpha: 0.9990000128746033 + Color: 213; 0; 249 + TRUCK: + Alpha: 0.9990000128746033 + Color: 213; 0; 249 + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Best Effort + Value: /perception/object_recognition/detection/clustering/camera_lidar_fusion/objects + UNKNOWN: + Alpha: 0.9990000128746033 + Color: 213; 0; 249 + Value: false + Visualization Type: Normal + - BUS: + Alpha: 0.9990000128746033 + Color: 255; 255; 255 + CAR: + Alpha: 0.9990000128746033 + Color: 255; 255; 255 + CYCLIST: + Alpha: 0.9990000128746033 + 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: 0.10000000149011612 + MOTORCYCLE: + Alpha: 0.9990000128746033 + Color: 255; 255; 255 + Name: RadarFarObjects(white) + Namespaces: + {} + PEDESTRIAN: + Alpha: 0.9990000128746033 + Color: 255; 255; 255 + Polygon Type: 3d + TRAILER: + Alpha: 0.9990000128746033 + Color: 255; 255; 255 + TRUCK: + Alpha: 0.9990000128746033 + Color: 255; 255; 255 + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Best Effort + Value: /perception/object_recognition/detection/radar/far_objects + UNKNOWN: + Alpha: 0.9990000128746033 + Color: 255; 255; 255 + Value: false + Visualization Type: Normal + - BUS: + Alpha: 0.9990000128746033 + Color: 255; 234; 0 + CAR: + Alpha: 0.9990000128746033 + Color: 255; 234; 0 + CYCLIST: + Alpha: 0.9990000128746033 + Color: 255; 234; 0 + 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: 0.10000000149011612 + MOTORCYCLE: + Alpha: 0.9990000128746033 + Color: 255; 234; 0 + Name: Detection(yellow) + Namespaces: + {} + PEDESTRIAN: + Alpha: 0.9990000128746033 + Color: 255; 234; 0 + Polygon Type: 3d + TRAILER: + Alpha: 0.9990000128746033 + Color: 255; 234; 0 + TRUCK: + Alpha: 0.9990000128746033 + Color: 255; 234; 0 + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Best Effort + Value: /perception/object_recognition/detection/objects + UNKNOWN: + Alpha: 0.9990000128746033 + Color: 255; 234; 0 + Value: false + Visualization Type: Normal + - BUS: + Alpha: 0.9990000128746033 + Color: 0; 230; 118 + CAR: + Alpha: 0.9990000128746033 + Color: 0; 230; 118 + CYCLIST: + Alpha: 0.9990000128746033 + Color: 0; 230; 118 + Class: autoware_auto_perception_rviz_plugin/TrackedObjects + 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: 0.10000000149011612 + MOTORCYCLE: + Alpha: 0.9990000128746033 + Color: 0; 230; 118 + Name: Tracking(green) + Namespaces: + {} + PEDESTRIAN: + Alpha: 0.9990000128746033 + Color: 0; 230; 118 + Polygon Type: 3d + TRAILER: + Alpha: 0.9990000128746033 + Color: 0; 230; 118 + TRUCK: + Alpha: 0.9990000128746033 + Color: 0; 230; 118 + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Best Effort + Value: /perception/object_recognition/tracking/objects + UNKNOWN: + Alpha: 0.9990000128746033 + Color: 0; 230; 118 + Value: false + Visualization Type: Normal + - BUS: + Alpha: 0.9990000128746033 + Color: 0; 176; 255 + CAR: + Alpha: 0.9990000128746033 + Color: 0; 176; 255 + CYCLIST: + Alpha: 0.9990000128746033 + Color: 0; 176; 255 + Class: autoware_auto_perception_rviz_plugin/PredictedObjects + Display Acceleration: true + Display Label: true + Display PoseWithCovariance: false + Display Predicted Path Confidence: true + Display Predicted Paths: true + Display Twist: true + Display UUID: true + Display Velocity: true + Enabled: true + Line Width: 0.10000000149011612 + MOTORCYCLE: + Alpha: 0.9990000128746033 + Color: 0; 176; 255 + Name: Prediction(light_blue) + Namespaces: + {} + PEDESTRIAN: + Alpha: 0.9990000128746033 + Color: 0; 176; 255 + Polygon Type: 3d + TRAILER: + Alpha: 0.9990000128746033 + Color: 0; 176; 255 + TRUCK: + Alpha: 0.9990000128746033 + Color: 0; 176; 255 + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Best Effort + Value: /perception/object_recognition/objects + UNKNOWN: + Alpha: 0.9990000128746033 + Color: 0; 176; 255 + Value: false + Visualization Type: Normal Enabled: true Name: Perception - Class: rviz_common/Group