From 1b596fb24bd9e6a5974a0a424fd40fedb4ae3a5f Mon Sep 17 00:00:00 2001 From: Autumn60 <37181352+Autumn60@users.noreply.github.com> Date: Sat, 31 Aug 2024 15:43:41 +0900 Subject: [PATCH] chore: costmap integration (#22) * launch costmap_generator Signed-off-by: Autumn60 * add costmap to rviz Signed-off-by: Autumn60 --------- Signed-off-by: Autumn60 --- .../planning/costmap_generator.param.yaml | 18 + .../launch/components/planning.launch.xml | 11 + .../launch/costmap_generator.launch.xml | 3 + .../config/autoware.rviz | 486 ++++++++++++++---- 4 files changed, 431 insertions(+), 87 deletions(-) create mode 100644 aichallenge/workspace/src/aichallenge_submit/booars_launch/config/planning/costmap_generator.param.yaml diff --git a/aichallenge/workspace/src/aichallenge_submit/booars_launch/config/planning/costmap_generator.param.yaml b/aichallenge/workspace/src/aichallenge_submit/booars_launch/config/planning/costmap_generator.param.yaml new file mode 100644 index 00000000..761d16e7 --- /dev/null +++ b/aichallenge/workspace/src/aichallenge_submit/booars_launch/config/planning/costmap_generator.param.yaml @@ -0,0 +1,18 @@ +/**: + ros__parameters: + update_rate: 10.0 + map_frame_id: "map" + costmap_center_frame_id: "base_link" + costmap_width: 50.0 + costmap_resolution: 0.2 + multi_layered_costmap: + layers: + - "lanelet_layer" + - "predicted_object_layer" + lanelet_layer: + type: "lanelet" + map_topic: "/map/vector_map" + predicted_object_layer: + type: "predicted_object" + predicted_objects_topic: "/perception/object_recognition/objects" + distance_threshold: 1.0 diff --git a/aichallenge/workspace/src/aichallenge_submit/booars_launch/launch/components/planning.launch.xml b/aichallenge/workspace/src/aichallenge_submit/booars_launch/launch/components/planning.launch.xml index 2c8c989f..483d4cd0 100644 --- a/aichallenge/workspace/src/aichallenge_submit/booars_launch/launch/components/planning.launch.xml +++ b/aichallenge/workspace/src/aichallenge_submit/booars_launch/launch/components/planning.launch.xml @@ -100,5 +100,16 @@ + + + + + + + + + + + \ No newline at end of file diff --git a/aichallenge/workspace/src/aichallenge_submit/costmap/booars_costmap_generator/launch/costmap_generator.launch.xml b/aichallenge/workspace/src/aichallenge_submit/costmap/booars_costmap_generator/launch/costmap_generator.launch.xml index 9501d94e..0dea8897 100644 --- a/aichallenge/workspace/src/aichallenge_submit/costmap/booars_costmap_generator/launch/costmap_generator.launch.xml +++ b/aichallenge/workspace/src/aichallenge_submit/costmap/booars_costmap_generator/launch/costmap_generator.launch.xml @@ -1,7 +1,10 @@ + + + \ No newline at end of file diff --git a/aichallenge/workspace/src/aichallenge_system/aichallenge_system_launch/config/autoware.rviz b/aichallenge/workspace/src/aichallenge_system/aichallenge_system_launch/config/autoware.rviz index 1539328f..2d248d76 100644 --- a/aichallenge/workspace/src/aichallenge_system/aichallenge_system_launch/config/autoware.rviz +++ b/aichallenge/workspace/src/aichallenge_system/aichallenge_system_launch/config/autoware.rviz @@ -3,9 +3,11 @@ Panels: Help Height: 0 Name: Displays Property Tree Widget: - Expanded: ~ + Expanded: + - /Sensing1/LiDAR1/ConcatenatePointCloud1/Autocompute Value Bounds1 + - /Planning1 Splitter Ratio: 0.557669460773468 - Tree Height: 397 + Tree Height: 242 - Class: rviz_common/Selection Name: Selection - Class: rviz_common/Tool Properties @@ -13,7 +15,8 @@ Panels: Name: Tool Properties Splitter Ratio: 0.5886790156364441 - Class: rviz_common/Views - Expanded: ~ + Expanded: + - /Current View1 Name: Views Splitter Ratio: 0.5 - Class: tier4_localization_rviz_plugin/InitialPoseButtonPanel @@ -39,7 +42,8 @@ Visualization Manager: Show Arrows: true Show Axes: true Show Names: true - Tree: {} + Tree: + {} Update Interval: 0 Value: false - Alpha: 0.5 @@ -64,9 +68,12 @@ Visualization Manager: Displays: - Class: rviz_plugins/SteeringAngle Enabled: true + Left: 85 + Length: 171 Name: SteeringAngle Scale: 17 Text Color: 25; 255; 240 + Top: 85 Topic: Depth: 5 Durability Policy: Volatile @@ -74,12 +81,15 @@ Visualization Manager: Reliability Policy: Reliable Value: /vehicle/status/steering_status Value: true + Value Scale: 0.14999249577522278 Value height offset: 0 - Class: rviz_plugins/ConsoleMeter Enabled: true + Left: 341 + Length: 171 Name: ConsoleMeter - Scale: 3 Text Color: 25; 255; 240 + Top: 85 Topic: Depth: 5 Durability Policy: Volatile @@ -87,8 +97,9 @@ Visualization Manager: Reliability Policy: Reliable Value: /vehicle/status/velocity_status Value: true + Value Scale: 0.14999249577522278 Value height offset: 0 - - Alpha: 0.999 + - Alpha: 0.9990000128746033 Class: rviz_plugins/VelocityHistory Color Border Vel Max: 3 Constant Color: @@ -157,8 +168,8 @@ Visualization Manager: Max Alpha: 0.5 Max Range: 100 Max Wave Alpha: 0.5 - Min Alpha: 0.01 - Min Wave Alpha: 0.01 + Min Alpha: 0.009999999776482582 + Min Wave Alpha: 0.009999999776482582 Name: PolarGridDisplay Reference Frame: base_link Value: true @@ -166,18 +177,20 @@ Visualization Manager: Wave Velocity: 40 - Class: rviz_plugins/MaxVelocity Enabled: true + Left: 397 + Length: 64 Name: MaxVelocity Text Color: 255; 255; 255 - Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Reliable - Value: /planning/scenario_planning/current_max_velocity + Top: 187 + Topic: /planning/scenario_planning/current_max_velocity Value: true + Value Scale: 0.25 - Class: rviz_plugins/TurnSignal Enabled: true + Height: 171 + Left: 131 Name: TurnSignal + Top: 233 Topic: Depth: 5 Durability Policy: Volatile @@ -185,6 +198,7 @@ Visualization Manager: Reliability Policy: Reliable Value: /vehicle/status/turn_indicators_status Value: true + Width: 341 Enabled: true Name: Vehicle Enabled: true @@ -213,11 +227,12 @@ Visualization Manager: Position Transformer: XYZ Selectable: false Size (Pixels): 1 - Size (m): 0.02 + Size (m): 0.019999999552965164 Style: Points Topic: Depth: 5 Durability Policy: Transient Local + Filter size: 10 History Policy: Keep Last Reliability Policy: Reliable Value: /map/pointcloud_map @@ -248,7 +263,7 @@ Visualization Manager: Displays: - Class: rviz_common/Group Displays: - - Alpha: 0.4 + - Alpha: 0.4000000059604645 Autocompute Intensity Bounds: true Autocompute Value Bounds: Max Value: 5 @@ -270,18 +285,19 @@ Visualization Manager: Position Transformer: XYZ Selectable: false Size (Pixels): 1 - Size (m): 0.02 + 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 - - Alpha: 0.999 + - Alpha: 0.9990000128746033 Class: rviz_default_plugins/Polygon Color: 25; 255; 0 Enabled: false @@ -289,6 +305,7 @@ Visualization Manager: Topic: Depth: 5 Durability Policy: Volatile + Filter size: 10 History Policy: Keep Last Reliability Policy: Reliable Value: /sensing/lidar/crop_box_filter/crop_box_polygon @@ -327,6 +344,7 @@ Visualization Manager: Topic: Depth: 5 Durability Policy: Volatile + Filter size: 10 History Policy: Keep Last Reliability Policy: Reliable Value: /sensing/gnss/pose_with_covariance @@ -339,7 +357,7 @@ Visualization Manager: Displays: - Class: rviz_common/Group Displays: - - Alpha: 0.999 + - Alpha: 0.9990000128746033 Axes Length: 1 Axes Radius: 0.10000000149011612 Class: rviz_default_plugins/PoseWithCovariance @@ -369,11 +387,12 @@ Visualization Manager: Topic: Depth: 5 Durability Policy: Volatile + Filter size: 10 History Policy: Keep Last Reliability Policy: Reliable Value: /localization/pose_estimator/initial_pose_with_covariance - Value: true - - Alpha: 0.999 + Value: false + - Alpha: 0.9990000128746033 Axes Length: 1 Axes Radius: 0.10000000149011612 Class: rviz_default_plugins/PoseWithCovariance @@ -403,27 +422,29 @@ Visualization Manager: Topic: Depth: 5 Durability Policy: Volatile + Filter size: 10 History Policy: Keep Last Reliability Policy: Reliable Value: /localization/pose_estimator/pose_with_covariance - Value: true + Value: false - Buffer Size: 200 Class: rviz_plugins::PoseHistory Enabled: false Line: + Alpha: 0.9990000128746033 Color: 170; 255; 127 Value: true Width: 0.10000000149011612 - Alpha: 0.999 Name: PoseHistory Topic: Depth: 5 Durability Policy: Volatile + Filter size: 10 History Policy: Keep Last Reliability Policy: Reliable Value: /localization/pose_estimator/pose - Value: true - - Alpha: 0.999 + Value: false + - Alpha: 0.9990000128746033 Autocompute Intensity Bounds: true Autocompute Value Bounds: Max Value: 10 @@ -450,13 +471,14 @@ Visualization Manager: Topic: Depth: 5 Durability Policy: Volatile + Filter size: 10 History Policy: Keep Last Reliability Policy: Best Effort Value: /localization/util/downsample/pointcloud Use Fixed Frame: true Use rainbow: true Value: false - - Alpha: 0.999 + - Alpha: 0.9990000128746033 Autocompute Intensity Bounds: true Autocompute Value Bounds: Max Value: 10 @@ -483,6 +505,7 @@ Visualization Manager: Topic: Depth: 5 Durability Policy: Volatile + Filter size: 10 History Policy: Keep Last Reliability Policy: Reliable Value: /localization/pose_estimator/points_aligned @@ -492,7 +515,8 @@ Visualization Manager: - Class: rviz_default_plugins/MarkerArray Enabled: true Name: MonteCarloInitialPose - Namespaces: {} + Namespaces: + {} Topic: Depth: 5 Durability Policy: Volatile @@ -508,14 +532,15 @@ Visualization Manager: Class: rviz_plugins::PoseHistory Enabled: true Line: + Alpha: 0.9990000128746033 Color: 0; 255; 255 Value: true Width: 0.10000000149011612 - Alpha: 0.999 Name: PoseHistory Topic: Depth: 5 Durability Policy: Volatile + Filter size: 10 History Policy: Keep Last Reliability Policy: Reliable Value: /localization/pose_twist_fusion_filter/pose @@ -528,7 +553,7 @@ Visualization Manager: Displays: - Class: rviz_common/Group Displays: - - Alpha: 0.999 + - Alpha: 0.9990000128746033 Autocompute Intensity Bounds: true Autocompute Value Bounds: Max Value: 15 @@ -550,11 +575,12 @@ Visualization Manager: Position Transformer: XYZ Selectable: false Size (Pixels): 3 - Size (m): 0.02 + Size (m): 0.019999999552965164 Style: Points Topic: Depth: 5 Durability Policy: Volatile + Filter size: 10 History Policy: Keep Last Reliability Policy: Best Effort Value: /perception/obstacle_segmentation/pointcloud @@ -568,16 +594,16 @@ Visualization Manager: - Class: rviz_common/Group Displays: - BUS: - Alpha: 0.999 + Alpha: 0.9990000128746033 Color: 30; 144; 255 CAR: - Alpha: 0.999 + Alpha: 0.9990000128746033 Color: 30; 144; 255 CYCLIST: - Alpha: 0.999 + Alpha: 0.9990000128746033 Color: 119; 11; 32 Class: autoware_auto_perception_rviz_plugin/DetectedObjects - Display 3d polygon: true + Display Acceleration: true Display Label: true Display PoseWithCovariance: true Display Predicted Path Confidence: true @@ -585,21 +611,23 @@ Visualization Manager: Display Twist: true Display UUID: true Display Velocity: true - Line Width: 0.03 Enabled: true + Line Width: 0.029999999329447746 MOTORCYCLE: - Alpha: 0.999 + Alpha: 0.9990000128746033 Color: 119; 11; 32 Name: DetectedObjects - Namespaces: {} + Namespaces: + {} PEDESTRIAN: - Alpha: 0.999 + Alpha: 0.9990000128746033 Color: 255; 192; 203 + Polygon Type: 3d TRAILER: - Alpha: 0.999 + Alpha: 0.9990000128746033 Color: 30; 144; 255 TRUCK: - Alpha: 0.999 + Alpha: 0.9990000128746033 Color: 30; 144; 255 Topic: Depth: 5 @@ -608,24 +636,25 @@ Visualization Manager: Reliability Policy: Best Effort Value: /perception/object_recognition/detection/objects UNKNOWN: - Alpha: 0.999 + Alpha: 0.9990000128746033 Color: 255; 255; 255 Value: true + Visualization Type: Normal Enabled: false Name: Detection - Class: rviz_common/Group Displays: - BUS: - Alpha: 0.999 + Alpha: 0.9990000128746033 Color: 30; 144; 255 CAR: - Alpha: 0.999 + Alpha: 0.9990000128746033 Color: 30; 144; 255 CYCLIST: - Alpha: 0.999 + Alpha: 0.9990000128746033 Color: 119; 11; 32 Class: autoware_auto_perception_rviz_plugin/TrackedObjects - Display 3d polygon: true + Display Acceleration: true Display Label: true Display PoseWithCovariance: true Display Predicted Path Confidence: true @@ -633,21 +662,23 @@ Visualization Manager: Display Twist: true Display UUID: true Display Velocity: true - Line Width: 0.03 Enabled: true + Line Width: 0.029999999329447746 MOTORCYCLE: - Alpha: 0.999 + Alpha: 0.9990000128746033 Color: 119; 11; 32 Name: TrackedObjects - Namespaces: {} + Namespaces: + {} PEDESTRIAN: - Alpha: 0.999 + Alpha: 0.9990000128746033 Color: 255; 192; 203 + Polygon Type: 3d TRAILER: - Alpha: 0.999 + Alpha: 0.9990000128746033 Color: 30; 144; 255 TRUCK: - Alpha: 0.999 + Alpha: 0.9990000128746033 Color: 30; 144; 255 Topic: Depth: 5 @@ -656,24 +687,25 @@ Visualization Manager: Reliability Policy: Best Effort Value: /perception/object_recognition/tracking/objects UNKNOWN: - Alpha: 0.999 + Alpha: 0.9990000128746033 Color: 255; 255; 255 Value: true + Visualization Type: Normal Enabled: false Name: Tracking - Class: rviz_common/Group Displays: - BUS: - Alpha: 0.999 + Alpha: 0.9990000128746033 Color: 30; 144; 255 CAR: - Alpha: 0.999 + Alpha: 0.9990000128746033 Color: 30; 144; 255 CYCLIST: - Alpha: 0.999 + Alpha: 0.9990000128746033 Color: 119; 11; 32 Class: autoware_auto_perception_rviz_plugin/PredictedObjects - Display 3d polygon: true + Display Acceleration: true Display Label: true Display PoseWithCovariance: false Display Predicted Path Confidence: true @@ -681,21 +713,28 @@ Visualization Manager: Display Twist: true Display UUID: true Display Velocity: true - Line Width: 0.03 Enabled: true + Line Width: 0.029999999329447746 MOTORCYCLE: - Alpha: 0.999 + Alpha: 0.9990000128746033 Color: 119; 11; 32 Name: PredictedObjects - Namespaces: {} + Namespaces: + acceleration: true + label: true + shape: true + twist: true + uuid: true + velocity: true PEDESTRIAN: - Alpha: 0.999 + Alpha: 0.9990000128746033 Color: 255; 192; 203 + Polygon Type: 3d TRAILER: - Alpha: 0.999 + Alpha: 0.9990000128746033 Color: 30; 144; 255 TRUCK: - Alpha: 0.999 + Alpha: 0.9990000128746033 Color: 30; 144; 255 Topic: Depth: 5 @@ -704,20 +743,22 @@ Visualization Manager: Reliability Policy: Best Effort Value: /perception/object_recognition/objects UNKNOWN: - Alpha: 0.999 + Alpha: 0.9990000128746033 Color: 255; 255; 255 Value: true + Visualization Type: Normal - Class: rviz_default_plugins/MarkerArray Enabled: false Name: Maneuver - Namespaces: {} + Namespaces: + {} Topic: Depth: 5 Durability Policy: Volatile History Policy: Keep Last Reliability Policy: Best Effort Value: /perception/object_recognition/prediction/maneuver - Value: true + Value: false Enabled: true Name: Prediction Enabled: true @@ -741,7 +782,8 @@ Visualization Manager: - Class: rviz_default_plugins/MarkerArray Enabled: true Name: MapBasedDetectionResult - Namespaces: {} + Namespaces: + {} Topic: Depth: 5 Durability Policy: Volatile @@ -798,7 +840,7 @@ Visualization Manager: Reliability Policy: Reliable Value: /planning/mission_planning/route_marker Value: true - - Alpha: 0.999 + - Alpha: 0.9990000128746033 Axes Length: 1 Axes Radius: 0.30000001192092896 Class: rviz_default_plugins/Pose @@ -813,6 +855,7 @@ Visualization Manager: Topic: Depth: 5 Durability Policy: Volatile + Filter size: 10 History Policy: Keep Last Reliability Policy: Reliable Value: /planning/mission_planning/echo_back_goal_pose @@ -828,18 +871,36 @@ Visualization Manager: Topic: Depth: 5 Durability Policy: Volatile + Filter size: 10 History Policy: Keep Last Reliability Policy: Reliable Value: /planning/scenario_planning/trajectory Value: true + View Footprint: + Alpha: 1 + Color: 230; 230; 50 + Offset from BaseLink: 0 + Rear Overhang: 1.0299999713897705 + Value: false + Vehicle Length: 4.769999980926514 + Vehicle Width: 1.8300000429153442 View Path: - Alpha: 0.999 + Alpha: 0.9990000128746033 Color: 0; 0; 0 Constant Color: false Value: true Width: 2 + View Point: + Alpha: 1 + Color: 0; 60; 255 + Offset: 0 + Radius: 0.10000000149011612 + Value: false + View Text Velocity: + Scale: 0.30000001192092896 + Value: false View Velocity: - Alpha: 0.999 + Alpha: 0.9990000128746033 Color: 0; 0; 0 Constant Color: false Scale: 0.30000001192092896 @@ -855,16 +916,39 @@ Visualization Manager: Topic: Depth: 5 Durability Policy: Volatile + Filter size: 10 History Policy: Keep Last Reliability Policy: Reliable Value: /planning/scenario_planning/lane_driving/behavior_planning/path Value: true + View Drivable Area: + Alpha: 0.9990000128746033 + Color: 0; 148; 205 + Value: true + Width: 0.30000001192092896 + View Footprint: + Alpha: 1 + Color: 230; 230; 50 + Offset from BaseLink: 0 + Rear Overhang: 1.0299999713897705 + Value: false + Vehicle Length: 4.769999980926514 + Vehicle Width: 1.8300000429153442 View Path: Alpha: 0.4000000059604645 Color: 0; 0; 0 Constant Color: false Value: true Width: 2 + View Point: + Alpha: 1 + Color: 0; 60; 255 + Offset: 0 + Radius: 0.10000000149011612 + Value: false + View Text Velocity: + Scale: 0.30000001192092896 + Value: false View Velocity: Alpha: 0.4000000059604645 Color: 0; 0; 0 @@ -878,16 +962,39 @@ Visualization Manager: Topic: Depth: 5 Durability Policy: Volatile + Filter size: 10 History Policy: Keep Last Reliability Policy: Reliable Value: /planning/path_candidate/lane_change Value: true + View Drivable Area: + Alpha: 0.9990000128746033 + Color: 0; 148; 205 + Value: true + Width: 0.30000001192092896 + View Footprint: + Alpha: 1 + Color: 230; 230; 50 + Offset from BaseLink: 0 + Rear Overhang: 1.0299999713897705 + Value: false + Vehicle Length: 4.769999980926514 + Vehicle Width: 1.8300000429153442 View Path: Alpha: 0.30000001192092896 Color: 115; 210; 22 Constant Color: false Value: true Width: 2 + View Point: + Alpha: 1 + Color: 0; 60; 255 + Offset: 0 + Radius: 0.10000000149011612 + Value: false + View Text Velocity: + Scale: 0.30000001192092896 + Value: false View Velocity: Alpha: 0.30000001192092896 Color: 0; 0; 0 @@ -901,16 +1008,39 @@ Visualization Manager: Topic: Depth: 5 Durability Policy: Volatile + Filter size: 10 History Policy: Keep Last Reliability Policy: Reliable Value: /planning/path_candidate/ext_request_lane_change_right Value: true + View Drivable Area: + Alpha: 0.9990000128746033 + Color: 0; 148; 205 + Value: true + Width: 0.30000001192092896 + View Footprint: + Alpha: 1 + Color: 230; 230; 50 + Offset from BaseLink: 0 + Rear Overhang: 1.0299999713897705 + Value: false + Vehicle Length: 4.769999980926514 + Vehicle Width: 1.8300000429153442 View Path: Alpha: 0.30000001192092896 Color: 115; 210; 22 Constant Color: false Value: true Width: 2 + View Point: + Alpha: 1 + Color: 0; 60; 255 + Offset: 0 + Radius: 0.10000000149011612 + Value: false + View Text Velocity: + Scale: 0.30000001192092896 + Value: false View Velocity: Alpha: 0.30000001192092896 Color: 0; 0; 0 @@ -924,16 +1054,39 @@ Visualization Manager: Topic: Depth: 5 Durability Policy: Volatile + Filter size: 10 History Policy: Keep Last Reliability Policy: Reliable Value: /planning/path_candidate/ext_request_lane_change_left Value: true + View Drivable Area: + Alpha: 0.9990000128746033 + Color: 0; 148; 205 + Value: true + Width: 0.30000001192092896 + View Footprint: + Alpha: 1 + Color: 230; 230; 50 + Offset from BaseLink: 0 + Rear Overhang: 1.0299999713897705 + Value: false + Vehicle Length: 4.769999980926514 + Vehicle Width: 1.8300000429153442 View Path: Alpha: 0.30000001192092896 Color: 115; 210; 22 Constant Color: false Value: true Width: 2 + View Point: + Alpha: 1 + Color: 0; 60; 255 + Offset: 0 + Radius: 0.10000000149011612 + Value: false + View Text Velocity: + Scale: 0.30000001192092896 + Value: false View Velocity: Alpha: 0.30000001192092896 Color: 0; 0; 0 @@ -947,16 +1100,39 @@ Visualization Manager: Topic: Depth: 5 Durability Policy: Volatile + Filter size: 10 History Policy: Keep Last Reliability Policy: Reliable Value: /planning/path_candidate/avoidance Value: true + View Drivable Area: + Alpha: 0.9990000128746033 + Color: 0; 148; 205 + Value: true + Width: 0.30000001192092896 + View Footprint: + Alpha: 1 + Color: 230; 230; 50 + Offset from BaseLink: 0 + Rear Overhang: 1.0299999713897705 + Value: false + Vehicle Length: 4.769999980926514 + Vehicle Width: 1.8300000429153442 View Path: Alpha: 0.30000001192092896 Color: 115; 210; 22 Constant Color: false Value: true Width: 2 + View Point: + Alpha: 1 + Color: 0; 60; 255 + Offset: 0 + Radius: 0.10000000149011612 + Value: false + View Text Velocity: + Scale: 0.30000001192092896 + Value: false View Velocity: Alpha: 0.30000001192092896 Color: 0; 0; 0 @@ -970,16 +1146,39 @@ Visualization Manager: Topic: Depth: 5 Durability Policy: Volatile + Filter size: 10 History Policy: Keep Last Reliability Policy: Reliable Value: /planning/path_candidate/pull_out Value: true + View Drivable Area: + Alpha: 0.9990000128746033 + Color: 0; 148; 205 + Value: true + Width: 0.30000001192092896 + View Footprint: + Alpha: 1 + Color: 230; 230; 50 + Offset from BaseLink: 0 + Rear Overhang: 1.0299999713897705 + Value: false + Vehicle Length: 4.769999980926514 + Vehicle Width: 1.8300000429153442 View Path: Alpha: 0.30000001192092896 Color: 115; 210; 22 Constant Color: false Value: true Width: 2 + View Point: + Alpha: 1 + Color: 0; 60; 255 + Offset: 0 + Radius: 0.10000000149011612 + Value: false + View Text Velocity: + Scale: 0.30000001192092896 + Value: false View Velocity: Alpha: 0.30000001192092896 Color: 0; 0; 0 @@ -993,16 +1192,39 @@ Visualization Manager: Topic: Depth: 5 Durability Policy: Volatile + Filter size: 10 History Policy: Keep Last Reliability Policy: Reliable Value: /planning/path_candidate/pull_over Value: true + View Drivable Area: + Alpha: 0.9990000128746033 + Color: 0; 148; 205 + Value: true + Width: 0.30000001192092896 + View Footprint: + Alpha: 1 + Color: 230; 230; 50 + Offset from BaseLink: 0 + Rear Overhang: 1.0299999713897705 + Value: false + Vehicle Length: 4.769999980926514 + Vehicle Width: 1.8300000429153442 View Path: Alpha: 0.30000001192092896 Color: 115; 210; 22 Constant Color: false Value: true Width: 2 + View Point: + Alpha: 1 + Color: 0; 60; 255 + Offset: 0 + Radius: 0.10000000149011612 + Value: false + View Text Velocity: + Scale: 0.30000001192092896 + Value: false View Velocity: Alpha: 0.30000001192092896 Color: 0; 0; 0 @@ -1018,7 +1240,6 @@ Visualization Manager: 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/debug/bound @@ -1414,18 +1635,36 @@ Visualization Manager: Topic: Depth: 5 Durability Policy: Volatile + Filter size: 10 History Policy: Keep Last Reliability Policy: Reliable Value: /planning/scenario_planning/lane_driving/trajectory Value: false + View Footprint: + Alpha: 1 + Color: 230; 230; 50 + Offset from BaseLink: 0 + Rear Overhang: 1.0299999713897705 + Value: false + Vehicle Length: 4.769999980926514 + Vehicle Width: 1.8300000429153442 View Path: - Alpha: 0.999 + Alpha: 0.9990000128746033 Color: 0; 0; 0 Constant Color: false Value: true Width: 2 + View Point: + Alpha: 1 + Color: 0; 60; 255 + Offset: 0 + Radius: 0.10000000149011612 + Value: false + View Text Velocity: + Scale: 0.30000001192092896 + Value: false View Velocity: - Alpha: 0.999 + Alpha: 0.9990000128746033 Color: 0; 0; 0 Constant Color: false Scale: 0.30000001192092896 @@ -1608,6 +1847,7 @@ Visualization Manager: Topic: Depth: 5 Durability Policy: Volatile + Filter size: 10 History Policy: Keep Last Reliability Policy: Reliable Value: /planning/scenario_planning/parking/costmap_generator/occupancy_grid @@ -1619,7 +1859,7 @@ Visualization Manager: Value: /planning/scenario_planning/parking/costmap_generator/occupancy_grid_updates Use Timestamp: false Value: false - - Alpha: 0.999 + - Alpha: 0.9990000128746033 Arrow Length: 0.30000001192092896 Axes Length: 0.30000001192092896 Axes Radius: 0.009999999776482582 @@ -1635,11 +1875,12 @@ Visualization Manager: Topic: Depth: 5 Durability Policy: Volatile + Filter size: 10 History Policy: Keep Last Reliability Policy: Reliable Value: /planning/scenario_planning/parking/freespace_planner/debug/partial_pose_array Value: true - - Alpha: 0.999 + - Alpha: 0.9990000128746033 Arrow Length: 0.5 Axes Length: 0.30000001192092896 Axes Radius: 0.009999999776482582 @@ -1655,6 +1896,7 @@ Visualization Manager: Topic: Depth: 5 Durability Policy: Volatile + Filter size: 10 History Policy: Keep Last Reliability Policy: Reliable Value: /planning/scenario_planning/parking/freespace_planner/debug/pose_array @@ -1684,7 +1926,8 @@ Visualization Manager: - Class: rviz_default_plugins/MarkerArray Enabled: true Name: PlanningErrorMarker - Namespaces: {} + Namespaces: + {} Topic: Depth: 5 Durability Policy: Volatile @@ -1694,6 +1937,31 @@ Visualization Manager: Value: true Enabled: false Name: Diagnostic + - Class: rviz_common/Group + Displays: + - Alpha: 0.699999988079071 + Class: rviz_default_plugins/Map + Color Scheme: map + Draw Behind: false + Enabled: true + Name: Map + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/costmap/costmap_generator/costmap + Update Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/costmap/costmap_generator/costmap_updates + Use Timestamp: false + Value: true + Enabled: true + Name: Costmap Enabled: true Name: Planning - Class: rviz_common/Group @@ -1705,16 +1973,34 @@ Visualization Manager: Topic: Depth: 5 Durability Policy: Volatile + Filter size: 10 History Policy: Keep Last Reliability Policy: Reliable Value: /control/trajectory_follower/lateral/predicted_trajectory Value: true + View Footprint: + Alpha: 1 + Color: 230; 230; 50 + Offset from BaseLink: 0 + Rear Overhang: 1.0299999713897705 + Value: false + Vehicle Length: 4.769999980926514 + Vehicle Width: 1.8300000429153442 View Path: Alpha: 1 Color: 255; 255; 255 Constant Color: true Value: true Width: 0.05000000074505806 + View Point: + Alpha: 1 + Color: 0; 60; 255 + Offset: 0 + Radius: 0.10000000149011612 + Value: false + View Text Velocity: + Scale: 0.30000001192092896 + Value: false View Velocity: Alpha: 1 Color: 0; 0; 0 @@ -1724,7 +2010,8 @@ Visualization Manager: - Class: rviz_default_plugins/MarkerArray Enabled: false Name: Debug/MPC - Namespaces: {} + Namespaces: + {} Topic: Depth: 5 Durability Policy: Volatile @@ -1735,7 +2022,8 @@ Visualization Manager: - Class: rviz_default_plugins/MarkerArray Enabled: false Name: Debug/PurePursuit - Namespaces: {} + Namespaces: + {} Topic: Depth: 5 Durability Policy: Volatile @@ -1797,15 +2085,15 @@ Visualization Manager: - Class: rviz_default_plugins/Measure Line color: 128; 128; 0 - Class: rviz_default_plugins/SetInitialPose - Theta std deviation: 0.2617993950843811 + Covariance x: 0.25 + Covariance y: 0.25 + Covariance yaw: 0.06853891909122467 Topic: Depth: 5 Durability Policy: Volatile History Policy: Keep Last Reliability Policy: Reliable Value: /initialpose - X std deviation: 0.5 - Y std deviation: 0.5 - Class: rviz_default_plugins/SetGoal Topic: Depth: 5 @@ -1813,26 +2101,47 @@ Visualization Manager: History Policy: Keep Last Reliability Policy: Reliable Value: /planning/mission_planning/goal - - Class: rviz_plugins/PedestrianInitialPoseTool + - Acceleration: 0 + Class: rviz_plugins/PedestrianInitialPoseTool + Interactive: false + Max velocity: 33.29999923706055 + Min velocity: -33.29999923706055 Pose Topic: /simulation/dummy_perception_publisher/object_info + Target Frame: Theta std deviation: 0.0872664600610733 Velocity: 0 X std deviation: 0.029999999329447746 Y std deviation: 0.029999999329447746 Z position: 1 Z std deviation: 0.029999999329447746 - - Class: rviz_plugins/CarInitialPoseTool + - Acceleration: 0 + Class: rviz_plugins/CarInitialPoseTool + H vehicle height: 2 + Interactive: false + L vehicle length: 4 + Max velocity: 33.29999923706055 + Min velocity: -33.29999923706055 Pose Topic: /simulation/dummy_perception_publisher/object_info + Target Frame: Theta std deviation: 0.0872664600610733 Velocity: 3 + W vehicle width: 1.7999999523162842 X std deviation: 0.029999999329447746 Y std deviation: 0.029999999329447746 Z position: 0 Z std deviation: 0.029999999329447746 - - Class: rviz_plugins/BusInitialPoseTool + - Acceleration: 0 + Class: rviz_plugins/BusInitialPoseTool + H vehicle height: 3.5 + Interactive: false + L vehicle length: 10.5 + Max velocity: 33.29999923706055 + Min velocity: -33.29999923706055 Pose Topic: /simulation/dummy_perception_publisher/object_info + Target Frame: Theta std deviation: 0.0872664600610733 Velocity: 0 + W vehicle width: 2.5 X std deviation: 0.029999999329447746 Y std deviation: 0.029999999329447746 Z position: 0 @@ -1845,6 +2154,9 @@ Visualization Manager: Z position: 0 - Class: rviz_plugins/DeleteAllObjectsTool Pose Topic: /simulation/dummy_perception_publisher/object_info + Transformation: + Current: + Class: rviz_default_plugins/TF Value: true Views: Current: @@ -1858,7 +2170,7 @@ Visualization Manager: Invert Z Axis: false Name: Current View Near Clip Distance: 0.009999999776482582 - Scale: 10 + Scale: 10.328941345214844 Target Frame: viewer Value: TopDownOrtho (rviz_default_plugins) X: 0 @@ -1908,12 +2220,12 @@ Window Geometry: collapsed: false Displays: collapsed: false - Height: 1016 + Height: 1376 Hide Left Dock: false Hide Right Dock: false InitialPoseButtonPanel: collapsed: false - QMainWindow State: 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RecognitionResultOnImage: collapsed: false Selection: @@ -1922,6 +2234,6 @@ Window Geometry: collapsed: false Views: collapsed: false - Width: 1920 + Width: 3370 X: 70 Y: 27