From eb0d3f02ebbc4162d1d0ee31081ee1b0ebf7a0d9 Mon Sep 17 00:00:00 2001
From: Tomohito ANDO <tomohito.ando@tier4.jp>
Date: Wed, 22 Nov 2023 10:00:58 +0900
Subject: [PATCH] feat: add motion_velocity_smoother's virtual wall in rviz
 (#684) (#547)

Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>
Co-authored-by: Takayuki Murooka <takayuki5168@gmail.com>
---
 autoware_launch/rviz/autoware.rviz | 12 ++++++++++++
 1 file changed, 12 insertions(+)

diff --git a/autoware_launch/rviz/autoware.rviz b/autoware_launch/rviz/autoware.rviz
index 5e52592d98..b134c5cd47 100644
--- a/autoware_launch/rviz/autoware.rviz
+++ b/autoware_launch/rviz/autoware.rviz
@@ -2141,6 +2141,18 @@ Visualization Manager:
                             Reliability Policy: Reliable
                             Value: /planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/virtual_wall
                           Value: true
+                        - Class: rviz_default_plugins/MarkerArray
+                          Enabled: true
+                          Name: VirtualWall (MotionVelocitySmoother)
+                          Namespaces:
+                            {}
+                          Topic:
+                            Depth: 5
+                            Durability Policy: Volatile
+                            History Policy: Keep Last
+                            Reliability Policy: Reliable
+                            Value: /planning/scenario_planning/motion_velocity_smoother/virtual_wall
+                          Value: true
                       Enabled: true
                       Name: VirtualWall
                     - Class: rviz_common/Group