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Merge pull request autowarefoundation#859 from tier4/fix/rviz_gen2
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fix: rviz gen2
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@Naophis
Naophis authored Dec 4, 2024
2 parents b295be0 + f731a46 commit 3a04ba9
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Showing 3 changed files with 635 additions and 63 deletions.
301 changes: 292 additions & 9 deletions autoware_launch/rviz/perception.rviz
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Original file line number Diff line number Diff line change
Expand Up @@ -68,7 +68,7 @@ Panels:
Name: LoggingLevelConfigureRvizPlugin
- Class: rviz_plugins::RTCManagerPanel
Name: RTCManagerPanel
- Class: rviz_plugins/AutowareScreenCapturePanel
- Class: AutowareScreenCapturePanel
Name: AutowareScreenCapturePanel
Visualization Manager:
Class: ""
Expand Down Expand Up @@ -127,6 +127,236 @@ Visualization Manager:
Expand Link Details: false
Expand Tree: false
Link Tree Style: Links in Alphabetic Order
base_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
front_center/radar_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
front_left/radar_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
front_lower/lidar:
Alpha: 1
Show Axes: false
Show Trail: false
front_lower/lidar_base_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
front_right/radar_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
front_upper/lidar:
Alpha: 1
Show Axes: false
Show Trail: false
front_upper/lidar_base_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
left_center/camera_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
left_center/camera_optical_link:
Alpha: 1
Show Axes: false
Show Trail: false
left_front/camera_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
left_front/camera_optical_link:
Alpha: 1
Show Axes: false
Show Trail: false
left_lower/lidar:
Alpha: 1
Show Axes: false
Show Trail: false
left_lower/lidar_base_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
left_rear/camera_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
left_rear/camera_optical_link:
Alpha: 1
Show Axes: false
Show Trail: false
left_upper/lidar:
Alpha: 1
Show Axes: false
Show Trail: false
left_upper/lidar_base_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
rear_center/radar_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
rear_left/radar_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
rear_lower/lidar:
Alpha: 1
Show Axes: false
Show Trail: false
rear_lower/lidar_base_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
rear_right/radar_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
rear_upper/lidar:
Alpha: 1
Show Axes: false
Show Trail: false
rear_upper/lidar_base_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
right_center/camera_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
right_center/camera_optical_link:
Alpha: 1
Show Axes: false
Show Trail: false
right_front/camera_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
right_front/camera_optical_link:
Alpha: 1
Show Axes: false
Show Trail: false
right_lower/lidar:
Alpha: 1
Show Axes: false
Show Trail: false
right_lower/lidar_base_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
right_rear/camera_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
right_rear/camera_optical_link:
Alpha: 1
Show Axes: false
Show Trail: false
right_upper/lidar:
Alpha: 1
Show Axes: false
Show Trail: false
right_upper/lidar_base_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
sensor_kit_base_link:
Alpha: 1
Show Axes: false
Show Trail: false
top_front/gnss_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
top_front_center_left/camera_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
top_front_center_left/camera_optical_link:
Alpha: 1
Show Axes: false
Show Trail: false
top_front_center_right/camera_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
top_front_center_right/camera_optical_link:
Alpha: 1
Show Axes: false
Show Trail: false
top_front_left/camera_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
top_front_left/camera_optical_link:
Alpha: 1
Show Axes: false
Show Trail: false
top_front_left/imu_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
top_front_right/camera_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
top_front_right/camera_optical_link:
Alpha: 1
Show Axes: false
Show Trail: false
top_front_right/imu_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
top_rear/gnss_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
top_rear_center/camera_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
top_rear_center/camera_optical_link:
Alpha: 1
Show Axes: false
Show Trail: false
Mass Properties:
Inertia: false
Mass: false
Expand Down Expand Up @@ -225,7 +455,27 @@ Visualization Manager:
Enabled: true
Name: Lanelet2VectorMap
Namespaces:
{}
"": true
center_lane_line: true
center_line_arrows: true
crosswalk_areas: true
crosswalk_lanelet_id: true
crosswalk_lanelets: true
curbstone: true
intersection_area: true
lane_start_bound: true
lanelet direction: true
lanelet_id: true
left_lane_bound: true
right_lane_bound: true
road_lanelets: false
shoulder_center_lane_line: true
shoulder_center_line_arrows: true
shoulder_lane_start_bound: true
shoulder_left_lane_bound: true
shoulder_right_lane_bound: true
shoulder_road_lanelets: true
stop_lines: true
Topic:
Depth: 5
Durability Policy: Transient Local
Expand Down Expand Up @@ -2908,7 +3158,10 @@ Visualization Manager:
Debug:
Control: true
Localization:
"": true
EKFPoseHistory: true
NDT pointclouds: true
NDTLoadedPCDMap: true
NDTPoseHistory: true
Value: true
Map: true
Perception:
Expand Down Expand Up @@ -3349,7 +3602,11 @@ Visualization Manager:
Color: 255; 138; 128
Name: Centerpoint(red1)
Namespaces:
{}
label: true
position covariance: true
shape: true
twist: true
velocity: true
Object Fill Type: skeleton
PEDESTRIAN:
Alpha: 0.9990000128746033
Expand Down Expand Up @@ -3457,7 +3714,11 @@ Visualization Manager:
Color: 213; 0; 0
Name: CenterpointValidator(red3)
Namespaces:
{}
label: true
position covariance: true
shape: true
twist: true
velocity: true
Object Fill Type: skeleton
PEDESTRIAN:
Alpha: 0.9990000128746033
Expand Down Expand Up @@ -3673,7 +3934,11 @@ Visualization Manager:
Color: 255; 145; 0
Name: DetectionByTracker(orange)
Namespaces:
{}
label: true
position covariance: true
shape: true
twist: true
velocity: true
Object Fill Type: skeleton
PEDESTRIAN:
Alpha: 0.9990000128746033
Expand Down Expand Up @@ -3835,7 +4100,11 @@ Visualization Manager:
Color: 255; 234; 0
Name: Detection(yellow)
Namespaces:
{}
label: true
position covariance: true
shape: true
twist: true
velocity: true
Object Fill Type: skeleton
PEDESTRIAN:
Alpha: 0.9990000128746033
Expand Down Expand Up @@ -3890,7 +4159,13 @@ Visualization Manager:
Color: 0; 230; 118
Name: Tracking(green)
Namespaces:
{}
acceleration: true
label: true
position covariance: true
shape: true
twist: true
uuid: true
velocity: true
Object Fill Type: skeleton
PEDESTRIAN:
Alpha: 0.9990000128746033
Expand Down Expand Up @@ -3944,7 +4219,15 @@ Visualization Manager:
Color: 0; 176; 255
Name: Prediction(light_blue)
Namespaces:
{}
acceleration: true
label: true
path: true
path confidence: true
position covariance: true
shape: true
twist: true
uuid: true
velocity: true
Object Fill Type: skeleton
PEDESTRIAN:
Alpha: 0.9990000128746033
Expand Down
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