Merge pull request #682 from tier4/feat/error-diag-graph

feat(rviz): visualize error diag graph
tier4 · Dec 10, 2024 · 3393cde · 3393cde
2 parents 426a873 + 244897d
commit 3393cde
Show file tree

Hide file tree

Showing 2 changed files with 10 additions and 9 deletions.
diff --git a/autoware_launch/launch/components/tier4_system_component.launch.xml b/autoware_launch/launch/components/tier4_system_component.launch.xml
@@ -33,6 +33,7 @@
   <include file="$(find-pkg-share diagnostic_graph_utils)/launch/logging.launch.xml">
     <arg name="root_path" value="/autoware/modes/autonomous"/>
     <arg name="max_depth" value="3"/>
-    <arg name="show_rate" value="0.2"/>
+    <arg name="show_rate" value="10.0"/>
+    <arg name="enable_terminal_log" value="false"/>
   </include>
 </launch>
diff --git a/autoware_launch/rviz/autoware.rviz b/autoware_launch/rviz/autoware.rviz
@@ -268,21 +268,21 @@ Visualization Manager:
               Primary Color: 174; 174; 174
           Enabled: true
           Name: Vehicle
-        - Class: rviz_plugins/MrmSummaryOverlayDisplay
+        - Class: rviz_plugins/StringStampedOverlayDisplay
           Enabled: true
-          Font Size: 10
+          Font Size: 12
           Left: 10
-          Max Letter Num: 100
-          Name: MRM Summary
-          Text Color: 25; 255; 240
+          Max Letter Num: 70
+          Name: Error Diag Graph
+          Text Color: 51; 201; 220
           Top: 10
           Topic:
-            Depth: 5
+            Depth: 1
             Durability Policy: Volatile
             History Policy: Keep Last
             Reliability Policy: Reliable
-            Value: /system/emergency/hazard_status
-          Value: false
+            Value: /logging_diag_graph/debug/error_graph_text
+          Value: true
           Value height offset: 0
       Enabled: true
       Name: System