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Signed-off-by: Yuki Takagi <[email protected]>
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@yuki-takagi-66
yuki-takagi-66 committed Nov 10, 2023
1 parent e450d2b commit 41ac5a3
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Showing 2 changed files with 72 additions and 31 deletions.
4 changes: 2 additions & 2 deletions ...ing/lane_driving/behavior_planning/behavior_path_planner/behavior_path_planner.param.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -24,8 +24,8 @@

enable_akima_spline_first: false
enable_cog_on_centerline: false
input_path_interval: 2.0
output_path_interval: 2.0
input_path_interval: 1.0
output_path_interval: 1.0

visualize_maximum_drivable_area: true

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99 changes: 70 additions & 29 deletions autoware_launch/rviz/autoware.rviz
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Original file line number Diff line number Diff line change
Expand Up @@ -14,8 +14,8 @@ Panels:
- /Planning1/ScenarioPlanning1/LaneDriving1/BehaviorPlanning1
- /Planning1/ScenarioPlanning1/LaneDriving1/BehaviorPlanning1/DebugMarker1
- /Planning1/ScenarioPlanning1/LaneDriving1/BehaviorPlanning1/InfoMarker1
Splitter Ratio: 0.557669460773468
Tree Height: 253
Splitter Ratio: 0.6392617225646973
Tree Height: 420
- Class: rviz_common/Selection
Name: Selection
- Class: rviz_common/Tool Properties
Expand Down Expand Up @@ -391,7 +391,7 @@ Visualization Manager:
Color: 255; 255; 255
Color Transformer: FlatColor
Decay Time: 0
Enabled: true
Enabled: false
Invert Rainbow: false
Max Color: 255; 255; 255
Max Intensity: 237
Expand All @@ -412,7 +412,7 @@ Visualization Manager:
Value: /map/pointcloud_map
Use Fixed Frame: true
Use rainbow: false
Value: true
Value: false
- Class: rviz_default_plugins/MarkerArray
Enabled: true
Name: Lanelet2VectorMap
Expand All @@ -425,7 +425,7 @@ Visualization Manager:
hatched_road_markings_bound: true
lane_start_bound: false
lanelet direction: true
lanelet_id: false
lanelet_id: true
left_lane_bound: true
no_stopping_area: true
parking_lots: true
Expand Down Expand Up @@ -915,7 +915,14 @@ Visualization Manager:
Color: 119; 11; 32
Name: PredictedObjects
Namespaces:
{}
acceleration: true
label: true
path: true
path confidence: true
shape: true
twist: true
uuid: true
velocity: true
PEDESTRIAN:
Alpha: 0.9990000128746033
Color: 255; 192; 203
Expand Down Expand Up @@ -1018,7 +1025,11 @@ Visualization Manager:
Enabled: true
Name: RouteArea
Namespaces:
{}
goal_lanelets: true
lane_start_bound: true
left_lane_bound: true
right_lane_bound: true
route_lanelets: true
Topic:
Depth: 5
Durability Policy: Transient Local
Expand Down Expand Up @@ -1052,7 +1063,7 @@ Visualization Manager:
Displays:
- Class: rviz_plugins/Trajectory
Color Border Vel Max: 3
Enabled: true
Enabled: false
Name: ScenarioTrajectory
Topic:
Depth: 5
Expand All @@ -1061,7 +1072,7 @@ Visualization Manager:
History Policy: Keep Last
Reliability Policy: Reliable
Value: /planning/scenario_planning/trajectory
Value: true
Value: false
View Footprint:
Alpha: 1
Color: 230; 230; 50
Expand Down Expand Up @@ -1201,7 +1212,7 @@ Visualization Manager:
Value: false
- Class: rviz_plugins/Path
Color Border Vel Max: 3
Enabled: false
Enabled: true
Name: PathReference_Avoidance
Topic:
Depth: 5
Expand All @@ -1210,7 +1221,7 @@ Visualization Manager:
History Policy: Keep Last
Reliability Policy: Reliable
Value: /planning/path_reference/avoidance
Value: false
Value: true
View Drivable Area:
Alpha: 0.9990000128746033
Color: 0; 148; 205
Expand All @@ -1220,10 +1231,10 @@ Visualization Manager:
Alpha: 1
Color: 230; 230; 50
Offset from BaseLink: 0
Rear Overhang: 1.0299999713897705
Rear Overhang: 1.100000023841858
Value: false
Vehicle Length: 4.769999980926514
Vehicle Width: 1.8300000429153442
Vehicle Length: 4.889999866485596
Vehicle Width: 1.8960000276565552
View Path:
Alpha: 0.30000001192092896
Color: 210; 110; 210
Expand Down Expand Up @@ -1917,7 +1928,10 @@ Visualization Manager:
Enabled: true
Name: VirtualWall (Avoidance)
Namespaces:
{}
dead_line_factor_text: true
dead_line_virtual_wall: true
stop_factor_text: true
stop_virtual_wall: true
Topic:
Depth: 5
Durability Policy: Volatile
Expand Down Expand Up @@ -2013,7 +2027,8 @@ Visualization Manager:
Enabled: true
Name: VirtualWall (BlindSpot)
Namespaces:
{}
1115_stop_factor_text: true
1115_stop_virtual_wall: true
Topic:
Depth: 5
Durability Policy: Volatile
Expand All @@ -2037,7 +2052,8 @@ Visualization Manager:
Enabled: true
Name: VirtualWall (Walkway)
Namespaces:
{}
177703_stop_factor_text: true
177703_stop_virtual_wall: true
Topic:
Depth: 5
Durability Policy: Volatile
Expand Down Expand Up @@ -2329,7 +2345,28 @@ Visualization Manager:
Enabled: true
Name: Avoidance
Namespaces:
{}
bounds: true
centerline_raw: true
centerline_resampled: true
current_lanelet: true
detection_area: true
ego_status: true
grad_backward: true
grad_forward: true
linestring_id: true
merged_grad_neg: true
merged_grad_pos: true
overhang: true
step1_current_shift_line: true
step1_filled_shift_line: true
step1_registered_shift_line: true
step2_merged_shift_line: true
step3_grad_filtered_1st: true
step3_grad_filtered_2nd: true
step3_grad_filtered_3rd: true
step4_new_shift_line: true
step4_old_shift_line: true
step4_raw_shift_line: true
Topic:
Depth: 5
Durability Policy: Volatile
Expand Down Expand Up @@ -2465,7 +2502,10 @@ Visualization Manager:
Enabled: true
Name: Info (Avoidance)
Namespaces:
{}
avoidable_target_objects_cube: true
avoidable_target_objects_envelope_polygon: true
avoidable_target_objects_info: true
avoidable_target_objects_info_reason: true
Topic:
Depth: 5
Durability Policy: Volatile
Expand Down Expand Up @@ -2626,7 +2666,8 @@ Visualization Manager:
Enabled: true
Name: VirtualWall (ObstacleStop)
Namespaces:
{}
stop_factor_text: true
stop_virtual_wall: true
Topic:
Depth: 5
Durability Policy: Volatile
Expand Down Expand Up @@ -4098,7 +4139,7 @@ Visualization Manager:
Value: true
Views:
Current:
Angle: 0
Angle: 0.034999996423721313
Class: rviz_default_plugins/TopDownOrtho
Enable Stereo Rendering:
Stereo Eye Separation: 0.05999999865889549
Expand All @@ -4108,11 +4149,11 @@ Visualization Manager:
Invert Z Axis: false
Name: Current View
Near Clip Distance: 0.009999999776482582
Scale: 17.326980590820312
Scale: 71.53245544433594
Target Frame: viewer
Value: TopDownOrtho (rviz_default_plugins)
X: -516.4733276367188
Y: -627.115966796875
X: -495.7483825683594
Y: -602.8330688476562
Saved:
- Class: rviz_default_plugins/ThirdPersonFollower
Distance: 18
Expand Down Expand Up @@ -4156,12 +4197,12 @@ Window Geometry:
collapsed: false
Displays:
collapsed: false
Height: 1403
Height: 2123
Hide Left Dock: false
Hide Right Dock: false
PointcloudOnCamera:
collapsed: false
QMainWindow State: 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
QMainWindow State: 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
RecognitionResultOnImage:
collapsed: false
Selection:
Expand All @@ -4170,6 +4211,6 @@ Window Geometry:
collapsed: false
Views:
collapsed: false
Width: 2560
X: 3640
Y: 156
Width: 3840
X: 3840
Y: 0

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