From c2082fc873b8814d5a1c35f4ca4e9416af4fd1ba Mon Sep 17 00:00:00 2001 From: Masaya Kataoka Date: Wed, 28 Feb 2024 16:16:29 +0900 Subject: [PATCH] fix rviz Signed-off-by: Masaya Kataoka --- .../config/scenario_simulator_v2.rviz | 252 ++++++++++++++---- 1 file changed, 203 insertions(+), 49 deletions(-) diff --git a/simulation/traffic_simulator/config/scenario_simulator_v2.rviz b/simulation/traffic_simulator/config/scenario_simulator_v2.rviz index d1a9bd8d6e9..72a64ca063a 100644 --- a/simulation/traffic_simulator/config/scenario_simulator_v2.rviz +++ b/simulation/traffic_simulator/config/scenario_simulator_v2.rviz @@ -6,9 +6,8 @@ Panels: Expanded: - /Map1/Lanelet2VectorMap1 - /Sensing1/LiDAR1/ConcatenatePointCloud1/Autocompute Value Bounds1 - - /Simulation1 Splitter Ratio: 0.557669460773468 - Tree Height: 955 + Tree Height: 914 - Class: rviz_common/Selection Name: Selection - Class: rviz_common/Tool Properties @@ -133,6 +132,155 @@ 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 + camera0/camera_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + camera0/camera_optical_link: + Alpha: 1 + Show Axes: false + Show Trail: false + camera1/camera_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + camera1/camera_optical_link: + Alpha: 1 + Show Axes: false + Show Trail: false + camera2/camera_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + camera2/camera_optical_link: + Alpha: 1 + Show Axes: false + Show Trail: false + camera3/camera_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + camera3/camera_optical_link: + Alpha: 1 + Show Axes: false + Show Trail: false + camera4/camera_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + camera4/camera_optical_link: + Alpha: 1 + Show Axes: false + Show Trail: false + camera5/camera_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + camera5/camera_optical_link: + Alpha: 1 + Show Axes: false + Show Trail: false + camera6/camera_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + camera6/camera_optical_link: + Alpha: 1 + Show Axes: false + Show Trail: false + camera7/camera_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + camera7/camera_optical_link: + Alpha: 1 + Show Axes: false + Show Trail: false + gnss_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + livox_front_left: + Alpha: 1 + Show Axes: false + Show Trail: false + livox_front_left_base_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + livox_front_right: + Alpha: 1 + Show Axes: false + Show Trail: false + livox_front_right_base_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + sensor_kit_base_link: + Alpha: 1 + Show Axes: false + Show Trail: false + tamagawa/imu_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + velodyne_left: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + velodyne_left_base_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + velodyne_rear: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + velodyne_rear_base_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + velodyne_right: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + velodyne_right_base_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + velodyne_top: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + velodyne_top_base_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true Mass Properties: Inertia: false Mass: false @@ -223,7 +371,31 @@ Visualization Manager: Enabled: true Name: Lanelet2VectorMap Namespaces: - {} + center_lane_line: false + center_line_arrows: false + crosswalk_lanelets: true + lane_start_bound: false + lanelet direction: true + lanelet_id: false + left_lane_bound: true + no_stopping_area: true + parking_lots: true + partitions: true + pedestrian_marking: true + right_lane_bound: true + road_lanelets: false + shoulder_center_lane_line: true + shoulder_center_line_arrows: true + shoulder_lane_start_bound: true + shoulder_lanelet direction: true + shoulder_left_lane_bound: true + shoulder_right_lane_bound: true + shoulder_road_lanelets: false + stop_lines: true + traffic_light: true + traffic_light_id: false + traffic_light_triangle: true + walkway_lanelets: true Topic: Depth: 5 Durability Policy: Transient Local @@ -797,7 +969,12 @@ Visualization Manager: Enabled: true Name: RouteArea Namespaces: - {} + end_lanelets: true + goal_lanelets: true + lane_start_bound: false + left_lane_bound: false + right_lane_bound: false + route_lanelets: true Topic: Depth: 5 Durability Policy: Transient Local @@ -1765,7 +1942,8 @@ Visualization Manager: Enabled: true Name: VirtualWall (Walkway) Namespaces: - {} + 177703_stop_factor_text: true + 177703_stop_virtual_wall: true Topic: Depth: 5 Durability Policy: Volatile @@ -1801,7 +1979,8 @@ Visualization Manager: Enabled: true Name: VirtualWall (MergeFromPrivateArea) Namespaces: - {} + stop_factor_text: true + stop_virtual_wall: true Topic: Depth: 5 Durability Policy: Volatile @@ -2765,7 +2944,7 @@ Visualization Manager: Enabled: true Name: Entity Marker Namespaces: - Npc1: true + ego: true Topic: Depth: 5 Durability Policy: Volatile @@ -2774,30 +2953,17 @@ Visualization Manager: Value: /simulation/entity/marker Value: true - Class: rviz_default_plugins/MarkerArray - Enabled: true + Enabled: false Name: Lanelet Marker Namespaces: - center_lane_line: true - center_line_arrows: true - crosswalk_lanelets: true - lane_start_bound: true - lanelet direction: true - lanelet_id: true - left_lane_bound: true - parking_lots: true - parking_space: true - right_lane_bound: true - road_lanelets: true - stop_lines: true - traffic_light: true - traffic_light_triangle: true + {} Topic: Depth: 5 Durability Policy: Transient Local History Policy: Keep Last Reliability Policy: Reliable Value: /simulation/lanelet/marker - Value: true + Value: false - Class: rviz_default_plugins/MarkerArray Enabled: true Name: Traffic Light Marker @@ -2811,16 +2977,9 @@ Visualization Manager: Value: /simulation/traffic_light/marker Value: true - Class: openscenario_visualization/VisualizationConditionGroups - Enabled: true - Left: 0 - Length: 2000 Name: Condition Group - Text Color: 255; 255; 255 - Top: 450 Topic: /simulation/context Value: true - Value Scale: 35 - Width: 2000 - Class: rviz_default_plugins/MarkerArray Enabled: true Name: Debug Marker @@ -2832,7 +2991,7 @@ Visualization Manager: History Policy: Keep Last Reliability Policy: Reliable Value: /simulation/debug_marker - Value: true + Value: false - Class: rviz_common/Group Displays: - Alpha: 0.9990000128746033 @@ -2939,7 +3098,7 @@ Visualization Manager: Value: false Enabled: true Name: Simple Sensor Simulator - Enabled: true + Enabled: false Name: Simulation Enabled: true Global Options: @@ -3038,26 +3197,21 @@ Visualization Manager: Value: true Views: Current: - Class: rviz_default_plugins/ThirdPersonFollower - Distance: 15.735194206237793 + Angle: 0 + Class: rviz_default_plugins/TopDownOrtho Enable Stereo Rendering: Stereo Eye Separation: 0.05999999865889549 Stereo Focal Distance: 1 Swap Stereo Eyes: false Value: false - Focal Point: - X: 0 - Y: 0 - Z: 0 - Focal Shape Fixed Size: false - Focal Shape Size: 0.05000000074505806 Invert Z Axis: false Name: Current View Near Clip Distance: 0.009999999776482582 - Pitch: 0.0853985920548439 - Target Frame: Npc1 - Value: ThirdPersonFollower (rviz_default_plugins) - Yaw: 3.3504018783569336 + Scale: 19.597293853759766 + Target Frame: ego + Value: TopDownOrtho (rviz_default_plugins) + X: 0 + Y: 0 Saved: - Class: rviz_default_plugins/ThirdPersonFollower Distance: 18 @@ -3101,12 +3255,12 @@ Window Geometry: collapsed: false Displays: collapsed: false - Height: 2096 + Height: 2083 Hide Left Dock: false Hide Right Dock: false InitialPoseButtonPanel: collapsed: false - QMainWindow State: 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+ QMainWindow State: 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RecognitionResultOnImage: collapsed: false Selection: @@ -3115,6 +3269,6 @@ Window Geometry: collapsed: false Views: collapsed: false - Width: 3770 - X: 70 - Y: 27 + Width: 3774 + X: 2626 + Y: 41