From eadbd861538fec49e47b3e9e7ff93f2a1124ae05 Mon Sep 17 00:00:00 2001 From: satoshi-ota Date: Wed, 6 Mar 2024 18:15:05 +0900 Subject: [PATCH] fix(rviz): update rviz config Signed-off-by: satoshi-ota --- .../config/scenario_simulator_v2.rviz | 2412 ++++++++++------- 1 file changed, 1410 insertions(+), 1002 deletions(-) diff --git a/simulation/traffic_simulator/config/scenario_simulator_v2.rviz b/simulation/traffic_simulator/config/scenario_simulator_v2.rviz index 807b669f7b6..a0e2dc27026 100644 --- a/simulation/traffic_simulator/config/scenario_simulator_v2.rviz +++ b/simulation/traffic_simulator/config/scenario_simulator_v2.rviz @@ -35,8 +35,7 @@ Visualization Manager: Show Arrows: true Show Axes: true Show Names: true - Tree: - {} + Tree: {} Update Interval: 0 Value: false - Alpha: 0.5 @@ -59,56 +58,6 @@ Visualization Manager: Value: false - Class: rviz_common/Group Displays: - - Class: rviz_plugins/SteeringAngle - Enabled: true - Left: 128 - Length: 256 - Name: SteeringAngle - Scale: 17 - Text Color: 25; 255; 240 - Top: 128 - Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Reliable - Value: /vehicle/status/steering_status - Value: true - Value Scale: 0.14999249577522278 - Value height offset: 0 - - Class: rviz_plugins/ConsoleMeter - Enabled: true - Left: 512 - Length: 256 - Name: ConsoleMeter - Text Color: 25; 255; 240 - Top: 128 - Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Reliable - Value: /vehicle/status/velocity_status - Value: true - Value Scale: 0.14999249577522278 - Value height offset: 0 - - Alpha: 0.9990000128746033 - Class: rviz_plugins/VelocityHistory - Color Border Vel Max: 3 - Constant Color: - Color: 255; 255; 255 - Value: true - Enabled: true - Name: VelocityHistory - Scale: 0.30000001192092896 - Timeout: 10 - Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Reliable - Value: /vehicle/status/velocity_status - Value: true - Alpha: 0.30000001192092896 Class: rviz_default_plugins/RobotModel Collision Enabled: false @@ -127,163 +76,155 @@ Visualization Manager: Expand Link Details: false Expand Tree: false Link Tree Style: Links in Alphabetic Order - ars408_front_center: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true base_link: - Alpha: 1 + Alpha: 0.999 Show Axes: false Show Trail: false Value: true camera0/camera_link: - Alpha: 1 + Alpha: 0.999 Show Axes: false Show Trail: false Value: true camera0/camera_optical_link: - Alpha: 1 + Alpha: 0.999 Show Axes: false Show Trail: false camera1/camera_link: - Alpha: 1 + Alpha: 0.999 Show Axes: false Show Trail: false Value: true camera1/camera_optical_link: - Alpha: 1 + Alpha: 0.999 Show Axes: false Show Trail: false camera2/camera_link: - Alpha: 1 + Alpha: 0.999 Show Axes: false Show Trail: false Value: true camera2/camera_optical_link: - Alpha: 1 + Alpha: 0.999 Show Axes: false Show Trail: false camera3/camera_link: - Alpha: 1 + Alpha: 0.999 Show Axes: false Show Trail: false Value: true camera3/camera_optical_link: - Alpha: 1 + Alpha: 0.999 Show Axes: false Show Trail: false camera4/camera_link: - Alpha: 1 + Alpha: 0.999 Show Axes: false Show Trail: false Value: true camera4/camera_optical_link: - Alpha: 1 + Alpha: 0.999 Show Axes: false Show Trail: false camera5/camera_link: - Alpha: 1 + Alpha: 0.999 Show Axes: false Show Trail: false Value: true camera5/camera_optical_link: - Alpha: 1 + Alpha: 0.999 Show Axes: false Show Trail: false - camera6/camera_link: - Alpha: 1 + gnss_link: + Alpha: 0.999 Show Axes: false Show Trail: false Value: true - camera6/camera_optical_link: - Alpha: 1 + livox_front_left: + Alpha: 0.999 Show Axes: false Show Trail: false - camera7/camera_link: - Alpha: 1 + livox_front_left_base_link: + Alpha: 0.999 Show Axes: false Show Trail: false Value: true - camera7/camera_optical_link: - Alpha: 1 + livox_front_right: + Alpha: 0.999 Show Axes: false Show Trail: false - gnss_link: - Alpha: 1 + livox_front_right_base_link: + Alpha: 0.999 Show Axes: false Show Trail: false Value: true - livox_front_left: - Alpha: 1 + sensor_kit_base_link: + Alpha: 0.999 Show Axes: false Show Trail: false - livox_front_left_base_link: - Alpha: 1 + tamagawa/imu_link: + Alpha: 0.999 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 + traffic_light_left_camera/camera_link: + Alpha: 0.999 Show Axes: false Show Trail: false Value: true - sensor_kit_base_link: - Alpha: 1 + traffic_light_left_camera/camera_optical_link: + Alpha: 0.999 Show Axes: false Show Trail: false - tamagawa/imu_link: - Alpha: 1 + traffic_light_right_camera/camera_link: + Alpha: 0.999 Show Axes: false Show Trail: false Value: true + traffic_light_right_camera/camera_optical_link: + Alpha: 0.999 + Show Axes: false + Show Trail: false velodyne_left: - Alpha: 1 + Alpha: 0.999 Show Axes: false Show Trail: false Value: true velodyne_left_base_link: - Alpha: 1 + Alpha: 0.999 Show Axes: false Show Trail: false Value: true velodyne_rear: - Alpha: 1 + Alpha: 0.999 Show Axes: false Show Trail: false Value: true velodyne_rear_base_link: - Alpha: 1 + Alpha: 0.999 Show Axes: false Show Trail: false Value: true velodyne_right: - Alpha: 1 + Alpha: 0.999 Show Axes: false Show Trail: false Value: true velodyne_right_base_link: - Alpha: 1 + Alpha: 0.999 Show Axes: false Show Trail: false Value: true velodyne_top: - Alpha: 1 + Alpha: 0.999 Show Axes: false Show Trail: false Value: true velodyne_top_base_link: - Alpha: 1 + Alpha: 0.999 Show Axes: false Show Trail: false Value: true - Mass Properties: - Inertia: false - Mass: false Name: VehicleModel TF Prefix: "" Update Interval: 0 @@ -296,39 +237,47 @@ Visualization Manager: Max Alpha: 0.5 Max Range: 100 Max Wave Alpha: 0.5 - Min Alpha: 0.009999999776482582 - Min Wave Alpha: 0.009999999776482582 + Min Alpha: 0.01 + Min Wave Alpha: 0.01 Name: PolarGridDisplay Reference Frame: base_link Value: true Wave Color: 255; 255; 255 Wave Velocity: 40 - - Class: rviz_plugins/MaxVelocity + - Class: autoware_overlay_rviz_plugin/SignalDisplay Enabled: true - Left: 595 - Length: 96 - Name: MaxVelocity - Text Color: 255; 255; 255 - Top: 280 - Topic: /planning/scenario_planning/current_max_velocity - Value: true - Value Scale: 0.25 - - Class: rviz_plugins/TurnSignal - Enabled: true - Height: 256 - Left: 196 - Name: TurnSignal - Top: 350 - Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Reliable - Value: /vehicle/status/turn_indicators_status + Gear Topic Test: /vehicle/status/gear_status + Hazard Lights Topic: /vehicle/status/hazard_lights_status + Height: 175 + Left: 10 + Name: SignalDisplay + Signal Color: 0; 230; 120 + Speed Limit Topic: /planning/scenario_planning/current_max_velocity + Speed Topic: /vehicle/status/velocity_status + Steering Topic: /vehicle/status/steering_status + Top: 10 + Traffic Topic: /perception/traffic_light_recognition/traffic_signals + Turn Signals Topic: /vehicle/status/turn_indicators_status Value: true - Width: 512 + Width: 517 Enabled: true Name: Vehicle + - Class: rviz_plugins/MrmSummaryOverlayDisplay + Enabled: false + Font Size: 10 + Left: 512 + Max Letter Num: 100 + Name: MRM Summary + Text Color: 25; 255; 240 + Top: 64 + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /system/emergency/hazard_status + Value: false + Value height offset: 0 Enabled: true Name: System - Class: rviz_common/Group @@ -345,7 +294,7 @@ Visualization Manager: Color: 255; 255; 255 Color Transformer: FlatColor Decay Time: 0 - Enabled: false + Enabled: true Invert Rainbow: false Max Color: 255; 255; 255 Max Intensity: 237 @@ -355,18 +304,17 @@ Visualization Manager: Position Transformer: XYZ Selectable: false Size (Pixels): 1 - Size (m): 0.019999999552965164 + Size (m): 0.02 Style: Points Topic: Depth: 5 Durability Policy: Transient Local - Filter size: 10 History Policy: Keep Last Reliability Policy: Reliable Value: /map/pointcloud_map Use Fixed Frame: true Use rainbow: false - Value: false + Value: true - Class: rviz_default_plugins/MarkerArray Enabled: true Name: Lanelet2VectorMap @@ -374,31 +322,30 @@ Visualization Manager: center_lane_line: false center_line_arrows: false crosswalk_lanelets: true - curbstone: true - hatched_road_markings_area: true - hatched_road_markings_bound: true + crosswalk_areas: false lane_start_bound: false lanelet direction: true lanelet_id: false left_lane_bound: true - no_stopping_area: true parking_lots: true - partitions: true + parking_space: 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 + speed_bump: true + stop_lines: true + shoulder_center_lane_line: false shoulder_left_lane_bound: true shoulder_right_lane_bound: true shoulder_road_lanelets: false - stop_lines: true - traffic_light: false - traffic_light_id: true + traffic_light: true + traffic_light_id: false + traffic_light_reg_elem_id: false traffic_light_triangle: true walkway_lanelets: true + hatched_road_markings_bound: true + hatched_road_markings_area: false + intersection_area: false Topic: Depth: 5 Durability Policy: Transient Local @@ -412,7 +359,7 @@ Visualization Manager: Displays: - Class: rviz_common/Group Displays: - - Alpha: 0.4000000059604645 + - Alpha: 0.4 Autocompute Intensity Bounds: true Autocompute Value Bounds: Max Value: 5 @@ -434,19 +381,18 @@ Visualization Manager: Position Transformer: XYZ Selectable: false Size (Pixels): 1 - Size (m): 0.019999999552965164 + Size (m): 0.02 Style: Points Topic: Depth: 5 Durability Policy: Volatile - Filter size: 10 History Policy: Keep Last Reliability Policy: Best Effort Value: /sensing/lidar/concatenated/pointcloud Use Fixed Frame: false Use rainbow: true Value: true - - Alpha: 0.9990000128746033 + - Alpha: 0.999 Class: rviz_default_plugins/Polygon Color: 25; 255; 0 Enabled: false @@ -454,7 +400,6 @@ Visualization Manager: Topic: Depth: 5 Durability Policy: Volatile - Filter size: 10 History Policy: Keep Last Reliability Policy: Reliable Value: /sensing/lidar/crop_box_filter/crop_box_polygon @@ -493,7 +438,6 @@ Visualization Manager: Topic: Depth: 5 Durability Policy: Volatile - Filter size: 10 History Policy: Keep Last Reliability Policy: Reliable Value: /sensing/gnss/pose_with_covariance @@ -506,7 +450,7 @@ Visualization Manager: Displays: - Class: rviz_common/Group Displays: - - Alpha: 0.9990000128746033 + - Alpha: 0.999 Axes Length: 1 Axes Radius: 0.10000000149011612 Class: rviz_default_plugins/PoseWithCovariance @@ -536,12 +480,11 @@ Visualization Manager: Topic: Depth: 5 Durability Policy: Volatile - Filter size: 10 History Policy: Keep Last Reliability Policy: Reliable Value: /localization/pose_estimator/initial_pose_with_covariance - Value: false - - Alpha: 0.9990000128746033 + Value: true + - Alpha: 0.999 Axes Length: 1 Axes Radius: 0.10000000149011612 Class: rviz_default_plugins/PoseWithCovariance @@ -571,29 +514,27 @@ Visualization Manager: Topic: Depth: 5 Durability Policy: Volatile - Filter size: 10 History Policy: Keep Last Reliability Policy: Reliable Value: /localization/pose_estimator/pose_with_covariance - Value: false + Value: true - Buffer Size: 200 Class: rviz_plugins::PoseHistory Enabled: false Line: - Alpha: 0.9990000128746033 Color: 170; 255; 127 Value: true Width: 0.10000000149011612 + Alpha: 0.999 Name: PoseHistory Topic: Depth: 5 Durability Policy: Volatile - Filter size: 10 History Policy: Keep Last Reliability Policy: Reliable Value: /localization/pose_estimator/pose - Value: false - - Alpha: 0.9990000128746033 + Value: true + - Alpha: 0.999 Autocompute Intensity Bounds: true Autocompute Value Bounds: Max Value: 10 @@ -620,14 +561,13 @@ Visualization Manager: Topic: Depth: 5 Durability Policy: Volatile - Filter size: 10 History Policy: Keep Last Reliability Policy: Best Effort Value: /localization/util/downsample/pointcloud Use Fixed Frame: true Use rainbow: true Value: false - - Alpha: 0.9990000128746033 + - Alpha: 0.999 Autocompute Intensity Bounds: true Autocompute Value Bounds: Max Value: 10 @@ -654,7 +594,6 @@ Visualization Manager: Topic: Depth: 5 Durability Policy: Volatile - Filter size: 10 History Policy: Keep Last Reliability Policy: Reliable Value: /localization/pose_estimator/points_aligned @@ -664,8 +603,7 @@ Visualization Manager: - Class: rviz_default_plugins/MarkerArray Enabled: true Name: MonteCarloInitialPose - Namespaces: - {} + Namespaces: {} Topic: Depth: 5 Durability Policy: Volatile @@ -681,15 +619,14 @@ Visualization Manager: Class: rviz_plugins::PoseHistory Enabled: true Line: - Alpha: 0.9990000128746033 Color: 0; 255; 255 Value: true Width: 0.10000000149011612 + Alpha: 0.999 Name: PoseHistory Topic: Depth: 5 Durability Policy: Volatile - Filter size: 10 History Policy: Keep Last Reliability Policy: Reliable Value: /localization/pose_twist_fusion_filter/pose @@ -702,7 +639,7 @@ Visualization Manager: Displays: - Class: rviz_common/Group Displays: - - Alpha: 0.9990000128746033 + - Alpha: 0.999 Autocompute Intensity Bounds: true Autocompute Value Bounds: Max Value: 15 @@ -724,12 +661,11 @@ Visualization Manager: Position Transformer: XYZ Selectable: false Size (Pixels): 3 - Size (m): 0.019999999552965164 + Size (m): 0.02 Style: Points Topic: Depth: 5 Durability Policy: Volatile - Filter size: 10 History Policy: Keep Last Reliability Policy: Best Effort Value: /perception/obstacle_segmentation/pointcloud @@ -743,16 +679,16 @@ Visualization Manager: - Class: rviz_common/Group Displays: - BUS: - Alpha: 0.9990000128746033 + Alpha: 0.999 Color: 30; 144; 255 CAR: - Alpha: 0.9990000128746033 + Alpha: 0.999 Color: 30; 144; 255 CYCLIST: - Alpha: 0.9990000128746033 + Alpha: 0.999 Color: 119; 11; 32 Class: autoware_auto_perception_rviz_plugin/DetectedObjects - Display Acceleration: true + Display 3d polygon: true Display Label: true Display PoseWithCovariance: true Display Predicted Path Confidence: true @@ -760,23 +696,21 @@ Visualization Manager: Display Twist: true Display UUID: true Display Velocity: true + Line Width: 0.03 Enabled: true - Line Width: 0.029999999329447746 MOTORCYCLE: - Alpha: 0.9990000128746033 + Alpha: 0.999 Color: 119; 11; 32 Name: DetectedObjects - Namespaces: - {} + Namespaces: {} PEDESTRIAN: - Alpha: 0.9990000128746033 + Alpha: 0.999 Color: 255; 192; 203 - Polygon Type: 3d TRAILER: - Alpha: 0.9990000128746033 + Alpha: 0.999 Color: 30; 144; 255 TRUCK: - Alpha: 0.9990000128746033 + Alpha: 0.999 Color: 30; 144; 255 Topic: Depth: 5 @@ -785,56 +719,46 @@ Visualization Manager: Reliability Policy: Best Effort Value: /perception/object_recognition/detection/objects UNKNOWN: - Alpha: 0.9990000128746033 + Alpha: 0.999 Color: 255; 255; 255 Value: true - Visualization Type: Normal Enabled: false Name: Detection - Class: rviz_common/Group Displays: - BUS: - Alpha: 0.9990000128746033 + Alpha: 0.999 Color: 30; 144; 255 CAR: - Alpha: 0.9990000128746033 + Alpha: 0.999 Color: 30; 144; 255 CYCLIST: - Alpha: 0.9990000128746033 + Alpha: 0.999 Color: 119; 11; 32 Class: autoware_auto_perception_rviz_plugin/TrackedObjects - Confidence Interval: 95% - Display Acceleration: true - Display Existence Probability: false + Display 3d polygon: true Display Label: true - Display Pose Covariance: true + Display PoseWithCovariance: true Display Predicted Path Confidence: true Display Predicted Paths: true Display Twist: true - Display Twist Covariance: false Display UUID: true Display Velocity: true - Display Yaw Covariance: false - Display Yaw Rate: false - Display Yaw Rate Covariance: false - Dynamic Status: All + Line Width: 0.03 Enabled: true - Line Width: 0.029999999329447746 MOTORCYCLE: - Alpha: 0.9990000128746033 + Alpha: 0.999 Color: 119; 11; 32 Name: TrackedObjects - Namespaces: - {} + Namespaces: {} PEDESTRIAN: - Alpha: 0.9990000128746033 + Alpha: 0.999 Color: 255; 192; 203 - Polygon Type: 3d TRAILER: - Alpha: 0.9990000128746033 + Alpha: 0.999 Color: 30; 144; 255 TRUCK: - Alpha: 0.9990000128746033 + Alpha: 0.999 Color: 30; 144; 255 Topic: Depth: 5 @@ -843,25 +767,24 @@ Visualization Manager: Reliability Policy: Best Effort Value: /perception/object_recognition/tracking/objects UNKNOWN: - Alpha: 0.9990000128746033 + Alpha: 0.999 Color: 255; 255; 255 Value: true - Visualization Type: Normal Enabled: false Name: Tracking - Class: rviz_common/Group Displays: - BUS: - Alpha: 0.9990000128746033 + Alpha: 0.999 Color: 30; 144; 255 CAR: - Alpha: 0.9990000128746033 + Alpha: 0.999 Color: 30; 144; 255 CYCLIST: - Alpha: 0.9990000128746033 + Alpha: 0.999 Color: 119; 11; 32 Class: autoware_auto_perception_rviz_plugin/PredictedObjects - Display Acceleration: true + Display 3d polygon: true Display Label: true Display PoseWithCovariance: false Display Predicted Path Confidence: true @@ -869,30 +792,21 @@ Visualization Manager: Display Twist: true Display UUID: true Display Velocity: true + Line Width: 0.03 Enabled: true - Line Width: 0.5 MOTORCYCLE: - Alpha: 0.9990000128746033 + Alpha: 0.999 Color: 119; 11; 32 Name: PredictedObjects - Namespaces: - acceleration: true - label: true - path: true - path confidence: true - shape: true - twist: true - uuid: true - velocity: true + Namespaces: {} PEDESTRIAN: - Alpha: 0.9990000128746033 + Alpha: 0.999 Color: 255; 192; 203 - Polygon Type: 3d TRAILER: - Alpha: 0.9990000128746033 + Alpha: 0.999 Color: 30; 144; 255 TRUCK: - Alpha: 0.9990000128746033 + Alpha: 0.999 Color: 30; 144; 255 Topic: Depth: 5 @@ -901,22 +815,20 @@ Visualization Manager: Reliability Policy: Best Effort Value: /perception/object_recognition/objects UNKNOWN: - Alpha: 0.9990000128746033 + Alpha: 0.999 Color: 255; 255; 255 Value: true - Visualization Type: Normal - Class: rviz_default_plugins/MarkerArray Enabled: false Name: Maneuver - Namespaces: - {} + Namespaces: {} Topic: Depth: 5 Durability Policy: Volatile History Policy: Keep Last Reliability Policy: Best Effort Value: /perception/object_recognition/prediction/maneuver - Value: false + Value: true Enabled: true Name: Prediction Enabled: true @@ -924,7 +836,7 @@ Visualization Manager: - Class: rviz_common/Group Displays: - Class: rviz_default_plugins/Image - Enabled: false + Enabled: true Max Value: 1 Median window: 5 Min Value: 0 @@ -935,13 +847,12 @@ Visualization Manager: Durability Policy: Volatile History Policy: Keep Last Reliability Policy: Best Effort - Value: /perception/traffic_light_recognition/debug/rois - Value: false + Value: /perception/traffic_light_recognition/traffic_light/debug/rois + Value: true - Class: rviz_default_plugins/MarkerArray Enabled: true Name: MapBasedDetectionResult - Namespaces: - {} + Namespaces: {} Topic: Depth: 5 Durability Policy: Volatile @@ -986,11 +897,10 @@ Visualization Manager: Enabled: true Name: RouteArea Namespaces: - end_lanelets: true goal_lanelets: true - lane_start_bound: true - left_lane_bound: true - right_lane_bound: true + lane_start_bound: false + left_lane_bound: false + right_lane_bound: false route_lanelets: true Topic: Depth: 5 @@ -999,7 +909,7 @@ Visualization Manager: Reliability Policy: Reliable Value: /planning/mission_planning/route_marker Value: true - - Alpha: 0.9990000128746033 + - Alpha: 0.999 Axes Length: 1 Axes Radius: 0.30000001192092896 Class: rviz_default_plugins/Pose @@ -1014,7 +924,6 @@ Visualization Manager: Topic: Depth: 5 Durability Policy: Volatile - Filter size: 10 History Policy: Keep Last Reliability Policy: Reliable Value: /planning/mission_planning/echo_back_goal_pose @@ -1030,40 +939,18 @@ Visualization Manager: Topic: Depth: 5 Durability Policy: Volatile - Filter size: 10 History Policy: Keep Last Reliability Policy: Reliable Value: /planning/scenario_planning/trajectory Value: true - View Footprint: - Alpha: 1 - Color: 230; 230; 50 - Offset from BaseLink: 0 - Rear Overhang: 1.100000023841858 - Value: false - Vehicle Length: 4.889999866485596 - Vehicle Width: 1.8960000276565552 View Path: - Alpha: 0.9990000128746033 + Alpha: 0.999 Color: 0; 0; 0 Constant Color: false - Constant Width: false Value: true Width: 2 - View Point: - Alpha: 1 - Color: 0; 60; 255 - Offset: 0 - Radius: 0.10000000149011612 - Value: false - View Text Slope: - Scale: 0.30000001192092896 - Value: false - View Text Velocity: - Scale: 0.30000001192092896 - Value: false View Velocity: - Alpha: 0.9990000128746033 + Alpha: 0.999 Color: 0; 0; 0 Constant Color: false Scale: 0.30000001192092896 @@ -1079,43 +966,16 @@ Visualization Manager: Topic: Depth: 5 Durability Policy: Volatile - Filter size: 10 History Policy: Keep Last Reliability Policy: Reliable Value: /planning/scenario_planning/lane_driving/behavior_planning/path Value: true - View Drivable Area: - Alpha: 0.9990000128746033 - Color: 0; 148; 205 - Value: true - Width: 0.30000001192092896 - View Footprint: - Alpha: 1 - Color: 230; 230; 50 - Offset from BaseLink: 0 - Rear Overhang: 1.100000023841858 - Value: false - Vehicle Length: 4.889999866485596 - Vehicle Width: 1.8960000276565552 View Path: Alpha: 0.4000000059604645 Color: 0; 0; 0 Constant Color: false - Constant Width: false Value: true Width: 2 - View Point: - Alpha: 1 - Color: 0; 60; 255 - Offset: 0 - Radius: 0.10000000149011612 - Value: false - View Text Slope: - Scale: 0.30000001192092896 - Value: false - View Text Velocity: - Scale: 0.30000001192092896 - Value: false View Velocity: Alpha: 0.4000000059604645 Color: 0; 0; 0 @@ -1129,43 +989,16 @@ Visualization Manager: Topic: Depth: 5 Durability Policy: Volatile - Filter size: 10 History Policy: Keep Last Reliability Policy: Reliable Value: /planning/path_reference/avoidance_by_lane_change - Value: false - View Drivable Area: - Alpha: 0.9990000128746033 - Color: 0; 148; 205 - Value: true - Width: 0.30000001192092896 - View Footprint: - Alpha: 1 - Color: 230; 230; 50 - Offset from BaseLink: 0 - Rear Overhang: 1.0299999713897705 - Value: false - Vehicle Length: 4.769999980926514 - Vehicle Width: 1.8300000429153442 + Value: true View Path: - Alpha: 0.30000001192092896 + Alpha: 0.3 Color: 210; 110; 10 Constant Color: true - Constant Width: false Value: true Width: 2 - View Point: - Alpha: 1 - Color: 0; 60; 255 - Offset: 0 - Radius: 0.10000000149011612 - Value: false - View Text Slope: - Scale: 0.30000001192092896 - Value: false - View Text Velocity: - Scale: 0.30000001192092896 - Value: false View Velocity: Alpha: 0.30000001192092896 Color: 0; 0; 0 @@ -1179,43 +1012,16 @@ Visualization Manager: Topic: Depth: 5 Durability Policy: Volatile - Filter size: 10 History Policy: Keep Last Reliability Policy: Reliable Value: /planning/path_reference/avoidance - Value: false - View Drivable Area: - Alpha: 0.9990000128746033 - Color: 0; 148; 205 - Value: true - Width: 0.30000001192092896 - View Footprint: - Alpha: 1 - Color: 230; 230; 50 - Offset from BaseLink: 0 - Rear Overhang: 1.0299999713897705 - Value: false - Vehicle Length: 4.769999980926514 - Vehicle Width: 1.8300000429153442 + Value: true View Path: - Alpha: 0.30000001192092896 + Alpha: 0.3 Color: 210; 110; 210 Constant Color: true - Constant Width: false Value: true Width: 2 - View Point: - Alpha: 1 - Color: 0; 60; 255 - Offset: 0 - Radius: 0.10000000149011612 - Value: false - View Text Slope: - Scale: 0.30000001192092896 - Value: false - View Text Velocity: - Scale: 0.30000001192092896 - Value: false View Velocity: Alpha: 0.30000001192092896 Color: 0; 0; 0 @@ -1229,43 +1035,16 @@ Visualization Manager: Topic: Depth: 5 Durability Policy: Volatile - Filter size: 10 History Policy: Keep Last Reliability Policy: Reliable Value: /planning/path_reference/lane_change_right - Value: false - View Drivable Area: - Alpha: 0.9990000128746033 - Color: 0; 148; 205 - Value: true - Width: 0.30000001192092896 - View Footprint: - Alpha: 1 - Color: 230; 230; 50 - Offset from BaseLink: 0 - Rear Overhang: 1.0299999713897705 - Value: false - Vehicle Length: 4.769999980926514 - Vehicle Width: 1.8300000429153442 + Value: true View Path: - Alpha: 0.30000001192092896 + Alpha: 0.3 Color: 210; 210; 110 Constant Color: true - Constant Width: false Value: true Width: 2 - View Point: - Alpha: 1 - Color: 0; 60; 255 - Offset: 0 - Radius: 0.10000000149011612 - Value: false - View Text Slope: - Scale: 0.30000001192092896 - Value: false - View Text Velocity: - Scale: 0.30000001192092896 - Value: false View Velocity: Alpha: 0.30000001192092896 Color: 0; 0; 0 @@ -1279,43 +1058,16 @@ Visualization Manager: Topic: Depth: 5 Durability Policy: Volatile - Filter size: 10 History Policy: Keep Last Reliability Policy: Reliable Value: /planning/path_reference/lane_change_left - Value: false - View Drivable Area: - Alpha: 0.9990000128746033 - Color: 0; 148; 205 - Value: true - Width: 0.30000001192092896 - View Footprint: - Alpha: 1 - Color: 230; 230; 50 - Offset from BaseLink: 0 - Rear Overhang: 1.0299999713897705 - Value: false - Vehicle Length: 4.769999980926514 - Vehicle Width: 1.8300000429153442 + Value: true View Path: - Alpha: 0.30000001192092896 + Alpha: 0.3 Color: 210; 210; 110 Constant Color: true - Constant Width: false Value: true Width: 2 - View Point: - Alpha: 1 - Color: 0; 60; 255 - Offset: 0 - Radius: 0.10000000149011612 - Value: false - View Text Slope: - Scale: 0.30000001192092896 - Value: false - View Text Velocity: - Scale: 0.30000001192092896 - Value: false View Velocity: Alpha: 0.30000001192092896 Color: 0; 0; 0 @@ -1329,43 +1081,16 @@ Visualization Manager: Topic: Depth: 5 Durability Policy: Volatile - Filter size: 10 History Policy: Keep Last Reliability Policy: Reliable Value: /planning/path_reference/goal_planner - Value: false - View Drivable Area: - Alpha: 0.9990000128746033 - Color: 0; 148; 205 - Value: true - Width: 0.30000001192092896 - View Footprint: - Alpha: 1 - Color: 230; 230; 50 - Offset from BaseLink: 0 - Rear Overhang: 1.0299999713897705 - Value: false - Vehicle Length: 4.769999980926514 - Vehicle Width: 1.8300000429153442 + Value: true View Path: - Alpha: 0.30000001192092896 + Alpha: 0.3 Color: 110; 110; 210 Constant Color: true - Constant Width: false Value: true Width: 2 - View Point: - Alpha: 1 - Color: 0; 60; 255 - Offset: 0 - Radius: 0.10000000149011612 - Value: false - View Text Slope: - Scale: 0.30000001192092896 - Value: false - View Text Velocity: - Scale: 0.30000001192092896 - Value: false View Velocity: Alpha: 0.30000001192092896 Color: 0; 0; 0 @@ -1379,43 +1104,16 @@ Visualization Manager: Topic: Depth: 5 Durability Policy: Volatile - Filter size: 10 History Policy: Keep Last Reliability Policy: Reliable Value: /planning/path_reference/start_planner - Value: false - View Drivable Area: - Alpha: 0.9990000128746033 - Color: 0; 148; 205 - Value: true - Width: 0.30000001192092896 - View Footprint: - Alpha: 1 - Color: 230; 230; 50 - Offset from BaseLink: 0 - Rear Overhang: 1.0299999713897705 - Value: false - Vehicle Length: 4.769999980926514 - Vehicle Width: 1.8300000429153442 + Value: true View Path: - Alpha: 0.30000001192092896 + Alpha: 0.3 Color: 210; 110; 110 Constant Color: true - Constant Width: false Value: true Width: 2 - View Point: - Alpha: 1 - Color: 0; 60; 255 - Offset: 0 - Radius: 0.10000000149011612 - Value: false - View Text Slope: - Scale: 0.30000001192092896 - Value: false - View Text Velocity: - Scale: 0.30000001192092896 - Value: false View Velocity: Alpha: 0.30000001192092896 Color: 0; 0; 0 @@ -1429,43 +1127,16 @@ Visualization Manager: Topic: Depth: 5 Durability Policy: Volatile - Filter size: 10 History Policy: Keep Last Reliability Policy: Reliable Value: /planning/path_candidate/avoidance_by_lane_change Value: true - View Drivable Area: - Alpha: 0.9990000128746033 - Color: 0; 148; 205 - Value: true - Width: 0.30000001192092896 - View Footprint: - Alpha: 1 - Color: 230; 230; 50 - Offset from BaseLink: 0 - Rear Overhang: 1.100000023841858 - Value: false - Vehicle Length: 4.889999866485596 - Vehicle Width: 1.8960000276565552 View Path: Alpha: 0.30000001192092896 Color: 115; 210; 22 Constant Color: false - Constant Width: false Value: true Width: 2 - View Point: - Alpha: 1 - Color: 0; 60; 255 - Offset: 0 - Radius: 0.10000000149011612 - Value: false - View Text Slope: - Scale: 0.30000001192092896 - Value: false - View Text Velocity: - Scale: 0.30000001192092896 - Value: false View Velocity: Alpha: 0.30000001192092896 Color: 0; 0; 0 @@ -1479,43 +1150,16 @@ Visualization Manager: Topic: Depth: 5 Durability Policy: Volatile - Filter size: 10 History Policy: Keep Last Reliability Policy: Reliable Value: /planning/path_candidate/lane_change Value: true - View Drivable Area: - Alpha: 0.9990000128746033 - Color: 0; 148; 205 - Value: true - Width: 0.30000001192092896 - View Footprint: - Alpha: 1 - Color: 230; 230; 50 - Offset from BaseLink: 0 - Rear Overhang: 1.0299999713897705 - Value: false - Vehicle Length: 4.769999980926514 - Vehicle Width: 1.8300000429153442 View Path: Alpha: 0.30000001192092896 Color: 115; 210; 22 Constant Color: false - Constant Width: false Value: true Width: 2 - View Point: - Alpha: 1 - Color: 0; 60; 255 - Offset: 0 - Radius: 0.10000000149011612 - Value: false - View Text Slope: - Scale: 0.30000001192092896 - Value: false - View Text Velocity: - Scale: 0.30000001192092896 - Value: false View Velocity: Alpha: 0.30000001192092896 Color: 0; 0; 0 @@ -1529,43 +1173,16 @@ Visualization Manager: Topic: Depth: 5 Durability Policy: Volatile - Filter size: 10 History Policy: Keep Last Reliability Policy: Reliable Value: /planning/path_candidate/lane_change_right Value: true - View Drivable Area: - Alpha: 0.9990000128746033 - Color: 0; 148; 205 - Value: true - Width: 0.30000001192092896 - View Footprint: - Alpha: 1 - Color: 230; 230; 50 - Offset from BaseLink: 0 - Rear Overhang: 1.100000023841858 - Value: false - Vehicle Length: 4.889999866485596 - Vehicle Width: 1.8960000276565552 View Path: Alpha: 0.30000001192092896 Color: 115; 210; 22 Constant Color: false - Constant Width: false Value: true Width: 2 - View Point: - Alpha: 1 - Color: 0; 60; 255 - Offset: 0 - Radius: 0.10000000149011612 - Value: false - View Text Slope: - Scale: 0.30000001192092896 - Value: false - View Text Velocity: - Scale: 0.30000001192092896 - Value: false View Velocity: Alpha: 0.30000001192092896 Color: 0; 0; 0 @@ -1579,43 +1196,16 @@ Visualization Manager: Topic: Depth: 5 Durability Policy: Volatile - Filter size: 10 History Policy: Keep Last Reliability Policy: Reliable Value: /planning/path_candidate/lane_change_left Value: true - View Drivable Area: - Alpha: 0.9990000128746033 - Color: 0; 148; 205 - Value: true - Width: 0.30000001192092896 - View Footprint: - Alpha: 1 - Color: 230; 230; 50 - Offset from BaseLink: 0 - Rear Overhang: 1.100000023841858 - Value: false - Vehicle Length: 4.889999866485596 - Vehicle Width: 1.8960000276565552 View Path: Alpha: 0.30000001192092896 Color: 115; 210; 22 Constant Color: false - Constant Width: false Value: true Width: 2 - View Point: - Alpha: 1 - Color: 0; 60; 255 - Offset: 0 - Radius: 0.10000000149011612 - Value: false - View Text Slope: - Scale: 0.30000001192092896 - Value: false - View Text Velocity: - Scale: 0.30000001192092896 - Value: false View Velocity: Alpha: 0.30000001192092896 Color: 0; 0; 0 @@ -1629,43 +1219,16 @@ Visualization Manager: Topic: Depth: 5 Durability Policy: Volatile - Filter size: 10 History Policy: Keep Last Reliability Policy: Reliable Value: /planning/path_candidate/external_request_lane_change_right Value: true - View Drivable Area: - Alpha: 0.9990000128746033 - Color: 0; 148; 205 - Value: true - Width: 0.30000001192092896 - View Footprint: - Alpha: 1 - Color: 230; 230; 50 - Offset from BaseLink: 0 - Rear Overhang: 1.0299999713897705 - Value: false - Vehicle Length: 4.769999980926514 - Vehicle Width: 1.8300000429153442 View Path: Alpha: 0.30000001192092896 Color: 115; 210; 22 Constant Color: false - Constant Width: false Value: true Width: 2 - View Point: - Alpha: 1 - Color: 0; 60; 255 - Offset: 0 - Radius: 0.10000000149011612 - Value: false - View Text Slope: - Scale: 0.30000001192092896 - Value: false - View Text Velocity: - Scale: 0.30000001192092896 - Value: false View Velocity: Alpha: 0.30000001192092896 Color: 0; 0; 0 @@ -1679,43 +1242,16 @@ Visualization Manager: Topic: Depth: 5 Durability Policy: Volatile - Filter size: 10 History Policy: Keep Last Reliability Policy: Reliable Value: /planning/path_candidate/external_request_lane_change_left Value: true - View Drivable Area: - Alpha: 0.9990000128746033 - Color: 0; 148; 205 - Value: true - Width: 0.30000001192092896 - View Footprint: - Alpha: 1 - Color: 230; 230; 50 - Offset from BaseLink: 0 - Rear Overhang: 1.0299999713897705 - Value: false - Vehicle Length: 4.769999980926514 - Vehicle Width: 1.8300000429153442 View Path: Alpha: 0.30000001192092896 Color: 115; 210; 22 Constant Color: false - Constant Width: false Value: true Width: 2 - View Point: - Alpha: 1 - Color: 0; 60; 255 - Offset: 0 - Radius: 0.10000000149011612 - Value: false - View Text Slope: - Scale: 0.30000001192092896 - Value: false - View Text Velocity: - Scale: 0.30000001192092896 - Value: false View Velocity: Alpha: 0.30000001192092896 Color: 0; 0; 0 @@ -1729,43 +1265,16 @@ Visualization Manager: Topic: Depth: 5 Durability Policy: Volatile - Filter size: 10 History Policy: Keep Last Reliability Policy: Reliable Value: /planning/path_candidate/avoidance Value: true - View Drivable Area: - Alpha: 0.9990000128746033 - Color: 0; 148; 205 - Value: true - Width: 0.30000001192092896 - View Footprint: - Alpha: 1 - Color: 230; 230; 50 - Offset from BaseLink: 0 - Rear Overhang: 1.100000023841858 - Value: false - Vehicle Length: 4.889999866485596 - Vehicle Width: 1.8960000276565552 View Path: Alpha: 0.30000001192092896 Color: 115; 210; 22 Constant Color: false - Constant Width: false Value: true Width: 2 - View Point: - Alpha: 1 - Color: 0; 60; 255 - Offset: 0 - Radius: 0.10000000149011612 - Value: false - View Text Slope: - Scale: 0.30000001192092896 - Value: false - View Text Velocity: - Scale: 0.30000001192092896 - Value: false View Velocity: Alpha: 0.30000001192092896 Color: 0; 0; 0 @@ -1779,43 +1288,16 @@ Visualization Manager: Topic: Depth: 5 Durability Policy: Volatile - Filter size: 10 History Policy: Keep Last Reliability Policy: Reliable Value: /planning/path_candidate/start_planner Value: true - View Drivable Area: - Alpha: 0.9990000128746033 - Color: 0; 148; 205 - Value: true - Width: 0.30000001192092896 - View Footprint: - Alpha: 1 - Color: 230; 230; 50 - Offset from BaseLink: 0 - Rear Overhang: 1.100000023841858 - Value: false - Vehicle Length: 4.889999866485596 - Vehicle Width: 1.8960000276565552 View Path: Alpha: 0.30000001192092896 Color: 115; 210; 22 Constant Color: false - Constant Width: false Value: true Width: 2 - View Point: - Alpha: 1 - Color: 0; 60; 255 - Offset: 0 - Radius: 0.10000000149011612 - Value: false - View Text Slope: - Scale: 0.30000001192092896 - Value: false - View Text Velocity: - Scale: 0.30000001192092896 - Value: false View Velocity: Alpha: 0.30000001192092896 Color: 0; 0; 0 @@ -1829,43 +1311,16 @@ Visualization Manager: Topic: Depth: 5 Durability Policy: Volatile - Filter size: 10 History Policy: Keep Last Reliability Policy: Reliable Value: /planning/path_candidate/goal_planner Value: true - View Drivable Area: - Alpha: 0.9990000128746033 - Color: 0; 148; 205 - Value: true - Width: 0.30000001192092896 - View Footprint: - Alpha: 1 - Color: 230; 230; 50 - Offset from BaseLink: 0 - Rear Overhang: 1.100000023841858 - Value: false - Vehicle Length: 4.889999866485596 - Vehicle Width: 1.8960000276565552 View Path: Alpha: 0.30000001192092896 Color: 115; 210; 22 Constant Color: false - Constant Width: false Value: true Width: 2 - View Point: - Alpha: 1 - Color: 0; 60; 255 - Offset: 0 - Radius: 0.10000000149011612 - Value: false - View Text Slope: - Scale: 0.30000001192092896 - Value: false - View Text Velocity: - Scale: 0.30000001192092896 - Value: false View Velocity: Alpha: 0.30000001192092896 Color: 0; 0; 0 @@ -1876,14 +1331,16 @@ Visualization Manager: Enabled: false Name: Bound Namespaces: - {} + left_bound: true + right_bound: true Topic: Depth: 5 Durability Policy: Volatile + Filter size: 10 History Policy: Keep Last Reliability Policy: Reliable Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/debug/bound - Value: false + Value: true - Class: rviz_common/Group Displays: - Class: rviz_default_plugins/MarkerArray @@ -2034,8 +1491,7 @@ Visualization Manager: Enabled: true Name: VirtualWall (Intersection) Namespaces: - intersection176148_stop_factor_text: true - intersection176148_stop_virtual_wall: true + {} Topic: Depth: 5 Durability Policy: Volatile @@ -2083,7 +1539,8 @@ Visualization Manager: Enabled: true Name: VirtualWall (StopLine) Namespaces: - {} + stop_factor_text: true + stop_virtual_wall: true Topic: Depth: 5 Durability Policy: Volatile @@ -2095,8 +1552,7 @@ Visualization Manager: Enabled: true Name: VirtualWall (TrafficLight) Namespaces: - 190336_stop_factor_text: true - 190336_stop_virtual_wall: true + {} Topic: Depth: 5 Durability Policy: Volatile @@ -2164,6 +1620,18 @@ Visualization Manager: Reliability Policy: Reliable Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/virtual_wall/no_drivable_lane Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: VirtualWall (DynamicObstacleStop) + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/virtual_wall/dynamic_obstacle_stop + Value: true Enabled: true Name: VirtualWall - Class: rviz_common/Group @@ -2204,32 +1672,6 @@ Visualization Manager: Reliability Policy: Reliable Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/debug/intersection Value: false - - Alpha: 0.5 - Autocompute Intensity Bounds: true - Class: grid_map_rviz_plugin/GridMap - Color: 200; 200; 200 - Color Layer: color - Color Transformer: IntensityLayer - Enabled: false - Height Layer: elevation - Height Transformer: Layer - History Length: 1 - Invert Rainbow: false - Max Color: 255; 255; 255 - Max Intensity: 10 - Min Color: 0; 0; 0 - Min Intensity: 0 - Name: IntersectionOcclusion - Show Grid Lines: false - Topic: - Depth: 5 - Durability Policy: Volatile - Filter size: 10 - History Policy: Keep Last - Reliability Policy: Reliable - Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/debug/intersection/occlusion_grid - Use Rainbow: true - Value: false - Class: rviz_default_plugins/MarkerArray Enabled: false Name: Blind Spot @@ -2340,7 +1782,19 @@ Visualization Manager: Value: false - Class: rviz_default_plugins/MarkerArray Enabled: false - Name: LaneChange + Name: LeftLaneChange + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/debug/lane_change_left + Value: false + - Class: rviz_default_plugins/MarkerArray + Enabled: false + Name: RightLaneChange Namespaces: {} Topic: @@ -2348,7 +1802,7 @@ Visualization Manager: Durability Policy: Volatile History Policy: Keep Last Reliability Policy: Reliable - Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/debug/lane_change + Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/debug/lane_change_right Value: false - Class: rviz_default_plugins/MarkerArray Enabled: false @@ -2363,7 +1817,7 @@ Visualization Manager: Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/debug/lane_following Value: false - Class: rviz_default_plugins/MarkerArray - Enabled: false + Enabled: true Name: GoalPlanner Namespaces: {} @@ -2375,7 +1829,7 @@ Visualization Manager: Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/debug/goal_planner Value: false - Class: rviz_default_plugins/MarkerArray - Enabled: false + Enabled: true Name: StartPlanner Namespaces: {} @@ -2446,7 +1900,19 @@ Visualization Manager: Reliability Policy: Reliable Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/debug/no_drivable_lane Value: false - Enabled: false + - Class: rviz_default_plugins/MarkerArray + Enabled: false + Name: DynamicObstacleStop + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/debug/dynamic_obstacle_stop + Value: false + Enabled: true Name: DebugMarker - Class: rviz_common/Group Displays: @@ -2454,7 +1920,12 @@ Visualization Manager: Enabled: false Name: Info (Avoidance) Namespaces: - {} + avoidable_target_objects_info: false + avoidable_target_objects_info_reason: false + avoidable_target_objects_envelope_polygon: false + unavoidable_target_objects_info: false + unavoidable_target_objects_info_reason: false + unavoidable_target_objects_envelope_polygon: false Topic: Depth: 5 Durability Policy: Volatile @@ -2571,40 +2042,18 @@ Visualization Manager: Topic: Depth: 5 Durability Policy: Volatile - Filter size: 10 History Policy: Keep Last Reliability Policy: Reliable Value: /planning/scenario_planning/lane_driving/trajectory Value: false - View Footprint: - Alpha: 1 - Color: 230; 230; 50 - Offset from BaseLink: 0 - Rear Overhang: 1.0299999713897705 - Value: false - Vehicle Length: 4.769999980926514 - Vehicle Width: 1.8300000429153442 View Path: - Alpha: 0.9990000128746033 + Alpha: 0.999 Color: 0; 0; 0 Constant Color: false - Constant Width: false Value: true Width: 2 - View Point: - Alpha: 1 - Color: 0; 60; 255 - Offset: 0 - Radius: 0.10000000149011612 - Value: false - View Text Slope: - Scale: 0.30000001192092896 - Value: false - View Text Velocity: - Scale: 0.30000001192092896 - Value: false View Velocity: - Alpha: 0.9990000128746033 + Alpha: 0.999 Color: 0; 0; 0 Constant Color: false Scale: 0.30000001192092896 @@ -2615,8 +2064,7 @@ Visualization Manager: Enabled: true Name: VirtualWall (ObstacleStop) Namespaces: - stop_factor_text: true - stop_virtual_wall: true + {} Topic: Depth: 5 Durability Policy: Volatile @@ -2660,6 +2108,18 @@ 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 @@ -2800,7 +2260,6 @@ Visualization Manager: Topic: Depth: 5 Durability Policy: Volatile - Filter size: 10 History Policy: Keep Last Reliability Policy: Reliable Value: /planning/scenario_planning/parking/costmap_generator/occupancy_grid @@ -2812,7 +2271,7 @@ Visualization Manager: Value: /planning/scenario_planning/parking/costmap_generator/occupancy_grid_updates Use Timestamp: false Value: false - - Alpha: 0.9990000128746033 + - Alpha: 0.999 Arrow Length: 0.30000001192092896 Axes Length: 0.30000001192092896 Axes Radius: 0.009999999776482582 @@ -2828,12 +2287,11 @@ Visualization Manager: Topic: Depth: 5 Durability Policy: Volatile - Filter size: 10 History Policy: Keep Last Reliability Policy: Reliable Value: /planning/scenario_planning/parking/freespace_planner/debug/partial_pose_array Value: true - - Alpha: 0.9990000128746033 + - Alpha: 0.999 Arrow Length: 0.5 Axes Length: 0.30000001192092896 Axes Radius: 0.009999999776482582 @@ -2849,7 +2307,6 @@ Visualization Manager: Topic: Depth: 5 Durability Policy: Volatile - Filter size: 10 History Policy: Keep Last Reliability Policy: Reliable Value: /planning/scenario_planning/parking/freespace_planner/debug/pose_array @@ -2879,8 +2336,7 @@ Visualization Manager: - Class: rviz_default_plugins/MarkerArray Enabled: true Name: PlanningErrorMarker - Namespaces: - {} + Namespaces: {} Topic: Depth: 5 Durability Policy: Volatile @@ -2901,38 +2357,17 @@ Visualization Manager: Topic: Depth: 5 Durability Policy: Volatile - Filter size: 10 History Policy: Keep Last Reliability Policy: Reliable Value: /control/trajectory_follower/lateral/predicted_trajectory Value: true - View Footprint: - Alpha: 1 - Color: 230; 230; 50 - Offset from BaseLink: 0 - Rear Overhang: 1.100000023841858 - Value: false - Vehicle Length: 4.889999866485596 - Vehicle Width: 1.8960000276565552 View Path: Alpha: 1 Color: 255; 255; 255 Constant Color: true - Constant Width: true Value: true + Constant Width: true Width: 0.05000000074505806 - View Point: - Alpha: 1 - Color: 0; 60; 255 - Offset: 0 - Radius: 0.10000000149011612 - Value: false - View Text Slope: - Scale: 0.30000001192092896 - Value: false - View Text Velocity: - Scale: 0.30000001192092896 - Value: false View Velocity: Alpha: 1 Color: 0; 0; 0 @@ -2942,8 +2377,7 @@ Visualization Manager: - Class: rviz_default_plugins/MarkerArray Enabled: false Name: Debug/MPC - Namespaces: - {} + Namespaces: {} Topic: Depth: 5 Durability Policy: Volatile @@ -2954,8 +2388,7 @@ Visualization Manager: - Class: rviz_default_plugins/MarkerArray Enabled: false Name: Debug/PurePursuit - Namespaces: - {} + Namespaces: {} Topic: Depth: 5 Durability Policy: Volatile @@ -2967,7 +2400,10 @@ Visualization Manager: Enabled: false Name: Debug/AEB Namespaces: - {} + ego_path: true + ego_polygons: true + predicted_path: true + predicted_polygons: true Topic: Depth: 5 Durability Policy: Volatile @@ -2979,99 +2415,290 @@ Visualization Manager: Name: Control - Class: rviz_common/Group Displays: - - Class: rviz_default_plugins/MarkerArray - Enabled: true - Name: Debug Marker - Namespaces: - {} - Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Reliable - Value: /simulation/debug_marker - Value: true - - Class: rviz_default_plugins/MarkerArray - Enabled: true - Name: Entity Marker - Namespaces: - {} - Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Reliable - Value: /simulation/entity/marker - Value: true - - Class: rviz_default_plugins/MarkerArray - Enabled: false - Name: Lanelet Marker - Namespaces: - {} - Topic: - Depth: 5 - Durability Policy: Transient Local - History Policy: Keep Last - Reliability Policy: Reliable - Value: /simulation/lanelet/marker - Value: false - - Class: rviz_default_plugins/MarkerArray + - Class: rviz_common/Group + Displays: ~ Enabled: true - Name: Traffic Light Marker - Namespaces: - {} - Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Reliable - Value: /simulation/traffic_light/marker - Value: true + Name: Map - Class: rviz_common/Group Displays: - - Alpha: 0.9990000128746033 + - Class: rviz_default_plugins/Camera + Enabled: true + Far Plane Distance: 100 + Image Rendering: background and overlay + Name: PointcloudOnCamera + Overlay Alpha: 0.5 + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Best Effort + Value: /sensing/camera/camera6/image_raw + Value: true + Visibility: + Control: + Debug/AEB: true + Debug/MPC: true + Debug/PurePursuit: true + Predicted Trajectory: true + Value: false + Debug: + Control: true + Localization: + EKFPoseHistory: true + NDT pointclouds: true + NDTLoadedPCDMap: true + NDTPoseHistory: true + Value: true + Map: true + Perception: + CameraLidarFusion(purple): true + Centerpoint(red1): true + CenterpointROIFusion(red2): true + CenterpointValidator(red3): true + Detection(yellow): true + DetectionByTracker(cyan): true + PointPainting(light_green1): true + PointPaintingROIFusion(light_green2): true + PointPaintingValidator(light_green3): true + Prediction(light_blue): true + RadarFarObjects(white): true + Tracking(green): true + Value: true + Planning: true + Sensing: + ConcatenatePointCloud: true + PointcloudOnCamera: true + RadarRawObjects(white): true + Value: true + Value: true + Localization: + EKF: + PoseHistory: true + Value: true + NDT: + Aligned: true + Initial: true + MonteCarloInitialPose: true + PoseHistory: true + PoseWithCovAligned: true + PoseWithCovInitial: true + Value: true + Value: false + Map: + Lanelet2VectorMap: true + PointCloudMap: true + Value: false + Perception: + ObjectRecognition: + Detection: + DetectedObjects: true + Value: true + Prediction: + Maneuver: true + PredictedObjects: true + Value: true + Tracking: + TrackedObjects: true + Value: true + Value: true + OccupancyGrid: + Map: true + Value: true + Segmentation: + NoGroundPointCloud: true + Value: true + TrafficLight: + MapBasedDetectionResult: true + RecognitionResultOnImage: true + Value: true + Value: false + Planning: + Diagnostic: + PlanningErrorMarker: true + Value: true + MissionPlanning: + GoalPose: true + RouteArea: true + Value: true + ScenarioPlanning: + LaneDriving: + BehaviorPlanning: + (old)PathChangeCandidate_LaneChange: true + Bound: true + DebugMarker: + Arrow: true + Avoidance: true + Blind Spot: true + Crosswalk: true + DetectionArea: true + DynamicAvoidance: true + GoalPlanner: true + Intersection: true + LaneFollowing: true + LeftLaneChange: true + NoDrivableLane: true + NoStoppingArea: true + OcclusionSpot: true + OutOfLane: true + RightLaneChange: true + RunOut: true + SideShift: true + SpeedBump: true + StartPlanner: true + StopLine: true + TrafficLight: true + Value: true + VirtualTrafficLight: true + InfoMarker: + Info (Avoidance): true + Info (AvoidanceByLC): true + Info (DynamicAvoidance): true + Info (ExtLaneChangeLeft): true + Info (ExtLaneChangeRight): true + Info (GoalPlanner): true + Info (LaneChangeLeft): true + Info (LaneChangeRight): true + Info (StartPlanner): true + Value: true + Path: true + PathChangeCandidate_Avoidance: true + PathChangeCandidate_AvoidanceByLC: true + PathChangeCandidate_ExternalRequestLaneChangeLeft: true + PathChangeCandidate_ExternalRequestLaneChangeRight: true + PathChangeCandidate_GoalPlanner: true + PathChangeCandidate_LaneChangeLeft: true + PathChangeCandidate_LaneChangeRight: true + PathChangeCandidate_StartPlanner: true + PathReference_Avoidance: true + PathReference_AvoidanceByLC: true + PathReference_GoalPlanner: true + PathReference_LaneChangeLeft: true + PathReference_LaneChangeRight: true + PathReference_StartPlanner: true + Value: true + VirtualWall: + Value: true + VirtualWall (Avoidance): true + VirtualWall (AvoidanceByLC): true + VirtualWall (BlindSpot): true + VirtualWall (Crosswalk): true + VirtualWall (DetectionArea): true + VirtualWall (ExtLaneChangeLeft): true + VirtualWall (ExtLaneChangeRight): true + VirtualWall (GoalPlanner): true + VirtualWall (Intersection): true + VirtualWall (LaneChangeLeft): true + VirtualWall (LaneChangeRight): true + VirtualWall (MergeFromPrivateArea): true + VirtualWall (NoDrivableLane): true + VirtualWall (NoStoppingArea): true + VirtualWall (OcclusionSpot): true + VirtualWall (OutOfLane): true + VirtualWall (RunOut): true + VirtualWall (SpeedBump): true + VirtualWall (StartPlanner): true + VirtualWall (StopLine): true + VirtualWall (TrafficLight): true + VirtualWall (VirtualTrafficLight): true + VirtualWall (Walkway): true + MotionPlanning: + DebugMarker: + ObstacleAvoidance: true + ObstacleCruise: + CruiseVirtualWall: true + DebugMarker: true + SlowDownVirtualWall: true + Value: true + ObstacleStop: true + SurroundObstacleChecker: + Footprint: true + FootprintOffset: true + FootprintRecoverOffset: true + SurroundObstacleCheck: true + Value: true + Value: true + Trajectory: true + Value: true + VirtualWall: + Value: true + VirtualWall (ObstacleAvoidance): true + VirtualWall (ObstacleCruise): true + VirtualWall (ObstacleStop): true + VirtualWall (SurroundObstacle): true + Value: true + ModifiedGoal: true + Parking: + Costmap: true + PartialPoseArray: true + PoseArray: true + Value: true + ScenarioTrajectory: true + Value: true + Value: false + Sensing: + GNSS: + PoseWithCovariance: true + Value: true + LiDAR: + ConcatenatePointCloud: true + MeasurementRange: true + Value: true + Value: true + System: + Grid: true + MRM Summary: true + TF: true + Value: false + Vehicle: + PolarGridDisplay: true + Value: true + VehicleModel: true + SignalDisplay: true + Value: true + Zoom Factor: 1 + - Alpha: 1 Autocompute Intensity Bounds: true Autocompute Value Bounds: - Max Value: 10 - Min Value: -10 - Value: true + Max Value: 5 + Min Value: -1 + Value: false Axis: Z Channel Name: intensity Class: rviz_default_plugins/PointCloud2 Color: 255; 255; 255 - Color Transformer: FlatColor + Color Transformer: AxisColor Decay Time: 0 Enabled: true Invert Rainbow: false Max Color: 255; 255; 255 - Max Intensity: 0 + Max Intensity: 4096 Min Color: 0; 0; 0 Min Intensity: 0 - Name: Simple LiDAR + Name: ConcatenatePointCloud Position Transformer: XYZ - Selectable: true + Selectable: false Size (Pixels): 3 - Size (m): 3 + Size (m): 0.019999999552965164 Style: Points Topic: Depth: 5 - Durability Policy: System Default + Durability Policy: Volatile Filter size: 10 History Policy: Keep Last - Reliability Policy: Reliable - Value: /perception/obstacle_segmentation/pointcloud - Use Fixed Frame: true + Reliability Policy: Best Effort + Value: /sensing/lidar/concatenated/pointcloud + Use Fixed Frame: false Use rainbow: true Value: true - BUS: - Alpha: 0.9990000128746033 - Color: 30; 144; 255 + Alpha: 0.5 + Color: 255; 255; 255 CAR: - Alpha: 0.9990000128746033 - Color: 30; 144; 255 + Alpha: 0.5 + Color: 255; 255; 255 CYCLIST: - Alpha: 0.9990000128746033 - Color: 119; 11; 32 + Alpha: 0.5 + Color: 255; 255; 255 Class: autoware_auto_perception_rviz_plugin/DetectedObjects Display Acceleration: true Display Label: true @@ -3084,111 +2711,910 @@ Visualization Manager: Enabled: true Line Width: 0.029999999329447746 MOTORCYCLE: - Alpha: 0.9990000128746033 - Color: 119; 11; 32 - Name: Detected Objects + Alpha: 0.5 + Color: 255; 255; 255 + Name: RadarRawObjects(white) Namespaces: {} PEDESTRIAN: - Alpha: 0.9990000128746033 - Color: 255; 192; 203 + Alpha: 0.5 + Color: 255; 255; 255 Polygon Type: 3d TRAILER: - Alpha: 0.9990000128746033 - Color: 30; 144; 255 + Alpha: 0.5 + Color: 255; 255; 255 TRUCK: - Alpha: 0.9990000128746033 - Color: 30; 144; 255 + Alpha: 0.5 + Color: 255; 255; 255 Topic: Depth: 5 Durability Policy: Volatile History Policy: Keep Last - Reliability Policy: Reliable - Value: /perception/object_recognition/detection/objects + Reliability Policy: Best Effort + Value: /sensing/radar/detected_objects UNKNOWN: - Alpha: 0.9990000128746033 + Alpha: 0.5 Color: 255; 255; 255 Value: true Visualization Type: Normal - - Alpha: 0.699999988079071 - Class: rviz_default_plugins/Map - Color Scheme: map - Draw Behind: false - Enabled: false - Name: Occupancy Grid Map + Enabled: false + Name: Sensing + - Class: rviz_common/Group + Enabled: true + Name: Localization + Displays: + - Alpha: 0.9990000128746033 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 10 + Min Value: -10 + Value: true + Axis: Z + Channel Name: intensity + Class: rviz_default_plugins/PointCloud2 + Color: 85; 255; 0 + Color Transformer: FlatColor + Decay Time: 0 + Enabled: true + Invert Rainbow: false + Max Color: 85; 255; 127 + Max Intensity: 0 + Min Color: 0; 0; 0 + Min Intensity: 0 + Name: NDT pointclouds + Position Transformer: XYZ + Selectable: false + Size (Pixels): 10 + Size (m): 0.5 + Style: Squares Topic: Depth: 5 Durability Policy: Volatile Filter size: 10 History Policy: Keep Last Reliability Policy: Reliable - Value: /perception/occupancy_grid_map/map - Update Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Reliable - Value: /perception/occupancy_grid_map/map_updates - Use Timestamp: false - Value: false - Enabled: false - Name: Simple Sensor Simulator - Enabled: false - Name: Simulation - - Class: rviz_default_plugins/MarkerArray - Enabled: true - Name: MarkerArray - Namespaces: - ego: false - road_parking_1265_0: true - road_parking_1278_0: true - road_parking_1468_0: true - road_parking_1468_1: true - road_parking_1501_0: true - road_parking_1501_1: true - road_parking_1501_2: true - road_parking_1501_3: true - road_parking_1513_0: true - road_parking_176148_0: true - road_parking_176148_1: true - road_parking_176193_0: true - road_parking_176193_1: true - road_parking_176193_2: true - road_parking_178766_0: true - road_parking_179398_0: true - road_parking_179473_0: true - road_parking_190784_0: true - road_parking_190797_0: true - vehicle_move_to_goal_1153_94: true - vehicle_move_to_goal_1263_106: true - vehicle_move_to_goal_1265_178001: true - vehicle_move_to_goal_1314_41: true - vehicle_move_to_goal_1482_38: true - vehicle_move_to_goal_1483_1500: true - vehicle_move_to_goal_1483_38: true - vehicle_move_to_goal_1484_39: true - vehicle_move_to_goal_1501_40: true - vehicle_move_to_goal_175378_174994: true - vehicle_move_to_goal_178233_179475: true - vehicle_move_to_goal_32_38: true - vehicle_move_to_goal_33_39: true - vehicle_move_to_goal_34_40: true - vehicle_move_to_goal_350_1506: true - vehicle_move_to_goal_350_163: true - vehicle_move_to_goal_74_84: true - vehicle_move_to_goal_75_178573: true - vehicle_move_to_goal_75_83: true - vehicle_move_to_goal_94_41: true - Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Reliable - Value: /entity/marker - Value: true + Value: /localization/pose_estimator/points_aligned + Use Fixed Frame: true + Use rainbow: true + Value: true + - Alpha: 1 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 10 + Min Value: -10 + Value: true + Axis: Z + Channel Name: intensity + Class: rviz_default_plugins/PointCloud2 + Color: 255; 255; 255 + Color Transformer: "" + Decay Time: 0 + Enabled: true + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 4096 + Min Color: 0; 0; 0 + Min Intensity: 0 + Name: NDTLoadedPCDMap + Position Transformer: "" + Selectable: true + Size (Pixels): 3 + Size (m): 0.1 + Style: Flat Squares + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /localization/pose_estimator/debug/loaded_pointcloud_map + Use Fixed Frame: true + Use rainbow: true + Value: true + - Buffer Size: 200 + Class: rviz_plugins::PoseHistory + Enabled: true + Line: + Alpha: 0.9990000128746033 + Color: 170; 255; 127 + Value: true + Width: 0.10000000149011612 + Name: NDTPoseHistory + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /localization/pose_estimator/pose + Value: true + - Buffer Size: 1000 + Class: rviz_plugins::PoseHistory + Enabled: true + Line: + Alpha: 0.9990000128746033 + Color: 0; 255; 255 + Value: true + Width: 0.10000000149011612 + Name: EKFPoseHistory + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /localization/pose_twist_fusion_filter/pose + Value: true + - Class: rviz_common/Group + Displays: + - BUS: + Alpha: 0.9990000128746033 + Color: 255; 138; 128 + CAR: + Alpha: 0.9990000128746033 + Color: 255; 138; 128 + CYCLIST: + Alpha: 0.9990000128746033 + Color: 255; 138; 128 + Class: autoware_auto_perception_rviz_plugin/DetectedObjects + Display Acceleration: true + Display Label: true + Display PoseWithCovariance: true + Display Predicted Path Confidence: true + Display Predicted Paths: true + Display Twist: true + Display UUID: true + Display Velocity: true + Enabled: true + Line Width: 0.10000000149011612 + MOTORCYCLE: + Alpha: 0.9990000128746033 + Color: 255; 138; 128 + Name: Centerpoint(red1) + Namespaces: + {} + PEDESTRIAN: + Alpha: 0.9990000128746033 + Color: 255; 138; 128 + Polygon Type: 3d + TRAILER: + Alpha: 0.9990000128746033 + Color: 255; 138; 128 + TRUCK: + Alpha: 0.9990000128746033 + Color: 255; 138; 128 + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Best Effort + Value: /perception/object_recognition/detection/centerpoint/objects + UNKNOWN: + Alpha: 0.9990000128746033 + Color: 255; 138; 128 + Value: false + Visualization Type: Normal + - BUS: + Alpha: 0.9990000128746033 + Color: 255; 82; 82 + CAR: + Alpha: 0.9990000128746033 + Color: 255; 82; 82 + CYCLIST: + Alpha: 0.9990000128746033 + Color: 255; 82; 82 + Class: autoware_auto_perception_rviz_plugin/DetectedObjects + Display Acceleration: true + Display Label: true + Display PoseWithCovariance: true + Display Predicted Path Confidence: true + Display Predicted Paths: true + Display Twist: true + Display UUID: true + Display Velocity: true + Enabled: true + Line Width: 0.10000000149011612 + MOTORCYCLE: + Alpha: 0.9990000128746033 + Color: 255; 82; 82 + Name: CenterpointROIFusion(red2) + Namespaces: + {} + PEDESTRIAN: + Alpha: 0.9990000128746033 + Color: 255; 82; 82 + Polygon Type: 3d + TRAILER: + Alpha: 0.9990000128746033 + Color: 255; 82; 82 + TRUCK: + Alpha: 0.9990000128746033 + Color: 255; 82; 82 + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Best Effort + Value: /perception/object_recognition/detection/centerpoint/roi_fusion/objects + UNKNOWN: + Alpha: 0.9990000128746033 + Color: 255; 82; 82 + Value: false + Visualization Type: Normal + - BUS: + Alpha: 0.9990000128746033 + Color: 213; 0; 0 + CAR: + Alpha: 0.9990000128746033 + Color: 213; 0; 0 + CYCLIST: + Alpha: 0.9990000128746033 + Color: 213; 0; 0 + Class: autoware_auto_perception_rviz_plugin/DetectedObjects + Display Acceleration: true + Display Label: true + Display PoseWithCovariance: true + Display Predicted Path Confidence: true + Display Predicted Paths: true + Display Twist: true + Display UUID: true + Display Velocity: true + Enabled: true + Line Width: 0.10000000149011612 + MOTORCYCLE: + Alpha: 0.9990000128746033 + Color: 213; 0; 0 + Name: CenterpointValidator(red3) + Namespaces: + {} + PEDESTRIAN: + Alpha: 0.9990000128746033 + Color: 213; 0; 0 + Polygon Type: 3d + TRAILER: + Alpha: 0.9990000128746033 + Color: 213; 0; 0 + TRUCK: + Alpha: 0.9990000128746033 + Color: 213; 0; 0 + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Best Effort + Value: /perception/object_recognition/detection/centerpoint/validation/objects + UNKNOWN: + Alpha: 0.9990000128746033 + Color: 213; 0; 0 + Value: false + Visualization Type: Normal + - BUS: + Alpha: 0.9990000128746033 + Color: 178; 255; 89 + CAR: + Alpha: 0.9990000128746033 + Color: 178; 255; 89 + CYCLIST: + Alpha: 0.9990000128746033 + Color: 178; 255; 89 + Class: autoware_auto_perception_rviz_plugin/DetectedObjects + Display Acceleration: true + Display Label: true + Display PoseWithCovariance: true + Display Predicted Path Confidence: true + Display Predicted Paths: true + Display Twist: true + Display UUID: true + Display Velocity: true + Enabled: true + Line Width: 0.10000000149011612 + MOTORCYCLE: + Alpha: 0.9990000128746033 + Color: 178; 255; 89 + Name: PointPainting(light_green1) + Namespaces: + {} + PEDESTRIAN: + Alpha: 0.9990000128746033 + Color: 178; 255; 89 + Polygon Type: 3d + TRAILER: + Alpha: 0.9990000128746033 + Color: 178; 255; 89 + TRUCK: + Alpha: 0.9990000128746033 + Color: 178; 255; 89 + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Best Effort + Value: /perception/object_recognition/detection/pointpainting/objects + UNKNOWN: + Alpha: 0.9990000128746033 + Color: 178; 255; 89 + Value: false + Visualization Type: Normal + - BUS: + Alpha: 0.9990000128746033 + Color: 118; 255; 3 + CAR: + Alpha: 0.9990000128746033 + Color: 118; 255; 3 + CYCLIST: + Alpha: 0.9990000128746033 + Color: 118; 255; 3 + Class: autoware_auto_perception_rviz_plugin/DetectedObjects + Display Acceleration: true + Display Label: true + Display PoseWithCovariance: true + Display Predicted Path Confidence: true + Display Predicted Paths: true + Display Twist: true + Display UUID: true + Display Velocity: true + Enabled: true + Line Width: 0.10000000149011612 + MOTORCYCLE: + Alpha: 0.9990000128746033 + Color: 118; 255; 3 + Name: PointPaintingROIFusion(light_green2) + Namespaces: + {} + PEDESTRIAN: + Alpha: 0.9990000128746033 + Color: 118; 255; 3 + Polygon Type: 3d + TRAILER: + Alpha: 0.9990000128746033 + Color: 118; 255; 3 + TRUCK: + Alpha: 0.9990000128746033 + Color: 118; 255; 3 + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Best Effort + Value: /perception/object_recognition/detection/pointpainting/roi_fusion/objects + UNKNOWN: + Alpha: 0.9990000128746033 + Color: 118; 255; 3 + Value: false + Visualization Type: Normal + - BUS: + Alpha: 0.9990000128746033 + Color: 100; 221; 23 + CAR: + Alpha: 0.9990000128746033 + Color: 100; 221; 23 + CYCLIST: + Alpha: 0.9990000128746033 + Color: 100; 221; 23 + Class: autoware_auto_perception_rviz_plugin/DetectedObjects + Display Acceleration: true + Display Label: true + Display PoseWithCovariance: true + Display Predicted Path Confidence: true + Display Predicted Paths: true + Display Twist: true + Display UUID: true + Display Velocity: true + Enabled: true + Line Width: 0.10000000149011612 + MOTORCYCLE: + Alpha: 0.9990000128746033 + Color: 100; 221; 23 + Name: PointPaintingValidator(light_green3) + Namespaces: + {} + PEDESTRIAN: + Alpha: 0.9990000128746033 + Color: 100; 221; 23 + Polygon Type: 3d + TRAILER: + Alpha: 0.9990000128746033 + Color: 100; 221; 23 + TRUCK: + Alpha: 0.9990000128746033 + Color: 100; 221; 23 + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Best Effort + Value: /perception/object_recognition/detection/pointpainting/validation/objects + UNKNOWN: + Alpha: 0.9990000128746033 + Color: 100; 221; 23 + Value: false + Visualization Type: Normal + - BUS: + Alpha: 0.9990000128746033 + Color: 255; 145; 0 + CAR: + Alpha: 0.9990000128746033 + Color: 255; 145; 0 + CYCLIST: + Alpha: 0.9990000128746033 + Color: 255; 145; 0 + Class: autoware_auto_perception_rviz_plugin/DetectedObjects + Display Acceleration: true + Display Label: true + Display PoseWithCovariance: true + Display Predicted Path Confidence: true + Display Predicted Paths: true + Display Twist: true + Display UUID: true + Display Velocity: true + Enabled: true + Line Width: 0.10000000149011612 + MOTORCYCLE: + Alpha: 0.9990000128746033 + Color: 255; 145; 0 + Name: DetectionByTracker(orange) + Namespaces: + {} + PEDESTRIAN: + Alpha: 0.9990000128746033 + Color: 255; 145; 0 + Polygon Type: 3d + TRAILER: + Alpha: 0.9990000128746033 + Color: 255; 145; 0 + TRUCK: + Alpha: 0.9990000128746033 + Color: 255; 145; 0 + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Best Effort + Value: /perception/object_recognition/detection/detection_by_tracker/objects + UNKNOWN: + Alpha: 0.9990000128746033 + Color: 255; 145; 0 + Value: false + Visualization Type: Normal + - BUS: + Alpha: 0.9990000128746033 + Color: 213; 0; 249 + CAR: + Alpha: 0.9990000128746033 + Color: 213; 0; 249 + CYCLIST: + Alpha: 0.9990000128746033 + Color: 213; 0; 249 + Class: autoware_auto_perception_rviz_plugin/DetectedObjects + Display Acceleration: true + Display Label: true + Display PoseWithCovariance: true + Display Predicted Path Confidence: true + Display Predicted Paths: true + Display Twist: true + Display UUID: true + Display Velocity: true + Enabled: true + Line Width: 0.10000000149011612 + MOTORCYCLE: + Alpha: 0.9990000128746033 + Color: 213; 0; 249 + Name: CameraLidarFusion(purple) + Namespaces: + {} + PEDESTRIAN: + Alpha: 0.9990000128746033 + Color: 213; 0; 249 + Polygon Type: 3d + TRAILER: + Alpha: 0.9990000128746033 + Color: 213; 0; 249 + TRUCK: + Alpha: 0.9990000128746033 + Color: 213; 0; 249 + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Best Effort + Value: /perception/object_recognition/detection/clustering/camera_lidar_fusion/objects + UNKNOWN: + Alpha: 0.9990000128746033 + Color: 213; 0; 249 + Value: false + Visualization Type: Normal + - BUS: + Alpha: 0.9990000128746033 + Color: 255; 255; 255 + CAR: + Alpha: 0.9990000128746033 + Color: 255; 255; 255 + CYCLIST: + Alpha: 0.9990000128746033 + Color: 255; 255; 255 + Class: autoware_auto_perception_rviz_plugin/DetectedObjects + Display Acceleration: true + Display Label: true + Display PoseWithCovariance: true + Display Predicted Path Confidence: true + Display Predicted Paths: true + Display Twist: true + Display UUID: true + Display Velocity: true + Enabled: true + Line Width: 0.10000000149011612 + MOTORCYCLE: + Alpha: 0.9990000128746033 + Color: 255; 255; 255 + Name: RadarFarObjects(white) + Namespaces: + {} + PEDESTRIAN: + Alpha: 0.9990000128746033 + Color: 255; 255; 255 + Polygon Type: 3d + TRAILER: + Alpha: 0.9990000128746033 + Color: 255; 255; 255 + TRUCK: + Alpha: 0.9990000128746033 + Color: 255; 255; 255 + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Best Effort + Value: /perception/object_recognition/detection/radar/far_objects + UNKNOWN: + Alpha: 0.9990000128746033 + Color: 255; 255; 255 + Value: false + Visualization Type: Normal + - BUS: + Alpha: 0.9990000128746033 + Color: 255; 234; 0 + CAR: + Alpha: 0.9990000128746033 + Color: 255; 234; 0 + CYCLIST: + Alpha: 0.9990000128746033 + Color: 255; 234; 0 + Class: autoware_auto_perception_rviz_plugin/DetectedObjects + Display Acceleration: true + Display Label: true + Display PoseWithCovariance: true + Display Predicted Path Confidence: true + Display Predicted Paths: true + Display Twist: true + Display UUID: true + Display Velocity: true + Enabled: true + Line Width: 0.10000000149011612 + MOTORCYCLE: + Alpha: 0.9990000128746033 + Color: 255; 234; 0 + Name: Detection(yellow) + Namespaces: + {} + PEDESTRIAN: + Alpha: 0.9990000128746033 + Color: 255; 234; 0 + Polygon Type: 3d + TRAILER: + Alpha: 0.9990000128746033 + Color: 255; 234; 0 + TRUCK: + Alpha: 0.9990000128746033 + Color: 255; 234; 0 + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Best Effort + Value: /perception/object_recognition/detection/objects + UNKNOWN: + Alpha: 0.9990000128746033 + Color: 255; 234; 0 + Value: false + Visualization Type: Normal + - BUS: + Alpha: 0.9990000128746033 + Color: 0; 230; 118 + CAR: + Alpha: 0.9990000128746033 + Color: 0; 230; 118 + CYCLIST: + Alpha: 0.9990000128746033 + Color: 0; 230; 118 + Class: autoware_auto_perception_rviz_plugin/TrackedObjects + Display Acceleration: true + Display Label: true + Display PoseWithCovariance: true + Display Predicted Path Confidence: true + Display Predicted Paths: true + Display Twist: true + Display UUID: true + Display Velocity: true + Enabled: true + Line Width: 0.10000000149011612 + MOTORCYCLE: + Alpha: 0.9990000128746033 + Color: 0; 230; 118 + Name: Tracking(green) + Namespaces: + {} + PEDESTRIAN: + Alpha: 0.9990000128746033 + Color: 0; 230; 118 + Polygon Type: 3d + TRAILER: + Alpha: 0.9990000128746033 + Color: 0; 230; 118 + TRUCK: + Alpha: 0.9990000128746033 + Color: 0; 230; 118 + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Best Effort + Value: /perception/object_recognition/tracking/objects + UNKNOWN: + Alpha: 0.9990000128746033 + Color: 0; 230; 118 + Value: false + Visualization Type: Normal + - BUS: + Alpha: 0.9990000128746033 + Color: 0; 176; 255 + CAR: + Alpha: 0.9990000128746033 + Color: 0; 176; 255 + CYCLIST: + Alpha: 0.9990000128746033 + Color: 0; 176; 255 + Class: autoware_auto_perception_rviz_plugin/PredictedObjects + Display Acceleration: true + Display Label: true + Display PoseWithCovariance: false + Display Predicted Path Confidence: true + Display Predicted Paths: true + Display Twist: true + Display UUID: true + Display Velocity: true + Enabled: true + Line Width: 0.10000000149011612 + MOTORCYCLE: + Alpha: 0.9990000128746033 + Color: 0; 176; 255 + Name: Prediction(light_blue) + Namespaces: + {} + PEDESTRIAN: + Alpha: 0.9990000128746033 + Color: 0; 176; 255 + Polygon Type: 3d + TRAILER: + Alpha: 0.9990000128746033 + Color: 0; 176; 255 + TRUCK: + Alpha: 0.9990000128746033 + Color: 0; 176; 255 + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Best Effort + Value: /perception/object_recognition/objects + UNKNOWN: + Alpha: 0.9990000128746033 + Color: 0; 176; 255 + Value: false + Visualization Type: Normal + Enabled: false + Name: Perception + - Class: rviz_common/Group + Displays: + - Class: rviz_common/Group + Displays: + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: LaneChangeLeft + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/debug/objects_of_interest/lane_change_left + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: LaneChangeRight + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/debug/objects_of_interest/lane_change_right + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: AvoidanceLeft + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/debug/objects_of_interest/avoidance_left + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: AvoidanceRight + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/debug/objects_of_interest/avoidance_right + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: AvoidanceByLCLeft + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/debug/objects_of_interest/avoidance_by_lc_left + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: AvoidanceByLCRight + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/debug/objects_of_interest/avoidance_by_lc_right + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: StartPlanner + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/debug/objects_of_interest/start_planner + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: GoalPlanner + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/debug/objects_of_interest/goal_planner + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: Crosswalk + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/debug/objects_of_interest/crosswalk + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: Intersection + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/debug/objects_of_interest/intersection + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: BlindSpot + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/debug/objects_of_interest/blind_spot + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: TrafficLight + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/debug/objects_of_interest/traffic_light + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: DetectionArea + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/debug/objects_of_interest/detection_area + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: NoStoppingArea + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/debug/objects_of_interest/no_stopping_area + Value: true + Enabled: true + Name: Objects Of Interest + - Class: rviz_plugins/StringStampedOverlayDisplay + Enabled: true + Font Size: 15 + Left: 1024 + Max Letter Num: 100 + Name: StringStampedOverlayDisplay + Text Color: 25; 255; 240 + Top: 128 + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/debug/internal_state + Value: true + Value height offset: 0 + Enabled: true + Name: Planning + - Class: rviz_common/Group + Displays: ~ + Enabled: true + Name: Control + Enabled: true + Name: Debug Enabled: true Global Options: - Background Color: 10; 10; 10 + Background Color: 42; 42; 42 + Default Light: true Fixed Frame: map Frame Rate: 30 Name: root @@ -3201,15 +3627,15 @@ Visualization Manager: - Class: rviz_default_plugins/Measure Line color: 128; 128; 0 - Class: rviz_default_plugins/SetInitialPose - Covariance x: 0.25 - Covariance y: 0.25 - Covariance yaw: 0.06853891909122467 + Theta std deviation: 0.2617993950843811 Topic: Depth: 5 Durability Policy: Volatile History Policy: Keep Last Reliability Policy: Reliable Value: /initialpose + X std deviation: 0.5 + Y std deviation: 0.5 - Class: rviz_default_plugins/SetGoal Topic: Depth: 5 @@ -3224,47 +3650,26 @@ Visualization Manager: History Policy: Keep Last Reliability Policy: Reliable Value: /rviz/routing/rough_goal - - Acceleration: 0 - Class: rviz_plugins/PedestrianInitialPoseTool - Interactive: false - Max velocity: 33.29999923706055 - Min velocity: -33.29999923706055 + - Class: rviz_plugins/PedestrianInitialPoseTool Pose Topic: /simulation/dummy_perception_publisher/object_info - Target Frame: Theta std deviation: 0.0872664600610733 Velocity: 0 X std deviation: 0.029999999329447746 Y std deviation: 0.029999999329447746 Z position: 1 Z std deviation: 0.029999999329447746 - - Acceleration: 0 - Class: rviz_plugins/CarInitialPoseTool - H vehicle height: 2 - Interactive: false - L vehicle length: 4 - Max velocity: 33.29999923706055 - Min velocity: -33.29999923706055 + - Class: rviz_plugins/CarInitialPoseTool Pose Topic: /simulation/dummy_perception_publisher/object_info - Target Frame: Theta std deviation: 0.0872664600610733 Velocity: 3 - W vehicle width: 1.7999999523162842 X std deviation: 0.029999999329447746 Y std deviation: 0.029999999329447746 Z position: 0 Z std deviation: 0.029999999329447746 - - Acceleration: 0 - Class: rviz_plugins/BusInitialPoseTool - H vehicle height: 3.5 - Interactive: false - L vehicle length: 10.5 - Max velocity: 33.29999923706055 - Min velocity: -33.29999923706055 + - Class: rviz_plugins/BusInitialPoseTool Pose Topic: /simulation/dummy_perception_publisher/object_info - Target Frame: Theta std deviation: 0.0872664600610733 Velocity: 0 - W vehicle width: 2.5 X std deviation: 0.029999999329447746 Y std deviation: 0.029999999329447746 Z position: 0 @@ -3277,13 +3682,10 @@ Visualization Manager: Z position: 0 - Class: rviz_plugins/DeleteAllObjectsTool Pose Topic: /simulation/dummy_perception_publisher/object_info - Transformation: - Current: - Class: rviz_default_plugins/TF Value: true Views: Current: - Angle: -2.540001392364502 + Angle: 0 Class: rviz_default_plugins/TopDownOrtho Enable Stereo Rendering: Stereo Eye Separation: 0.05999999865889549 @@ -3293,11 +3695,11 @@ Visualization Manager: Invert Z Axis: false Name: Current View Near Clip Distance: 0.009999999776482582 - Scale: 10.0 + Scale: 10 Target Frame: ego Value: TopDownOrtho (rviz_default_plugins) - X: 9.650703430175781 - Y: -19.923925399780273 + X: 0 + Y: 0 Saved: - Class: rviz_default_plugins/ThirdPersonFollower Distance: 18 @@ -3330,23 +3732,29 @@ Visualization Manager: Name: TopDownOrtho Near Clip Distance: 0.009999999776482582 Scale: 10 - Target Frame: viewer + Target Frame: ego Value: TopDownOrtho (rviz) X: 0 Y: 0 Window Geometry: + AutowareStatePanel: + collapsed: false Displays: - collapsed: true - Height: 1016 - Hide Left Dock: true - Hide Right Dock: true - QMainWindow State: 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+ collapsed: false + Height: 1565 + Hide Left Dock: false + Hide Right Dock: false + Image: + collapsed: false + QMainWindow State: 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RecognitionResultOnImage: collapsed: false - Width: 1850 + Selection: + collapsed: false Tool Properties: - collapsed: true + collapsed: false Views: - collapsed: true - X: 70 + collapsed: false + Width: 2813 + X: 67 Y: 27