From 231f03d5f238cc35f649be362265be1ae8057aae Mon Sep 17 00:00:00 2001 From: Khalil Selyan <36904941+KhalilSelyan@users.noreply.github.com> Date: Wed, 4 Sep 2024 16:06:11 +0300 Subject: [PATCH] feat: add simulator rviz config (#1150) Signed-off-by: KhalilSelyan --- autoware_launch/rviz/scenario_simulator.rviz | 3151 ++++++++++++++++++ 1 file changed, 3151 insertions(+) create mode 100644 autoware_launch/rviz/scenario_simulator.rviz diff --git a/autoware_launch/rviz/scenario_simulator.rviz b/autoware_launch/rviz/scenario_simulator.rviz new file mode 100644 index 0000000000..d0b57f225b --- /dev/null +++ b/autoware_launch/rviz/scenario_simulator.rviz @@ -0,0 +1,3151 @@ +Panels: + - Class: rviz_common/Displays + Help Height: 0 + Name: Displays + Property Tree Widget: + Expanded: + - /Sensing1/LiDAR1/ConcatenatePointCloud1/Autocompute Value Bounds1 + Splitter Ratio: 0.557669460773468 + Tree Height: 1060 + - Class: rviz_common/Tool Properties + Expanded: ~ + Name: Tool Properties + Splitter Ratio: 0.5886790156364441 + - Class: rviz_common/Views + Expanded: + - /Current View1 + Name: Views + Splitter Ratio: 0.5 + - Class: rviz_plugins::AutowareStatePanel + Name: AutowareStatePanel +Visualization Manager: + Class: "" + Displays: + - Class: rviz_common/Group + Displays: + - Class: rviz_default_plugins/TF + Enabled: false + Frame Timeout: 15 + Frames: + All Enabled: true + Marker Scale: 1 + Name: TF + Show Arrows: true + Show Axes: true + Show Names: true + Tree: {} + Update Interval: 0 + Value: false + - Alpha: 0.5 + Cell Size: 1 + Class: rviz_default_plugins/Grid + Color: 160; 160; 164 + Enabled: false + Line Style: + Line Width: 0.029999999329447746 + Value: Lines + Name: Grid + Normal Cell Count: 0 + Offset: + X: 0 + Y: 0 + Z: 0 + Plane: XY + Plane Cell Count: 10 + Reference Frame: + Value: false + - Class: rviz_common/Group + Displays: + - Alpha: 0.30000001192092896 + Class: rviz_default_plugins/RobotModel + Collision Enabled: false + Description File: "" + Description Source: Topic + Description Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /robot_description + Enabled: true + Links: + All Links Enabled: true + Expand Joint Details: false + 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 + gnss_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 + traffic_light_left_camera/camera_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + traffic_light_left_camera/camera_optical_link: + Alpha: 1 + Show Axes: false + Show Trail: false + traffic_light_right_camera/camera_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + traffic_light_right_camera/camera_optical_link: + Alpha: 1 + Show Axes: false + Show Trail: false + 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 + Name: VehicleModel + TF Prefix: "" + Update Interval: 0 + Value: true + Visual Enabled: true + - Class: rviz_plugins/PolarGridDisplay + Color: 255; 255; 255 + Delta Range: 10 + Enabled: true + Max Alpha: 0.5 + Max Range: 100 + Max Wave Alpha: 0.5 + Min Alpha: 0.009999999776482582 + Min Wave Alpha: 0.009999999776482582 + Name: PolarGridDisplay + Reference Frame: base_link + Value: true + Wave Color: 255; 255; 255 + Wave Velocity: 40 + - Background Alpha: 0.30000001192092896 + Background Color: 0; 0; 0 + Class: autoware_overlay_rviz_plugin/SignalDisplay + Dark Traffic Color: 255; 51; 51 + Enabled: true + Gear Topic Test: /vehicle/status/gear_status + Handle Angle Scale: 17 + Hazard Lights Topic: /vehicle/status/hazard_lights_status + Height: 100 + Left: 0 + Light Traffic Color: 255; 153; 153 + Name: SignalDisplay + Primary Color: 174; 174; 174 + 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: /planning/scenario_planning/lane_driving/behavior_planning/debug/traffic_signal + Turn Signals Topic: /vehicle/status/turn_indicators_status + Value: true + Width: 550 + Enabled: true + Name: Vehicle + Enabled: true + Name: System + - Class: rviz_common/Group + Displays: + - Alpha: 0.20000000298023224 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 28.71826171875 + Min Value: -7.4224700927734375 + Value: true + Axis: Z + Channel Name: intensity + Class: rviz_default_plugins/PointCloud2 + Color: 255; 255; 255 + Color Transformer: FlatColor + Decay Time: 0 + Enabled: false + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 237 + Min Color: 211; 215; 207 + Min Intensity: 0 + Name: PointCloudMap + Position Transformer: XYZ + Selectable: false + Size (Pixels): 1 + Size (m): 0.019999999552965164 + 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 + - Class: rviz_default_plugins/MarkerArray + Enabled: false + Name: Lanelet2VectorMap + Namespaces: {} + Topic: + Depth: 5 + Durability Policy: Transient Local + History Policy: Keep Last + Reliability Policy: Reliable + Value: /map/vector_map_marker + Value: false + Enabled: true + Name: Map + - Class: rviz_common/Group + Displays: + - Class: rviz_common/Group + Displays: + - Alpha: 0.4000000059604645 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 5 + Min Value: -1 + Value: false + Axis: Z + Channel Name: intensity + Class: rviz_default_plugins/PointCloud2 + Color: 255; 255; 255 + Color Transformer: AxisColor + 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: ConcatenatePointCloud + Position Transformer: XYZ + Selectable: false + Size (Pixels): 1 + Size (m): 0.019999999552965164 + 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 + Class: rviz_default_plugins/Polygon + Color: 25; 255; 0 + Enabled: false + Name: MeasurementRange + 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 + Value: false + Enabled: true + Name: LiDAR + - Class: rviz_common/Group + Displays: + - Alpha: 0.9990000128746033 + Axes Length: 1 + Axes Radius: 0.10000000149011612 + Class: rviz_default_plugins/PoseWithCovariance + Color: 233; 185; 110 + Covariance: + Orientation: + Alpha: 0.5 + Color: 255; 255; 127 + Color Style: Unique + Frame: Local + Offset: 1 + Scale: 1 + Value: false + Position: + Alpha: 0.20000000298023224 + Color: 204; 51; 204 + Scale: 1 + Value: true + Value: true + Enabled: true + Head Length: 0.699999988079071 + Head Radius: 1.2000000476837158 + Name: PoseWithCovariance + Shaft Length: 1 + Shaft Radius: 0.5 + Shape: Arrow + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /sensing/gnss/pose_with_covariance + Value: true + Enabled: false + Name: GNSS + Enabled: true + Name: Sensing + - Class: rviz_common/Group + Displays: + - Class: rviz_common/Group + Displays: + - Alpha: 0.9990000128746033 + Axes Length: 1 + Axes Radius: 0.10000000149011612 + Class: rviz_default_plugins/PoseWithCovariance + Color: 0; 170; 255 + Covariance: + Orientation: + Alpha: 0.5 + Color: 255; 255; 127 + Color Style: Unique + Frame: Local + Offset: 1 + Scale: 1 + Value: true + Position: + Alpha: 0.30000001192092896 + Color: 204; 51; 204 + Scale: 1 + Value: true + Value: true + Enabled: false + Head Length: 0.4000000059604645 + Head Radius: 0.6000000238418579 + Name: PoseWithCovInitial + Shaft Length: 0.6000000238418579 + Shaft Radius: 0.30000001192092896 + Shape: Arrow + 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 + Axes Length: 1 + Axes Radius: 0.10000000149011612 + Class: rviz_default_plugins/PoseWithCovariance + Color: 0; 255; 0 + Covariance: + Orientation: + Alpha: 0.5 + Color: 255; 255; 127 + Color Style: Unique + Frame: Local + Offset: 1 + Scale: 1 + Value: true + Position: + Alpha: 0.30000001192092896 + Color: 204; 51; 204 + Scale: 1 + Value: true + Value: true + Enabled: false + Head Length: 0.4000000059604645 + Head Radius: 0.6000000238418579 + Name: PoseWithCovAligned + Shaft Length: 0.6000000238418579 + Shaft Radius: 0.30000001192092896 + Shape: Arrow + 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 + - Buffer Size: 200 + Class: rviz_plugins::PoseHistory + Enabled: false + Line: + Alpha: 0.9990000128746033 + Color: 170; 255; 127 + Value: true + Width: 0.10000000149011612 + 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 + 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: 0; 255; 255 + Color Transformer: "" + Decay Time: 0 + Enabled: false + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 4096 + Min Color: 0; 0; 0 + Min Intensity: 0 + Name: Initial + 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: Best Effort + Value: /localization/util/downsample/pointcloud + Use Fixed Frame: true + Use rainbow: true + Value: false + - 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: false + Invert Rainbow: false + Max Color: 85; 255; 127 + Max Intensity: 0 + Min Color: 0; 0; 0 + Min Intensity: 0 + Name: Aligned + 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: /localization/pose_estimator/points_aligned + Use Fixed Frame: true + Use rainbow: true + Value: false + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: MonteCarloInitialPose + Namespaces: {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /localization/pose_estimator/monte_carlo_initial_pose_marker + Value: true + Enabled: true + Name: NDT + - Class: rviz_common/Group + Displays: + - Buffer Size: 1000 + Class: rviz_plugins::PoseHistory + Enabled: true + Line: + Alpha: 0.9990000128746033 + Color: 0; 255; 255 + Value: true + Width: 0.10000000149011612 + 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 + Value: true + Enabled: true + Name: EKF + Enabled: true + Name: Localization + - Class: rviz_common/Group + Displays: + - Class: rviz_common/Group + Displays: + - Alpha: 0.9990000128746033 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 15 + Min Value: -2 + Value: false + Axis: Z + Channel Name: z + Class: rviz_default_plugins/PointCloud2 + Color: 200; 200; 200 + Color Transformer: FlatColor + Decay Time: 0 + Enabled: true + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 15 + Min Color: 0; 0; 0 + Min Intensity: -5 + Name: NoGroundPointCloud + Position Transformer: XYZ + Selectable: false + Size (Pixels): 3 + Size (m): 0.019999999552965164 + Style: Points + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Best Effort + Value: /perception/obstacle_segmentation/pointcloud + Use Fixed Frame: true + Use rainbow: true + Value: true + Enabled: true + Name: Segmentation + - Class: rviz_common/Group + Displays: + - Class: rviz_common/Group + Displays: + - BUS: + Alpha: 0.9990000128746033 + Color: 30; 144; 255 + CAR: + Alpha: 0.9990000128746033 + Color: 30; 144; 255 + CYCLIST: + Alpha: 0.9990000128746033 + Color: 119; 11; 32 + Class: autoware_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: 0.029999999329447746 + MOTORCYCLE: + Alpha: 0.9990000128746033 + Color: 119; 11; 32 + Name: DetectedObjects + Namespaces: ~ + PEDESTRIAN: + Alpha: 0.9990000128746033 + Color: 255; 192; 203 + Polygon Type: 3d + TRAILER: + Alpha: 0.9990000128746033 + Color: 30; 144; 255 + TRUCK: + Alpha: 0.9990000128746033 + Color: 30; 144; 255 + 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; 255; 255 + Value: true + Visualization Type: Normal + Enabled: false + Name: Detection + - Class: rviz_common/Group + Displays: + - BUS: + Alpha: 0.9990000128746033 + Color: 30; 144; 255 + CAR: + Alpha: 0.9990000128746033 + Color: 30; 144; 255 + CYCLIST: + Alpha: 0.9990000128746033 + Color: 119; 11; 32 + Class: autoware_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: 0.029999999329447746 + MOTORCYCLE: + Alpha: 0.9990000128746033 + Color: 119; 11; 32 + Name: TrackedObjects + Namespaces: ~ + PEDESTRIAN: + Alpha: 0.9990000128746033 + Color: 255; 192; 203 + Polygon Type: 3d + TRAILER: + Alpha: 0.9990000128746033 + Color: 30; 144; 255 + TRUCK: + Alpha: 0.9990000128746033 + Color: 30; 144; 255 + 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: 255; 255; 255 + Value: true + Visualization Type: Normal + Enabled: false + Name: Tracking + - Class: rviz_common/Group + Displays: + - BUS: + Alpha: 0.9990000128746033 + Color: 30; 144; 255 + CAR: + Alpha: 0.9990000128746033 + Color: 30; 144; 255 + CYCLIST: + Alpha: 0.9990000128746033 + Color: 119; 11; 32 + Class: autoware_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: 0.5 + MOTORCYCLE: + Alpha: 0.9990000128746033 + Color: 119; 11; 32 + Name: PredictedObjects + Namespaces: ~ + PEDESTRIAN: + Alpha: 0.9990000128746033 + Color: 255; 192; 203 + Polygon Type: 3d + TRAILER: + Alpha: 0.9990000128746033 + Color: 30; 144; 255 + TRUCK: + Alpha: 0.9990000128746033 + Color: 30; 144; 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: 255; 255; 255 + Value: true + Visualization Type: Normal + - Class: rviz_default_plugins/MarkerArray + Enabled: false + Name: Maneuver + Namespaces: {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Best Effort + Value: /perception/object_recognition/prediction/maneuver + Value: false + Enabled: true + Name: Prediction + Enabled: true + Name: ObjectRecognition + - Class: rviz_common/Group + Displays: + - Class: rviz_default_plugins/Image + Enabled: false + Max Value: 1 + Median window: 5 + Min Value: 0 + Name: RecognitionResultOnImage + Normalize Range: true + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Best Effort + Value: /perception/traffic_light_recognition/debug/rois + Value: false + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: MapBasedDetectionResult + Namespaces: {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Best Effort + Value: /perception/traffic_light_recognition/traffic_light_map_based_detector/debug/markers + Value: true + Enabled: true + Name: TrafficLight + - Class: rviz_common/Group + Displays: + - Alpha: 0.5 + Class: rviz_default_plugins/Map + Color Scheme: map + Draw Behind: false + Enabled: true + Name: Map + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Best Effort + Value: /perception/occupancy_grid_map/map + Update Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Best Effort + Value: /perception/occupancy_grid_map/map_updates + Use Timestamp: false + Value: true + Enabled: false + Name: OccupancyGrid + Enabled: true + Name: Perception + - Class: rviz_common/Group + Displays: + - Class: rviz_common/Group + Displays: + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: RouteArea + Namespaces: {} + Topic: + Depth: 5 + Durability Policy: Transient Local + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/mission_planning/route_marker + Value: true + - Alpha: 0.9990000128746033 + Axes Length: 1 + Axes Radius: 0.30000001192092896 + Class: rviz_default_plugins/Pose + Color: 255; 25; 0 + Enabled: true + Head Length: 0.30000001192092896 + Head Radius: 0.5 + Name: GoalPose + Shaft Length: 3 + Shaft Radius: 0.20000000298023224 + Shape: Axes + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/mission_planning/echo_back_goal_pose + Value: true + - Background Alpha: 0.30000001192092896 + Background Color: 0; 0; 0 + Class: autoware_mission_details_overlay_rviz_plugin/MissionDetailsDisplay + Enabled: true + Height: 100 + Name: MissionDetailsDisplay + Remaining Distance and Time Topic: /planning/mission_remaining_distance_time + Right: 10 + Text Color: 194; 194; 194 + Top: 10 + Value: true + Width: 170 + Enabled: true + Name: MissionPlanning + - Class: rviz_common/Group + Displays: + - Class: rviz_plugins/Trajectory + Color Border Vel Max: 3 + Enabled: true + Name: ScenarioTrajectory + 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: 1.0299999713897705 + Value: false + Vehicle Length: 4.769999980926514 + Vehicle Width: 1.8300000429153442 + View Path: + Alpha: 0.9990000128746033 + 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 + Color: 0; 0; 0 + Constant Color: false + Scale: 0.30000001192092896 + Value: true + - Class: rviz_common/Group + Displays: + - Class: rviz_common/Group + Displays: + - Class: rviz_plugins/Path + Color Border Vel Max: 3 + Enabled: true + Name: Path + 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: 1.0299999713897705 + Value: false + Vehicle Length: 4.769999980926514 + Vehicle Width: 1.8300000429153442 + 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 + Constant Color: false + Scale: 0.30000001192092896 + Value: true + - Class: rviz_plugins/Path + Color Border Vel Max: 3 + Enabled: false + Name: PathReference_AvoidanceByLC + 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 + View Path: + Alpha: 0.30000001192092896 + 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 + Constant Color: false + Scale: 0.30000001192092896 + Value: false + - Class: rviz_plugins/Path + Color Border Vel Max: 3 + Enabled: false + Name: PathReference_Avoidance + 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 + View Path: + Alpha: 0.30000001192092896 + 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 + Constant Color: false + Scale: 0.30000001192092896 + Value: false + - Class: rviz_plugins/Path + Color Border Vel Max: 3 + Enabled: false + Name: PathReference_LaneChangeRight + 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 + View Path: + Alpha: 0.30000001192092896 + 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 + Constant Color: false + Scale: 0.30000001192092896 + Value: false + - Class: rviz_plugins/Path + Color Border Vel Max: 3 + Enabled: false + Name: PathReference_LaneChangeLeft + 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 + View Path: + Alpha: 0.30000001192092896 + 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 + Constant Color: false + Scale: 0.30000001192092896 + Value: false + - Class: rviz_plugins/Path + Color Border Vel Max: 3 + Enabled: false + Name: PathReference_GoalPlanner + 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 + View Path: + Alpha: 0.30000001192092896 + 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 + Constant Color: false + Scale: 0.30000001192092896 + Value: false + - Class: rviz_plugins/Path + Color Border Vel Max: 3 + Enabled: false + Name: PathReference_StartPlanner + 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 + View Path: + Alpha: 0.30000001192092896 + 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 + Constant Color: false + Scale: 0.30000001192092896 + Value: false + - Class: rviz_plugins/Path + Color Border Vel Max: 3 + Enabled: true + Name: PathChangeCandidate_AvoidanceByLC + 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: 1.0299999713897705 + 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 + Constant Color: false + Scale: 0.30000001192092896 + Value: false + - Class: rviz_plugins/Path + Color Border Vel Max: 3 + Enabled: true + Name: (old)PathChangeCandidate_LaneChange + 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 + Constant Color: false + Scale: 0.30000001192092896 + Value: false + - Class: rviz_plugins/Path + Color Border Vel Max: 3 + Enabled: true + Name: PathChangeCandidate_LaneChangeRight + 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: 1.0299999713897705 + 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 + Constant Color: false + Scale: 0.30000001192092896 + Value: false + - Class: rviz_plugins/Path + Color Border Vel Max: 3 + Enabled: true + Name: PathChangeCandidate_LaneChangeLeft + 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: 1.0299999713897705 + 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 + Constant Color: false + Scale: 0.30000001192092896 + Value: false + - Class: rviz_plugins/Path + Color Border Vel Max: 3 + Enabled: true + Name: PathChangeCandidate_ExternalRequestLaneChangeRight + 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 + Constant Color: false + Scale: 0.30000001192092896 + Value: false + - Class: rviz_plugins/Path + Color Border Vel Max: 3 + Enabled: true + Name: PathChangeCandidate_ExternalRequestLaneChangeLeft + 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 + Constant Color: false + Scale: 0.30000001192092896 + Value: false + - Class: rviz_plugins/Path + Color Border Vel Max: 3 + Enabled: true + Name: PathChangeCandidate_Avoidance + 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: 1.0299999713897705 + 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 + Constant Color: false + Scale: 0.30000001192092896 + Value: false + - Class: rviz_plugins/Path + Color Border Vel Max: 3 + Enabled: true + Name: PathChangeCandidate_StartPlanner + 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: 1.0299999713897705 + 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 + Constant Color: false + Scale: 0.30000001192092896 + Value: false + - Class: rviz_plugins/Path + Color Border Vel Max: 3 + Enabled: true + Name: PathChangeCandidate_GoalPlanner + 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: 1.0299999713897705 + 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 + Constant Color: false + Scale: 0.30000001192092896 + Value: false + - Class: rviz_default_plugins/MarkerArray + Enabled: false + Name: Bound + 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/bound + Value: false + - Class: rviz_common/Group + Displays: + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: VirtualWall (Avoidance) + 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/virtual_wall/avoidance + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: VirtualWall (AvoidanceByLC) + 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/virtual_wall/avoidance_by_lane_change + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: VirtualWall (LaneChangeRight) + 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/virtual_wall/lane_change_right + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: VirtualWall (LaneChangeLeft) + 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/virtual_wall/lane_change_left + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: VirtualWall (ExtLaneChangeRight) + 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/virtual_wall/external_request_lane_change_right + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: VirtualWall (ExtLaneChangeLeft) + 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/virtual_wall/external_request_lane_change_left + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: VirtualWall (GoalPlanner) + 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/virtual_wall/goal_planner + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: VirtualWall (StartPlanner) + 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/virtual_wall/start_planner + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: VirtualWall (BlindSpot) + 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/blind_spot + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: VirtualWall (Crosswalk) + 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/crosswalk + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: VirtualWall (Walkway) + 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/walkway + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: VirtualWall (DetectionArea) + 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/detection_area + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: VirtualWall (Intersection) + 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/intersection + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: VirtualWall (MergeFromPrivateArea) + 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/merge_from_private + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: VirtualWall (NoStoppingArea) + 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/no_stopping_area + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: VirtualWall (OcclusionSpot) + 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/occlusion_spot + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: VirtualWall (StopLine) + 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/stop_line + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: VirtualWall (TrafficLight) + 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/traffic_light + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: VirtualWall (VirtualTrafficLight) + 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/virtual_traffic_light + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: VirtualWall (RunOut) + 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/run_out + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: VirtualWall (SpeedBump) + 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/speed_bump + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: VirtualWall (OutOfLane) + 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/out_of_lane + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: VirtualWall (NoDrivableLane) + 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/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 + Displays: + - Class: rviz_default_plugins/MarkerArray + Enabled: false + Name: Arrow + 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/path + Value: false + - Class: rviz_default_plugins/MarkerArray + Enabled: false + Name: Crosswalk + 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/crosswalk + Value: false + - Class: rviz_default_plugins/MarkerArray + Enabled: false + Name: Intersection + 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/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 + 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/blind_spot + Value: false + - Class: rviz_default_plugins/MarkerArray + Enabled: false + Name: TrafficLight + 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/traffic_light + Value: false + - Class: rviz_default_plugins/MarkerArray + Enabled: false + Name: VirtualTrafficLight + 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/virtual_traffic_light + Value: false + - Class: rviz_default_plugins/MarkerArray + Enabled: false + Name: StopLine + 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/stop_line + Value: false + - Class: rviz_default_plugins/MarkerArray + Enabled: false + Name: DetectionArea + 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/detection_area + Value: false + - Class: rviz_default_plugins/MarkerArray + Enabled: false + Name: OcclusionSpot + 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/occlusion_spot + Value: false + - Class: rviz_default_plugins/MarkerArray + Enabled: false + Name: NoStoppingArea + 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/no_stopping_area + Value: false + - Class: rviz_default_plugins/MarkerArray + Enabled: false + Name: RunOut + 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/run_out + Value: false + - Class: rviz_default_plugins/MarkerArray + Enabled: false + Name: Avoidance + 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/avoidance + Value: false + - Class: rviz_default_plugins/MarkerArray + Enabled: false + Name: LaneChange + 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 + Value: false + - Class: rviz_default_plugins/MarkerArray + Enabled: false + Name: LaneFollowing + 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_following + Value: false + - Class: rviz_default_plugins/MarkerArray + Enabled: false + Name: GoalPlanner + 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/goal_planner + Value: false + - Class: rviz_default_plugins/MarkerArray + Enabled: false + Name: StartPlanner + 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/start_planner + Value: false + - Class: rviz_default_plugins/MarkerArray + Enabled: false + Name: SideShift + 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/side_shift + Value: false + - Class: rviz_default_plugins/MarkerArray + Enabled: false + Name: SpeedBump + 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/speed_bump + Value: false + - Class: rviz_default_plugins/MarkerArray + Enabled: false + Name: OutOfLane + 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/out_of_lane + Value: false + - Class: rviz_default_plugins/MarkerArray + Enabled: false + Name: DynamicAvoidance + 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/dynamic_avoidance + Value: false + - Class: rviz_default_plugins/MarkerArray + Enabled: false + Name: NoDrivableLane + 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/no_drivable_lane + Value: 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: false + Name: DebugMarker + - Class: rviz_common/Group + Displays: + - Class: rviz_default_plugins/MarkerArray + Enabled: false + Name: Info (Avoidance) + 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/info/avoidance + Value: false + - Class: rviz_default_plugins/MarkerArray + Enabled: false + Name: Info (AvoidanceByLC) + 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/info/avoidance_by_lane_change + Value: false + - Class: rviz_default_plugins/MarkerArray + Enabled: false + Name: Info (LaneChangeLeft) + 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/info/lane_change_left + Value: false + - Class: rviz_default_plugins/MarkerArray + Enabled: false + Name: Info (LaneChangeRight) + 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/info/lane_change_right + Value: false + - Class: rviz_default_plugins/MarkerArray + Enabled: false + Name: Info (ExtLaneChangeLeft) + 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/info/external_request_lane_change_left + Value: false + - Class: rviz_default_plugins/MarkerArray + Enabled: false + Name: Info (ExtLaneChangeRight) + 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/info/external_request_lane_change_right + Value: false + - Class: rviz_default_plugins/MarkerArray + Enabled: false + Name: Info (GoalPlanner) + 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/info/goal_planner + Value: false + - Class: rviz_default_plugins/MarkerArray + Enabled: false + Name: Info (StartPlanner) + 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/info/start_planner + Value: false + - Class: rviz_default_plugins/MarkerArray + Enabled: false + Name: Info (DynamicAvoidance) + 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/info/dynamic_avoidance + Value: false + Enabled: false + Name: InfoMarker + Enabled: true + Name: BehaviorPlanning + - Class: rviz_common/Group + Displays: + - Class: rviz_plugins/Trajectory + Color Border Vel Max: 3 + Enabled: false + Name: Trajectory + 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 + 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 + Color: 0; 0; 0 + Constant Color: false + Scale: 0.30000001192092896 + Value: true + - Class: rviz_common/Group + Displays: + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: VirtualWall (ObstacleStop) + Namespaces: {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/motion_planning/obstacle_stop_planner/virtual_wall + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: VirtualWall (SurroundObstacle) + Namespaces: {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/motion_planning/surround_obstacle_checker/virtual_wall + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: VirtualWall (ObstacleAvoidance) + Namespaces: {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/motion_planning/obstacle_avoidance_planner/virtual_wall + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: VirtualWall (ObstacleCruise) + Namespaces: {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/virtual_wall + Value: true + Enabled: true + Name: VirtualWall + - Class: rviz_common/Group + Displays: + - Class: rviz_common/Group + Displays: + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: SurroundObstacleCheck + Namespaces: {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/motion_planning/surround_obstacle_checker/debug/marker + Value: true + - Alpha: 1 + Class: rviz_default_plugins/Polygon + Color: 25; 255; 0 + Enabled: false + Name: Footprint + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/motion_planning/surround_obstacle_checker/debug/footprint + Value: false + - Alpha: 1 + Class: rviz_default_plugins/Polygon + Color: 239; 41; 41 + Enabled: false + Name: FootprintOffset + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/motion_planning/surround_obstacle_checker/debug/footprint_offset + Value: false + - Alpha: 1 + Class: rviz_default_plugins/Polygon + Color: 10; 21; 255 + Enabled: false + Name: FootprintRecoverOffset + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/motion_planning/surround_obstacle_checker/debug/footprint_recover_offset + Value: false + Enabled: false + Name: SurroundObstacleChecker + - Class: rviz_default_plugins/MarkerArray + Enabled: false + Name: ObstacleStop + Namespaces: {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/motion_planning/obstacle_stop_planner/debug/marker + Value: false + - Class: rviz_common/Group + Displays: + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: CruiseVirtualWall + Namespaces: {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/debug/cruise/virtual_wall + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: SlowDownVirtualWall + Namespaces: {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/debug/slow_down/virtual_wall + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: DebugMarker + Namespaces: {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/debug/marker + Value: true + Enabled: false + Name: ObstacleCruise + - Class: rviz_default_plugins/MarkerArray + Enabled: false + Name: ObstacleAvoidance + Namespaces: {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/motion_planning/obstacle_avoidance_planner/debug/marker + Value: false + Enabled: false + Name: DebugMarker + Enabled: true + Name: MotionPlanning + Enabled: true + Name: LaneDriving + - Class: rviz_common/Group + Displays: + - Alpha: 0.699999988079071 + Class: rviz_default_plugins/Map + Color Scheme: map + Draw Behind: false + Enabled: false + Name: Costmap + 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 + Update Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/parking/costmap_generator/occupancy_grid_updates + Use Timestamp: false + Value: false + - Alpha: 0.9990000128746033 + Arrow Length: 0.30000001192092896 + Axes Length: 0.30000001192092896 + Axes Radius: 0.009999999776482582 + Class: rviz_default_plugins/PoseArray + Color: 255; 25; 0 + Enabled: true + Head Length: 0.10000000149011612 + Head Radius: 0.20000000298023224 + Name: PartialPoseArray + Shaft Length: 0.20000000298023224 + Shaft Radius: 0.05000000074505806 + Shape: Arrow (3D) + 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 + Arrow Length: 0.5 + Axes Length: 0.30000001192092896 + Axes Radius: 0.009999999776482582 + Class: rviz_default_plugins/PoseArray + Color: 0; 0; 255 + Enabled: true + Head Length: 0.10000000149011612 + Head Radius: 0.20000000298023224 + Name: PoseArray + Shaft Length: 0.20000000298023224 + Shaft Radius: 0.05000000074505806 + Shape: Arrow (Flat) + 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 + Value: true + Enabled: true + Name: Parking + - Class: rviz_plugins/PoseWithUuidStamped + Enabled: true + Length: 1.5 + Name: ModifiedGoal + Radius: 0.5 + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/modified_goal + UUID: + Scale: 0.30000001192092896 + Value: false + Value: true + Enabled: true + Name: ScenarioPlanning + - Class: rviz_common/Group + Displays: + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: PlanningErrorMarker + Namespaces: {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Best Effort + Value: /planning/planning_diagnostics/planning_error_monitor/debug/marker + Value: true + Enabled: false + Name: Diagnostic + Enabled: true + Name: Planning + - Class: rviz_common/Group + Displays: + - Class: rviz_plugins/Trajectory + Color Border Vel Max: 3 + Enabled: true + Name: Predicted Trajectory + 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: 1.0299999713897705 + Value: false + Vehicle Length: 4.769999980926514 + Vehicle Width: 1.8300000429153442 + View Path: + Alpha: 1 + Color: 255; 255; 255 + Constant Color: true + Constant Width: true + Value: 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 + Constant Color: false + Scale: 0.30000001192092896 + Value: false + - Class: rviz_default_plugins/MarkerArray + Enabled: false + Name: Debug/MPC + Namespaces: {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /control/trajectory_follower/mpc_follower/debug/markers + Value: false + - Class: rviz_default_plugins/MarkerArray + Enabled: false + Name: Debug/PurePursuit + Namespaces: {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /control/trajectory_follower/controller_node_exe/debug/markers + Value: false + - Class: rviz_default_plugins/MarkerArray + Enabled: false + Name: Debug/AEB + Namespaces: {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /control/autonomous_emergency_braking/debug/markers + Value: false + Enabled: true + 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: true + Name: Lanelet Marker + Namespaces: {} + Topic: + Depth: 5 + Durability Policy: Transient Local + History Policy: Keep Last + Reliability Policy: Reliable + Value: /simulation/lanelet/marker + Value: true + - Class: rviz_default_plugins/MarkerArray + 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 + - 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 + Namespaces: {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /simulation/debug_marker + Value: true + - Class: rviz_common/Group + 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: 255; 255; 255 + Color Transformer: FlatColor + Decay Time: 0 + Enabled: true + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 0 + Min Color: 0; 0; 0 + Min Intensity: 0 + Name: Simple LiDAR + Position Transformer: XYZ + Selectable: true + Size (Pixels): 3 + Size (m): 3 + Style: Points + Topic: + Depth: 5 + Durability Policy: System Default + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /perception/obstacle_segmentation/pointcloud + Use Fixed Frame: true + Use rainbow: true + Value: true + - BUS: + Alpha: 0.9990000128746033 + Color: 30; 144; 255 + CAR: + Alpha: 0.9990000128746033 + Color: 30; 144; 255 + CYCLIST: + Alpha: 0.9990000128746033 + Color: 119; 11; 32 + Class: autoware_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: 0.029999999329447746 + MOTORCYCLE: + Alpha: 0.9990000128746033 + Color: 119; 11; 32 + Name: Detected Objects + Namespaces: ~ + PEDESTRIAN: + Alpha: 0.9990000128746033 + Color: 255; 192; 203 + Polygon Type: 3d + TRAILER: + Alpha: 0.9990000128746033 + Color: 30; 144; 255 + TRUCK: + Alpha: 0.9990000128746033 + Color: 30; 144; 255 + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /perception/object_recognition/detection/objects + UNKNOWN: + Alpha: 0.9990000128746033 + 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 + 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: true + Name: Simple Sensor Simulator + Enabled: true + Name: Simulation + Enabled: true + Global Options: + Background Color: 10; 10; 10 + Fixed Frame: map + Frame Rate: 30 + Name: root + Tools: + - Class: rviz_default_plugins/Interact + Hide Inactive Objects: true + - Class: rviz_default_plugins/MoveCamera + - Class: rviz_default_plugins/Select + - Class: rviz_default_plugins/FocusCamera + - 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 + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /initialpose + - Class: rviz_default_plugins/SetGoal + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/mission_planning/goal + - Class: tier4_adapi_rviz_plugins::RouteTool + Topic: + Depth: 5 + Durability Policy: Volatile + 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 + 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 + 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 + 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 + Z std deviation: 0.029999999329447746 + - Class: rviz_plugins/MissionCheckpointTool + Pose Topic: /planning/mission_planning/checkpoint + Theta std deviation: 0.2617993950843811 + X std deviation: 0.5 + Y std deviation: 0.5 + 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: 0 + Class: rviz_default_plugins/TopDownOrtho + Enable Stereo Rendering: + Stereo Eye Separation: 0.05999999865889549 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Invert Z Axis: false + Name: Current View + Near Clip Distance: 0.009999999776482582 + Scale: 10 + Target Frame: entities + Value: TopDownOrtho (rviz_default_plugins) + X: 0 + Y: 0 + Saved: + - Class: rviz_default_plugins/ThirdPersonFollower + Distance: 18 + 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: true + Focal Shape Size: 0.05000000074505806 + Invert Z Axis: false + Name: ThirdPersonFollower + Near Clip Distance: 0.009999999776482582 + Pitch: 0.20000000298023224 + Target Frame: base_link + Value: ThirdPersonFollower (rviz) + Yaw: 3.141592025756836 + - 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 + Invert Z Axis: false + Name: TopDownOrtho + Near Clip Distance: 0.009999999776482582 + Scale: 10 + Target Frame: viewer + Value: TopDownOrtho (rviz) + X: 0 + Y: 0 +Window Geometry: + AutowareStatePanel: + collapsed: false + Displays: + collapsed: false + Height: 2091 + Hide Left Dock: false + Hide Right Dock: false + QMainWindow State: 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 + RecognitionResultOnImage: + collapsed: false + Tool Properties: + collapsed: false + Views: + collapsed: false + Width: 3770 + X: 1920 + Y: 0