From 63614a05c262e98e307dfed51d3aa0385548f1ba Mon Sep 17 00:00:00 2001 From: Fumiya Watanabe Date: Tue, 20 Dec 2022 14:28:44 +0900 Subject: [PATCH] feat(autoware_launch): visualize multiple candidate paths (#601) * feat(autoware_launch): visualize multiple candidate paths Signed-off-by: Fumiya Watanabe * feature(autoware_launch): fix name space in autoware.rviz Signed-off-by: Fumiya Watanabe Signed-off-by: Fumiya Watanabe --- autoware_launch/rviz/autoware.rviz | 73 +++++++++++++++++++++++++++++- 1 file changed, 71 insertions(+), 2 deletions(-) diff --git a/autoware_launch/rviz/autoware.rviz b/autoware_launch/rviz/autoware.rviz index 36bf7252d7..be44510def 100644 --- a/autoware_launch/rviz/autoware.rviz +++ b/autoware_launch/rviz/autoware.rviz @@ -990,13 +990,82 @@ Visualization Manager: - Class: rviz_plugins/Path Color Border Vel Max: 3 Enabled: true - Name: PathChangeCandidate + Name: PathChangeCandidate_LaneChange Topic: Depth: 5 Durability Policy: Volatile History Policy: Keep Last Reliability Policy: Reliable - Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/output/path_candidate + Value: /planning/path_candidate/lane_change + Value: true + View Path: + Alpha: 0.30000001192092896 + Color: 115; 210; 22 + Constant Color: false + Value: true + Width: 2 + 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 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/path_candidate/avoidance + Value: true + View Path: + Alpha: 0.30000001192092896 + Color: 115; 210; 22 + Constant Color: false + Value: true + Width: 2 + 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_PullOut + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/path_candidate/pull_out + Value: true + View Path: + Alpha: 0.30000001192092896 + Color: 115; 210; 22 + Constant Color: false + Value: true + Width: 2 + 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_PullOver + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/path_candidate/pull_over Value: true View Path: Alpha: 0.30000001192092896