From 7f9a32209239af06eeab2f190ca83cdf2b06eac3 Mon Sep 17 00:00:00 2001 From: Zulfaqar Azmi <93502286+zulfaqar-azmi-t4@users.noreply.github.com> Date: Wed, 1 May 2024 19:57:31 +0900 Subject: [PATCH] docs(tier4_simulated_clock_rviz_plugin): update how to use (#6914) * docs(tier4_simulated_clock_rviz_plugin): update how to use Signed-off-by: Muhammad Zulfaqar Azmi * fixed tabbed warning Signed-off-by: Muhammad Zulfaqar Azmi * fix warning not working Signed-off-by: Muhammad Zulfaqar Azmi * Fix bullet list Signed-off-by: Muhammad Zulfaqar Azmi --------- Signed-off-by: Muhammad Zulfaqar Azmi --- .../README.md | 39 ++++++++++++++----- 1 file changed, 29 insertions(+), 10 deletions(-) diff --git a/common/tier4_simulated_clock_rviz_plugin/README.md b/common/tier4_simulated_clock_rviz_plugin/README.md index 73e53b69279ff..a6218f32b988c 100644 --- a/common/tier4_simulated_clock_rviz_plugin/README.md +++ b/common/tier4_simulated_clock_rviz_plugin/README.md @@ -10,18 +10,37 @@ This plugin allows publishing and controlling the simulated ROS time. | -------- | --------------------------- | -------------------------- | | `/clock` | `rosgraph_msgs::msg::Clock` | the current simulated time | -## HowToUse +## How to use the plugin + +1. Launch [planning simulator](https://autowarefoundation.github.io/autoware-documentation/main/tutorials/ad-hoc-simulation/planning-simulation/#1-launch-autoware) with `use_sim_time:=true`. + + ```shell + ros2 launch autoware_launch planning_simulator.launch.xml map_path:=$HOME/autoware_map/sample-map-planning vehicle_model:=sample_vehicle sensor_model:=sample_sensor_kit use_sim_time:=true + ``` + + > Warning + > If you launch the planning simulator without adding the `tier4_simulated_clock_rviz_plugin`, your simulation will not be running. You'll not even be able to place the initial and the goal poses. + +2. Start rviz and select panels/Add new panel. -1. Start rviz and select panels/Add new panel. ![select_panel](./images/select_panels.png) -2. Select tier4_clock_rviz_plugin/SimulatedClock and press OK. + +3. Select tier4_clock_rviz_plugin/SimulatedClock and press OK. + ![select_clock_plugin](./images/select_clock_plugin.png) -3. Use the added panel to control how the simulated clock is published. + +4. Use the added panel to control how the simulated clock is published. + ![use_clock_plugin](./images/use_clock_plugin.png) - - Pause button: pause/resume the clock. - - Speed: speed of the clock relative to the system clock. - - Rate: publishing rate of the clock. - - Step button: advance the clock by the specified time step. - - Time step: value used to advance the clock when pressing the step button d). - - Time unit: time unit associated with the value from e). +
    +
  1. Pause button: pause/resume the clock.
    2. +
  2. Speed: speed of the clock relative to the system clock.
    3. +
  3. Rate: publishing rate of the clock.
    4. +
  4. Step button: advance the clock by the specified time step.
    5. +
  5. Time step: value used to advance the clock when pressing the step button d).
    6. +
  6. Time unit: time unit associated with the value from e).
    7. +
+ + > Warning + > If you set the time step too large, your simulation will go haywire.