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Signed-off-by: yuki-takagi-66 <[email protected]>
autowarefoundation · Dec 9, 2024 · 7760bf5 · 7760bf5
1 parent 6717f4e
commit 7760bf5
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Showing 5 changed files with 134 additions and 136 deletions.
diff --git a/autoware_launch/rviz/autoware.rviz b/autoware_launch/rviz/autoware.rviz
@@ -2068,15 +2068,39 @@ Visualization Manager:
                           Value: true
                         - Class: rviz_default_plugins/MarkerArray
                           Enabled: true
-                          Name: VirtualWall (ObstacleCruise)
+                          Name: VirtualWall (ObstacleCruise Stop)
                           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: /planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/virtual_wall/stop
+                          Value: true
+                        - Class: rviz_default_plugins/MarkerArray
+                          Enabled: true
+                          Name: VirtualWall (ObstacleCruise Cruise)
+                          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/cruise
+                          Value: true
+                        - Class: rviz_default_plugins/MarkerArray
+                          Enabled: true
+                          Name: VirtualWall (ObstacleCruise SlowDown)
+                          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/slow_down
                           Value: true
                         - Class: rviz_default_plugins/MarkerArray
                           Enabled: true
@@ -2199,30 +2223,6 @@ Visualization Manager:
                           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

diff --git a/autoware_launch/rviz/perception.rviz b/autoware_launch/rviz/perception.rviz
@@ -2685,15 +2685,39 @@ Visualization Manager:
                           Value: true
                         - Class: rviz_default_plugins/MarkerArray
                           Enabled: true
-                          Name: VirtualWall (ObstacleCruise)
+                          Name: VirtualWall (ObstacleCruise Stop)
                           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: /planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/virtual_wall/stop
+                          Value: true
+                        - Class: rviz_default_plugins/MarkerArray
+                          Enabled: true
+                          Name: VirtualWall (ObstacleCruise Cruise)
+                          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/cruise
+                          Value: true
+                        - Class: rviz_default_plugins/MarkerArray
+                          Enabled: true
+                          Name: VirtualWall (ObstacleCruise SlowDown)
+                          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/slow_down
                           Value: true
                         - Class: rviz_default_plugins/MarkerArray
                           Enabled: true
@@ -2816,30 +2840,6 @@ Visualization Manager:
                           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

diff --git a/autoware_launch/rviz/planning_bev.rviz b/autoware_launch/rviz/planning_bev.rviz
@@ -2521,16 +2521,39 @@ Visualization Manager:
                           Value: true
                         - Class: rviz_default_plugins/MarkerArray
                           Enabled: true
-                          Name: VirtualWall (ObstacleCruise)
+                          Name: VirtualWall (ObstacleCruise Stop)
                           Namespaces:
-                            stop_factor_text: true
-                            stop_virtual_wall: true
+                            {}
+                          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/stop
+                          Value: true
+                        - Class: rviz_default_plugins/MarkerArray
+                          Enabled: true
+                          Name: VirtualWall (ObstacleCruise Cruise)
+                          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: /planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/virtual_wall/cruise
+                          Value: true
+                        - Class: rviz_default_plugins/MarkerArray
+                          Enabled: true
+                          Name: VirtualWall (ObstacleCruise SlowDown)
+                          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/slow_down
                           Value: true
                         - Class: rviz_default_plugins/MarkerArray
                           Enabled: true
@@ -2653,32 +2676,6 @@ Visualization Manager:
                           Value: false
                         - Class: rviz_common/Group
                           Displays:
-                            - Class: rviz_default_plugins/MarkerArray
-                              Enabled: true
-                              Name: CruiseVirtualWall
-                              Namespaces:
-                                slow_down_factor_text: true
-                                slow_down_virtual_wall: true
-                              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:
-                                slow_down_factor_text: true
-                                slow_down_virtual_wall: true
-                              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

diff --git a/autoware_launch/rviz/planning_tpv.rviz b/autoware_launch/rviz/planning_tpv.rviz
@@ -2733,16 +2733,39 @@ Visualization Manager:
                           Value: true
                         - Class: rviz_default_plugins/MarkerArray
                           Enabled: true
-                          Name: VirtualWall (ObstacleCruise)
+                          Name: VirtualWall (ObstacleCruise Stop)
                           Namespaces:
-                            stop_factor_text: true
-                            stop_virtual_wall: true
+                            {}
+                          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/stop
+                          Value: true
+                        - Class: rviz_default_plugins/MarkerArray
+                          Enabled: true
+                          Name: VirtualWall (ObstacleCruise Cruise)
+                          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/cruise
+                          Value: true
+                        - Class: rviz_default_plugins/MarkerArray
+                          Enabled: true
+                          Name: VirtualWall (ObstacleCruise SlowDown)
+                          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: /planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/virtual_wall/slow_down
                           Value: true
                         - Class: rviz_default_plugins/MarkerArray
                           Enabled: true
@@ -2865,31 +2888,6 @@ Visualization Manager:
                           Value: false
                         - Class: rviz_common/Group
                           Displays:
-                            - Class: rviz_default_plugins/MarkerArray
-                              Enabled: true
-                              Name: CruiseVirtualWall
-                              Namespaces:
-                                slow_down_factor_text: true
-                                slow_down_virtual_wall: true
-                              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: false
                               Name: DebugMarker