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refactor(obstacle_cruise_planner)!: refactor rviz and terminal info (#…
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…1264)

Signed-off-by: yuki-takagi-66 <[email protected]>
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@yuki-takagi-66
yuki-takagi-66 authored Dec 11, 2024
1 parent 830e111 commit a8e7a8d
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Showing 5 changed files with 182 additions and 136 deletions.
64 changes: 38 additions & 26 deletions autoware_launch/rviz/autoware.rviz
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Original file line number Diff line number Diff line change
Expand Up @@ -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
Expand Down Expand Up @@ -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
Expand Down Expand Up @@ -3690,6 +3690,18 @@ Visualization Manager:
Reliability Policy: Reliable
Value: /planning/debug/objects_of_interest/no_stopping_area
Value: true
- Class: rviz_default_plugins/MarkerArray
Enabled: true
Name: ObstacleCruise
Namespaces:
{}
Topic:
Depth: 5
Durability Policy: Volatile
History Policy: Keep Last
Reliability Policy: Reliable
Value: /planning/debug/objects_of_interest/obstacle_cruise_planner
Value: true
Enabled: true
Name: Objects Of Interest
Enabled: true
Expand Down
64 changes: 38 additions & 26 deletions autoware_launch/rviz/perception.rviz
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Original file line number Diff line number Diff line change
Expand Up @@ -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
Expand Down Expand Up @@ -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
Expand Down Expand Up @@ -4435,6 +4435,18 @@ Visualization Manager:
Reliability Policy: Reliable
Value: /planning/debug/objects_of_interest/no_stopping_area
Value: true
- Class: rviz_default_plugins/MarkerArray
Enabled: true
Name: ObstacleCruise
Namespaces:
{}
Topic:
Depth: 5
Durability Policy: Volatile
History Policy: Keep Last
Reliability Policy: Reliable
Value: /planning/debug/objects_of_interest/obstacle_cruise_planner
Value: true
Enabled: true
Name: Objects Of Interest
Enabled: false
Expand Down
69 changes: 39 additions & 30 deletions autoware_launch/rviz/planning_bev.rviz
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Original file line number Diff line number Diff line change
Expand Up @@ -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
Expand Down Expand Up @@ -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
Expand Down Expand Up @@ -4240,6 +4237,18 @@ Visualization Manager:
Reliability Policy: Reliable
Value: /planning/debug/objects_of_interest/no_stopping_area
Value: true
- Class: rviz_default_plugins/MarkerArray
Enabled: true
Name: ObstacleCruise
Namespaces:
{}
Topic:
Depth: 5
Durability Policy: Volatile
History Policy: Keep Last
Reliability Policy: Reliable
Value: /planning/debug/objects_of_interest/obstacle_cruise_planner
Value: true
Enabled: true
Name: Objects Of Interest
Enabled: true
Expand Down
68 changes: 39 additions & 29 deletions autoware_launch/rviz/planning_tpv.rviz
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Original file line number Diff line number Diff line change
Expand Up @@ -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
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
Expand Down Expand Up @@ -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
Expand Down Expand Up @@ -4452,6 +4450,18 @@ Visualization Manager:
Reliability Policy: Reliable
Value: /planning/debug/objects_of_interest/no_stopping_area
Value: true
- Class: rviz_default_plugins/MarkerArray
Enabled: true
Name: ObstacleCruise
Namespaces:
{}
Topic:
Depth: 5
Durability Policy: Volatile
History Policy: Keep Last
Reliability Policy: Reliable
Value: /planning/debug/objects_of_interest/obstacle_cruise_planner
Value: true
Enabled: true
Name: Objects Of Interest
Enabled: true
Expand Down
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