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feat: change visualization of localization results from PoseHistory to PoseWithCovarianceHistory #1164

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merged 4 commits into from
Sep 17, 2024
Merged

feat: change visualization of localization results from PoseHistory to PoseWithCovarianceHistory #1164

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7b55d44
PoseHistory to PoseWithCovarianceHistory
SaltUhey Sep 12, 2024
875d69b
style(pre-commit): autofix
pre-commit-ci[bot] Sep 12, 2024
386a401
fix param of alpha related to PoseWithCovarianceHistory
SaltUhey Sep 12, 2024
04bd8d4
Merge remote-tracking branch 'oshikubo/tier4_localization_rviz_plugin…
SaltUhey Sep 12, 2024
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57 changes: 41 additions & 16 deletions autoware_launch/rviz/autoware.rviz
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Original file line number Diff line number Diff line change
Expand Up @@ -514,26 +514,39 @@ Visualization Manager:
Topic:
Depth: 5
Durability Policy: Volatile
Filter size: 10
History Policy: Keep Last
Reliability Policy: Reliable
Value: /localization/pose_estimator/pose_with_covariance
Value: true
Value: false
- Buffer Size: 200
Class: rviz_plugins::PoseHistory
Class: rviz_plugins::PoseWithCovarianceHistory
Covariance:
Alpha: 0.5
Color: 204; 51; 204
Scale: 1
Value: true
Enabled: false
Line:
Color: 170; 255; 127
Name: PoseWithCovarianceHistory
Path:
Shape Type:
Alpha: 0.999
Color: 170; 255; 127
Head Length: 0.20000
Head diameter: 0.30000
Shaft Length: 0.30000
Shaft diameter: 0.15000
Value: Line
Width: 0.10000
Value: true
Width: 0.10000000149011612
Alpha: 0.999
Name: PoseHistory
Topic:
Depth: 5
Durability Policy: Volatile
Filter size: 10
History Policy: Keep Last
Reliability Policy: Reliable
Value: /localization/pose_estimator/pose
Value: true
Value: /localization/pose_estimator/pose_with_covariance
Value: false
- Alpha: 0.999
Autocompute Intensity Bounds: true
Autocompute Value Bounds:
Expand Down Expand Up @@ -616,20 +629,32 @@ Visualization Manager:
- Class: rviz_common/Group
Displays:
- Buffer Size: 1000
Class: rviz_plugins::PoseHistory
Class: rviz_plugins::PoseWithCovarianceHistory
Covariance:
Alpha: 0.5
Color: 153; 193; 241
Scale: 1
Value: false
Enabled: true
Line:
Color: 0; 255; 255
Name: PoseWithCovarianceHistory
Path:
Shape Type:
Alpha: 0.999
Color: 0; 255; 255
Head Length: 0.20000
Head diameter: 0.300000
Shaft Length: 0.30000
Shaft diameter: 0.15000
Value: Line
Width: 0.10000
Value: true
Width: 0.10000000149011612
Alpha: 0.999
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: /localization/pose_with_covariance
Value: true
Enabled: true
Name: EKF
Expand Down
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