fix(rviz): fix topic name of traffic_light (autowarefoundation#583)

* fix(rviz): fix topic name of traffic_light Signed-off-by: 1222-takeshi <[email protected]> * feat: update multi_data_monitor yaml for traffic_light Signed-off-by: 1222-takeshi <[email protected]> --------- Signed-off-by: 1222-takeshi <[email protected]>
maxime-clem · Aug 2, 2023 · 52c8e6c · 52c8e6c
1 parent ecfaf48
commit 52c8e6c
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Showing 3 changed files with 15 additions and 5 deletions.
diff --git a/autoware_launch/rviz/awsim.rviz b/autoware_launch/rviz/awsim.rviz
@@ -399,7 +399,7 @@ Visualization Manager:
             shoulder_lanelet direction: true
             shoulder_left_lane_bound: true
             shoulder_right_lane_bound: true
-            shoulder_road_lanelets: true
+            shoulder_road_lanelets: false
             stop_lines: true
             traffic_light: true
             traffic_light_id: true
@@ -939,7 +939,7 @@ Visualization Manager:
                 Durability Policy: Volatile
                 History Policy: Keep Last
                 Reliability Policy: Best Effort
-                Value: /perception/traffic_light_recognition/debug/rois
+                Value: /perception/traffic_light_recognition/camera6/debug/rois
               Value: true
             - Class: rviz_default_plugins/MarkerArray
               Enabled: true
@@ -951,7 +951,7 @@ Visualization Manager:
                 Durability Policy: Volatile
                 History Policy: Keep Last
                 Reliability Policy: Best Effort
-                Value: /perception/traffic_light_recognition/traffic_light_map_based_detector/debug/markers
+                Value: /perception/traffic_light_recognition/camera6/detection/traffic_light_map_based_detector/debug/markers
               Value: true
           Enabled: true
           Name: TrafficLight

diff --git a/autoware_launch/rviz/config/awsim.css b/autoware_launch/rviz/config/awsim.css
@@ -41,3 +41,12 @@ QLabel.value[test="unknown_traffic_light"] {
   border-width: 1px 1px 1px 1px;
   border-style: solid;
 }
+
+QLabel.value[test="none_traffic_light"] {
+  font-size: 12px;
+  font-weight: bold;
+  color: black;
+  background-color: white;
+  border-width: 1px 1px 1px 1px;
+  border-style: solid;
+}
diff --git a/autoware_launch/rviz/config/awsim_data_monitor.yaml b/autoware_launch/rviz/config/awsim_data_monitor.yaml
@@ -32,14 +32,15 @@ widgets:
         rules:
           - class: Access
             fails: ERROR-VALUE
-            field: [result, signal, lights, 0, color]
+            field: [elements, 0, color]
           - class: SetFirstIf
             type: text
             list:
               - { eq: 1, value: Red, attrs: { test: red_traffic_light } }
               - { eq: 2, value: Yellow, attrs: { test: yellow_traffic_light } }
               - { eq: 3, value: Green, attrs: { test: green_traffic_light } }
-              - { eq: ERROR-VALUE, value: unknown, attrs: { test: green_traffic_light } }
+              - { eq: 0, value: Unknown, attrs: { test: unknown_traffic_light } }
+              - { eq: ERROR-VALUE, value: None, attrs: { test: none_traffic_light } }
 streams:
   - { class: subscription, label: vehicle_gear, topic: /vehicle/status/gear_status, field: report }
   - class: subscription