From 9f4d000dde202ab2d14323fc0f50cf303f411653 Mon Sep 17 00:00:00 2001 From: Shumpei Wakabayashi <42209144+shmpwk@users.noreply.github.com> Date: Fri, 26 Jul 2024 23:44:25 +0900 Subject: [PATCH] chore(e2e_simulator): use normal rviz (#913) * chore(e2e_simulator): use normal rviz Signed-off-by: Shumpei Wakabayashi * chore: rm awsim.rviz Signed-off-by: Shumpei Wakabayashi --------- Signed-off-by: Shumpei Wakabayashi --- .../launch/e2e_simulator.launch.xml | 2 - autoware_launch/rviz/awsim.rviz | 3121 ----------------- 2 files changed, 3123 deletions(-) delete mode 100755 autoware_launch/rviz/awsim.rviz diff --git a/autoware_launch/launch/e2e_simulator.launch.xml b/autoware_launch/launch/e2e_simulator.launch.xml index fab122237a..64b05e1a51 100755 --- a/autoware_launch/launch/e2e_simulator.launch.xml +++ b/autoware_launch/launch/e2e_simulator.launch.xml @@ -39,7 +39,6 @@ /> - @@ -96,7 +95,6 @@ - diff --git a/autoware_launch/rviz/awsim.rviz b/autoware_launch/rviz/awsim.rviz deleted file mode 100755 index e182f4c496..0000000000 --- a/autoware_launch/rviz/awsim.rviz +++ /dev/null @@ -1,3121 +0,0 @@ -Panels: - - Class: rviz_common/Displays - Help Height: 0 - Name: Displays - Property Tree Widget: - Expanded: - - /Map1 - - /Map1/Lanelet2VectorMap1 - - /Map1/Lanelet2VectorMap1/Namespaces1 - - /Sensing1 - - /Sensing1/LiDAR1/ConcatenatePointCloud1/Autocompute Value Bounds1 - - /Perception1 - Splitter Ratio: 0.557669460773468 - Tree Height: 147 - - Class: rviz_common/Selection - Name: Selection - - Class: rviz_common/Tool Properties - Expanded: ~ - Name: Tool Properties - Splitter Ratio: 0.5886790156364441 - - Class: rviz_common/Views - Expanded: - - /Current View1 - Name: Views - Splitter Ratio: 0.5 - - Class: tier4_localization_rviz_plugin/InitialPoseButtonPanel - Name: InitialPoseButtonPanel - - Class: AutowareDateTimePanel - Name: AutowareDateTimePanel - - Class: rviz_plugins::AutowareStatePanel - Name: AutowareStatePanel - - Class: AutowareScreenCapturePanel - Name: AutowareScreenCapturePanel - - Class: multi_data_monitor::MultiDataMonitor - Name: MultiDataMonitor - Path: package://autoware_launch/rviz/config/awsim_data_monitor.yaml -Visualization Manager: - Class: "" - Displays: - - Class: rviz_common/Group - Displays: - - Class: rviz_default_plugins/TF - Enabled: false - Frame Timeout: 15 - Frames: - All Enabled: true - Marker Scale: 1 - Name: TF - Show Arrows: true - Show Axes: true - Show Names: true - Tree: - {} - Update Interval: 0 - Value: false - - Alpha: 0.5 - Cell Size: 1 - Class: rviz_default_plugins/Grid - Color: 160; 160; 164 - Enabled: false - Line Style: - Line Width: 0.029999999329447746 - Value: Lines - Name: Grid - Normal Cell Count: 0 - Offset: - X: 0 - Y: 0 - Z: 0 - Plane: XY - Plane Cell Count: 10 - Reference Frame: - Value: false - - Class: rviz_common/Group - Displays: - - Class: rviz_plugins/SteeringAngle - Enabled: true - Left: 64 - Length: 128 - Name: SteeringAngle - Scale: 17 - Text Color: 25; 255; 240 - Top: 64 - Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Reliable - Value: /vehicle/status/steering_status - Value: true - Value Scale: 0.14999249577522278 - Value height offset: 0 - - Class: rviz_plugins/ConsoleMeter - Enabled: true - Left: 256 - Length: 128 - Name: ConsoleMeter - Text Color: 25; 255; 240 - Top: 64 - Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Reliable - Value: /vehicle/status/velocity_status - Value: true - Value Scale: 0.14999249577522278 - Value height offset: 0 - - Alpha: 0.9990000128746033 - Class: rviz_plugins/VelocityHistory - Color Border Vel Max: 3 - Constant Color: - Color: 255; 255; 255 - Value: true - Enabled: true - Name: VelocityHistory - Scale: 0.30000001192092896 - Timeout: 10 - Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Reliable - Value: /vehicle/status/velocity_status - Value: true - - Alpha: 0.30000001192092896 - Class: rviz_default_plugins/RobotModel - Collision Enabled: false - Description File: "" - Description Source: Topic - Description Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Reliable - Value: /robot_description - Enabled: true - Links: - All Links Enabled: true - Expand Joint Details: false - Expand Link Details: false - Expand Tree: false - Link Tree Style: Links in Alphabetic Order - base_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - camera0/camera_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - camera0/camera_optical_link: - Alpha: 1 - Show Axes: false - Show Trail: false - camera1/camera_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - camera1/camera_optical_link: - Alpha: 1 - Show Axes: false - Show Trail: false - camera2/camera_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - camera2/camera_optical_link: - Alpha: 1 - Show Axes: false - Show Trail: false - camera3/camera_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - camera3/camera_optical_link: - Alpha: 1 - Show Axes: false - Show Trail: false - camera4/camera_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - camera4/camera_optical_link: - Alpha: 1 - Show Axes: false - Show Trail: false - camera5/camera_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - camera5/camera_optical_link: - Alpha: 1 - Show Axes: false - Show Trail: false - camera6/camera_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - camera6/camera_optical_link: - Alpha: 1 - Show Axes: false - Show Trail: false - camera7/camera_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - camera7/camera_optical_link: - Alpha: 1 - Show Axes: false - Show Trail: false - gnss_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - livox_front_left: - Alpha: 1 - Show Axes: false - Show Trail: false - livox_front_left_base_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - livox_front_right: - Alpha: 1 - Show Axes: false - Show Trail: false - livox_front_right_base_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - sensor_kit_base_link: - Alpha: 1 - Show Axes: false - Show Trail: false - tamagawa/imu_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - velodyne_left: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - velodyne_left_base_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - velodyne_rear: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - velodyne_rear_base_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - velodyne_right: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - velodyne_right_base_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - velodyne_top: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - velodyne_top_base_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - Mass Properties: - Inertia: false - Mass: false - Name: VehicleModel - TF Prefix: "" - Update Interval: 0 - Value: true - Visual Enabled: true - - Class: rviz_plugins/PolarGridDisplay - Color: 255; 255; 255 - Delta Range: 10 - Enabled: true - Max Alpha: 0.5 - Max Range: 100 - Max Wave Alpha: 0.5 - Min Alpha: 0.009999999776482582 - Min Wave Alpha: 0.009999999776482582 - Name: PolarGridDisplay - Reference Frame: base_link - Value: true - Wave Color: 255; 255; 255 - Wave Velocity: 40 - - Class: rviz_plugins/MaxVelocity - Enabled: true - Left: 298 - Length: 48 - Name: MaxVelocity - Text Color: 255; 255; 255 - Top: 140 - Topic: /planning/scenario_planning/current_max_velocity - Value: true - Value Scale: 0.25 - - Class: rviz_plugins/TurnSignal - Enabled: true - Height: 128 - Left: 98 - Name: TurnSignal - Top: 175 - Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Reliable - Value: /vehicle/status/turn_indicators_status - Value: true - Width: 256 - Enabled: true - Name: Vehicle - Enabled: true - Name: System - - Class: rviz_common/Group - Displays: - - Alpha: 0.20000000298023224 - Autocompute Intensity Bounds: true - Autocompute Value Bounds: - Max Value: 28.71826171875 - Min Value: -7.4224700927734375 - Value: true - Axis: Z - Channel Name: intensity - Class: rviz_default_plugins/PointCloud2 - Color: 255; 255; 255 - Color Transformer: FlatColor - Decay Time: 0 - Enabled: false - Invert Rainbow: false - Max Color: 255; 255; 255 - Max Intensity: 237 - Min Color: 211; 215; 207 - Min Intensity: 0 - Name: PointCloudMap - Position Transformer: XYZ - Selectable: false - Size (Pixels): 1 - Size (m): 0.019999999552965164 - Style: Points - Topic: - Depth: 5 - Durability Policy: Transient Local - Filter size: 10 - History Policy: Keep Last - Reliability Policy: Reliable - Value: /map/pointcloud_map - Use Fixed Frame: true - Use rainbow: false - Value: false - - Class: rviz_default_plugins/MarkerArray - Enabled: true - Name: Lanelet2VectorMap - Namespaces: - center_lane_line: true - center_line_arrows: true - crosswalk_lanelets: true - lane_start_bound: true - lanelet direction: true - lanelet_id: true - left_lane_bound: true - no_stopping_area: true - parking_lots: true - partitions: true - pedestrian_marking: true - right_lane_bound: true - road_lanelets: false - shoulder_center_lane_line: true - shoulder_center_line_arrows: true - shoulder_lane_start_bound: true - shoulder_lanelet direction: true - shoulder_left_lane_bound: true - shoulder_right_lane_bound: true - shoulder_road_lanelets: false - stop_lines: true - traffic_light: true - traffic_light_id: true - traffic_light_triangle: true - walkway_lanelets: true - Topic: - Depth: 5 - Durability Policy: Transient Local - History Policy: Keep Last - Reliability Policy: Reliable - Value: /map/vector_map_marker - Value: true - Enabled: true - Name: Map - - Class: rviz_common/Group - Displays: - - Class: rviz_common/Group - Displays: - - Alpha: 0.4000000059604645 - Autocompute Intensity Bounds: true - Autocompute Value Bounds: - Max Value: 5 - Min Value: -1 - Value: false - Axis: Z - Channel Name: intensity - Class: rviz_default_plugins/PointCloud2 - Color: 255; 255; 255 - Color Transformer: AxisColor - Decay Time: 0 - Enabled: true - Invert Rainbow: false - Max Color: 255; 255; 255 - Max Intensity: 4096 - Min Color: 0; 0; 0 - Min Intensity: 0 - Name: ConcatenatePointCloud - Position Transformer: XYZ - Selectable: false - Size (Pixels): 1 - Size (m): 0.019999999552965164 - Style: Points - Topic: - Depth: 5 - Durability Policy: Volatile - Filter size: 10 - History Policy: Keep Last - Reliability Policy: Best Effort - Value: /sensing/lidar/concatenated/pointcloud - Use Fixed Frame: false - Use rainbow: true - Value: true - - Alpha: 0.9990000128746033 - Class: rviz_default_plugins/Polygon - Color: 25; 255; 0 - Enabled: false - Name: MeasurementRange - Topic: - Depth: 5 - Durability Policy: Volatile - Filter size: 10 - History Policy: Keep Last - Reliability Policy: Reliable - Value: /sensing/lidar/crop_box_filter/crop_box_polygon - Value: false - Enabled: true - Name: LiDAR - - Class: rviz_common/Group - Displays: - - Alpha: 0.9990000128746033 - Axes Length: 1 - Axes Radius: 0.10000000149011612 - Class: rviz_default_plugins/PoseWithCovariance - Color: 233; 185; 110 - Covariance: - Orientation: - Alpha: 0.5 - Color: 255; 255; 127 - Color Style: Unique - Frame: Local - Offset: 1 - Scale: 1 - Value: false - Position: - Alpha: 0.20000000298023224 - Color: 204; 51; 204 - Scale: 1 - Value: true - Value: true - Enabled: true - Head Length: 0.699999988079071 - Head Radius: 1.2000000476837158 - Name: PoseWithCovariance - Shaft Length: 1 - Shaft Radius: 0.5 - Shape: Arrow - Topic: - Depth: 5 - Durability Policy: Volatile - Filter size: 10 - History Policy: Keep Last - Reliability Policy: Reliable - Value: /sensing/gnss/pose_with_covariance - Value: true - Enabled: false - Name: GNSS - Enabled: true - Name: Sensing - - Class: rviz_common/Group - Displays: - - Class: rviz_common/Group - Displays: - - Alpha: 0.9990000128746033 - Axes Length: 1 - Axes Radius: 0.10000000149011612 - Class: rviz_default_plugins/PoseWithCovariance - Color: 0; 170; 255 - Covariance: - Orientation: - Alpha: 0.5 - Color: 255; 255; 127 - Color Style: Unique - Frame: Local - Offset: 1 - Scale: 1 - Value: true - Position: - Alpha: 0.30000001192092896 - Color: 204; 51; 204 - Scale: 1 - Value: true - Value: true - Enabled: false - Head Length: 0.4000000059604645 - Head Radius: 0.6000000238418579 - Name: PoseWithCovInitial - Shaft Length: 0.6000000238418579 - Shaft Radius: 0.30000001192092896 - Shape: Arrow - Topic: - Depth: 5 - Durability Policy: Volatile - Filter size: 10 - History Policy: Keep Last - Reliability Policy: Reliable - Value: /localization/pose_estimator/initial_pose_with_covariance - Value: false - - Alpha: 0.9990000128746033 - Axes Length: 1 - Axes Radius: 0.10000000149011612 - Class: rviz_default_plugins/PoseWithCovariance - Color: 0; 255; 0 - Covariance: - Orientation: - Alpha: 0.5 - Color: 255; 255; 127 - Color Style: Unique - Frame: Local - Offset: 1 - Scale: 1 - Value: true - Position: - Alpha: 0.30000001192092896 - Color: 204; 51; 204 - Scale: 1 - Value: true - Value: true - Enabled: false - Head Length: 0.4000000059604645 - Head Radius: 0.6000000238418579 - Name: PoseWithCovAligned - Shaft Length: 0.6000000238418579 - Shaft Radius: 0.30000001192092896 - Shape: Arrow - Topic: - Depth: 5 - Durability Policy: Volatile - Filter size: 10 - History Policy: Keep Last - Reliability Policy: Reliable - Value: /localization/pose_estimator/pose_with_covariance - Value: false - - Buffer Size: 200 - Class: rviz_plugins::PoseHistory - Enabled: false - Line: - Alpha: 0.9990000128746033 - Color: 170; 255; 127 - Value: true - Width: 0.10000000149011612 - Name: PoseHistory - Topic: - Depth: 5 - Durability Policy: Volatile - Filter size: 10 - History Policy: Keep Last - Reliability Policy: Reliable - Value: /localization/pose_estimator/pose - Value: false - - Alpha: 0.9990000128746033 - Autocompute Intensity Bounds: true - Autocompute Value Bounds: - Max Value: 10 - Min Value: -10 - Value: true - Axis: Z - Channel Name: intensity - Class: rviz_default_plugins/PointCloud2 - Color: 0; 255; 255 - Color Transformer: "" - Decay Time: 0 - Enabled: false - Invert Rainbow: false - Max Color: 255; 255; 255 - Max Intensity: 4096 - Min Color: 0; 0; 0 - Min Intensity: 0 - Name: Initial - Position Transformer: XYZ - Selectable: false - Size (Pixels): 10 - Size (m): 0.5 - Style: Squares - Topic: - Depth: 5 - Durability Policy: Volatile - Filter size: 10 - History Policy: Keep Last - Reliability Policy: Best Effort - Value: /localization/util/downsample/pointcloud - Use Fixed Frame: true - Use rainbow: true - Value: false - - Alpha: 0.9990000128746033 - Autocompute Intensity Bounds: true - Autocompute Value Bounds: - Max Value: 10 - Min Value: -10 - Value: true - Axis: Z - Channel Name: intensity - Class: rviz_default_plugins/PointCloud2 - Color: 85; 255; 0 - Color Transformer: FlatColor - Decay Time: 0 - Enabled: false - Invert Rainbow: false - Max Color: 85; 255; 127 - Max Intensity: 0 - Min Color: 0; 0; 0 - Min Intensity: 0 - Name: Aligned - Position Transformer: XYZ - Selectable: false - Size (Pixels): 10 - Size (m): 0.5 - Style: Squares - Topic: - Depth: 5 - Durability Policy: Volatile - Filter size: 10 - History Policy: Keep Last - Reliability Policy: Reliable - Value: /localization/pose_estimator/points_aligned - Use Fixed Frame: true - Use rainbow: true - Value: false - - Class: rviz_default_plugins/MarkerArray - Enabled: true - Name: MonteCarloInitialPose - Namespaces: - initial_pose_index_color_marker: true - initial_pose_iteration_color_marker: true - initial_pose_transform_probability_color_marker: true - result_pose_index_color_marker: true - result_pose_iteration_color_marker: true - result_pose_transform_probability_color_marker: true - Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Reliable - Value: /localization/pose_estimator/monte_carlo_initial_pose_marker - Value: true - Enabled: true - Name: NDT - - Class: rviz_common/Group - Displays: - - Buffer Size: 1000 - Class: rviz_plugins::PoseHistory - Enabled: true - Line: - Alpha: 0.9990000128746033 - Color: 0; 255; 255 - Value: true - Width: 0.10000000149011612 - 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: true - Enabled: true - Name: EKF - Enabled: true - Name: Localization - - Class: rviz_common/Group - Displays: - - Class: rviz_common/Group - Displays: - - Alpha: 0.9990000128746033 - Autocompute Intensity Bounds: true - Autocompute Value Bounds: - Max Value: 15 - Min Value: -2 - Value: false - Axis: Z - Channel Name: z - Class: rviz_default_plugins/PointCloud2 - Color: 200; 200; 200 - Color Transformer: FlatColor - Decay Time: 0 - Enabled: true - Invert Rainbow: false - Max Color: 255; 255; 255 - Max Intensity: 15 - Min Color: 0; 0; 0 - Min Intensity: -5 - Name: NoGroundPointCloud - Position Transformer: XYZ - Selectable: false - Size (Pixels): 3 - Size (m): 0.019999999552965164 - Style: Points - Topic: - Depth: 5 - Durability Policy: Volatile - Filter size: 10 - History Policy: Keep Last - Reliability Policy: Best Effort - Value: /perception/obstacle_segmentation/pointcloud - Use Fixed Frame: true - Use rainbow: true - Value: true - Enabled: false - Name: Segmentation - - Class: rviz_common/Group - Displays: - - Class: rviz_common/Group - Displays: - - BUS: - Alpha: 0.9990000128746033 - Color: 30; 144; 255 - CAR: - Alpha: 0.9990000128746033 - Color: 30; 144; 255 - CYCLIST: - Alpha: 0.9990000128746033 - Color: 119; 11; 32 - Class: autoware_auto_perception_rviz_plugin/DetectedObjects - Display Acceleration: true - Display Label: true - Display PoseWithCovariance: true - Display Predicted Path Confidence: true - Display Predicted Paths: true - Display Twist: true - Display UUID: true - Display Velocity: true - Enabled: true - Line Width: 0.029999999329447746 - MOTORCYCLE: - Alpha: 0.9990000128746033 - Color: 119; 11; 32 - Name: DetectedObjects - Namespaces: - {} - PEDESTRIAN: - Alpha: 0.9990000128746033 - Color: 255; 192; 203 - Polygon Type: 3d - TRAILER: - Alpha: 0.9990000128746033 - Color: 30; 144; 255 - TRUCK: - Alpha: 0.9990000128746033 - Color: 30; 144; 255 - Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Best Effort - Value: /perception/object_recognition/detection/objects - UNKNOWN: - Alpha: 0.9990000128746033 - Color: 255; 255; 255 - Value: true - Visualization Type: Normal - Enabled: false - Name: Detection - - Class: rviz_common/Group - Displays: - - BUS: - Alpha: 0.9990000128746033 - Color: 30; 144; 255 - CAR: - Alpha: 0.9990000128746033 - Color: 30; 144; 255 - CYCLIST: - Alpha: 0.9990000128746033 - Color: 119; 11; 32 - Class: autoware_auto_perception_rviz_plugin/TrackedObjects - Display Acceleration: true - Display Label: true - Display PoseWithCovariance: true - Display Predicted Path Confidence: true - Display Predicted Paths: true - Display Twist: true - Display UUID: true - Display Velocity: true - Enabled: true - Line Width: 0.029999999329447746 - MOTORCYCLE: - Alpha: 0.9990000128746033 - Color: 119; 11; 32 - Name: TrackedObjects - Namespaces: - {} - PEDESTRIAN: - Alpha: 0.9990000128746033 - Color: 255; 192; 203 - Polygon Type: 3d - TRAILER: - Alpha: 0.9990000128746033 - Color: 30; 144; 255 - TRUCK: - Alpha: 0.9990000128746033 - Color: 30; 144; 255 - Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Best Effort - Value: /perception/object_recognition/tracking/objects - UNKNOWN: - Alpha: 0.9990000128746033 - Color: 255; 255; 255 - Value: true - Visualization Type: Normal - Enabled: false - Name: Tracking - - Class: rviz_common/Group - Displays: - - BUS: - Alpha: 0.9990000128746033 - Color: 30; 144; 255 - CAR: - Alpha: 0.9990000128746033 - Color: 30; 144; 255 - CYCLIST: - Alpha: 0.9990000128746033 - Color: 119; 11; 32 - Class: autoware_auto_perception_rviz_plugin/PredictedObjects - Display Acceleration: true - Display Label: true - Display PoseWithCovariance: false - Display Predicted Path Confidence: true - Display Predicted Paths: true - Display Twist: true - Display UUID: true - Display Velocity: true - Enabled: true - Line Width: 0.029999999329447746 - MOTORCYCLE: - Alpha: 0.9990000128746033 - Color: 119; 11; 32 - Name: PredictedObjects - Namespaces: - acceleration: true - label: true - path: true - path confidence: true - shape: true - twist: true - uuid: true - velocity: true - PEDESTRIAN: - Alpha: 0.9990000128746033 - Color: 255; 192; 203 - Polygon Type: 3d - TRAILER: - Alpha: 0.9990000128746033 - Color: 30; 144; 255 - TRUCK: - Alpha: 0.9990000128746033 - Color: 30; 144; 255 - Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Best Effort - Value: /perception/object_recognition/objects - UNKNOWN: - Alpha: 0.9990000128746033 - Color: 255; 255; 255 - Value: true - Visualization Type: Normal - - Class: rviz_default_plugins/MarkerArray - Enabled: false - Name: Maneuver - Namespaces: - {} - Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Best Effort - Value: /perception/object_recognition/prediction/maneuver - Value: false - Enabled: true - Name: Prediction - Enabled: true - Name: ObjectRecognition - - Class: rviz_common/Group - Displays: - - Class: rviz_default_plugins/Image - Enabled: true - Max Value: 1 - Median window: 5 - Min Value: 0 - Name: RecognitionResultOnImage - Normalize Range: true - Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Best Effort - Value: /perception/traffic_light_recognition/camera6/debug/rois - Value: true - - Class: rviz_default_plugins/MarkerArray - Enabled: true - Name: MapBasedDetectionResult - Namespaces: - beam: true - Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Best Effort - Value: /perception/traffic_light_recognition/camera6/detection/traffic_light_map_based_detector/debug/markers - Value: true - Enabled: true - Name: TrafficLight - - Class: rviz_common/Group - Displays: - - Alpha: 0.5 - Class: rviz_default_plugins/Map - Color Scheme: map - Draw Behind: false - Enabled: true - Name: Map - Topic: - Depth: 5 - Durability Policy: Volatile - Filter size: 10 - History Policy: Keep Last - Reliability Policy: Best Effort - Value: /perception/occupancy_grid_map/map - Update Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Best Effort - Value: /perception/occupancy_grid_map/map_updates - Use Timestamp: false - Value: true - Enabled: false - Name: OccupancyGrid - Enabled: true - Name: Perception - - Class: rviz_common/Group - Displays: - - Class: rviz_common/Group - Displays: - - Class: rviz_default_plugins/MarkerArray - Enabled: true - Name: RouteArea - Namespaces: - end_lanelets: true - goal_lanelets: true - lane_start_bound: true - left_lane_bound: true - right_lane_bound: true - route_lanelets: true - Topic: - Depth: 5 - Durability Policy: Transient Local - History Policy: Keep Last - Reliability Policy: Reliable - Value: /planning/mission_planning/route_marker - Value: true - - Alpha: 0.9990000128746033 - Axes Length: 1 - Axes Radius: 0.30000001192092896 - Class: rviz_default_plugins/Pose - Color: 255; 25; 0 - Enabled: true - Head Length: 0.30000001192092896 - Head Radius: 0.5 - Name: GoalPose - Shaft Length: 3 - Shaft Radius: 0.20000000298023224 - Shape: Axes - Topic: - Depth: 5 - Durability Policy: Volatile - Filter size: 10 - History Policy: Keep Last - Reliability Policy: Reliable - Value: /planning/mission_planning/echo_back_goal_pose - Value: true - Enabled: true - Name: MissionPlanning - - Class: rviz_common/Group - Displays: - - Class: rviz_plugins/Trajectory - Color Border Vel Max: 3 - Enabled: true - Name: ScenarioTrajectory - Topic: - Depth: 5 - Durability Policy: Volatile - Filter size: 10 - History Policy: Keep Last - Reliability Policy: Reliable - Value: /planning/scenario_planning/trajectory - Value: true - View Footprint: - Alpha: 1 - Color: 230; 230; 50 - Offset from BaseLink: 0 - Rear Overhang: 1.0299999713897705 - Value: false - Vehicle Length: 4.769999980926514 - Vehicle Width: 1.8300000429153442 - View Path: - Alpha: 0.9990000128746033 - Color: 0; 0; 0 - Constant Color: false - Constant Width: false - Value: true - Width: 2 - View Point: - Alpha: 1 - Color: 0; 60; 255 - Offset: 0 - Radius: 0.10000000149011612 - Value: false - View Text Velocity: - Scale: 0.30000001192092896 - Value: false - View Velocity: - Alpha: 0.9990000128746033 - Color: 0; 0; 0 - Constant Color: false - Scale: 0.30000001192092896 - Value: true - - Class: rviz_common/Group - Displays: - - Class: rviz_common/Group - Displays: - - Class: rviz_plugins/Path - Color Border Vel Max: 3 - Enabled: true - Name: Path - Topic: - Depth: 5 - Durability Policy: Volatile - Filter size: 10 - History Policy: Keep Last - Reliability Policy: Reliable - Value: /planning/scenario_planning/lane_driving/behavior_planning/path - Value: true - View Drivable Area: - Alpha: 0.9990000128746033 - Color: 0; 148; 205 - Value: true - Width: 0.30000001192092896 - View Footprint: - Alpha: 1 - Color: 230; 230; 50 - Offset from BaseLink: 0 - Rear Overhang: 1.0299999713897705 - Value: false - Vehicle Length: 4.769999980926514 - Vehicle Width: 1.8300000429153442 - View Path: - Alpha: 0.4000000059604645 - Color: 0; 0; 0 - Constant Color: false - Constant Width: false - Value: true - Width: 2 - View Point: - Alpha: 1 - Color: 0; 60; 255 - Offset: 0 - Radius: 0.10000000149011612 - Value: false - View Text Velocity: - Scale: 0.30000001192092896 - Value: false - View Velocity: - Alpha: 0.4000000059604645 - Color: 0; 0; 0 - Constant Color: false - Scale: 0.30000001192092896 - Value: true - - Class: rviz_plugins/Path - Color Border Vel Max: 3 - Enabled: false - Name: PathReference_AvoidanceByLC - Topic: - Depth: 5 - Durability Policy: Volatile - Filter size: 10 - History Policy: Keep Last - Reliability Policy: Reliable - Value: /planning/path_reference/avoidance_by_lane_change - Value: false - View Drivable Area: - Alpha: 0.9990000128746033 - Color: 0; 148; 205 - Value: true - Width: 0.30000001192092896 - View Footprint: - Alpha: 1 - Color: 230; 230; 50 - Offset from BaseLink: 0 - Rear Overhang: 1.0299999713897705 - Value: false - Vehicle Length: 4.769999980926514 - Vehicle Width: 1.8300000429153442 - View Path: - Alpha: 0.30000001192092896 - Color: 210; 110; 10 - Constant Color: true - Constant Width: false - Value: true - Width: 2 - View Point: - Alpha: 1 - Color: 0; 60; 255 - Offset: 0 - Radius: 0.10000000149011612 - Value: false - View Text Velocity: - Scale: 0.30000001192092896 - Value: false - View Velocity: - Alpha: 0.30000001192092896 - Color: 0; 0; 0 - Constant Color: false - Scale: 0.30000001192092896 - Value: false - - Class: rviz_plugins/Path - Color Border Vel Max: 3 - Enabled: false - Name: PathReference_Avoidance - Topic: - Depth: 5 - Durability Policy: Volatile - Filter size: 10 - History Policy: Keep Last - Reliability Policy: Reliable - Value: /planning/path_reference/avoidance - Value: false - View Drivable Area: - Alpha: 0.9990000128746033 - Color: 0; 148; 205 - Value: true - Width: 0.30000001192092896 - View Footprint: - Alpha: 1 - Color: 230; 230; 50 - Offset from BaseLink: 0 - Rear Overhang: 1.0299999713897705 - Value: false - Vehicle Length: 4.769999980926514 - Vehicle Width: 1.8300000429153442 - View Path: - Alpha: 0.30000001192092896 - Color: 210; 110; 210 - Constant Color: true - Constant Width: false - Value: true - Width: 2 - View Point: - Alpha: 1 - Color: 0; 60; 255 - Offset: 0 - Radius: 0.10000000149011612 - Value: false - View Text Velocity: - Scale: 0.30000001192092896 - Value: false - View Velocity: - Alpha: 0.30000001192092896 - Color: 0; 0; 0 - Constant Color: false - Scale: 0.30000001192092896 - Value: false - - Class: rviz_plugins/Path - Color Border Vel Max: 3 - Enabled: false - Name: PathReference_LaneChangeRight - Topic: - Depth: 5 - Durability Policy: Volatile - Filter size: 10 - History Policy: Keep Last - Reliability Policy: Reliable - Value: /planning/path_reference/lane_change_right - Value: false - View Drivable Area: - Alpha: 0.9990000128746033 - Color: 0; 148; 205 - Value: true - Width: 0.30000001192092896 - View Footprint: - Alpha: 1 - Color: 230; 230; 50 - Offset from BaseLink: 0 - Rear Overhang: 1.0299999713897705 - Value: false - Vehicle Length: 4.769999980926514 - Vehicle Width: 1.8300000429153442 - View Path: - Alpha: 0.30000001192092896 - Color: 210; 210; 110 - Constant Color: true - Constant Width: false - Value: true - Width: 2 - View Point: - Alpha: 1 - Color: 0; 60; 255 - Offset: 0 - Radius: 0.10000000149011612 - Value: false - View Text Velocity: - Scale: 0.30000001192092896 - Value: false - View Velocity: - Alpha: 0.30000001192092896 - Color: 0; 0; 0 - Constant Color: false - Scale: 0.30000001192092896 - Value: false - - Class: rviz_plugins/Path - Color Border Vel Max: 3 - Enabled: false - Name: PathReference_LaneChangeLeft - Topic: - Depth: 5 - Durability Policy: Volatile - Filter size: 10 - History Policy: Keep Last - Reliability Policy: Reliable - Value: /planning/path_reference/lane_change_left - Value: false - View Drivable Area: - Alpha: 0.9990000128746033 - Color: 0; 148; 205 - Value: true - Width: 0.30000001192092896 - View Footprint: - Alpha: 1 - Color: 230; 230; 50 - Offset from BaseLink: 0 - Rear Overhang: 1.0299999713897705 - Value: false - Vehicle Length: 4.769999980926514 - Vehicle Width: 1.8300000429153442 - View Path: - Alpha: 0.30000001192092896 - Color: 210; 210; 110 - Constant Color: true - Constant Width: false - Value: true - Width: 2 - View Point: - Alpha: 1 - Color: 0; 60; 255 - Offset: 0 - Radius: 0.10000000149011612 - Value: false - View Text Velocity: - Scale: 0.30000001192092896 - Value: false - View Velocity: - Alpha: 0.30000001192092896 - Color: 0; 0; 0 - Constant Color: false - Scale: 0.30000001192092896 - Value: false - - Class: rviz_plugins/Path - Color Border Vel Max: 3 - Enabled: false - Name: PathReference_GoalPlanner - Topic: - Depth: 5 - Durability Policy: Volatile - Filter size: 10 - History Policy: Keep Last - Reliability Policy: Reliable - Value: /planning/path_reference/goal_planner - Value: false - View Drivable Area: - Alpha: 0.9990000128746033 - Color: 0; 148; 205 - Value: true - Width: 0.30000001192092896 - View Footprint: - Alpha: 1 - Color: 230; 230; 50 - Offset from BaseLink: 0 - Rear Overhang: 1.0299999713897705 - Value: false - Vehicle Length: 4.769999980926514 - Vehicle Width: 1.8300000429153442 - View Path: - Alpha: 0.30000001192092896 - Color: 110; 110; 210 - Constant Color: true - Constant Width: false - Value: true - Width: 2 - View Point: - Alpha: 1 - Color: 0; 60; 255 - Offset: 0 - Radius: 0.10000000149011612 - Value: false - View Text Velocity: - Scale: 0.30000001192092896 - Value: false - View Velocity: - Alpha: 0.30000001192092896 - Color: 0; 0; 0 - Constant Color: false - Scale: 0.30000001192092896 - Value: false - - Class: rviz_plugins/Path - Color Border Vel Max: 3 - Enabled: false - Name: PathReference_PullOut - Topic: - Depth: 5 - Durability Policy: Volatile - Filter size: 10 - History Policy: Keep Last - Reliability Policy: Reliable - Value: /planning/path_reference/pull_out - Value: false - View Drivable Area: - Alpha: 0.9990000128746033 - Color: 0; 148; 205 - Value: true - Width: 0.30000001192092896 - View Footprint: - Alpha: 1 - Color: 230; 230; 50 - Offset from BaseLink: 0 - Rear Overhang: 1.0299999713897705 - Value: false - Vehicle Length: 4.769999980926514 - Vehicle Width: 1.8300000429153442 - View Path: - Alpha: 0.30000001192092896 - Color: 210; 110; 110 - Constant Color: true - Constant Width: false - Value: true - Width: 2 - View Point: - Alpha: 1 - Color: 0; 60; 255 - Offset: 0 - Radius: 0.10000000149011612 - Value: false - View Text Velocity: - Scale: 0.30000001192092896 - Value: false - View Velocity: - Alpha: 0.30000001192092896 - Color: 0; 0; 0 - Constant Color: false - Scale: 0.30000001192092896 - Value: false - - Class: rviz_plugins/Path - Color Border Vel Max: 3 - Enabled: true - Name: PathChangeCandidate_AvoidanceByLC - Topic: - Depth: 5 - Durability Policy: Volatile - Filter size: 10 - History Policy: Keep Last - Reliability Policy: Reliable - Value: /planning/path_candidate/avoidance_by_lane_change - Value: true - View Drivable Area: - Alpha: 0.9990000128746033 - Color: 0; 148; 205 - Value: true - Width: 0.30000001192092896 - View Footprint: - Alpha: 1 - Color: 230; 230; 50 - Offset from BaseLink: 0 - Rear Overhang: 1.0299999713897705 - Value: false - Vehicle Length: 4.769999980926514 - Vehicle Width: 1.8300000429153442 - View Path: - Alpha: 0.30000001192092896 - Color: 115; 210; 22 - Constant Color: false - Constant Width: false - Value: true - Width: 2 - View Point: - Alpha: 1 - Color: 0; 60; 255 - Offset: 0 - Radius: 0.10000000149011612 - Value: false - View Text Velocity: - Scale: 0.30000001192092896 - Value: false - View Velocity: - Alpha: 0.30000001192092896 - Color: 0; 0; 0 - Constant Color: false - Scale: 0.30000001192092896 - Value: false - - Class: rviz_plugins/Path - Color Border Vel Max: 3 - Enabled: true - Name: (old)PathChangeCandidate_LaneChange - Topic: - Depth: 5 - Durability Policy: Volatile - Filter size: 10 - History Policy: Keep Last - Reliability Policy: Reliable - Value: /planning/path_candidate/lane_change - Value: true - View Drivable Area: - Alpha: 0.9990000128746033 - Color: 0; 148; 205 - Value: true - Width: 0.30000001192092896 - View Footprint: - Alpha: 1 - Color: 230; 230; 50 - Offset from BaseLink: 0 - Rear Overhang: 1.0299999713897705 - Value: false - Vehicle Length: 4.769999980926514 - Vehicle Width: 1.8300000429153442 - View Path: - Alpha: 0.30000001192092896 - Color: 115; 210; 22 - Constant Color: false - Constant Width: false - Value: true - Width: 2 - View Point: - Alpha: 1 - Color: 0; 60; 255 - Offset: 0 - Radius: 0.10000000149011612 - Value: false - View Text Velocity: - Scale: 0.30000001192092896 - Value: false - View Velocity: - Alpha: 0.30000001192092896 - Color: 0; 0; 0 - Constant Color: false - Scale: 0.30000001192092896 - Value: false - - Class: rviz_plugins/Path - Color Border Vel Max: 3 - Enabled: true - Name: PathChangeCandidate_LaneChangeRight - Topic: - Depth: 5 - Durability Policy: Volatile - Filter size: 10 - History Policy: Keep Last - Reliability Policy: Reliable - Value: /planning/path_candidate/lane_change_right - Value: true - View Drivable Area: - Alpha: 0.9990000128746033 - Color: 0; 148; 205 - Value: true - Width: 0.30000001192092896 - View Footprint: - Alpha: 1 - Color: 230; 230; 50 - Offset from BaseLink: 0 - Rear Overhang: 1.0299999713897705 - Value: false - Vehicle Length: 4.769999980926514 - Vehicle Width: 1.8300000429153442 - View Path: - Alpha: 0.30000001192092896 - Color: 115; 210; 22 - Constant Color: false - Constant Width: false - Value: true - Width: 2 - View Point: - Alpha: 1 - Color: 0; 60; 255 - Offset: 0 - Radius: 0.10000000149011612 - Value: false - View Text Velocity: - Scale: 0.30000001192092896 - Value: false - View Velocity: - Alpha: 0.30000001192092896 - Color: 0; 0; 0 - Constant Color: false - Scale: 0.30000001192092896 - Value: false - - Class: rviz_plugins/Path - Color Border Vel Max: 3 - Enabled: true - Name: PathChangeCandidate_LaneChangeLeft - Topic: - Depth: 5 - Durability Policy: Volatile - Filter size: 10 - History Policy: Keep Last - Reliability Policy: Reliable - Value: /planning/path_candidate/lane_change_left - Value: true - View Drivable Area: - Alpha: 0.9990000128746033 - Color: 0; 148; 205 - Value: true - Width: 0.30000001192092896 - View Footprint: - Alpha: 1 - Color: 230; 230; 50 - Offset from BaseLink: 0 - Rear Overhang: 1.0299999713897705 - Value: false - Vehicle Length: 4.769999980926514 - Vehicle Width: 1.8300000429153442 - View Path: - Alpha: 0.30000001192092896 - Color: 115; 210; 22 - Constant Color: false - Constant Width: false - Value: true - Width: 2 - View Point: - Alpha: 1 - Color: 0; 60; 255 - Offset: 0 - Radius: 0.10000000149011612 - Value: false - View Text Velocity: - Scale: 0.30000001192092896 - Value: false - View Velocity: - Alpha: 0.30000001192092896 - Color: 0; 0; 0 - Constant Color: false - Scale: 0.30000001192092896 - Value: false - - Class: rviz_plugins/Path - Color Border Vel Max: 3 - Enabled: true - Name: PathChangeCandidate_ExternalRequestLaneChangeRight - Topic: - Depth: 5 - Durability Policy: Volatile - Filter size: 10 - History Policy: Keep Last - Reliability Policy: Reliable - Value: /planning/path_candidate/external_request_lane_change_right - Value: true - View Drivable Area: - Alpha: 0.9990000128746033 - Color: 0; 148; 205 - Value: true - Width: 0.30000001192092896 - View Footprint: - Alpha: 1 - Color: 230; 230; 50 - Offset from BaseLink: 0 - Rear Overhang: 1.0299999713897705 - Value: false - Vehicle Length: 4.769999980926514 - Vehicle Width: 1.8300000429153442 - View Path: - Alpha: 0.30000001192092896 - Color: 115; 210; 22 - Constant Color: false - Constant Width: false - Value: true - Width: 2 - View Point: - Alpha: 1 - Color: 0; 60; 255 - Offset: 0 - Radius: 0.10000000149011612 - Value: false - View Text Velocity: - Scale: 0.30000001192092896 - Value: false - View Velocity: - Alpha: 0.30000001192092896 - Color: 0; 0; 0 - Constant Color: false - Scale: 0.30000001192092896 - Value: false - - Class: rviz_plugins/Path - Color Border Vel Max: 3 - Enabled: true - Name: PathChangeCandidate_ExternalRequestLaneChangeLeft - Topic: - Depth: 5 - Durability Policy: Volatile - Filter size: 10 - History Policy: Keep Last - Reliability Policy: Reliable - Value: /planning/path_candidate/external_request_lane_change_left - Value: true - View Drivable Area: - Alpha: 0.9990000128746033 - Color: 0; 148; 205 - Value: true - Width: 0.30000001192092896 - View Footprint: - Alpha: 1 - Color: 230; 230; 50 - Offset from BaseLink: 0 - Rear Overhang: 1.0299999713897705 - Value: false - Vehicle Length: 4.769999980926514 - Vehicle Width: 1.8300000429153442 - View Path: - Alpha: 0.30000001192092896 - Color: 115; 210; 22 - Constant Color: false - Constant Width: false - Value: true - Width: 2 - View Point: - Alpha: 1 - Color: 0; 60; 255 - Offset: 0 - Radius: 0.10000000149011612 - Value: false - View Text Velocity: - Scale: 0.30000001192092896 - Value: false - View Velocity: - Alpha: 0.30000001192092896 - Color: 0; 0; 0 - Constant Color: false - Scale: 0.30000001192092896 - Value: false - - Class: rviz_plugins/Path - Color Border Vel Max: 3 - Enabled: true - Name: PathChangeCandidate_Avoidance - Topic: - Depth: 5 - Durability Policy: Volatile - Filter size: 10 - History Policy: Keep Last - Reliability Policy: Reliable - Value: /planning/path_candidate/avoidance - Value: true - View Drivable Area: - Alpha: 0.9990000128746033 - Color: 0; 148; 205 - Value: true - Width: 0.30000001192092896 - View Footprint: - Alpha: 1 - Color: 230; 230; 50 - Offset from BaseLink: 0 - Rear Overhang: 1.0299999713897705 - Value: false - Vehicle Length: 4.769999980926514 - Vehicle Width: 1.8300000429153442 - View Path: - Alpha: 0.30000001192092896 - Color: 115; 210; 22 - Constant Color: false - Constant Width: false - Value: true - Width: 2 - View Point: - Alpha: 1 - Color: 0; 60; 255 - Offset: 0 - Radius: 0.10000000149011612 - Value: false - View Text Velocity: - Scale: 0.30000001192092896 - Value: false - View Velocity: - Alpha: 0.30000001192092896 - Color: 0; 0; 0 - Constant Color: false - Scale: 0.30000001192092896 - Value: false - - Class: rviz_plugins/Path - Color Border Vel Max: 3 - Enabled: true - Name: PathChangeCandidate_PullOut - Topic: - Depth: 5 - Durability Policy: Volatile - Filter size: 10 - History Policy: Keep Last - Reliability Policy: Reliable - Value: /planning/path_candidate/pull_out - Value: true - View Drivable Area: - Alpha: 0.9990000128746033 - Color: 0; 148; 205 - Value: true - Width: 0.30000001192092896 - View Footprint: - Alpha: 1 - Color: 230; 230; 50 - Offset from BaseLink: 0 - Rear Overhang: 1.0299999713897705 - Value: false - Vehicle Length: 4.769999980926514 - Vehicle Width: 1.8300000429153442 - View Path: - Alpha: 0.30000001192092896 - Color: 115; 210; 22 - Constant Color: false - Constant Width: false - Value: true - Width: 2 - View Point: - Alpha: 1 - Color: 0; 60; 255 - Offset: 0 - Radius: 0.10000000149011612 - Value: false - View Text Velocity: - Scale: 0.30000001192092896 - Value: false - View Velocity: - Alpha: 0.30000001192092896 - Color: 0; 0; 0 - Constant Color: false - Scale: 0.30000001192092896 - Value: false - - Class: rviz_plugins/Path - Color Border Vel Max: 3 - Enabled: true - Name: PathChangeCandidate_GoalPlanner - Topic: - Depth: 5 - Durability Policy: Volatile - Filter size: 10 - History Policy: Keep Last - Reliability Policy: Reliable - Value: /planning/path_candidate/goal_planner - Value: true - View Drivable Area: - Alpha: 0.9990000128746033 - Color: 0; 148; 205 - Value: true - Width: 0.30000001192092896 - View Footprint: - Alpha: 1 - Color: 230; 230; 50 - Offset from BaseLink: 0 - Rear Overhang: 1.0299999713897705 - Value: false - Vehicle Length: 4.769999980926514 - Vehicle Width: 1.8300000429153442 - View Path: - Alpha: 0.30000001192092896 - Color: 115; 210; 22 - Constant Color: false - Constant Width: false - Value: true - Width: 2 - View Point: - Alpha: 1 - Color: 0; 60; 255 - Offset: 0 - Radius: 0.10000000149011612 - Value: false - View Text Velocity: - Scale: 0.30000001192092896 - Value: false - View Velocity: - Alpha: 0.30000001192092896 - Color: 0; 0; 0 - Constant Color: false - Scale: 0.30000001192092896 - Value: false - - Class: rviz_default_plugins/MarkerArray - Enabled: false - Name: Bound - Namespaces: - {} - Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Reliable - Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/debug/bound - Value: false - - Class: rviz_common/Group - Displays: - - Class: rviz_default_plugins/MarkerArray - Enabled: true - Name: VirtualWall (Avoidance) - Namespaces: - {} - Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Reliable - Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/virtual_wall/avoidance - Value: true - - Class: rviz_default_plugins/MarkerArray - Enabled: true - Name: VirtualWall (AvoidanceByLC) - Namespaces: - {} - Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Reliable - Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/virtual_wall/avoidance_by_lane_change - Value: true - - Class: rviz_default_plugins/MarkerArray - Enabled: true - Name: VirtualWall (LaneChangeRight) - Namespaces: - {} - Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Reliable - Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/virtual_wall/lane_change_right - Value: true - - Class: rviz_default_plugins/MarkerArray - Enabled: true - Name: VirtualWall (LaneChangeLeft) - Namespaces: - {} - Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Reliable - Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/virtual_wall/lane_change_left - Value: true - - Class: rviz_default_plugins/MarkerArray - Enabled: true - Name: VirtualWall (ExtLaneChangeRight) - Namespaces: - {} - Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Reliable - Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/virtual_wall/external_request_lane_change_right - Value: true - - Class: rviz_default_plugins/MarkerArray - Enabled: true - Name: VirtualWall (ExtLaneChangeLeft) - Namespaces: - {} - Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Reliable - Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/virtual_wall/external_request_lane_change_left - Value: true - - Class: rviz_default_plugins/MarkerArray - Enabled: true - Name: VirtualWall (PullOver) - Namespaces: - {} - Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Reliable - Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/virtual_wall/pull_over - Value: true - - Class: rviz_default_plugins/MarkerArray - Enabled: true - Name: VirtualWall (PullOut) - Namespaces: - {} - Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Reliable - Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/virtual_wall/pull_out - Value: true - - Class: rviz_default_plugins/MarkerArray - Enabled: true - Name: VirtualWall (BlindSpot) - Namespaces: - {} - Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Reliable - Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/virtual_wall/blind_spot - Value: true - - Class: rviz_default_plugins/MarkerArray - Enabled: true - Name: VirtualWall (Crosswalk) - Namespaces: - 1628_slow_down_factor_text: true - 1628_slow_down_virtual_wall: true - 1628_stop_factor_text: true - 1628_stop_virtual_wall: true - Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Reliable - Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/virtual_wall/crosswalk - Value: true - - Class: rviz_default_plugins/MarkerArray - Enabled: true - Name: VirtualWall (Walkway) - Namespaces: - {} - Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Reliable - Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/virtual_wall/walkway - Value: true - - Class: rviz_default_plugins/MarkerArray - Enabled: true - Name: VirtualWall (DetectionArea) - Namespaces: - {} - Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Reliable - Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/virtual_wall/detection_area - Value: true - - Class: rviz_default_plugins/MarkerArray - Enabled: true - Name: VirtualWall (Intersection) - Namespaces: - intersection1391_stop_factor_text: true - intersection1391_stop_virtual_wall: true - intersection_occlusion1391_stop_factor_text: true - intersection_occlusion1391_stop_virtual_wall: true - intersection_occlusion_first_stop1391_stop_factor_text: true - intersection_occlusion_first_stop1391_stop_virtual_wall: true - Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Reliable - Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/virtual_wall/intersection - Value: true - - Class: rviz_default_plugins/MarkerArray - Enabled: true - Name: VirtualWall (MergeFromPrivateArea) - Namespaces: - {} - Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Reliable - Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/virtual_wall/merge_from_private - Value: true - - Class: rviz_default_plugins/MarkerArray - Enabled: true - Name: VirtualWall (NoStoppingArea) - Namespaces: - {} - Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Reliable - Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/virtual_wall/no_stopping_area - Value: true - - Class: rviz_default_plugins/MarkerArray - Enabled: true - Name: VirtualWall (OcclusionSpot) - Namespaces: - {} - Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Reliable - Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/virtual_wall/occlusion_spot - Value: true - - Class: rviz_default_plugins/MarkerArray - Enabled: true - Name: VirtualWall (StopLine) - Namespaces: - {} - Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Reliable - Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/virtual_wall/stop_line - Value: true - - Class: rviz_default_plugins/MarkerArray - Enabled: true - Name: VirtualWall (TrafficLight) - Namespaces: - 1391_stop_factor_text: true - 1391_stop_virtual_wall: true - Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Reliable - Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/virtual_wall/traffic_light - Value: true - - Class: rviz_default_plugins/MarkerArray - Enabled: true - Name: VirtualWall (VirtualTrafficLight) - Namespaces: - {} - Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Reliable - Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/virtual_wall/virtual_traffic_light - Value: true - - Class: rviz_default_plugins/MarkerArray - Enabled: true - Name: VirtualWall (RunOut) - Namespaces: - {} - Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Reliable - Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/virtual_wall/run_out - Value: true - - Class: rviz_default_plugins/MarkerArray - Enabled: true - Name: VirtualWall (SpeedBump) - Namespaces: - {} - Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Reliable - Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/virtual_wall/speed_bump - Value: true - - Class: rviz_default_plugins/MarkerArray - Enabled: true - Name: VirtualWall (OutOfLane) - Namespaces: - {} - Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Reliable - Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/virtual_wall/out_of_lane - Value: true - - Class: rviz_default_plugins/MarkerArray - Enabled: true - Name: VirtualWall (NoDrivableLane) - Namespaces: - {} - Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Reliable - Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/virtual_wall/no_drivable_lane - Value: true - - Class: rviz_default_plugins/MarkerArray - Enabled: true - Name: VirtualWall (DynamicObstacleStop) - Namespaces: - {} - Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Reliable - Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/virtual_wall/dynamic_obstacle_stop - Value: true - Enabled: true - Name: VirtualWall - - Class: rviz_common/Group - Displays: - - Class: rviz_default_plugins/MarkerArray - Enabled: false - Name: Arrow - Namespaces: - {} - Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Reliable - Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/debug/path - Value: false - - Class: rviz_default_plugins/MarkerArray - Enabled: false - Name: Crosswalk - Namespaces: - {} - Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Reliable - Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/debug/crosswalk - Value: false - - Class: rviz_default_plugins/MarkerArray - Enabled: false - Name: Intersection - Namespaces: - {} - Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Reliable - Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/debug/intersection - Value: false - - Alpha: 0.5 - Autocompute Intensity Bounds: true - Class: grid_map_rviz_plugin/GridMap - Color: 200; 200; 200 - Color Layer: color - Color Transformer: IntensityLayer - Enabled: false - Height Layer: elevation - Height Transformer: Layer - History Length: 1 - Invert Rainbow: false - Max Color: 255; 255; 255 - Max Intensity: 10 - Min Color: 0; 0; 0 - Min Intensity: 0 - Name: IntersectionOcclusion - Show Grid Lines: false - Topic: - Depth: 5 - Durability Policy: Volatile - Filter size: 10 - History Policy: Keep Last - Reliability Policy: Reliable - Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/debug/intersection/occlusion_grid - Use Rainbow: true - Value: false - - Class: rviz_default_plugins/MarkerArray - Enabled: false - Name: Blind Spot - Namespaces: - {} - Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Reliable - Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/debug/blind_spot - Value: false - - Class: rviz_default_plugins/MarkerArray - Enabled: false - Name: TrafficLight - Namespaces: - {} - Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Reliable - Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/debug/traffic_light - Value: false - - Class: rviz_default_plugins/MarkerArray - Enabled: false - Name: VirtualTrafficLight - Namespaces: - {} - Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Reliable - Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/debug/virtual_traffic_light - Value: false - - Class: rviz_default_plugins/MarkerArray - Enabled: false - Name: StopLine - Namespaces: - {} - Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Reliable - Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/debug/stop_line - Value: false - - Class: rviz_default_plugins/MarkerArray - Enabled: false - Name: DetectionArea - Namespaces: - {} - Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Reliable - Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/debug/detection_area - Value: false - - Class: rviz_default_plugins/MarkerArray - Enabled: false - Name: OcclusionSpot - Namespaces: - {} - Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Reliable - Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/debug/occlusion_spot - Value: false - - Class: rviz_default_plugins/MarkerArray - Enabled: false - Name: NoStoppingArea - Namespaces: - {} - Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Reliable - Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/debug/no_stopping_area - Value: false - - Class: rviz_default_plugins/MarkerArray - Enabled: false - Name: RunOut - Namespaces: - {} - Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Reliable - Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/debug/run_out - Value: false - - Class: rviz_default_plugins/MarkerArray - Enabled: false - Name: Avoidance - Namespaces: - {} - Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Reliable - Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/debug/avoidance - Value: false - - Class: rviz_default_plugins/MarkerArray - Enabled: false - Name: LaneChange - Namespaces: - {} - Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Reliable - Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/debug/lane_change - Value: false - - Class: rviz_default_plugins/MarkerArray - Enabled: false - Name: LaneFollowing - Namespaces: - {} - Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Reliable - Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/debug/lane_following - Value: false - - Class: rviz_default_plugins/MarkerArray - Enabled: false - Name: GoalPlanner - Namespaces: - {} - Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Reliable - Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/debug/goal_planner - Value: false - - Class: rviz_default_plugins/MarkerArray - Enabled: false - Name: PullOut - Namespaces: - {} - Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Reliable - Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/debug/pull_out - Value: false - - Class: rviz_default_plugins/MarkerArray - Enabled: false - Name: SideShift - Namespaces: - {} - Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Reliable - Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/debug/side_shift - Value: false - - Class: rviz_default_plugins/MarkerArray - Enabled: false - Name: SpeedBump - Namespaces: - {} - Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Reliable - Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/debug/speed_bump - Value: false - - Class: rviz_default_plugins/MarkerArray - Enabled: false - Name: OutOfLane - Namespaces: - {} - Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Reliable - Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/debug/out_of_lane - Value: false - - Class: rviz_default_plugins/MarkerArray - Enabled: false - Name: DynamicAvoidance - Namespaces: - {} - Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Reliable - Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/debug/dynamic_avoidance - Value: false - - Class: rviz_default_plugins/MarkerArray - Enabled: false - Name: NoDrivableLane - Namespaces: - {} - Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Reliable - Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/debug/no_drivable_lane - Value: false - - Class: rviz_default_plugins/MarkerArray - Enabled: false - Name: DynamicObstacleStop - Namespaces: - {} - Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Reliable - Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/debug/dynamic_obstacle_stop - Value: false - Enabled: false - Name: DebugMarker - - Class: rviz_common/Group - Displays: - - Class: rviz_default_plugins/MarkerArray - Enabled: false - Name: Info (Avoidance) - Namespaces: - {} - Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Reliable - Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/info/avoidance - Value: false - - Class: rviz_default_plugins/MarkerArray - Enabled: false - Name: Info (AvoidanceByLC) - Namespaces: - {} - Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Reliable - Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/info/avoidance_by_lane_change - Value: false - - Class: rviz_default_plugins/MarkerArray - Enabled: false - Name: Info (LaneChangeLeft) - Namespaces: - {} - Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Reliable - Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/info/lane_change_left - Value: false - - Class: rviz_default_plugins/MarkerArray - Enabled: false - Name: Info (LaneChangeRight) - Namespaces: - {} - Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Reliable - Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/info/lane_change_right - Value: false - - Class: rviz_default_plugins/MarkerArray - Enabled: false - Name: Info (ExtLaneChangeLeft) - Namespaces: - {} - Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Reliable - Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/info/external_request_lane_change_left - Value: false - - Class: rviz_default_plugins/MarkerArray - Enabled: false - Name: Info (ExtLaneChangeRight) - Namespaces: - {} - Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Reliable - Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/info/external_request_lane_change_right - Value: false - - Class: rviz_default_plugins/MarkerArray - Enabled: false - Name: Info (PullOver) - Namespaces: - {} - Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Reliable - Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/info/pull_over - Value: false - - Class: rviz_default_plugins/MarkerArray - Enabled: false - Name: Info (PullOut) - Namespaces: - {} - Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Reliable - Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/info/pull_out - Value: false - Enabled: false - Name: InfoMarker - Enabled: true - Name: BehaviorPlanning - - Class: rviz_common/Group - Displays: - - Class: rviz_plugins/Trajectory - Color Border Vel Max: 3 - Enabled: false - Name: Trajectory - Topic: - Depth: 5 - Durability Policy: Volatile - Filter size: 10 - History Policy: Keep Last - Reliability Policy: Reliable - Value: /planning/scenario_planning/lane_driving/trajectory - Value: false - View Footprint: - Alpha: 1 - Color: 230; 230; 50 - Offset from BaseLink: 0 - Rear Overhang: 1.0299999713897705 - Value: false - Vehicle Length: 4.769999980926514 - Vehicle Width: 1.8300000429153442 - View Path: - Alpha: 0.9990000128746033 - Color: 0; 0; 0 - Constant Color: false - Constant Width: false - Value: true - Width: 2 - View Point: - Alpha: 1 - Color: 0; 60; 255 - Offset: 0 - Radius: 0.10000000149011612 - Value: false - View Text Velocity: - Scale: 0.30000001192092896 - Value: false - View Velocity: - Alpha: 0.9990000128746033 - Color: 0; 0; 0 - Constant Color: false - Scale: 0.30000001192092896 - Value: true - - Class: rviz_common/Group - Displays: - - Class: rviz_default_plugins/MarkerArray - Enabled: true - Name: VirtualWall (ObstacleStop) - Namespaces: - {} - Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Reliable - Value: /planning/scenario_planning/lane_driving/motion_planning/obstacle_stop_planner/virtual_wall - Value: true - - Class: rviz_default_plugins/MarkerArray - Enabled: true - Name: VirtualWall (SurroundObstacle) - Namespaces: - {} - Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Reliable - Value: /planning/scenario_planning/lane_driving/motion_planning/surround_obstacle_checker/virtual_wall - Value: true - - Class: rviz_default_plugins/MarkerArray - Enabled: true - Name: VirtualWall (ObstacleAvoidance) - Namespaces: - {} - Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Reliable - Value: /planning/scenario_planning/lane_driving/motion_planning/obstacle_avoidance_planner/virtual_wall - Value: true - - Class: rviz_default_plugins/MarkerArray - Enabled: true - Name: VirtualWall (ObstacleCruise) - 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 - Value: true - Enabled: true - Name: VirtualWall - - Class: rviz_common/Group - Displays: - - Class: rviz_common/Group - Displays: - - Class: rviz_default_plugins/MarkerArray - Enabled: true - Name: SurroundObstacleCheck - Namespaces: - {} - Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Reliable - Value: /planning/scenario_planning/lane_driving/motion_planning/surround_obstacle_checker/debug/marker - Value: true - - Alpha: 1 - Class: rviz_default_plugins/Polygon - Color: 25; 255; 0 - Enabled: false - Name: Footprint - Topic: - Depth: 5 - Durability Policy: Volatile - Filter size: 10 - History Policy: Keep Last - Reliability Policy: Reliable - Value: /planning/scenario_planning/lane_driving/motion_planning/surround_obstacle_checker/debug/footprint - Value: false - - Alpha: 1 - Class: rviz_default_plugins/Polygon - Color: 239; 41; 41 - Enabled: false - Name: FootprintOffset - Topic: - Depth: 5 - Durability Policy: Volatile - Filter size: 10 - History Policy: Keep Last - Reliability Policy: Reliable - Value: /planning/scenario_planning/lane_driving/motion_planning/surround_obstacle_checker/debug/footprint_offset - Value: false - - Alpha: 1 - Class: rviz_default_plugins/Polygon - Color: 10; 21; 255 - Enabled: false - Name: FootprintRecoverOffset - Topic: - Depth: 5 - Durability Policy: Volatile - Filter size: 10 - History Policy: Keep Last - Reliability Policy: Reliable - Value: /planning/scenario_planning/lane_driving/motion_planning/surround_obstacle_checker/debug/footprint_recover_offset - Value: false - Enabled: false - Name: SurroundObstacleChecker - - Class: rviz_default_plugins/MarkerArray - Enabled: false - Name: ObstacleStop - Namespaces: - {} - Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Reliable - Value: /planning/scenario_planning/lane_driving/motion_planning/obstacle_stop_planner/debug/marker - 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 - 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/marker - Value: true - Enabled: false - Name: ObstacleCruise - - Class: rviz_default_plugins/MarkerArray - Enabled: false - Name: ObstacleAvoidance - Namespaces: - {} - Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Reliable - Value: /planning/scenario_planning/lane_driving/motion_planning/obstacle_avoidance_planner/debug/marker - Value: false - Enabled: false - Name: DebugMarker - Enabled: true - Name: MotionPlanning - Enabled: true - Name: LaneDriving - - Class: rviz_common/Group - Displays: - - Alpha: 0.699999988079071 - Class: rviz_default_plugins/Map - Color Scheme: map - Draw Behind: false - Enabled: false - Name: Costmap - Topic: - Depth: 5 - Durability Policy: Volatile - Filter size: 10 - History Policy: Keep Last - Reliability Policy: Reliable - Value: /planning/scenario_planning/parking/costmap_generator/occupancy_grid - Update Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Reliable - Value: /planning/scenario_planning/parking/costmap_generator/occupancy_grid_updates - Use Timestamp: false - Value: false - - Alpha: 0.9990000128746033 - Arrow Length: 0.30000001192092896 - Axes Length: 0.30000001192092896 - Axes Radius: 0.009999999776482582 - Class: rviz_default_plugins/PoseArray - Color: 255; 25; 0 - Enabled: true - Head Length: 0.10000000149011612 - Head Radius: 0.20000000298023224 - Name: PartialPoseArray - Shaft Length: 0.20000000298023224 - Shaft Radius: 0.05000000074505806 - Shape: Arrow (3D) - Topic: - Depth: 5 - Durability Policy: Volatile - Filter size: 10 - History Policy: Keep Last - Reliability Policy: Reliable - Value: /planning/scenario_planning/parking/freespace_planner/debug/partial_pose_array - Value: true - - Alpha: 0.9990000128746033 - Arrow Length: 0.5 - Axes Length: 0.30000001192092896 - Axes Radius: 0.009999999776482582 - Class: rviz_default_plugins/PoseArray - Color: 0; 0; 255 - Enabled: true - Head Length: 0.10000000149011612 - Head Radius: 0.20000000298023224 - Name: PoseArray - Shaft Length: 0.20000000298023224 - Shaft Radius: 0.05000000074505806 - Shape: Arrow (Flat) - Topic: - Depth: 5 - Durability Policy: Volatile - Filter size: 10 - History Policy: Keep Last - Reliability Policy: Reliable - Value: /planning/scenario_planning/parking/freespace_planner/debug/pose_array - Value: true - Enabled: true - Name: Parking - - Class: rviz_plugins/PoseWithUuidStamped - Enabled: true - Length: 1.5 - Name: ModifiedGoal - Radius: 0.5 - Topic: - Depth: 5 - Durability Policy: Volatile - Filter size: 10 - History Policy: Keep Last - Reliability Policy: Reliable - Value: /planning/scenario_planning/modified_goal - UUID: - Scale: 0.30000001192092896 - Value: false - Value: true - Enabled: true - Name: ScenarioPlanning - - Class: rviz_common/Group - Displays: - - Class: rviz_default_plugins/MarkerArray - Enabled: true - Name: PlanningErrorMarker - Namespaces: - {} - Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Best Effort - Value: /planning/planning_diagnostics/planning_error_monitor/debug/marker - Value: true - Enabled: false - Name: Diagnostic - Enabled: true - Name: Planning - - Class: rviz_common/Group - Displays: - - Class: rviz_plugins/Trajectory - Color Border Vel Max: 3 - Enabled: true - Name: Predicted Trajectory - Topic: - Depth: 5 - Durability Policy: Volatile - Filter size: 10 - History Policy: Keep Last - Reliability Policy: Reliable - Value: /control/trajectory_follower/lateral/predicted_trajectory - Value: true - View Footprint: - Alpha: 1 - Color: 230; 230; 50 - Offset from BaseLink: 0 - Rear Overhang: 1.0299999713897705 - Value: false - Vehicle Length: 4.769999980926514 - Vehicle Width: 1.8300000429153442 - View Path: - Alpha: 1 - Color: 255; 255; 255 - Constant Color: true - Constant Width: true - Value: true - Width: 0.05000000074505806 - View Point: - Alpha: 1 - Color: 0; 60; 255 - Offset: 0 - Radius: 0.10000000149011612 - Value: false - View Text Velocity: - Scale: 0.30000001192092896 - Value: false - View Velocity: - Alpha: 1 - Color: 0; 0; 0 - Constant Color: false - Scale: 0.30000001192092896 - Value: false - - Class: rviz_default_plugins/MarkerArray - Enabled: false - Name: Debug/MPC - Namespaces: - {} - Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Reliable - Value: /control/trajectory_follower/mpc_follower/debug/markers - Value: false - - Class: rviz_default_plugins/MarkerArray - Enabled: false - Name: Debug/PurePursuit - Namespaces: - {} - Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Reliable - Value: /control/trajectory_follower/controller_node_exe/debug/markers - Value: false - - Class: rviz_default_plugins/MarkerArray - Enabled: false - Name: Debug/AEB - Namespaces: - {} - Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Reliable - Value: /control/autonomous_emergency_braking/debug/markers - Value: false - Enabled: true - Name: Control - Enabled: true - Global Options: - Background Color: 10; 10; 10 - Fixed Frame: map - Frame Rate: 30 - Name: root - Tools: - - Class: rviz_default_plugins/Interact - Hide Inactive Objects: true - - Class: rviz_default_plugins/MoveCamera - - Class: rviz_default_plugins/Select - - Class: rviz_default_plugins/FocusCamera - - Class: rviz_default_plugins/Measure - Line color: 128; 128; 0 - - Class: rviz_default_plugins/SetInitialPose - Covariance x: 0.25 - Covariance y: 0.25 - Covariance yaw: 0.06853891909122467 - Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Reliable - Value: /initialpose - - Class: rviz_default_plugins/SetGoal - Topic: - Depth: 5 - Durability Policy: Volatile - 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Velocity: 3 - W vehicle width: 1.7999999523162842 - X std deviation: 0.029999999329447746 - Y std deviation: 0.029999999329447746 - Z position: 0 - Z std deviation: 0.029999999329447746 - - Acceleration: 0 - Class: rviz_plugins/BusInitialPoseTool - H vehicle height: 3.5 - Interactive: false - L vehicle length: 10.5 - Max velocity: 33.29999923706055 - Min velocity: -33.29999923706055 - Pose Topic: /simulation/dummy_perception_publisher/object_info - Target Frame: - Theta std deviation: 0.0872664600610733 - Velocity: 0 - W vehicle width: 2.5 - X std deviation: 0.029999999329447746 - Y std deviation: 0.029999999329447746 - Z position: 0 - Z std deviation: 0.029999999329447746 - - Class: rviz_plugins/MissionCheckpointTool - Pose Topic: /planning/mission_planning/checkpoint - Theta std deviation: 0.2617993950843811 - X std deviation: 0.5 - Y std deviation: 0.5 - Z position: 0 - - Class: rviz_plugins/DeleteAllObjectsTool - Pose Topic: /simulation/dummy_perception_publisher/object_info - Transformation: - Current: - Class: rviz_default_plugins/TF - Value: true - Views: - Current: - Angle: 0 - Class: rviz_default_plugins/TopDownOrtho - Enable Stereo Rendering: - Stereo Eye Separation: 0.05999999865889549 - Stereo Focal Distance: 1 - Swap Stereo Eyes: false - Value: false - Invert Z Axis: false - Name: Current View - Near Clip Distance: 0.009999999776482582 - Scale: 14.160340309143066 - Target Frame: viewer - Value: TopDownOrtho (rviz_default_plugins) - X: -530.96728515625 - Y: 307.5765075683594 - Saved: - - Class: rviz_default_plugins/ThirdPersonFollower - Distance: 18 - Enable Stereo Rendering: - Stereo Eye Separation: 0.05999999865889549 - Stereo Focal Distance: 1 - Swap Stereo Eyes: false - Value: false - Focal Point: - X: 0 - Y: 0 - Z: 0 - Focal Shape Fixed Size: true - Focal Shape Size: 0.05000000074505806 - Invert Z Axis: false - Name: ThirdPersonFollower - Near Clip Distance: 0.009999999776482582 - Pitch: 0.20000000298023224 - Target Frame: base_link - Value: ThirdPersonFollower (rviz) - 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RecognitionResultOnImage: - collapsed: false - Selection: - collapsed: false - Tool Properties: - collapsed: false - Views: - collapsed: false - Width: 2371 - X: 1293 - Y: 77