diff --git a/autoware_launch/launch/autoware.launch.xml b/autoware_launch/launch/autoware.launch.xml
index d3f56eb249..95f15f59fb 100644
--- a/autoware_launch/launch/autoware.launch.xml
+++ b/autoware_launch/launch/autoware.launch.xml
@@ -39,7 +39,8 @@
-
+
+
diff --git a/autoware_launch/launch/e2e_simulator.launch.xml b/autoware_launch/launch/e2e_simulator.launch.xml
index e2fb69ca56..b1a5d6ee8b 100644
--- a/autoware_launch/launch/e2e_simulator.launch.xml
+++ b/autoware_launch/launch/e2e_simulator.launch.xml
@@ -36,7 +36,8 @@
-
+
+
diff --git a/autoware_launch/launch/planning_simulator.launch.xml b/autoware_launch/launch/planning_simulator.launch.xml
index b51b0c0a07..3aba78c292 100644
--- a/autoware_launch/launch/planning_simulator.launch.xml
+++ b/autoware_launch/launch/planning_simulator.launch.xml
@@ -28,7 +28,8 @@
-
+
+
diff --git a/autoware_launch/rviz/perception.rviz b/autoware_launch/rviz/perception.rviz
new file mode 100644
index 0000000000..91db84ff30
--- /dev/null
+++ b/autoware_launch/rviz/perception.rviz
@@ -0,0 +1,4613 @@
+Panels:
+ - Class: rviz_common/Displays
+ Help Height: 0
+ Name: Displays
+ Property Tree Widget:
+ Expanded:
+ - /System1/Vehicle1
+ - /System1/Vehicle1/SignalDisplay1
+ - /Map1/Lanelet2VectorMap1
+ - /Map1/Lanelet2VectorMap1/Namespaces1
+ - /Sensing1/LiDAR1/ConcatenatePointCloud1/Autocompute Value Bounds1
+ - /Perception1/Segmentation1/NoGroundPointCloud1
+ - /Perception1/ObjectRecognition1
+ - /Planning1/MissionPlanning1
+ - /Planning1/ScenarioPlanning1
+ - /Planning1/ScenarioPlanning1/LaneDriving1/BehaviorPlanning1/VirtualWall1
+ - /Planning1/ScenarioPlanning1/LaneDriving1/BehaviorPlanning1/InfoMarker1
+ - /Planning1/ScenarioPlanning1/LaneDriving1/MotionPlanning1
+ - /Planning1/ScenarioPlanning1/LaneDriving1/MotionPlanning1/DebugMarker1
+ - /Planning1/ScenarioPlanning1/LaneDriving1/MotionPlanning1/DebugMarker1/ObstacleCruise1
+ - /Planning1/ScenarioPlanning1/Parking1/PoseArray1
+ - /Planning1/Diagnostic1
+ - /Control1/Predicted Trajectory1
+ - /Debug1
+ - /Debug1/Sensing1/PointcloudOnCamera1
+ - /Debug1/Sensing1/ConcatenatePointCloud1/Autocompute Value Bounds1
+ - /Debug1/Perception1
+ - /Debug1/Perception1/Centerpoint(red1)1/UNKNOWN1
+ - /Debug1/Perception1/Centerpoint(red1)1/CAR1
+ - /Debug1/Perception1/Centerpoint(red1)1/TRUCK1
+ - /Debug1/Perception1/Centerpoint(red1)1/BUS1
+ - /Debug1/Perception1/Centerpoint(red1)1/TRAILER1
+ - /Debug1/Perception1/Centerpoint(red1)1/MOTORCYCLE1
+ - /Debug1/Perception1/Centerpoint(red1)1/CYCLIST1
+ - /Debug1/Perception1/Centerpoint(red1)1/PEDESTRIAN1
+ - /Debug1/Perception1/CenterpointROIFusion(red2)1/UNKNOWN1
+ - /Debug1/Perception1/CenterpointValidator(red3)1/UNKNOWN1
+ - /Debug1/Perception1/PointPainting(light_green1)1/UNKNOWN1
+ - /Debug1/Perception1/PointPaintingROIFusion(light_green2)1/UNKNOWN1
+ - /Debug1/Perception1/PointPaintingValidator(light_green3)1/UNKNOWN1
+ - /Debug1/Perception1/DetectionByTracker(orange)1/UNKNOWN1
+ - /Debug1/Perception1/RadarFarObjects(white)1/UNKNOWN1
+ - /Debug1/Perception1/Detection(yellow)1/UNKNOWN1
+ - /Image1/Topic1
+ Splitter Ratio: 0.7641357183456421
+ Tree Height: 588
+ - Class: rviz_common/Selection
+ Name: Selection
+ - Class: rviz_common/Tool Properties
+ Expanded:
+ - /Third Person View1
+ - /Bird Eye View1
+ Name: Tool Properties
+ Splitter Ratio: 0.5886790156364441
+ - Class: rviz_common/Views
+ Expanded:
+ - /Current View1
+ Name: Views
+ Splitter Ratio: 0.5
+ - Class: AutowareDateTimePanel
+ Name: AutowareDateTimePanel
+ - Class: rviz_plugins::AutowareStatePanel
+ Name: AutowareStatePanel
+ - Class: rviz_plugins/AutowareScreenCapturePanel
+ Name: AutowareScreenCapturePanel
+ - Class: multi_data_monitor::MultiDataMonitor
+ Name: MultiDataMonitor
+ Path: package://multi_data_monitor_config/data/debug_config.yaml
+ - Class: rviz_plugin::LoggingLevelConfigureRvizPlugin
+ Name: LoggingLevelConfigureRvizPlugin
+ - Class: rviz_plugins::RTCManagerPanel
+ Name: RTCManagerPanel
+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: 10
+ Class: rviz_default_plugins/Grid
+ Color: 84; 110; 122
+ 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: 100
+ Reference Frame: base_link
+ Value: false
+ - Class: rviz_common/Group
+ Displays:
+ - 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
+ ars408_front_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ 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
+ front_center/radar_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ front_left/radar_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ front_right/radar_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ front_unit_base_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ gnss_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ pandar_40p_front:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ pandar_40p_front_base_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ pandar_40p_left:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ pandar_40p_left_base_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ pandar_40p_rear:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ pandar_40p_rear_base_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ pandar_40p_right:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ pandar_40p_right_base_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ pandar_qt_front:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ pandar_qt_front_base_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ pandar_qt_left:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ pandar_qt_left_base_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ pandar_qt_rear:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ pandar_qt_rear_base_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ pandar_qt_right:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ pandar_qt_right_base_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ rear_center/radar_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ rear_left/radar_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ rear_right/radar_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ rear_unit_base_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ tamagawa/imu_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ top_unit_base_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ 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: autoware_overlay_rviz_plugin/SignalDisplay
+ Enabled: true
+ Gear Topic Test: /vehicle/status/gear_status
+ Hazard Lights Topic: /vehicle/status/hazard_lights_status
+ Height: 100
+ Left: -660
+ Name: SignalDisplay
+ Signal Color: 0; 230; 120
+ Speed Limit Topic: /planning/scenario_planning/current_max_velocity
+ Speed Topic: /vehicle/status/velocity_status
+ Steering Topic: /vehicle/status/steering_status
+ Top: 5
+ Traffic Topic: /planning/scenario_planning/lane_driving/behavior_planning/debug/traffic_signal
+ Turn Signals Topic: /vehicle/status/turn_indicators_status
+ Value: true
+ Width: 550
+ Enabled: true
+ Name: Vehicle
+ - Class: rviz_plugins/MrmSummaryOverlayDisplay
+ Enabled: false
+ Font Size: 10
+ Left: 512
+ Max Letter Num: 100
+ Name: MRM Summary
+ Text Color: 25; 255; 240
+ Top: 64
+ Topic:
+ Depth: 5
+ Durability Policy: Volatile
+ History Policy: Keep Last
+ Reliability Policy: Reliable
+ Value: /system/emergency/hazard_status
+ Value: false
+ Value height offset: 0
+ 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: true
+ 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: true
+ - Class: rviz_default_plugins/MarkerArray
+ Enabled: true
+ Name: Lanelet2VectorMap
+ Namespaces:
+ "": true
+ center_lane_line: true
+ center_line_arrows: true
+ crosswalk_areas: true
+ crosswalk_lanelet_id: true
+ crosswalk_lanelets: true
+ curbstone: true
+ hatched_road_markings_area: true
+ hatched_road_markings_bound: true
+ intersection_area: true
+ lane_start_bound: true
+ lanelet direction: true
+ lanelet_id: true
+ left_lane_bound: true
+ no_parking_area: true
+ no_stopping_area: true
+ partitions: true
+ pedestrian_polygon_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_left_lane_bound: true
+ shoulder_right_lane_bound: true
+ shoulder_road_lanelets: true
+ stop_lines: true
+ traffic_light: true
+ traffic_light_id: true
+ traffic_light_reg_elem_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:
+ {}
+ 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: true
+ 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_perception_rviz_plugin/DetectedObjects
+ Confidence Interval: 95%
+ Display Acceleration: true
+ Display Existence Probability: false
+ Display Label: true
+ Display Pose Covariance: true
+ Display Predicted Path Confidence: true
+ Display Predicted Paths: true
+ Display Twist: true
+ Display Twist Covariance: false
+ Display UUID: true
+ Display Velocity: true
+ Display Yaw Covariance: false
+ Display Yaw Rate: false
+ Display Yaw Rate Covariance: false
+ Enabled: true
+ Line Width: 0.029999999329447746
+ MOTORCYCLE:
+ Alpha: 0.9990000128746033
+ Color: 119; 11; 32
+ Name: DetectedObjects
+ Namespaces:
+ {}
+ Object Fill Type: skeleton
+ 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_perception_rviz_plugin/TrackedObjects
+ Confidence Interval: 95%
+ Display Acceleration: true
+ Display Existence Probability: false
+ Display Label: true
+ Display Pose Covariance: true
+ Display Predicted Path Confidence: true
+ Display Predicted Paths: true
+ Display Twist: true
+ Display Twist Covariance: false
+ Display UUID: true
+ Display Velocity: true
+ Display Yaw Covariance: false
+ Display Yaw Rate: false
+ Display Yaw Rate Covariance: false
+ Dynamic Status: All
+ Enabled: true
+ Line Width: 0.029999999329447746
+ MOTORCYCLE:
+ Alpha: 0.9990000128746033
+ Color: 119; 11; 32
+ Name: TrackedObjects
+ Namespaces:
+ {}
+ Object Fill Type: skeleton
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+ Color: 255; 192; 203
+ Polygon Type: 3d
+ TRAILER:
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+ 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_perception_rviz_plugin/PredictedObjects
+ Confidence Interval: 95%
+ Display Acceleration: true
+ Display Existence Probability: false
+ Display Label: true
+ Display Pose Covariance: true
+ Display Predicted Path Confidence: true
+ Display Predicted Paths: true
+ Display Twist: true
+ Display Twist Covariance: false
+ Display UUID: true
+ Display Velocity: true
+ Display Yaw Covariance: false
+ Display Yaw Rate: false
+ Display Yaw Rate Covariance: false
+ Enabled: true
+ Line Width: 0.029999999329447746
+ MOTORCYCLE:
+ Alpha: 0.9990000128746033
+ Color: 119; 11; 32
+ Name: PredictedObjects
+ Namespaces:
+ {}
+ Object Fill Type: skeleton
+ 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: false
+ Name: ObjectRecognition
+ - Class: rviz_common/Group
+ Displays:
+ - Class: rviz_default_plugins/Image
+ Enabled: false
+ 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: false
+ - Class: rviz_default_plugins/MarkerArray
+ Enabled: true
+ Name: MapBasedDetectionResult
+ Namespaces:
+ {}
+ 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:
+ {}
+ 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
+ - Class: autoware_mission_details_overlay_rviz_plugin/MissionDetailsDisplay
+ Enabled: true
+ Height: 100
+ Name: MissionDetailsDisplay
+ Remaining Distance and Time Topic: /planning/mission_remaining_distance_time
+ Right: 10
+ Top: 10
+ Value: true
+ Width: 170
+ 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:
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+ Color: 230; 230; 50
+ Offset from BaseLink: 0
+ Rear Overhang: 0.8500000238418579
+ Value: false
+ Vehicle Length: 4.400000095367432
+ Vehicle Width: 1.6950000524520874
+ View Path:
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+ Color: 0; 0; 0
+ Constant Color: false
+ Constant Width: false
+ Value: true
+ Width: 2
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+ Color: 0; 60; 255
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+ View Text Velocity:
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+ Value: false
+ View Velocity:
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+ 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:
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+ Color: 0; 148; 205
+ Value: true
+ Width: 0.30000001192092896
+ View Footprint:
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+ Color: 230; 230; 50
+ Offset from BaseLink: 0
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+ Vehicle Length: 4.400000095367432
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+ Color: 0; 0; 0
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+ Value: true
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+ Value: false
+ View Velocity:
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+ Color: 0; 0; 0
+ Constant Color: false
+ Scale: 0.30000001192092896
+ Value: true
+ - Class: rviz_plugins/Path
+ Color Border Vel Max: 3
+ Enabled: true
+ 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: true
+ View Drivable Area:
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+ Color: 0; 148; 205
+ Value: true
+ Width: 0.30000001192092896
+ View Footprint:
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+ Color: 230; 230; 50
+ Offset from BaseLink: 0
+ Rear Overhang: 1.0299999713897705
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+ Vehicle Length: 4.769999980926514
+ Vehicle Width: 1.8300000429153442
+ View Path:
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+ Color: 210; 110; 10
+ Constant Color: true
+ Constant Width: false
+ Value: true
+ Width: 2
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+ Offset: 0
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+ View Text Velocity:
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+ Value: false
+ View Velocity:
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+ Color: 0; 0; 0
+ Constant Color: false
+ Scale: 0.30000001192092896
+ Value: false
+ - Class: rviz_plugins/Path
+ Color Border Vel Max: 3
+ Enabled: true
+ Name: PathReference_Avoidance
+ Topic:
+ Depth: 5
+ Durability Policy: Volatile
+ Filter size: 10
+ History Policy: Keep Last
+ Reliability Policy: Reliable
+ Value: /planning/path_reference/static_obstacle_avoidance
+ Value: true
+ View Drivable Area:
+ Alpha: 0.9990000128746033
+ Color: 0; 148; 205
+ Value: true
+ Width: 0.30000001192092896
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+ Color: 230; 230; 50
+ Offset from BaseLink: 0
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+ Vehicle Length: 4.400000095367432
+ Vehicle Width: 1.6950000524520874
+ View Path:
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+ Color: 210; 110; 210
+ Constant Color: true
+ Constant Width: false
+ Value: true
+ Width: 2
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+ Value: false
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+ Value: false
+ View Text Velocity:
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+ Value: false
+ View Velocity:
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+ Color: 0; 0; 0
+ Constant Color: false
+ Scale: 0.30000001192092896
+ Value: false
+ - Class: rviz_plugins/Path
+ Color Border Vel Max: 3
+ Enabled: true
+ 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: true
+ View Drivable Area:
+ Alpha: 0.9990000128746033
+ Color: 0; 148; 205
+ Value: true
+ Width: 0.30000001192092896
+ View Footprint:
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+ Color: 230; 230; 50
+ Offset from BaseLink: 0
+ Rear Overhang: 0.8500000238418579
+ Value: false
+ Vehicle Length: 4.400000095367432
+ Vehicle Width: 1.6950000524520874
+ View Path:
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+ Color: 210; 210; 110
+ Constant Color: true
+ Constant Width: false
+ Value: true
+ Width: 2
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+ Offset: 0
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+ View Text Velocity:
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+ View Velocity:
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+ Color: 0; 0; 0
+ Constant Color: false
+ Scale: 0.30000001192092896
+ Value: false
+ - Class: rviz_plugins/Path
+ Color Border Vel Max: 3
+ Enabled: true
+ 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: true
+ View Drivable Area:
+ Alpha: 0.9990000128746033
+ Color: 0; 148; 205
+ Value: true
+ Width: 0.30000001192092896
+ View Footprint:
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+ Color: 230; 230; 50
+ Offset from BaseLink: 0
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+ Vehicle Length: 4.400000095367432
+ Vehicle Width: 1.6950000524520874
+ View Path:
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+ Color: 210; 210; 110
+ Constant Color: true
+ Constant Width: false
+ Value: true
+ Width: 2
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+ Value: false
+ View Text Velocity:
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+ Value: false
+ View Velocity:
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+ Color: 0; 0; 0
+ Constant Color: false
+ Scale: 0.30000001192092896
+ Value: false
+ - Class: rviz_plugins/Path
+ Color Border Vel Max: 3
+ Enabled: true
+ 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: true
+ View Drivable Area:
+ Alpha: 0.9990000128746033
+ Color: 0; 148; 205
+ Value: true
+ Width: 0.30000001192092896
+ View Footprint:
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+ Color: 230; 230; 50
+ Offset from BaseLink: 0
+ Rear Overhang: 0.8500000238418579
+ Value: false
+ Vehicle Length: 4.400000095367432
+ Vehicle Width: 1.6950000524520874
+ View Path:
+ Alpha: 0.30000001192092896
+ Color: 110; 110; 210
+ Constant Color: true
+ Constant Width: false
+ Value: true
+ Width: 2
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+ Offset: 0
+ Radius: 0.10000000149011612
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+ Value: false
+ View Text Velocity:
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+ 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: PathReference_StartPlanner
+ Topic:
+ Depth: 5
+ Durability Policy: Volatile
+ Filter size: 10
+ History Policy: Keep Last
+ Reliability Policy: Reliable
+ Value: /planning/path_reference/start_planner
+ Value: true
+ View Drivable Area:
+ Alpha: 0.9990000128746033
+ Color: 0; 148; 205
+ Value: true
+ Width: 0.30000001192092896
+ View Footprint:
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+ Color: 230; 230; 50
+ Offset from BaseLink: 0
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+ Vehicle Length: 4.400000095367432
+ Vehicle Width: 1.6950000524520874
+ View Path:
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+ Color: 210; 110; 110
+ Constant Color: true
+ Constant Width: false
+ Value: true
+ Width: 2
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+ View Text Velocity:
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+ View Velocity:
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+ 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:
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+ Color: 230; 230; 50
+ Offset from BaseLink: 0
+ Rear Overhang: 1.0299999713897705
+ Value: false
+ Vehicle Length: 4.769999980926514
+ Vehicle Width: 1.8300000429153442
+ View Path:
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+ Color: 115; 210; 22
+ Constant Color: false
+ Constant Width: false
+ Value: true
+ Width: 2
+ View Point:
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+ Color: 0; 60; 255
+ Offset: 0
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+ View Text Velocity:
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+ View Velocity:
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+ 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:
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+ Color: 230; 230; 50
+ Offset from BaseLink: 0
+ Rear Overhang: 1.0299999713897705
+ Value: false
+ Vehicle Length: 4.769999980926514
+ Vehicle Width: 1.8300000429153442
+ View Path:
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+ Color: 115; 210; 22
+ Constant Color: false
+ Constant Width: false
+ Value: true
+ Width: 2
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+ View Velocity:
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+ 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:
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+ Color: 230; 230; 50
+ Offset from BaseLink: 0
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+ Vehicle Length: 4.400000095367432
+ Vehicle Width: 1.6950000524520874
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+ Color: 115; 210; 22
+ Constant Color: false
+ Constant Width: false
+ Value: true
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+ View Velocity:
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+ 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
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+ Offset from BaseLink: 0
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+ Vehicle Length: 4.400000095367432
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+ Color: 115; 210; 22
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+ Value: true
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+ 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/static_obstacle_avoidance
+ Value: true
+ - Class: rviz_default_plugins/MarkerArray
+ Enabled: true
+ 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: true
+ - Class: rviz_default_plugins/MarkerArray
+ Enabled: true
+ 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: true
+ - Class: rviz_default_plugins/MarkerArray
+ Enabled: true
+ 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: true
+ - Class: rviz_default_plugins/MarkerArray
+ Enabled: true
+ 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: true
+ - Class: rviz_default_plugins/MarkerArray
+ Enabled: true
+ 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: true
+ - Class: rviz_default_plugins/MarkerArray
+ Enabled: true
+ Name: Info (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/info/goal_planner
+ Value: true
+ - Class: rviz_default_plugins/MarkerArray
+ Enabled: true
+ Name: Info (StartPlanner)
+ 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/start_planner
+ Value: true
+ - Class: rviz_default_plugins/MarkerArray
+ Enabled: true
+ Name: Info (DynamicObstacleAvoidance)
+ 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/dynamic_obstacle_avoidance
+ Value: true
+ Enabled: false
+ Name: InfoMarker
+ Enabled: true
+ Name: BehaviorPlanning
+ - Class: rviz_common/Group
+ Displays:
+ - Class: rviz_plugins/Trajectory
+ Color Border Vel Max: 3
+ Enabled: true
+ 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: true
+ View Footprint:
+ Alpha: 1
+ Color: 230; 230; 50
+ Offset from BaseLink: 0
+ Rear Overhang: 0.8500000238418579
+ Value: false
+ Vehicle Length: 4.400000095367432
+ Vehicle Width: 1.6950000524520874
+ 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 Slope:
+ Scale: 0.30000001192092896
+ 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:
+ {}
+ 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
+ - Class: rviz_default_plugins/MarkerArray
+ Enabled: true
+ Name: VirtualWall (MotionVelocitySmoother)
+ Namespaces:
+ {}
+ Topic:
+ Depth: 5
+ Durability Policy: Volatile
+ History Policy: Keep Last
+ Reliability Policy: Reliable
+ Value: /planning/scenario_planning/velocity_smoother/virtual_wall
+ 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/motion_planning/motion_velocity_planner/out_of_lane/virtual_walls
+ Value: true
+ - Class: rviz_default_plugins/MarkerArray
+ Enabled: true
+ Name: VirtualWall (ObstacleVelocityLimiter)
+ Namespaces:
+ {}
+ Topic:
+ Depth: 5
+ Durability Policy: Volatile
+ History Policy: Keep Last
+ Reliability Policy: Reliable
+ Value: /planning/scenario_planning/lane_driving/motion_planning/motion_velocity_planner/obstacle_velocity_limiter/virtual_walls
+ 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/motion_planning/motion_velocity_planner/dynamic_obstacle_stop/virtual_walls
+ 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: true
+ 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
+ - Class: rviz_common/Group
+ Displays:
+ - Class: rviz_default_plugins/MarkerArray
+ Enabled: true
+ Name: OutOfLane
+ Namespaces:
+ {}
+ Topic:
+ Depth: 5
+ Durability Policy: Volatile
+ History Policy: Keep Last
+ Reliability Policy: Reliable
+ Value: /planning/scenario_planning/lane_driving/motion_planning/motion_velocity_planner/out_of_lane/debug_markers
+ Value: true
+ - Class: rviz_default_plugins/MarkerArray
+ Enabled: true
+ Name: ObstacleVelocityLimiter
+ Namespaces:
+ {}
+ Topic:
+ Depth: 5
+ Durability Policy: Volatile
+ History Policy: Keep Last
+ Reliability Policy: Reliable
+ Value: /planning/scenario_planning/lane_driving/motion_planning/motion_velocity_planner/obstacle_velocity_limiter/debug_markers
+ Value: true
+ - Class: rviz_default_plugins/MarkerArray
+ Enabled: true
+ Name: DynamicObstacleStop
+ Namespaces:
+ {}
+ Topic:
+ Depth: 5
+ Durability Policy: Volatile
+ History Policy: Keep Last
+ Reliability Policy: Reliable
+ Value: /planning/scenario_planning/lane_driving/motion_planning/motion_velocity_planner/dynamic_obstacle_stop/debug_markers
+ Value: true
+ Enabled: false
+ Name: MotionVelocityPlanner
+ Enabled: true
+ 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: true
+ 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: true
+ - 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: true
+ Name: Diagnostic
+ Enabled: false
+ 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: 0.8500000238418579
+ Value: false
+ Vehicle Length: 4.400000095367432
+ Vehicle Width: 1.6950000524520874
+ 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 Slope:
+ Scale: 0.30000001192092896
+ 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/Marker
+ Enabled: false
+ Name: Stop Reason
+ Namespaces:
+ {}
+ Topic:
+ Depth: 5
+ Durability Policy: Volatile
+ Filter size: 10
+ History Policy: Keep Last
+ Reliability Policy: Reliable
+ Value: /control/trajectory_follower/longitudinal/stop_reason
+ 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: false
+ Name: Control
+ - Class: rviz_common/Group
+ Displays:
+ - Class: rviz_common/Group
+ Displays: ~
+ Enabled: false
+ Name: Map
+ - Class: rviz_common/Group
+ Displays:
+ - Class: rviz_default_plugins/Camera
+ Enabled: true
+ Far Plane Distance: 100
+ Image Rendering: background and overlay
+ Name: PointcloudOnCamera
+ Overlay Alpha: 0.5
+ Topic:
+ Depth: 5
+ Durability Policy: Volatile
+ History Policy: Keep Last
+ Reliability Policy: Best Effort
+ Value: /sensing/camera/camera6/image_raw
+ Value: true
+ Visibility:
+ Control:
+ Debug/AEB: true
+ Debug/MPC: true
+ Debug/PurePursuit: true
+ Predicted Trajectory: true
+ Stop Reason: true
+ Value: false
+ Debug:
+ Control: true
+ Localization:
+ EKFPoseHistory: true
+ NDT pointclouds: true
+ NDTLoadedPCDMap: true
+ NDTPoseHistory: true
+ Value: true
+ Map: true
+ Perception:
+ CameraLidarFusion(purple): true
+ Centerpoint(red1): true
+ CenterpointROIFusion(red2): true
+ CenterpointValidator(red3): true
+ Detection(yellow): true
+ DetectionByTracker(orange): true
+ PointPainting(light_green1): true
+ PointPaintingROIFusion(light_green2): true
+ PointPaintingValidator(light_green3): true
+ Prediction(light_blue): true
+ RadarFarObjects(white): true
+ Tracking(green): true
+ Value: true
+ Planning:
+ Objects Of Interest:
+ AvoidanceByLCLeft: true
+ AvoidanceByLCRight: true
+ AvoidanceLeft: true
+ AvoidanceRight: true
+ BlindSpot: true
+ Crosswalk: true
+ DetectionArea: true
+ GoalPlanner: true
+ Intersection: true
+ LaneChangeLeft: true
+ LaneChangeRight: true
+ NoStoppingArea: true
+ StartPlanner: true
+ TrafficLight: true
+ Value: true
+ Value: true
+ Sensing:
+ ConcatenatePointCloud: true
+ RadarRawObjects(white): true
+ Value: true
+ Value: true
+ Image: true
+ Localization:
+ EKF:
+ PoseHistory: true
+ Value: true
+ NDT:
+ Aligned: true
+ Initial: true
+ MonteCarloInitialPose: true
+ PoseHistory: true
+ PoseWithCovAligned: true
+ PoseWithCovInitial: true
+ Value: true
+ Value: false
+ Map:
+ Lanelet2VectorMap: true
+ PointCloudMap: true
+ Value: false
+ MrmSummaryOverlayDisplay: true
+ Perception:
+ ObjectRecognition:
+ Detection:
+ DetectedObjects: true
+ Value: true
+ Prediction:
+ Maneuver: true
+ PredictedObjects: true
+ Value: true
+ Tracking:
+ TrackedObjects: true
+ Value: true
+ Value: true
+ OccupancyGrid:
+ Map: true
+ Value: true
+ Segmentation:
+ NoGroundPointCloud: true
+ Value: true
+ TrafficLight:
+ MapBasedDetectionResult: true
+ RecognitionResultOnImage: true
+ Value: true
+ Value: false
+ Planning:
+ Diagnostic:
+ PlanningErrorMarker: true
+ Value: true
+ MissionPlanning:
+ GoalPose: true
+ MissionDetailsDisplay: true
+ RouteArea: true
+ Value: true
+ ScenarioPlanning:
+ LaneDriving:
+ BehaviorPlanning:
+ (old)PathChangeCandidate_LaneChange: true
+ Bound: true
+ DebugMarker:
+ Arrow: true
+ Blind Spot: true
+ Crosswalk: true
+ DetectionArea: true
+ DynamicObstacleAvoidance: true
+ GoalPlanner: true
+ Intersection: true
+ LaneFollowing: true
+ LeftLaneChange: true
+ NoDrivableLane: true
+ NoStoppingArea: true
+ OcclusionSpot: true
+ RightLaneChange: true
+ RunOut: true
+ SideShift: true
+ SpeedBump: true
+ StartPlanner: true
+ StaticObstacleAvoidance: true
+ StopLine: true
+ TrafficLight: true
+ Value: true
+ VirtualTrafficLight: true
+ InfoMarker:
+ Info (AvoidanceByLC): true
+ Info (DynamicObstacleAvoidance): true
+ Info (ExtLaneChangeLeft): true
+ Info (ExtLaneChangeRight): true
+ Info (GoalPlanner): true
+ Info (LaneChangeLeft): true
+ Info (LaneChangeRight): true
+ Info (StartPlanner): true
+ Info (StaticObstacleAvoidance): true
+ Value: true
+ Path: true
+ PathChangeCandidate_Avoidance: true
+ PathChangeCandidate_AvoidanceByLC: true
+ PathChangeCandidate_ExternalRequestLaneChangeLeft: true
+ PathChangeCandidate_ExternalRequestLaneChangeRight: true
+ PathChangeCandidate_GoalPlanner: true
+ PathChangeCandidate_LaneChangeLeft: true
+ PathChangeCandidate_LaneChangeRight: true
+ PathChangeCandidate_StartPlanner: true
+ PathReference_Avoidance: true
+ PathReference_AvoidanceByLC: true
+ PathReference_GoalPlanner: true
+ PathReference_LaneChangeLeft: true
+ PathReference_LaneChangeRight: true
+ PathReference_StartPlanner: true
+ Value: true
+ VirtualWall:
+ Value: true
+ VirtualWall (AvoidanceByLC): true
+ VirtualWall (BlindSpot): true
+ VirtualWall (Crosswalk): true
+ VirtualWall (DetectionArea): true
+ VirtualWall (ExtLaneChangeLeft): true
+ VirtualWall (ExtLaneChangeRight): true
+ VirtualWall (GoalPlanner): true
+ VirtualWall (Intersection): true
+ VirtualWall (LaneChangeLeft): true
+ VirtualWall (LaneChangeRight): true
+ VirtualWall (MergeFromPrivateArea): true
+ VirtualWall (NoDrivableLane): true
+ VirtualWall (NoStoppingArea): true
+ VirtualWall (OcclusionSpot): true
+ VirtualWall (RunOut): true
+ VirtualWall (SpeedBump): true
+ VirtualWall (StartPlanner): true
+ VirtualWall (StaticObstacleAvoidance): true
+ VirtualWall (StopLine): true
+ VirtualWall (TrafficLight): true
+ VirtualWall (VirtualTrafficLight): true
+ VirtualWall (Walkway): true
+ MotionPlanning:
+ DebugMarker:
+ MotionVelocityPlanner:
+ DynamicObstacleStop: true
+ ObstacleVelocityLimiter: true
+ OutOfLane: true
+ Value: true
+ ObstacleAvoidance: true
+ ObstacleCruise:
+ CruiseVirtualWall: true
+ DebugMarker: true
+ SlowDownVirtualWall: true
+ Value: true
+ ObstacleStop: true
+ SurroundObstacleChecker:
+ Footprint: true
+ FootprintOffset: true
+ FootprintRecoverOffset: true
+ SurroundObstacleCheck: true
+ Value: true
+ Value: true
+ Trajectory: true
+ Value: true
+ VirtualWall:
+ Value: true
+ VirtualWall (DynamicObstacleStop): true
+ VirtualWall (MotionVelocitySmoother): true
+ VirtualWall (ObstacleAvoidance): true
+ VirtualWall (ObstacleCruise): true
+ VirtualWall (ObstacleStop): true
+ VirtualWall (ObstacleVelocityLimiter): true
+ VirtualWall (OutOfLane): true
+ VirtualWall (SurroundObstacle): true
+ Value: true
+ ModifiedGoal: true
+ Parking:
+ Costmap: true
+ PartialPoseArray: true
+ PoseArray: true
+ Value: true
+ ScenarioTrajectory: true
+ Value: true
+ Value: false
+ Sensing:
+ GNSS:
+ PoseWithCovariance: true
+ Value: true
+ LiDAR:
+ ConcatenatePointCloud: true
+ MeasurementRange: true
+ Value: true
+ Value: true
+ StringStampedOverlayDisplay: true
+ System:
+ Grid: true
+ MRM Summary: true
+ TF: true
+ Value: false
+ Vehicle:
+ PolarGridDisplay: true
+ SignalDisplay: true
+ Value: true
+ VehicleModel: true
+ Value: true
+ Zoom Factor: 1
+ - Alpha: 1
+ 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): 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: /sensing/lidar/concatenated/pointcloud
+ Use Fixed Frame: false
+ Use rainbow: true
+ Value: true
+ - BUS:
+ Alpha: 0.5
+ Color: 255; 255; 255
+ CAR:
+ Alpha: 0.5
+ Color: 255; 255; 255
+ CYCLIST:
+ Alpha: 0.5
+ Color: 255; 255; 255
+ Class: autoware_perception_rviz_plugin/DetectedObjects
+ Confidence Interval: 95%
+ Display Acceleration: true
+ Display Existence Probability: false
+ Display Label: true
+ Display Pose Covariance: true
+ Display Predicted Path Confidence: true
+ Display Predicted Paths: true
+ Display Twist: true
+ Display Twist Covariance: false
+ Display UUID: true
+ Display Velocity: true
+ Display Yaw Covariance: false
+ Display Yaw Rate: false
+ Display Yaw Rate Covariance: false
+ Enabled: true
+ Line Width: 0.029999999329447746
+ MOTORCYCLE:
+ Alpha: 0.5
+ Color: 255; 255; 255
+ Name: RadarRawObjects(white)
+ Namespaces:
+ {}
+ Object Fill Type: skeleton
+ PEDESTRIAN:
+ Alpha: 0.5
+ Color: 255; 255; 255
+ Polygon Type: 3d
+ TRAILER:
+ Alpha: 0.5
+ Color: 255; 255; 255
+ TRUCK:
+ Alpha: 0.5
+ Color: 255; 255; 255
+ Topic:
+ Depth: 5
+ Durability Policy: Volatile
+ History Policy: Keep Last
+ Reliability Policy: Best Effort
+ Value: /sensing/radar/detected_objects
+ UNKNOWN:
+ Alpha: 0.5
+ Color: 255; 255; 255
+ Value: true
+ Visualization Type: Normal
+ Enabled: false
+ Name: Sensing
+ - Class: rviz_common/Group
+ Displays:
+ - 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: true
+ Invert Rainbow: false
+ Max Color: 85; 255; 127
+ Max Intensity: 0
+ Min Color: 0; 0; 0
+ Min Intensity: 0
+ Name: NDT pointclouds
+ 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: true
+ - Alpha: 1
+ 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: 255; 255; 255
+ Color Transformer: ""
+ 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: NDTLoadedPCDMap
+ Position Transformer: ""
+ Selectable: true
+ Size (Pixels): 3
+ Size (m): 0.10000000149011612
+ Style: Flat Squares
+ Topic:
+ Depth: 5
+ Durability Policy: Volatile
+ Filter size: 10
+ History Policy: Keep Last
+ Reliability Policy: Reliable
+ Value: /localization/pose_estimator/debug/loaded_pointcloud_map
+ Use Fixed Frame: true
+ Use rainbow: true
+ Value: true
+ - Buffer Size: 200
+ Class: rviz_plugins::PoseHistory
+ Enabled: true
+ Line:
+ Alpha: 0.9990000128746033
+ Color: 170; 255; 127
+ Value: true
+ Width: 0.10000000149011612
+ Name: NDTPoseHistory
+ Topic:
+ Depth: 5
+ Durability Policy: Volatile
+ Filter size: 10
+ History Policy: Keep Last
+ Reliability Policy: Reliable
+ Value: /localization/pose_estimator/pose
+ Value: true
+ - Buffer Size: 1000
+ Class: rviz_plugins::PoseHistory
+ Enabled: true
+ Line:
+ Alpha: 0.9990000128746033
+ Color: 0; 255; 255
+ Value: true
+ Width: 0.10000000149011612
+ Name: EKFPoseHistory
+ 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: false
+ Name: Localization
+ - Class: rviz_common/Group
+ Displays:
+ - BUS:
+ Alpha: 0.9990000128746033
+ Color: 255; 138; 128
+ CAR:
+ Alpha: 0.9990000128746033
+ Color: 255; 138; 128
+ CYCLIST:
+ Alpha: 0.9990000128746033
+ Color: 255; 138; 128
+ Class: autoware_perception_rviz_plugin/DetectedObjects
+ Confidence Interval: 95%
+ Display Acceleration: true
+ Display Existence Probability: false
+ Display Label: true
+ Display Pose Covariance: true
+ Display Predicted Path Confidence: true
+ Display Predicted Paths: true
+ Display Twist: true
+ Display Twist Covariance: false
+ Display UUID: true
+ Display Velocity: true
+ Display Yaw Covariance: false
+ Display Yaw Rate: false
+ Display Yaw Rate Covariance: false
+ Enabled: true
+ Line Width: 0.10000000149011612
+ MOTORCYCLE:
+ Alpha: 0.9990000128746033
+ Color: 255; 138; 128
+ Name: Centerpoint(red1)
+ Namespaces:
+ label: true
+ position covariance: true
+ shape: true
+ twist: true
+ velocity: true
+ Object Fill Type: skeleton
+ PEDESTRIAN:
+ Alpha: 0.9990000128746033
+ Color: 255; 138; 128
+ Polygon Type: 3d
+ TRAILER:
+ Alpha: 0.9990000128746033
+ Color: 255; 138; 128
+ TRUCK:
+ Alpha: 0.9990000128746033
+ Color: 255; 138; 128
+ Topic:
+ Depth: 5
+ Durability Policy: Volatile
+ History Policy: Keep Last
+ Reliability Policy: Best Effort
+ Value: /perception/object_recognition/detection/centerpoint/objects
+ UNKNOWN:
+ Alpha: 0.9990000128746033
+ Color: 255; 138; 128
+ Value: true
+ Visualization Type: Normal
+ - BUS:
+ Alpha: 0.9990000128746033
+ Color: 255; 82; 82
+ CAR:
+ Alpha: 0.9990000128746033
+ Color: 255; 82; 82
+ CYCLIST:
+ Alpha: 0.9990000128746033
+ Color: 255; 82; 82
+ Class: autoware_perception_rviz_plugin/DetectedObjects
+ Confidence Interval: 95%
+ Display Acceleration: true
+ Display Existence Probability: false
+ Display Label: true
+ Display Pose Covariance: true
+ Display Predicted Path Confidence: true
+ Display Predicted Paths: true
+ Display Twist: true
+ Display Twist Covariance: false
+ Display UUID: true
+ Display Velocity: true
+ Display Yaw Covariance: false
+ Display Yaw Rate: false
+ Display Yaw Rate Covariance: false
+ Enabled: true
+ Line Width: 0.10000000149011612
+ MOTORCYCLE:
+ Alpha: 0.9990000128746033
+ Color: 255; 82; 82
+ Name: CenterpointROIFusion(red2)
+ Namespaces:
+ {}
+ Object Fill Type: skeleton
+ PEDESTRIAN:
+ Alpha: 0.9990000128746033
+ Color: 255; 82; 82
+ Polygon Type: 3d
+ TRAILER:
+ Alpha: 0.9990000128746033
+ Color: 255; 82; 82
+ TRUCK:
+ Alpha: 0.9990000128746033
+ Color: 255; 82; 82
+ Topic:
+ Depth: 5
+ Durability Policy: Volatile
+ History Policy: Keep Last
+ Reliability Policy: Best Effort
+ Value: /perception/object_recognition/detection/centerpoint/roi_fusion/objects
+ UNKNOWN:
+ Alpha: 0.9990000128746033
+ Color: 255; 82; 82
+ Value: true
+ Visualization Type: Normal
+ - BUS:
+ Alpha: 0.9990000128746033
+ Color: 213; 0; 0
+ CAR:
+ Alpha: 0.9990000128746033
+ Color: 213; 0; 0
+ CYCLIST:
+ Alpha: 0.9990000128746033
+ Color: 213; 0; 0
+ Class: autoware_perception_rviz_plugin/DetectedObjects
+ Confidence Interval: 95%
+ Display Acceleration: true
+ Display Existence Probability: false
+ Display Label: true
+ Display Pose Covariance: true
+ Display Predicted Path Confidence: true
+ Display Predicted Paths: true
+ Display Twist: true
+ Display Twist Covariance: false
+ Display UUID: true
+ Display Velocity: true
+ Display Yaw Covariance: false
+ Display Yaw Rate: false
+ Display Yaw Rate Covariance: false
+ Enabled: true
+ Line Width: 0.10000000149011612
+ MOTORCYCLE:
+ Alpha: 0.9990000128746033
+ Color: 213; 0; 0
+ Name: CenterpointValidator(red3)
+ Namespaces:
+ label: true
+ position covariance: true
+ shape: true
+ twist: true
+ velocity: true
+ Object Fill Type: skeleton
+ PEDESTRIAN:
+ Alpha: 0.9990000128746033
+ Color: 213; 0; 0
+ Polygon Type: 3d
+ TRAILER:
+ Alpha: 0.9990000128746033
+ Color: 213; 0; 0
+ TRUCK:
+ Alpha: 0.9990000128746033
+ Color: 213; 0; 0
+ Topic:
+ Depth: 5
+ Durability Policy: Volatile
+ History Policy: Keep Last
+ Reliability Policy: Best Effort
+ Value: /perception/object_recognition/detection/centerpoint/validation/objects
+ UNKNOWN:
+ Alpha: 0.9990000128746033
+ Color: 213; 0; 0
+ Value: true
+ Visualization Type: Normal
+ - BUS:
+ Alpha: 0.9990000128746033
+ Color: 178; 255; 89
+ CAR:
+ Alpha: 0.9990000128746033
+ Color: 178; 255; 89
+ CYCLIST:
+ Alpha: 0.9990000128746033
+ Color: 178; 255; 89
+ Class: autoware_perception_rviz_plugin/DetectedObjects
+ Confidence Interval: 95%
+ Display Acceleration: true
+ Display Existence Probability: false
+ Display Label: false
+ Display Pose Covariance: true
+ Display Predicted Path Confidence: true
+ Display Predicted Paths: true
+ Display Twist: true
+ Display Twist Covariance: false
+ Display UUID: true
+ Display Velocity: false
+ Display Yaw Covariance: false
+ Display Yaw Rate: false
+ Display Yaw Rate Covariance: false
+ Enabled: true
+ Line Width: 0.10000000149011612
+ MOTORCYCLE:
+ Alpha: 0.9990000128746033
+ Color: 178; 255; 89
+ Name: PointPainting(light_green1)
+ Namespaces:
+ {}
+ Object Fill Type: skeleton
+ PEDESTRIAN:
+ Alpha: 0.9990000128746033
+ Color: 178; 255; 89
+ Polygon Type: 2d
+ TRAILER:
+ Alpha: 0.9990000128746033
+ Color: 178; 255; 89
+ TRUCK:
+ Alpha: 0.9990000128746033
+ Color: 178; 255; 89
+ Topic:
+ Depth: 5
+ Durability Policy: Volatile
+ History Policy: Keep Last
+ Reliability Policy: Best Effort
+ Value: /perception/object_recognition/detection/pointpainting/objects
+ UNKNOWN:
+ Alpha: 0.9990000128746033
+ Color: 178; 255; 89
+ Value: true
+ Visualization Type: Normal
+ - BUS:
+ Alpha: 0.9990000128746033
+ Color: 118; 255; 3
+ CAR:
+ Alpha: 0.9990000128746033
+ Color: 118; 255; 3
+ CYCLIST:
+ Alpha: 0.9990000128746033
+ Color: 118; 255; 3
+ Class: autoware_perception_rviz_plugin/DetectedObjects
+ Confidence Interval: 95%
+ Display Acceleration: true
+ Display Existence Probability: false
+ Display Label: false
+ Display Pose Covariance: true
+ Display Predicted Path Confidence: true
+ Display Predicted Paths: true
+ Display Twist: true
+ Display Twist Covariance: false
+ Display UUID: false
+ Display Velocity: false
+ Display Yaw Covariance: false
+ Display Yaw Rate: false
+ Display Yaw Rate Covariance: false
+ Enabled: true
+ Line Width: 0.10000000149011612
+ MOTORCYCLE:
+ Alpha: 0.9990000128746033
+ Color: 118; 255; 3
+ Name: PointPaintingROIFusion(light_green2)
+ Namespaces:
+ {}
+ Object Fill Type: skeleton
+ PEDESTRIAN:
+ Alpha: 0.9990000128746033
+ Color: 118; 255; 3
+ Polygon Type: 2d
+ TRAILER:
+ Alpha: 0.9990000128746033
+ Color: 118; 255; 3
+ TRUCK:
+ Alpha: 0.9990000128746033
+ Color: 118; 255; 3
+ Topic:
+ Depth: 5
+ Durability Policy: Volatile
+ History Policy: Keep Last
+ Reliability Policy: Best Effort
+ Value: /perception/object_recognition/detection/pointpainting/roi_fusion/objects
+ UNKNOWN:
+ Alpha: 0.9990000128746033
+ Color: 118; 255; 3
+ Value: true
+ Visualization Type: Normal
+ - BUS:
+ Alpha: 0.9990000128746033
+ Color: 100; 221; 23
+ CAR:
+ Alpha: 0.9990000128746033
+ Color: 100; 221; 23
+ CYCLIST:
+ Alpha: 0.9990000128746033
+ Color: 100; 221; 23
+ Class: autoware_perception_rviz_plugin/DetectedObjects
+ Confidence Interval: 95%
+ Display Acceleration: true
+ Display Existence Probability: false
+ Display Label: false
+ Display Pose Covariance: true
+ Display Predicted Path Confidence: true
+ Display Predicted Paths: true
+ Display Twist: true
+ Display Twist Covariance: false
+ Display UUID: false
+ Display Velocity: false
+ Display Yaw Covariance: false
+ Display Yaw Rate: false
+ Display Yaw Rate Covariance: false
+ Enabled: true
+ Line Width: 0.10000000149011612
+ MOTORCYCLE:
+ Alpha: 0.9990000128746033
+ Color: 100; 221; 23
+ Name: PointPaintingValidator(light_green3)
+ Namespaces:
+ {}
+ Object Fill Type: skeleton
+ PEDESTRIAN:
+ Alpha: 0.9990000128746033
+ Color: 100; 221; 23
+ Polygon Type: 2d
+ TRAILER:
+ Alpha: 0.9990000128746033
+ Color: 100; 221; 23
+ TRUCK:
+ Alpha: 0.9990000128746033
+ Color: 100; 221; 23
+ Topic:
+ Depth: 5
+ Durability Policy: Volatile
+ History Policy: Keep Last
+ Reliability Policy: Best Effort
+ Value: /perception/object_recognition/detection/pointpainting/validation/objects
+ UNKNOWN:
+ Alpha: 0.9990000128746033
+ Color: 100; 221; 23
+ Value: true
+ Visualization Type: Normal
+ - BUS:
+ Alpha: 0.9990000128746033
+ Color: 255; 145; 0
+ CAR:
+ Alpha: 0.9990000128746033
+ Color: 255; 145; 0
+ CYCLIST:
+ Alpha: 0.9990000128746033
+ Color: 255; 145; 0
+ Class: autoware_perception_rviz_plugin/DetectedObjects
+ Confidence Interval: 95%
+ Display Acceleration: true
+ Display Existence Probability: false
+ Display Label: true
+ Display Pose Covariance: true
+ Display Predicted Path Confidence: true
+ Display Predicted Paths: true
+ Display Twist: true
+ Display Twist Covariance: false
+ Display UUID: true
+ Display Velocity: true
+ Display Yaw Covariance: false
+ Display Yaw Rate: false
+ Display Yaw Rate Covariance: false
+ Enabled: true
+ Line Width: 0.10000000149011612
+ MOTORCYCLE:
+ Alpha: 0.9990000128746033
+ Color: 255; 145; 0
+ Name: DetectionByTracker(orange)
+ Namespaces:
+ label: true
+ position covariance: true
+ shape: true
+ twist: true
+ velocity: true
+ Object Fill Type: skeleton
+ PEDESTRIAN:
+ Alpha: 0.9990000128746033
+ Color: 255; 145; 0
+ Polygon Type: 2d
+ TRAILER:
+ Alpha: 0.9990000128746033
+ Color: 255; 145; 0
+ TRUCK:
+ Alpha: 0.9990000128746033
+ Color: 255; 145; 0
+ Topic:
+ Depth: 5
+ Durability Policy: Volatile
+ History Policy: Keep Last
+ Reliability Policy: Best Effort
+ Value: /perception/object_recognition/detection/detection_by_tracker/objects
+ UNKNOWN:
+ Alpha: 0.9990000128746033
+ Color: 255; 145; 0
+ Value: true
+ Visualization Type: Normal
+ - BUS:
+ Alpha: 0.30000001192092896
+ Color: 213; 0; 249
+ CAR:
+ Alpha: 0.30000001192092896
+ Color: 213; 0; 249
+ CYCLIST:
+ Alpha: 0.30000001192092896
+ Color: 213; 0; 249
+ Class: autoware_perception_rviz_plugin/DetectedObjects
+ Confidence Interval: 95%
+ Display Acceleration: true
+ Display Existence Probability: false
+ Display Label: false
+ Display Pose Covariance: true
+ Display Predicted Path Confidence: true
+ Display Predicted Paths: true
+ Display Twist: true
+ Display Twist Covariance: false
+ Display UUID: false
+ Display Velocity: false
+ Display Yaw Covariance: false
+ Display Yaw Rate: false
+ Display Yaw Rate Covariance: false
+ Enabled: false
+ Line Width: 0.10000000149011612
+ MOTORCYCLE:
+ Alpha: 0.30000001192092896
+ Color: 213; 0; 249
+ Name: CameraLidarFusion(purple)
+ Namespaces:
+ {}
+ Object Fill Type: skeleton
+ PEDESTRIAN:
+ Alpha: 0.30000001192092896
+ Color: 213; 0; 249
+ Polygon Type: 2d
+ TRAILER:
+ Alpha: 0.30000001192092896
+ Color: 213; 0; 249
+ TRUCK:
+ Alpha: 0.30000001192092896
+ Color: 213; 0; 249
+ Topic:
+ Depth: 5
+ Durability Policy: Volatile
+ History Policy: Keep Last
+ Reliability Policy: Best Effort
+ Value: /perception/object_recognition/detection/clustering/camera_lidar_fusion/objects
+ UNKNOWN:
+ Alpha: 0.30000001192092896
+ Color: 213; 0; 249
+ Value: false
+ Visualization Type: Normal
+ - BUS:
+ Alpha: 0.9990000128746033
+ Color: 255; 255; 255
+ CAR:
+ Alpha: 0.9990000128746033
+ Color: 255; 255; 255
+ CYCLIST:
+ Alpha: 0.9990000128746033
+ Color: 255; 255; 255
+ Class: autoware_perception_rviz_plugin/DetectedObjects
+ Confidence Interval: 95%
+ Display Acceleration: true
+ Display Existence Probability: false
+ Display Label: true
+ Display Pose Covariance: true
+ Display Predicted Path Confidence: true
+ Display Predicted Paths: true
+ Display Twist: true
+ Display Twist Covariance: false
+ Display UUID: true
+ Display Velocity: true
+ Display Yaw Covariance: false
+ Display Yaw Rate: false
+ Display Yaw Rate Covariance: false
+ Enabled: false
+ Line Width: 0.10000000149011612
+ MOTORCYCLE:
+ Alpha: 0.9990000128746033
+ Color: 255; 255; 255
+ Name: RadarFarObjects(white)
+ Namespaces:
+ {}
+ Object Fill Type: skeleton
+ PEDESTRIAN:
+ Alpha: 0.9990000128746033
+ Color: 255; 255; 255
+ Polygon Type: 3d
+ TRAILER:
+ Alpha: 0.9990000128746033
+ Color: 255; 255; 255
+ TRUCK:
+ Alpha: 0.9990000128746033
+ Color: 255; 255; 255
+ Topic:
+ Depth: 5
+ Durability Policy: Volatile
+ History Policy: Keep Last
+ Reliability Policy: Best Effort
+ Value: /perception/object_recognition/detection/radar/far_objects
+ UNKNOWN:
+ Alpha: 0.9990000128746033
+ Color: 255; 255; 255
+ Value: false
+ Visualization Type: Normal
+ - BUS:
+ Alpha: 0.9990000128746033
+ Color: 255; 234; 0
+ CAR:
+ Alpha: 0.9990000128746033
+ Color: 255; 234; 0
+ CYCLIST:
+ Alpha: 0.9990000128746033
+ Color: 255; 234; 0
+ Class: autoware_perception_rviz_plugin/DetectedObjects
+ Confidence Interval: 95%
+ Display Acceleration: true
+ Display Existence Probability: false
+ Display Label: true
+ Display Pose Covariance: true
+ Display Predicted Path Confidence: true
+ Display Predicted Paths: true
+ Display Twist: true
+ Display Twist Covariance: false
+ Display UUID: true
+ Display Velocity: true
+ Display Yaw Covariance: false
+ Display Yaw Rate: false
+ Display Yaw Rate Covariance: false
+ Enabled: true
+ Line Width: 0.10000000149011612
+ MOTORCYCLE:
+ Alpha: 0.9990000128746033
+ Color: 255; 234; 0
+ Name: Detection(yellow)
+ Namespaces:
+ label: true
+ position covariance: true
+ shape: true
+ twist: true
+ velocity: true
+ Object Fill Type: skeleton
+ PEDESTRIAN:
+ Alpha: 0.9990000128746033
+ Color: 255; 234; 0
+ Polygon Type: 3d
+ TRAILER:
+ Alpha: 0.9990000128746033
+ Color: 255; 234; 0
+ TRUCK:
+ Alpha: 0.9990000128746033
+ Color: 255; 234; 0
+ 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; 234; 0
+ Value: true
+ Visualization Type: Normal
+ - BUS:
+ Alpha: 0.9990000128746033
+ Color: 0; 230; 118
+ CAR:
+ Alpha: 0.9990000128746033
+ Color: 0; 230; 118
+ CYCLIST:
+ Alpha: 0.9990000128746033
+ Color: 0; 230; 118
+ Class: autoware_perception_rviz_plugin/TrackedObjects
+ Confidence Interval: 95%
+ Display Acceleration: true
+ Display Existence Probability: false
+ Display Label: true
+ Display Pose Covariance: true
+ Display Predicted Path Confidence: true
+ Display Predicted Paths: true
+ Display Twist: true
+ Display Twist Covariance: false
+ Display UUID: true
+ Display Velocity: true
+ Display Yaw Covariance: false
+ Display Yaw Rate: false
+ Display Yaw Rate Covariance: false
+ Dynamic Status: All
+ Enabled: true
+ Line Width: 0.10000000149011612
+ MOTORCYCLE:
+ Alpha: 0.9990000128746033
+ Color: 0; 230; 118
+ Name: Tracking(green)
+ Namespaces:
+ acceleration: true
+ label: true
+ position covariance: true
+ shape: true
+ twist: true
+ uuid: true
+ velocity: true
+ Object Fill Type: skeleton
+ PEDESTRIAN:
+ Alpha: 0.9990000128746033
+ Color: 0; 230; 118
+ Polygon Type: 3d
+ TRAILER:
+ Alpha: 0.9990000128746033
+ Color: 0; 230; 118
+ TRUCK:
+ Alpha: 0.9990000128746033
+ Color: 0; 230; 118
+ 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: 0; 230; 118
+ Value: true
+ Visualization Type: Normal
+ - BUS:
+ Alpha: 0.9990000128746033
+ Color: 0; 176; 255
+ CAR:
+ Alpha: 0.9990000128746033
+ Color: 0; 176; 255
+ CYCLIST:
+ Alpha: 0.9990000128746033
+ Color: 0; 176; 255
+ Class: autoware_perception_rviz_plugin/PredictedObjects
+ Confidence Interval: 95%
+ Display Acceleration: true
+ Display Existence Probability: false
+ Display Label: true
+ Display Pose Covariance: true
+ Display Predicted Path Confidence: true
+ Display Predicted Paths: true
+ Display Twist: true
+ Display Twist Covariance: false
+ Display UUID: true
+ Display Velocity: true
+ Display Yaw Covariance: false
+ Display Yaw Rate: false
+ Display Yaw Rate Covariance: false
+ Enabled: true
+ Line Width: 0.10000000149011612
+ MOTORCYCLE:
+ Alpha: 0.9990000128746033
+ Color: 0; 176; 255
+ Name: Prediction(light_blue)
+ Namespaces:
+ acceleration: true
+ label: true
+ path: true
+ path confidence: true
+ position covariance: true
+ shape: true
+ twist: true
+ uuid: true
+ velocity: true
+ Object Fill Type: skeleton
+ PEDESTRIAN:
+ Alpha: 0.9990000128746033
+ Color: 0; 176; 255
+ Polygon Type: 2d
+ TRAILER:
+ Alpha: 0.9990000128746033
+ Color: 0; 176; 255
+ TRUCK:
+ Alpha: 0.9990000128746033
+ Color: 0; 176; 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: 0; 176; 255
+ Value: true
+ Visualization Type: Normal
+ Enabled: true
+ Name: Perception
+ - Class: rviz_common/Group
+ Displays:
+ - Class: rviz_common/Group
+ Displays:
+ - Class: rviz_default_plugins/MarkerArray
+ Enabled: true
+ Name: LaneChangeLeft
+ Namespaces:
+ {}
+ Topic:
+ Depth: 5
+ Durability Policy: Volatile
+ History Policy: Keep Last
+ Reliability Policy: Reliable
+ Value: /planning/debug/objects_of_interest/lane_change_left
+ Value: true
+ - Class: rviz_default_plugins/MarkerArray
+ Enabled: true
+ Name: LaneChangeRight
+ Namespaces:
+ {}
+ Topic:
+ Depth: 5
+ Durability Policy: Volatile
+ History Policy: Keep Last
+ Reliability Policy: Reliable
+ Value: /planning/debug/objects_of_interest/lane_change_right
+ Value: true
+ - Class: rviz_default_plugins/MarkerArray
+ Enabled: true
+ Name: AvoidanceLeft
+ Namespaces:
+ {}
+ Topic:
+ Depth: 5
+ Durability Policy: Volatile
+ History Policy: Keep Last
+ Reliability Policy: Reliable
+ Value: /planning/debug/objects_of_interest/static_obstacle_avoidance_left
+ Value: true
+ - Class: rviz_default_plugins/MarkerArray
+ Enabled: true
+ Name: AvoidanceRight
+ Namespaces:
+ {}
+ Topic:
+ Depth: 5
+ Durability Policy: Volatile
+ History Policy: Keep Last
+ Reliability Policy: Reliable
+ Value: /planning/debug/objects_of_interest/static_obstacle_avoidance_right
+ Value: true
+ - Class: rviz_default_plugins/MarkerArray
+ Enabled: true
+ Name: AvoidanceByLCLeft
+ Namespaces:
+ {}
+ Topic:
+ Depth: 5
+ Durability Policy: Volatile
+ History Policy: Keep Last
+ Reliability Policy: Reliable
+ Value: /planning/debug/objects_of_interest/avoidance_by_lc_left
+ Value: true
+ - Class: rviz_default_plugins/MarkerArray
+ Enabled: true
+ Name: AvoidanceByLCRight
+ Namespaces:
+ {}
+ Topic:
+ Depth: 5
+ Durability Policy: Volatile
+ History Policy: Keep Last
+ Reliability Policy: Reliable
+ Value: /planning/debug/objects_of_interest/avoidance_by_lc_right
+ Value: true
+ - Class: rviz_default_plugins/MarkerArray
+ Enabled: true
+ Name: StartPlanner
+ Namespaces:
+ {}
+ Topic:
+ Depth: 5
+ Durability Policy: Volatile
+ History Policy: Keep Last
+ Reliability Policy: Reliable
+ Value: /planning/debug/objects_of_interest/start_planner
+ Value: true
+ - Class: rviz_default_plugins/MarkerArray
+ Enabled: true
+ Name: GoalPlanner
+ Namespaces:
+ {}
+ Topic:
+ Depth: 5
+ Durability Policy: Volatile
+ History Policy: Keep Last
+ Reliability Policy: Reliable
+ Value: /planning/debug/objects_of_interest/goal_planner
+ Value: true
+ - Class: rviz_default_plugins/MarkerArray
+ Enabled: true
+ Name: Crosswalk
+ Namespaces:
+ {}
+ Topic:
+ Depth: 5
+ Durability Policy: Volatile
+ History Policy: Keep Last
+ Reliability Policy: Reliable
+ Value: /planning/debug/objects_of_interest/crosswalk
+ Value: true
+ - Class: rviz_default_plugins/MarkerArray
+ Enabled: true
+ Name: Intersection
+ Namespaces:
+ {}
+ Topic:
+ Depth: 5
+ Durability Policy: Volatile
+ History Policy: Keep Last
+ Reliability Policy: Reliable
+ Value: /planning/debug/objects_of_interest/intersection
+ Value: true
+ - Class: rviz_default_plugins/MarkerArray
+ Enabled: true
+ Name: BlindSpot
+ Namespaces:
+ {}
+ Topic:
+ Depth: 5
+ Durability Policy: Volatile
+ History Policy: Keep Last
+ Reliability Policy: Reliable
+ Value: /planning/debug/objects_of_interest/blind_spot
+ Value: true
+ - Class: rviz_default_plugins/MarkerArray
+ Enabled: true
+ Name: TrafficLight
+ Namespaces:
+ {}
+ Topic:
+ Depth: 5
+ Durability Policy: Volatile
+ History Policy: Keep Last
+ Reliability Policy: Reliable
+ Value: /planning/debug/objects_of_interest/traffic_light
+ Value: true
+ - Class: rviz_default_plugins/MarkerArray
+ Enabled: true
+ Name: DetectionArea
+ Namespaces:
+ {}
+ Topic:
+ Depth: 5
+ Durability Policy: Volatile
+ History Policy: Keep Last
+ Reliability Policy: Reliable
+ Value: /planning/debug/objects_of_interest/detection_area
+ Value: true
+ - Class: rviz_default_plugins/MarkerArray
+ Enabled: true
+ Name: NoStoppingArea
+ Namespaces:
+ {}
+ Topic:
+ Depth: 5
+ Durability Policy: Volatile
+ History Policy: Keep Last
+ Reliability Policy: Reliable
+ Value: /planning/debug/objects_of_interest/no_stopping_area
+ Value: true
+ Enabled: true
+ Name: Objects Of Interest
+ Enabled: false
+ Name: Planning
+ - Class: rviz_common/Group
+ Displays: ~
+ Enabled: false
+ Name: Control
+ Enabled: true
+ Name: Debug
+ - Class: rviz_default_plugins/Image
+ Enabled: true
+ Max Value: 1
+ Median window: 5
+ Min Value: 0
+ Name: Image
+ Normalize Range: true
+ Topic:
+ Depth: 5
+ Durability Policy: Volatile
+ History Policy: Keep Last
+ Reliability Policy: Best Effort
+ Value: /sensing/camera/image
+ Value: true
+ - Class: rviz_plugins/StringStampedOverlayDisplay
+ Enabled: true
+ Font Size: 15
+ Left: 24
+ Max Letter Num: 42
+ Name: StringStampedOverlayDisplay
+ Text Color: 51; 201; 220
+ Top: 960
+ Topic:
+ Depth: 5
+ Durability Policy: Volatile
+ History Policy: Keep Last
+ Reliability Policy: Best Effort
+ Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/debug/internal_state
+ Value: true
+ Value height offset: 0
+ - Class: rviz_plugins/MrmSummaryOverlayDisplay
+ Enabled: true
+ Font Size: 16
+ Left: 24
+ Max Letter Num: 100
+ Name: MrmSummaryOverlayDisplay
+ Text Color: 25; 255; 240
+ Top: 120
+ Topic:
+ Depth: 5
+ Durability Policy: Volatile
+ History Policy: Keep Last
+ Reliability Policy: Reliable
+ Value: /system/emergency/hazard_status
+ Value: true
+ Value height offset: 0
+ Enabled: true
+ Global Options:
+ Background Color: 0; 0; 0
+ 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
+ - Boost Property: 0.5
+ Class: tier4_camera_view_rviz_plugin/ThirdPersonViewTool
+ Fallback ViewController: tier4_camera_view_rviz_plugin/ThirdPersonView
+ Fly Mode: false
+ Left Hand Mode: false
+ Step Length: 0.10000000149011612
+ - Boost Property: 0.5
+ Class: tier4_camera_view_rviz_plugin/BirdEyeViewTool
+ Fallback ViewController: tier4_camera_view_rviz_plugin/BirdEyeView
+ Fly Mode: false
+ Left Hand Mode: false
+ Step Length: 0.10000000149011612
+ Transformation:
+ Current:
+ Class: rviz_default_plugins/TF
+ Value: true
+ Views:
+ Current:
+ Class: tier4_camera_view_rviz_plugin/ThirdPersonView
+ Distance: 111.22172546386719
+ 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: false
+ Focal Shape Size: 0.05000000074505806
+ Invert Z Axis: false
+ Name: Current View
+ Near Clip Distance: 0.009999999776482582
+ Pitch: 1.5697963237762451
+ Target Frame: base_link
+ Value: ThirdPersonView (tier4_camera_view_rviz_plugin)
+ Yaw: 3.141592025756836
+ 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)
+ Yaw: 3.141592025756836
+ - 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: TopDownOrtho
+ Near Clip Distance: 0.009999999776482582
+ Scale: 10
+ Target Frame: viewer
+ Value: TopDownOrtho (rviz)
+ X: 0
+ Y: 0
+Window Geometry:
+ AutowareDateTimePanel:
+ collapsed: false
+ AutowareScreenCapturePanel:
+ collapsed: false
+ AutowareStatePanel:
+ collapsed: false
+ Displays:
+ collapsed: false
+ Height: 1376
+ Hide Left Dock: false
+ Hide Right Dock: false
+ Image:
+ collapsed: false
+ LoggingLevelConfigureRvizPlugin:
+ collapsed: false
+ MultiDataMonitor:
+ collapsed: false
+ PointcloudOnCamera:
+ collapsed: false
+ QMainWindow State: 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
+ RTCManagerPanel:
+ collapsed: false
+ RecognitionResultOnImage:
+ collapsed: false
+ Selection:
+ collapsed: false
+ Tool Properties:
+ collapsed: false
+ Views:
+ collapsed: false
+ Width: 2490
+ X: 70
+ Y: 27
diff --git a/autoware_launch/rviz/planning_bev.rviz b/autoware_launch/rviz/planning_bev.rviz
new file mode 100644
index 0000000000..3e89fb6a8d
--- /dev/null
+++ b/autoware_launch/rviz/planning_bev.rviz
@@ -0,0 +1,4424 @@
+Panels:
+ - Class: rviz_common/Displays
+ Help Height: 0
+ Name: Displays
+ Property Tree Widget:
+ Expanded:
+ - /System1/Vehicle1/VehicleModel1/Description Topic1
+ - /System1/Vehicle1/SignalDisplay1
+ - /Map1/Lanelet2VectorMap1
+ - /Map1/Lanelet2VectorMap1/Namespaces1
+ - /Sensing1/LiDAR1/ConcatenatePointCloud1/Autocompute Value Bounds1
+ - /Perception1/Segmentation1/NoGroundPointCloud1
+ - /Perception1/ObjectRecognition1
+ - /Planning1/MissionPlanning1
+ - /Planning1/ScenarioPlanning1/LaneDriving1/BehaviorPlanning1
+ - /Planning1/ScenarioPlanning1/LaneDriving1/BehaviorPlanning1/InfoMarker1
+ - /Planning1/ScenarioPlanning1/LaneDriving1/MotionPlanning1/DebugMarker1
+ - /Planning1/ScenarioPlanning1/LaneDriving1/MotionPlanning1/DebugMarker1/ObstacleCruise1
+ - /Planning1/ScenarioPlanning1/Parking1/PoseArray1
+ - /Planning1/ScenarioPlanning1/ModifiedGoal1
+ - /Planning1/Diagnostic1
+ - /Control1/Predicted Trajectory1
+ - /Debug1/Sensing1/PointcloudOnCamera1
+ - /Debug1/Sensing1/ConcatenatePointCloud1/Autocompute Value Bounds1
+ - /Debug1/Perception1/Centerpoint(red1)1/UNKNOWN1
+ - /Debug1/Perception1/Centerpoint(red1)1/CAR1
+ - /Debug1/Perception1/Centerpoint(red1)1/TRUCK1
+ - /Debug1/Perception1/Centerpoint(red1)1/BUS1
+ - /Debug1/Perception1/Centerpoint(red1)1/TRAILER1
+ - /Debug1/Perception1/Centerpoint(red1)1/MOTORCYCLE1
+ - /Debug1/Perception1/Centerpoint(red1)1/CYCLIST1
+ - /Debug1/Perception1/Centerpoint(red1)1/PEDESTRIAN1
+ - /Debug1/Perception1/CenterpointROIFusion(red2)1/UNKNOWN1
+ - /Debug1/Perception1/CenterpointValidator(red3)1/UNKNOWN1
+ - /Debug1/Perception1/PointPainting(light_green1)1/UNKNOWN1
+ - /Debug1/Perception1/PointPaintingROIFusion(light_green2)1/UNKNOWN1
+ - /Debug1/Perception1/PointPaintingValidator(light_green3)1/UNKNOWN1
+ - /Debug1/Perception1/DetectionByTracker(orange)1/UNKNOWN1
+ - /Debug1/Perception1/RadarFarObjects(white)1/UNKNOWN1
+ - /Debug1/Perception1/Detection(yellow)1/UNKNOWN1
+ - /Debug1/Planning1
+ - /MrmSummaryOverlayDisplay1
+ Splitter Ratio: 0.7641357183456421
+ Tree Height: 378
+ - Class: rviz_common/Selection
+ Name: Selection
+ - Class: rviz_common/Tool Properties
+ Expanded:
+ - /Third Person View1
+ - /Bird Eye View1
+ Name: Tool Properties
+ Splitter Ratio: 0.5886790156364441
+ - Class: rviz_common/Views
+ Expanded:
+ - /Current View1
+ Name: Views
+ Splitter Ratio: 0.5
+ - Class: AutowareDateTimePanel
+ Name: AutowareDateTimePanel
+ - Class: rviz_plugins::AutowareStatePanel
+ Name: AutowareStatePanel
+ - Class: rviz_plugins/AutowareScreenCapturePanel
+ Name: AutowareScreenCapturePanel
+ - Class: multi_data_monitor::MultiDataMonitor
+ Name: MultiDataMonitor
+ Path: package://multi_data_monitor_config/data/debug_config.yaml
+ - Class: rviz_plugin::LoggingLevelConfigureRvizPlugin
+ Name: LoggingLevelConfigureRvizPlugin
+ - Class: rviz_plugins::RTCManagerPanel
+ Name: RTCManagerPanel
+ - Class: rviz_plugins::VelocitySteeringFactorsPanel
+ Name: VelocitySteeringFactorsPanel
+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: 10
+ Class: rviz_default_plugins/Grid
+ Color: 84; 110; 122
+ Enabled: true
+ 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: 100
+ Reference Frame: base_link
+ Value: true
+ - Class: rviz_common/Group
+ Displays:
+ - 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: Best Effort
+ 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
+ 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: autoware_overlay_rviz_plugin/SignalDisplay
+ Enabled: true
+ Gear Topic Test: /vehicle/status/gear_status
+ Hazard Lights Topic: /vehicle/status/hazard_lights_status
+ Height: 100
+ Left: -420
+ Name: SignalDisplay
+ Signal Color: 0; 230; 120
+ Speed Limit Topic: /planning/scenario_planning/current_max_velocity
+ Speed Topic: /vehicle/status/velocity_status
+ Steering Topic: /vehicle/status/steering_status
+ Top: 10
+ Traffic Topic: /planning/scenario_planning/lane_driving/behavior_planning/debug/traffic_signal
+ Turn Signals Topic: /vehicle/status/turn_indicators_status
+ Value: true
+ Width: 550
+ Enabled: true
+ Name: Vehicle
+ - Class: rviz_plugins/MrmSummaryOverlayDisplay
+ Enabled: false
+ Font Size: 10
+ Left: 512
+ Max Letter Num: 100
+ Name: MRM Summary
+ Text Color: 25; 255; 240
+ Top: 64
+ Topic:
+ Depth: 5
+ Durability Policy: Volatile
+ History Policy: Keep Last
+ Reliability Policy: Reliable
+ Value: /system/emergency/hazard_status
+ Value: false
+ Value height offset: 0
+ 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:
+ "": true
+ center_lane_line: true
+ center_line_arrows: true
+ crosswalk_areas: true
+ crosswalk_lanelet_id: true
+ crosswalk_lanelets: true
+ curbstone: true
+ hatched_road_markings_area: true
+ hatched_road_markings_bound: true
+ intersection_area: true
+ lane_start_bound: true
+ lanelet direction: true
+ lanelet_id: true
+ left_lane_bound: true
+ no_parking_area: true
+ no_stopping_area: true
+ partitions: true
+ pedestrian_polygon_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_left_lane_bound: true
+ shoulder_right_lane_bound: true
+ shoulder_road_lanelets: true
+ stop_lines: true
+ traffic_light: true
+ traffic_light_id: true
+ traffic_light_reg_elem_id: true
+ traffic_light_triangle: true
+ walkway_lanelets: false
+ 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:
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+ Axes Length: 1
+ Axes Radius: 0.10000000149011612
+ Class: rviz_default_plugins/PoseWithCovariance
+ Color: 233; 185; 110
+ Covariance:
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+ Color: 255; 255; 127
+ Color Style: Unique
+ Frame: Local
+ Offset: 1
+ Scale: 1
+ Value: false
+ Position:
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+ Color: 204; 51; 204
+ Scale: 1
+ Value: true
+ Value: true
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+ Head Length: 0.699999988079071
+ Head Radius: 1.2000000476837158
+ Name: PoseWithCovariance
+ Shaft Length: 1
+ Shaft Radius: 0.5
+ Shape: Arrow
+ Topic:
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+ 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:
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+ Color: 255; 255; 127
+ Color Style: Unique
+ Frame: Local
+ Offset: 1
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+ Position:
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+ Color: 204; 51; 204
+ Scale: 1
+ Value: true
+ Value: true
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+ Head Length: 0.4000000059604645
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+ Name: PoseWithCovInitial
+ Shaft Length: 0.6000000238418579
+ Shaft Radius: 0.30000001192092896
+ Shape: Arrow
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+ 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:
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+ Color: 255; 255; 127
+ Color Style: Unique
+ Frame: Local
+ Offset: 1
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+ Value: true
+ Position:
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+ Color: 204; 51; 204
+ Scale: 1
+ Value: true
+ Value: true
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+ Head Length: 0.4000000059604645
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+ Name: PoseWithCovAligned
+ Shaft Length: 0.6000000238418579
+ Shaft Radius: 0.30000001192092896
+ Shape: Arrow
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+ 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:
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+ Color: 170; 255; 127
+ Value: true
+ Width: 0.10000000149011612
+ Name: PoseHistory
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+ 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:
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+ 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:
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+ 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
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+ Autocompute Value Bounds:
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+ 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:
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+ 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:
+ {}
+ 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:
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+ Class: rviz_plugins::PoseHistory
+ Enabled: true
+ Line:
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+ Color: 0; 255; 255
+ Value: true
+ Width: 0.10000000149011612
+ Name: PoseHistory
+ Topic:
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+ 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:
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+ Autocompute Intensity Bounds: true
+ Autocompute Value Bounds:
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+ 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: true
+ 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_perception_rviz_plugin/DetectedObjects
+ Confidence Interval: 95%
+ Display Acceleration: true
+ Display Existence Probability: false
+ Display Label: true
+ Display Pose Covariance: true
+ Display Predicted Path Confidence: true
+ Display Predicted Paths: true
+ Display Twist: true
+ Display Twist Covariance: false
+ Display UUID: true
+ Display Velocity: true
+ Display Yaw Covariance: false
+ Display Yaw Rate: false
+ Display Yaw Rate Covariance: false
+ Enabled: true
+ Line Width: 0.029999999329447746
+ MOTORCYCLE:
+ Alpha: 0.9990000128746033
+ Color: 119; 11; 32
+ Name: DetectedObjects
+ Namespaces:
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+ Object Fill Type: skeleton
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+ Color: 255; 192; 203
+ Polygon Type: 3d
+ TRAILER:
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+ 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:
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+ 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_perception_rviz_plugin/TrackedObjects
+ Confidence Interval: 95%
+ Display Acceleration: true
+ Display Existence Probability: false
+ Display Label: true
+ Display Pose Covariance: true
+ Display Predicted Path Confidence: true
+ Display Predicted Paths: true
+ Display Twist: true
+ Display Twist Covariance: false
+ Display UUID: true
+ Display Velocity: true
+ Display Yaw Covariance: false
+ Display Yaw Rate: false
+ Display Yaw Rate Covariance: false
+ Dynamic Status: All
+ Enabled: true
+ Line Width: 0.029999999329447746
+ MOTORCYCLE:
+ Alpha: 0.9990000128746033
+ Color: 119; 11; 32
+ Name: TrackedObjects
+ Namespaces:
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+ Object Fill Type: skeleton
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+ 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_perception_rviz_plugin/PredictedObjects
+ Confidence Interval: 95%
+ Display Acceleration: true
+ Display Existence Probability: false
+ Display Label: true
+ Display Pose Covariance: true
+ Display Predicted Path Confidence: true
+ Display Predicted Paths: true
+ Display Twist: true
+ Display Twist Covariance: false
+ Display UUID: true
+ Display Velocity: true
+ Display Yaw Covariance: false
+ Display Yaw Rate: false
+ Display Yaw Rate Covariance: false
+ 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
+ position covariance: true
+ shape: true
+ twist: true
+ uuid: true
+ velocity: true
+ Object Fill Type: skeleton
+ 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: false
+ 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: false
+ - Class: rviz_default_plugins/MarkerArray
+ Enabled: true
+ Name: MapBasedDetectionResult
+ Namespaces:
+ {}
+ 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:
+ {}
+ 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
+ - Class: autoware_mission_details_overlay_rviz_plugin/MissionDetailsDisplay
+ Enabled: true
+ Height: 100
+ Name: MissionDetailsDisplay
+ Remaining Distance and Time Topic: /planning/mission_remaining_distance_time
+ Right: 10
+ Top: 10
+ Value: true
+ Width: 170
+ 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: 0.8500000238418579
+ Value: false
+ Vehicle Length: 4.400000095367432
+ Vehicle Width: 1.6950000524520874
+ View Path:
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+ 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 Slope:
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+ Value: false
+ View Text Velocity:
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+ Value: false
+ View Velocity:
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+ 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: false
+ 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: 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: 0.8500000238418579
+ Value: false
+ Vehicle Length: 4.400000095367432
+ Vehicle Width: 1.6950000524520874
+ View Path:
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+ 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 Slope:
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+ Value: false
+ View Text Velocity:
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+ Value: false
+ View Velocity:
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+ 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 Slope:
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+ Value: false
+ View Text Velocity:
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+ 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/static_obstacle_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: 0.8500000238418579
+ Value: false
+ Vehicle Length: 4.400000095367432
+ Vehicle Width: 1.6950000524520874
+ 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 Slope:
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+ Value: false
+ View Text Velocity:
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+ Value: false
+ View Velocity:
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+ 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: 0.8500000238418579
+ Value: false
+ Vehicle Length: 4.400000095367432
+ Vehicle Width: 1.6950000524520874
+ View Path:
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+ Color: 210; 210; 110
+ Constant Color: true
+ Constant Width: false
+ Value: true
+ Width: 2
+ View Point:
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+ Color: 0; 60; 255
+ Offset: 0
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+ Value: false
+ View Text Slope:
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+ Value: false
+ View Text Velocity:
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+ Value: false
+ View Velocity:
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+ 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
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+ {}
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+ 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 (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
+ Enabled: true
+ Name: VirtualWall
+ - Class: rviz_common/Group
+ Displays:
+ - Class: rviz_default_plugins/MarkerArray
+ Enabled: true
+ Name: Arrow
+ Namespaces:
+ "": 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/debug/path
+ Value: true
+ - Class: rviz_default_plugins/MarkerArray
+ Enabled: true
+ Name: Crosswalk
+ Namespaces:
+ attention range far: true
+ attention range near: true
+ crosswalk polygon: true
+ vehicle polygon: 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/debug/crosswalk
+ Value: true
+ - 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
+ - Class: rviz_default_plugins/MarkerArray
+ Enabled: true
+ 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: true
+ - Class: rviz_default_plugins/MarkerArray
+ Enabled: true
+ 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: true
+ - Class: rviz_default_plugins/MarkerArray
+ Enabled: true
+ 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: true
+ - Class: rviz_default_plugins/MarkerArray
+ Enabled: true
+ 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: true
+ - Class: rviz_default_plugins/MarkerArray
+ Enabled: true
+ 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: true
+ - Class: rviz_default_plugins/MarkerArray
+ Enabled: true
+ 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: true
+ - 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: true
+ Name: StaticObstacleAvoidance
+ Namespaces:
+ others_enough_lateral_distance_cube: true
+ others_enough_lateral_distance_info: true
+ others_enough_lateral_distance_info_reason: true
+ others_enough_lateral_distance_overhang_lanelet: true
+ others_further_than_threshold_cube: true
+ others_further_than_threshold_info: true
+ others_further_than_threshold_info_reason: true
+ others_further_than_threshold_overhang_lanelet: true
+ others_is_not_parking_object_cube: true
+ others_is_not_parking_object_info: true
+ others_is_not_parking_object_info_reason: true
+ others_is_not_parking_object_overhang_lanelet: true
+ others_moving_object_cube: true
+ others_moving_object_info: true
+ others_moving_object_info_reason: true
+ others_moving_object_overhang_lanelet: true
+ others_out_of_target_area_cube: true
+ others_out_of_target_area_info: true
+ others_out_of_target_area_info_reason: true
+ others_out_of_target_area_overhang_lanelet: true
+ others_unstable_object_cube: true
+ others_unstable_object_info: true
+ others_unstable_object_info_reason: true
+ others_unstable_object_overhang_lanelet: true
+ 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/static_obstacle_avoidance
+ Value: true
+ - Class: rviz_default_plugins/MarkerArray
+ Enabled: false
+ Name: LeftLaneChange
+ 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_left
+ Value: false
+ - Class: rviz_default_plugins/MarkerArray
+ Enabled: false
+ Name: RightLaneChange
+ 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_right
+ 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: StartPlanner
+ 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/start_planner
+ 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: true
+ Name: DynamicObstacleAvoidance
+ 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_obstacle_avoidance
+ Value: true
+ - 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
+ Enabled: true
+ Name: DebugMarker
+ - Class: rviz_common/Group
+ Displays:
+ - Class: rviz_default_plugins/MarkerArray
+ Enabled: true
+ Name: Info (StaticObstacleAvoidance)
+ Namespaces:
+ avoidable_target_objects_cube: true
+ avoidable_target_objects_envelope_polygon: true
+ avoidable_target_objects_info: true
+ avoidable_target_objects_info_reason: true
+ avoidable_target_objects_overhang_lanelet: true
+ avoidable_target_objects_to_drivable_bound: true
+ 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/static_obstacle_avoidance
+ Value: true
+ - Class: rviz_default_plugins/MarkerArray
+ Enabled: true
+ 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: true
+ - Class: rviz_default_plugins/MarkerArray
+ Enabled: true
+ 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: true
+ - Class: rviz_default_plugins/MarkerArray
+ Enabled: true
+ 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: true
+ - Class: rviz_default_plugins/MarkerArray
+ Enabled: true
+ 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: true
+ - Class: rviz_default_plugins/MarkerArray
+ Enabled: true
+ 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: true
+ - Class: rviz_default_plugins/MarkerArray
+ Enabled: true
+ Name: Info (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/info/goal_planner
+ Value: true
+ - Class: rviz_default_plugins/MarkerArray
+ Enabled: true
+ Name: Info (StartPlanner)
+ 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/start_planner
+ Value: true
+ - Class: rviz_default_plugins/MarkerArray
+ Enabled: true
+ Name: Info (DynamicObstacleAvoidance)
+ 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/dynamic_obstacle_avoidance
+ Value: true
+ Enabled: true
+ Name: InfoMarker
+ Enabled: true
+ Name: BehaviorPlanning
+ - Class: rviz_common/Group
+ Displays:
+ - Class: rviz_plugins/Trajectory
+ Color Border Vel Max: 3
+ Enabled: true
+ 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: true
+ View Footprint:
+ Alpha: 1
+ Color: 230; 230; 50
+ Offset from BaseLink: 0
+ Rear Overhang: 0.8500000238418579
+ Value: false
+ Vehicle Length: 4.400000095367432
+ Vehicle Width: 1.6950000524520874
+ 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 Slope:
+ Scale: 0.30000001192092896
+ 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
+ - Class: rviz_default_plugins/MarkerArray
+ Enabled: true
+ Name: VirtualWall (MotionVelocitySmoother)
+ Namespaces:
+ {}
+ Topic:
+ Depth: 5
+ Durability Policy: Volatile
+ History Policy: Keep Last
+ Reliability Policy: Reliable
+ Value: /planning/scenario_planning/velocity_smoother/virtual_wall
+ 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/motion_planning/motion_velocity_planner/out_of_lane/virtual_walls
+ Value: true
+ - Class: rviz_default_plugins/MarkerArray
+ Enabled: true
+ Name: VirtualWall (ObstacleVelocityLimiter)
+ Namespaces:
+ {}
+ Topic:
+ Depth: 5
+ Durability Policy: Volatile
+ History Policy: Keep Last
+ Reliability Policy: Reliable
+ Value: /planning/scenario_planning/lane_driving/motion_planning/motion_velocity_planner/obstacle_velocity_limiter/virtual_walls
+ 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/motion_planning/motion_velocity_planner/dynamic_obstacle_stop/virtual_walls
+ 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:
+ 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
+ Namespaces:
+ cruise_collision_points: true
+ detection_polygons: true
+ intentionally_ignored_obstacles: true
+ obstacles_to_cruise: true
+ obstacles_to_slow_down: true
+ obstacles_to_stop: true
+ slow_down_collision_points: true
+ slow_down_factor_text: true
+ slow_down_virtual_wall: true
+ stop_collision_points: 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/marker
+ Value: true
+ Enabled: true
+ 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
+ - Class: rviz_common/Group
+ Displays:
+ - Class: rviz_default_plugins/MarkerArray
+ Enabled: true
+ Name: OutOfLane
+ Namespaces:
+ {}
+ Topic:
+ Depth: 5
+ Durability Policy: Volatile
+ History Policy: Keep Last
+ Reliability Policy: Reliable
+ Value: /planning/scenario_planning/lane_driving/motion_planning/motion_velocity_planner/out_of_lane/debug_markers
+ Value: true
+ - Class: rviz_default_plugins/MarkerArray
+ Enabled: true
+ Name: ObstacleVelocityLimiter
+ Namespaces:
+ {}
+ Topic:
+ Depth: 5
+ Durability Policy: Volatile
+ History Policy: Keep Last
+ Reliability Policy: Reliable
+ Value: /planning/scenario_planning/lane_driving/motion_planning/motion_velocity_planner/obstacle_velocity_limiter/debug_markers
+ Value: true
+ - Class: rviz_default_plugins/MarkerArray
+ Enabled: true
+ Name: DynamicObstacleStop
+ Namespaces:
+ {}
+ Topic:
+ Depth: 5
+ Durability Policy: Volatile
+ History Policy: Keep Last
+ Reliability Policy: Reliable
+ Value: /planning/scenario_planning/lane_driving/motion_planning/motion_velocity_planner/dynamic_obstacle_stop/debug_markers
+ Value: true
+ Enabled: false
+ Name: MotionVelocityPlanner
+ Enabled: true
+ 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: true
+ 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: true
+ - 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: false
+ 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: false
+ 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: true
+ 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: 0.8500000238418579
+ Value: false
+ Vehicle Length: 4.400000095367432
+ Vehicle Width: 1.6950000524520874
+ 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 Slope:
+ Scale: 0.30000001192092896
+ 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/Marker
+ Enabled: false
+ Name: Stop Reason
+ Namespaces:
+ {}
+ Topic:
+ Depth: 5
+ Durability Policy: Volatile
+ Filter size: 10
+ History Policy: Keep Last
+ Reliability Policy: Reliable
+ Value: /control/trajectory_follower/longitudinal/stop_reason
+ 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
+ - Class: rviz_common/Group
+ Displays:
+ - Class: rviz_common/Group
+ Displays: ~
+ Enabled: false
+ Name: Map
+ - Class: rviz_common/Group
+ Displays:
+ - Class: rviz_default_plugins/Camera
+ Enabled: false
+ Far Plane Distance: 100
+ Image Rendering: background and overlay
+ Name: PointcloudOnCamera
+ Overlay Alpha: 0.5
+ Topic:
+ Depth: 5
+ Durability Policy: Volatile
+ History Policy: Keep Last
+ Reliability Policy: Best Effort
+ Value: /sensing/camera/camera6/image_raw
+ Value: false
+ Visibility:
+ Control:
+ Debug/AEB: true
+ Debug/MPC: true
+ Debug/PurePursuit: true
+ Predicted Trajectory: true
+ Stop Reason: true
+ Value: false
+ Debug:
+ Control: true
+ Localization:
+ EKFPoseHistory: true
+ NDT pointclouds: true
+ NDTLoadedPCDMap: true
+ NDTPoseHistory: true
+ Value: true
+ Map: true
+ Perception:
+ CameraLidarFusion(purple): true
+ Centerpoint(red1): true
+ CenterpointROIFusion(red2): true
+ CenterpointValidator(red3): true
+ Detection(yellow): true
+ DetectionByTracker(orange): true
+ PointPainting(light_green1): true
+ PointPaintingROIFusion(light_green2): true
+ PointPaintingValidator(light_green3): true
+ Prediction(light_blue): true
+ RadarFarObjects(white): true
+ Tracking(green): true
+ Value: true
+ Planning:
+ "":
+ "": true
+ Value: true
+ Value: true
+ Sensing:
+ ConcatenatePointCloud: true
+ RadarRawObjects(white): true
+ Value: true
+ Value: true
+ Image: true
+ Localization:
+ EKF:
+ PoseHistory: true
+ Value: true
+ NDT:
+ Aligned: true
+ Initial: true
+ MonteCarloInitialPose: true
+ PoseHistory: true
+ PoseWithCovAligned: true
+ PoseWithCovInitial: true
+ Value: true
+ Value: false
+ Map:
+ Lanelet2VectorMap: true
+ PointCloudMap: true
+ Value: false
+ MrmSummaryOverlayDisplay: true
+ Perception:
+ ObjectRecognition:
+ Detection:
+ DetectedObjects: true
+ Value: true
+ Prediction:
+ Maneuver: true
+ PredictedObjects: true
+ Value: true
+ Tracking:
+ TrackedObjects: true
+ Value: true
+ Value: true
+ OccupancyGrid:
+ Map: true
+ Value: true
+ Segmentation:
+ NoGroundPointCloud: true
+ Value: true
+ TrafficLight:
+ MapBasedDetectionResult: true
+ RecognitionResultOnImage: true
+ Value: true
+ Value: false
+ Planning:
+ Diagnostic:
+ PlanningErrorMarker: true
+ Value: true
+ MissionPlanning:
+ GoalPose: true
+ MissionDetailsDisplay: true
+ RouteArea: true
+ Value: true
+ ScenarioPlanning:
+ LaneDriving:
+ BehaviorPlanning:
+ (old)PathChangeCandidate_LaneChange: true
+ Bound: true
+ DebugMarker:
+ Arrow: true
+ Blind Spot: true
+ Crosswalk: true
+ DetectionArea: true
+ DynamicObstacleAvoidance: true
+ GoalPlanner: true
+ Intersection: true
+ LaneFollowing: true
+ LeftLaneChange: true
+ NoDrivableLane: true
+ NoStoppingArea: true
+ OcclusionSpot: true
+ RightLaneChange: true
+ RunOut: true
+ SideShift: true
+ SpeedBump: true
+ StartPlanner: true
+ StaticObstacleAvoidance: true
+ StopLine: true
+ TrafficLight: true
+ Value: true
+ VirtualTrafficLight: true
+ InfoMarker:
+ Info (AvoidanceByLC): true
+ Info (DynamicObstacleAvoidance): true
+ Info (ExtLaneChangeLeft): true
+ Info (ExtLaneChangeRight): true
+ Info (GoalPlanner): true
+ Info (LaneChangeLeft): true
+ Info (LaneChangeRight): true
+ Info (StartPlanner): true
+ Info (StaticObstacleAvoidance): true
+ Value: true
+ Path: true
+ PathChangeCandidate_Avoidance: true
+ PathChangeCandidate_AvoidanceByLC: true
+ PathChangeCandidate_ExternalRequestLaneChangeLeft: true
+ PathChangeCandidate_ExternalRequestLaneChangeRight: true
+ PathChangeCandidate_GoalPlanner: true
+ PathChangeCandidate_LaneChangeLeft: true
+ PathChangeCandidate_LaneChangeRight: true
+ PathChangeCandidate_StartPlanner: true
+ PathReference_Avoidance: true
+ PathReference_AvoidanceByLC: true
+ PathReference_GoalPlanner: true
+ PathReference_LaneChangeLeft: true
+ PathReference_LaneChangeRight: true
+ PathReference_StartPlanner: true
+ Value: true
+ VirtualWall:
+ Value: true
+ VirtualWall (AvoidanceByLC): true
+ VirtualWall (BlindSpot): true
+ VirtualWall (Crosswalk): true
+ VirtualWall (DetectionArea): true
+ VirtualWall (ExtLaneChangeLeft): true
+ VirtualWall (ExtLaneChangeRight): true
+ VirtualWall (GoalPlanner): true
+ VirtualWall (Intersection): true
+ VirtualWall (LaneChangeLeft): true
+ VirtualWall (LaneChangeRight): true
+ VirtualWall (MergeFromPrivateArea): true
+ VirtualWall (NoDrivableLane): true
+ VirtualWall (NoStoppingArea): true
+ VirtualWall (OcclusionSpot): true
+ VirtualWall (RunOut): true
+ VirtualWall (SpeedBump): true
+ VirtualWall (StartPlanner): true
+ VirtualWall (StaticObstacleAvoidance): true
+ VirtualWall (StopLine): true
+ VirtualWall (TrafficLight): true
+ VirtualWall (VirtualTrafficLight): true
+ VirtualWall (Walkway): true
+ MotionPlanning:
+ DebugMarker:
+ MotionVelocityPlanner:
+ DynamicObstacleStop: true
+ ObstacleVelocityLimiter: true
+ OutOfLane: true
+ Value: true
+ ObstacleAvoidance: true
+ ObstacleCruise:
+ CruiseVirtualWall: true
+ DebugMarker: true
+ SlowDownVirtualWall: true
+ Value: true
+ ObstacleStop: true
+ SurroundObstacleChecker:
+ Footprint: true
+ FootprintOffset: true
+ FootprintRecoverOffset: true
+ SurroundObstacleCheck: true
+ Value: true
+ Value: true
+ Trajectory: true
+ Value: true
+ VirtualWall:
+ Value: true
+ VirtualWall (DynamicObstacleStop): true
+ VirtualWall (MotionVelocitySmoother): true
+ VirtualWall (ObstacleAvoidance): true
+ VirtualWall (ObstacleCruise): true
+ VirtualWall (ObstacleStop): true
+ VirtualWall (ObstacleVelocityLimiter): true
+ VirtualWall (OutOfLane): true
+ VirtualWall (SurroundObstacle): true
+ Value: true
+ ModifiedGoal: true
+ Parking:
+ Costmap: true
+ PartialPoseArray: true
+ PoseArray: true
+ Value: true
+ ScenarioTrajectory: true
+ Value: true
+ Value: false
+ PlanningInternalState: true
+ Sensing:
+ GNSS:
+ PoseWithCovariance: true
+ Value: true
+ LiDAR:
+ ConcatenatePointCloud: true
+ MeasurementRange: true
+ Value: true
+ Value: true
+ System:
+ Grid: true
+ MRM Summary: true
+ TF: true
+ Value: false
+ Vehicle:
+ PolarGridDisplay: true
+ SignalDisplay: true
+ Value: true
+ VehicleModel: true
+ Value: true
+ Zoom Factor: 1
+ - Alpha: 1
+ 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): 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: /sensing/lidar/concatenated/pointcloud
+ Use Fixed Frame: false
+ Use rainbow: true
+ Value: true
+ - BUS:
+ Alpha: 0.5
+ Color: 255; 255; 255
+ CAR:
+ Alpha: 0.5
+ Color: 255; 255; 255
+ CYCLIST:
+ Alpha: 0.5
+ Color: 255; 255; 255
+ Class: autoware_perception_rviz_plugin/DetectedObjects
+ Confidence Interval: 95%
+ Display Acceleration: true
+ Display Existence Probability: false
+ Display Label: true
+ Display Pose Covariance: true
+ Display Predicted Path Confidence: true
+ Display Predicted Paths: true
+ Display Twist: true
+ Display Twist Covariance: false
+ Display UUID: true
+ Display Velocity: true
+ Display Yaw Covariance: false
+ Display Yaw Rate: false
+ Display Yaw Rate Covariance: false
+ Enabled: true
+ Line Width: 0.029999999329447746
+ MOTORCYCLE:
+ Alpha: 0.5
+ Color: 255; 255; 255
+ Name: RadarRawObjects(white)
+ Namespaces:
+ {}
+ Object Fill Type: skeleton
+ PEDESTRIAN:
+ Alpha: 0.5
+ Color: 255; 255; 255
+ Polygon Type: 3d
+ TRAILER:
+ Alpha: 0.5
+ Color: 255; 255; 255
+ TRUCK:
+ Alpha: 0.5
+ Color: 255; 255; 255
+ Topic:
+ Depth: 5
+ Durability Policy: Volatile
+ History Policy: Keep Last
+ Reliability Policy: Best Effort
+ Value: /sensing/radar/detected_objects
+ UNKNOWN:
+ Alpha: 0.5
+ Color: 255; 255; 255
+ Value: true
+ Visualization Type: Normal
+ Enabled: false
+ Name: Sensing
+ - Class: rviz_common/Group
+ Displays:
+ - 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: true
+ Invert Rainbow: false
+ Max Color: 85; 255; 127
+ Max Intensity: 0
+ Min Color: 0; 0; 0
+ Min Intensity: 0
+ Name: NDT pointclouds
+ 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: true
+ - Alpha: 1
+ 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: 255; 255; 255
+ Color Transformer: ""
+ 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: NDTLoadedPCDMap
+ Position Transformer: ""
+ Selectable: true
+ Size (Pixels): 3
+ Size (m): 0.10000000149011612
+ Style: Flat Squares
+ Topic:
+ Depth: 5
+ Durability Policy: Volatile
+ Filter size: 10
+ History Policy: Keep Last
+ Reliability Policy: Reliable
+ Value: /localization/pose_estimator/debug/loaded_pointcloud_map
+ Use Fixed Frame: true
+ Use rainbow: true
+ Value: true
+ - Buffer Size: 200
+ Class: rviz_plugins::PoseHistory
+ Enabled: true
+ Line:
+ Alpha: 0.9990000128746033
+ Color: 170; 255; 127
+ Value: true
+ Width: 0.10000000149011612
+ Name: NDTPoseHistory
+ Topic:
+ Depth: 5
+ Durability Policy: Volatile
+ Filter size: 10
+ History Policy: Keep Last
+ Reliability Policy: Reliable
+ Value: /localization/pose_estimator/pose
+ Value: true
+ - Buffer Size: 1000
+ Class: rviz_plugins::PoseHistory
+ Enabled: true
+ Line:
+ Alpha: 0.9990000128746033
+ Color: 0; 255; 255
+ Value: true
+ Width: 0.10000000149011612
+ Name: EKFPoseHistory
+ 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: false
+ Name: Localization
+ - Class: rviz_common/Group
+ Displays:
+ - BUS:
+ Alpha: 0.9990000128746033
+ Color: 255; 138; 128
+ CAR:
+ Alpha: 0.9990000128746033
+ Color: 255; 138; 128
+ CYCLIST:
+ Alpha: 0.9990000128746033
+ Color: 255; 138; 128
+ Class: autoware_perception_rviz_plugin/DetectedObjects
+ Confidence Interval: 95%
+ Display Acceleration: true
+ Display Existence Probability: false
+ Display Label: true
+ Display Pose Covariance: true
+ Display Predicted Path Confidence: true
+ Display Predicted Paths: true
+ Display Twist: true
+ Display Twist Covariance: false
+ Display UUID: true
+ Display Velocity: true
+ Display Yaw Covariance: false
+ Display Yaw Rate: false
+ Display Yaw Rate Covariance: false
+ Enabled: true
+ Line Width: 0.10000000149011612
+ MOTORCYCLE:
+ Alpha: 0.9990000128746033
+ Color: 255; 138; 128
+ Name: Centerpoint(red1)
+ Namespaces:
+ {}
+ Object Fill Type: skeleton
+ PEDESTRIAN:
+ Alpha: 0.9990000128746033
+ Color: 255; 138; 128
+ Polygon Type: 3d
+ TRAILER:
+ Alpha: 0.9990000128746033
+ Color: 255; 138; 128
+ TRUCK:
+ Alpha: 0.9990000128746033
+ Color: 255; 138; 128
+ Topic:
+ Depth: 5
+ Durability Policy: Volatile
+ History Policy: Keep Last
+ Reliability Policy: Best Effort
+ Value: /perception/object_recognition/detection/centerpoint/objects
+ UNKNOWN:
+ Alpha: 0.9990000128746033
+ Color: 255; 138; 128
+ Value: true
+ Visualization Type: Normal
+ - BUS:
+ Alpha: 0.9990000128746033
+ Color: 255; 82; 82
+ CAR:
+ Alpha: 0.9990000128746033
+ Color: 255; 82; 82
+ CYCLIST:
+ Alpha: 0.9990000128746033
+ Color: 255; 82; 82
+ Class: autoware_perception_rviz_plugin/DetectedObjects
+ Confidence Interval: 95%
+ Display Acceleration: true
+ Display Existence Probability: false
+ Display Label: true
+ Display Pose Covariance: true
+ Display Predicted Path Confidence: true
+ Display Predicted Paths: true
+ Display Twist: true
+ Display Twist Covariance: false
+ Display UUID: true
+ Display Velocity: true
+ Display Yaw Covariance: false
+ Display Yaw Rate: false
+ Display Yaw Rate Covariance: false
+ Enabled: true
+ Line Width: 0.10000000149011612
+ MOTORCYCLE:
+ Alpha: 0.9990000128746033
+ Color: 255; 82; 82
+ Name: CenterpointROIFusion(red2)
+ Namespaces:
+ {}
+ Object Fill Type: skeleton
+ PEDESTRIAN:
+ Alpha: 0.9990000128746033
+ Color: 255; 82; 82
+ Polygon Type: 3d
+ TRAILER:
+ Alpha: 0.9990000128746033
+ Color: 255; 82; 82
+ TRUCK:
+ Alpha: 0.9990000128746033
+ Color: 255; 82; 82
+ Topic:
+ Depth: 5
+ Durability Policy: Volatile
+ History Policy: Keep Last
+ Reliability Policy: Best Effort
+ Value: /perception/object_recognition/detection/centerpoint/roi_fusion/objects
+ UNKNOWN:
+ Alpha: 0.9990000128746033
+ Color: 255; 82; 82
+ Value: true
+ Visualization Type: Normal
+ - BUS:
+ Alpha: 0.9990000128746033
+ Color: 213; 0; 0
+ CAR:
+ Alpha: 0.9990000128746033
+ Color: 213; 0; 0
+ CYCLIST:
+ Alpha: 0.9990000128746033
+ Color: 213; 0; 0
+ Class: autoware_perception_rviz_plugin/DetectedObjects
+ Confidence Interval: 95%
+ Display Acceleration: true
+ Display Existence Probability: false
+ Display Label: true
+ Display Pose Covariance: true
+ Display Predicted Path Confidence: true
+ Display Predicted Paths: true
+ Display Twist: true
+ Display Twist Covariance: false
+ Display UUID: true
+ Display Velocity: true
+ Display Yaw Covariance: false
+ Display Yaw Rate: false
+ Display Yaw Rate Covariance: false
+ Enabled: true
+ Line Width: 0.10000000149011612
+ MOTORCYCLE:
+ Alpha: 0.9990000128746033
+ Color: 213; 0; 0
+ Name: CenterpointValidator(red3)
+ Namespaces:
+ {}
+ Object Fill Type: skeleton
+ PEDESTRIAN:
+ Alpha: 0.9990000128746033
+ Color: 213; 0; 0
+ Polygon Type: 3d
+ TRAILER:
+ Alpha: 0.9990000128746033
+ Color: 213; 0; 0
+ TRUCK:
+ Alpha: 0.9990000128746033
+ Color: 213; 0; 0
+ Topic:
+ Depth: 5
+ Durability Policy: Volatile
+ History Policy: Keep Last
+ Reliability Policy: Best Effort
+ Value: /perception/object_recognition/detection/centerpoint/validation/objects
+ UNKNOWN:
+ Alpha: 0.9990000128746033
+ Color: 213; 0; 0
+ Value: true
+ Visualization Type: Normal
+ - BUS:
+ Alpha: 0.9990000128746033
+ Color: 178; 255; 89
+ CAR:
+ Alpha: 0.9990000128746033
+ Color: 178; 255; 89
+ CYCLIST:
+ Alpha: 0.9990000128746033
+ Color: 178; 255; 89
+ Class: autoware_perception_rviz_plugin/DetectedObjects
+ Confidence Interval: 95%
+ Display Acceleration: true
+ Display Existence Probability: false
+ Display Label: false
+ Display Pose Covariance: true
+ Display Predicted Path Confidence: true
+ Display Predicted Paths: true
+ Display Twist: true
+ Display Twist Covariance: false
+ Display UUID: true
+ Display Velocity: false
+ Display Yaw Covariance: false
+ Display Yaw Rate: false
+ Display Yaw Rate Covariance: false
+ Enabled: true
+ Line Width: 0.10000000149011612
+ MOTORCYCLE:
+ Alpha: 0.9990000128746033
+ Color: 178; 255; 89
+ Name: PointPainting(light_green1)
+ Namespaces:
+ {}
+ Object Fill Type: skeleton
+ PEDESTRIAN:
+ Alpha: 0.9990000128746033
+ Color: 178; 255; 89
+ Polygon Type: 2d
+ TRAILER:
+ Alpha: 0.9990000128746033
+ Color: 178; 255; 89
+ TRUCK:
+ Alpha: 0.9990000128746033
+ Color: 178; 255; 89
+ Topic:
+ Depth: 5
+ Durability Policy: Volatile
+ History Policy: Keep Last
+ Reliability Policy: Best Effort
+ Value: /perception/object_recognition/detection/pointpainting/objects
+ UNKNOWN:
+ Alpha: 0.9990000128746033
+ Color: 178; 255; 89
+ Value: true
+ Visualization Type: Normal
+ - BUS:
+ Alpha: 0.9990000128746033
+ Color: 118; 255; 3
+ CAR:
+ Alpha: 0.9990000128746033
+ Color: 118; 255; 3
+ CYCLIST:
+ Alpha: 0.9990000128746033
+ Color: 118; 255; 3
+ Class: autoware_perception_rviz_plugin/DetectedObjects
+ Confidence Interval: 95%
+ Display Acceleration: true
+ Display Existence Probability: false
+ Display Label: false
+ Display Pose Covariance: true
+ Display Predicted Path Confidence: true
+ Display Predicted Paths: true
+ Display Twist: true
+ Display Twist Covariance: false
+ Display UUID: false
+ Display Velocity: false
+ Display Yaw Covariance: false
+ Display Yaw Rate: false
+ Display Yaw Rate Covariance: false
+ Enabled: true
+ Line Width: 0.10000000149011612
+ MOTORCYCLE:
+ Alpha: 0.9990000128746033
+ Color: 118; 255; 3
+ Name: PointPaintingROIFusion(light_green2)
+ Namespaces:
+ {}
+ Object Fill Type: skeleton
+ PEDESTRIAN:
+ Alpha: 0.9990000128746033
+ Color: 118; 255; 3
+ Polygon Type: 2d
+ TRAILER:
+ Alpha: 0.9990000128746033
+ Color: 118; 255; 3
+ TRUCK:
+ Alpha: 0.9990000128746033
+ Color: 118; 255; 3
+ Topic:
+ Depth: 5
+ Durability Policy: Volatile
+ History Policy: Keep Last
+ Reliability Policy: Best Effort
+ Value: /perception/object_recognition/detection/pointpainting/roi_fusion/objects
+ UNKNOWN:
+ Alpha: 0.9990000128746033
+ Color: 118; 255; 3
+ Value: true
+ Visualization Type: Normal
+ - BUS:
+ Alpha: 0.9990000128746033
+ Color: 100; 221; 23
+ CAR:
+ Alpha: 0.9990000128746033
+ Color: 100; 221; 23
+ CYCLIST:
+ Alpha: 0.9990000128746033
+ Color: 100; 221; 23
+ Class: autoware_perception_rviz_plugin/DetectedObjects
+ Confidence Interval: 95%
+ Display Acceleration: true
+ Display Existence Probability: false
+ Display Label: false
+ Display Pose Covariance: true
+ Display Predicted Path Confidence: true
+ Display Predicted Paths: true
+ Display Twist: true
+ Display Twist Covariance: false
+ Display UUID: false
+ Display Velocity: false
+ Display Yaw Covariance: false
+ Display Yaw Rate: false
+ Display Yaw Rate Covariance: false
+ Enabled: true
+ Line Width: 0.10000000149011612
+ MOTORCYCLE:
+ Alpha: 0.9990000128746033
+ Color: 100; 221; 23
+ Name: PointPaintingValidator(light_green3)
+ Namespaces:
+ {}
+ Object Fill Type: skeleton
+ PEDESTRIAN:
+ Alpha: 0.9990000128746033
+ Color: 100; 221; 23
+ Polygon Type: 2d
+ TRAILER:
+ Alpha: 0.9990000128746033
+ Color: 100; 221; 23
+ TRUCK:
+ Alpha: 0.9990000128746033
+ Color: 100; 221; 23
+ Topic:
+ Depth: 5
+ Durability Policy: Volatile
+ History Policy: Keep Last
+ Reliability Policy: Best Effort
+ Value: /perception/object_recognition/detection/pointpainting/validation/objects
+ UNKNOWN:
+ Alpha: 0.9990000128746033
+ Color: 100; 221; 23
+ Value: true
+ Visualization Type: Normal
+ - BUS:
+ Alpha: 0.9990000128746033
+ Color: 255; 145; 0
+ CAR:
+ Alpha: 0.9990000128746033
+ Color: 255; 145; 0
+ CYCLIST:
+ Alpha: 0.9990000128746033
+ Color: 255; 145; 0
+ Class: autoware_perception_rviz_plugin/DetectedObjects
+ Confidence Interval: 95%
+ Display Acceleration: true
+ Display Existence Probability: false
+ Display Label: true
+ Display Pose Covariance: true
+ Display Predicted Path Confidence: true
+ Display Predicted Paths: true
+ Display Twist: true
+ Display Twist Covariance: false
+ Display UUID: true
+ Display Velocity: true
+ Display Yaw Covariance: false
+ Display Yaw Rate: false
+ Display Yaw Rate Covariance: false
+ Enabled: true
+ Line Width: 0.10000000149011612
+ MOTORCYCLE:
+ Alpha: 0.9990000128746033
+ Color: 255; 145; 0
+ Name: DetectionByTracker(orange)
+ Namespaces:
+ {}
+ Object Fill Type: skeleton
+ PEDESTRIAN:
+ Alpha: 0.9990000128746033
+ Color: 255; 145; 0
+ Polygon Type: 2d
+ TRAILER:
+ Alpha: 0.9990000128746033
+ Color: 255; 145; 0
+ TRUCK:
+ Alpha: 0.9990000128746033
+ Color: 255; 145; 0
+ Topic:
+ Depth: 5
+ Durability Policy: Volatile
+ History Policy: Keep Last
+ Reliability Policy: Best Effort
+ Value: /perception/object_recognition/detection/detection_by_tracker/objects
+ UNKNOWN:
+ Alpha: 0.9990000128746033
+ Color: 255; 145; 0
+ Value: true
+ Visualization Type: Normal
+ - BUS:
+ Alpha: 0.30000001192092896
+ Color: 213; 0; 249
+ CAR:
+ Alpha: 0.30000001192092896
+ Color: 213; 0; 249
+ CYCLIST:
+ Alpha: 0.30000001192092896
+ Color: 213; 0; 249
+ Class: autoware_perception_rviz_plugin/DetectedObjects
+ Confidence Interval: 95%
+ Display Acceleration: true
+ Display Existence Probability: false
+ Display Label: false
+ Display Pose Covariance: true
+ Display Predicted Path Confidence: true
+ Display Predicted Paths: true
+ Display Twist: true
+ Display Twist Covariance: false
+ Display UUID: false
+ Display Velocity: false
+ Display Yaw Covariance: false
+ Display Yaw Rate: false
+ Display Yaw Rate Covariance: false
+ Enabled: false
+ Line Width: 0.10000000149011612
+ MOTORCYCLE:
+ Alpha: 0.30000001192092896
+ Color: 213; 0; 249
+ Name: CameraLidarFusion(purple)
+ Namespaces:
+ {}
+ Object Fill Type: skeleton
+ PEDESTRIAN:
+ Alpha: 0.30000001192092896
+ Color: 213; 0; 249
+ Polygon Type: 2d
+ TRAILER:
+ Alpha: 0.30000001192092896
+ Color: 213; 0; 249
+ TRUCK:
+ Alpha: 0.30000001192092896
+ Color: 213; 0; 249
+ Topic:
+ Depth: 5
+ Durability Policy: Volatile
+ History Policy: Keep Last
+ Reliability Policy: Best Effort
+ Value: /perception/object_recognition/detection/clustering/camera_lidar_fusion/objects
+ UNKNOWN:
+ Alpha: 0.30000001192092896
+ Color: 213; 0; 249
+ Value: false
+ Visualization Type: Normal
+ - BUS:
+ Alpha: 0.9990000128746033
+ Color: 255; 255; 255
+ CAR:
+ Alpha: 0.9990000128746033
+ Color: 255; 255; 255
+ CYCLIST:
+ Alpha: 0.9990000128746033
+ Color: 255; 255; 255
+ Class: autoware_perception_rviz_plugin/DetectedObjects
+ Confidence Interval: 95%
+ Display Acceleration: true
+ Display Existence Probability: false
+ Display Label: true
+ Display Pose Covariance: true
+ Display Predicted Path Confidence: true
+ Display Predicted Paths: true
+ Display Twist: true
+ Display Twist Covariance: false
+ Display UUID: true
+ Display Velocity: true
+ Display Yaw Covariance: false
+ Display Yaw Rate: false
+ Display Yaw Rate Covariance: false
+ Enabled: false
+ Line Width: 0.10000000149011612
+ MOTORCYCLE:
+ Alpha: 0.9990000128746033
+ Color: 255; 255; 255
+ Name: RadarFarObjects(white)
+ Namespaces:
+ {}
+ Object Fill Type: skeleton
+ PEDESTRIAN:
+ Alpha: 0.9990000128746033
+ Color: 255; 255; 255
+ Polygon Type: 3d
+ TRAILER:
+ Alpha: 0.9990000128746033
+ Color: 255; 255; 255
+ TRUCK:
+ Alpha: 0.9990000128746033
+ Color: 255; 255; 255
+ Topic:
+ Depth: 5
+ Durability Policy: Volatile
+ History Policy: Keep Last
+ Reliability Policy: Best Effort
+ Value: /perception/object_recognition/detection/radar/far_objects
+ UNKNOWN:
+ Alpha: 0.9990000128746033
+ Color: 255; 255; 255
+ Value: false
+ Visualization Type: Normal
+ - BUS:
+ Alpha: 0.9990000128746033
+ Color: 255; 234; 0
+ CAR:
+ Alpha: 0.9990000128746033
+ Color: 255; 234; 0
+ CYCLIST:
+ Alpha: 0.9990000128746033
+ Color: 255; 234; 0
+ Class: autoware_perception_rviz_plugin/DetectedObjects
+ Confidence Interval: 95%
+ Display Acceleration: true
+ Display Existence Probability: false
+ Display Label: true
+ Display Pose Covariance: true
+ Display Predicted Path Confidence: true
+ Display Predicted Paths: true
+ Display Twist: true
+ Display Twist Covariance: false
+ Display UUID: true
+ Display Velocity: true
+ Display Yaw Covariance: false
+ Display Yaw Rate: false
+ Display Yaw Rate Covariance: false
+ Enabled: false
+ Line Width: 0.10000000149011612
+ MOTORCYCLE:
+ Alpha: 0.9990000128746033
+ Color: 255; 234; 0
+ Name: Detection(yellow)
+ Namespaces:
+ {}
+ Object Fill Type: skeleton
+ PEDESTRIAN:
+ Alpha: 0.9990000128746033
+ Color: 255; 234; 0
+ Polygon Type: 3d
+ TRAILER:
+ Alpha: 0.9990000128746033
+ Color: 255; 234; 0
+ TRUCK:
+ Alpha: 0.9990000128746033
+ Color: 255; 234; 0
+ 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; 234; 0
+ Value: false
+ Visualization Type: Normal
+ - BUS:
+ Alpha: 0.9990000128746033
+ Color: 0; 230; 118
+ CAR:
+ Alpha: 0.9990000128746033
+ Color: 0; 230; 118
+ CYCLIST:
+ Alpha: 0.9990000128746033
+ Color: 0; 230; 118
+ Class: autoware_perception_rviz_plugin/TrackedObjects
+ Confidence Interval: 95%
+ Display Acceleration: true
+ Display Existence Probability: false
+ Display Label: true
+ Display Pose Covariance: true
+ Display Predicted Path Confidence: true
+ Display Predicted Paths: true
+ Display Twist: true
+ Display Twist Covariance: false
+ Display UUID: true
+ Display Velocity: true
+ Display Yaw Covariance: false
+ Display Yaw Rate: false
+ Display Yaw Rate Covariance: false
+ Dynamic Status: All
+ Enabled: false
+ Line Width: 0.10000000149011612
+ MOTORCYCLE:
+ Alpha: 0.9990000128746033
+ Color: 0; 230; 118
+ Name: Tracking(green)
+ Namespaces:
+ {}
+ Object Fill Type: skeleton
+ PEDESTRIAN:
+ Alpha: 0.9990000128746033
+ Color: 0; 230; 118
+ Polygon Type: 3d
+ TRAILER:
+ Alpha: 0.9990000128746033
+ Color: 0; 230; 118
+ TRUCK:
+ Alpha: 0.9990000128746033
+ Color: 0; 230; 118
+ 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: 0; 230; 118
+ Value: false
+ Visualization Type: Normal
+ - BUS:
+ Alpha: 0.9990000128746033
+ Color: 0; 176; 255
+ CAR:
+ Alpha: 0.9990000128746033
+ Color: 0; 176; 255
+ CYCLIST:
+ Alpha: 0.9990000128746033
+ Color: 0; 176; 255
+ Class: autoware_perception_rviz_plugin/PredictedObjects
+ Confidence Interval: 95%
+ Display Acceleration: true
+ Display Existence Probability: false
+ Display Label: true
+ Display Pose Covariance: true
+ Display Predicted Path Confidence: true
+ Display Predicted Paths: true
+ Display Twist: true
+ Display Twist Covariance: false
+ Display UUID: true
+ Display Velocity: true
+ Display Yaw Covariance: false
+ Display Yaw Rate: false
+ Display Yaw Rate Covariance: false
+ Enabled: true
+ Line Width: 0.10000000149011612
+ MOTORCYCLE:
+ Alpha: 0.9990000128746033
+ Color: 0; 176; 255
+ Name: Prediction(light_blue)
+ Namespaces:
+ {}
+ Object Fill Type: skeleton
+ PEDESTRIAN:
+ Alpha: 0.9990000128746033
+ Color: 0; 176; 255
+ Polygon Type: 2d
+ TRAILER:
+ Alpha: 0.9990000128746033
+ Color: 0; 176; 255
+ TRUCK:
+ Alpha: 0.9990000128746033
+ Color: 0; 176; 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: 0; 176; 255
+ Value: true
+ Visualization Type: Normal
+ Enabled: false
+ Name: Perception
+ - Class: rviz_common/Group
+ Displays:
+ - Class: rviz_common/Group
+ Displays:
+ - Class: rviz_default_plugins/MarkerArray
+ Enabled: true
+ Name: LaneChangeLeft
+ Namespaces:
+ {}
+ Topic:
+ Depth: 5
+ Durability Policy: Volatile
+ History Policy: Keep Last
+ Reliability Policy: Reliable
+ Value: /planning/debug/objects_of_interest/lane_change_left
+ Value: true
+ - Class: rviz_default_plugins/MarkerArray
+ Enabled: true
+ Name: LaneChangeRight
+ Namespaces:
+ {}
+ Topic:
+ Depth: 5
+ Durability Policy: Volatile
+ History Policy: Keep Last
+ Reliability Policy: Reliable
+ Value: /planning/debug/objects_of_interest/lane_change_right
+ Value: true
+ - Class: rviz_default_plugins/MarkerArray
+ Enabled: true
+ Name: AvoidanceLeft
+ Namespaces:
+ {}
+ Topic:
+ Depth: 5
+ Durability Policy: Volatile
+ History Policy: Keep Last
+ Reliability Policy: Reliable
+ Value: /planning/debug/objects_of_interest/static_obstacle_avoidance_left
+ Value: true
+ - Class: rviz_default_plugins/MarkerArray
+ Enabled: true
+ Name: AvoidanceRight
+ Namespaces:
+ {}
+ Topic:
+ Depth: 5
+ Durability Policy: Volatile
+ History Policy: Keep Last
+ Reliability Policy: Reliable
+ Value: /planning/debug/objects_of_interest/static_obstacle_avoidance_right
+ Value: true
+ - Class: rviz_default_plugins/MarkerArray
+ Enabled: true
+ Name: AvoidanceByLCLeft
+ Namespaces:
+ {}
+ Topic:
+ Depth: 5
+ Durability Policy: Volatile
+ History Policy: Keep Last
+ Reliability Policy: Reliable
+ Value: /planning/debug/objects_of_interest/avoidance_by_lc_left
+ Value: true
+ - Class: rviz_default_plugins/MarkerArray
+ Enabled: true
+ Name: AvoidanceByLCRight
+ Namespaces:
+ {}
+ Topic:
+ Depth: 5
+ Durability Policy: Volatile
+ History Policy: Keep Last
+ Reliability Policy: Reliable
+ Value: /planning/debug/objects_of_interest/avoidance_by_lc_right
+ Value: true
+ - Class: rviz_default_plugins/MarkerArray
+ Enabled: true
+ Name: StartPlanner
+ Namespaces:
+ {}
+ Topic:
+ Depth: 5
+ Durability Policy: Volatile
+ History Policy: Keep Last
+ Reliability Policy: Reliable
+ Value: /planning/debug/objects_of_interest/start_planner
+ Value: true
+ - Class: rviz_default_plugins/MarkerArray
+ Enabled: true
+ Name: GoalPlanner
+ Namespaces:
+ {}
+ Topic:
+ Depth: 5
+ Durability Policy: Volatile
+ History Policy: Keep Last
+ Reliability Policy: Reliable
+ Value: /planning/debug/objects_of_interest/goal_planner
+ Value: true
+ - Class: rviz_default_plugins/MarkerArray
+ Enabled: true
+ Name: Crosswalk
+ Namespaces:
+ {}
+ Topic:
+ Depth: 5
+ Durability Policy: Volatile
+ History Policy: Keep Last
+ Reliability Policy: Reliable
+ Value: /planning/debug/objects_of_interest/crosswalk
+ Value: true
+ - Class: rviz_default_plugins/MarkerArray
+ Enabled: true
+ Name: Intersection
+ Namespaces:
+ {}
+ Topic:
+ Depth: 5
+ Durability Policy: Volatile
+ History Policy: Keep Last
+ Reliability Policy: Reliable
+ Value: /planning/debug/objects_of_interest/intersection
+ Value: true
+ - Class: rviz_default_plugins/MarkerArray
+ Enabled: true
+ Name: BlindSpot
+ Namespaces:
+ {}
+ Topic:
+ Depth: 5
+ Durability Policy: Volatile
+ History Policy: Keep Last
+ Reliability Policy: Reliable
+ Value: /planning/debug/objects_of_interest/blind_spot
+ Value: true
+ - Class: rviz_default_plugins/MarkerArray
+ Enabled: true
+ Name: TrafficLight
+ Namespaces:
+ {}
+ Topic:
+ Depth: 5
+ Durability Policy: Volatile
+ History Policy: Keep Last
+ Reliability Policy: Reliable
+ Value: /planning/debug/objects_of_interest/traffic_light
+ Value: true
+ - Class: rviz_default_plugins/MarkerArray
+ Enabled: true
+ Name: DetectionArea
+ Namespaces:
+ {}
+ Topic:
+ Depth: 5
+ Durability Policy: Volatile
+ History Policy: Keep Last
+ Reliability Policy: Reliable
+ Value: /planning/debug/objects_of_interest/detection_area
+ Value: true
+ - Class: rviz_default_plugins/MarkerArray
+ Enabled: true
+ Name: NoStoppingArea
+ Namespaces:
+ {}
+ Topic:
+ Depth: 5
+ Durability Policy: Volatile
+ History Policy: Keep Last
+ Reliability Policy: Reliable
+ Value: /planning/debug/objects_of_interest/no_stopping_area
+ Value: true
+ Enabled: true
+ Name: Objects Of Interest
+ Enabled: true
+ Name: Planning
+ - Class: rviz_common/Group
+ Displays: ~
+ Enabled: true
+ Name: Control
+ Enabled: true
+ Name: Debug
+ - Class: rviz_default_plugins/Image
+ Enabled: true
+ Max Value: 1
+ Median window: 5
+ Min Value: 0
+ Name: Image
+ Normalize Range: true
+ Topic:
+ Depth: 5
+ Durability Policy: Volatile
+ History Policy: Keep Last
+ Reliability Policy: Best Effort
+ Value: /sensing/camera/image
+ Value: true
+ - Class: rviz_plugins/StringStampedOverlayDisplay
+ Enabled: true
+ Font Size: 15
+ Left: 24
+ Max Letter Num: 60
+ Name: PlanningInternalState
+ Text Color: 51; 201; 220
+ Top: 980
+ Topic:
+ Depth: 5
+ Durability Policy: Volatile
+ History Policy: Keep Last
+ Reliability Policy: Best Effort
+ Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/debug/internal_state
+ Value: true
+ Value height offset: 0
+ - Class: rviz_plugins/MrmSummaryOverlayDisplay
+ Enabled: true
+ Font Size: 15
+ Left: 24
+ Max Letter Num: 100
+ Name: MrmSummaryOverlayDisplay
+ Text Color: 51; 201; 220
+ Top: 120
+ Topic:
+ Depth: 5
+ Durability Policy: Volatile
+ History Policy: Keep Last
+ Reliability Policy: Reliable
+ Value: /system/emergency/hazard_status
+ Value: true
+ Value height offset: 0
+ Enabled: true
+ Global Options:
+ Background Color: 0; 0; 0
+ Fixed Frame: viewer
+ 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
+ - Boost Property: 0.5
+ Class: tier4_camera_view_rviz_plugin/ThirdPersonViewTool
+ Fallback ViewController: tier4_camera_view_rviz_plugin/ThirdPersonView
+ Fly Mode: false
+ Left Hand Mode: false
+ Step Length: 0.10000000149011612
+ - Boost Property: 0.5
+ Class: tier4_camera_view_rviz_plugin/BirdEyeViewTool
+ Fallback ViewController: tier4_camera_view_rviz_plugin/BirdEyeView
+ Fly Mode: false
+ Left Hand Mode: false
+ Step Length: 0.10000000149011612
+ - Boost Property: 0.5
+ Class: foa_viewer_plugin/OperationViewTool
+ Fallback ViewController: foa_viewer_plugin/OperationView
+ Fly Mode: false
+ Left Hand Mode: false
+ Step Length: 0.10000000149011612
+ Transformation:
+ Current:
+ Class: rviz_default_plugins/TF
+ Value: true
+ Views:
+ Current:
+ Class: tier4_camera_view_rviz_plugin/ThirdPersonView
+ Distance: 115.53753662109375
+ 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: false
+ Focal Shape Size: 0.05000000074505806
+ Invert Z Axis: false
+ Name: Current View
+ Near Clip Distance: 0.009999999776482582
+ Pitch: 1.5697963237762451
+ Target Frame: base_link
+ Value: ThirdPersonView (tier4_camera_view_rviz_plugin)
+ Yaw: 3.1415927410125732
+ 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)
+ Yaw: 3.141592025756836
+ - 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: TopDownOrtho
+ Near Clip Distance: 0.009999999776482582
+ Scale: 10
+ Target Frame: viewer
+ Value: TopDownOrtho (rviz)
+ X: 0
+ Y: 0
+Window Geometry:
+ AutowareDateTimePanel:
+ collapsed: false
+ AutowareScreenCapturePanel:
+ collapsed: false
+ AutowareStatePanel:
+ collapsed: false
+ Displays:
+ collapsed: false
+ Height: 1376
+ Hide Left Dock: false
+ Hide Right Dock: false
+ Image:
+ collapsed: false
+ LoggingLevelConfigureRvizPlugin:
+ collapsed: false
+ MultiDataMonitor:
+ collapsed: false
+ PointcloudOnCamera:
+ collapsed: false
+ QMainWindow State: 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
+ RTCManagerPanel:
+ collapsed: false
+ RecognitionResultOnImage:
+ collapsed: false
+ Selection:
+ collapsed: false
+ Tool Properties:
+ collapsed: false
+ Views:
+ collapsed: false
+ Width: 2490
+ X: 70
+ Y: 27
diff --git a/autoware_launch/rviz/planning_tpv.rviz b/autoware_launch/rviz/planning_tpv.rviz
new file mode 100644
index 0000000000..0d39656b91
--- /dev/null
+++ b/autoware_launch/rviz/planning_tpv.rviz
@@ -0,0 +1,4630 @@
+Panels:
+ - Class: rviz_common/Displays
+ Help Height: 0
+ Name: Displays
+ Property Tree Widget:
+ Expanded:
+ - /System1/Vehicle1
+ - /Map1/Lanelet2VectorMap1
+ - /Map1/Lanelet2VectorMap1/Namespaces1
+ - /Sensing1/LiDAR1/ConcatenatePointCloud1/Autocompute Value Bounds1
+ - /Perception1/Segmentation1/NoGroundPointCloud1
+ - /Perception1/ObjectRecognition1
+ - /Planning1/MissionPlanning1
+ - /Planning1/ScenarioPlanning1
+ - /Planning1/ScenarioPlanning1/LaneDriving1/BehaviorPlanning1
+ - /Planning1/ScenarioPlanning1/LaneDriving1/BehaviorPlanning1/InfoMarker1
+ - /Planning1/ScenarioPlanning1/LaneDriving1/MotionPlanning1/DebugMarker1
+ - /Planning1/ScenarioPlanning1/LaneDriving1/MotionPlanning1/DebugMarker1/ObstacleCruise1
+ - /Planning1/ScenarioPlanning1/Parking1/PoseArray1
+ - /Planning1/Diagnostic1
+ - /Control1/Predicted Trajectory1
+ - /Debug1/Sensing1/PointcloudOnCamera1
+ - /Debug1/Sensing1/ConcatenatePointCloud1/Autocompute Value Bounds1
+ - /Debug1/Perception1/Centerpoint(red1)1/UNKNOWN1
+ - /Debug1/Perception1/Centerpoint(red1)1/CAR1
+ - /Debug1/Perception1/Centerpoint(red1)1/TRUCK1
+ - /Debug1/Perception1/Centerpoint(red1)1/BUS1
+ - /Debug1/Perception1/Centerpoint(red1)1/TRAILER1
+ - /Debug1/Perception1/Centerpoint(red1)1/MOTORCYCLE1
+ - /Debug1/Perception1/Centerpoint(red1)1/CYCLIST1
+ - /Debug1/Perception1/Centerpoint(red1)1/PEDESTRIAN1
+ - /Debug1/Perception1/CenterpointROIFusion(red2)1/UNKNOWN1
+ - /Debug1/Perception1/CenterpointValidator(red3)1/UNKNOWN1
+ - /Debug1/Perception1/PointPainting(light_green1)1/UNKNOWN1
+ - /Debug1/Perception1/PointPaintingROIFusion(light_green2)1/UNKNOWN1
+ - /Debug1/Perception1/PointPaintingValidator(light_green3)1/UNKNOWN1
+ - /Debug1/Perception1/DetectionByTracker(orange)1/UNKNOWN1
+ - /Debug1/Perception1/RadarFarObjects(white)1/UNKNOWN1
+ - /Debug1/Perception1/Detection(yellow)1/UNKNOWN1
+ - /Debug1/Planning1
+ - /Debug1/Planning1/Objects Of Interest1
+ Splitter Ratio: 0.7641357183456421
+ Tree Height: 423
+ - Class: rviz_common/Selection
+ Name: Selection
+ - Class: rviz_common/Tool Properties
+ Expanded:
+ - /Third Person View1
+ - /Bird Eye View1
+ Name: Tool Properties
+ Splitter Ratio: 0.5886790156364441
+ - Class: rviz_common/Views
+ Expanded:
+ - /Current View1
+ Name: Views
+ Splitter Ratio: 0.5
+ - Class: AutowareDateTimePanel
+ Name: AutowareDateTimePanel
+ - Class: rviz_plugins::AutowareStatePanel
+ Name: AutowareStatePanel
+ - Class: rviz_plugins/AutowareScreenCapturePanel
+ Name: AutowareScreenCapturePanel
+ - Class: multi_data_monitor::MultiDataMonitor
+ Name: MultiDataMonitor
+ Path: package://multi_data_monitor_config/data/debug_config.yaml
+ - Class: rviz_plugin::LoggingLevelConfigureRvizPlugin
+ Name: LoggingLevelConfigureRvizPlugin
+ - Class: rviz_plugins::RTCManagerPanel
+ Name: RTCManagerPanel
+ - Class: rviz_plugins::VelocitySteeringFactorsPanel
+ Name: VelocitySteeringFactorsPanel
+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: 10
+ Class: rviz_default_plugins/Grid
+ Color: 84; 110; 122
+ 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: 100
+ Reference Frame: base_link
+ Value: false
+ - Class: rviz_common/Group
+ Displays:
+ - 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
+ ars408_front_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ 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
+ front_center/radar_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ front_left/radar_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ front_right/radar_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ front_unit_base_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ gnss_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ pandar_40p_front:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ pandar_40p_front_base_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ pandar_40p_left:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ pandar_40p_left_base_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ pandar_40p_rear:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ pandar_40p_rear_base_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ pandar_40p_right:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ pandar_40p_right_base_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ pandar_qt_front:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ pandar_qt_front_base_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ pandar_qt_left:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ pandar_qt_left_base_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ pandar_qt_rear:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ pandar_qt_rear_base_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ pandar_qt_right:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ pandar_qt_right_base_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ rear_center/radar_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ rear_left/radar_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ rear_right/radar_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ rear_unit_base_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ tamagawa/imu_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ Value: true
+ top_unit_base_link:
+ Alpha: 1
+ Show Axes: false
+ Show Trail: false
+ 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: autoware_overlay_rviz_plugin/SignalDisplay
+ Enabled: true
+ Gear Topic Test: /vehicle/status/gear_status
+ Hazard Lights Topic: /vehicle/status/hazard_lights_status
+ Height: 100
+ Left: -420
+ Name: SignalDisplay
+ Signal Color: 0; 230; 120
+ Speed Limit Topic: /planning/scenario_planning/current_max_velocity
+ Speed Topic: /vehicle/status/velocity_status
+ Steering Topic: /vehicle/status/steering_status
+ Top: 10
+ Traffic Topic: /planning/scenario_planning/lane_driving/behavior_planning/debug/traffic_signal
+ Turn Signals Topic: /vehicle/status/turn_indicators_status
+ Value: true
+ Width: 550
+ Enabled: true
+ Name: Vehicle
+ - Class: rviz_plugins/MrmSummaryOverlayDisplay
+ Enabled: false
+ Font Size: 10
+ Left: 512
+ Max Letter Num: 100
+ Name: MRM Summary
+ Text Color: 25; 255; 240
+ Top: 64
+ Topic:
+ Depth: 5
+ Durability Policy: Volatile
+ History Policy: Keep Last
+ Reliability Policy: Reliable
+ Value: /system/emergency/hazard_status
+ Value: false
+ Value height offset: 0
+ 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:
+ "": true
+ center_lane_line: true
+ center_line_arrows: true
+ crosswalk_areas: true
+ crosswalk_lanelet_id: true
+ crosswalk_lanelets: false
+ curbstone: true
+ hatched_road_markings_area: true
+ hatched_road_markings_bound: true
+ intersection_area: true
+ lane_start_bound: true
+ lanelet direction: true
+ lanelet_id: true
+ left_lane_bound: true
+ no_parking_area: true
+ no_stopping_area: true
+ partitions: true
+ pedestrian_polygon_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_left_lane_bound: true
+ shoulder_right_lane_bound: true
+ shoulder_road_lanelets: true
+ stop_lines: true
+ traffic_light: true
+ traffic_light_id: true
+ traffic_light_reg_elem_id: true
+ traffic_light_triangle: true
+ walkway_lanelets: false
+ 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:
+ {}
+ 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: true
+ 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_perception_rviz_plugin/DetectedObjects
+ Confidence Interval: 95%
+ Display Acceleration: true
+ Display Existence Probability: false
+ Display Label: true
+ Display Pose Covariance: true
+ Display Predicted Path Confidence: true
+ Display Predicted Paths: true
+ Display Twist: true
+ Display Twist Covariance: false
+ Display UUID: true
+ Display Velocity: true
+ Display Yaw Covariance: false
+ Display Yaw Rate: false
+ Display Yaw Rate Covariance: false
+ Enabled: true
+ Line Width: 0.029999999329447746
+ MOTORCYCLE:
+ Alpha: 0.9990000128746033
+ Color: 119; 11; 32
+ Name: DetectedObjects
+ Namespaces:
+ {}
+ Object Fill Type: skeleton
+ 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_perception_rviz_plugin/TrackedObjects
+ Confidence Interval: 95%
+ Display Acceleration: true
+ Display Existence Probability: false
+ Display Label: true
+ Display Pose Covariance: true
+ Display Predicted Path Confidence: true
+ Display Predicted Paths: true
+ Display Twist: true
+ Display Twist Covariance: false
+ Display UUID: true
+ Display Velocity: true
+ Display Yaw Covariance: false
+ Display Yaw Rate: false
+ Display Yaw Rate Covariance: false
+ Dynamic Status: All
+ Enabled: true
+ Line Width: 0.029999999329447746
+ MOTORCYCLE:
+ Alpha: 0.9990000128746033
+ Color: 119; 11; 32
+ Name: TrackedObjects
+ Namespaces:
+ {}
+ Object Fill Type: skeleton
+ 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_perception_rviz_plugin/PredictedObjects
+ Confidence Interval: 95%
+ Display Acceleration: true
+ Display Existence Probability: false
+ Display Label: true
+ Display Pose Covariance: true
+ Display Predicted Path Confidence: true
+ Display Predicted Paths: true
+ Display Twist: true
+ Display Twist Covariance: false
+ Display UUID: true
+ Display Velocity: true
+ Display Yaw Covariance: false
+ Display Yaw Rate: false
+ Display Yaw Rate Covariance: false
+ 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
+ position covariance: true
+ shape: true
+ twist: true
+ uuid: true
+ velocity: true
+ Object Fill Type: skeleton
+ 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: false
+ 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: false
+ - Class: rviz_default_plugins/MarkerArray
+ Enabled: true
+ Name: MapBasedDetectionResult
+ Namespaces:
+ {}
+ 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:
+ {}
+ 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
+ - Class: autoware_mission_details_overlay_rviz_plugin/MissionDetailsDisplay
+ Enabled: true
+ Height: 100
+ Name: MissionDetailsDisplay
+ Remaining Distance and Time Topic: /planning/mission_remaining_distance_time
+ Right: 10
+ Top: 10
+ Value: true
+ Width: 170
+ 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: 0.8500000238418579
+ Value: false
+ Vehicle Length: 4.400000095367432
+ Vehicle Width: 1.6950000524520874
+ 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 Slope:
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+ Value: false
+ View Text Velocity:
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+ 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: false
+ 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: 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: 0.8500000238418579
+ Value: false
+ Vehicle Length: 4.400000095367432
+ Vehicle Width: 1.6950000524520874
+ 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 Slope:
+ Scale: 0.30000001192092896
+ 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 Slope:
+ Scale: 0.30000001192092896
+ 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/static_obstacle_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: 0.8500000238418579
+ Value: false
+ Vehicle Length: 4.400000095367432
+ Vehicle Width: 1.6950000524520874
+ 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 Slope:
+ Scale: 0.30000001192092896
+ 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: 0.8500000238418579
+ Value: false
+ Vehicle Length: 4.400000095367432
+ Vehicle Width: 1.6950000524520874
+ 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 Slope:
+ Scale: 0.30000001192092896
+ 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: 0.8500000238418579
+ Value: false
+ Vehicle Length: 4.400000095367432
+ Vehicle Width: 1.6950000524520874
+ 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 Slope:
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+ Value: false
+ View Text Velocity:
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+ 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: 0.8500000238418579
+ Value: false
+ Vehicle Length: 4.400000095367432
+ Vehicle Width: 1.6950000524520874
+ 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
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+ Value: false
+ View Text Velocity:
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+ 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_StartPlanner
+ Topic:
+ Depth: 5
+ Durability Policy: Volatile
+ Filter size: 10
+ History Policy: Keep Last
+ Reliability Policy: Reliable
+ Value: /planning/path_reference/start_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: 0.8500000238418579
+ Value: false
+ Vehicle Length: 4.400000095367432
+ Vehicle Width: 1.6950000524520874
+ View Path:
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+ Color: 210; 110; 110
+ Constant Color: true
+ Constant Width: false
+ Value: true
+ Width: 2
+ View Point:
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+ Color: 0; 60; 255
+ Offset: 0
+ Radius: 0.10000000149011612
+ Value: false
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+ Value: false
+ View Text Velocity:
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+ 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: 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: 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:
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+ Color: 115; 210; 22
+ Constant Color: false
+ Constant Width: false
+ Value: true
+ Width: 2
+ View Point:
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+ Color: 0; 60; 255
+ Offset: 0
+ Radius: 0.10000000149011612
+ Value: false
+ View Text Slope:
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+ Value: false
+ View Text Velocity:
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+ Value: false
+ View Velocity:
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+ Color: 0; 0; 0
+ Constant Color: false
+ Scale: 0.30000001192092896
+ Value: false
+ - Class: rviz_plugins/Path
+ Color Border Vel Max: 3
+ Enabled: false
+ 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: 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:
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+ Color: 115; 210; 22
+ Constant Color: false
+ Constant Width: false
+ Value: true
+ Width: 2
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+ View Text Slope:
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+ Value: false
+ View Text Velocity:
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+ 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: PathChangeCandidate_LaneChangeRight
+ Topic:
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+ Durability Policy: Volatile
+ Filter size: 10
+ History Policy: Keep Last
+ Reliability Policy: Reliable
+ Value: /planning/path_candidate/lane_change_right
+ Value: false
+ View Drivable Area:
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+ Color: 0; 148; 205
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+ Color: 0; 0; 0
+ Constant Color: false
+ Scale: 0.30000001192092896
+ Value: false
+ - Class: rviz_plugins/Path
+ Color Border Vel Max: 3
+ Enabled: false
+ 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: false
+ View Drivable Area:
+ Alpha: 0.9990000128746033
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+ View Velocity:
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+ Color: 0; 0; 0
+ Constant Color: false
+ Scale: 0.30000001192092896
+ Value: false
+ - Class: rviz_plugins/Path
+ Color Border Vel Max: 3
+ Enabled: false
+ 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: false
+ View Drivable Area:
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+ View Velocity:
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+ Color: 0; 0; 0
+ Constant Color: false
+ Scale: 0.30000001192092896
+ Value: false
+ - Class: rviz_plugins/Path
+ Color Border Vel Max: 3
+ Enabled: false
+ 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: false
+ View Drivable Area:
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+ Value: true
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+ View Velocity:
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+ Color: 0; 0; 0
+ Constant Color: false
+ Scale: 0.30000001192092896
+ Value: false
+ - Class: rviz_plugins/Path
+ Color Border Vel Max: 3
+ Enabled: false
+ Name: PathChangeCandidate_Avoidance
+ Topic:
+ Depth: 5
+ Durability Policy: Volatile
+ Filter size: 10
+ History Policy: Keep Last
+ Reliability Policy: Reliable
+ Value: /planning/path_candidate/static_obstacle_avoidance
+ Value: false
+ View Drivable Area:
+ Alpha: 0.9990000128746033
+ Color: 0; 148; 205
+ Value: true
+ Width: 0.30000001192092896
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+ View Velocity:
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+ Color: 0; 0; 0
+ Constant Color: false
+ Scale: 0.30000001192092896
+ Value: false
+ - Class: rviz_plugins/Path
+ Color Border Vel Max: 3
+ Enabled: false
+ Name: PathChangeCandidate_StartPlanner
+ Topic:
+ Depth: 5
+ Durability Policy: Volatile
+ Filter size: 10
+ History Policy: Keep Last
+ Reliability Policy: Reliable
+ Value: /planning/path_candidate/start_planner
+ Value: false
+ View Drivable Area:
+ Alpha: 0.9990000128746033
+ Color: 0; 148; 205
+ Value: true
+ Width: 0.30000001192092896
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+ Color: 230; 230; 50
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+ View Velocity:
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+ Color: 0; 0; 0
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+ Scale: 0.30000001192092896
+ Value: false
+ - Class: rviz_plugins/Path
+ Color Border Vel Max: 3
+ Enabled: false
+ 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: false
+ View Drivable Area:
+ Alpha: 0.9990000128746033
+ Color: 0; 148; 205
+ Value: true
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+ Scale: 0.30000001192092896
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+ Enabled: true
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+ right_bound: true
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+ History Policy: Keep Last
+ Reliability Policy: Reliable
+ Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/debug/bound
+ Value: true
+ - Class: rviz_common/Group
+ Displays:
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+ Enabled: true
+ Name: VirtualWall (StaticObstacleAvoidance)
+ Namespaces:
+ {}
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+ 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/static_obstacle_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:
+ 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/behavior_planning/behavior_path_planner/virtual_wall/lane_change_right
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+ Enabled: true
+ Name: VirtualWall (LaneChangeLeft)
+ Namespaces:
+ {}
+ Topic:
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+ 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:
+ {}
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+ 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:
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+ 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 (GoalPlanner)
+ Namespaces:
+ {}
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+ Durability Policy: Volatile
+ History Policy: Keep Last
+ Reliability Policy: Reliable
+ Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/virtual_wall/goal_planner
+ Value: true
+ - Class: rviz_default_plugins/MarkerArray
+ Enabled: true
+ Name: VirtualWall (StartPlanner)
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+ {}
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+ Durability Policy: Volatile
+ History Policy: Keep Last
+ Reliability Policy: Reliable
+ Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/virtual_wall/start_planner
+ Value: true
+ - Class: rviz_default_plugins/MarkerArray
+ Enabled: true
+ Name: VirtualWall (BlindSpot)
+ Namespaces:
+ {}
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+ 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:
+ {}
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+ 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:
+ {}
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+ 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:
+ {}
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+ 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:
+ {}
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+ 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:
+ {}
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+ 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:
+ 1009_stop_factor_text: true
+ 1009_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:
+ {}
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+ 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:
+ 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/behavior_planning/behavior_velocity_planner/virtual_wall/run_out
+ Value: true
+ - Class: rviz_default_plugins/MarkerArray
+ Enabled: true
+ Name: VirtualWall (SpeedBump)
+ Namespaces:
+ {}
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+ 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 (NoDrivableLane)
+ Namespaces:
+ {}
+ Topic:
+ Depth: 5
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+ 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
+ Enabled: true
+ Name: VirtualWall
+ - Class: rviz_common/Group
+ Displays:
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+ Enabled: true
+ Name: Arrow
+ Namespaces:
+ "": true
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+ Durability Policy: Volatile
+ History Policy: Keep Last
+ Reliability Policy: Reliable
+ Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/debug/path
+ Value: true
+ - Class: rviz_default_plugins/MarkerArray
+ Enabled: true
+ Name: Crosswalk
+ Namespaces:
+ attention range far: true
+ attention range near: true
+ collision point: true
+ collision point state: true
+ crosswalk polygon: true
+ object polygon: true
+ vehicle polygon: 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/debug/crosswalk
+ Value: true
+ - 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
+ - Class: rviz_default_plugins/MarkerArray
+ Enabled: true
+ 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: true
+ - Class: rviz_default_plugins/MarkerArray
+ Enabled: true
+ 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: true
+ - Class: rviz_default_plugins/MarkerArray
+ Enabled: true
+ 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: true
+ - Class: rviz_default_plugins/MarkerArray
+ Enabled: true
+ 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: true
+ - Class: rviz_default_plugins/MarkerArray
+ Enabled: true
+ 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: true
+ - Class: rviz_default_plugins/MarkerArray
+ Enabled: true
+ 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: true
+ - 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: true
+ Name: StaticObstacleAvoidance
+ Namespaces:
+ others_ambiguous_stopped_vehicle_cube: true
+ others_ambiguous_stopped_vehicle_info: true
+ others_ambiguous_stopped_vehicle_info_reason: true
+ others_ambiguous_stopped_vehicle_overhang_lanelet: true
+ others_deviating_from_ego_lane_cube: true
+ others_deviating_from_ego_lane_info: true
+ others_deviating_from_ego_lane_info_reason: true
+ others_deviating_from_ego_lane_overhang_lanelet: true
+ others_enough_lateral_distance_cube: true
+ others_enough_lateral_distance_info: true
+ others_enough_lateral_distance_info_reason: true
+ others_enough_lateral_distance_overhang_lanelet: true
+ others_further_than_threshold_cube: true
+ others_further_than_threshold_info: true
+ others_further_than_threshold_info_reason: true
+ others_further_than_threshold_overhang_lanelet: true
+ others_is_not_parking_object_cube: true
+ others_is_not_parking_object_info: true
+ others_is_not_parking_object_info_reason: true
+ others_is_not_parking_object_overhang_lanelet: true
+ others_merging_to_ego_lane_cube: true
+ others_merging_to_ego_lane_info: true
+ others_merging_to_ego_lane_info_reason: true
+ others_merging_to_ego_lane_overhang_lanelet: true
+ others_moving_object_cube: true
+ others_moving_object_info: true
+ others_moving_object_info_reason: true
+ others_moving_object_overhang_lanelet: true
+ others_out_of_target_area_cube: true
+ others_out_of_target_area_info: true
+ others_out_of_target_area_info_reason: true
+ others_out_of_target_area_overhang_lanelet: true
+ 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/static_obstacle_avoidance
+ Value: true
+ - Class: rviz_default_plugins/MarkerArray
+ Enabled: false
+ Name: LeftLaneChange
+ 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_left
+ Value: false
+ - Class: rviz_default_plugins/MarkerArray
+ Enabled: false
+ Name: RightLaneChange
+ 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_right
+ 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: StartPlanner
+ 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/start_planner
+ 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: true
+ Name: DynamicObstacleAvoidance
+ 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_obstacle_avoidance
+ Value: true
+ - 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
+ Enabled: true
+ Name: DebugMarker
+ - Class: rviz_common/Group
+ Displays:
+ - Class: rviz_default_plugins/MarkerArray
+ Enabled: true
+ Name: Info (StaticObstacleAvoidance)
+ 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/static_obstacle_avoidance
+ Value: true
+ - Class: rviz_default_plugins/MarkerArray
+ Enabled: true
+ 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: true
+ - Class: rviz_default_plugins/MarkerArray
+ Enabled: true
+ 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: true
+ - Class: rviz_default_plugins/MarkerArray
+ Enabled: true
+ 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: true
+ - Class: rviz_default_plugins/MarkerArray
+ Enabled: true
+ 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: true
+ - Class: rviz_default_plugins/MarkerArray
+ Enabled: true
+ 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: true
+ - Class: rviz_default_plugins/MarkerArray
+ Enabled: true
+ Name: Info (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/info/goal_planner
+ Value: true
+ - Class: rviz_default_plugins/MarkerArray
+ Enabled: true
+ Name: Info (StartPlanner)
+ 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/start_planner
+ Value: true
+ - Class: rviz_default_plugins/MarkerArray
+ Enabled: true
+ Name: Info (DynamicObstacleAvoidance)
+ 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/dynamic_obstacle_avoidance
+ Value: true
+ Enabled: true
+ Name: InfoMarker
+ Enabled: true
+ Name: BehaviorPlanning
+ - Class: rviz_common/Group
+ Displays:
+ - Class: rviz_plugins/Trajectory
+ Color Border Vel Max: 3
+ Enabled: true
+ 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: true
+ View Footprint:
+ Alpha: 1
+ Color: 230; 230; 50
+ Offset from BaseLink: 0
+ Rear Overhang: 0.8500000238418579
+ Value: false
+ Vehicle Length: 4.400000095367432
+ Vehicle Width: 1.6950000524520874
+ 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 Slope:
+ Scale: 0.30000001192092896
+ 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
+ - Class: rviz_default_plugins/MarkerArray
+ Enabled: true
+ Name: VirtualWall (MotionVelocitySmoother)
+ Namespaces:
+ {}
+ Topic:
+ Depth: 5
+ Durability Policy: Volatile
+ History Policy: Keep Last
+ Reliability Policy: Reliable
+ Value: /planning/scenario_planning/velocity_smoother/virtual_wall
+ 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/motion_planning/motion_velocity_planner/out_of_lane/virtual_walls
+ Value: true
+ - Class: rviz_default_plugins/MarkerArray
+ Enabled: true
+ Name: VirtualWall (ObstacleVelocityLimiter)
+ Namespaces:
+ {}
+ Topic:
+ Depth: 5
+ Durability Policy: Volatile
+ History Policy: Keep Last
+ Reliability Policy: Reliable
+ Value: /planning/scenario_planning/lane_driving/motion_planning/motion_velocity_planner/obstacle_velocity_limiter/virtual_walls
+ 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/motion_planning/motion_velocity_planner/dynamic_obstacle_stop/virtual_walls
+ 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:
+ 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
+ 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: false
+ Enabled: true
+ 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
+ - Class: rviz_common/Group
+ Displays:
+ - Class: rviz_default_plugins/MarkerArray
+ Enabled: true
+ Name: OutOfLane
+ Namespaces:
+ {}
+ Topic:
+ Depth: 5
+ Durability Policy: Volatile
+ History Policy: Keep Last
+ Reliability Policy: Reliable
+ Value: /planning/scenario_planning/lane_driving/motion_planning/motion_velocity_planner/out_of_lane/debug_markers
+ Value: true
+ - Class: rviz_default_plugins/MarkerArray
+ Enabled: true
+ Name: ObstacleVelocityLimiter
+ Namespaces:
+ {}
+ Topic:
+ Depth: 5
+ Durability Policy: Volatile
+ History Policy: Keep Last
+ Reliability Policy: Reliable
+ Value: /planning/scenario_planning/lane_driving/motion_planning/motion_velocity_planner/obstacle_velocity_limiter/debug_markers
+ Value: true
+ - Class: rviz_default_plugins/MarkerArray
+ Enabled: true
+ Name: DynamicObstacleStop
+ Namespaces:
+ {}
+ Topic:
+ Depth: 5
+ Durability Policy: Volatile
+ History Policy: Keep Last
+ Reliability Policy: Reliable
+ Value: /planning/scenario_planning/lane_driving/motion_planning/motion_velocity_planner/dynamic_obstacle_stop/debug_markers
+ Value: true
+ Enabled: false
+ Name: MotionVelocityPlanner
+ Enabled: true
+ 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: true
+ 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: true
+ - 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: true
+ 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: 0.8500000238418579
+ Value: false
+ Vehicle Length: 4.400000095367432
+ Vehicle Width: 1.6950000524520874
+ 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 Slope:
+ Scale: 0.30000001192092896
+ 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/Marker
+ Enabled: false
+ Name: Stop Reason
+ Namespaces:
+ {}
+ Topic:
+ Depth: 5
+ Durability Policy: Volatile
+ Filter size: 10
+ History Policy: Keep Last
+ Reliability Policy: Reliable
+ Value: /control/trajectory_follower/longitudinal/stop_reason
+ 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
+ - Class: rviz_common/Group
+ Displays:
+ - Class: rviz_common/Group
+ Displays: ~
+ Enabled: false
+ Name: Map
+ - Class: rviz_common/Group
+ Displays:
+ - Class: rviz_default_plugins/Camera
+ Enabled: false
+ Far Plane Distance: 100
+ Image Rendering: background and overlay
+ Name: PointcloudOnCamera
+ Overlay Alpha: 0.5
+ Topic:
+ Depth: 5
+ Durability Policy: Volatile
+ History Policy: Keep Last
+ Reliability Policy: Best Effort
+ Value: /sensing/camera/camera6/image_raw
+ Value: false
+ Visibility:
+ Control:
+ Debug/AEB: true
+ Debug/MPC: true
+ Debug/PurePursuit: true
+ Predicted Trajectory: true
+ Stop Reason: true
+ Value: false
+ Debug:
+ Control: true
+ Localization:
+ "": true
+ Value: true
+ Map: true
+ Perception:
+ CameraLidarFusion(purple): true
+ Centerpoint(red1): true
+ CenterpointROIFusion(red2): true
+ CenterpointValidator(red3): true
+ Detection(yellow): true
+ DetectionByTracker(orange): true
+ PointPainting(light_green1): true
+ PointPaintingROIFusion(light_green2): true
+ PointPaintingValidator(light_green3): true
+ Prediction(light_blue): true
+ RadarFarObjects(white): true
+ Tracking(green): true
+ Value: true
+ Planning:
+ Objects Of Interest:
+ AvoidanceByLCLeft: true
+ AvoidanceByLCRight: true
+ AvoidanceLeft: true
+ AvoidanceRight: true
+ BlindSpot: true
+ Crosswalk: true
+ DetectionArea: true
+ GoalPlanner: true
+ Intersection: true
+ LaneChangeLeft: true
+ LaneChangeRight: true
+ NoStoppingArea: true
+ StartPlanner: true
+ TrafficLight: true
+ Value: true
+ Value: true
+ Sensing:
+ ConcatenatePointCloud: true
+ RadarRawObjects(white): true
+ Value: true
+ Value: true
+ Image: true
+ Localization:
+ EKF:
+ PoseHistory: true
+ Value: true
+ NDT:
+ Aligned: true
+ Initial: true
+ MonteCarloInitialPose: true
+ PoseHistory: true
+ PoseWithCovAligned: true
+ PoseWithCovInitial: true
+ Value: true
+ Value: false
+ Map:
+ Lanelet2VectorMap: true
+ PointCloudMap: true
+ Value: false
+ MrmSummaryOverlayDisplay: true
+ Perception:
+ ObjectRecognition:
+ Detection:
+ DetectedObjects: true
+ Value: true
+ Prediction:
+ Maneuver: true
+ PredictedObjects: true
+ Value: true
+ Tracking:
+ TrackedObjects: true
+ Value: true
+ Value: true
+ OccupancyGrid:
+ Map: true
+ Value: true
+ Segmentation:
+ NoGroundPointCloud: true
+ Value: true
+ TrafficLight:
+ MapBasedDetectionResult: true
+ RecognitionResultOnImage: true
+ Value: true
+ Value: false
+ Planning:
+ Diagnostic:
+ PlanningErrorMarker: true
+ Value: true
+ MissionPlanning:
+ GoalPose: true
+ MissionDetailsDisplay: true
+ RouteArea: true
+ Value: true
+ ScenarioPlanning:
+ LaneDriving:
+ BehaviorPlanning:
+ (old)PathChangeCandidate_LaneChange: true
+ Bound: true
+ DebugMarker:
+ Arrow: true
+ Blind Spot: true
+ Crosswalk: true
+ DetectionArea: true
+ DynamicObstacleAvoidance: true
+ GoalPlanner: true
+ Intersection: true
+ LaneFollowing: true
+ LeftLaneChange: true
+ NoDrivableLane: true
+ NoStoppingArea: true
+ OcclusionSpot: true
+ RightLaneChange: true
+ RunOut: true
+ SideShift: true
+ SpeedBump: true
+ StartPlanner: true
+ StaticObstacleAvoidance: true
+ StopLine: true
+ TrafficLight: true
+ Value: true
+ VirtualTrafficLight: true
+ InfoMarker:
+ Info (AvoidanceByLC): true
+ Info (DynamicObstacleAvoidance): true
+ Info (ExtLaneChangeLeft): true
+ Info (ExtLaneChangeRight): true
+ Info (GoalPlanner): true
+ Info (LaneChangeLeft): true
+ Info (LaneChangeRight): true
+ Info (StartPlanner): true
+ Info (StaticObstacleAvoidance): true
+ Value: true
+ Path: true
+ PathChangeCandidate_Avoidance: true
+ PathChangeCandidate_AvoidanceByLC: true
+ PathChangeCandidate_ExternalRequestLaneChangeLeft: true
+ PathChangeCandidate_ExternalRequestLaneChangeRight: true
+ PathChangeCandidate_GoalPlanner: true
+ PathChangeCandidate_LaneChangeLeft: true
+ PathChangeCandidate_LaneChangeRight: true
+ PathChangeCandidate_StartPlanner: true
+ PathReference_Avoidance: true
+ PathReference_AvoidanceByLC: true
+ PathReference_GoalPlanner: true
+ PathReference_LaneChangeLeft: true
+ PathReference_LaneChangeRight: true
+ PathReference_StartPlanner: true
+ Value: true
+ VirtualWall:
+ Value: true
+ VirtualWall (AvoidanceByLC): true
+ VirtualWall (BlindSpot): true
+ VirtualWall (Crosswalk): true
+ VirtualWall (DetectionArea): true
+ VirtualWall (ExtLaneChangeLeft): true
+ VirtualWall (ExtLaneChangeRight): true
+ VirtualWall (GoalPlanner): true
+ VirtualWall (Intersection): true
+ VirtualWall (LaneChangeLeft): true
+ VirtualWall (LaneChangeRight): true
+ VirtualWall (MergeFromPrivateArea): true
+ VirtualWall (NoDrivableLane): true
+ VirtualWall (NoStoppingArea): true
+ VirtualWall (OcclusionSpot): true
+ VirtualWall (RunOut): true
+ VirtualWall (SpeedBump): true
+ VirtualWall (StartPlanner): true
+ VirtualWall (StaticObstacleAvoidance): true
+ VirtualWall (StopLine): true
+ VirtualWall (TrafficLight): true
+ VirtualWall (VirtualTrafficLight): true
+ VirtualWall (Walkway): true
+ MotionPlanning:
+ DebugMarker:
+ MotionVelocityPlanner:
+ DynamicObstacleStop: true
+ ObstacleVelocityLimiter: true
+ OutOfLane: true
+ Value: true
+ ObstacleAvoidance: true
+ ObstacleCruise:
+ CruiseVirtualWall: true
+ DebugMarker: true
+ SlowDownVirtualWall: true
+ Value: true
+ ObstacleStop: true
+ SurroundObstacleChecker:
+ Footprint: true
+ FootprintOffset: true
+ FootprintRecoverOffset: true
+ SurroundObstacleCheck: true
+ Value: true
+ Value: true
+ Trajectory: true
+ Value: true
+ VirtualWall:
+ Value: true
+ VirtualWall (DynamicObstacleStop): true
+ VirtualWall (MotionVelocitySmoother): true
+ VirtualWall (ObstacleAvoidance): true
+ VirtualWall (ObstacleCruise): true
+ VirtualWall (ObstacleStop): true
+ VirtualWall (ObstacleVelocityLimiter): true
+ VirtualWall (OutOfLane): true
+ VirtualWall (SurroundObstacle): true
+ Value: true
+ ModifiedGoal: true
+ Parking:
+ Costmap: true
+ PartialPoseArray: true
+ PoseArray: true
+ Value: true
+ ScenarioTrajectory: true
+ Value: true
+ Value: false
+ PlanningInternalState: true
+ Sensing:
+ GNSS:
+ PoseWithCovariance: true
+ Value: true
+ LiDAR:
+ ConcatenatePointCloud: true
+ MeasurementRange: true
+ Value: true
+ Value: true
+ System:
+ Grid: true
+ MRM Summary: true
+ TF: true
+ Value: false
+ Vehicle:
+ PolarGridDisplay: true
+ SignalDisplay: true
+ Value: true
+ VehicleModel: true
+ Value: true
+ Zoom Factor: 1
+ - Alpha: 1
+ 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): 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: /sensing/lidar/concatenated/pointcloud
+ Use Fixed Frame: false
+ Use rainbow: true
+ Value: true
+ - BUS:
+ Alpha: 0.5
+ Color: 255; 255; 255
+ CAR:
+ Alpha: 0.5
+ Color: 255; 255; 255
+ CYCLIST:
+ Alpha: 0.5
+ Color: 255; 255; 255
+ Class: autoware_perception_rviz_plugin/DetectedObjects
+ Confidence Interval: 95%
+ Display Acceleration: true
+ Display Existence Probability: false
+ Display Label: true
+ Display Pose Covariance: true
+ Display Predicted Path Confidence: true
+ Display Predicted Paths: true
+ Display Twist: true
+ Display Twist Covariance: false
+ Display UUID: true
+ Display Velocity: true
+ Display Yaw Covariance: false
+ Display Yaw Rate: false
+ Display Yaw Rate Covariance: false
+ Enabled: true
+ Line Width: 0.029999999329447746
+ MOTORCYCLE:
+ Alpha: 0.5
+ Color: 255; 255; 255
+ Name: RadarRawObjects(white)
+ Namespaces:
+ {}
+ Object Fill Type: skeleton
+ PEDESTRIAN:
+ Alpha: 0.5
+ Color: 255; 255; 255
+ Polygon Type: 3d
+ TRAILER:
+ Alpha: 0.5
+ Color: 255; 255; 255
+ TRUCK:
+ Alpha: 0.5
+ Color: 255; 255; 255
+ Topic:
+ Depth: 5
+ Durability Policy: Volatile
+ History Policy: Keep Last
+ Reliability Policy: Best Effort
+ Value: /sensing/radar/detected_objects
+ UNKNOWN:
+ Alpha: 0.5
+ Color: 255; 255; 255
+ Value: true
+ Visualization Type: Normal
+ Enabled: false
+ Name: Sensing
+ - Class: rviz_common/Group
+ Displays:
+ - 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: true
+ Invert Rainbow: false
+ Max Color: 85; 255; 127
+ Max Intensity: 0
+ Min Color: 0; 0; 0
+ Min Intensity: 0
+ Name: NDT pointclouds
+ 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: true
+ - Alpha: 1
+ 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: 255; 255; 255
+ Color Transformer: ""
+ 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: NDTLoadedPCDMap
+ Position Transformer: ""
+ Selectable: true
+ Size (Pixels): 3
+ Size (m): 0.10000000149011612
+ Style: Flat Squares
+ Topic:
+ Depth: 5
+ Durability Policy: Volatile
+ Filter size: 10
+ History Policy: Keep Last
+ Reliability Policy: Reliable
+ Value: /localization/pose_estimator/debug/loaded_pointcloud_map
+ Use Fixed Frame: true
+ Use rainbow: true
+ Value: true
+ - Buffer Size: 200
+ Class: rviz_plugins::PoseHistory
+ Enabled: true
+ Line:
+ Alpha: 0.9990000128746033
+ Color: 170; 255; 127
+ Value: true
+ Width: 0.10000000149011612
+ Name: NDTPoseHistory
+ Topic:
+ Depth: 5
+ Durability Policy: Volatile
+ Filter size: 10
+ History Policy: Keep Last
+ Reliability Policy: Reliable
+ Value: /localization/pose_estimator/pose
+ Value: true
+ - Buffer Size: 1000
+ Class: rviz_plugins::PoseHistory
+ Enabled: true
+ Line:
+ Alpha: 0.9990000128746033
+ Color: 0; 255; 255
+ Value: true
+ Width: 0.10000000149011612
+ Name: EKFPoseHistory
+ 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: false
+ Name: Localization
+ - Class: rviz_common/Group
+ Displays:
+ - BUS:
+ Alpha: 0.9990000128746033
+ Color: 255; 138; 128
+ CAR:
+ Alpha: 0.9990000128746033
+ Color: 255; 138; 128
+ CYCLIST:
+ Alpha: 0.9990000128746033
+ Color: 255; 138; 128
+ Class: autoware_perception_rviz_plugin/DetectedObjects
+ Confidence Interval: 95%
+ Display Acceleration: true
+ Display Existence Probability: false
+ Display Label: true
+ Display Pose Covariance: true
+ Display Predicted Path Confidence: true
+ Display Predicted Paths: true
+ Display Twist: true
+ Display Twist Covariance: false
+ Display UUID: true
+ Display Velocity: true
+ Display Yaw Covariance: false
+ Display Yaw Rate: false
+ Display Yaw Rate Covariance: false
+ Enabled: true
+ Line Width: 0.10000000149011612
+ MOTORCYCLE:
+ Alpha: 0.9990000128746033
+ Color: 255; 138; 128
+ Name: Centerpoint(red1)
+ Namespaces:
+ {}
+ Object Fill Type: skeleton
+ PEDESTRIAN:
+ Alpha: 0.9990000128746033
+ Color: 255; 138; 128
+ Polygon Type: 3d
+ TRAILER:
+ Alpha: 0.9990000128746033
+ Color: 255; 138; 128
+ TRUCK:
+ Alpha: 0.9990000128746033
+ Color: 255; 138; 128
+ Topic:
+ Depth: 5
+ Durability Policy: Volatile
+ History Policy: Keep Last
+ Reliability Policy: Best Effort
+ Value: /perception/object_recognition/detection/centerpoint/objects
+ UNKNOWN:
+ Alpha: 0.9990000128746033
+ Color: 255; 138; 128
+ Value: true
+ Visualization Type: Normal
+ - BUS:
+ Alpha: 0.9990000128746033
+ Color: 255; 82; 82
+ CAR:
+ Alpha: 0.9990000128746033
+ Color: 255; 82; 82
+ CYCLIST:
+ Alpha: 0.9990000128746033
+ Color: 255; 82; 82
+ Class: autoware_perception_rviz_plugin/DetectedObjects
+ Confidence Interval: 95%
+ Display Acceleration: true
+ Display Existence Probability: false
+ Display Label: true
+ Display Pose Covariance: true
+ Display Predicted Path Confidence: true
+ Display Predicted Paths: true
+ Display Twist: true
+ Display Twist Covariance: false
+ Display UUID: true
+ Display Velocity: true
+ Display Yaw Covariance: false
+ Display Yaw Rate: false
+ Display Yaw Rate Covariance: false
+ Enabled: true
+ Line Width: 0.10000000149011612
+ MOTORCYCLE:
+ Alpha: 0.9990000128746033
+ Color: 255; 82; 82
+ Name: CenterpointROIFusion(red2)
+ Namespaces:
+ {}
+ Object Fill Type: skeleton
+ PEDESTRIAN:
+ Alpha: 0.9990000128746033
+ Color: 255; 82; 82
+ Polygon Type: 3d
+ TRAILER:
+ Alpha: 0.9990000128746033
+ Color: 255; 82; 82
+ TRUCK:
+ Alpha: 0.9990000128746033
+ Color: 255; 82; 82
+ Topic:
+ Depth: 5
+ Durability Policy: Volatile
+ History Policy: Keep Last
+ Reliability Policy: Best Effort
+ Value: /perception/object_recognition/detection/centerpoint/roi_fusion/objects
+ UNKNOWN:
+ Alpha: 0.9990000128746033
+ Color: 255; 82; 82
+ Value: true
+ Visualization Type: Normal
+ - BUS:
+ Alpha: 0.9990000128746033
+ Color: 213; 0; 0
+ CAR:
+ Alpha: 0.9990000128746033
+ Color: 213; 0; 0
+ CYCLIST:
+ Alpha: 0.9990000128746033
+ Color: 213; 0; 0
+ Class: autoware_perception_rviz_plugin/DetectedObjects
+ Confidence Interval: 95%
+ Display Acceleration: true
+ Display Existence Probability: false
+ Display Label: true
+ Display Pose Covariance: true
+ Display Predicted Path Confidence: true
+ Display Predicted Paths: true
+ Display Twist: true
+ Display Twist Covariance: false
+ Display UUID: true
+ Display Velocity: true
+ Display Yaw Covariance: false
+ Display Yaw Rate: false
+ Display Yaw Rate Covariance: false
+ Enabled: true
+ Line Width: 0.10000000149011612
+ MOTORCYCLE:
+ Alpha: 0.9990000128746033
+ Color: 213; 0; 0
+ Name: CenterpointValidator(red3)
+ Namespaces:
+ {}
+ Object Fill Type: skeleton
+ PEDESTRIAN:
+ Alpha: 0.9990000128746033
+ Color: 213; 0; 0
+ Polygon Type: 3d
+ TRAILER:
+ Alpha: 0.9990000128746033
+ Color: 213; 0; 0
+ TRUCK:
+ Alpha: 0.9990000128746033
+ Color: 213; 0; 0
+ Topic:
+ Depth: 5
+ Durability Policy: Volatile
+ History Policy: Keep Last
+ Reliability Policy: Best Effort
+ Value: /perception/object_recognition/detection/centerpoint/validation/objects
+ UNKNOWN:
+ Alpha: 0.9990000128746033
+ Color: 213; 0; 0
+ Value: true
+ Visualization Type: Normal
+ - BUS:
+ Alpha: 0.9990000128746033
+ Color: 178; 255; 89
+ CAR:
+ Alpha: 0.9990000128746033
+ Color: 178; 255; 89
+ CYCLIST:
+ Alpha: 0.9990000128746033
+ Color: 178; 255; 89
+ Class: autoware_perception_rviz_plugin/DetectedObjects
+ Confidence Interval: 95%
+ Display Acceleration: true
+ Display Existence Probability: false
+ Display Label: false
+ Display Pose Covariance: true
+ Display Predicted Path Confidence: true
+ Display Predicted Paths: true
+ Display Twist: true
+ Display Twist Covariance: false
+ Display UUID: true
+ Display Velocity: false
+ Display Yaw Covariance: false
+ Display Yaw Rate: false
+ Display Yaw Rate Covariance: false
+ Enabled: true
+ Line Width: 0.10000000149011612
+ MOTORCYCLE:
+ Alpha: 0.9990000128746033
+ Color: 178; 255; 89
+ Name: PointPainting(light_green1)
+ Namespaces:
+ {}
+ Object Fill Type: skeleton
+ PEDESTRIAN:
+ Alpha: 0.9990000128746033
+ Color: 178; 255; 89
+ Polygon Type: 2d
+ TRAILER:
+ Alpha: 0.9990000128746033
+ Color: 178; 255; 89
+ TRUCK:
+ Alpha: 0.9990000128746033
+ Color: 178; 255; 89
+ Topic:
+ Depth: 5
+ Durability Policy: Volatile
+ History Policy: Keep Last
+ Reliability Policy: Best Effort
+ Value: /perception/object_recognition/detection/pointpainting/objects
+ UNKNOWN:
+ Alpha: 0.9990000128746033
+ Color: 178; 255; 89
+ Value: true
+ Visualization Type: Normal
+ - BUS:
+ Alpha: 0.9990000128746033
+ Color: 118; 255; 3
+ CAR:
+ Alpha: 0.9990000128746033
+ Color: 118; 255; 3
+ CYCLIST:
+ Alpha: 0.9990000128746033
+ Color: 118; 255; 3
+ Class: autoware_perception_rviz_plugin/DetectedObjects
+ Confidence Interval: 95%
+ Display Acceleration: true
+ Display Existence Probability: false
+ Display Label: false
+ Display Pose Covariance: true
+ Display Predicted Path Confidence: true
+ Display Predicted Paths: true
+ Display Twist: true
+ Display Twist Covariance: false
+ Display UUID: false
+ Display Velocity: false
+ Display Yaw Covariance: false
+ Display Yaw Rate: false
+ Display Yaw Rate Covariance: false
+ Enabled: true
+ Line Width: 0.10000000149011612
+ MOTORCYCLE:
+ Alpha: 0.9990000128746033
+ Color: 118; 255; 3
+ Name: PointPaintingROIFusion(light_green2)
+ Namespaces:
+ {}
+ Object Fill Type: skeleton
+ PEDESTRIAN:
+ Alpha: 0.9990000128746033
+ Color: 118; 255; 3
+ Polygon Type: 2d
+ TRAILER:
+ Alpha: 0.9990000128746033
+ Color: 118; 255; 3
+ TRUCK:
+ Alpha: 0.9990000128746033
+ Color: 118; 255; 3
+ Topic:
+ Depth: 5
+ Durability Policy: Volatile
+ History Policy: Keep Last
+ Reliability Policy: Best Effort
+ Value: /perception/object_recognition/detection/pointpainting/roi_fusion/objects
+ UNKNOWN:
+ Alpha: 0.9990000128746033
+ Color: 118; 255; 3
+ Value: true
+ Visualization Type: Normal
+ - BUS:
+ Alpha: 0.9990000128746033
+ Color: 100; 221; 23
+ CAR:
+ Alpha: 0.9990000128746033
+ Color: 100; 221; 23
+ CYCLIST:
+ Alpha: 0.9990000128746033
+ Color: 100; 221; 23
+ Class: autoware_perception_rviz_plugin/DetectedObjects
+ Confidence Interval: 95%
+ Display Acceleration: true
+ Display Existence Probability: false
+ Display Label: false
+ Display Pose Covariance: true
+ Display Predicted Path Confidence: true
+ Display Predicted Paths: true
+ Display Twist: true
+ Display Twist Covariance: false
+ Display UUID: false
+ Display Velocity: false
+ Display Yaw Covariance: false
+ Display Yaw Rate: false
+ Display Yaw Rate Covariance: false
+ Enabled: true
+ Line Width: 0.10000000149011612
+ MOTORCYCLE:
+ Alpha: 0.9990000128746033
+ Color: 100; 221; 23
+ Name: PointPaintingValidator(light_green3)
+ Namespaces:
+ {}
+ Object Fill Type: skeleton
+ PEDESTRIAN:
+ Alpha: 0.9990000128746033
+ Color: 100; 221; 23
+ Polygon Type: 2d
+ TRAILER:
+ Alpha: 0.9990000128746033
+ Color: 100; 221; 23
+ TRUCK:
+ Alpha: 0.9990000128746033
+ Color: 100; 221; 23
+ Topic:
+ Depth: 5
+ Durability Policy: Volatile
+ History Policy: Keep Last
+ Reliability Policy: Best Effort
+ Value: /perception/object_recognition/detection/pointpainting/validation/objects
+ UNKNOWN:
+ Alpha: 0.9990000128746033
+ Color: 100; 221; 23
+ Value: true
+ Visualization Type: Normal
+ - BUS:
+ Alpha: 0.9990000128746033
+ Color: 255; 145; 0
+ CAR:
+ Alpha: 0.9990000128746033
+ Color: 255; 145; 0
+ CYCLIST:
+ Alpha: 0.9990000128746033
+ Color: 255; 145; 0
+ Class: autoware_perception_rviz_plugin/DetectedObjects
+ Confidence Interval: 95%
+ Display Acceleration: true
+ Display Existence Probability: false
+ Display Label: true
+ Display Pose Covariance: true
+ Display Predicted Path Confidence: true
+ Display Predicted Paths: true
+ Display Twist: true
+ Display Twist Covariance: false
+ Display UUID: true
+ Display Velocity: true
+ Display Yaw Covariance: false
+ Display Yaw Rate: false
+ Display Yaw Rate Covariance: false
+ Enabled: true
+ Line Width: 0.10000000149011612
+ MOTORCYCLE:
+ Alpha: 0.9990000128746033
+ Color: 255; 145; 0
+ Name: DetectionByTracker(orange)
+ Namespaces:
+ {}
+ Object Fill Type: skeleton
+ PEDESTRIAN:
+ Alpha: 0.9990000128746033
+ Color: 255; 145; 0
+ Polygon Type: 2d
+ TRAILER:
+ Alpha: 0.9990000128746033
+ Color: 255; 145; 0
+ TRUCK:
+ Alpha: 0.9990000128746033
+ Color: 255; 145; 0
+ Topic:
+ Depth: 5
+ Durability Policy: Volatile
+ History Policy: Keep Last
+ Reliability Policy: Best Effort
+ Value: /perception/object_recognition/detection/detection_by_tracker/objects
+ UNKNOWN:
+ Alpha: 0.9990000128746033
+ Color: 255; 145; 0
+ Value: true
+ Visualization Type: Normal
+ - BUS:
+ Alpha: 0.30000001192092896
+ Color: 213; 0; 249
+ CAR:
+ Alpha: 0.30000001192092896
+ Color: 213; 0; 249
+ CYCLIST:
+ Alpha: 0.30000001192092896
+ Color: 213; 0; 249
+ Class: autoware_perception_rviz_plugin/DetectedObjects
+ Confidence Interval: 95%
+ Display Acceleration: true
+ Display Existence Probability: false
+ Display Label: false
+ Display Pose Covariance: true
+ Display Predicted Path Confidence: true
+ Display Predicted Paths: true
+ Display Twist: true
+ Display Twist Covariance: false
+ Display UUID: false
+ Display Velocity: false
+ Display Yaw Covariance: false
+ Display Yaw Rate: false
+ Display Yaw Rate Covariance: false
+ Enabled: false
+ Line Width: 0.10000000149011612
+ MOTORCYCLE:
+ Alpha: 0.30000001192092896
+ Color: 213; 0; 249
+ Name: CameraLidarFusion(purple)
+ Namespaces:
+ {}
+ Object Fill Type: skeleton
+ PEDESTRIAN:
+ Alpha: 0.30000001192092896
+ Color: 213; 0; 249
+ Polygon Type: 2d
+ TRAILER:
+ Alpha: 0.30000001192092896
+ Color: 213; 0; 249
+ TRUCK:
+ Alpha: 0.30000001192092896
+ Color: 213; 0; 249
+ Topic:
+ Depth: 5
+ Durability Policy: Volatile
+ History Policy: Keep Last
+ Reliability Policy: Best Effort
+ Value: /perception/object_recognition/detection/clustering/camera_lidar_fusion/objects
+ UNKNOWN:
+ Alpha: 0.30000001192092896
+ Color: 213; 0; 249
+ Value: false
+ Visualization Type: Normal
+ - BUS:
+ Alpha: 0.9990000128746033
+ Color: 255; 255; 255
+ CAR:
+ Alpha: 0.9990000128746033
+ Color: 255; 255; 255
+ CYCLIST:
+ Alpha: 0.9990000128746033
+ Color: 255; 255; 255
+ Class: autoware_perception_rviz_plugin/DetectedObjects
+ Confidence Interval: 95%
+ Display Acceleration: true
+ Display Existence Probability: false
+ Display Label: true
+ Display Pose Covariance: true
+ Display Predicted Path Confidence: true
+ Display Predicted Paths: true
+ Display Twist: true
+ Display Twist Covariance: false
+ Display UUID: true
+ Display Velocity: true
+ Display Yaw Covariance: false
+ Display Yaw Rate: false
+ Display Yaw Rate Covariance: false
+ Enabled: false
+ Line Width: 0.10000000149011612
+ MOTORCYCLE:
+ Alpha: 0.9990000128746033
+ Color: 255; 255; 255
+ Name: RadarFarObjects(white)
+ Namespaces:
+ {}
+ Object Fill Type: skeleton
+ PEDESTRIAN:
+ Alpha: 0.9990000128746033
+ Color: 255; 255; 255
+ Polygon Type: 3d
+ TRAILER:
+ Alpha: 0.9990000128746033
+ Color: 255; 255; 255
+ TRUCK:
+ Alpha: 0.9990000128746033
+ Color: 255; 255; 255
+ Topic:
+ Depth: 5
+ Durability Policy: Volatile
+ History Policy: Keep Last
+ Reliability Policy: Best Effort
+ Value: /perception/object_recognition/detection/radar/far_objects
+ UNKNOWN:
+ Alpha: 0.9990000128746033
+ Color: 255; 255; 255
+ Value: false
+ Visualization Type: Normal
+ - BUS:
+ Alpha: 0.9990000128746033
+ Color: 255; 234; 0
+ CAR:
+ Alpha: 0.9990000128746033
+ Color: 255; 234; 0
+ CYCLIST:
+ Alpha: 0.9990000128746033
+ Color: 255; 234; 0
+ Class: autoware_perception_rviz_plugin/DetectedObjects
+ Confidence Interval: 95%
+ Display Acceleration: true
+ Display Existence Probability: false
+ Display Label: true
+ Display Pose Covariance: true
+ Display Predicted Path Confidence: true
+ Display Predicted Paths: true
+ Display Twist: true
+ Display Twist Covariance: false
+ Display UUID: true
+ Display Velocity: true
+ Display Yaw Covariance: false
+ Display Yaw Rate: false
+ Display Yaw Rate Covariance: false
+ Enabled: false
+ Line Width: 0.10000000149011612
+ MOTORCYCLE:
+ Alpha: 0.9990000128746033
+ Color: 255; 234; 0
+ Name: Detection(yellow)
+ Namespaces:
+ {}
+ Object Fill Type: skeleton
+ PEDESTRIAN:
+ Alpha: 0.9990000128746033
+ Color: 255; 234; 0
+ Polygon Type: 3d
+ TRAILER:
+ Alpha: 0.9990000128746033
+ Color: 255; 234; 0
+ TRUCK:
+ Alpha: 0.9990000128746033
+ Color: 255; 234; 0
+ 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; 234; 0
+ Value: false
+ Visualization Type: Normal
+ - BUS:
+ Alpha: 0.9990000128746033
+ Color: 0; 230; 118
+ CAR:
+ Alpha: 0.9990000128746033
+ Color: 0; 230; 118
+ CYCLIST:
+ Alpha: 0.9990000128746033
+ Color: 0; 230; 118
+ Class: autoware_perception_rviz_plugin/TrackedObjects
+ Confidence Interval: 95%
+ Display Acceleration: true
+ Display Existence Probability: false
+ Display Label: true
+ Display Pose Covariance: true
+ Display Predicted Path Confidence: true
+ Display Predicted Paths: true
+ Display Twist: true
+ Display Twist Covariance: false
+ Display UUID: true
+ Display Velocity: true
+ Display Yaw Covariance: false
+ Display Yaw Rate: false
+ Display Yaw Rate Covariance: false
+ Dynamic Status: All
+ Enabled: false
+ Line Width: 0.10000000149011612
+ MOTORCYCLE:
+ Alpha: 0.9990000128746033
+ Color: 0; 230; 118
+ Name: Tracking(green)
+ Namespaces:
+ {}
+ Object Fill Type: skeleton
+ PEDESTRIAN:
+ Alpha: 0.9990000128746033
+ Color: 0; 230; 118
+ Polygon Type: 3d
+ TRAILER:
+ Alpha: 0.9990000128746033
+ Color: 0; 230; 118
+ TRUCK:
+ Alpha: 0.9990000128746033
+ Color: 0; 230; 118
+ 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: 0; 230; 118
+ Value: false
+ Visualization Type: Normal
+ - BUS:
+ Alpha: 0.9990000128746033
+ Color: 0; 176; 255
+ CAR:
+ Alpha: 0.9990000128746033
+ Color: 0; 176; 255
+ CYCLIST:
+ Alpha: 0.9990000128746033
+ Color: 0; 176; 255
+ Class: autoware_perception_rviz_plugin/PredictedObjects
+ Confidence Interval: 95%
+ Display Acceleration: true
+ Display Existence Probability: false
+ Display Label: true
+ Display Pose Covariance: true
+ Display Predicted Path Confidence: true
+ Display Predicted Paths: true
+ Display Twist: true
+ Display Twist Covariance: false
+ Display UUID: true
+ Display Velocity: true
+ Display Yaw Covariance: false
+ Display Yaw Rate: false
+ Display Yaw Rate Covariance: false
+ Enabled: true
+ Line Width: 0.10000000149011612
+ MOTORCYCLE:
+ Alpha: 0.9990000128746033
+ Color: 0; 176; 255
+ Name: Prediction(light_blue)
+ Namespaces:
+ {}
+ Object Fill Type: skeleton
+ PEDESTRIAN:
+ Alpha: 0.9990000128746033
+ Color: 0; 176; 255
+ Polygon Type: 2d
+ TRAILER:
+ Alpha: 0.9990000128746033
+ Color: 0; 176; 255
+ TRUCK:
+ Alpha: 0.9990000128746033
+ Color: 0; 176; 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: 0; 176; 255
+ Value: true
+ Visualization Type: Normal
+ Enabled: false
+ Name: Perception
+ - Class: rviz_common/Group
+ Displays:
+ - Class: rviz_common/Group
+ Displays:
+ - Class: rviz_default_plugins/MarkerArray
+ Enabled: true
+ Name: LaneChangeLeft
+ Namespaces:
+ {}
+ Topic:
+ Depth: 5
+ Durability Policy: Volatile
+ History Policy: Keep Last
+ Reliability Policy: Reliable
+ Value: /planning/debug/objects_of_interest/lane_change_left
+ Value: true
+ - Class: rviz_default_plugins/MarkerArray
+ Enabled: true
+ Name: LaneChangeRight
+ Namespaces:
+ {}
+ Topic:
+ Depth: 5
+ Durability Policy: Volatile
+ History Policy: Keep Last
+ Reliability Policy: Reliable
+ Value: /planning/debug/objects_of_interest/lane_change_right
+ Value: true
+ - Class: rviz_default_plugins/MarkerArray
+ Enabled: true
+ Name: AvoidanceLeft
+ Namespaces:
+ {}
+ Topic:
+ Depth: 5
+ Durability Policy: Volatile
+ History Policy: Keep Last
+ Reliability Policy: Reliable
+ Value: /planning/debug/objects_of_interest/static_obstacle_avoidance_left
+ Value: true
+ - Class: rviz_default_plugins/MarkerArray
+ Enabled: true
+ Name: AvoidanceRight
+ Namespaces:
+ {}
+ Topic:
+ Depth: 5
+ Durability Policy: Volatile
+ History Policy: Keep Last
+ Reliability Policy: Reliable
+ Value: /planning/debug/objects_of_interest/static_obstacle_avoidance_right
+ Value: true
+ - Class: rviz_default_plugins/MarkerArray
+ Enabled: true
+ Name: AvoidanceByLCLeft
+ Namespaces:
+ {}
+ Topic:
+ Depth: 5
+ Durability Policy: Volatile
+ History Policy: Keep Last
+ Reliability Policy: Reliable
+ Value: /planning/debug/objects_of_interest/avoidance_by_lc_left
+ Value: true
+ - Class: rviz_default_plugins/MarkerArray
+ Enabled: true
+ Name: AvoidanceByLCRight
+ Namespaces:
+ {}
+ Topic:
+ Depth: 5
+ Durability Policy: Volatile
+ History Policy: Keep Last
+ Reliability Policy: Reliable
+ Value: /planning/debug/objects_of_interest/avoidance_by_lc_right
+ Value: true
+ - Class: rviz_default_plugins/MarkerArray
+ Enabled: true
+ Name: StartPlanner
+ Namespaces:
+ {}
+ Topic:
+ Depth: 5
+ Durability Policy: Volatile
+ History Policy: Keep Last
+ Reliability Policy: Reliable
+ Value: /planning/debug/objects_of_interest/start_planner
+ Value: true
+ - Class: rviz_default_plugins/MarkerArray
+ Enabled: true
+ Name: GoalPlanner
+ Namespaces:
+ {}
+ Topic:
+ Depth: 5
+ Durability Policy: Volatile
+ History Policy: Keep Last
+ Reliability Policy: Reliable
+ Value: /planning/debug/objects_of_interest/goal_planner
+ Value: true
+ - Class: rviz_default_plugins/MarkerArray
+ Enabled: true
+ Name: Crosswalk
+ Namespaces:
+ {}
+ Topic:
+ Depth: 5
+ Durability Policy: Volatile
+ History Policy: Keep Last
+ Reliability Policy: Reliable
+ Value: /planning/debug/objects_of_interest/crosswalk
+ Value: true
+ - Class: rviz_default_plugins/MarkerArray
+ Enabled: true
+ Name: Intersection
+ Namespaces:
+ {}
+ Topic:
+ Depth: 5
+ Durability Policy: Volatile
+ History Policy: Keep Last
+ Reliability Policy: Reliable
+ Value: /planning/debug/objects_of_interest/intersection
+ Value: true
+ - Class: rviz_default_plugins/MarkerArray
+ Enabled: true
+ Name: BlindSpot
+ Namespaces:
+ {}
+ Topic:
+ Depth: 5
+ Durability Policy: Volatile
+ History Policy: Keep Last
+ Reliability Policy: Reliable
+ Value: /planning/debug/objects_of_interest/blind_spot
+ Value: true
+ - Class: rviz_default_plugins/MarkerArray
+ Enabled: true
+ Name: TrafficLight
+ Namespaces:
+ {}
+ Topic:
+ Depth: 5
+ Durability Policy: Volatile
+ History Policy: Keep Last
+ Reliability Policy: Reliable
+ Value: /planning/debug/objects_of_interest/traffic_light
+ Value: true
+ - Class: rviz_default_plugins/MarkerArray
+ Enabled: true
+ Name: DetectionArea
+ Namespaces:
+ {}
+ Topic:
+ Depth: 5
+ Durability Policy: Volatile
+ History Policy: Keep Last
+ Reliability Policy: Reliable
+ Value: /planning/debug/objects_of_interest/detection_area
+ Value: true
+ - Class: rviz_default_plugins/MarkerArray
+ Enabled: true
+ Name: NoStoppingArea
+ Namespaces:
+ {}
+ Topic:
+ Depth: 5
+ Durability Policy: Volatile
+ History Policy: Keep Last
+ Reliability Policy: Reliable
+ Value: /planning/debug/objects_of_interest/no_stopping_area
+ Value: true
+ Enabled: true
+ Name: Objects Of Interest
+ Enabled: true
+ Name: Planning
+ - Class: rviz_common/Group
+ Displays: ~
+ Enabled: true
+ Name: Control
+ Enabled: true
+ Name: Debug
+ - Class: rviz_default_plugins/Image
+ Enabled: true
+ Max Value: 1
+ Median window: 5
+ Min Value: 0
+ Name: Image
+ Normalize Range: true
+ Topic:
+ Depth: 5
+ Durability Policy: Volatile
+ History Policy: Keep Last
+ Reliability Policy: Best Effort
+ Value: /sensing/camera/image
+ Value: true
+ - Class: rviz_plugins/StringStampedOverlayDisplay
+ Enabled: true
+ Font Size: 15
+ Left: 24
+ Max Letter Num: 100
+ Name: PlanningInternalState
+ Text Color: 51; 201; 220
+ Top: 960
+ Topic:
+ Depth: 5
+ Durability Policy: Volatile
+ History Policy: Keep Last
+ Reliability Policy: Best Effort
+ Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/debug/internal_state
+ Value: true
+ Value height offset: 0
+ - Class: rviz_plugins/MrmSummaryOverlayDisplay
+ Enabled: true
+ Font Size: 16
+ Left: 24
+ Max Letter Num: 100
+ Name: MrmSummaryOverlayDisplay
+ Text Color: 51; 201; 220
+ Top: 120
+ Topic:
+ Depth: 5
+ Durability Policy: Volatile
+ History Policy: Keep Last
+ Reliability Policy: Reliable
+ Value: /system/emergency/hazard_status
+ Value: true
+ Value height offset: 0
+ Enabled: true
+ Global Options:
+ Background Color: 0; 0; 0
+ Fixed Frame: viewer
+ 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
+ - Boost Property: 0.5
+ Class: tier4_camera_view_rviz_plugin/ThirdPersonViewTool
+ Fallback ViewController: tier4_camera_view_rviz_plugin/ThirdPersonView
+ Fly Mode: false
+ Left Hand Mode: false
+ Step Length: 0.10000000149011612
+ - Boost Property: 0.5
+ Class: tier4_camera_view_rviz_plugin/BirdEyeViewTool
+ Fallback ViewController: tier4_camera_view_rviz_plugin/BirdEyeView
+ Fly Mode: false
+ Left Hand Mode: false
+ Step Length: 0.10000000149011612
+ Transformation:
+ Current:
+ Class: rviz_default_plugins/TF
+ Value: true
+ Views:
+ Current:
+ Class: tier4_camera_view_rviz_plugin/ThirdPersonView
+ Distance: 52.870243072509766
+ 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: false
+ Focal Shape Size: 0.05000000074505806
+ Invert Z Axis: false
+ Name: Current View
+ Near Clip Distance: 0.009999999776482582
+ Pitch: 0.5235987901687622
+ Target Frame: base_link
+ Value: ThirdPersonView (tier4_camera_view_rviz_plugin)
+ Yaw: 3.1415927410125732
+ 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)
+ Yaw: 3.141592025756836
+ - 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: TopDownOrtho
+ Near Clip Distance: 0.009999999776482582
+ Scale: 10
+ Target Frame: viewer
+ Value: TopDownOrtho (rviz)
+ X: 0
+ Y: 0
+Window Geometry:
+ AutowareDateTimePanel:
+ collapsed: false
+ AutowareScreenCapturePanel:
+ collapsed: false
+ AutowareStatePanel:
+ collapsed: false
+ Displays:
+ collapsed: false
+ Height: 1376
+ Hide Left Dock: false
+ Hide Right Dock: false
+ Image:
+ collapsed: false
+ LoggingLevelConfigureRvizPlugin:
+ collapsed: false
+ MultiDataMonitor:
+ collapsed: false
+ PointcloudOnCamera:
+ collapsed: false
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+ RTCManagerPanel:
+ collapsed: false
+ RecognitionResultOnImage:
+ collapsed: false
+ Selection:
+ collapsed: false
+ Tool Properties:
+ collapsed: false
+ Views:
+ collapsed: false
+ Width: 2490
+ X: 70
+ Y: 27