feat: use autoware project rviz (#516)

tier4 · Jul 10, 2024 · 2c55e4f · 2c55e4f
1 parent 3dcf0ae
commit 2c55e4f
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Showing 12 changed files with 0 additions and 4,685 deletions.
diff --git a/driving_log_replayer/config/dlr.rviz b/driving_log_replayer/config/dlr.rviz
diff --git a/driving_log_replayer/driving_log_replayer/launch_common.py b/driving_log_replayer/driving_log_replayer/launch_common.py
@@ -126,7 +126,6 @@ def get_autoware_launch(
         "perception": perception,
         "planning": planning,
         "control": control,
-        "rviz": "false",
         "scenario_simulation": scenario_simulation,
     }
     if isinstance(pose_source, str):

diff --git a/driving_log_replayer/launch/annotationless_perception.launch.py b/driving_log_replayer/launch/annotationless_perception.launch.py
@@ -47,7 +47,6 @@ def generate_launch_description() -> launch.LaunchDescription:
         localization="false",
         use_perception_online_evaluator="true",
     )
-    rviz_node = cmn.get_rviz()
     evaluator_node = cmn.get_evaluator_node(
         "annotationless_perception",
         addition_parameter={
@@ -81,7 +80,6 @@ def generate_launch_description() -> launch.LaunchDescription:
     return launch.LaunchDescription(
         [
             *launch_arguments,
-            rviz_node,
             autoware_launch,
             evaluator_node,
             player_normal,

diff --git a/driving_log_replayer/launch/ar_tag_based_localizer.launch.py b/driving_log_replayer/launch/ar_tag_based_localizer.launch.py
@@ -31,7 +31,6 @@ def generate_launch_description() -> launch.LaunchDescription:
         pose_source="artag",
         twist_source="gyro_odom",
     )
-    rviz_node = cmn.get_rviz()
     evaluator_node = cmn.get_evaluator_node("ar_tag_based_localizer")
     player = cmn.get_player()
     recorder, recorder_override = cmn.get_regex_recorders(
@@ -42,7 +41,6 @@ def generate_launch_description() -> launch.LaunchDescription:
     return launch.LaunchDescription(
         [
             *launch_arguments,
-            rviz_node,
             autoware_launch,
             fitter_launch,
             evaluator_node,

diff --git a/driving_log_replayer/launch/eagleye.launch.py b/driving_log_replayer/launch/eagleye.launch.py
@@ -34,7 +34,6 @@ def generate_launch_description() -> launch.LaunchDescription:
         pose_source="eagleye",
         twist_source="eagleye",
     )
-    rviz_node = cmn.get_rviz()
     evaluator_node = cmn.get_evaluator_node("eagleye")
     player = cmn.get_player()
     recorder, recorder_override = cmn.get_regex_recorders(
@@ -45,7 +44,6 @@ def generate_launch_description() -> launch.LaunchDescription:
     return launch.LaunchDescription(
         [
             *launch_arguments,
-            rviz_node,
             autoware_launch,
             fitter_launch,
             evaluator_node,

diff --git a/driving_log_replayer/launch/localization.launch.py b/driving_log_replayer/launch/localization.launch.py
@@ -37,7 +37,6 @@ def generate_launch_description() -> launch.LaunchDescription:
         pose_source="ndt",
         twist_source="gyro_odom",
     )
-    rviz_node = cmn.get_rviz()
     evaluator_node = cmn.get_evaluator_node("localization")
     player = cmn.get_player()
     recorder, recorder_override = cmn.get_regex_recorders(
@@ -51,7 +50,6 @@ def generate_launch_description() -> launch.LaunchDescription:
     return launch.LaunchDescription(
         [
             *launch_arguments,
-            rviz_node,
             autoware_launch,
             fitter_launch,
             evaluator_node,

diff --git a/driving_log_replayer/launch/obstacle_segmentation.launch.py b/driving_log_replayer/launch/obstacle_segmentation.launch.py
@@ -34,7 +34,6 @@ def generate_launch_description() -> launch.LaunchDescription:
         control="true",
         scenario_simulation="true",
     )
-    rviz_node = cmn.get_rviz()
     evaluator_node = cmn.get_evaluator_node(
         "obstacle_segmentation",
         addition_parameter={
@@ -57,7 +56,6 @@ def generate_launch_description() -> launch.LaunchDescription:
     return launch.LaunchDescription(
         [
             *launch_arguments,
-            rviz_node,
             autoware_launch,
             evaluator_node,
             player,

diff --git a/driving_log_replayer/launch/perception.launch.py b/driving_log_replayer/launch/perception.launch.py
@@ -40,7 +40,6 @@ def generate_launch_description() -> launch.LaunchDescription:
         sensing=LaunchConfiguration("sensing"),
         localization="false",
     )
-    rviz_node = cmn.get_rviz()
     evaluator_node = cmn.get_evaluator_node("perception")
 
     player_normal = cmn.get_player(
@@ -62,7 +61,6 @@ def generate_launch_description() -> launch.LaunchDescription:
     return launch.LaunchDescription(
         [
             *launch_arguments,
-            rviz_node,
             autoware_launch,
             evaluator_node,
             player_normal,

diff --git a/driving_log_replayer/launch/perception_2d.launch.py b/driving_log_replayer/launch/perception_2d.launch.py
@@ -39,7 +39,6 @@ def generate_launch_description() -> launch.LaunchDescription:
         localization="false",
         perception_mode="camera_lidar_fusion",
     )
-    rviz_node = cmn.get_rviz()
     evaluator_node = cmn.get_evaluator_node("perception_2d")
 
     player_normal = cmn.get_player(
@@ -62,7 +61,6 @@ def generate_launch_description() -> launch.LaunchDescription:
     return launch.LaunchDescription(
         [
             *launch_arguments,
-            rviz_node,
             autoware_launch,
             evaluator_node,
             player_normal,

diff --git a/driving_log_replayer/launch/performance_diag.launch.py b/driving_log_replayer/launch/performance_diag.launch.py
@@ -43,7 +43,6 @@ def generate_launch_description() -> launch.LaunchDescription:
         localization=LaunchConfiguration("localization"),
         perception="false",
     )
-    rviz_node = cmn.get_rviz()
     evaluator_node = cmn.get_evaluator_node(
         "performance_diag",
         addition_parameter={"localization": LaunchConfiguration("localization")},
@@ -83,7 +82,6 @@ def generate_launch_description() -> launch.LaunchDescription:
     return launch.LaunchDescription(
         [
             *launch_arguments,
-            rviz_node,
             autoware_launch,
             fitter_launch,
             evaluator_node,

diff --git a/driving_log_replayer/launch/traffic_light.launch.py b/driving_log_replayer/launch/traffic_light.launch.py
@@ -35,7 +35,6 @@ def generate_launch_description() -> launch.LaunchDescription:
         sensing=LaunchConfiguration("sensing"),
         localization="false",
     )
-    rviz_node = cmn.get_rviz()
     evaluator_node = cmn.get_evaluator_node(
         "traffic_light",
         addition_parameter={"map_path": LaunchConfiguration("map_path")},
@@ -61,7 +60,6 @@ def generate_launch_description() -> launch.LaunchDescription:
     return launch.LaunchDescription(
         [
             *launch_arguments,
-            rviz_node,
             autoware_launch,
             evaluator_node,
             player_normal,

diff --git a/driving_log_replayer/launch/yabloc.launch.py b/driving_log_replayer/launch/yabloc.launch.py
@@ -34,7 +34,6 @@ def generate_launch_description() -> launch.LaunchDescription:
         pose_source="yabloc",
         twist_source="gyro_odom",
     )
-    rviz_node = cmn.get_rviz()
     evaluator_node = cmn.get_evaluator_node("yabloc")
     player = cmn.get_player()
     recorder, recorder_override = cmn.get_regex_recorders(
@@ -45,7 +44,6 @@ def generate_launch_description() -> launch.LaunchDescription:
     return launch.LaunchDescription(
         [
             *launch_arguments,
-            rviz_node,
             autoware_launch,
             fitter_launch,
             evaluator_node,