From b7aae5681529d40d738ca9989315780f51246baf Mon Sep 17 00:00:00 2001 From: Takamasa Horibe Date: Wed, 25 May 2022 07:22:13 -0400 Subject: [PATCH] refactor: update rviz config for virtual wall marker separation (#42) Signed-off-by: Takamasa Horibe --- autoware_launch/rviz/autoware.rviz | 583 ++++++++++++++++------------- 1 file changed, 328 insertions(+), 255 deletions(-) diff --git a/autoware_launch/rviz/autoware.rviz b/autoware_launch/rviz/autoware.rviz index 03e60c1b31..582c67cff5 100644 --- a/autoware_launch/rviz/autoware.rviz +++ b/autoware_launch/rviz/autoware.rviz @@ -982,187 +982,6 @@ Visualization Manager: Constant Color: false Scale: 0.30000001192092896 Value: true - - Class: rviz_default_plugins/MarkerArray - Enabled: false - Name: Arrow - Namespaces: {} - Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Reliable - Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/debug/path - Value: false - - Class: rviz_default_plugins/MarkerArray - Enabled: true - Name: Crosswalk - Namespaces: - collision line: false - collision point: false - factor_text: true - slow factor_text: true - slow point: false - slow polygon line: false - slow virtual_wall: true - stop point: false - stop polygon line: false - stop_virtual_wall: true - walkway stop judge range: false - 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: true - Name: Intersection - Namespaces: - candidate_collision_ego_lane_polygon: false - candidate_collision_object_polygons: false - conflicting_targets: false - detection_area: false - ego_lane: false - factor_text: true - judge_point_pose_line: false - path_raw: false - spline: false - stop_point_pose_line: false - stop_virtual_wall: true - stuck_vehicle_detect_area: false - stuck_targets: false - 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: true - - Class: rviz_default_plugins/MarkerArray - Enabled: true - Name: Blind Spot - Namespaces: - conflict_area_for_blind_spot: false - conflicting_targets: false - detection_area: false - detection_area_for_blind_spot: false - factor_text: true - judge_point_pose_line: false - path_raw: false - stop_virtual_wall: true - spline: false - stop_point_pose_line: false - 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: - dead line factor_text: false - dead line virtual_wall: false - 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/debug/traffic_light - Value: true - - Class: rviz_default_plugins/MarkerArray - Enabled: true - Name: VirtualTrafficLight - Namespaces: - end_lines: false - instrument_center: false - instrument_id: false - start_line: false - stop_factor_text: true - stop_line: false - 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/debug/virtual_traffic_light - Value: true - - Class: rviz_default_plugins/MarkerArray - Enabled: true - Name: StopLine - Namespaces: - 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/debug/stop_line - Value: true - - Class: rviz_default_plugins/MarkerArray - Enabled: true - Name: DetectionArea - Namespaces: - detection_area_correspondence: false - detection_area_id: false - detection_area_polygon: false - factor_text: true - obstacles: false - 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/debug/detection_area - Value: true - - Class: rviz_default_plugins/MarkerArray - Enabled: true - Name: OcclusionSpot - Namespaces: - arrow: false - occlusion spot slow down: true - collision: false - info_obstacle: false - obstacle: false - detection_area: false - close_partition: false - slow factor_text: true - path_raw: false - path_interp: false - 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: true - Name: NoStoppingArea - Namespaces: - no_stopping_area_correspondence: false - no_stopping_area_id: false - no_stopping_area_polygon: false - stuck_vehicle_detect_area: false - stop_line_detect_area: false - stuck_points: false - 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/debug/no_stopping_area - Value: true - Class: rviz_plugins/Path Color Border Vel Max: 3 Enabled: true @@ -1186,6 +1005,255 @@ Visualization Manager: Constant Color: false Scale: 0.30000001192092896 Value: false + - Class: rviz_common/Group + Displays: + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: VirtualWall (BlindSpot) + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/virtual_wall/blind_spot + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: VirtualWall (Crosswalk) + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/virtual_wall/crosswalk + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: VirtualWall (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: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/virtual_wall/intersection + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: VirtualWall (MergeFromPrivateArea) + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/virtual_wall/merge_from_private + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: VirtualWall (NoStoppingArea) + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/virtual_wall/no_stopping_area + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: VirtualWall (OcclusionSpot) + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/virtual_wall/occlusion_spot + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: VirtualWall (StopLine) + Namespaces: + 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/stop_line + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: VirtualWall (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/virtual_wall/traffic_light + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: VirtualWall (VirtualTrafficLight) + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/virtual_wall/virtual_traffic_light + Value: true + Enabled: true + Name: VirtualWall + - Class: rviz_common/Group + Displays: + - Class: rviz_default_plugins/MarkerArray + Enabled: false + Name: Arrow + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/debug/path + Value: false + - Class: rviz_default_plugins/MarkerArray + Enabled: false + Name: Crosswalk + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/debug/crosswalk + Value: false + - Class: rviz_default_plugins/MarkerArray + Enabled: false + Name: Intersection + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/debug/intersection + Value: false + - Class: rviz_default_plugins/MarkerArray + Enabled: false + Name: Blind Spot + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/debug/blind_spot + Value: false + - Class: rviz_default_plugins/MarkerArray + Enabled: false + Name: TrafficLight + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/debug/traffic_light + Value: false + - Class: rviz_default_plugins/MarkerArray + Enabled: false + Name: VirtualTrafficLight + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/debug/virtual_traffic_light + Value: false + - Class: rviz_default_plugins/MarkerArray + Enabled: false + Name: StopLine + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/debug/stop_line + Value: false + - Class: rviz_default_plugins/MarkerArray + Enabled: false + Name: DetectionArea + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/debug/detection_area + Value: false + - Class: rviz_default_plugins/MarkerArray + Enabled: false + Name: OcclusionSpot + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/debug/occlusion_spot + Value: false + - Class: rviz_default_plugins/MarkerArray + Enabled: false + Name: NoStoppingArea + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/debug/no_stopping_area + Value: false + Enabled: false + Name: DebugMarker Enabled: true Name: BehaviorPlanning - Class: rviz_common/Group @@ -1213,81 +1281,86 @@ Visualization Manager: Constant Color: false Scale: 0.30000001192092896 Value: true - - Class: rviz_default_plugins/MarkerArray - Enabled: true - Name: ObstacleStop - Namespaces: - collision_polygons: false - detection_polygons: false - slow_down_polygons: false - slow_down_detection_polygons: false - stop_obstacle_point: false - stop_obstacle_text: false - slow_down_obstacle_point: false - slow_down_obstacle_text: false - slow_down_start_virtual_wall: false - slow_down_start_factor_text: false - slow_down_end_virtual_wall: false - slow_down_end_factor_text: false - slow_down_end: false - stop_virtual_wall: true - stop_factor_text: true - slow_down_virtual_wall: true - slow_down_factor_text: true - 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: true - - Class: rviz_default_plugins/MarkerArray + - 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/debug/wall_marker + Value: true Enabled: true - Name: SurroundObstacleCheck - Namespaces: - factor_text: true - virtual_wall: true - obstacle_point: true - no_start_obstacle_text: true - 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 - - Class: rviz_default_plugins/MarkerArray - Enabled: true - Name: ObstacleAvoidance - Namespaces: - base_bounds_0: false - base_bounds_1: false - base_bounds_2: false - current_vehicle_circles: false - lateral_errors: false - mpt_footprints: false - vehicle_circle_lines: false - vehicle_circles: false - 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: true - - Class: rviz_default_plugins/MarkerArray - Enabled: true - Name: ObstacleAvoidanceWall - Namespaces: - virtual_wall: true - virtual_wall_text: true - 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/wall_marker - Value: true + Name: VirtualWall + - Class: rviz_common/Group + Displays: + - Class: rviz_default_plugins/MarkerArray + Enabled: true + 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: true + - 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 + - Class: rviz_default_plugins/MarkerArray + Enabled: true + 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: true + Enabled: false + Name: DebugMarker Enabled: true Name: MotionPlanning Enabled: true