feat(autoware_launch): update rviz and rtc config for planning (autow…

…arefoundation#213) Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>
keiota · Feb 17, 2023 · 3f43a14 · 3f43a14
1 parent d5e915f
commit 3f43a14
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Showing 2 changed files with 94 additions and 6 deletions.
diff --git a/...ing/lane_driving/behavior_planning/rtc_auto_mode_manager/rtc_auto_mode_manager.param.yaml b/...ing/lane_driving/behavior_planning/rtc_auto_mode_manager/rtc_auto_mode_manager.param.yaml
@@ -7,6 +7,8 @@
       - "intersection"
       - "no_stopping_area"
       - "traffic_light"
+      - "ext_request_lane_change_left"
+      - "ext_request_lane_change_right"
       - "lane_change_left"
       - "lane_change_right"
       - "avoidance_left"

diff --git a/autoware_launch/rviz/autoware.rviz b/autoware_launch/rviz/autoware.rviz
@@ -1034,6 +1034,52 @@ Visualization Manager:
                         Constant Color: false
                         Scale: 0.30000001192092896
                         Value: false
+                    - Class: rviz_plugins/Path
+                      Color Border Vel Max: 3
+                      Enabled: true
+                      Name: PathChangeCandidate_ExternalRequestLaneChangeRight
+                      Topic:
+                        Depth: 5
+                        Durability Policy: Volatile
+                        History Policy: Keep Last
+                        Reliability Policy: Reliable
+                        Value: /planning/path_candidate/ext_request_lane_change_right
+                      Value: true
+                      View Path:
+                        Alpha: 0.30000001192092896
+                        Color: 115; 210; 22
+                        Constant Color: false
+                        Value: true
+                        Width: 2
+                      View Velocity:
+                        Alpha: 0.30000001192092896
+                        Color: 0; 0; 0
+                        Constant Color: false
+                        Scale: 0.30000001192092896
+                        Value: false
+                    - Class: rviz_plugins/Path
+                      Color Border Vel Max: 3
+                      Enabled: true
+                      Name: PathChangeCandidate_ExternalRequestLaneChangeLeft
+                      Topic:
+                        Depth: 5
+                        Durability Policy: Volatile
+                        History Policy: Keep Last
+                        Reliability Policy: Reliable
+                        Value: /planning/path_candidate/ext_request_lane_change_left
+                      Value: true
+                      View Path:
+                        Alpha: 0.30000001192092896
+                        Color: 115; 210; 22
+                        Constant Color: false
+                        Value: true
+                        Width: 2
+                      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
@@ -1549,7 +1595,19 @@ Visualization Manager:
                             Durability Policy: Volatile
                             History Policy: Keep Last
                             Reliability Policy: Reliable
-                            Value: /planning/scenario_planning/lane_driving/motion_planning/obstacle_avoidance_planner/debug/virtual_wall
+                            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
                       Enabled: true
                       Name: VirtualWall
@@ -1608,10 +1666,10 @@ Visualization Manager:
                                 Reliability Policy: Reliable
                                 Value: /planning/scenario_planning/lane_driving/motion_planning/surround_obstacle_checker/debug/footprint_recover_offset
                               Value: false
-                          Enabled: true
+                          Enabled: false
                           Name: SurroundObstacleChecker
                         - Class: rviz_default_plugins/MarkerArray
-                          Enabled: true
+                          Enabled: false
                           Name: ObstacleStop
                           Namespaces:
                             {}
@@ -1621,9 +1679,37 @@ Visualization Manager:
                             History Policy: Keep Last
                             Reliability Policy: Reliable
                             Value: /planning/scenario_planning/lane_driving/motion_planning/obstacle_stop_planner/debug/marker
-                          Value: true
+                          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: DebugMarker
+                              Namespaces:
+                                {}
+                              Topic:
+                                Depth: 5
+                                Durability Policy: Volatile
+                                History Policy: Keep Last
+                                Reliability Policy: Reliable
+                                Value: /planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/debug/marker
+                              Value: true
+                          Enabled: false
+                          Name: ObstacleCruise
                         - Class: rviz_default_plugins/MarkerArray
-                          Enabled: true
+                          Enabled: false
                           Name: ObstacleAvoidance
                           Namespaces:
                             {}
@@ -1633,7 +1719,7 @@ Visualization Manager:
                             History Policy: Keep Last
                             Reliability Policy: Reliable
                             Value: /planning/scenario_planning/lane_driving/motion_planning/obstacle_avoidance_planner/debug/marker
-                          Value: true
+                          Value: false
                       Enabled: false
                       Name: DebugMarker
                   Enabled: true