feat(behavior): add interface in order to publish marker that is alwa…

…ys shown in rviz (autowarefoundation#333) feat(behavior): output module info markers Signed-off-by: satoshi-ota <satoshi.ota928@gmail.com>
keiota · May 2, 2023 · 72a2832 · 72a2832
1 parent 0409a24
commit 72a2832
Showing 1 changed file with 100 additions and 0 deletions.
diff --git a/autoware_launch/rviz/autoware.rviz b/autoware_launch/rviz/autoware.rviz
@@ -1897,6 +1897,106 @@ Visualization Manager:
                           Value: false
                       Enabled: false
                       Name: DebugMarker
+                    - Class: rviz_common/Group
+                      Displays:
+                        - Class: rviz_default_plugins/MarkerArray
+                          Enabled: true
+                          Name: Info (Avoidance)
+                          Namespaces:
+                            {}
+                          Topic:
+                            Depth: 5
+                            Durability Policy: Volatile
+                            History Policy: Keep Last
+                            Reliability Policy: Reliable
+                            Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/info/avoidance
+                          Value: false
+                        - Class: rviz_default_plugins/MarkerArray
+                          Enabled: 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: false
+                        - 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: false
+                        - 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: false
+                        - 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: false
+                        - 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: false
+                        - Class: rviz_default_plugins/MarkerArray
+                          Enabled: true
+                          Name: Info (PullOver)
+                          Namespaces:
+                            {}
+                          Topic:
+                            Depth: 5
+                            Durability Policy: Volatile
+                            History Policy: Keep Last
+                            Reliability Policy: Reliable
+                            Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/info/pull_over
+                          Value: false
+                        - Class: rviz_default_plugins/MarkerArray
+                          Enabled: true
+                          Name: Info (PullOut)
+                          Namespaces:
+                            {}
+                          Topic:
+                            Depth: 5
+                            Durability Policy: Volatile
+                            History Policy: Keep Last
+                            Reliability Policy: Reliable
+                            Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/info/pull_out
+                          Value: false
+                      Enabled: true
+                      Name: InfoMarker
                   Enabled: true
                   Name: BehaviorPlanning
                 - Class: rviz_common/Group