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tier4_state_rviz_plugin#

Purpose#

This plugin displays the current status of autoware. This plugin also can engage from the panel.

Inputs / Outputs#

Input#

Name Type Description
/api/operation_mode/state autoware_adapi_v1_msgs::msg::OperationModeState The topic represents the state of operation mode
/api/routing/state autoware_adapi_v1_msgs::msg::RouteState The topic represents the state of route
/api/localization/initialization_state autoware_adapi_v1_msgs::msg::LocalizationInitializationState The topic represents the state of localization initialization
/api/motion/state autoware_adapi_v1_msgs::msg::MotionState The topic represents the state of motion
/api/autoware/get/emergency tier4_external_api_msgs::msg::Emergency The topic represents the state of external emergency
/vehicle/status/gear_status autoware_vehicle_msgs::msg::GearReport The topic represents the state of gear

Output#

Name Type Description
/api/operation_mode/change_to_autonomous autoware_adapi_v1_msgs::srv::ChangeOperationMode The service to change operation mode to autonomous
/api/operation_mode/change_to_stop autoware_adapi_v1_msgs::srv::ChangeOperationMode The service to change operation mode to stop
/api/operation_mode/change_to_local autoware_adapi_v1_msgs::srv::ChangeOperationMode The service to change operation mode to local
/api/operation_mode/change_to_remote autoware_adapi_v1_msgs::srv::ChangeOperationMode The service to change operation mode to remote
/api/operation_mode/enable_autoware_control autoware_adapi_v1_msgs::srv::ChangeOperationMode The service to enable vehicle control by Autoware
/api/operation_mode/disable_autoware_control autoware_adapi_v1_msgs::srv::ChangeOperationMode The service to disable vehicle control by Autoware
/api/routing/clear_route autoware_adapi_v1_msgs::srv::ClearRoute The service to clear route state
/api/motion/accept_start autoware_adapi_v1_msgs::srv::AcceptStart The service to accept the vehicle to start
/api/autoware/set/emergency tier4_external_api_msgs::srv::SetEmergency The service to set external emergency
/planning/scenario_planning/max_velocity_default tier4_planning_msgs::msg::VelocityLimit The topic to set maximum speed of the vehicle

HowToUse#

  1. Start rviz and select panels/Add new panel.

    select_panel

  2. Select tier4_state_rviz_plugin/AutowareStatePanel and press OK.

    select_state_plugin

  3. If the auto button is activated, can engage by clicking it.

    select_auto