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tier4_vehicle_rviz_plugin#

This package is including jsk code.
Note that jsk_overlay_utils.cpp and jsk_overlay_utils.hpp are BSD license.

Purpose#

This plugin provides a visual and easy-to-understand display of vehicle speed, turn signal, steering status and acceleration.

Inputs / Outputs#

Input#

Name Type Description
/vehicle/status/velocity_status autoware_vehicle_msgs::msg::VelocityReport The topic is vehicle twist
/control/turn_signal_cmd autoware_vehicle_msgs::msg::TurnIndicatorsReport The topic is status of turn signal
/vehicle/status/steering_status autoware_vehicle_msgs::msg::SteeringReport The topic is status of steering
/localization/acceleration geometry_msgs::msg::AccelWithCovarianceStamped The topic is the acceleration

Parameter#

Core Parameters#

ConsoleMeter#

Name Type Default Value Description
property_text_color_ QColor QColor(25, 255, 240) Text color
property_left_ int 128 Left of the plotter window [px]
property_top_ int 128 Top of the plotter window [px]
property_length_ int 256 Height of the plotter window [px]
property_value_height_offset_ int 0 Height offset of the plotter window [px]
property_value_scale_ float 1.0 / 6.667 Value scale

SteeringAngle#

Name Type Default Value Description
property_text_color_ QColor QColor(25, 255, 240) Text color
property_left_ int 128 Left of the plotter window [px]
property_top_ int 128 Top of the plotter window [px]
property_length_ int 256 Height of the plotter window [px]
property_value_height_offset_ int 0 Height offset of the plotter window [px]
property_value_scale_ float 1.0 / 6.667 Value scale
property_handle_angle_scale_ float 3.0 Scale is steering angle to handle angle

TurnSignal#

Name Type Default Value Description
property_left_ int 128 Left of the plotter window [px]
property_top_ int 128 Top of the plotter window [px]
property_width_ int 256 Left of the plotter window [px]
property_height_ int 256 Width of the plotter window [px]

VelocityHistory#

Name Type Default Value Description
property_velocity_timeout_ float 10.0 Timeout of velocity [s]
property_velocity_alpha_ float 1.0 Alpha of velocity
property_velocity_scale_ float 0.3 Scale of velocity
property_velocity_color_view_ bool false Use Constant Color or not
property_velocity_color_ QColor Qt::black Color of velocity history
property_vel_max_ float 3.0 Color Border Vel Max [m/s]

AccelerationMeter#

Name Type Default Value Description
property_normal_text_color_ QColor QColor(25, 255, 240) Normal text color
property_emergency_text_color_ QColor QColor(255, 80, 80) Emergency acceleration color
property_left_ int 896 Left of the plotter window [px]
property_top_ int 128 Top of the plotter window [px]
property_length_ int 256 Height of the plotter window [px]
property_value_height_offset_ int 0 Height offset of the plotter window [px]
property_value_scale_ float 1 / 6.667 Value text scale
property_emergency_threshold_max_ float 1.0 Max acceleration threshold for emergency [m/s^2]
property_emergency_threshold_min_ float -2.5 Min acceleration threshold for emergency [m/s^2]

Assumptions / Known limits#

TBD.

Usage#

  1. Start rviz and select Add under the Displays panel. select_add
  2. Select any one of the tier4_vehicle_rviz_plugin and press OK. select_vehicle_plugin
  3. Enter the name of the topic where you want to view the status. select_topic_name