autoware_overlay_rviz_plugin

Plugin for displaying 2D overlays over the RViz2 3D scene.

Based on the jsk_visualization package, under the 3-Clause BSD license.

Purpose

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

Inputs / Outputs

Input

Name	Type	Description
/vehicle/status/velocity_status	autoware_vehicle_msgs::msg::VelocityReport	The topic is vehicle velocity
/vehicle/status/turn_indicators_status	autoware_vehicle_msgs::msg::TurnIndicatorsReport	The topic is status of turn signal
/vehicle/status/hazard_status	autoware_vehicle_msgs::msg::HazardReport	The topic is status of hazard
/vehicle/status/steering_status	autoware_vehicle_msgs::msg::SteeringReport	The topic is status of steering
/vehicle/status/gear_status	autoware_vehicle_msgs::msg::GearReport	The topic is status of gear
/planning/scenario_planning/current_max_velocity	tier4_planning_msgs::msg::VelocityLimit	The topic is velocity limit
/perception/traffic_light_recognition/traffic_signals	autoware_perception_msgs::msg::TrafficLightGroupArray	The topic is status of traffic light

Parameter

Core Parameters

SignalDisplay

Name	Type	Default Value	Description
property_width_	int	128	Width of the plotter window [px]
property_height_	int	128	Height of the plotter window [px]
property_left_	int	128	Left of the plotter window [px]
property_top_	int	128	Top of the plotter window [px]
property_signal_color_	QColor	QColor(25, 255, 240)	Turn Signal color

Assumptions / Known limits

TBD.

Usage

1. Start rviz2 and click Add button under the Displays panel.

   

2. Under By display type tab, select autoware_overlay_rviz_plugin/SignalDisplay and press OK.

3. Enter the names of the topics if necessary.