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_auto_vehicle_msgs::msg::VelocityReport	The topic is vehicle twist
/control/turn_signal_cmd	autoware_auto_vehicle_msgs::msg::TurnIndicatorsReport	The topic is status of turn signal
/vehicle/status/steering_status	autoware_auto_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.
2. Select any one of the tier4_vehicle_rviz_plugin and press OK.
3. Enter the name of the topic where you want to view the status.