tier4_perception_rviz_plugin

Purpose

This plugin is used to generate dummy pedestrians, cars, and obstacles in planning simulator.

Overview

The CarInitialPoseTool sends a topic for generating a dummy car.
The PedestrianInitialPoseTool sends a topic for generating a dummy pedestrian.
The UnknownInitialPoseTool sends a topic for generating a dummy obstacle.
The DeleteAllObjectsTool deletes the dummy cars, pedestrians, and obstacles displayed by the above three tools.

Inputs / Outputs

Output

Name	Type	Description
/simulation/dummy_perception_publisher/object_info	dummy_perception_publisher::msg::Object	The topic on which to publish dummy object info

Parameter

Core Parameters

CarPose

Name	Type	Default Value	Description
topic_property_	string	/simulation/dummy_perception_publisher/object_info	The topic on which to publish dummy object info
std_dev_x_	float	0.03	X standard deviation for initial pose [m]
std_dev_y_	float	0.03	Y standard deviation for initial pose [m]
std_dev_z_	float	0.03	Z standard deviation for initial pose [m]
std_dev_theta_	float	5.0 * M_PI / 180.0	Theta standard deviation for initial pose [rad]
length_	float	4.0	X standard deviation for initial pose [m]
width_	float	1.8	Y standard deviation for initial pose [m]
height_	float	2.0	Z standard deviation for initial pose [m]
position_z_	float	0.0	Z position for initial pose [m]
velocity_	float	0.0	Velocity [m/s]

BusPose

Name	Type	Default Value	Description
topic_property_	string	/simulation/dummy_perception_publisher/object_info	The topic on which to publish dummy object info
std_dev_x_	float	0.03	X standard deviation for initial pose [m]
std_dev_y_	float	0.03	Y standard deviation for initial pose [m]
std_dev_z_	float	0.03	Z standard deviation for initial pose [m]
std_dev_theta_	float	5.0 * M_PI / 180.0	Theta standard deviation for initial pose [rad]
length_	float	10.5	X standard deviation for initial pose [m]
width_	float	2.5	Y standard deviation for initial pose [m]
height_	float	3.5	Z standard deviation for initial pose [m]
position_z_	float	0.0	Z position for initial pose [m]
velocity_	float	0.0	Velocity [m/s]

PedestrianPose

Name	Type	Default Value	Description
topic_property_	string	/simulation/dummy_perception_publisher/object_info	The topic on which to publish dummy object info
std_dev_x_	float	0.03	X standard deviation for initial pose [m]
std_dev_y_	float	0.03	Y standard deviation for initial pose [m]
std_dev_z_	float	0.03	Z standard deviation for initial pose [m]
std_dev_theta_	float	5.0 * M_PI / 180.0	Theta standard deviation for initial pose [rad]
position_z_	float	0.0	Z position for initial pose [m]
velocity_	float	0.0	Velocity [m/s]

UnknownPose

Name	Type	Default Value	Description
topic_property_	string	/simulation/dummy_perception_publisher/object_info	The topic on which to publish dummy object info
std_dev_x_	float	0.03	X standard deviation for initial pose [m]
std_dev_y_	float	0.03	Y standard deviation for initial pose [m]
std_dev_z_	float	0.03	Z standard deviation for initial pose [m]
std_dev_theta_	float	5.0 * M_PI / 180.0	Theta standard deviation for initial pose [rad]
position_z_	float	0.0	Z position for initial pose [m]
velocity_	float	0.0	Velocity [m/s]

DeleteAllObjects

Name	Type	Default Value	Description
topic_property_	string	/simulation/dummy_perception_publisher/object_info	The topic on which to publish dummy object info

Assumptions / Known limits

Using a planning simulator

Usage

1. Start rviz and select + on the tool tab.
2. Select one of the following: tier4_perception_rviz_plugin and press OK.
3. Select the new item in the tool tab (2D Dummy Car in the example) and click on it in rviz.

Interactive manipulation

You can interactively manipulate the object.

1. Select "Tool Properties" in rviz.
2. Select the corresponding object tab in the Tool Properties.
3. Turn the "Interactive" checkbox on.
4. Select the item in the tool tab in you haven't chosen yet.
5. Key commands are as follows.

action	key command
ADD	Shift + Click Right Button
MOVE	Hold down Right Button + Drug and Drop
DELETE	Alt + Click Right Button