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tier4_planning_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 displays the path, trajectory, and maximum speed.

Inputs / Outputs#

Input#

Name Type Description
/input/path autoware_auto_planning_msgs::msg::Path The topic on which to subscribe path
/input/trajectory autoware_auto_planning_msgs::msg::Trajectory The topic on which to subscribe trajectory
/planning/scenario_planning/current_max_velocity tier4_planning_msgs/msg/VelocityLimit The topic on which to publish max velocity

Output#

Name Type Description
/planning/mission_planning/checkpoint geometry_msgs/msg/PoseStamped The topic on which to publish checkpoint

Parameter#

Core Parameters#

MissionCheckpoint#

Name Type Default Value Description
pose_topic_property_ string mission_checkpoint The topic on which to publish checkpoint
std_dev_x_ float 0.5 X standard deviation for checkpoint pose [m]
std_dev_y_ float 0.5 Y standard deviation for checkpoint pose [m]
std_dev_theta_ float M_PI / 12.0 Theta standard deviation for checkpoint pose [rad]
position_z_ float 0.0 Z position for checkpoint pose [m]

Path#

Name Type Default Value Description
property_path_view_ bool true Use Path property or not
property_path_width_ float 2.0 Width of Path property [m]
property_path_alpha_ float 1.0 Alpha of Path property
property_path_color_view_ bool false Use Constant Color or not
property_path_color_ QColor Qt::black Color of Path property
property_velocity_view_ bool true Use Velocity property or not
property_velocity_alpha_ float 1.0 Alpha of Velocity property
property_velocity_scale_ float 0.3 Scale of Velocity property
property_velocity_color_view_ bool false Use Constant Color or not
property_velocity_color_ QColor Qt::black Color of Velocity property
property_vel_max_ float 3.0 Max velocity [m/s]

DrivableArea#

Name Type Default Value Description
color_scheme_property_ int 0 Color scheme of DrivableArea property
alpha_property_ float 0.2 Alpha of DrivableArea property
draw_under_property_ bool false Draw as background or not

PathFootprint#

Name Type Default Value Description
property_path_footprint_view_ bool true Use Path Footprint property or not
property_path_footprint_alpha_ float 1.0 Alpha of Path Footprint property
property_path_footprint_color_ QColor Qt::black Color of Path Footprint property
property_vehicle_length_ float 4.77 Vehicle length [m]
property_vehicle_width_ float 1.83 Vehicle width [m]
property_rear_overhang_ float 1.03 Rear overhang [m]

Trajectory#

Name Type Default Value Description
property_path_view_ bool true Use Path property or not
property_path_width_ float 2.0 Width of Path property [m]
property_path_alpha_ float 1.0 Alpha of Path property
property_path_color_view_ bool false Use Constant Color or not
property_path_color_ QColor Qt::black Color of Path property
property_velocity_view_ bool true Use Velocity property or not
property_velocity_alpha_ float 1.0 Alpha of Velocity property
property_velocity_scale_ float 0.3 Scale of Velocity property
property_velocity_color_view_ bool false Use Constant Color or not
property_velocity_color_ QColor Qt::black Color of Velocity property
property_velocity_text_view_ bool false View text Velocity
property_velocity_text_scale_ float 0.3 Scale of Velocity property
property_vel_max_ float 3.0 Max velocity [m/s]

TrajectoryFootprint#

Name Type Default Value Description
property_trajectory_footprint_view_ bool true Use Trajectory Footprint property or not
property_trajectory_footprint_alpha_ float 1.0 Alpha of Trajectory Footprint property
property_trajectory_footprint_color_ QColor QColor(230, 230, 50) Color of Trajectory Footprint property
property_vehicle_length_ float 4.77 Vehicle length [m]
property_vehicle_width_ float 1.83 Vehicle width [m]
property_rear_overhang_ float 1.03 Rear overhang [m]
property_trajectory_point_view_ bool false Use Trajectory Point property or not
property_trajectory_point_alpha_ float 1.0 Alpha of Trajectory Point property
property_trajectory_point_color_ QColor QColor(0, 60, 255) Color of Trajectory Point property
property_trajectory_point_radius_ float 0.1 Radius of Trajectory Point property

MaxVelocity#

Name Type Default Value Description
property_topic_name_ string /planning/scenario_planning/current_max_velocity The topic on which to subscribe max velocity
property_text_color_ QColor QColor(255, 255, 255) 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 96 Length of the plotter window [px]
property_value_scale_ float 1.0 / 4.0 Value scale

Usage#

  1. Start rviz and select Add under the Displays panel. select_add
  2. Select any one of the tier4_planning_rviz_plugin and press OK. select_planning_plugin
  3. Enter the name of the topic where you want to view the path or trajectory. select_topic_name