autoware_trajectory_kinematics_rviz_plugin

RViz2 panel plugin that plots kinematic quantities along planned paths and compares multiple trajectories on one Qt Charts graph.

Features

• Subscribe to one or more topics publishing:
  • autoware_planning_msgs/msg/Trajectory, or
  • autoware_internal_planning_msgs/msg/ScoredCandidateTrajectories
• Choose X (time from start or arc length) and Y (velocity, acceleration, curvature, lateral acceleration).
• Checkbox which series to plot; optional fixed X/Y axis ranges; hover tooltip with crosshair.
• Panel layout and topic list are stored in the RViz config (save / load).

Usage

1. Build the workspace with this package in the overlay (standard colcon build).
2. Start RViz2, Add Panel → select autoware_trajectory_kinematics_rviz_plugin/TrajectoryKinematicsPanel.
3. Choose message kind, add topics (dropdown or “Other topic”), tick trajectories to plot, set axes.

ROS interfaces

• Subscribes (user-configured): topics you add, as Trajectory or ScoredCandidateTrajectories depending on the kind selector.
• Does not publish topics.