Skip to content

rtc_manager_rviz_plugin#

Purpose#

The purpose of this RViz plugin is to provide a graphical interface for managing RTC (Request To Cooperate) functionality:

  1. Display RTC status for each cooperate module (ID, Module, Safe, Command, AutoMode, State, StartDistance, FinishDistance).
  2. Switch each module between Auto mode and Manual mode.
  3. Send cooperate commands by button (Activate the front module).

rtc_manager_panel

Features#

  • Auto Mode Panel: Toggle visibility with "Show Auto Mode Panel" checkbox. Displays a table of modules with buttons to switch between Auto/Manual mode.
  • Status Table: Shows real-time status of all RTC modules including distance information.
  • Activate Button: Sends an ACTIVATE command to the nearest activatable module (modules that are not yet activated, not in auto mode, and have positive start distance).

Inputs / Outputs#

Input#

Name Type Description
/api/external/get/rtc_status tier4_rtc_msgs::msg::CooperateStatusArray The statuses of each Cooperate Commands
/api/external/get/rtc_auto_mode tier4_rtc_msgs::msg::AutoModeStatusArray The auto mode statuses for each module

Output#

Name Type Description
/api/external/set/rtc_commands tier4_rtc_msgs::srv::CooperateCommands The Cooperate Commands for each planning
/planning/enable_auto_mode/* tier4_rtc_msgs::srv::AutoMode The service to switch Auto/Manual mode for each module

HowToUse#

  1. Start RViz and select Panels > Add New Panel. select_panel

  2. Select rtc_manager_rviz_plugin/RTCManagerPanel and press OK. select_rtc_panel

  3. The panel will appear with:

    • A checkbox to show/hide the Auto Mode Panel
    • Auto Mode Table (if visible) with buttons to switch each module between Auto/Manual mode
    • Status Table showing all RTC module statuses
    • Activate button to send ACTIVATE command to the front activatable module