tier4_control_mode_rviz_plugin#
Purpose#
This plugin displays the current control mode status of Autoware. The background color changes according to the mode, enabling intuitive status recognition.
Inputs / Outputs#
Input#
| Name | Type | Description |
|---|---|---|
/vehicle/status/control_mode |
autoware_vehicle_msgs::msg::ControlModeReport |
Topic representing the current control mode |
Control Mode Types#
| Mode | Value | Color | Description |
|---|---|---|---|
| NO_COMMAND | 0 | Dark Gray | No command state |
| AUTONOMOUS | 1 | Green | Autonomous driving mode |
| AUTONOMOUS_STEER_ONLY | 2 | Dark Gray | Autonomous steering control only |
| AUTONOMOUS_VELOCITY_ONLY | 3 | Dark Gray | Autonomous velocity control only |
| MANUAL | 4 | Red | Manual driving mode |
| DISENGAGED | 5 | Orange | Control disengaged state |
| NOT_READY | 6 | Dark Gray | System not ready |
How to Use#
- Launch RViz
- Select
Panels→Add New Panelfrom the menu - Choose
rviz_plugins/ControlModeDisplay - The panel will display the current control mode
RViz Configuration Example#
yaml
Panels:
- Class: rviz_plugins/ControlModeDisplay
Name: ControlModeDisplay