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Autoware Traffic Light RViz Plugin#

This package provides a RViz2 plugin for visualizing traffic light recognition results in Autoware.

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Property Description#

Topic Settings#

  • Lanelet Map Topic: Topic to receive Lanelet2 map data
    • Type: autoware_map_msgs/msg/LaneletMapBin
  • Traffic Light Topic: Topic to receive traffic light recognition results
    • Type: autoware_perception_msgs/msg/TrafficLightGroupArray

Display Settings#

  • Timeout: Time in seconds before clearing traffic light state display
  • Show Text: Toggle text display of traffic light states
  • Show Bulb: Toggle visual representation of traffic lights
  • Text Prefix: Prefix for traffic light state text
  • Font Size: Size of the traffic light state text
  • Text Color: Color of the traffic light state text

Text Position Adjustment#

  • Text X Offset: Offset for text display along X-axis
  • Text Y Offset: Offset for text display along Y-axis
  • Text Z Offset: Offset for text display along Z-axis