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_planning_msgs::msg::Path	The topic on which to subscribe path
/input/trajectory	autoware_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_view_	bool	false	Use Constant Width 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.
2. Select any one of the tier4_planning_rviz_plugin and press OK.
3. Enter the name of the topic where you want to view the path or trajectory.

Material Design Icons

This project uses Material Design Icons by Google. These icons are used under the terms of the Apache License, Version 2.0.

Material Design Icons are a collection of symbols provided by Google that are used to enhance the user interface of applications, websites, and other digital products.

License

The Material Design Icons are licensed under the Apache License, Version 2.0. You may obtain a copy of the License at:

http://www.apache.org/licenses/LICENSE-2.0

Unless required by applicable law or agreed to in writing, software distributed under the License is distributed on an "AS IS" BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the License for the specific language governing permissions and limitations under the License.

Acknowledgments

We would like to express our gratitude to Google for making these icons available to the community, helping developers and designers enhance the visual appeal and user experience of their projects.