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.
| 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 Panel from the menu
- Choose
rviz_plugins/ControlModeDisplay
- The panel will display the current control mode
RViz Configuration Example
Panels:
- Class: rviz_plugins/ControlModeDisplay
Name: ControlModeDisplay