tier4_state_rviz_plugin

Purpose

This plugin displays the current status of autoware. This plugin also can engage from the panel.

Inputs / Outputs

Input

Name	Type	Description
/api/operation_mode/state	autoware_adapi_v1_msgs::msg::OperationModeState	The topic represents the state of operation mode
/api/routing/state	autoware_adapi_v1_msgs::msg::RouteState	The topic represents the state of route
/api/localization/initialization_state	autoware_adapi_v1_msgs::msg::LocalizationInitializationState	The topic represents the state of localization initialization
/api/motion/state	autoware_adapi_v1_msgs::msg::MotionState	The topic represents the state of motion
/api/autoware/get/emergency	tier4_external_api_msgs::msg::Emergency	The topic represents the state of external emergency
/vehicle/status/gear_status	autoware_vehicle_msgs::msg::GearReport	The topic represents the state of gear

Output

Name	Type	Description
/api/operation_mode/change_to_autonomous	autoware_adapi_v1_msgs::srv::ChangeOperationMode	The service to change operation mode to autonomous
/api/operation_mode/change_to_stop	autoware_adapi_v1_msgs::srv::ChangeOperationMode	The service to change operation mode to stop
/api/operation_mode/change_to_local	autoware_adapi_v1_msgs::srv::ChangeOperationMode	The service to change operation mode to local
/api/operation_mode/change_to_remote	autoware_adapi_v1_msgs::srv::ChangeOperationMode	The service to change operation mode to remote
/api/operation_mode/enable_autoware_control	autoware_adapi_v1_msgs::srv::ChangeOperationMode	The service to enable vehicle control by Autoware
/api/operation_mode/disable_autoware_control	autoware_adapi_v1_msgs::srv::ChangeOperationMode	The service to disable vehicle control by Autoware
/api/routing/clear_route	autoware_adapi_v1_msgs::srv::ClearRoute	The service to clear route state
/api/motion/accept_start	autoware_adapi_v1_msgs::srv::AcceptStart	The service to accept the vehicle to start
/api/autoware/set/emergency	tier4_external_api_msgs::srv::SetEmergency	The service to set external emergency
/planning/scenario_planning/max_velocity_default	autoware_internal_planning_msgs::msg::VelocityLimit	The topic to set maximum speed of the vehicle

HowToUse

1. Start rviz and select panels/Add new panel.

   

2. Select tier4_state_rviz_plugin/AutowareStatePanel and press OK.

   

3. If the auto button is activated, can engage by clicking it.