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
/control/current_gate_mode	tier4_control_msgs::msg::GateMode	The topic represents the state of AUTO or EXTERNAL
/autoware/state	autoware_auto_system_msgs::msg::AutowareState	The topic represents the state of Autoware
/vehicle/status/gear_status	autoware_auto_vehicle_msgs::msg::GearReport	The topic represents the state of Gear
/api/external/get/engage	tier4_external_api_msgs::msg::EngageStatus	The topic represents the state of Engage

Output

Name	Type	Description
/api/external/set/engage	tier4_external_api_msgs::srv::Engage	The service inputs engage true

HowToUse

1. Start rviz and select panels/Add new panel.
2. Select tier4_state_rviz_plugin/AutowareStatePanel and press OK.
3. If the AutowareState is WaitingForEngage, can engage by clicking the Engage button.