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Debug#

Debug visualization#

Detection area#

Green polygons which is a detection area is visualized by detection_polygons in the ~/debug/marker topic. To determine each behavior (cruise, stop, and slow down), if behavior_determination.*.max_lat_margin is not zero, the polygons are expanded with the additional width.

detection_area

Collision points#

Red points which are collision points with obstacle are visualized by *_collision_points for each behavior in the ~/debug/marker topic.

collision_point

Obstacle for cruise#

Orange sphere which is an obstacle for cruise is visualized by obstacles_to_cruise in the ~/debug/marker topic.

Orange wall which means a safe distance to cruise if the ego's front meets the wall is visualized in the ~/debug/cruise/virtual_wall topic.

cruise_visualization

Obstacle for stop#

Red sphere which is an obstacle for stop is visualized by obstacles_to_stop in the ~/debug/marker topic.

Red wall which means a safe distance to stop if the ego's front meets the wall is visualized in the ~/virtual_wall topic.

stop_visualization

Obstacle for slow down#

Yellow sphere which is an obstacle for slow_down is visualized by obstacles_to_slow_down in the ~/debug/marker topic.

Yellow wall which means a safe distance to slow_down if the ego's front meets the wall is visualized in the ~/debug/slow_down/virtual_wall topic.

slow_down_visualization