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_auto_planning_msgs::msg::Path	The topic on which to subscribe path
/input/trajectory	autoware_auto_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.