tier4_perception_rviz_plugin

Purpose

This plugin is used to generate dummy pedestrians, cars, and obstacles in planning simulator.

Overview

The CarInitialPoseTool sends a topic for generating a dummy car.
The PedestrianInitialPoseTool sends a topic for generating a dummy pedestrian.
The UnknownInitialPoseTool sends a topic for generating a dummy obstacle.
The DeleteAllObjectsTool deletes the dummy cars, pedestrians, and obstacles displayed by the above three tools.

Inputs / Outputs

Output

Name	Type	Description
/simulation/dummy_perception_publisher/object_info	dummy_perception_publisher::msg::Object	The topic on which to publish dummy object info

Parameter

Core Parameters

CarPose

Name	Type	Default Value	Description
topic_property_	string	/simulation/dummy_perception_publisher/object_info	The topic on which to publish dummy object info
std_dev_x_	float	0.03	X standard deviation for initial pose [m]
std_dev_y_	float	0.03	Y standard deviation for initial pose [m]
std_dev_z_	float	0.03	Z standard deviation for initial pose [m]
std_dev_theta_	float	5.0 * M_PI / 180.0	Theta standard deviation for initial pose [rad]
position_z_	float	0.0	Z position for initial pose [m]
velocity_	float	0.0	Velocity [m/s]

PedestrianPose

Name	Type	Default Value	Description
topic_property_	string	/simulation/dummy_perception_publisher/object_info	The topic on which to publish dummy object info
std_dev_x_	float	0.03	X standard deviation for initial pose [m]
std_dev_y_	float	0.03	Y standard deviation for initial pose [m]
std_dev_z_	float	0.03	Z standard deviation for initial pose [m]
std_dev_theta_	float	5.0 * M_PI / 180.0	Theta standard deviation for initial pose [rad]
position_z_	float	0.0	Z position for initial pose [m]
velocity_	float	0.0	Velocity [m/s]

UnknownPose

Name	Type	Default Value	Description
topic_property_	string	/simulation/dummy_perception_publisher/object_info	The topic on which to publish dummy object info
std_dev_x_	float	0.03	X standard deviation for initial pose [m]
std_dev_y_	float	0.03	Y standard deviation for initial pose [m]
std_dev_z_	float	0.03	Z standard deviation for initial pose [m]
std_dev_theta_	float	5.0 * M_PI / 180.0	Theta standard deviation for initial pose [rad]
position_z_	float	0.0	Z position for initial pose [m]
velocity_	float	0.0	Velocity [m/s]

DeleteAllObjects

Name	Type	Default Value	Description
topic_property_	string	/simulation/dummy_perception_publisher/object_info	The topic on which to publish dummy object info

Assumptions / Known limits

Using a planning simulator

Usage

1. Start rviz and select + on the tool tab.
2. Select one of the following: tier4_perception_rviz_plugin and press OK.
3. Select the new item in the tool tab (2D Dummy Car in the example) and click on it in rviz.