From 4e04bd236ae195e3a14ca76a957efe7d27dcb9e7 Mon Sep 17 00:00:00 2001 From: Mamoru Sobue Date: Mon, 16 Dec 2024 08:18:27 +0900 Subject: [PATCH 01/17] selected path chatters Signed-off-by: Mamoru Sobue --- .../rviz/psim_test_map.rviz | 4585 +++++++++++++++++ .../config/goal_planner.param.yaml | 3 + .../goal_planner_module.hpp | 27 +- .../goal_planner_parameters.hpp | 5 + .../pull_over_planner_base.hpp | 7 +- .../thread_data.hpp | 1 + .../src/goal_planner_module.cpp | 255 +- .../src/manager.cpp | 7 + .../pull_over_planner/bezier_pull_over.cpp | 62 +- .../pull_over_planner_base.cpp | 20 +- 10 files changed, 4897 insertions(+), 75 deletions(-) create mode 100644 common/autoware_test_utils/rviz/psim_test_map.rviz diff --git a/common/autoware_test_utils/rviz/psim_test_map.rviz b/common/autoware_test_utils/rviz/psim_test_map.rviz new file mode 100644 index 0000000000000..9fa856fbd6700 --- /dev/null +++ b/common/autoware_test_utils/rviz/psim_test_map.rviz @@ -0,0 +1,4585 @@ +Panels: + - Class: rviz_common/Displays + Help Height: 0 + Name: Displays + Property Tree Widget: + Expanded: + - /Sensing1/LiDAR1/ConcatenatePointCloud1/Autocompute Value Bounds1 + - /Planning1 + - /Planning1/ScenarioPlanning1 + - /Planning1/ScenarioPlanning1/LaneDriving1 + - /Planning1/ScenarioPlanning1/LaneDriving1/BehaviorPlanning1 + - /Planning1/ScenarioPlanning1/LaneDriving1/BehaviorPlanning1/DebugMarker1 + Splitter Ratio: 0.8223552703857422 + Tree Height: 940 + - Class: rviz_common/Selection + Name: Selection + - Class: rviz_common/Tool Properties + Expanded: ~ + Name: Tool Properties + Splitter Ratio: 0.5886790156364441 + - Class: rviz_common/Views + Expanded: + - /Current View1 + Name: Views + Splitter Ratio: 0.5 + - Class: AutowareDateTimePanel + Name: AutowareDateTimePanel + - Class: rviz_plugins::AutowareStatePanel + Name: AutowareStatePanel + - Class: rviz_plugins::SimulatedClockPanel + Name: SimulatedClockPanel + - Class: rviz_plugins::TrafficLightPublishPanel + Name: TrafficLightPublishPanel +Visualization Manager: + Class: "" + Displays: + - Class: rviz_common/Group + Displays: + - Class: rviz_default_plugins/TF + Enabled: false + Frame Timeout: 15 + Frames: + All Enabled: true + Marker Scale: 1 + Name: TF + Show Arrows: true + Show Axes: true + Show Names: true + Tree: + {} + Update Interval: 0 + Value: false + - Alpha: 0.5 + Cell Size: 1 + Class: rviz_default_plugins/Grid + Color: 160; 160; 164 + Enabled: false + Line Style: + Line Width: 0.029999999329447746 + Value: Lines + Name: Grid + Normal Cell Count: 0 + Offset: + X: 0 + Y: 0 + Z: 0 + Plane: XY + Plane Cell Count: 10 + Reference Frame: + Value: false + - Class: rviz_common/Group + Displays: + - Alpha: 0.30000001192092896 + Class: rviz_default_plugins/RobotModel + Collision Enabled: false + Description File: "" + Description Source: Topic + Description Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /robot_description + Enabled: true + Links: + All Links Enabled: true + Expand Joint Details: false + Expand Link Details: false + Expand Tree: false + Link Tree Style: Links in Alphabetic Order + base_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + camera0/camera_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + camera0/camera_optical_link: + Alpha: 1 + Show Axes: false + Show Trail: false + camera1/camera_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + camera1/camera_optical_link: + Alpha: 1 + Show Axes: false + Show Trail: false + camera2/camera_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + camera2/camera_optical_link: + Alpha: 1 + Show Axes: false + Show Trail: false + camera3/camera_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + camera3/camera_optical_link: + Alpha: 1 + Show Axes: false + Show Trail: false + camera4/camera_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + camera4/camera_optical_link: + Alpha: 1 + Show Axes: false + Show Trail: false + camera5/camera_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + camera5/camera_optical_link: + Alpha: 1 + Show Axes: false + Show Trail: false + gnss_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + sensor_kit_base_link: + Alpha: 1 + Show Axes: false + Show Trail: false + tamagawa/imu_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + traffic_light_left_camera/camera_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + traffic_light_left_camera/camera_optical_link: + Alpha: 1 + Show Axes: false + Show Trail: false + traffic_light_right_camera/camera_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + traffic_light_right_camera/camera_optical_link: + Alpha: 1 + Show Axes: false + Show Trail: false + velodyne_left: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + velodyne_left_base_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + velodyne_rear: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + velodyne_rear_base_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + velodyne_right: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + velodyne_right_base_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + velodyne_top: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + velodyne_top_base_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + Mass Properties: + Inertia: false + Mass: false + Name: VehicleModel + TF Prefix: "" + Update Interval: 0 + Value: true + Visual Enabled: true + - Class: rviz_plugins/PolarGridDisplay + Color: 255; 255; 255 + Delta Range: 10 + Enabled: true + Max Alpha: 0.5 + Max Range: 100 + Max Wave Alpha: 0.5 + Min Alpha: 0.009999999776482582 + Min Wave Alpha: 0.009999999776482582 + Name: PolarGridDisplay + Reference Frame: base_link + Value: true + Wave Color: 255; 255; 255 + Wave Velocity: 40 + - Background Alpha: 0.5 + Background Color: 23; 28; 31 + Class: autoware_overlay_rviz_plugin/SignalDisplay + Dark Traffic Color: 255; 51; 51 + Enabled: true + Gear Topic Test: /vehicle/status/gear_status + Handle Angle Scale: 17 + Hazard Lights Topic: /vehicle/status/hazard_lights_status + Height: 100 + Left: 0 + Light Traffic Color: 255; 153; 153 + Name: SignalDisplay + Primary Color: 174; 174; 174 + Signal Color: 0; 230; 120 + Speed Limit Topic: /planning/scenario_planning/current_max_velocity + Speed Topic: /vehicle/status/velocity_status + Steering Topic: /vehicle/status/steering_status + Top: 10 + Traffic Topic: /planning/scenario_planning/lane_driving/behavior_planning/debug/traffic_signal + Turn Signals Topic: /vehicle/status/turn_indicators_status + Value: true + Width: 550 + Enabled: true + Name: Vehicle + - Class: rviz_plugins/MrmSummaryOverlayDisplay + Enabled: false + Font Size: 10 + Left: 512 + Max Letter Num: 100 + Name: MRM Summary + Text Color: 25; 255; 240 + Top: 64 + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /system/emergency/hazard_status + Value: false + Value height offset: 0 + Enabled: true + Name: System + - Class: rviz_common/Group + Displays: + - Alpha: 0.20000000298023224 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 28.71826171875 + Min Value: -7.4224700927734375 + Value: true + Axis: Z + Channel Name: intensity + Class: rviz_default_plugins/PointCloud2 + Color: 255; 255; 255 + Color Transformer: FlatColor + Decay Time: 0 + Enabled: false + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 237 + Min Color: 211; 215; 207 + Min Intensity: 0 + Name: PointCloudMap + Position Transformer: XYZ + Selectable: false + Size (Pixels): 1 + Size (m): 0.019999999552965164 + Style: Points + Topic: + Depth: 5 + Durability Policy: Transient Local + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /map/pointcloud_map + Use Fixed Frame: true + Use rainbow: false + Value: false + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: Lanelet2VectorMap + Namespaces: + bus_stop_area: true + center_lane_line: false + center_line_arrows: false + curbstone: true + lane_start_bound: false + lanelet direction: true + lanelet_id: false + left_lane_bound: true + no_parking_area: true + parking_lots: true + parking_space: true + partitions: true + right_lane_bound: true + road_lanelets: false + shoulder_center_lane_line: false + shoulder_center_line_arrows: true + shoulder_lane_start_bound: true + shoulder_left_lane_bound: true + shoulder_right_lane_bound: true + shoulder_road_lanelets: false + Topic: + Depth: 5 + Durability Policy: Transient Local + History Policy: Keep Last + Reliability Policy: Reliable + Value: /map/vector_map_marker + Value: true + Enabled: true + Name: Map + - Class: rviz_common/Group + Displays: + - Class: rviz_common/Group + Displays: + - Alpha: 0.4000000059604645 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 5 + Min Value: -1 + Value: false + Axis: Z + Channel Name: intensity + Class: rviz_default_plugins/PointCloud2 + Color: 255; 255; 255 + Color Transformer: AxisColor + Decay Time: 0 + Enabled: true + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 4096 + Min Color: 0; 0; 0 + Min Intensity: 0 + Name: ConcatenatePointCloud + Position Transformer: XYZ + Selectable: false + Size (Pixels): 1 + Size (m): 0.019999999552965164 + Style: Points + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Best Effort + Value: /sensing/lidar/concatenated/pointcloud + Use Fixed Frame: false + Use rainbow: true + Value: true + - Alpha: 0.9990000128746033 + Class: rviz_default_plugins/Polygon + Color: 25; 255; 0 + Enabled: false + Name: MeasurementRange + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /sensing/lidar/crop_box_filter/crop_box_polygon + Value: false + Enabled: true + Name: LiDAR + - Class: rviz_common/Group + Displays: + - Alpha: 0.9990000128746033 + Axes Length: 1 + Axes Radius: 0.10000000149011612 + Class: rviz_default_plugins/PoseWithCovariance + Color: 233; 185; 110 + Covariance: + Orientation: + Alpha: 0.5 + Color: 255; 255; 127 + Color Style: Unique + Frame: Local + Offset: 1 + Scale: 1 + Value: false + Position: + Alpha: 0.20000000298023224 + Color: 204; 51; 204 + Scale: 1 + Value: true + Value: true + Enabled: true + Head Length: 0.699999988079071 + Head Radius: 1.2000000476837158 + Name: PoseWithCovariance + Shaft Length: 1 + Shaft Radius: 0.5 + Shape: Arrow + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /sensing/gnss/pose_with_covariance + Value: true + Enabled: false + Name: GNSS + Enabled: true + Name: Sensing + - Class: rviz_common/Group + Displays: + - Class: rviz_common/Group + Displays: + - Alpha: 0.9990000128746033 + Axes Length: 1 + Axes Radius: 0.10000000149011612 + Class: rviz_default_plugins/PoseWithCovariance + Color: 0; 170; 255 + Covariance: + Orientation: + Alpha: 0.5 + Color: 255; 255; 127 + Color Style: Unique + Frame: Local + Offset: 1 + Scale: 1 + Value: true + Position: + Alpha: 0.30000001192092896 + Color: 204; 51; 204 + Scale: 1 + Value: true + Value: true + Enabled: false + Head Length: 0.4000000059604645 + Head Radius: 0.6000000238418579 + Name: PoseWithCovInitial + Shaft Length: 0.6000000238418579 + Shaft Radius: 0.30000001192092896 + Shape: Arrow + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /localization/pose_estimator/initial_pose_with_covariance + Value: false + - Alpha: 0.9990000128746033 + Axes Length: 1 + Axes Radius: 0.10000000149011612 + Class: rviz_default_plugins/PoseWithCovariance + Color: 0; 255; 0 + Covariance: + Orientation: + Alpha: 0.5 + Color: 255; 255; 127 + Color Style: Unique + Frame: Local + Offset: 1 + Scale: 1 + Value: true + Position: + Alpha: 0.30000001192092896 + Color: 204; 51; 204 + Scale: 1 + Value: true + Value: true + Enabled: false + Head Length: 0.4000000059604645 + Head Radius: 0.6000000238418579 + Name: PoseWithCovAligned + Shaft Length: 0.6000000238418579 + Shaft Radius: 0.30000001192092896 + Shape: Arrow + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /localization/pose_estimator/pose_with_covariance + Value: false + - Buffer Size: 200 + Class: rviz_plugins::PoseHistory + Enabled: false + Line: + Alpha: 0.9990000128746033 + Color: 170; 255; 127 + Value: true + Width: 0.10000000149011612 + Name: PoseHistory + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /localization/pose_estimator/pose + Value: false + - Alpha: 0.9990000128746033 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 10 + Min Value: -10 + Value: true + Axis: Z + Channel Name: intensity + Class: rviz_default_plugins/PointCloud2 + Color: 0; 255; 255 + Color Transformer: "" + Decay Time: 0 + Enabled: false + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 4096 + Min Color: 0; 0; 0 + Min Intensity: 0 + Name: Initial + Position Transformer: XYZ + Selectable: false + Size (Pixels): 10 + Size (m): 0.5 + Style: Squares + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Best Effort + Value: /localization/util/downsample/pointcloud + Use Fixed Frame: true + Use rainbow: true + Value: false + - Alpha: 0.9990000128746033 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 10 + Min Value: -10 + Value: true + Axis: Z + Channel Name: intensity + Class: rviz_default_plugins/PointCloud2 + Color: 85; 255; 0 + Color Transformer: FlatColor + Decay Time: 0 + Enabled: false + Invert Rainbow: false + Max Color: 85; 255; 127 + Max Intensity: 0 + Min Color: 0; 0; 0 + Min Intensity: 0 + Name: Aligned + Position Transformer: XYZ + Selectable: false + Size (Pixels): 10 + Size (m): 0.5 + Style: Squares + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /localization/pose_estimator/points_aligned + Use Fixed Frame: true + Use rainbow: true + Value: false + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: MonteCarloInitialPose + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /localization/pose_estimator/monte_carlo_initial_pose_marker + Value: true + Enabled: true + Name: NDT + - Class: rviz_common/Group + Displays: + - Buffer Size: 1000 + Class: rviz_plugins::PoseHistory + Enabled: true + Line: + Alpha: 0.9990000128746033 + Color: 0; 255; 255 + Value: true + Width: 0.10000000149011612 + Name: PoseHistory + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /localization/pose_twist_fusion_filter/pose + Value: true + Enabled: true + Name: EKF + Enabled: true + Name: Localization + - Class: rviz_common/Group + Displays: + - Class: rviz_common/Group + Displays: + - Alpha: 0.9990000128746033 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 15 + Min Value: -2 + Value: false + Axis: Z + Channel Name: z + Class: rviz_default_plugins/PointCloud2 + Color: 200; 200; 200 + Color Transformer: FlatColor + Decay Time: 0 + Enabled: true + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 15 + Min Color: 0; 0; 0 + Min Intensity: -5 + Name: NoGroundPointCloud + Position Transformer: XYZ + Selectable: false + Size (Pixels): 3 + Size (m): 0.019999999552965164 + Style: Points + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Best Effort + Value: /perception/obstacle_segmentation/pointcloud + Use Fixed Frame: true + Use rainbow: true + Value: true + Enabled: true + Name: Segmentation + - Class: rviz_common/Group + Displays: + - Class: rviz_common/Group + Displays: + - BUS: + Alpha: 0.9990000128746033 + Color: 30; 144; 255 + CAR: + Alpha: 0.9990000128746033 + Color: 30; 144; 255 + CYCLIST: + Alpha: 0.9990000128746033 + Color: 119; 11; 32 + Class: autoware_perception_rviz_plugin/DetectedObjects + Confidence Interval: 95% + Display Acceleration: true + Display Existence Probability: false + Display Label: true + Display Pose Covariance: true + Display Predicted Path Confidence: true + Display Predicted Paths: true + Display Twist: true + Display Twist Covariance: false + Display UUID: true + Display Velocity: true + Display Yaw Covariance: false + Display Yaw Rate: false + Display Yaw Rate Covariance: false + Enabled: true + Line Width: 0.029999999329447746 + MOTORCYCLE: + Alpha: 0.9990000128746033 + Color: 119; 11; 32 + Name: DetectedObjects + Namespaces: + {} + Object Fill Type: skeleton + PEDESTRIAN: + Alpha: 0.9990000128746033 + Color: 255; 192; 203 + Polygon Type: 3d + TRAILER: + Alpha: 0.9990000128746033 + Color: 30; 144; 255 + TRUCK: + Alpha: 0.9990000128746033 + Color: 30; 144; 255 + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Best Effort + Value: /perception/object_recognition/detection/objects + UNKNOWN: + Alpha: 0.9990000128746033 + Color: 255; 255; 255 + Value: true + Visualization Type: Normal + Enabled: false + Name: Detection + - Class: rviz_common/Group + Displays: + - BUS: + Alpha: 0.9990000128746033 + Color: 30; 144; 255 + CAR: + Alpha: 0.9990000128746033 + Color: 30; 144; 255 + CYCLIST: + Alpha: 0.9990000128746033 + Color: 119; 11; 32 + Class: autoware_perception_rviz_plugin/TrackedObjects + Confidence Interval: 95% + Display Acceleration: true + Display Existence Probability: false + Display Label: true + Display Pose Covariance: true + Display Predicted Path Confidence: true + Display Predicted Paths: true + Display Twist: true + Display Twist Covariance: false + Display UUID: true + Display Velocity: true + Display Yaw Covariance: false + Display Yaw Rate: false + Display Yaw Rate Covariance: false + Dynamic Status: All + Enabled: true + Line Width: 0.029999999329447746 + MOTORCYCLE: + Alpha: 0.9990000128746033 + Color: 119; 11; 32 + Name: TrackedObjects + Namespaces: + {} + Object Fill Type: skeleton + PEDESTRIAN: + Alpha: 0.9990000128746033 + Color: 255; 192; 203 + Polygon Type: 3d + TRAILER: + Alpha: 0.9990000128746033 + Color: 30; 144; 255 + TRUCK: + Alpha: 0.9990000128746033 + Color: 30; 144; 255 + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Best Effort + Value: /perception/object_recognition/tracking/objects + UNKNOWN: + Alpha: 0.9990000128746033 + Color: 255; 255; 255 + Value: true + Visualization Type: Normal + Enabled: false + Name: Tracking + - Class: rviz_common/Group + Displays: + - BUS: + Alpha: 0.9990000128746033 + Color: 30; 144; 255 + CAR: + Alpha: 0.9990000128746033 + Color: 30; 144; 255 + CYCLIST: + Alpha: 0.9990000128746033 + Color: 119; 11; 32 + Class: autoware_perception_rviz_plugin/PredictedObjects + Confidence Interval: 95% + Display Acceleration: true + Display Existence Probability: false + Display Label: true + Display Pose Covariance: true + Display Predicted Path Confidence: true + Display Predicted Paths: true + Display Twist: true + Display Twist Covariance: false + Display UUID: true + Display Velocity: true + Display Yaw Covariance: false + Display Yaw Rate: false + Display Yaw Rate Covariance: false + Enabled: true + Line Width: 0.029999999329447746 + MOTORCYCLE: + Alpha: 0.9990000128746033 + Color: 119; 11; 32 + Name: PredictedObjects + Namespaces: + {} + Object Fill Type: skeleton + PEDESTRIAN: + Alpha: 0.9990000128746033 + Color: 255; 192; 203 + Polygon Type: 3d + TRAILER: + Alpha: 0.9990000128746033 + Color: 30; 144; 255 + TRUCK: + Alpha: 0.9990000128746033 + Color: 30; 144; 255 + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Best Effort + Value: /perception/object_recognition/objects + UNKNOWN: + Alpha: 0.9990000128746033 + Color: 255; 255; 255 + Value: true + Visualization Type: Normal + - Class: rviz_default_plugins/MarkerArray + Enabled: false + Name: Maneuver + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Best Effort + Value: /perception/object_recognition/prediction/maneuver + Value: false + Enabled: true + Name: Prediction + Enabled: true + Name: ObjectRecognition + - Class: rviz_common/Group + Displays: + - Class: rviz_default_plugins/Image + Enabled: false + Max Value: 1 + Median window: 5 + Min Value: 0 + Name: RecognitionResultOnImage + Normalize Range: true + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Best Effort + Value: /perception/traffic_light_recognition/traffic_light/debug/rois + Value: false + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: MapBasedDetectionResult + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Best Effort + Value: /perception/traffic_light_recognition/traffic_light_map_based_detector/debug/markers + Value: true + Enabled: true + Name: TrafficLight + - Class: rviz_common/Group + Displays: + - Alpha: 0.5 + Class: rviz_default_plugins/Map + Color Scheme: map + Draw Behind: false + Enabled: true + Name: Map + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Best Effort + Value: /perception/occupancy_grid_map/map + Update Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Best Effort + Value: /perception/occupancy_grid_map/map_updates + Use Timestamp: false + Value: true + Enabled: false + Name: OccupancyGrid + Enabled: true + Name: Perception + - Class: rviz_common/Group + Displays: + - Class: rviz_common/Group + Displays: + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: RouteArea + Namespaces: + goal_lanelets: true + lane_start_bound: true + left_lane_bound: true + right_lane_bound: true + route_lanelets: true + Topic: + Depth: 5 + Durability Policy: Transient Local + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/mission_planning/route_marker + Value: true + - Alpha: 0.9990000128746033 + Axes Length: 1 + Axes Radius: 0.30000001192092896 + Class: rviz_default_plugins/Pose + Color: 255; 25; 0 + Enabled: true + Head Length: 0.30000001192092896 + Head Radius: 0.5 + Name: GoalPose + Shaft Length: 3 + Shaft Radius: 0.20000000298023224 + Shape: Axes + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/mission_planning/echo_back_goal_pose + Value: true + - Background Alpha: 0.5 + Background Color: 23; 28; 31 + Class: autoware_mission_details_overlay_rviz_plugin/MissionDetailsDisplay + Enabled: true + Height: 100 + Name: MissionDetailsDisplay + Remaining Distance and Time Topic: /planning/mission_remaining_distance_time + Right: 10 + Text Color: 194; 194; 194 + Top: 10 + Value: true + Width: 170 + Enabled: true + Name: MissionPlanning + - Class: rviz_common/Group + Displays: + - Class: rviz_plugins/Trajectory + Color Border Vel Max: 3 + Enabled: true + Name: ScenarioTrajectory + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/trajectory + Value: true + View Footprint: + Alpha: 1 + Color: 230; 230; 50 + Offset from BaseLink: 0 + Rear Overhang: 1.100000023841858 + Value: false + Vehicle Length: 4.889999866485596 + Vehicle Width: 1.8960000276565552 + View Path: + Alpha: 0.9990000128746033 + Constant Width: false + Fade Out Distance: 0 + Max Velocity Color: 0; 230; 120 + Mid Velocity Color: 32; 138; 174 + Min Velocity Color: 63; 46; 227 + Value: true + Width: 2 + View Point: + Alpha: 1 + Color: 0; 60; 255 + Offset: 0 + Radius: 0.10000000149011612 + Value: false + View Text Slope: + Scale: 0.30000001192092896 + Value: false + View Text Velocity: + Scale: 0.30000001192092896 + Value: false + View Velocity: + Alpha: 0.9990000128746033 + Color: 0; 0; 0 + Constant Color: false + Scale: 0.30000001192092896 + Value: true + - Class: rviz_common/Group + Displays: + - Class: rviz_common/Group + Displays: + - Class: rviz_plugins/Path + Color Border Vel Max: 3 + Enabled: true + Name: Path + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/behavior_planning/path + Value: true + View Drivable Area: + Alpha: 0.9990000128746033 + Color: 0; 148; 205 + Value: true + Width: 0.30000001192092896 + View Footprint: + Alpha: 1 + Color: 230; 230; 50 + Offset from BaseLink: 0 + Rear Overhang: 1.100000023841858 + Value: false + Vehicle Length: 4.889999866485596 + Vehicle Width: 1.8960000276565552 + View Path: + Alpha: 0.4000000059604645 + Constant Width: false + Fade Out Distance: 0 + Max Velocity Color: 0; 230; 120 + Mid Velocity Color: 32; 138; 174 + Min Velocity Color: 63; 46; 227 + Value: true + Width: 2 + View Point: + Alpha: 1 + Color: 0; 60; 255 + Offset: 0 + Radius: 0.10000000149011612 + Value: false + View Text Slope: + Scale: 0.30000001192092896 + Value: false + View Text Velocity: + Scale: 0.30000001192092896 + Value: false + View Velocity: + Alpha: 0.4000000059604645 + Color: 0; 0; 0 + Constant Color: false + Scale: 0.30000001192092896 + Value: true + - Class: rviz_plugins/Path + Color Border Vel Max: 3 + Enabled: false + Name: PathReference_AvoidanceByLC + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/path_reference/avoidance_by_lane_change + Value: false + View Drivable Area: + Alpha: 0.9990000128746033 + Color: 0; 148; 205 + Value: true + Width: 0.30000001192092896 + View Footprint: + Alpha: 1 + Color: 230; 230; 50 + Offset from BaseLink: 0 + Rear Overhang: 1.0299999713897705 + Value: false + Vehicle Length: 4.769999980926514 + Vehicle Width: 1.8300000429153442 + View Path: + Alpha: 0.30000001192092896 + Constant Width: false + Fade Out Distance: 0 + Max Velocity Color: 0; 230; 120 + Mid Velocity Color: 32; 138; 174 + Min Velocity Color: 63; 46; 227 + Value: true + Width: 2 + View Point: + Alpha: 1 + Color: 0; 60; 255 + Offset: 0 + Radius: 0.10000000149011612 + Value: false + View Text Slope: + Scale: 0.30000001192092896 + Value: false + View Text Velocity: + Scale: 0.30000001192092896 + Value: false + View Velocity: + Alpha: 0.30000001192092896 + Color: 0; 0; 0 + Constant Color: false + Scale: 0.30000001192092896 + Value: false + - Class: rviz_plugins/Path + Color Border Vel Max: 3 + Enabled: false + Name: PathReference_Avoidance + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/path_reference/static_obstacle_avoidance + Value: false + View Drivable Area: + Alpha: 0.9990000128746033 + Color: 0; 148; 205 + Value: true + Width: 0.30000001192092896 + View Footprint: + Alpha: 1 + Color: 230; 230; 50 + Offset from BaseLink: 0 + Rear Overhang: 1.0299999713897705 + Value: false + Vehicle Length: 4.769999980926514 + Vehicle Width: 1.8300000429153442 + View Path: + Alpha: 0.30000001192092896 + Constant Width: false + Fade Out Distance: 0 + Max Velocity Color: 0; 230; 120 + Mid Velocity Color: 32; 138; 174 + Min Velocity Color: 63; 46; 227 + Value: true + Width: 2 + View Point: + Alpha: 1 + Color: 0; 60; 255 + Offset: 0 + Radius: 0.10000000149011612 + Value: false + View Text Slope: + Scale: 0.30000001192092896 + Value: false + View Text Velocity: + Scale: 0.30000001192092896 + Value: false + View Velocity: + Alpha: 0.30000001192092896 + Color: 0; 0; 0 + Constant Color: false + Scale: 0.30000001192092896 + Value: false + - Class: rviz_plugins/Path + Color Border Vel Max: 3 + Enabled: false + Name: PathReference_LaneChangeRight + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/path_reference/lane_change_right + Value: false + View Drivable Area: + Alpha: 0.9990000128746033 + Color: 0; 148; 205 + Value: true + Width: 0.30000001192092896 + View Footprint: + Alpha: 1 + Color: 230; 230; 50 + Offset from BaseLink: 0 + Rear Overhang: 1.0299999713897705 + Value: false + Vehicle Length: 4.769999980926514 + Vehicle Width: 1.8300000429153442 + View Path: + Alpha: 0.30000001192092896 + Constant Width: false + Fade Out Distance: 0 + Max Velocity Color: 0; 230; 120 + Mid Velocity Color: 32; 138; 174 + Min Velocity Color: 63; 46; 227 + Value: true + Width: 2 + View Point: + Alpha: 1 + Color: 0; 60; 255 + Offset: 0 + Radius: 0.10000000149011612 + Value: false + View Text Slope: + Scale: 0.30000001192092896 + Value: false + View Text Velocity: + Scale: 0.30000001192092896 + Value: false + View Velocity: + Alpha: 0.30000001192092896 + Color: 0; 0; 0 + Constant Color: false + Scale: 0.30000001192092896 + Value: false + - Class: rviz_plugins/Path + Color Border Vel Max: 3 + Enabled: false + Name: PathReference_LaneChangeLeft + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/path_reference/lane_change_left + Value: false + View Drivable Area: + Alpha: 0.9990000128746033 + Color: 0; 148; 205 + Value: true + Width: 0.30000001192092896 + View Footprint: + Alpha: 1 + Color: 230; 230; 50 + Offset from BaseLink: 0 + Rear Overhang: 1.0299999713897705 + Value: false + Vehicle Length: 4.769999980926514 + Vehicle Width: 1.8300000429153442 + View Path: + Alpha: 0.30000001192092896 + Constant Width: false + Fade Out Distance: 0 + Max Velocity Color: 0; 230; 120 + Mid Velocity Color: 32; 138; 174 + Min Velocity Color: 63; 46; 227 + Value: true + Width: 2 + View Point: + Alpha: 1 + Color: 0; 60; 255 + Offset: 0 + Radius: 0.10000000149011612 + Value: false + View Text Slope: + Scale: 0.30000001192092896 + Value: false + View Text Velocity: + Scale: 0.30000001192092896 + Value: false + View Velocity: + Alpha: 0.30000001192092896 + Color: 0; 0; 0 + Constant Color: false + Scale: 0.30000001192092896 + Value: false + - Class: rviz_plugins/Path + Color Border Vel Max: 3 + Enabled: false + Name: PathReference_GoalPlanner + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/path_reference/goal_planner + Value: false + View Drivable Area: + Alpha: 0.9990000128746033 + Color: 0; 148; 205 + Value: true + Width: 0.30000001192092896 + View Footprint: + Alpha: 1 + Color: 230; 230; 50 + Offset from BaseLink: 0 + Rear Overhang: 1.0299999713897705 + Value: false + Vehicle Length: 4.769999980926514 + Vehicle Width: 1.8300000429153442 + View Path: + Alpha: 0.30000001192092896 + Constant Width: false + Fade Out Distance: 0 + Max Velocity Color: 0; 230; 120 + Mid Velocity Color: 32; 138; 174 + Min Velocity Color: 63; 46; 227 + Value: true + Width: 2 + View Point: + Alpha: 1 + Color: 0; 60; 255 + Offset: 0 + Radius: 0.10000000149011612 + Value: false + View Text Slope: + Scale: 0.30000001192092896 + Value: false + View Text Velocity: + Scale: 0.30000001192092896 + Value: false + View Velocity: + Alpha: 0.30000001192092896 + Color: 0; 0; 0 + Constant Color: false + Scale: 0.30000001192092896 + Value: false + - Class: rviz_plugins/Path + Color Border Vel Max: 3 + Enabled: false + Name: PathReference_StartPlanner + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/path_reference/start_planner + Value: false + View Drivable Area: + Alpha: 0.9990000128746033 + Color: 0; 148; 205 + Value: true + Width: 0.30000001192092896 + View Footprint: + Alpha: 1 + Color: 230; 230; 50 + Offset from BaseLink: 0 + Rear Overhang: 1.0299999713897705 + Value: false + Vehicle Length: 4.769999980926514 + Vehicle Width: 1.8300000429153442 + View Path: + Alpha: 0.30000001192092896 + Constant Width: false + Fade Out Distance: 0 + Max Velocity Color: 0; 230; 120 + Mid Velocity Color: 32; 138; 174 + Min Velocity Color: 63; 46; 227 + Value: true + Width: 2 + View Point: + Alpha: 1 + Color: 0; 60; 255 + Offset: 0 + Radius: 0.10000000149011612 + Value: false + View Text Slope: + Scale: 0.30000001192092896 + Value: false + View Text Velocity: + Scale: 0.30000001192092896 + Value: false + View Velocity: + Alpha: 0.30000001192092896 + Color: 0; 0; 0 + Constant Color: false + Scale: 0.30000001192092896 + Value: false + - Class: rviz_plugins/Path + Color Border Vel Max: 3 + Enabled: true + Name: PathChangeCandidate_AvoidanceByLC + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/path_candidate/avoidance_by_lane_change + Value: true + View Drivable Area: + Alpha: 0.9990000128746033 + Color: 0; 148; 205 + Value: true + Width: 0.30000001192092896 + View Footprint: + Alpha: 1 + Color: 230; 230; 50 + Offset from BaseLink: 0 + Rear Overhang: 1.100000023841858 + Value: false + Vehicle Length: 4.889999866485596 + Vehicle Width: 1.8960000276565552 + View Path: + Alpha: 0.30000001192092896 + Constant Width: false + Fade Out Distance: 0 + Max Velocity Color: 0; 230; 120 + Mid Velocity Color: 32; 138; 174 + Min Velocity Color: 63; 46; 227 + Value: true + Width: 2 + View Point: + Alpha: 1 + Color: 0; 60; 255 + Offset: 0 + Radius: 0.10000000149011612 + Value: false + View Text Slope: + Scale: 0.30000001192092896 + Value: false + View Text Velocity: + Scale: 0.30000001192092896 + Value: false + View Velocity: + Alpha: 0.30000001192092896 + Color: 0; 0; 0 + Constant Color: false + Scale: 0.30000001192092896 + Value: false + - Class: rviz_plugins/Path + Color Border Vel Max: 3 + Enabled: true + Name: (old)PathChangeCandidate_LaneChange + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/path_candidate/lane_change + Value: true + View Drivable Area: + Alpha: 0.9990000128746033 + Color: 0; 148; 205 + Value: true + Width: 0.30000001192092896 + View Footprint: + Alpha: 1 + Color: 230; 230; 50 + Offset from BaseLink: 0 + Rear Overhang: 1.0299999713897705 + Value: false + Vehicle Length: 4.769999980926514 + Vehicle Width: 1.8300000429153442 + View Path: + Alpha: 0.30000001192092896 + Constant Width: false + Fade Out Distance: 0 + Max Velocity Color: 0; 230; 120 + Mid Velocity Color: 32; 138; 174 + Min Velocity Color: 63; 46; 227 + Value: true + Width: 2 + View Point: + Alpha: 1 + Color: 0; 60; 255 + Offset: 0 + Radius: 0.10000000149011612 + Value: false + View Text Slope: + Scale: 0.30000001192092896 + Value: false + View Text Velocity: + Scale: 0.30000001192092896 + Value: false + View Velocity: + Alpha: 0.30000001192092896 + Color: 0; 0; 0 + Constant Color: false + Scale: 0.30000001192092896 + Value: false + - Class: rviz_plugins/Path + Color Border Vel Max: 3 + Enabled: true + Name: PathChangeCandidate_LaneChangeRight + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/path_candidate/lane_change_right + Value: true + View Drivable Area: + Alpha: 0.9990000128746033 + Color: 0; 148; 205 + Value: true + Width: 0.30000001192092896 + View Footprint: + Alpha: 1 + Color: 230; 230; 50 + Offset from BaseLink: 0 + Rear Overhang: 1.100000023841858 + Value: false + Vehicle Length: 4.889999866485596 + Vehicle Width: 1.8960000276565552 + View Path: + Alpha: 0.30000001192092896 + Constant Width: false + Fade Out Distance: 0 + Max Velocity Color: 0; 230; 120 + Mid Velocity Color: 32; 138; 174 + Min Velocity Color: 63; 46; 227 + Value: true + Width: 2 + View Point: + Alpha: 1 + Color: 0; 60; 255 + Offset: 0 + Radius: 0.10000000149011612 + Value: false + View Text Slope: + Scale: 0.30000001192092896 + Value: false + View Text Velocity: + Scale: 0.30000001192092896 + Value: false + View Velocity: + Alpha: 0.30000001192092896 + Color: 0; 0; 0 + Constant Color: false + Scale: 0.30000001192092896 + Value: false + - Class: rviz_plugins/Path + Color Border Vel Max: 3 + Enabled: true + Name: PathChangeCandidate_LaneChangeLeft + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/path_candidate/lane_change_left + Value: true + View Drivable Area: + Alpha: 0.9990000128746033 + Color: 0; 148; 205 + Value: true + Width: 0.30000001192092896 + View Footprint: + Alpha: 1 + Color: 230; 230; 50 + Offset from BaseLink: 0 + Rear Overhang: 1.100000023841858 + Value: false + Vehicle Length: 4.889999866485596 + Vehicle Width: 1.8960000276565552 + View Path: + Alpha: 0.30000001192092896 + Constant Width: false + Fade Out Distance: 0 + Max Velocity Color: 0; 230; 120 + Mid Velocity Color: 32; 138; 174 + Min Velocity Color: 63; 46; 227 + Value: true + Width: 2 + View Point: + Alpha: 1 + Color: 0; 60; 255 + Offset: 0 + Radius: 0.10000000149011612 + Value: false + View Text Slope: + Scale: 0.30000001192092896 + Value: false + View Text Velocity: + Scale: 0.30000001192092896 + Value: false + View Velocity: + Alpha: 0.30000001192092896 + Color: 0; 0; 0 + Constant Color: false + Scale: 0.30000001192092896 + Value: false + - Class: rviz_plugins/Path + Color Border Vel Max: 3 + Enabled: true + Name: PathChangeCandidate_ExternalRequestLaneChangeRight + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/path_candidate/external_request_lane_change_right + Value: true + View Drivable Area: + Alpha: 0.9990000128746033 + Color: 0; 148; 205 + Value: true + Width: 0.30000001192092896 + View Footprint: + Alpha: 1 + Color: 230; 230; 50 + Offset from BaseLink: 0 + Rear Overhang: 1.0299999713897705 + Value: false + Vehicle Length: 4.769999980926514 + Vehicle Width: 1.8300000429153442 + View Path: + Alpha: 0.30000001192092896 + Constant Width: false + Fade Out Distance: 0 + Max Velocity Color: 0; 230; 120 + Mid Velocity Color: 32; 138; 174 + Min Velocity Color: 63; 46; 227 + Value: true + Width: 2 + View Point: + Alpha: 1 + Color: 0; 60; 255 + Offset: 0 + Radius: 0.10000000149011612 + Value: false + View Text Slope: + Scale: 0.30000001192092896 + Value: false + View Text Velocity: + Scale: 0.30000001192092896 + Value: false + View Velocity: + Alpha: 0.30000001192092896 + Color: 0; 0; 0 + Constant Color: false + Scale: 0.30000001192092896 + Value: false + - Class: rviz_plugins/Path + Color Border Vel Max: 3 + Enabled: true + Name: PathChangeCandidate_ExternalRequestLaneChangeLeft + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/path_candidate/external_request_lane_change_left + Value: true + View Drivable Area: + Alpha: 0.9990000128746033 + Color: 0; 148; 205 + Value: true + Width: 0.30000001192092896 + View Footprint: + Alpha: 1 + Color: 230; 230; 50 + Offset from BaseLink: 0 + Rear Overhang: 1.0299999713897705 + Value: false + Vehicle Length: 4.769999980926514 + Vehicle Width: 1.8300000429153442 + View Path: + Alpha: 0.30000001192092896 + Constant Width: false + Fade Out Distance: 0 + Max Velocity Color: 0; 230; 120 + Mid Velocity Color: 32; 138; 174 + Min Velocity Color: 63; 46; 227 + Value: true + Width: 2 + View Point: + Alpha: 1 + Color: 0; 60; 255 + Offset: 0 + Radius: 0.10000000149011612 + Value: false + View Text Slope: + Scale: 0.30000001192092896 + Value: false + View Text Velocity: + Scale: 0.30000001192092896 + Value: false + View Velocity: + Alpha: 0.30000001192092896 + Color: 0; 0; 0 + Constant Color: false + Scale: 0.30000001192092896 + Value: false + - Class: rviz_plugins/Path + Color Border Vel Max: 3 + Enabled: true + Name: PathChangeCandidate_Avoidance + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/path_candidate/static_obstacle_avoidance + Value: true + View Drivable Area: + Alpha: 0.9990000128746033 + Color: 0; 148; 205 + Value: true + Width: 0.30000001192092896 + View Footprint: + Alpha: 1 + Color: 230; 230; 50 + Offset from BaseLink: 0 + Rear Overhang: 1.100000023841858 + Value: false + Vehicle Length: 4.889999866485596 + Vehicle Width: 1.8960000276565552 + View Path: + Alpha: 0.30000001192092896 + Constant Width: false + Fade Out Distance: 0 + Max Velocity Color: 0; 230; 120 + Mid Velocity Color: 32; 138; 174 + Min Velocity Color: 63; 46; 227 + Value: true + Width: 2 + View Point: + Alpha: 1 + Color: 0; 60; 255 + Offset: 0 + Radius: 0.10000000149011612 + Value: false + View Text Slope: + Scale: 0.30000001192092896 + Value: false + View Text Velocity: + Scale: 0.30000001192092896 + Value: false + View Velocity: + Alpha: 0.30000001192092896 + Color: 0; 0; 0 + Constant Color: false + Scale: 0.30000001192092896 + Value: false + - Class: rviz_plugins/Path + Color Border Vel Max: 3 + Enabled: true + Name: PathChangeCandidate_StartPlanner + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/path_candidate/start_planner + Value: true + View Drivable Area: + Alpha: 0.9990000128746033 + Color: 0; 148; 205 + Value: true + Width: 0.30000001192092896 + View Footprint: + Alpha: 1 + Color: 230; 230; 50 + Offset from BaseLink: 0 + Rear Overhang: 1.100000023841858 + Value: false + Vehicle Length: 4.889999866485596 + Vehicle Width: 1.8960000276565552 + View Path: + Alpha: 0.30000001192092896 + Constant Width: false + Fade Out Distance: 0 + Max Velocity Color: 0; 230; 120 + Mid Velocity Color: 32; 138; 174 + Min Velocity Color: 63; 46; 227 + Value: true + Width: 2 + View Point: + Alpha: 1 + Color: 0; 60; 255 + Offset: 0 + Radius: 0.10000000149011612 + Value: false + View Text Slope: + Scale: 0.30000001192092896 + Value: false + View Text Velocity: + Scale: 0.30000001192092896 + Value: false + View Velocity: + Alpha: 0.30000001192092896 + Color: 0; 0; 0 + Constant Color: false + Scale: 0.30000001192092896 + Value: false + - Class: rviz_plugins/Path + Color Border Vel Max: 3 + Enabled: true + Name: PathChangeCandidate_GoalPlanner + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/path_candidate/goal_planner + Value: true + View Drivable Area: + Alpha: 0.9990000128746033 + Color: 0; 148; 205 + Value: true + Width: 0.30000001192092896 + View Footprint: + Alpha: 1 + Color: 230; 230; 50 + Offset from BaseLink: 0 + Rear Overhang: 1.100000023841858 + Value: false + Vehicle Length: 4.889999866485596 + Vehicle Width: 1.8960000276565552 + View Path: + Alpha: 0.30000001192092896 + Constant Width: false + Fade Out Distance: 0 + Max Velocity Color: 0; 230; 120 + Mid Velocity Color: 32; 138; 174 + Min Velocity Color: 63; 46; 227 + Value: true + Width: 2 + View Point: + Alpha: 1 + Color: 0; 60; 255 + Offset: 0 + Radius: 0.10000000149011612 + Value: false + View Text Slope: + Scale: 0.30000001192092896 + Value: false + View Text Velocity: + Scale: 0.30000001192092896 + Value: false + View Velocity: + Alpha: 0.30000001192092896 + Color: 0; 0; 0 + Constant Color: false + Scale: 0.30000001192092896 + Value: false + - Class: rviz_default_plugins/MarkerArray + Enabled: false + Name: Bound + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/debug/bound + Value: false + - Class: rviz_common/Group + Displays: + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: VirtualWall (StaticObstacleAvoidance) + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/virtual_wall/static_obstacle_avoidance + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: VirtualWall (AvoidanceByLC) + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/virtual_wall/avoidance_by_lane_change + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: VirtualWall (LaneChangeRight) + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/virtual_wall/lane_change_right + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: VirtualWall (LaneChangeLeft) + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/virtual_wall/lane_change_left + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: VirtualWall (ExtLaneChangeRight) + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/virtual_wall/external_request_lane_change_right + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: VirtualWall (ExtLaneChangeLeft) + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/virtual_wall/external_request_lane_change_left + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: VirtualWall (GoalPlanner) + Namespaces: + stop_factor_text: true + stop_virtual_wall: true + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/virtual_wall/goal_planner + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: VirtualWall (StartPlanner) + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/virtual_wall/start_planner + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: VirtualWall (BlindSpot) + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/virtual_wall/blind_spot + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: VirtualWall (Crosswalk) + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/virtual_wall/crosswalk + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: VirtualWall (Walkway) + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/virtual_wall/walkway + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: VirtualWall (DetectionArea) + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/virtual_wall/detection_area + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: VirtualWall (Intersection) + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/virtual_wall/intersection + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: VirtualWall (MergeFromPrivateArea) + Namespaces: + stop_factor_text: true + stop_virtual_wall: true + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/virtual_wall/merge_from_private + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: VirtualWall (NoStoppingArea) + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/virtual_wall/no_stopping_area + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: VirtualWall (OcclusionSpot) + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/virtual_wall/occlusion_spot + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: VirtualWall (StopLine) + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/virtual_wall/stop_line + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: VirtualWall (TrafficLight) + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/virtual_wall/traffic_light + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: VirtualWall (VirtualTrafficLight) + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/virtual_wall/virtual_traffic_light + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: VirtualWall (RunOut) + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/virtual_wall/run_out + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: VirtualWall (SpeedBump) + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/virtual_wall/speed_bump + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: VirtualWall (NoDrivableLane) + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/virtual_wall/no_drivable_lane + Value: true + Enabled: true + Name: VirtualWall + - Class: rviz_common/Group + Displays: + - Class: rviz_default_plugins/MarkerArray + Enabled: false + Name: Arrow + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/debug/path + Value: false + - Class: rviz_default_plugins/MarkerArray + Enabled: false + Name: Crosswalk + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/debug/crosswalk + Value: false + - Class: rviz_default_plugins/MarkerArray + Enabled: false + Name: Intersection + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/debug/intersection + Value: false + - Class: rviz_default_plugins/MarkerArray + Enabled: false + Name: Blind Spot + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/debug/blind_spot + Value: false + - Class: rviz_default_plugins/MarkerArray + Enabled: false + Name: TrafficLight + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/debug/traffic_light + Value: false + - Class: rviz_default_plugins/MarkerArray + Enabled: false + Name: VirtualTrafficLight + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/debug/virtual_traffic_light + Value: false + - Class: rviz_default_plugins/MarkerArray + Enabled: false + Name: StopLine + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/debug/stop_line + Value: false + - Class: rviz_default_plugins/MarkerArray + Enabled: false + Name: DetectionArea + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/debug/detection_area + Value: false + - Class: rviz_default_plugins/MarkerArray + Enabled: false + Name: OcclusionSpot + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/debug/occlusion_spot + Value: false + - Class: rviz_default_plugins/MarkerArray + Enabled: false + Name: NoStoppingArea + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/debug/no_stopping_area + Value: false + - Class: rviz_default_plugins/MarkerArray + Enabled: false + Name: RunOut + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/debug/run_out + Value: false + - Class: rviz_default_plugins/MarkerArray + Enabled: false + Name: StaticObstacleAvoidance + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/debug/static_obstacle_avoidance + Value: false + - Class: rviz_default_plugins/MarkerArray + Enabled: false + Name: LeftLaneChange + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/debug/lane_change_left + Value: false + - Class: rviz_default_plugins/MarkerArray + Enabled: false + Name: RightLaneChange + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/debug/lane_change_right + Value: false + - Class: rviz_default_plugins/MarkerArray + Enabled: false + Name: LaneFollowing + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/debug/lane_following + Value: false + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: GoalPlanner + Namespaces: + current_path: true + detection_polygons: true + expanded_pull_over_lane_between_ego: true + full_path: true + goal_candidates: true + goal_candidates_num_objects_to_avoid: true + goal_candidates_priority: true + objects_extraction_polygon: true + partial_path_0: true + planner_type: true + previous_module_path: true + pull_over_area_0: true + pull_over_end_pose: true + pull_over_start_pose: true + safety_status: true + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/debug/goal_planner + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: false + Name: StartPlanner + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/debug/start_planner + Value: false + - Class: rviz_default_plugins/MarkerArray + Enabled: false + Name: SideShift + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/debug/side_shift + Value: false + - Class: rviz_default_plugins/MarkerArray + Enabled: false + Name: SpeedBump + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/debug/speed_bump + Value: false + - Class: rviz_default_plugins/MarkerArray + Enabled: false + Name: DynamicObstacleAvoidance + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/debug/dynamic_obstacle_avoidance + Value: false + - Class: rviz_default_plugins/MarkerArray + Enabled: false + Name: NoDrivableLane + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/debug/no_drivable_lane + Value: false + Enabled: true + Name: DebugMarker + - Class: rviz_common/Group + Displays: + - Class: rviz_default_plugins/MarkerArray + Enabled: false + Name: Info (StaticObstacleAvoidance) + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/info/static_obstacle_avoidance + Value: false + - Class: rviz_default_plugins/MarkerArray + Enabled: false + Name: Info (AvoidanceByLC) + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/info/avoidance_by_lane_change + Value: false + - Class: rviz_default_plugins/MarkerArray + Enabled: false + Name: Info (LaneChangeLeft) + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/info/lane_change_left + Value: false + - Class: rviz_default_plugins/MarkerArray + Enabled: false + Name: Info (LaneChangeRight) + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/info/lane_change_right + Value: false + - Class: rviz_default_plugins/MarkerArray + Enabled: false + Name: Info (ExtLaneChangeLeft) + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/info/external_request_lane_change_left + Value: false + - Class: rviz_default_plugins/MarkerArray + Enabled: false + Name: Info (ExtLaneChangeRight) + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/info/external_request_lane_change_right + Value: false + - Class: rviz_default_plugins/MarkerArray + Enabled: false + Name: Info (GoalPlanner) + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/info/goal_planner + Value: false + - Class: rviz_default_plugins/MarkerArray + Enabled: false + Name: Info (StartPlanner) + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/info/start_planner + Value: false + - Class: rviz_default_plugins/MarkerArray + Enabled: false + Name: Info (DynamicObstacleAvoidance) + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/info/dynamic_obstacle_avoidance + Value: false + Enabled: false + Name: InfoMarker + Enabled: true + Name: BehaviorPlanning + - Class: rviz_common/Group + Displays: + - Class: rviz_plugins/Trajectory + Color Border Vel Max: 3 + Enabled: false + Name: Trajectory + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/trajectory + Value: false + View Footprint: + Alpha: 1 + Color: 230; 230; 50 + Offset from BaseLink: 0 + Rear Overhang: 1.0299999713897705 + Value: false + Vehicle Length: 4.769999980926514 + Vehicle Width: 1.8300000429153442 + View Path: + Alpha: 0.9990000128746033 + Constant Width: false + Fade Out Distance: 0 + Max Velocity Color: 0; 230; 120 + Mid Velocity Color: 32; 138; 174 + Min Velocity Color: 63; 46; 227 + Value: true + Width: 2 + View Point: + Alpha: 1 + Color: 0; 60; 255 + Offset: 0 + Radius: 0.10000000149011612 + Value: false + View Text Slope: + Scale: 0.30000001192092896 + Value: false + View Text Velocity: + Scale: 0.30000001192092896 + Value: false + View Velocity: + Alpha: 0.9990000128746033 + Color: 0; 0; 0 + Constant Color: false + Scale: 0.30000001192092896 + Value: true + - Class: rviz_common/Group + Displays: + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: VirtualWall (ObstacleStop) + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/motion_planning/obstacle_stop_planner/virtual_wall + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: VirtualWall (SurroundObstacle) + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/motion_planning/surround_obstacle_checker/virtual_wall + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: VirtualWall (ObstacleAvoidance) + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/motion_planning/obstacle_avoidance_planner/virtual_wall + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: VirtualWall (ObstacleCruise) + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/virtual_wall + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: VirtualWall (MotionVelocitySmoother) + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/velocity_smoother/virtual_wall + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: VirtualWall (OutOfLane) + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/motion_planning/motion_velocity_planner/out_of_lane/virtual_walls + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: VirtualWall (ObstacleVelocityLimiter) + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/motion_planning/motion_velocity_planner/obstacle_velocity_limiter/virtual_walls + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: VirtualWall (DynamicObstacleStop) + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/motion_planning/motion_velocity_planner/dynamic_obstacle_stop/virtual_walls + Value: true + Enabled: true + Name: VirtualWall + - Class: rviz_common/Group + Displays: + - Class: rviz_common/Group + Displays: + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: SurroundObstacleCheck + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/motion_planning/surround_obstacle_checker/debug/marker + Value: true + - Alpha: 1 + Class: rviz_default_plugins/Polygon + Color: 25; 255; 0 + Enabled: false + Name: Footprint + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/motion_planning/surround_obstacle_checker/debug/footprint + Value: false + - Alpha: 1 + Class: rviz_default_plugins/Polygon + Color: 239; 41; 41 + Enabled: false + Name: FootprintOffset + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/motion_planning/surround_obstacle_checker/debug/footprint_offset + Value: false + - Alpha: 1 + Class: rviz_default_plugins/Polygon + Color: 10; 21; 255 + Enabled: false + Name: FootprintRecoverOffset + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/motion_planning/surround_obstacle_checker/debug/footprint_recover_offset + Value: false + Enabled: false + Name: SurroundObstacleChecker + - Class: rviz_default_plugins/MarkerArray + Enabled: false + Name: ObstacleStop + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/motion_planning/obstacle_stop_planner/debug/marker + Value: false + - Class: rviz_common/Group + Displays: + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: CruiseVirtualWall + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/debug/cruise/virtual_wall + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: SlowDownVirtualWall + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/debug/slow_down/virtual_wall + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: DebugMarker + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/debug/marker + Value: true + Enabled: false + Name: ObstacleCruise + - Class: rviz_default_plugins/MarkerArray + Enabled: false + Name: ObstacleAvoidance + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/motion_planning/obstacle_avoidance_planner/debug/marker + Value: false + - Class: rviz_common/Group + Displays: + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: OutOfLane + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/motion_planning/motion_velocity_planner/out_of_lane/debug_markers + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: ObstacleVelocityLimiter + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/motion_planning/motion_velocity_planner/obstacle_velocity_limiter/debug_markers + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: DynamicObstacleStop + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/lane_driving/motion_planning/motion_velocity_planner/dynamic_obstacle_stop/debug_markers + Value: true + Enabled: false + Name: MotionVelocityPlanner + Enabled: false + Name: DebugMarker + Enabled: true + Name: MotionPlanning + Enabled: true + Name: LaneDriving + - Class: rviz_common/Group + Displays: + - Alpha: 0.699999988079071 + Class: rviz_default_plugins/Map + Color Scheme: map + Draw Behind: false + Enabled: false + Name: Costmap + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/parking/costmap_generator/occupancy_grid + Update Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/parking/costmap_generator/occupancy_grid_updates + Use Timestamp: false + Value: false + - Alpha: 0.9990000128746033 + Arrow Length: 0.30000001192092896 + Axes Length: 0.30000001192092896 + Axes Radius: 0.009999999776482582 + Class: rviz_default_plugins/PoseArray + Color: 255; 25; 0 + Enabled: true + Head Length: 0.10000000149011612 + Head Radius: 0.20000000298023224 + Name: PartialPoseArray + Shaft Length: 0.20000000298023224 + Shaft Radius: 0.05000000074505806 + Shape: Arrow (3D) + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/parking/freespace_planner/debug/partial_pose_array + Value: true + - Alpha: 0.9990000128746033 + Arrow Length: 0.5 + Axes Length: 0.30000001192092896 + Axes Radius: 0.009999999776482582 + Class: rviz_default_plugins/PoseArray + Color: 0; 0; 255 + Enabled: true + Head Length: 0.10000000149011612 + Head Radius: 0.20000000298023224 + Name: PoseArray + Shaft Length: 0.20000000298023224 + Shaft Radius: 0.05000000074505806 + Shape: Arrow (Flat) + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/parking/freespace_planner/debug/pose_array + Value: true + Enabled: true + Name: Parking + - Class: rviz_plugins/PoseWithUuidStamped + Enabled: true + Length: 1.5 + Name: ModifiedGoal + Radius: 0.5 + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/scenario_planning/modified_goal + UUID: + Scale: 0.30000001192092896 + Value: false + Value: true + Enabled: true + Name: ScenarioPlanning + - Class: rviz_common/Group + Displays: + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: PlanningErrorMarker + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Best Effort + Value: /planning/planning_diagnostics/planning_error_monitor/debug/marker + Value: true + Enabled: false + Name: Diagnostic + Enabled: true + Name: Planning + - Class: rviz_common/Group + Displays: + - Class: rviz_plugins/Trajectory + Color Border Vel Max: 3 + Enabled: true + Name: Predicted Trajectory + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /control/trajectory_follower/controller_node_exe/debug/predicted_trajectory_in_frenet_coordinate + Value: true + View Footprint: + Alpha: 1 + Color: 230; 230; 50 + Offset from BaseLink: 0 + Rear Overhang: 1.100000023841858 + Value: false + Vehicle Length: 4.889999866485596 + Vehicle Width: 1.8960000276565552 + View Path: + Alpha: 1 + Constant Width: true + Fade Out Distance: 0 + Max Velocity Color: 0; 230; 120 + Mid Velocity Color: 32; 138; 174 + Min Velocity Color: 63; 46; 227 + Value: true + Width: 0.05000000074505806 + View Point: + Alpha: 1 + Color: 0; 60; 255 + Offset: 0 + Radius: 0.10000000149011612 + Value: false + View Text Slope: + Scale: 0.30000001192092896 + Value: false + View Text Velocity: + Scale: 0.30000001192092896 + Value: false + View Velocity: + Alpha: 1 + Color: 0; 0; 0 + Constant Color: false + Scale: 0.30000001192092896 + Value: false + - Class: rviz_plugins/Trajectory + Color Border Vel Max: 3 + Enabled: false + Name: Resampled Reference Trajectory + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /control/trajectory_follower/controller_node_exe/debug/resampled_reference_trajectory + Value: false + View Footprint: + Alpha: 1 + Color: 230; 230; 50 + Offset from BaseLink: 0 + Rear Overhang: 1.0299999713897705 + Value: false + Vehicle Length: 4.769999980926514 + Vehicle Width: 1.8300000429153442 + View Path: + Alpha: 1 + Constant Width: true + Fade Out Distance: 0 + Max Velocity Color: 0; 230; 120 + Mid Velocity Color: 32; 138; 174 + Min Velocity Color: 63; 46; 227 + Value: false + Width: 0.20000000298023224 + View Point: + Alpha: 1 + Color: 0; 60; 255 + Offset: 0 + Radius: 0.10000000149011612 + Value: true + View Text Slope: + Scale: 0.30000001192092896 + Value: false + View Text Velocity: + Scale: 0.30000001192092896 + Value: false + View Velocity: + Alpha: 1 + Color: 0; 0; 0 + Constant Color: false + Scale: 0.30000001192092896 + Value: false + - Class: rviz_common/Group + Displays: + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: VirtualWall (AEB) + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /control/autonomous_emergency_braking/virtual_wall + Value: true + Enabled: true + Name: VirtualWall + - Class: rviz_default_plugins/Marker + Enabled: false + Name: Stop Reason + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /control/trajectory_follower/longitudinal/stop_reason + Value: false + - Class: rviz_default_plugins/MarkerArray + Enabled: false + Name: Debug/MPC + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /control/trajectory_follower/mpc_follower/debug/markers + Value: false + - Class: rviz_default_plugins/MarkerArray + Enabled: false + Name: Debug/PurePursuit + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /control/trajectory_follower/controller_node_exe/debug/markers + Value: false + - Class: rviz_default_plugins/MarkerArray + Enabled: false + Name: Debug/AEB + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /control/autonomous_emergency_braking/debug/markers + Value: false + Enabled: true + Name: Control + - Class: rviz_common/Group + Displays: + - Class: rviz_common/Group + Displays: ~ + Enabled: true + Name: Map + - Class: rviz_common/Group + Displays: + - Class: rviz_default_plugins/Camera + Enabled: true + Far Plane Distance: 100 + Image Rendering: background and overlay + Name: PointcloudOnCamera + Overlay Alpha: 0.5 + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Best Effort + Value: /sensing/camera/camera6/image_raw + Value: true + Visibility: + Control: + Debug/AEB: true + Debug/MPC: true + Debug/PurePursuit: true + Predicted Trajectory: true + Resampled Reference Trajectory: true + Stop Reason: true + Value: false + VirtualWall: + Value: true + VirtualWall (AEB): true + Debug: + Control: true + Localization: + EKFPoseHistory: true + NDT pointclouds: true + NDTLoadedPCDMap: true + NDTPoseHistory: true + Value: true + Map: true + Perception: + CameraLidarFusion(purple): true + Centerpoint(red1): true + CenterpointROIFusion(red2): true + CenterpointValidator(red3): true + Detection(yellow): true + DetectionByTracker(orange): true + PointPainting(light_green1): true + PointPaintingROIFusion(light_green2): true + PointPaintingValidator(light_green3): true + Prediction(light_blue): true + RadarFarObjects(white): true + Tracking(green): true + Value: true + Planning: + "": + "": true + Value: true + Value: true + Sensing: + ConcatenatePointCloud: true + RadarRawObjects(white): true + Value: true + Value: true + Localization: + EKF: + PoseHistory: true + Value: true + NDT: + Aligned: true + Initial: true + MonteCarloInitialPose: true + PoseHistory: true + PoseWithCovAligned: true + PoseWithCovInitial: true + Value: true + Value: false + Map: + Lanelet2VectorMap: true + PointCloudMap: true + Value: false + Perception: + ObjectRecognition: + Detection: + DetectedObjects: true + Value: true + Prediction: + Maneuver: true + PredictedObjects: true + Value: true + Tracking: + TrackedObjects: true + Value: true + Value: true + OccupancyGrid: + Map: true + Value: true + Segmentation: + NoGroundPointCloud: true + Value: true + TrafficLight: + MapBasedDetectionResult: true + RecognitionResultOnImage: true + Value: true + Value: false + Planning: + Diagnostic: + PlanningErrorMarker: true + Value: true + MissionPlanning: + GoalPose: true + MissionDetailsDisplay: true + RouteArea: true + Value: true + ScenarioPlanning: + LaneDriving: + BehaviorPlanning: + (old)PathChangeCandidate_LaneChange: true + Bound: true + DebugMarker: + Arrow: true + Blind Spot: true + Crosswalk: true + DetectionArea: true + DynamicObstacleAvoidance: true + GoalPlanner: true + Intersection: true + LaneFollowing: true + LeftLaneChange: true + NoDrivableLane: true + NoStoppingArea: true + OcclusionSpot: true + RightLaneChange: true + RunOut: true + SideShift: true + SpeedBump: true + StartPlanner: true + StaticObstacleAvoidance: true + StopLine: true + TrafficLight: true + Value: true + VirtualTrafficLight: true + InfoMarker: + Info (AvoidanceByLC): true + Info (DynamicObstacleAvoidance): true + Info (ExtLaneChangeLeft): true + Info (ExtLaneChangeRight): true + Info (GoalPlanner): true + Info (LaneChangeLeft): true + Info (LaneChangeRight): true + Info (StartPlanner): true + Info (StaticObstacleAvoidance): true + Value: true + Path: true + PathChangeCandidate_Avoidance: true + PathChangeCandidate_AvoidanceByLC: true + PathChangeCandidate_ExternalRequestLaneChangeLeft: true + PathChangeCandidate_ExternalRequestLaneChangeRight: true + PathChangeCandidate_GoalPlanner: true + PathChangeCandidate_LaneChangeLeft: true + PathChangeCandidate_LaneChangeRight: true + PathChangeCandidate_StartPlanner: true + PathReference_Avoidance: true + PathReference_AvoidanceByLC: true + PathReference_GoalPlanner: true + PathReference_LaneChangeLeft: true + PathReference_LaneChangeRight: true + PathReference_StartPlanner: true + Value: true + VirtualWall: + Value: true + VirtualWall (AvoidanceByLC): true + VirtualWall (BlindSpot): true + VirtualWall (Crosswalk): true + VirtualWall (DetectionArea): true + VirtualWall (ExtLaneChangeLeft): true + VirtualWall (ExtLaneChangeRight): true + VirtualWall (GoalPlanner): true + VirtualWall (Intersection): true + VirtualWall (LaneChangeLeft): true + VirtualWall (LaneChangeRight): true + VirtualWall (MergeFromPrivateArea): true + VirtualWall (NoDrivableLane): true + VirtualWall (NoStoppingArea): true + VirtualWall (OcclusionSpot): true + VirtualWall (RunOut): true + VirtualWall (SpeedBump): true + VirtualWall (StartPlanner): true + VirtualWall (StaticObstacleAvoidance): true + VirtualWall (StopLine): true + VirtualWall (TrafficLight): true + VirtualWall (VirtualTrafficLight): true + VirtualWall (Walkway): true + MotionPlanning: + DebugMarker: + MotionVelocityPlanner: + DynamicObstacleStop: true + ObstacleVelocityLimiter: true + OutOfLane: true + Value: true + ObstacleAvoidance: true + ObstacleCruise: + CruiseVirtualWall: true + DebugMarker: true + SlowDownVirtualWall: true + Value: true + ObstacleStop: true + SurroundObstacleChecker: + Footprint: true + FootprintOffset: true + FootprintRecoverOffset: true + SurroundObstacleCheck: true + Value: true + Value: true + Trajectory: true + Value: true + VirtualWall: + Value: true + VirtualWall (DynamicObstacleStop): true + VirtualWall (MotionVelocitySmoother): true + VirtualWall (ObstacleAvoidance): true + VirtualWall (ObstacleCruise): true + VirtualWall (ObstacleStop): true + VirtualWall (ObstacleVelocityLimiter): true + VirtualWall (OutOfLane): true + VirtualWall (SurroundObstacle): true + Value: true + ModifiedGoal: true + Parking: + Costmap: true + PartialPoseArray: true + PoseArray: true + Value: true + ScenarioTrajectory: true + Value: true + Value: false + Sensing: + GNSS: + PoseWithCovariance: true + Value: true + LiDAR: + ConcatenatePointCloud: true + MeasurementRange: true + Value: true + Value: true + System: + Grid: true + MRM Summary: true + TF: true + Value: false + Vehicle: + PolarGridDisplay: true + SignalDisplay: true + Value: true + VehicleModel: true + Value: true + Zoom Factor: 1 + - Alpha: 1 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 5 + Min Value: -1 + Value: false + Axis: Z + Channel Name: intensity + Class: rviz_default_plugins/PointCloud2 + Color: 255; 255; 255 + Color Transformer: AxisColor + Decay Time: 0 + Enabled: true + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 4096 + Min Color: 0; 0; 0 + Min Intensity: 0 + Name: ConcatenatePointCloud + Position Transformer: XYZ + Selectable: false + Size (Pixels): 3 + Size (m): 0.019999999552965164 + Style: Points + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Best Effort + Value: /sensing/lidar/concatenated/pointcloud + Use Fixed Frame: false + Use rainbow: true + Value: true + - BUS: + Alpha: 0.5 + Color: 255; 255; 255 + CAR: + Alpha: 0.5 + Color: 255; 255; 255 + CYCLIST: + Alpha: 0.5 + Color: 255; 255; 255 + Class: autoware_perception_rviz_plugin/DetectedObjects + Confidence Interval: 95% + Display Acceleration: true + Display Existence Probability: false + Display Label: true + Display Pose Covariance: true + Display Predicted Path Confidence: true + Display Predicted Paths: true + Display Twist: true + Display Twist Covariance: false + Display UUID: true + Display Velocity: true + Display Yaw Covariance: false + Display Yaw Rate: false + Display Yaw Rate Covariance: false + Enabled: true + Line Width: 0.029999999329447746 + MOTORCYCLE: + Alpha: 0.5 + Color: 255; 255; 255 + Name: RadarRawObjects(white) + Namespaces: + {} + Object Fill Type: skeleton + PEDESTRIAN: + Alpha: 0.5 + Color: 255; 255; 255 + Polygon Type: 3d + TRAILER: + Alpha: 0.5 + Color: 255; 255; 255 + TRUCK: + Alpha: 0.5 + Color: 255; 255; 255 + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Best Effort + Value: /sensing/radar/detected_objects + UNKNOWN: + Alpha: 0.5 + Color: 255; 255; 255 + Value: true + Visualization Type: Normal + Enabled: false + Name: Sensing + - Class: rviz_common/Group + Displays: + - Alpha: 0.9990000128746033 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 10 + Min Value: -10 + Value: true + Axis: Z + Channel Name: intensity + Class: rviz_default_plugins/PointCloud2 + Color: 85; 255; 0 + Color Transformer: FlatColor + Decay Time: 0 + Enabled: true + Invert Rainbow: false + Max Color: 85; 255; 127 + Max Intensity: 0 + Min Color: 0; 0; 0 + Min Intensity: 0 + Name: NDT pointclouds + Position Transformer: XYZ + Selectable: false + Size (Pixels): 10 + Size (m): 0.5 + Style: Squares + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /localization/pose_estimator/points_aligned + Use Fixed Frame: true + Use rainbow: true + Value: true + - Alpha: 1 + Autocompute Intensity Bounds: true + Autocompute Value Bounds: + Max Value: 10 + Min Value: -10 + Value: true + Axis: Z + Channel Name: intensity + Class: rviz_default_plugins/PointCloud2 + Color: 255; 255; 255 + Color Transformer: "" + Decay Time: 0 + Enabled: true + Invert Rainbow: false + Max Color: 255; 255; 255 + Max Intensity: 4096 + Min Color: 0; 0; 0 + Min Intensity: 0 + Name: NDTLoadedPCDMap + Position Transformer: "" + Selectable: true + Size (Pixels): 3 + Size (m): 0.10000000149011612 + Style: Flat Squares + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /localization/pose_estimator/debug/loaded_pointcloud_map + Use Fixed Frame: true + Use rainbow: true + Value: true + - Buffer Size: 200 + Class: rviz_plugins::PoseHistory + Enabled: true + Line: + Alpha: 0.9990000128746033 + Color: 170; 255; 127 + Value: true + Width: 0.10000000149011612 + Name: NDTPoseHistory + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /localization/pose_estimator/pose + Value: true + - Buffer Size: 1000 + Class: rviz_plugins::PoseHistory + Enabled: true + Line: + Alpha: 0.9990000128746033 + Color: 0; 255; 255 + Value: true + Width: 0.10000000149011612 + Name: EKFPoseHistory + Topic: + Depth: 5 + Durability Policy: Volatile + Filter size: 10 + History Policy: Keep Last + Reliability Policy: Reliable + Value: /localization/pose_twist_fusion_filter/pose + Value: true + Enabled: true + Name: Localization + - Class: rviz_common/Group + Displays: + - BUS: + Alpha: 0.9990000128746033 + Color: 255; 138; 128 + CAR: + Alpha: 0.9990000128746033 + Color: 255; 138; 128 + CYCLIST: + Alpha: 0.9990000128746033 + Color: 255; 138; 128 + Class: autoware_perception_rviz_plugin/DetectedObjects + Confidence Interval: 95% + Display Acceleration: true + Display Existence Probability: false + Display Label: true + Display Pose Covariance: true + Display Predicted Path Confidence: true + Display Predicted Paths: true + Display Twist: true + Display Twist Covariance: false + Display UUID: true + Display Velocity: true + Display Yaw Covariance: false + Display Yaw Rate: false + Display Yaw Rate Covariance: false + Enabled: true + Line Width: 0.10000000149011612 + MOTORCYCLE: + Alpha: 0.9990000128746033 + Color: 255; 138; 128 + Name: Centerpoint(red1) + Namespaces: + {} + Object Fill Type: skeleton + PEDESTRIAN: + Alpha: 0.9990000128746033 + Color: 255; 138; 128 + Polygon Type: 3d + TRAILER: + Alpha: 0.9990000128746033 + Color: 255; 138; 128 + TRUCK: + Alpha: 0.9990000128746033 + Color: 255; 138; 128 + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Best Effort + Value: /perception/object_recognition/detection/centerpoint/objects + UNKNOWN: + Alpha: 0.9990000128746033 + Color: 255; 138; 128 + Value: true + Visualization Type: Normal + - BUS: + Alpha: 0.9990000128746033 + Color: 255; 82; 82 + CAR: + Alpha: 0.9990000128746033 + Color: 255; 82; 82 + CYCLIST: + Alpha: 0.9990000128746033 + Color: 255; 82; 82 + Class: autoware_perception_rviz_plugin/DetectedObjects + Confidence Interval: 95% + Display Acceleration: true + Display Existence Probability: false + Display Label: true + Display Pose Covariance: true + Display Predicted Path Confidence: true + Display Predicted Paths: true + Display Twist: true + Display Twist Covariance: false + Display UUID: true + Display Velocity: true + Display Yaw Covariance: false + Display Yaw Rate: false + Display Yaw Rate Covariance: false + Enabled: true + Line Width: 0.10000000149011612 + MOTORCYCLE: + Alpha: 0.9990000128746033 + Color: 255; 82; 82 + Name: CenterpointROIFusion(red2) + Namespaces: + {} + Object Fill Type: skeleton + PEDESTRIAN: + Alpha: 0.9990000128746033 + Color: 255; 82; 82 + Polygon Type: 3d + TRAILER: + Alpha: 0.9990000128746033 + Color: 255; 82; 82 + TRUCK: + Alpha: 0.9990000128746033 + Color: 255; 82; 82 + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Best Effort + Value: /perception/object_recognition/detection/centerpoint/roi_fusion/objects + UNKNOWN: + Alpha: 0.9990000128746033 + Color: 255; 82; 82 + Value: true + Visualization Type: Normal + - BUS: + Alpha: 0.9990000128746033 + Color: 213; 0; 0 + CAR: + Alpha: 0.9990000128746033 + Color: 213; 0; 0 + CYCLIST: + Alpha: 0.9990000128746033 + Color: 213; 0; 0 + Class: autoware_perception_rviz_plugin/DetectedObjects + Confidence Interval: 95% + Display Acceleration: true + Display Existence Probability: false + Display Label: true + Display Pose Covariance: true + Display Predicted Path Confidence: true + Display Predicted Paths: true + Display Twist: true + Display Twist Covariance: false + Display UUID: true + Display Velocity: true + Display Yaw Covariance: false + Display Yaw Rate: false + Display Yaw Rate Covariance: false + Enabled: true + Line Width: 0.10000000149011612 + MOTORCYCLE: + Alpha: 0.9990000128746033 + Color: 213; 0; 0 + Name: CenterpointValidator(red3) + Namespaces: + {} + Object Fill Type: skeleton + PEDESTRIAN: + Alpha: 0.9990000128746033 + Color: 213; 0; 0 + Polygon Type: 3d + TRAILER: + Alpha: 0.9990000128746033 + Color: 213; 0; 0 + TRUCK: + Alpha: 0.9990000128746033 + Color: 213; 0; 0 + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Best Effort + Value: /perception/object_recognition/detection/centerpoint/validation/objects + UNKNOWN: + Alpha: 0.9990000128746033 + Color: 213; 0; 0 + Value: true + Visualization Type: Normal + - BUS: + Alpha: 0.9990000128746033 + Color: 178; 255; 89 + CAR: + Alpha: 0.9990000128746033 + Color: 178; 255; 89 + CYCLIST: + Alpha: 0.9990000128746033 + Color: 178; 255; 89 + Class: autoware_perception_rviz_plugin/DetectedObjects + Confidence Interval: 95% + Display Acceleration: true + Display Existence Probability: false + Display Label: true + Display Pose Covariance: true + Display Predicted Path Confidence: true + Display Predicted Paths: true + Display Twist: true + Display Twist Covariance: false + Display UUID: true + Display Velocity: true + Display Yaw Covariance: false + Display Yaw Rate: false + Display Yaw Rate Covariance: false + Enabled: true + Line Width: 0.10000000149011612 + MOTORCYCLE: + Alpha: 0.9990000128746033 + Color: 178; 255; 89 + Name: PointPainting(light_green1) + Namespaces: + {} + Object Fill Type: skeleton + PEDESTRIAN: + Alpha: 0.9990000128746033 + Color: 178; 255; 89 + Polygon Type: 3d + TRAILER: + Alpha: 0.9990000128746033 + Color: 178; 255; 89 + TRUCK: + Alpha: 0.9990000128746033 + Color: 178; 255; 89 + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Best Effort + Value: /perception/object_recognition/detection/pointpainting/objects + UNKNOWN: + Alpha: 0.9990000128746033 + Color: 178; 255; 89 + Value: true + Visualization Type: Normal + - BUS: + Alpha: 0.9990000128746033 + Color: 118; 255; 3 + CAR: + Alpha: 0.9990000128746033 + Color: 118; 255; 3 + CYCLIST: + Alpha: 0.9990000128746033 + Color: 118; 255; 3 + Class: autoware_perception_rviz_plugin/DetectedObjects + Confidence Interval: 95% + Display Acceleration: true + Display Existence Probability: false + Display Label: true + Display Pose Covariance: true + Display Predicted Path Confidence: true + Display Predicted Paths: true + Display Twist: true + Display Twist Covariance: false + Display UUID: true + Display Velocity: true + Display Yaw Covariance: false + Display Yaw Rate: false + Display Yaw Rate Covariance: false + Enabled: true + Line Width: 0.10000000149011612 + MOTORCYCLE: + Alpha: 0.9990000128746033 + Color: 118; 255; 3 + Name: PointPaintingROIFusion(light_green2) + Namespaces: + {} + Object Fill Type: skeleton + PEDESTRIAN: + Alpha: 0.9990000128746033 + Color: 118; 255; 3 + Polygon Type: 3d + TRAILER: + Alpha: 0.9990000128746033 + Color: 118; 255; 3 + TRUCK: + Alpha: 0.9990000128746033 + Color: 118; 255; 3 + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Best Effort + Value: /perception/object_recognition/detection/pointpainting/roi_fusion/objects + UNKNOWN: + Alpha: 0.9990000128746033 + Color: 118; 255; 3 + Value: true + Visualization Type: Normal + - BUS: + Alpha: 0.9990000128746033 + Color: 100; 221; 23 + CAR: + Alpha: 0.9990000128746033 + Color: 100; 221; 23 + CYCLIST: + Alpha: 0.9990000128746033 + Color: 100; 221; 23 + Class: autoware_perception_rviz_plugin/DetectedObjects + Confidence Interval: 95% + Display Acceleration: true + Display Existence Probability: false + Display Label: true + Display Pose Covariance: true + Display Predicted Path Confidence: true + Display Predicted Paths: true + Display Twist: true + Display Twist Covariance: false + Display UUID: true + Display Velocity: true + Display Yaw Covariance: false + Display Yaw Rate: false + Display Yaw Rate Covariance: false + Enabled: true + Line Width: 0.10000000149011612 + MOTORCYCLE: + Alpha: 0.9990000128746033 + Color: 100; 221; 23 + Name: PointPaintingValidator(light_green3) + Namespaces: + {} + Object Fill Type: skeleton + PEDESTRIAN: + Alpha: 0.9990000128746033 + Color: 100; 221; 23 + Polygon Type: 3d + TRAILER: + Alpha: 0.9990000128746033 + Color: 100; 221; 23 + TRUCK: + Alpha: 0.9990000128746033 + Color: 100; 221; 23 + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Best Effort + Value: /perception/object_recognition/detection/pointpainting/validation/objects + UNKNOWN: + Alpha: 0.9990000128746033 + Color: 100; 221; 23 + Value: true + Visualization Type: Normal + - BUS: + Alpha: 0.9990000128746033 + Color: 255; 145; 0 + CAR: + Alpha: 0.9990000128746033 + Color: 255; 145; 0 + CYCLIST: + Alpha: 0.9990000128746033 + Color: 255; 145; 0 + Class: autoware_perception_rviz_plugin/DetectedObjects + Confidence Interval: 95% + Display Acceleration: true + Display Existence Probability: false + Display Label: true + Display Pose Covariance: true + Display Predicted Path Confidence: true + Display Predicted Paths: true + Display Twist: true + Display Twist Covariance: false + Display UUID: true + Display Velocity: true + Display Yaw Covariance: false + Display Yaw Rate: false + Display Yaw Rate Covariance: false + Enabled: true + Line Width: 0.10000000149011612 + MOTORCYCLE: + Alpha: 0.9990000128746033 + Color: 255; 145; 0 + Name: DetectionByTracker(orange) + Namespaces: + {} + Object Fill Type: skeleton + PEDESTRIAN: + Alpha: 0.9990000128746033 + Color: 255; 145; 0 + Polygon Type: 3d + TRAILER: + Alpha: 0.9990000128746033 + Color: 255; 145; 0 + TRUCK: + Alpha: 0.9990000128746033 + Color: 255; 145; 0 + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Best Effort + Value: /perception/object_recognition/detection/detection_by_tracker/objects + UNKNOWN: + Alpha: 0.9990000128746033 + Color: 255; 145; 0 + Value: true + Visualization Type: Normal + - BUS: + Alpha: 0.9990000128746033 + Color: 213; 0; 249 + CAR: + Alpha: 0.9990000128746033 + Color: 213; 0; 249 + CYCLIST: + Alpha: 0.9990000128746033 + Color: 213; 0; 249 + Class: autoware_perception_rviz_plugin/DetectedObjects + Confidence Interval: 95% + Display Acceleration: true + Display Existence Probability: false + Display Label: true + Display Pose Covariance: true + Display Predicted Path Confidence: true + Display Predicted Paths: true + Display Twist: true + Display Twist Covariance: false + Display UUID: true + Display Velocity: true + Display Yaw Covariance: false + Display Yaw Rate: false + Display Yaw Rate Covariance: false + Enabled: true + Line Width: 0.10000000149011612 + MOTORCYCLE: + Alpha: 0.9990000128746033 + Color: 213; 0; 249 + Name: CameraLidarFusion(purple) + Namespaces: + {} + Object Fill Type: skeleton + PEDESTRIAN: + Alpha: 0.9990000128746033 + Color: 213; 0; 249 + Polygon Type: 3d + TRAILER: + Alpha: 0.9990000128746033 + Color: 213; 0; 249 + TRUCK: + Alpha: 0.9990000128746033 + Color: 213; 0; 249 + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Best Effort + Value: /perception/object_recognition/detection/clustering/camera_lidar_fusion/objects + UNKNOWN: + Alpha: 0.9990000128746033 + Color: 213; 0; 249 + Value: true + Visualization Type: Normal + - BUS: + Alpha: 0.9990000128746033 + Color: 255; 255; 255 + CAR: + Alpha: 0.9990000128746033 + Color: 255; 255; 255 + CYCLIST: + Alpha: 0.9990000128746033 + Color: 255; 255; 255 + Class: autoware_perception_rviz_plugin/DetectedObjects + Confidence Interval: 95% + Display Acceleration: true + Display Existence Probability: false + Display Label: true + Display Pose Covariance: true + Display Predicted Path Confidence: true + Display Predicted Paths: true + Display Twist: true + Display Twist Covariance: false + Display UUID: true + Display Velocity: true + Display Yaw Covariance: false + Display Yaw Rate: false + Display Yaw Rate Covariance: false + Enabled: true + Line Width: 0.10000000149011612 + MOTORCYCLE: + Alpha: 0.9990000128746033 + Color: 255; 255; 255 + Name: RadarFarObjects(white) + Namespaces: + {} + Object Fill Type: skeleton + PEDESTRIAN: + Alpha: 0.9990000128746033 + Color: 255; 255; 255 + Polygon Type: 3d + TRAILER: + Alpha: 0.9990000128746033 + Color: 255; 255; 255 + TRUCK: + Alpha: 0.9990000128746033 + Color: 255; 255; 255 + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Best Effort + Value: /perception/object_recognition/detection/radar/far_objects + UNKNOWN: + Alpha: 0.9990000128746033 + Color: 255; 255; 255 + Value: true + Visualization Type: Normal + - BUS: + Alpha: 0.9990000128746033 + Color: 255; 234; 0 + CAR: + Alpha: 0.9990000128746033 + Color: 255; 234; 0 + CYCLIST: + Alpha: 0.9990000128746033 + Color: 255; 234; 0 + Class: autoware_perception_rviz_plugin/DetectedObjects + Confidence Interval: 95% + Display Acceleration: true + Display Existence Probability: false + Display Label: true + Display Pose Covariance: true + Display Predicted Path Confidence: true + Display Predicted Paths: true + Display Twist: true + Display Twist Covariance: false + Display UUID: true + Display Velocity: true + Display Yaw Covariance: false + Display Yaw Rate: false + Display Yaw Rate Covariance: false + Enabled: true + Line Width: 0.10000000149011612 + MOTORCYCLE: + Alpha: 0.9990000128746033 + Color: 255; 234; 0 + Name: Detection(yellow) + Namespaces: + {} + Object Fill Type: skeleton + PEDESTRIAN: + Alpha: 0.9990000128746033 + Color: 255; 234; 0 + Polygon Type: 3d + TRAILER: + Alpha: 0.9990000128746033 + Color: 255; 234; 0 + TRUCK: + Alpha: 0.9990000128746033 + Color: 255; 234; 0 + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Best Effort + Value: /perception/object_recognition/detection/objects + UNKNOWN: + Alpha: 0.9990000128746033 + Color: 255; 234; 0 + Value: true + Visualization Type: Normal + - BUS: + Alpha: 0.9990000128746033 + Color: 0; 230; 118 + CAR: + Alpha: 0.9990000128746033 + Color: 0; 230; 118 + CYCLIST: + Alpha: 0.9990000128746033 + Color: 0; 230; 118 + Class: autoware_perception_rviz_plugin/TrackedObjects + Confidence Interval: 95% + Display Acceleration: true + Display Existence Probability: false + Display Label: true + Display Pose Covariance: true + Display Predicted Path Confidence: true + Display Predicted Paths: true + Display Twist: true + Display Twist Covariance: false + Display UUID: true + Display Velocity: true + Display Yaw Covariance: false + Display Yaw Rate: false + Display Yaw Rate Covariance: false + Dynamic Status: All + Enabled: true + Line Width: 0.10000000149011612 + MOTORCYCLE: + Alpha: 0.9990000128746033 + Color: 0; 230; 118 + Name: Tracking(green) + Namespaces: + {} + Object Fill Type: skeleton + PEDESTRIAN: + Alpha: 0.9990000128746033 + Color: 0; 230; 118 + Polygon Type: 3d + TRAILER: + Alpha: 0.9990000128746033 + Color: 0; 230; 118 + TRUCK: + Alpha: 0.9990000128746033 + Color: 0; 230; 118 + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Best Effort + Value: /perception/object_recognition/tracking/objects + UNKNOWN: + Alpha: 0.9990000128746033 + Color: 0; 230; 118 + Value: true + Visualization Type: Normal + - BUS: + Alpha: 0.9990000128746033 + Color: 0; 176; 255 + CAR: + Alpha: 0.9990000128746033 + Color: 0; 176; 255 + CYCLIST: + Alpha: 0.9990000128746033 + Color: 0; 176; 255 + Class: autoware_perception_rviz_plugin/PredictedObjects + Confidence Interval: 95% + Display Acceleration: true + Display Existence Probability: false + Display Label: true + Display Pose Covariance: true + Display Predicted Path Confidence: true + Display Predicted Paths: true + Display Twist: true + Display Twist Covariance: false + Display UUID: true + Display Velocity: true + Display Yaw Covariance: false + Display Yaw Rate: false + Display Yaw Rate Covariance: false + Enabled: true + Line Width: 0.10000000149011612 + MOTORCYCLE: + Alpha: 0.9990000128746033 + Color: 0; 176; 255 + Name: Prediction(light_blue) + Namespaces: + {} + Object Fill Type: skeleton + PEDESTRIAN: + Alpha: 0.9990000128746033 + Color: 0; 176; 255 + Polygon Type: 3d + TRAILER: + Alpha: 0.9990000128746033 + Color: 0; 176; 255 + TRUCK: + Alpha: 0.9990000128746033 + Color: 0; 176; 255 + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Best Effort + Value: /perception/object_recognition/objects + UNKNOWN: + Alpha: 0.9990000128746033 + Color: 0; 176; 255 + Value: true + Visualization Type: Normal + Enabled: true + Name: Perception + - Class: rviz_common/Group + Displays: + - Class: rviz_common/Group + Displays: + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: LaneChangeLeft + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/debug/objects_of_interest/lane_change_left + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: LaneChangeRight + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/debug/objects_of_interest/lane_change_right + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: AvoidanceLeft + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/debug/objects_of_interest/static_obstacle_avoidance_left + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: AvoidanceRight + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/debug/objects_of_interest/static_obstacle_avoidance_right + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: AvoidanceByLCLeft + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/debug/objects_of_interest/avoidance_by_lc_left + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: AvoidanceByLCRight + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/debug/objects_of_interest/avoidance_by_lc_right + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: StartPlanner + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/debug/objects_of_interest/start_planner + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: GoalPlanner + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/debug/objects_of_interest/goal_planner + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: Crosswalk + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/debug/objects_of_interest/crosswalk + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: Intersection + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/debug/objects_of_interest/intersection + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: BlindSpot + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/debug/objects_of_interest/blind_spot + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: TrafficLight + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/debug/objects_of_interest/traffic_light + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: DetectionArea + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/debug/objects_of_interest/detection_area + Value: true + - Class: rviz_default_plugins/MarkerArray + Enabled: true + Name: NoStoppingArea + Namespaces: + {} + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/debug/objects_of_interest/no_stopping_area + Value: true + Enabled: true + Name: Objects Of Interest + Enabled: true + Name: Planning + - Class: rviz_common/Group + Displays: ~ + Enabled: true + Name: Control + Enabled: false + Name: Debug + Enabled: true + Global Options: + Background Color: 15; 20; 23 + Fixed Frame: map + Frame Rate: 30 + Name: root + Tools: + - Class: rviz_default_plugins/Interact + Hide Inactive Objects: true + - Class: rviz_default_plugins/MoveCamera + - Class: rviz_default_plugins/Select + - Class: rviz_default_plugins/FocusCamera + - Class: rviz_default_plugins/Measure + Line color: 128; 128; 0 + - Class: rviz_default_plugins/SetInitialPose + Covariance x: 0.25 + Covariance y: 0.25 + Covariance yaw: 0.06853891909122467 + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /initialpose + - Class: rviz_default_plugins/SetGoal + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /planning/mission_planning/goal + - Class: tier4_adapi_rviz_plugins::RouteTool + Topic: + Depth: 5 + Durability Policy: Volatile + History Policy: Keep Last + Reliability Policy: Reliable + Value: /rviz/routing/rough_goal + - Acceleration: 0 + Class: rviz_plugins/PedestrianInitialPoseTool + Interactive: false + Max velocity: 33.29999923706055 + Min velocity: -33.29999923706055 + Pose Topic: /simulation/dummy_perception_publisher/object_info + Target Frame: + Theta std deviation: 0.0872664600610733 + Velocity: 0 + X std deviation: 0.029999999329447746 + Y std deviation: 0.029999999329447746 + Z position: 1 + Z std deviation: 0.029999999329447746 + - Acceleration: 0 + Class: rviz_plugins/CarInitialPoseTool + H vehicle height: 2 + Interactive: false + L vehicle length: 4 + Max velocity: 33.29999923706055 + Min velocity: -33.29999923706055 + Pose Topic: /simulation/dummy_perception_publisher/object_info + Target Frame: + Theta std deviation: 0.0872664600610733 + Velocity: 3 + W vehicle width: 1.7999999523162842 + X std deviation: 0.029999999329447746 + Y std deviation: 0.029999999329447746 + Z position: 0 + Z std deviation: 0.029999999329447746 + - Acceleration: 0 + Class: rviz_plugins/BusInitialPoseTool + H vehicle height: 3.5 + Interactive: false + L vehicle length: 10.5 + Max velocity: 33.29999923706055 + Min velocity: -33.29999923706055 + Pose Topic: /simulation/dummy_perception_publisher/object_info + Target Frame: + Theta std deviation: 0.0872664600610733 + Velocity: 0 + W vehicle width: 2.5 + X std deviation: 0.029999999329447746 + Y std deviation: 0.029999999329447746 + Z position: 0 + Z std deviation: 0.029999999329447746 + - Class: rviz_plugins/MissionCheckpointTool + Pose Topic: /planning/mission_planning/checkpoint + Theta std deviation: 0.2617993950843811 + X std deviation: 0.5 + Y std deviation: 0.5 + Z position: 0 + - Class: rviz_plugins/DeleteAllObjectsTool + Pose Topic: /simulation/dummy_perception_publisher/object_info + Transformation: + Current: + Class: rviz_default_plugins/TF + Value: true + Views: + Current: + Angle: -1.575000524520874 + Class: rviz_default_plugins/TopDownOrtho + Enable Stereo Rendering: + Stereo Eye Separation: 0.05999999865889549 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Invert Z Axis: false + Name: Current View + Near Clip Distance: 0.009999999776482582 + Scale: 218.00759887695312 + Target Frame: viewer + Value: TopDownOrtho (rviz_default_plugins) + X: -160.8595733642578 + Y: -100.9619140625 + Saved: + - Class: rviz_default_plugins/ThirdPersonFollower + Distance: 18 + Enable Stereo Rendering: + Stereo Eye Separation: 0.05999999865889549 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Focal Point: + X: 0 + Y: 0 + Z: 0 + Focal Shape Fixed Size: true + Focal Shape Size: 0.05000000074505806 + Invert Z Axis: false + Name: ThirdPersonFollower + Near Clip Distance: 0.009999999776482582 + Pitch: 0.20000000298023224 + Target Frame: base_link + Value: ThirdPersonFollower (rviz) + Yaw: 3.141592025756836 + - Angle: 0 + Class: rviz_default_plugins/TopDownOrtho + Enable Stereo Rendering: + Stereo Eye Separation: 0.05999999865889549 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Invert Z Axis: false + Name: TopDownOrtho + Near Clip Distance: 0.009999999776482582 + Scale: 10 + Target Frame: viewer + Value: TopDownOrtho (rviz) + X: 0 + Y: 0 +Window Geometry: + AutowareDateTimePanel: + collapsed: false + AutowareStatePanel: + collapsed: false + Displays: + collapsed: false + Height: 2640 + Hide Left Dock: false + Hide Right Dock: false + PointcloudOnCamera: + collapsed: false + QMainWindow State: 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+ RecognitionResultOnImage: + collapsed: false + Selection: + collapsed: false + SimulatedClockPanel: + collapsed: false + Tool Properties: + collapsed: false + TrafficLightPublishPanel: + collapsed: false + Views: + collapsed: false + Width: 3370 + X: 1750 + Y: 54 diff --git a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/config/goal_planner.param.yaml b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/config/goal_planner.param.yaml index 5eb71126bb838..cd51e24f1ba96 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/config/goal_planner.param.yaml +++ b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/config/goal_planner.param.yaml @@ -130,6 +130,9 @@ neighbor_radius: 8.0 margin: 1.0 + bezier_parking: + pull_over_azimuth_threshold: 0.785 + stop_condition: maximum_deceleration_for_stop: 1.0 maximum_jerk_for_stop: 1.0 diff --git a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/goal_planner_module.hpp b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/goal_planner_module.hpp index 84367fdd91b80..fda9a74d6604a 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/goal_planner_module.hpp +++ b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/goal_planner_module.hpp @@ -18,6 +18,7 @@ #include "autoware/behavior_path_goal_planner_module/decision_state.hpp" #include "autoware/behavior_path_goal_planner_module/fixed_goal_planner_base.hpp" #include "autoware/behavior_path_goal_planner_module/goal_planner_parameters.hpp" +#include "autoware/behavior_path_goal_planner_module/pull_over_planner/bezier_pull_over.hpp" #include "autoware/behavior_path_goal_planner_module/pull_over_planner/freespace_pull_over.hpp" #include "autoware/behavior_path_goal_planner_module/thread_data.hpp" #include "autoware/behavior_path_planner_common/utils/parking_departure/common_module_data.hpp" @@ -86,8 +87,8 @@ struct PullOverContextData explicit PullOverContextData( const bool is_stable_safe_path, const PredictedObjects & static_objects, const PredictedObjects & dynamic_objects, const PathDecisionState & prev_state, - const bool is_stopped, const LaneParkingResponse & lane_parking_response, - const FreespaceParkingResponse & freespace_parking_response) + const bool is_stopped, LaneParkingResponse && lane_parking_response, + FreespaceParkingResponse && freespace_parking_response) : is_stable_safe_path(is_stable_safe_path), static_target_objects(static_objects), dynamic_target_objects(dynamic_objects), @@ -112,8 +113,8 @@ struct PullOverContextData void update( const bool is_stable_safe_path_, const PredictedObjects static_target_objects_, const PredictedObjects dynamic_target_objects_, const PathDecisionState prev_state_for_debug_, - const bool is_stopped_, const LaneParkingResponse & lane_parking_response_, - const FreespaceParkingResponse & freespace_parking_response_) + const bool is_stopped_, LaneParkingResponse && lane_parking_response_, + FreespaceParkingResponse && freespace_parking_response_) { is_stable_safe_path = is_stable_safe_path_; static_target_objects = static_target_objects_; @@ -196,6 +197,21 @@ class LaneParkingPlanner original_upstream_module_output_; // bezier_pull_over_planner_; + const double pull_over_azimuth_threshold; + + bool switch_bezier_{false}; + void shift_planning_helper( + const std::shared_ptr planner_data, const GoalCandidates & goal_candidates, + const BehaviorModuleOutput & upstream_module_output, + const lanelet::ConstLanelets current_lanelets, std::optional & closest_start_pose, + std::vector & path_candidates); + void bezier_planning_helper( + const std::shared_ptr planner_data, const GoalCandidates & goal_candidates, + const BehaviorModuleOutput & upstream_module_output, + const lanelet::ConstLanelets current_lanelets, std::optional & closest_start_pose, + std::vector & path_candidates, + std::optional> & sorted_indices) const; }; class FreespaceParkingPlanner @@ -433,7 +449,8 @@ class GoalPlannerModule : public SceneModuleInterface std::optional selectPullOverPath( const PullOverContextData & context_data, const std::vector & pull_over_path_candidates, - const GoalCandidates & goal_candidates) const; + const GoalCandidates & goal_candidates, + const std::optional> sorted_bezier_indices_opt) const; // lanes and drivable area std::vector generateDrivableLanes() const; diff --git a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/goal_planner_parameters.hpp b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/goal_planner_parameters.hpp index 440e57b53d07f..299e0a5892e1d 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/goal_planner_parameters.hpp +++ b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/goal_planner_parameters.hpp @@ -119,6 +119,11 @@ struct GoalPlannerParameters AstarParam astar_parameters{}; RRTStarParam rrt_star_parameters{}; + struct BezierParking + { + double pull_over_azimuth_threshold; + } bezier_parking; + // stop condition double maximum_deceleration_for_stop{0.0}; double maximum_jerk_for_stop{0.0}; diff --git a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/pull_over_planner/pull_over_planner_base.hpp b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/pull_over_planner/pull_over_planner_base.hpp index 5af69894c0a2e..7f404a4055b26 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/pull_over_planner/pull_over_planner_base.hpp +++ b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/pull_over_planner/pull_over_planner_base.hpp @@ -68,6 +68,10 @@ struct PullOverPath const std::vector & parking_path_curvatures() const { return parking_path_curvatures_; } double full_path_max_curvature() const { return full_path_max_curvature_; } double parking_path_max_curvature() const { return parking_path_max_curvature_; } + double parking_path_curvature_total_derivative() const + { + return parking_path_curvature_total_derivative_; + } size_t path_idx() const { return path_idx_; } bool incrementPathIndex(); @@ -94,7 +98,7 @@ struct PullOverPath const PathWithLaneId & full_path, const PathWithLaneId & parking_path, const std::vector & full_path_curvatures, const std::vector & parking_path_curvatures, const double full_path_max_curvature, - const double parking_path_max_curvature, + const double parking_path_max_curvature, const double parking_path_curvature_total_derivative, const std::vector> & pairs_terminal_velocity_and_accel); PullOverPlannerType type_; @@ -109,6 +113,7 @@ struct PullOverPath std::vector parking_path_curvatures_; double full_path_max_curvature_; double parking_path_max_curvature_; + double parking_path_curvature_total_derivative_; // accelerate with constant acceleration to the target velocity size_t path_idx_; diff --git a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/thread_data.hpp b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/thread_data.hpp index 7173b275e26fb..655cb87ad593c 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/thread_data.hpp +++ b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/thread_data.hpp @@ -69,6 +69,7 @@ struct LaneParkingResponse { std::vector pull_over_path_candidates; std::optional closest_start_pose; + std::optional> sorted_bezier_indices_opt; }; class FreespaceParkingRequest diff --git a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/goal_planner_module.cpp b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/goal_planner_module.cpp index 762193ceab236..54b92e35e33a9 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/goal_planner_module.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/goal_planner_module.cpp @@ -29,6 +29,8 @@ #include "autoware/behavior_path_planner_common/utils/utils.hpp" #include "autoware/universe_utils/geometry/boost_polygon_utils.hpp" +#include +#include #include #include #include @@ -276,7 +278,8 @@ LaneParkingPlanner::LaneParkingPlanner( request_(request), response_(response), is_lane_parking_cb_running_(is_lane_parking_cb_running), - logger_(logger) + logger_(logger), + pull_over_azimuth_threshold(parameters.bezier_parking.pull_over_azimuth_threshold) { for (const std::string & planner_type : parameters.efficient_path_order) { if (planner_type == "SHIFT" && parameters.enable_shift_parking) { @@ -290,6 +293,9 @@ LaneParkingPlanner::LaneParkingPlanner( } } + bezier_pull_over_planner_ = + std::make_shared(node, parameters, lane_departure_checker); + if (pull_over_planners_.empty()) { RCLCPP_ERROR(logger_, "Not found enabled planner"); } @@ -387,19 +393,59 @@ void LaneParkingPlanner::onTimer() /*forward_only_in_route*/ false); std::vector path_candidates{}; std::optional closest_start_pose{}; - double min_start_arc_length = std::numeric_limits::max(); + std::optional> sorted_indices_opt{std::nullopt}; + if (switch_bezier_) { + bezier_planning_helper( + local_planner_data, goal_candidates, upstream_module_output, current_lanes, + closest_start_pose, path_candidates, sorted_indices_opt); + } else { + shift_planning_helper( + local_planner_data, goal_candidates, upstream_module_output, current_lanes, + closest_start_pose, path_candidates); + } + + // set response + { + original_upstream_module_output_ = upstream_module_output; + std::lock_guard guard(mutex_); + response_.pull_over_path_candidates = path_candidates; + if (closest_start_pose) { + response_.closest_start_pose = closest_start_pose; + } + RCLCPP_INFO( + getLogger(), "generated %lu pull over path candidates", + response_.pull_over_path_candidates.size()); + response_.sorted_bezier_indices_opt = std::move(sorted_indices_opt); + } +} + +void LaneParkingPlanner::shift_planning_helper( + const std::shared_ptr planner_data, const GoalCandidates & goal_candidates, + const BehaviorModuleOutput & upstream_module_output, + const lanelet::ConstLanelets current_lanelets, std::optional & closest_start_pose, + std::vector & path_candidates) +{ + // todo: currently non centerline input path is supported only by shift pull over + const bool is_center_line_input_path = goal_planner_utils::isReferencePath( + upstream_module_output.reference_path, upstream_module_output.path, 0.1); + RCLCPP_DEBUG( + getLogger(), "the input path of pull over planner is center line: %d", + is_center_line_input_path); + + double min_start_arc_length = std::numeric_limits::infinity(); const auto planCandidatePaths = [&]( const std::shared_ptr & planner, const GoalCandidate & goal_candidate) { - const auto pull_over_path = planner->plan( - goal_candidate, path_candidates.size(), local_planner_data, upstream_module_output); + // normal pull_over + const auto pull_over_path = + planner->plan(goal_candidate, path_candidates.size(), planner_data, upstream_module_output); if (pull_over_path) { // calculate absolute maximum curvature of parking path(start pose to end pose) for path // priority path_candidates.push_back(*pull_over_path); // calculate closest pull over start pose for stop path const double start_arc_length = - lanelet::utils::getArcCoordinates(current_lanes, pull_over_path->start_pose()).length; + lanelet::utils::getArcCoordinates(current_lanelets, pull_over_path->start_pose()).length; if (start_arc_length < min_start_arc_length) { min_start_arc_length = start_arc_length; // closest start pose is stop point when not finding safe path @@ -408,13 +454,6 @@ void LaneParkingPlanner::onTimer() } }; - // todo: currently non centerline input path is supported only by shift pull over - const bool is_center_line_input_path = goal_planner_utils::isReferencePath( - upstream_module_output.reference_path, upstream_module_output.path, 0.1); - RCLCPP_DEBUG( - getLogger(), "the input path of pull over planner is center line: %d", - is_center_line_input_path); - // plan candidate paths and set them to the member variable if (parameters_.path_priority == "efficient_path") { for (const auto & planner : pull_over_planners_) { @@ -436,22 +475,118 @@ void LaneParkingPlanner::onTimer() planCandidatePaths(planner, goal_candidate); } } - } else { - RCLCPP_ERROR( - getLogger(), "path_priority should be efficient_path or close_goal, but %s is given.", - parameters_.path_priority.c_str()); - throw std::domain_error("[pull_over] invalid path_priority"); } - // set response - { - original_upstream_module_output_ = upstream_module_output; - std::lock_guard guard(mutex_); - response_.pull_over_path_candidates = std::move(path_candidates); - response_.closest_start_pose = closest_start_pose; + if (closest_start_pose) { + const auto original_pose = planner_data->route_handler->getOriginalGoalPose(); + if ( + std::fabs(autoware::universe_utils::normalizeRadian( + autoware::universe_utils::getRPY(original_pose).z - + autoware::universe_utils::getRPY(closest_start_pose.value()).z)) > + pull_over_azimuth_threshold) { + // reset and try bezier next time + switch_bezier_ = true; + path_candidates.clear(); + RCLCPP_INFO(getLogger(), "will generate Bezier Paths next"); + } + } else if (path_candidates.size() == 0) { + switch_bezier_ = true; RCLCPP_INFO( - getLogger(), "generated %lu pull over path candidates", - response_.pull_over_path_candidates.size()); + getLogger(), "Could not find any shift pull over paths, will generate Bezier Paths next"); + } +} + +void LaneParkingPlanner::bezier_planning_helper( + const std::shared_ptr planner_data, const GoalCandidates & goal_candidates, + const BehaviorModuleOutput & upstream_module_output, + const lanelet::ConstLanelets current_lanelets, std::optional & closest_start_pose, + std::vector & path_candidates, + std::optional> & sorted_indices_opt) const +{ + autoware::universe_utils::StopWatch timer; + timer.tic("bezier"); + for (const auto & goal_candidate : goal_candidates) { + auto bezier_pull_over_paths = + bezier_pull_over_planner_->plans(goal_candidate, 0, planner_data, upstream_module_output); + std::copy( + std::make_move_iterator(bezier_pull_over_paths.begin()), + std::make_move_iterator(bezier_pull_over_paths.end()), std::back_inserter(path_candidates)); + } + RCLCPP_INFO( + getLogger(), "there are %lu bezier paths (calculated in %f [sec])", path_candidates.size(), + timer.toc("bezier")); + + sorted_indices_opt = std::vector(); + auto & sorted_indices = sorted_indices_opt.value(); + sorted_indices.reserve(path_candidates.size()); + + std::unordered_map goal_candidate_map; + for (const auto & goal_candidate : goal_candidates) { + goal_candidate_map[goal_candidate.id] = goal_candidate; + } + for (size_t i = 0; i < path_candidates.size(); ++i) { + const auto & path = path_candidates[i]; + const auto goal_candidate_it = goal_candidate_map.find(path.goal_id()); + if (goal_candidate_it != goal_candidate_map.end() && goal_candidate_it->second.is_safe) { + sorted_indices.push_back(i); + } + } + const double vehicle_width = planner_data->parameters.vehicle_width; + const bool left_side_parking = parameters_.parking_policy == ParkingPolicy::LEFT_SIDE; + const auto pull_over_lanes = goal_planner_utils::getPullOverLanes( + *(planner_data->route_handler), left_side_parking, parameters_.backward_goal_search_length, + parameters_.forward_goal_search_length); + const auto objects_extraction_polygon = goal_planner_utils::generateObjectExtractionPolygon( + pull_over_lanes, left_side_parking, parameters_.detection_bound_offset, + parameters_.margin_from_boundary + parameters_.max_lateral_offset + vehicle_width); + + PredictedObjects dynamic_target_objects{}; + for (const auto & object : planner_data->dynamic_object->objects) { + const auto object_polygon = universe_utils::toPolygon2d(object); + if ( + objects_extraction_polygon.has_value() && + boost::geometry::intersects(object_polygon, objects_extraction_polygon.value())) { + dynamic_target_objects.objects.push_back(object); + } + } + const auto static_target_objects = utils::path_safety_checker::filterObjectsByVelocity( + dynamic_target_objects, parameters_.th_moving_object_velocity); + sortPullOverPaths( + planner_data, parameters_, path_candidates, goal_candidates, static_target_objects, getLogger(), + sorted_indices); + + const auto clip_size = std::min(path_candidates.size(), 100); + const auto path_candidates_tmp = std::move(path_candidates); + // take upto 100 elements + sorted_indices.resize(clip_size); + for (const auto sorted_index : sorted_indices) { + path_candidates.push_back(path_candidates_tmp[sorted_index]); + } + sorted_indices.clear(); + // now path_candidates are sorted from 0 to 100 + for (unsigned i = 0; i < clip_size; ++i) { + sorted_indices.push_back(i); + } + + /* + std::stable_sort( + sorted_indices.begin(), sorted_indices.end(), [&](const size_t a_i, const size_t b_i) { + const auto & a = path_candidates[a_i]; + const auto & b = path_candidates[b_i]; + return a.parking_path_curvature_total_derivative() < + b.parking_path_curvature_total_derivative(); + }); + */ + + double min_start_arc_length = std::numeric_limits::infinity(); + for (const auto & bezier_pull_over_path : path_candidates) { + const double start_arc_length = + lanelet::utils::getArcCoordinates(current_lanelets, bezier_pull_over_path.start_pose()) + .length; + if (start_arc_length < min_start_arc_length) { + min_start_arc_length = start_arc_length; + closest_start_pose = bezier_pull_over_path.start_pose(); + } } } @@ -669,7 +804,7 @@ void GoalPlannerModule::updateData() isStopped( odometry_buffer_stopped_, planner_data_->self_odometry, parameters_->th_stopped_time, parameters_->th_stopped_velocity), - lane_parking_response, freespace_parking_response); + std::move(lane_parking_response), std::move(freespace_parking_response)); } else { context_data_.emplace( path_decision_controller_.get_current_state().is_stable_safe, static_target_objects, @@ -677,7 +812,7 @@ void GoalPlannerModule::updateData() isStopped( odometry_buffer_stopped_, planner_data_->self_odometry, parameters_->th_stopped_time, parameters_->th_stopped_velocity), - lane_parking_response, freespace_parking_response); + std::move(lane_parking_response), std::move(freespace_parking_response)); } auto & ctx_data = context_data_.value(); @@ -1061,6 +1196,15 @@ void sortPullOverPaths( }); } + std::stable_sort( + sorted_path_indices.begin(), sorted_path_indices.end(), + [&](const size_t a_i, const size_t b_i) { + const auto & a = pull_over_path_candidates[a_i]; + const auto & b = pull_over_path_candidates[b_i]; + return a.parking_path_curvature_total_derivative() < + b.parking_path_curvature_total_derivative(); + }); + // debug print path priority sorted by // - efficient_path_order // - collision check margin @@ -1093,7 +1237,8 @@ void sortPullOverPaths( std::optional GoalPlannerModule::selectPullOverPath( const PullOverContextData & context_data, const std::vector & pull_over_path_candidates, - const GoalCandidates & goal_candidates) const + const GoalCandidates & goal_candidates, + const std::optional> sorted_bezier_indices_opt) const { universe_utils::ScopedTimeTrack st(__func__, *time_keeper_); @@ -1105,20 +1250,24 @@ std::optional GoalPlannerModule::selectPullOverPath( // STEP1: Filter valid paths before sorting // NOTE: Since copying pull over path takes time, it is handled by indices std::vector sorted_path_indices; - sorted_path_indices.reserve(pull_over_path_candidates.size()); + if (!sorted_bezier_indices_opt) { + sorted_path_indices.reserve(pull_over_path_candidates.size()); - // STEP1-1: Extract paths which have safe goal - // Create a map of goal_id to GoalCandidate for quick access - std::unordered_map goal_candidate_map; - for (const auto & goal_candidate : goal_candidates) { - goal_candidate_map[goal_candidate.id] = goal_candidate; - } - for (size_t i = 0; i < pull_over_path_candidates.size(); ++i) { - const auto & path = pull_over_path_candidates[i]; - const auto goal_candidate_it = goal_candidate_map.find(path.goal_id()); - if (goal_candidate_it != goal_candidate_map.end() && goal_candidate_it->second.is_safe) { - sorted_path_indices.push_back(i); + // STEP1-1: Extract paths which have safe goal + // Create a map of goal_id to GoalCandidate for quick access + std::unordered_map goal_candidate_map; + for (const auto & goal_candidate : goal_candidates) { + goal_candidate_map[goal_candidate.id] = goal_candidate; } + for (size_t i = 0; i < pull_over_path_candidates.size(); ++i) { + const auto & path = pull_over_path_candidates[i]; + const auto goal_candidate_it = goal_candidate_map.find(path.goal_id()); + if (goal_candidate_it != goal_candidate_map.end() && goal_candidate_it->second.is_safe) { + sorted_path_indices.push_back(i); + } + } + } else { + sorted_path_indices = sorted_bezier_indices_opt.value(); } // STEP1-2: Remove paths which do not have enough distance @@ -1350,9 +1499,12 @@ BehaviorModuleOutput GoalPlannerModule::planPullOverAsCandidate( universe_utils::ScopedTimeTrack st(__func__, *time_keeper_); // if pull over path candidates generation is not finished, use previous module output + /* + candidateなかったら問答無用で停止 if (context_data.lane_parking_response.pull_over_path_candidates.empty()) { return getPreviousModuleOutput(); } + */ BehaviorModuleOutput output{}; const BehaviorModuleOutput pull_over_output = planPullOverAsOutput(context_data); @@ -1386,7 +1538,21 @@ BehaviorModuleOutput GoalPlannerModule::planPullOverAsOutput(PullOverContextData // if pull over path candidates generation is not finished, use previous module output if (context_data.lane_parking_response.pull_over_path_candidates.empty()) { - return getPreviousModuleOutput(); + // return getPreviousModuleOutput(); + BehaviorModuleOutput output{}; + // const BehaviorModuleOutput pull_over_output = planPullOverAsOutput(context_data); + // output.modified_goal = pull_over_output.modified_goal; + output.path = generateStopPath(context_data, "hoge"); + output.reference_path = getPreviousModuleOutput().reference_path; + + const auto target_drivable_lanes = utils::getNonOverlappingExpandedLanes( + output.path, generateDrivableLanes(), planner_data_->drivable_area_expansion_parameters); + + DrivableAreaInfo current_drivable_area_info{}; + current_drivable_area_info.drivable_lanes = target_drivable_lanes; + output.drivable_area_info = utils::combineDrivableAreaInfo( + current_drivable_area_info, getPreviousModuleOutput().drivable_area_info); + return output; } /** @@ -1412,7 +1578,7 @@ BehaviorModuleOutput GoalPlannerModule::planPullOverAsOutput(PullOverContextData // if the final path is not decided and enough time has passed since last path update, // select safe path from lane parking pull over path candidates // and set it to thread_safe_data_ - RCLCPP_DEBUG(getLogger(), "Update pull over path candidates"); + RCLCPP_INFO(getLogger(), "Update pull over path candidates"); context_data.pull_over_path_opt = std::nullopt; context_data.last_path_update_time = std::nullopt; @@ -1426,8 +1592,9 @@ BehaviorModuleOutput GoalPlannerModule::planPullOverAsOutput(PullOverContextData // Select a path that is as safe as possible and has a high priority. const auto & pull_over_path_candidates = context_data.lane_parking_response.pull_over_path_candidates; - const auto lane_pull_over_path_opt = - selectPullOverPath(context_data, pull_over_path_candidates, goal_candidates); + const auto lane_pull_over_path_opt = selectPullOverPath( + context_data, pull_over_path_candidates, goal_candidates, + context_data.lane_parking_response.sorted_bezier_indices_opt); // update thread_safe_data_ const auto & pull_over_path_opt = diff --git a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/manager.cpp b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/manager.cpp index a99252c923328..41d1d3b3a01de 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/manager.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/manager.cpp @@ -266,6 +266,13 @@ GoalPlannerParameters GoalPlannerModuleManager::initGoalPlannerParameters( p.rrt_star_parameters.margin = node->declare_parameter(ns + "margin"); } + // bezier parking + { + const std::string ns = base_ns + "pull_over.bezier_parking."; + p.bezier_parking.pull_over_azimuth_threshold = + node->declare_parameter(ns + "pull_over_azimuth_threshold"); + } + // stop condition { p.maximum_deceleration_for_stop = diff --git a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/pull_over_planner/bezier_pull_over.cpp b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/pull_over_planner/bezier_pull_over.cpp index ec3984a6d9443..bd3198a90ba39 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/pull_over_planner/bezier_pull_over.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/pull_over_planner/bezier_pull_over.cpp @@ -120,11 +120,13 @@ std::vector BezierPullOver::generateBezierPath( const lanelet::ConstLanelets & pull_over_lanes, const double lateral_jerk) const { const double pull_over_velocity = parameters_.pull_over_velocity; + const double after_shift_straight_distance = parameters_.after_shift_straight_distance; const auto & goal_pose = goal_candidate.goal_pose; // shift end pose is longitudinal offset from goal pose to improve parking angle accuracy - const Pose shift_end_pose = goal_pose; + const Pose shift_end_pose = + autoware::universe_utils::calcOffsetPose(goal_pose, -after_shift_straight_distance, 0, 0); // calculate lateral shift of previous module path terminal pose from road lane reference path const auto road_lane_reference_path_to_shift_end = utils::resamplePathWithSpline( @@ -174,20 +176,31 @@ std::vector BezierPullOver::generateBezierPath( -before_shifted_pull_over_distance); std::vector> params; - const size_t n_sample_v_init = 4; - const size_t n_sample_v_final = 4; - const size_t n_sample_acc = 3; + const size_t n_sample_v_init = 3; + const size_t n_sample_v_final = 3; + const size_t n_sample_acc = 2; for (unsigned i = 0; i <= n_sample_v_init; ++i) { for (unsigned j = 0; j <= n_sample_v_final; j++) { for (unsigned k = 0; k <= n_sample_acc; k++) { - const double v_init_coeff = i * 0.25; - const double v_final_coeff = j * 0.25; - const double acc_coeff = k * (10.0 / 3); + const double v_init_coeff = i * (1.0 / n_sample_v_init); + const double v_final_coeff = j * 0.25 / (1.0 / n_sample_v_final); + const double acc_coeff = k * (10.0 / n_sample_acc); params.emplace_back(v_init_coeff, v_final_coeff, acc_coeff); } } } + const auto drivable_lanes = + utils::generateDrivableLanesWithShoulderLanes(road_lanes, pull_over_lanes); + const auto & dp = planner_data->drivable_area_expansion_parameters; + const auto expanded_lanes = utils::expandLanelets( + drivable_lanes, dp.drivable_area_left_bound_offset, dp.drivable_area_right_bound_offset, + dp.drivable_area_types_to_skip); + const auto combined_drivable = utils::combineDrivableLanes( + expanded_lanes, upstream_module_output.drivable_area_info.drivable_lanes); + const auto parking_lot_polygons = + lanelet::utils::query::getAllParkingLots(planner_data->route_handler->getLaneletMapPtr()); + std::vector bezier_paths; for (const auto & [v_init_coeff, v_final_coeff, acc_coeff] : params) { // set path shifter and generate shifted path @@ -213,7 +226,7 @@ std::vector BezierPullOver::generateBezierPath( const auto from_idx = from_idx_opt.value(); const auto to_idx = to_idx_opt.value(); const auto span = static_cast( - std::max(static_cast(to_idx) - static_cast(from_idx), 0)); + std::max(static_cast(to_idx) - static_cast(from_idx) + 1, 0)); const auto reference_curvature = autoware::motion_utils::calcCurvature(processed_prev_module_path->points); const auto & from_pose = shifted_path.path.points[from_idx].point.pose; @@ -224,7 +237,10 @@ std::vector BezierPullOver::generateBezierPath( reference_curvature.at(from_idx), tf2::getYaw(from_pose.orientation)}; const autoware::sampler_common::State final{ - {to_pose.position.x, to_pose.position.y}, {0.0, 0.0}, 0.0, tf2::getYaw(to_pose.orientation)}; + {to_pose.position.x, to_pose.position.y}, + {0.0, 0.0}, + reference_curvature.at(to_idx), + tf2::getYaw(to_pose.orientation)}; // setting the initial velocity to higher gives straight forward path (the steering does not // change) const auto bezier_path = @@ -237,10 +253,20 @@ std::vector BezierPullOver::generateBezierPath( p.point.pose.orientation = universe_utils::createQuaternionFromRPY(0.0, 0.0, bezier_points[i].z()); } + + // interpolate between shift end pose to goal pose + for (const auto & toward_goal_straight_pose : + utils::interpolatePose(shift_end_pose, goal_pose, 0.5)) { + PathPointWithLaneId p = shifted_path.path.points.back(); + p.point.pose = toward_goal_straight_pose; + shifted_path.path.points.push_back(p); + } + shifted_path.path.points = autoware::motion_utils::removeOverlapPoints(shifted_path.path.points); - - autoware::motion_utils::insertOrientation(shifted_path.path.points, true); + /* insertOrientation erases original goal pose, so not used + autoware::motion_utils::insertOrientation(shifted_path.path.points, true); + */ // combine road lanes and shoulder lanes to find closest lanelet id const auto lanes = std::invoke([&]() -> lanelet::ConstLanelets { @@ -289,11 +315,9 @@ std::vector BezierPullOver::generateBezierPath( // check if the parking path will leave drivable area and lanes const bool is_in_parking_lots = std::invoke([&]() -> bool { - const auto & p = planner_data->parameters; - const auto parking_lot_polygons = - lanelet::utils::query::getAllParkingLots(planner_data->route_handler->getLaneletMapPtr()); const auto path_footprints = goal_planner_utils::createPathFootPrints( - pull_over_path.parking_path(), p.base_link2front, p.base_link2rear, p.vehicle_width); + pull_over_path.parking_path(), planner_data->parameters.base_link2front, + planner_data->parameters.base_link2rear, planner_data->parameters.vehicle_width); const auto is_footprint_in_any_polygon = [&parking_lot_polygons](const auto & footprint) { return std::any_of( parking_lot_polygons.begin(), parking_lot_polygons.end(), @@ -309,14 +333,6 @@ std::vector BezierPullOver::generateBezierPath( }); }); const bool is_in_lanes = std::invoke([&]() -> bool { - const auto drivable_lanes = - utils::generateDrivableLanesWithShoulderLanes(road_lanes, pull_over_lanes); - const auto & dp = planner_data->drivable_area_expansion_parameters; - const auto expanded_lanes = utils::expandLanelets( - drivable_lanes, dp.drivable_area_left_bound_offset, dp.drivable_area_right_bound_offset, - dp.drivable_area_types_to_skip); - const auto combined_drivable = utils::combineDrivableLanes( - expanded_lanes, upstream_module_output.drivable_area_info.drivable_lanes); return !lane_departure_checker_.checkPathWillLeaveLane( utils::transformToLanelets(combined_drivable), pull_over_path.parking_path()); }); diff --git a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/pull_over_planner/pull_over_planner_base.cpp b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/pull_over_planner/pull_over_planner_base.cpp index 31d8afffbdabe..acb6ee1926a83 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/pull_over_planner/pull_over_planner_base.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/pull_over_planner/pull_over_planner_base.cpp @@ -13,7 +13,9 @@ // limitations under the License. #include +#include +#include #include #include @@ -78,11 +80,24 @@ std::optional PullOverPath::create( std::tie(full_path_curvatures, full_path_max_curvature) = calculateCurvaturesAndMax(full_path); std::tie(parking_path_curvatures, parking_path_max_curvature) = calculateCurvaturesAndMax(parking_path); + const double parking_path_curvature_total_derivative = [&]() { + const auto parking_path_curvature_base = autoware::motion_utils::calcSignedArcLengthPartialSum( + parking_path.points, 1, parking_path.points.size() - 1); + const auto size = std::min(parking_path_curvatures.size(), parking_path_curvature_base.size()); + double total_abs_kappa_diff = 0; + for (unsigned i = 0; i + 1 < size; ++i) { + total_abs_kappa_diff += std::fabs( + (parking_path_curvatures.at(i + 1) - parking_path_curvatures.at(i)) / + (parking_path_curvature_base.at(i + 1) - parking_path_curvature_base.at(i))); + } + return total_abs_kappa_diff; + }(); return PullOverPath( type, id, start_pose, modified_goal_pose, partial_paths, full_path, parking_path, full_path_curvatures, parking_path_curvatures, full_path_max_curvature, - parking_path_max_curvature, pairs_terminal_velocity_and_accel); + parking_path_max_curvature, parking_path_curvature_total_derivative, + pairs_terminal_velocity_and_accel); } PullOverPath::PullOverPath(const PullOverPath & other) @@ -108,7 +123,7 @@ PullOverPath::PullOverPath( const PathWithLaneId & full_path, const PathWithLaneId & parking_path, const std::vector & full_path_curvatures, const std::vector & parking_path_curvatures, const double full_path_max_curvature, - const double parking_path_max_curvature, + const double parking_path_max_curvature, const double parking_path_curvature_total_derivative, const std::vector> & pairs_terminal_velocity_and_accel) : type_(type), modified_goal_pose_(modified_goal_pose), @@ -121,6 +136,7 @@ PullOverPath::PullOverPath( parking_path_curvatures_(parking_path_curvatures), full_path_max_curvature_(full_path_max_curvature), parking_path_max_curvature_(parking_path_max_curvature), + parking_path_curvature_total_derivative_(parking_path_curvature_total_derivative), path_idx_(0), pairs_terminal_velocity_and_accel_(pairs_terminal_velocity_and_accel) { From 5d25587e9792eb2100109ac8a2c62ee8d8134e06 Mon Sep 17 00:00:00 2001 From: Mamoru Sobue Date: Tue, 21 Jan 2025 17:35:01 +0900 Subject: [PATCH 02/17] fix chattering Signed-off-by: Mamoru Sobue --- .../src/goal_planner_module.cpp | 7 +++---- .../src/pull_over_planner/bezier_pull_over.cpp | 17 +++++++++++++---- 2 files changed, 16 insertions(+), 8 deletions(-) diff --git a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/goal_planner_module.cpp b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/goal_planner_module.cpp index 54b92e35e33a9..a1e2cdf7150c1 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/goal_planner_module.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/goal_planner_module.cpp @@ -293,8 +293,7 @@ LaneParkingPlanner::LaneParkingPlanner( } } - bezier_pull_over_planner_ = - std::make_shared(node, parameters, lane_departure_checker); + bezier_pull_over_planner_ = std::make_shared(node, parameters); if (pull_over_planners_.empty()) { RCLCPP_ERROR(logger_, "Not found enabled planner"); @@ -506,8 +505,8 @@ void LaneParkingPlanner::bezier_planning_helper( autoware::universe_utils::StopWatch timer; timer.tic("bezier"); for (const auto & goal_candidate : goal_candidates) { - auto bezier_pull_over_paths = - bezier_pull_over_planner_->plans(goal_candidate, 0, planner_data, upstream_module_output); + auto bezier_pull_over_paths = bezier_pull_over_planner_->plans( + goal_candidate, path_candidates.size(), planner_data, upstream_module_output); std::copy( std::make_move_iterator(bezier_pull_over_paths.begin()), std::make_move_iterator(bezier_pull_over_paths.end()), std::back_inserter(path_candidates)); diff --git a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/pull_over_planner/bezier_pull_over.cpp b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/pull_over_planner/bezier_pull_over.cpp index bd3198a90ba39..f829e5b617027 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/pull_over_planner/bezier_pull_over.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/pull_over_planner/bezier_pull_over.cpp @@ -33,8 +33,12 @@ namespace autoware::behavior_path_planner { BezierPullOver::BezierPullOver(rclcpp::Node & node, const GoalPlannerParameters & parameters) : PullOverPlannerBase(node, parameters), - lane_departure_checker_( - lane_departure_checker::Param{parameters.lane_departure_check_expansion_margin}, vehicle_info_), + lane_departure_checker_{[&]() { + auto lane_departure_checker_params = lane_departure_checker::Param{}; + lane_departure_checker_params.footprint_extra_margin = + parameters.lane_departure_check_expansion_margin; + return LaneDepartureChecker{lane_departure_checker_params, vehicle_info_}; + }()}, left_side_parking_(parameters.parking_policy == ParkingPolicy::LEFT_SIDE) { } @@ -76,7 +80,8 @@ std::optional BezierPullOver::plan( } std::vector BezierPullOver::plans( - [[maybe_unused]] const GoalCandidate & modified_goal_pose, [[maybe_unused]] const size_t id, + [[maybe_unused]] const GoalCandidate & modified_goal_pose, + [[maybe_unused]] const size_t initial_id, [[maybe_unused]] const std::shared_ptr planner_data, [[maybe_unused]] const BehaviorModuleOutput & upstream_module_output) { @@ -101,10 +106,12 @@ std::vector BezierPullOver::plans( // find safe one from paths with different jerk std::vector paths; + auto id = initial_id; for (double lateral_jerk = min_jerk; lateral_jerk <= max_jerk; lateral_jerk += jerk_resolution) { auto pull_over_paths = generateBezierPath( modified_goal_pose, id, planner_data, upstream_module_output, road_lanes, pull_over_lanes, lateral_jerk); + id += pull_over_paths.size(); std::copy( std::make_move_iterator(pull_over_paths.begin()), std::make_move_iterator(pull_over_paths.end()), std::back_inserter(paths)); @@ -114,7 +121,7 @@ std::vector BezierPullOver::plans( } std::vector BezierPullOver::generateBezierPath( - const GoalCandidate & goal_candidate, const size_t id, + const GoalCandidate & goal_candidate, const size_t initial_id, const std::shared_ptr planner_data, const BehaviorModuleOutput & upstream_module_output, const lanelet::ConstLanelets & road_lanes, const lanelet::ConstLanelets & pull_over_lanes, const double lateral_jerk) const @@ -202,6 +209,7 @@ std::vector BezierPullOver::generateBezierPath( lanelet::utils::query::getAllParkingLots(planner_data->route_handler->getLaneletMapPtr()); std::vector bezier_paths; + auto id = initial_id; for (const auto & [v_init_coeff, v_final_coeff, acc_coeff] : params) { // set path shifter and generate shifted path PathShifter path_shifter{}; @@ -340,6 +348,7 @@ std::vector BezierPullOver::generateBezierPath( continue; } bezier_paths.push_back(std::move(pull_over_path)); + id++; } return bezier_paths; From 92a110c79b59c880bf552769d910a3e42fa7fc8f Mon Sep 17 00:00:00 2001 From: Mamoru Sobue Date: Wed, 22 Jan 2025 15:29:20 +0900 Subject: [PATCH 03/17] improve Signed-off-by: Mamoru Sobue --- .../src/goal_planner_module.cpp | 20 ++++---- .../src/goal_searcher.cpp | 50 ++++++++++--------- 2 files changed, 36 insertions(+), 34 deletions(-) diff --git a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/goal_planner_module.cpp b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/goal_planner_module.cpp index a1e2cdf7150c1..57a181c9ab4f6 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/goal_planner_module.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/goal_planner_module.cpp @@ -40,6 +40,7 @@ #include #include #include +#include #include #include #include @@ -393,7 +394,7 @@ void LaneParkingPlanner::onTimer() std::vector path_candidates{}; std::optional closest_start_pose{}; std::optional> sorted_indices_opt{std::nullopt}; - if (switch_bezier_) { + if (parameters_.bus_stop_area.use_bus_stop_area && switch_bezier_) { bezier_planning_helper( local_planner_data, goal_candidates, upstream_module_output, current_lanes, closest_start_pose, path_candidates, sorted_indices_opt); @@ -567,15 +568,14 @@ void LaneParkingPlanner::bezier_planning_helper( sorted_indices.push_back(i); } - /* std::stable_sort( - sorted_indices.begin(), sorted_indices.end(), [&](const size_t a_i, const size_t b_i) { + std::execution::par, sorted_indices.begin(), sorted_indices.end(), + [&](const size_t a_i, const size_t b_i) { const auto & a = path_candidates[a_i]; const auto & b = path_candidates[b_i]; return a.parking_path_curvature_total_derivative() < b.parking_path_curvature_total_derivative(); }); - */ double min_start_arc_length = std::numeric_limits::infinity(); for (const auto & bezier_pull_over_path : path_candidates) { @@ -1069,7 +1069,7 @@ void sortPullOverPaths( // Sort pull_over_path_candidates based on the order in goal_candidates std::stable_sort( - sorted_path_indices.begin(), sorted_path_indices.end(), + std::execution::par, sorted_path_indices.begin(), sorted_path_indices.end(), [&](const size_t a_i, const size_t b_i) { const auto & a = pull_over_path_candidates[a_i]; const auto & b = pull_over_path_candidates[b_i]; @@ -1121,7 +1121,7 @@ void sortPullOverPaths( // sorts in descending order so the item with larger margin comes first std::stable_sort( - sorted_path_indices.begin(), sorted_path_indices.end(), + std::execution::par, sorted_path_indices.begin(), sorted_path_indices.end(), [&](const size_t a_i, const size_t b_i) { const auto & a = pull_over_path_candidates[a_i]; const auto & b = pull_over_path_candidates[b_i]; @@ -1156,7 +1156,7 @@ void sortPullOverPaths( // NOTE: this is just partition sort based on curvature threshold within each sub partitions std::stable_sort( - sorted_path_indices.begin(), sorted_path_indices.end(), + std::execution::par, sorted_path_indices.begin(), sorted_path_indices.end(), [&](const size_t a_i, const size_t b_i) { const auto & a = pull_over_path_candidates[a_i]; const auto & b = pull_over_path_candidates[b_i]; @@ -1177,7 +1177,7 @@ void sortPullOverPaths( // the collision check margin and curvature priority. if (parameters.path_priority == "efficient_path") { std::stable_sort( - sorted_path_indices.begin(), sorted_path_indices.end(), + std::execution::par, sorted_path_indices.begin(), sorted_path_indices.end(), [&](const size_t a_i, const size_t b_i) { // if any of following conditions are met, sort by path type priority // - both are soft margin @@ -1196,7 +1196,7 @@ void sortPullOverPaths( } std::stable_sort( - sorted_path_indices.begin(), sorted_path_indices.end(), + std::execution::par, sorted_path_indices.begin(), sorted_path_indices.end(), [&](const size_t a_i, const size_t b_i) { const auto & a = pull_over_path_candidates[a_i]; const auto & b = pull_over_path_candidates[b_i]; @@ -1220,7 +1220,7 @@ void sortPullOverPaths( */ if (parameters.path_priority == "efficient_path") { std::stable_sort( - sorted_path_indices.begin(), sorted_path_indices.end(), + std::execution::par, sorted_path_indices.begin(), sorted_path_indices.end(), [&](const size_t a_i, const size_t b_i) { const auto & a = pull_over_path_candidates[a_i]; const auto & b = pull_over_path_candidates[b_i]; diff --git a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/goal_searcher.cpp b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/goal_searcher.cpp index 66192a00a99fa..d96e51561c0f5 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/goal_searcher.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/goal_searcher.cpp @@ -185,50 +185,52 @@ GoalCandidates GoalSearcher::search(const std::shared_ptr & p const auto transformed_vehicle_footprint = transformVector(vehicle_footprint_, autoware::universe_utils::pose2transform(search_pose)); + // modify the goal_pose orientation so that vehicle footprint front heading is parallel to the + // lane boundary + const auto vehicle_front_midpoint = + (transformed_vehicle_footprint.at(vehicle_info_utils::VehicleInfo::FrontLeftIndex) + + transformed_vehicle_footprint.at(vehicle_info_utils::VehicleInfo::FrontRightIndex)) / + 2.0; + const auto pull_over_lanelet = lanelet::utils::combineLaneletsShape(pull_over_lanes); + const auto vehicle_front_pose_for_bound_opt = goal_planner_utils::calcClosestPose( + left_side_parking_ ? pull_over_lanelet.leftBound() : pull_over_lanelet.rightBound(), + autoware::universe_utils::createPoint( + vehicle_front_midpoint.x(), vehicle_front_midpoint.y(), search_pose.position.z)); + if (!vehicle_front_pose_for_bound_opt) { + continue; + } + const auto & vehicle_front_pose_for_bound = vehicle_front_pose_for_bound_opt.value(); + const auto aligned_pose = geometry_msgs::build() + .position(search_pose.position) + .orientation(vehicle_front_pose_for_bound.orientation); + const auto aligned_vehicle_footprint = + transformVector(vehicle_footprint_, autoware::universe_utils::pose2transform(aligned_pose)); + if ( parameters_.bus_stop_area.use_bus_stop_area && - !goal_planner_utils::isWithinAreas(transformed_vehicle_footprint, bus_stop_area_polygons)) { + !goal_planner_utils::isWithinAreas(aligned_vehicle_footprint, bus_stop_area_polygons)) { continue; } if (goal_planner_utils::isIntersectingAreas( - transformed_vehicle_footprint, no_parking_area_polygons)) { + aligned_vehicle_footprint, no_parking_area_polygons)) { // break here to exclude goals located laterally in no_parking_areas break; } if (goal_planner_utils::isIntersectingAreas( - transformed_vehicle_footprint, no_stopping_area_polygons)) { + aligned_vehicle_footprint, no_stopping_area_polygons)) { // break here to exclude goals located laterally in no_stopping_areas break; } if (!boost::geometry::within( - transformed_vehicle_footprint, departure_check_lane.polygon2d().basicPolygon())) { + aligned_vehicle_footprint, departure_check_lane.polygon2d().basicPolygon())) { continue; } - // modify the goal_pose orientation so that vehicle footprint front heading is parallel to the - // lane boundary - const auto vehicle_front_midpoint = - (transformed_vehicle_footprint.at(vehicle_info_utils::VehicleInfo::FrontLeftIndex) + - transformed_vehicle_footprint.at(vehicle_info_utils::VehicleInfo::FrontRightIndex)) / - 2.0; - lanelet::ConstLanelet vehicle_front_closest_lanelet; - lanelet::utils::query::getClosestLanelet( - pull_over_lanes, search_pose, &vehicle_front_closest_lanelet); - const auto vehicle_front_pose_for_bound_opt = goal_planner_utils::calcClosestPose( - left_side_parking_ ? vehicle_front_closest_lanelet.leftBound() - : vehicle_front_closest_lanelet.rightBound(), - autoware::universe_utils::createPoint( - vehicle_front_midpoint.x(), vehicle_front_midpoint.y(), search_pose.position.z)); - if (!vehicle_front_pose_for_bound_opt) { - continue; - } - const auto & vehicle_front_pose_for_bound = vehicle_front_pose_for_bound_opt.value(); GoalCandidate goal_candidate{}; - goal_candidate.goal_pose = search_pose; - goal_candidate.goal_pose.orientation = vehicle_front_pose_for_bound.orientation; + goal_candidate.goal_pose = aligned_pose; goal_candidate.lateral_offset = dy; goal_candidate.id = goal_id; goal_id++; From 3bbd2860b77b0d4bdf1d8b51d4fee43b6a7de38b Mon Sep 17 00:00:00 2001 From: Mamoru Sobue Date: Wed, 22 Jan 2025 16:35:35 +0900 Subject: [PATCH 04/17] remove rviz config Signed-off-by: Mamoru Sobue --- .../rviz/psim_test_map.rviz | 4585 ----------------- 1 file changed, 4585 deletions(-) delete mode 100644 common/autoware_test_utils/rviz/psim_test_map.rviz diff --git a/common/autoware_test_utils/rviz/psim_test_map.rviz b/common/autoware_test_utils/rviz/psim_test_map.rviz deleted file mode 100644 index 9fa856fbd6700..0000000000000 --- a/common/autoware_test_utils/rviz/psim_test_map.rviz +++ /dev/null @@ -1,4585 +0,0 @@ -Panels: - - Class: rviz_common/Displays - Help Height: 0 - Name: Displays - Property Tree Widget: - Expanded: - - /Sensing1/LiDAR1/ConcatenatePointCloud1/Autocompute Value Bounds1 - - /Planning1 - - /Planning1/ScenarioPlanning1 - - /Planning1/ScenarioPlanning1/LaneDriving1 - - /Planning1/ScenarioPlanning1/LaneDriving1/BehaviorPlanning1 - - /Planning1/ScenarioPlanning1/LaneDriving1/BehaviorPlanning1/DebugMarker1 - Splitter Ratio: 0.8223552703857422 - Tree Height: 940 - - Class: rviz_common/Selection - Name: Selection - - Class: rviz_common/Tool Properties - Expanded: ~ - Name: Tool Properties - Splitter Ratio: 0.5886790156364441 - - Class: rviz_common/Views - Expanded: - - /Current View1 - Name: Views - Splitter Ratio: 0.5 - - Class: AutowareDateTimePanel - Name: AutowareDateTimePanel - - Class: rviz_plugins::AutowareStatePanel - Name: AutowareStatePanel - - Class: rviz_plugins::SimulatedClockPanel - Name: SimulatedClockPanel - - Class: rviz_plugins::TrafficLightPublishPanel - Name: TrafficLightPublishPanel -Visualization Manager: - Class: "" - Displays: - - Class: rviz_common/Group - Displays: - - Class: rviz_default_plugins/TF - Enabled: false - Frame Timeout: 15 - Frames: - All Enabled: true - Marker Scale: 1 - Name: TF - Show Arrows: true - Show Axes: true - Show Names: true - Tree: - {} - Update Interval: 0 - Value: false - - Alpha: 0.5 - Cell Size: 1 - Class: rviz_default_plugins/Grid - Color: 160; 160; 164 - Enabled: false - Line Style: - Line Width: 0.029999999329447746 - Value: Lines - Name: Grid - Normal Cell Count: 0 - Offset: - X: 0 - Y: 0 - Z: 0 - Plane: XY - Plane Cell Count: 10 - Reference Frame: - Value: false - - Class: rviz_common/Group - Displays: - - Alpha: 0.30000001192092896 - Class: rviz_default_plugins/RobotModel - Collision Enabled: false - Description File: "" - Description Source: Topic - Description Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Reliable - Value: /robot_description - Enabled: true - Links: - All Links Enabled: true - Expand Joint Details: false - Expand Link Details: false - Expand Tree: false - Link Tree Style: Links in Alphabetic Order - base_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - camera0/camera_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - camera0/camera_optical_link: - Alpha: 1 - Show Axes: false - Show Trail: false - camera1/camera_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - camera1/camera_optical_link: - Alpha: 1 - Show Axes: false - Show Trail: false - camera2/camera_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - camera2/camera_optical_link: - Alpha: 1 - Show Axes: false - Show Trail: false - camera3/camera_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - camera3/camera_optical_link: - Alpha: 1 - Show Axes: false - Show Trail: false - camera4/camera_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - camera4/camera_optical_link: - Alpha: 1 - Show Axes: false - Show Trail: false - camera5/camera_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - camera5/camera_optical_link: - Alpha: 1 - Show Axes: false - Show Trail: false - gnss_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - sensor_kit_base_link: - Alpha: 1 - Show Axes: false - Show Trail: false - tamagawa/imu_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - traffic_light_left_camera/camera_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - traffic_light_left_camera/camera_optical_link: - Alpha: 1 - Show Axes: false - Show Trail: false - traffic_light_right_camera/camera_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - traffic_light_right_camera/camera_optical_link: - Alpha: 1 - Show Axes: false - Show Trail: false - velodyne_left: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - velodyne_left_base_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - velodyne_rear: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - velodyne_rear_base_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - velodyne_right: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - velodyne_right_base_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - velodyne_top: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - velodyne_top_base_link: - Alpha: 1 - Show Axes: false - Show Trail: false - Value: true - Mass Properties: - Inertia: false - Mass: false - Name: VehicleModel - TF Prefix: "" - Update Interval: 0 - Value: true - Visual Enabled: true - - Class: rviz_plugins/PolarGridDisplay - Color: 255; 255; 255 - Delta Range: 10 - Enabled: true - Max Alpha: 0.5 - Max Range: 100 - Max Wave Alpha: 0.5 - Min Alpha: 0.009999999776482582 - Min Wave Alpha: 0.009999999776482582 - Name: PolarGridDisplay - Reference Frame: base_link - Value: true - Wave Color: 255; 255; 255 - Wave Velocity: 40 - - Background Alpha: 0.5 - Background Color: 23; 28; 31 - Class: autoware_overlay_rviz_plugin/SignalDisplay - Dark Traffic Color: 255; 51; 51 - Enabled: true - Gear Topic Test: /vehicle/status/gear_status - Handle Angle Scale: 17 - Hazard Lights Topic: /vehicle/status/hazard_lights_status - Height: 100 - Left: 0 - Light Traffic Color: 255; 153; 153 - Name: SignalDisplay - Primary Color: 174; 174; 174 - Signal Color: 0; 230; 120 - Speed Limit Topic: /planning/scenario_planning/current_max_velocity - Speed Topic: /vehicle/status/velocity_status - Steering Topic: /vehicle/status/steering_status - Top: 10 - Traffic Topic: /planning/scenario_planning/lane_driving/behavior_planning/debug/traffic_signal - Turn Signals Topic: /vehicle/status/turn_indicators_status - Value: true - Width: 550 - Enabled: true - Name: Vehicle - - Class: rviz_plugins/MrmSummaryOverlayDisplay - Enabled: false - Font Size: 10 - Left: 512 - Max Letter Num: 100 - Name: MRM Summary - Text Color: 25; 255; 240 - Top: 64 - Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Reliable - Value: /system/emergency/hazard_status - Value: false - Value height offset: 0 - Enabled: true - Name: System - - Class: rviz_common/Group - Displays: - - Alpha: 0.20000000298023224 - Autocompute Intensity Bounds: true - Autocompute Value Bounds: - Max Value: 28.71826171875 - Min Value: -7.4224700927734375 - Value: true - Axis: Z - Channel Name: intensity - Class: rviz_default_plugins/PointCloud2 - Color: 255; 255; 255 - Color Transformer: FlatColor - Decay Time: 0 - Enabled: false - Invert Rainbow: false - Max Color: 255; 255; 255 - Max Intensity: 237 - Min Color: 211; 215; 207 - Min Intensity: 0 - Name: PointCloudMap - Position Transformer: XYZ - Selectable: false - Size (Pixels): 1 - Size (m): 0.019999999552965164 - Style: Points - Topic: - Depth: 5 - Durability Policy: Transient Local - Filter size: 10 - History Policy: Keep Last - Reliability Policy: Reliable - Value: /map/pointcloud_map - Use Fixed Frame: true - Use rainbow: false - Value: false - - Class: rviz_default_plugins/MarkerArray - Enabled: true - Name: Lanelet2VectorMap - Namespaces: - bus_stop_area: true - center_lane_line: false - center_line_arrows: false - curbstone: true - lane_start_bound: false - lanelet direction: true - lanelet_id: false - left_lane_bound: true - no_parking_area: true - parking_lots: true - parking_space: true - partitions: true - right_lane_bound: true - road_lanelets: false - shoulder_center_lane_line: false - shoulder_center_line_arrows: true - shoulder_lane_start_bound: true - shoulder_left_lane_bound: true - shoulder_right_lane_bound: true - shoulder_road_lanelets: false - Topic: - Depth: 5 - Durability Policy: Transient Local - History Policy: Keep Last - Reliability Policy: Reliable - Value: /map/vector_map_marker - Value: true - Enabled: true - Name: Map - - Class: rviz_common/Group - Displays: - - Class: rviz_common/Group - Displays: - - Alpha: 0.4000000059604645 - Autocompute Intensity Bounds: true - Autocompute Value Bounds: - Max Value: 5 - Min Value: -1 - Value: false - Axis: Z - Channel Name: intensity - Class: rviz_default_plugins/PointCloud2 - Color: 255; 255; 255 - Color Transformer: AxisColor - Decay Time: 0 - Enabled: true - Invert Rainbow: false - Max Color: 255; 255; 255 - Max Intensity: 4096 - Min Color: 0; 0; 0 - Min Intensity: 0 - Name: ConcatenatePointCloud - Position Transformer: XYZ - Selectable: false - Size (Pixels): 1 - Size (m): 0.019999999552965164 - Style: Points - Topic: - Depth: 5 - Durability Policy: Volatile - Filter size: 10 - History Policy: Keep Last - Reliability Policy: Best Effort - Value: /sensing/lidar/concatenated/pointcloud - Use Fixed Frame: false - Use rainbow: true - Value: true - - Alpha: 0.9990000128746033 - Class: rviz_default_plugins/Polygon - Color: 25; 255; 0 - Enabled: false - Name: MeasurementRange - Topic: - Depth: 5 - Durability Policy: Volatile - Filter size: 10 - History Policy: Keep Last - Reliability Policy: Reliable - Value: /sensing/lidar/crop_box_filter/crop_box_polygon - Value: false - Enabled: true - Name: LiDAR - - Class: rviz_common/Group - Displays: - - Alpha: 0.9990000128746033 - Axes Length: 1 - Axes Radius: 0.10000000149011612 - Class: rviz_default_plugins/PoseWithCovariance - Color: 233; 185; 110 - Covariance: - Orientation: - Alpha: 0.5 - Color: 255; 255; 127 - Color Style: Unique - Frame: Local - Offset: 1 - Scale: 1 - Value: false - Position: - Alpha: 0.20000000298023224 - Color: 204; 51; 204 - Scale: 1 - Value: true - Value: true - Enabled: true - Head Length: 0.699999988079071 - Head Radius: 1.2000000476837158 - Name: PoseWithCovariance - Shaft Length: 1 - Shaft Radius: 0.5 - Shape: Arrow - Topic: - Depth: 5 - Durability Policy: Volatile - Filter size: 10 - History Policy: Keep Last - Reliability Policy: Reliable - Value: /sensing/gnss/pose_with_covariance - Value: true - Enabled: false - Name: GNSS - Enabled: true - Name: Sensing - - Class: rviz_common/Group - Displays: - - Class: rviz_common/Group - Displays: - - Alpha: 0.9990000128746033 - Axes Length: 1 - Axes Radius: 0.10000000149011612 - Class: rviz_default_plugins/PoseWithCovariance - Color: 0; 170; 255 - Covariance: - Orientation: - Alpha: 0.5 - Color: 255; 255; 127 - Color Style: Unique - Frame: Local - Offset: 1 - Scale: 1 - Value: true - Position: - Alpha: 0.30000001192092896 - Color: 204; 51; 204 - Scale: 1 - Value: true - Value: true - Enabled: false - Head Length: 0.4000000059604645 - Head Radius: 0.6000000238418579 - Name: PoseWithCovInitial - Shaft Length: 0.6000000238418579 - Shaft Radius: 0.30000001192092896 - Shape: Arrow - Topic: - Depth: 5 - Durability Policy: Volatile - Filter size: 10 - History Policy: Keep Last - Reliability Policy: Reliable - Value: /localization/pose_estimator/initial_pose_with_covariance - Value: false - - Alpha: 0.9990000128746033 - Axes Length: 1 - Axes Radius: 0.10000000149011612 - Class: rviz_default_plugins/PoseWithCovariance - Color: 0; 255; 0 - Covariance: - Orientation: - Alpha: 0.5 - Color: 255; 255; 127 - Color Style: Unique - Frame: Local - Offset: 1 - Scale: 1 - Value: true - Position: - Alpha: 0.30000001192092896 - Color: 204; 51; 204 - Scale: 1 - Value: true - Value: true - Enabled: false - Head Length: 0.4000000059604645 - Head Radius: 0.6000000238418579 - Name: PoseWithCovAligned - Shaft Length: 0.6000000238418579 - Shaft Radius: 0.30000001192092896 - Shape: Arrow - Topic: - Depth: 5 - Durability Policy: Volatile - Filter size: 10 - History Policy: Keep Last - Reliability Policy: Reliable - Value: /localization/pose_estimator/pose_with_covariance - Value: false - - Buffer Size: 200 - Class: rviz_plugins::PoseHistory - Enabled: false - Line: - Alpha: 0.9990000128746033 - Color: 170; 255; 127 - Value: true - Width: 0.10000000149011612 - Name: PoseHistory - Topic: - Depth: 5 - Durability Policy: Volatile - Filter size: 10 - History Policy: Keep Last - Reliability Policy: Reliable - Value: /localization/pose_estimator/pose - Value: false - - Alpha: 0.9990000128746033 - Autocompute Intensity Bounds: true - Autocompute Value Bounds: - Max Value: 10 - Min Value: -10 - Value: true - Axis: Z - Channel Name: intensity - Class: rviz_default_plugins/PointCloud2 - Color: 0; 255; 255 - Color Transformer: "" - Decay Time: 0 - Enabled: false - Invert Rainbow: false - Max Color: 255; 255; 255 - Max Intensity: 4096 - Min Color: 0; 0; 0 - Min Intensity: 0 - Name: Initial - Position Transformer: XYZ - Selectable: false - Size (Pixels): 10 - Size (m): 0.5 - Style: Squares - Topic: - Depth: 5 - Durability Policy: Volatile - Filter size: 10 - History Policy: Keep Last - Reliability Policy: Best Effort - Value: /localization/util/downsample/pointcloud - Use Fixed Frame: true - Use rainbow: true - Value: false - - Alpha: 0.9990000128746033 - Autocompute Intensity Bounds: true - Autocompute Value Bounds: - Max Value: 10 - Min Value: -10 - Value: true - Axis: Z - Channel Name: intensity - Class: rviz_default_plugins/PointCloud2 - Color: 85; 255; 0 - Color Transformer: FlatColor - Decay Time: 0 - Enabled: false - Invert Rainbow: false - Max Color: 85; 255; 127 - Max Intensity: 0 - Min Color: 0; 0; 0 - Min Intensity: 0 - Name: Aligned - Position Transformer: XYZ - Selectable: false - Size (Pixels): 10 - Size (m): 0.5 - Style: Squares - Topic: - Depth: 5 - Durability Policy: Volatile - Filter size: 10 - History Policy: Keep Last - Reliability Policy: Reliable - Value: /localization/pose_estimator/points_aligned - Use Fixed Frame: true - Use rainbow: true - Value: false - - Class: rviz_default_plugins/MarkerArray - Enabled: true - Name: MonteCarloInitialPose - Namespaces: - {} - Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Reliable - Value: /localization/pose_estimator/monte_carlo_initial_pose_marker - Value: true - Enabled: true - Name: NDT - - Class: rviz_common/Group - Displays: - - Buffer Size: 1000 - Class: rviz_plugins::PoseHistory - Enabled: true - Line: - Alpha: 0.9990000128746033 - Color: 0; 255; 255 - Value: true - Width: 0.10000000149011612 - Name: PoseHistory - Topic: - Depth: 5 - Durability Policy: Volatile - Filter size: 10 - History Policy: Keep Last - Reliability Policy: Reliable - Value: /localization/pose_twist_fusion_filter/pose - Value: true - Enabled: true - Name: EKF - Enabled: true - Name: Localization - - Class: rviz_common/Group - Displays: - - Class: rviz_common/Group - Displays: - - Alpha: 0.9990000128746033 - Autocompute Intensity Bounds: true - Autocompute Value Bounds: - Max Value: 15 - Min Value: -2 - Value: false - Axis: Z - Channel Name: z - Class: rviz_default_plugins/PointCloud2 - Color: 200; 200; 200 - Color Transformer: FlatColor - Decay Time: 0 - Enabled: true - Invert Rainbow: false - Max Color: 255; 255; 255 - Max Intensity: 15 - Min Color: 0; 0; 0 - Min Intensity: -5 - Name: NoGroundPointCloud - Position Transformer: XYZ - Selectable: false - Size (Pixels): 3 - Size (m): 0.019999999552965164 - Style: Points - Topic: - Depth: 5 - Durability Policy: Volatile - Filter size: 10 - History Policy: Keep Last - Reliability Policy: Best Effort - Value: /perception/obstacle_segmentation/pointcloud - Use Fixed Frame: true - Use rainbow: true - Value: true - Enabled: true - Name: Segmentation - - Class: rviz_common/Group - Displays: - - Class: rviz_common/Group - Displays: - - BUS: - Alpha: 0.9990000128746033 - Color: 30; 144; 255 - CAR: - Alpha: 0.9990000128746033 - Color: 30; 144; 255 - CYCLIST: - Alpha: 0.9990000128746033 - Color: 119; 11; 32 - Class: autoware_perception_rviz_plugin/DetectedObjects - Confidence Interval: 95% - Display Acceleration: true - Display Existence Probability: false - Display Label: true - Display Pose Covariance: true - Display Predicted Path Confidence: true - Display Predicted Paths: true - Display Twist: true - Display Twist Covariance: false - Display UUID: true - Display Velocity: true - Display Yaw Covariance: false - Display Yaw Rate: false - Display Yaw Rate Covariance: false - Enabled: true - Line Width: 0.029999999329447746 - MOTORCYCLE: - Alpha: 0.9990000128746033 - Color: 119; 11; 32 - Name: DetectedObjects - Namespaces: - {} - Object Fill Type: skeleton - PEDESTRIAN: - Alpha: 0.9990000128746033 - Color: 255; 192; 203 - Polygon Type: 3d - TRAILER: - Alpha: 0.9990000128746033 - Color: 30; 144; 255 - TRUCK: - Alpha: 0.9990000128746033 - Color: 30; 144; 255 - Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Best Effort - Value: /perception/object_recognition/detection/objects - UNKNOWN: - Alpha: 0.9990000128746033 - Color: 255; 255; 255 - Value: true - Visualization Type: Normal - Enabled: false - Name: Detection - - Class: rviz_common/Group - Displays: - - BUS: - Alpha: 0.9990000128746033 - Color: 30; 144; 255 - CAR: - Alpha: 0.9990000128746033 - Color: 30; 144; 255 - CYCLIST: - Alpha: 0.9990000128746033 - Color: 119; 11; 32 - Class: autoware_perception_rviz_plugin/TrackedObjects - Confidence Interval: 95% - Display Acceleration: true - Display Existence Probability: false - Display Label: true - Display Pose Covariance: true - Display Predicted Path Confidence: true - Display Predicted Paths: true - Display Twist: true - Display Twist Covariance: false - Display UUID: true - Display Velocity: true - Display Yaw Covariance: false - Display Yaw Rate: false - Display Yaw Rate Covariance: false - Dynamic Status: All - Enabled: true - Line Width: 0.029999999329447746 - MOTORCYCLE: - Alpha: 0.9990000128746033 - Color: 119; 11; 32 - Name: TrackedObjects - Namespaces: - {} - Object Fill Type: skeleton - PEDESTRIAN: - Alpha: 0.9990000128746033 - Color: 255; 192; 203 - Polygon Type: 3d - TRAILER: - Alpha: 0.9990000128746033 - Color: 30; 144; 255 - TRUCK: - Alpha: 0.9990000128746033 - Color: 30; 144; 255 - Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Best Effort - Value: /perception/object_recognition/tracking/objects - UNKNOWN: - Alpha: 0.9990000128746033 - Color: 255; 255; 255 - Value: true - Visualization Type: Normal - Enabled: false - Name: Tracking - - Class: rviz_common/Group - Displays: - - BUS: - Alpha: 0.9990000128746033 - Color: 30; 144; 255 - CAR: - Alpha: 0.9990000128746033 - Color: 30; 144; 255 - CYCLIST: - Alpha: 0.9990000128746033 - Color: 119; 11; 32 - Class: autoware_perception_rviz_plugin/PredictedObjects - Confidence Interval: 95% - Display Acceleration: true - Display Existence Probability: false - Display Label: true - Display Pose Covariance: true - Display Predicted Path Confidence: true - Display Predicted Paths: true - Display Twist: true - Display Twist Covariance: false - Display UUID: true - Display Velocity: true - Display Yaw Covariance: false - Display Yaw Rate: false - Display Yaw Rate Covariance: false - Enabled: true - Line Width: 0.029999999329447746 - MOTORCYCLE: - Alpha: 0.9990000128746033 - Color: 119; 11; 32 - Name: PredictedObjects - Namespaces: - {} - Object Fill Type: skeleton - PEDESTRIAN: - Alpha: 0.9990000128746033 - Color: 255; 192; 203 - Polygon Type: 3d - TRAILER: - Alpha: 0.9990000128746033 - Color: 30; 144; 255 - TRUCK: - Alpha: 0.9990000128746033 - Color: 30; 144; 255 - Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Best Effort - Value: /perception/object_recognition/objects - UNKNOWN: - Alpha: 0.9990000128746033 - Color: 255; 255; 255 - Value: true - Visualization Type: Normal - - Class: rviz_default_plugins/MarkerArray - Enabled: false - Name: Maneuver - Namespaces: - {} - Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Best Effort - Value: /perception/object_recognition/prediction/maneuver - Value: false - Enabled: true - Name: Prediction - Enabled: true - Name: ObjectRecognition - - Class: rviz_common/Group - Displays: - - Class: rviz_default_plugins/Image - Enabled: false - Max Value: 1 - Median window: 5 - Min Value: 0 - Name: RecognitionResultOnImage - Normalize Range: true - Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Best Effort - Value: /perception/traffic_light_recognition/traffic_light/debug/rois - Value: false - - Class: rviz_default_plugins/MarkerArray - Enabled: true - Name: MapBasedDetectionResult - Namespaces: - {} - Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Best Effort - Value: /perception/traffic_light_recognition/traffic_light_map_based_detector/debug/markers - Value: true - Enabled: true - Name: TrafficLight - - Class: rviz_common/Group - Displays: - - Alpha: 0.5 - Class: rviz_default_plugins/Map - Color Scheme: map - Draw Behind: false - Enabled: true - Name: Map - Topic: - Depth: 5 - Durability Policy: Volatile - Filter size: 10 - History Policy: Keep Last - Reliability Policy: Best Effort - Value: /perception/occupancy_grid_map/map - Update Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Best Effort - Value: /perception/occupancy_grid_map/map_updates - Use Timestamp: false - Value: true - Enabled: false - Name: OccupancyGrid - Enabled: true - Name: Perception - - Class: rviz_common/Group - Displays: - - Class: rviz_common/Group - Displays: - - Class: rviz_default_plugins/MarkerArray - Enabled: true - Name: RouteArea - Namespaces: - goal_lanelets: true - lane_start_bound: true - left_lane_bound: true - right_lane_bound: true - route_lanelets: true - Topic: - Depth: 5 - Durability Policy: Transient Local - History Policy: Keep Last - Reliability Policy: Reliable - Value: /planning/mission_planning/route_marker - Value: true - - Alpha: 0.9990000128746033 - Axes Length: 1 - Axes Radius: 0.30000001192092896 - Class: rviz_default_plugins/Pose - Color: 255; 25; 0 - Enabled: true - Head Length: 0.30000001192092896 - Head Radius: 0.5 - Name: GoalPose - Shaft Length: 3 - Shaft Radius: 0.20000000298023224 - Shape: Axes - Topic: - Depth: 5 - Durability Policy: Volatile - Filter size: 10 - History Policy: Keep Last - Reliability Policy: Reliable - Value: /planning/mission_planning/echo_back_goal_pose - Value: true - - Background Alpha: 0.5 - Background Color: 23; 28; 31 - Class: autoware_mission_details_overlay_rviz_plugin/MissionDetailsDisplay - Enabled: true - Height: 100 - Name: MissionDetailsDisplay - Remaining Distance and Time Topic: /planning/mission_remaining_distance_time - Right: 10 - Text Color: 194; 194; 194 - Top: 10 - Value: true - Width: 170 - Enabled: true - Name: MissionPlanning - - Class: rviz_common/Group - Displays: - - Class: rviz_plugins/Trajectory - Color Border Vel Max: 3 - Enabled: true - Name: ScenarioTrajectory - Topic: - Depth: 5 - Durability Policy: Volatile - Filter size: 10 - History Policy: Keep Last - Reliability Policy: Reliable - Value: /planning/scenario_planning/trajectory - Value: true - View Footprint: - Alpha: 1 - Color: 230; 230; 50 - Offset from BaseLink: 0 - Rear Overhang: 1.100000023841858 - Value: false - Vehicle Length: 4.889999866485596 - Vehicle Width: 1.8960000276565552 - View Path: - Alpha: 0.9990000128746033 - Constant Width: false - Fade Out Distance: 0 - Max Velocity Color: 0; 230; 120 - Mid Velocity Color: 32; 138; 174 - Min Velocity Color: 63; 46; 227 - Value: true - Width: 2 - View Point: - Alpha: 1 - Color: 0; 60; 255 - Offset: 0 - Radius: 0.10000000149011612 - Value: false - View Text Slope: - Scale: 0.30000001192092896 - Value: false - View Text Velocity: - Scale: 0.30000001192092896 - Value: false - View Velocity: - Alpha: 0.9990000128746033 - Color: 0; 0; 0 - Constant Color: false - Scale: 0.30000001192092896 - Value: true - - Class: rviz_common/Group - Displays: - - Class: rviz_common/Group - Displays: - - Class: rviz_plugins/Path - Color Border Vel Max: 3 - Enabled: true - Name: Path - Topic: - Depth: 5 - Durability Policy: Volatile - Filter size: 10 - History Policy: Keep Last - Reliability Policy: Reliable - Value: /planning/scenario_planning/lane_driving/behavior_planning/path - Value: true - View Drivable Area: - Alpha: 0.9990000128746033 - Color: 0; 148; 205 - Value: true - Width: 0.30000001192092896 - View Footprint: - Alpha: 1 - Color: 230; 230; 50 - Offset from BaseLink: 0 - Rear Overhang: 1.100000023841858 - Value: false - Vehicle Length: 4.889999866485596 - Vehicle Width: 1.8960000276565552 - View Path: - Alpha: 0.4000000059604645 - Constant Width: false - Fade Out Distance: 0 - Max Velocity Color: 0; 230; 120 - Mid Velocity Color: 32; 138; 174 - Min Velocity Color: 63; 46; 227 - Value: true - Width: 2 - View Point: - Alpha: 1 - Color: 0; 60; 255 - Offset: 0 - Radius: 0.10000000149011612 - Value: false - View Text Slope: - Scale: 0.30000001192092896 - Value: false - View Text Velocity: - Scale: 0.30000001192092896 - Value: false - View Velocity: - Alpha: 0.4000000059604645 - Color: 0; 0; 0 - Constant Color: false - Scale: 0.30000001192092896 - Value: true - - Class: rviz_plugins/Path - Color Border Vel Max: 3 - Enabled: false - Name: PathReference_AvoidanceByLC - Topic: - Depth: 5 - Durability Policy: Volatile - Filter size: 10 - History Policy: Keep Last - Reliability Policy: Reliable - Value: /planning/path_reference/avoidance_by_lane_change - Value: false - View Drivable Area: - Alpha: 0.9990000128746033 - Color: 0; 148; 205 - Value: true - Width: 0.30000001192092896 - View Footprint: - Alpha: 1 - Color: 230; 230; 50 - Offset from BaseLink: 0 - Rear Overhang: 1.0299999713897705 - Value: false - Vehicle Length: 4.769999980926514 - Vehicle Width: 1.8300000429153442 - View Path: - Alpha: 0.30000001192092896 - Constant Width: false - Fade Out Distance: 0 - Max Velocity Color: 0; 230; 120 - Mid Velocity Color: 32; 138; 174 - Min Velocity Color: 63; 46; 227 - Value: true - Width: 2 - View Point: - Alpha: 1 - Color: 0; 60; 255 - Offset: 0 - Radius: 0.10000000149011612 - Value: false - View Text Slope: - Scale: 0.30000001192092896 - Value: false - View Text Velocity: - Scale: 0.30000001192092896 - Value: false - View Velocity: - Alpha: 0.30000001192092896 - Color: 0; 0; 0 - Constant Color: false - Scale: 0.30000001192092896 - Value: false - - Class: rviz_plugins/Path - Color Border Vel Max: 3 - Enabled: false - Name: PathReference_Avoidance - Topic: - Depth: 5 - Durability Policy: Volatile - Filter size: 10 - History Policy: Keep Last - Reliability Policy: Reliable - Value: /planning/path_reference/static_obstacle_avoidance - Value: false - View Drivable Area: - Alpha: 0.9990000128746033 - Color: 0; 148; 205 - Value: true - Width: 0.30000001192092896 - View Footprint: - Alpha: 1 - Color: 230; 230; 50 - Offset from BaseLink: 0 - Rear Overhang: 1.0299999713897705 - Value: false - Vehicle Length: 4.769999980926514 - Vehicle Width: 1.8300000429153442 - View Path: - Alpha: 0.30000001192092896 - Constant Width: false - Fade Out Distance: 0 - Max Velocity Color: 0; 230; 120 - Mid Velocity Color: 32; 138; 174 - Min Velocity Color: 63; 46; 227 - Value: true - Width: 2 - View Point: - Alpha: 1 - Color: 0; 60; 255 - Offset: 0 - Radius: 0.10000000149011612 - Value: false - View Text Slope: - Scale: 0.30000001192092896 - Value: false - View Text Velocity: - Scale: 0.30000001192092896 - Value: false - View Velocity: - Alpha: 0.30000001192092896 - Color: 0; 0; 0 - Constant Color: false - Scale: 0.30000001192092896 - Value: false - - Class: rviz_plugins/Path - Color Border Vel Max: 3 - Enabled: false - Name: PathReference_LaneChangeRight - Topic: - Depth: 5 - Durability Policy: Volatile - Filter size: 10 - History Policy: Keep Last - Reliability Policy: Reliable - Value: /planning/path_reference/lane_change_right - Value: false - View Drivable Area: - Alpha: 0.9990000128746033 - Color: 0; 148; 205 - Value: true - Width: 0.30000001192092896 - View Footprint: - Alpha: 1 - Color: 230; 230; 50 - Offset from BaseLink: 0 - Rear Overhang: 1.0299999713897705 - Value: false - Vehicle Length: 4.769999980926514 - Vehicle Width: 1.8300000429153442 - View Path: - Alpha: 0.30000001192092896 - Constant Width: false - Fade Out Distance: 0 - Max Velocity Color: 0; 230; 120 - Mid Velocity Color: 32; 138; 174 - Min Velocity Color: 63; 46; 227 - Value: true - Width: 2 - View Point: - Alpha: 1 - Color: 0; 60; 255 - Offset: 0 - Radius: 0.10000000149011612 - Value: false - View Text Slope: - Scale: 0.30000001192092896 - Value: false - View Text Velocity: - Scale: 0.30000001192092896 - Value: false - View Velocity: - Alpha: 0.30000001192092896 - Color: 0; 0; 0 - Constant Color: false - Scale: 0.30000001192092896 - Value: false - - Class: rviz_plugins/Path - Color Border Vel Max: 3 - Enabled: false - Name: PathReference_LaneChangeLeft - Topic: - Depth: 5 - Durability Policy: Volatile - Filter size: 10 - History Policy: Keep Last - Reliability Policy: Reliable - Value: /planning/path_reference/lane_change_left - Value: false - View Drivable Area: - Alpha: 0.9990000128746033 - Color: 0; 148; 205 - Value: true - Width: 0.30000001192092896 - View Footprint: - Alpha: 1 - Color: 230; 230; 50 - Offset from BaseLink: 0 - Rear Overhang: 1.0299999713897705 - Value: false - Vehicle Length: 4.769999980926514 - Vehicle Width: 1.8300000429153442 - View Path: - Alpha: 0.30000001192092896 - Constant Width: false - Fade Out Distance: 0 - Max Velocity Color: 0; 230; 120 - Mid Velocity Color: 32; 138; 174 - Min Velocity Color: 63; 46; 227 - Value: true - Width: 2 - View Point: - Alpha: 1 - Color: 0; 60; 255 - Offset: 0 - Radius: 0.10000000149011612 - Value: false - View Text Slope: - Scale: 0.30000001192092896 - Value: false - View Text Velocity: - Scale: 0.30000001192092896 - Value: false - View Velocity: - Alpha: 0.30000001192092896 - Color: 0; 0; 0 - Constant Color: false - Scale: 0.30000001192092896 - Value: false - - Class: rviz_plugins/Path - Color Border Vel Max: 3 - Enabled: false - Name: PathReference_GoalPlanner - Topic: - Depth: 5 - Durability Policy: Volatile - Filter size: 10 - History Policy: Keep Last - Reliability Policy: Reliable - Value: /planning/path_reference/goal_planner - Value: false - View Drivable Area: - Alpha: 0.9990000128746033 - Color: 0; 148; 205 - Value: true - Width: 0.30000001192092896 - View Footprint: - Alpha: 1 - Color: 230; 230; 50 - Offset from BaseLink: 0 - Rear Overhang: 1.0299999713897705 - Value: false - Vehicle Length: 4.769999980926514 - Vehicle Width: 1.8300000429153442 - View Path: - Alpha: 0.30000001192092896 - Constant Width: false - Fade Out Distance: 0 - Max Velocity Color: 0; 230; 120 - Mid Velocity Color: 32; 138; 174 - Min Velocity Color: 63; 46; 227 - Value: true - Width: 2 - View Point: - Alpha: 1 - Color: 0; 60; 255 - Offset: 0 - Radius: 0.10000000149011612 - Value: false - View Text Slope: - Scale: 0.30000001192092896 - Value: false - View Text Velocity: - Scale: 0.30000001192092896 - Value: false - View Velocity: - Alpha: 0.30000001192092896 - Color: 0; 0; 0 - Constant Color: false - Scale: 0.30000001192092896 - Value: false - - Class: rviz_plugins/Path - Color Border Vel Max: 3 - Enabled: false - Name: PathReference_StartPlanner - Topic: - Depth: 5 - Durability Policy: Volatile - Filter size: 10 - History Policy: Keep Last - Reliability Policy: Reliable - Value: /planning/path_reference/start_planner - Value: false - View Drivable Area: - Alpha: 0.9990000128746033 - Color: 0; 148; 205 - Value: true - Width: 0.30000001192092896 - View Footprint: - Alpha: 1 - Color: 230; 230; 50 - Offset from BaseLink: 0 - Rear Overhang: 1.0299999713897705 - Value: false - Vehicle Length: 4.769999980926514 - Vehicle Width: 1.8300000429153442 - View Path: - Alpha: 0.30000001192092896 - Constant Width: false - Fade Out Distance: 0 - Max Velocity Color: 0; 230; 120 - Mid Velocity Color: 32; 138; 174 - Min Velocity Color: 63; 46; 227 - Value: true - Width: 2 - View Point: - Alpha: 1 - Color: 0; 60; 255 - Offset: 0 - Radius: 0.10000000149011612 - Value: false - View Text Slope: - Scale: 0.30000001192092896 - Value: false - View Text Velocity: - Scale: 0.30000001192092896 - Value: false - View Velocity: - Alpha: 0.30000001192092896 - Color: 0; 0; 0 - Constant Color: false - Scale: 0.30000001192092896 - Value: false - - Class: rviz_plugins/Path - Color Border Vel Max: 3 - Enabled: true - Name: PathChangeCandidate_AvoidanceByLC - Topic: - Depth: 5 - Durability Policy: Volatile - Filter size: 10 - History Policy: Keep Last - Reliability Policy: Reliable - Value: /planning/path_candidate/avoidance_by_lane_change - Value: true - View Drivable Area: - Alpha: 0.9990000128746033 - Color: 0; 148; 205 - Value: true - Width: 0.30000001192092896 - View Footprint: - Alpha: 1 - Color: 230; 230; 50 - Offset from BaseLink: 0 - Rear Overhang: 1.100000023841858 - Value: false - Vehicle Length: 4.889999866485596 - Vehicle Width: 1.8960000276565552 - View Path: - Alpha: 0.30000001192092896 - Constant Width: false - Fade Out Distance: 0 - Max Velocity Color: 0; 230; 120 - Mid Velocity Color: 32; 138; 174 - Min Velocity Color: 63; 46; 227 - Value: true - Width: 2 - View Point: - Alpha: 1 - Color: 0; 60; 255 - Offset: 0 - Radius: 0.10000000149011612 - Value: false - View Text Slope: - Scale: 0.30000001192092896 - Value: false - View Text Velocity: - Scale: 0.30000001192092896 - Value: false - View Velocity: - Alpha: 0.30000001192092896 - Color: 0; 0; 0 - Constant Color: false - Scale: 0.30000001192092896 - Value: false - - Class: rviz_plugins/Path - Color Border Vel Max: 3 - Enabled: true - Name: (old)PathChangeCandidate_LaneChange - Topic: - Depth: 5 - Durability Policy: Volatile - Filter size: 10 - History Policy: Keep Last - Reliability Policy: Reliable - Value: /planning/path_candidate/lane_change - Value: true - View Drivable Area: - Alpha: 0.9990000128746033 - Color: 0; 148; 205 - Value: true - Width: 0.30000001192092896 - View Footprint: - Alpha: 1 - Color: 230; 230; 50 - Offset from BaseLink: 0 - Rear Overhang: 1.0299999713897705 - Value: false - Vehicle Length: 4.769999980926514 - Vehicle Width: 1.8300000429153442 - View Path: - Alpha: 0.30000001192092896 - Constant Width: false - Fade Out Distance: 0 - Max Velocity Color: 0; 230; 120 - Mid Velocity Color: 32; 138; 174 - Min Velocity Color: 63; 46; 227 - Value: true - Width: 2 - View Point: - Alpha: 1 - Color: 0; 60; 255 - Offset: 0 - Radius: 0.10000000149011612 - Value: false - View Text Slope: - Scale: 0.30000001192092896 - Value: false - View Text Velocity: - Scale: 0.30000001192092896 - Value: false - View Velocity: - Alpha: 0.30000001192092896 - Color: 0; 0; 0 - Constant Color: false - Scale: 0.30000001192092896 - Value: false - - Class: rviz_plugins/Path - Color Border Vel Max: 3 - Enabled: true - Name: PathChangeCandidate_LaneChangeRight - Topic: - Depth: 5 - Durability Policy: Volatile - Filter size: 10 - History Policy: Keep Last - Reliability Policy: Reliable - Value: /planning/path_candidate/lane_change_right - Value: true - View Drivable Area: - Alpha: 0.9990000128746033 - Color: 0; 148; 205 - Value: true - Width: 0.30000001192092896 - View Footprint: - Alpha: 1 - Color: 230; 230; 50 - Offset from BaseLink: 0 - Rear Overhang: 1.100000023841858 - Value: false - Vehicle Length: 4.889999866485596 - Vehicle Width: 1.8960000276565552 - View Path: - Alpha: 0.30000001192092896 - Constant Width: false - Fade Out Distance: 0 - Max Velocity Color: 0; 230; 120 - Mid Velocity Color: 32; 138; 174 - Min Velocity Color: 63; 46; 227 - Value: true - Width: 2 - View Point: - Alpha: 1 - Color: 0; 60; 255 - Offset: 0 - Radius: 0.10000000149011612 - Value: false - View Text Slope: - Scale: 0.30000001192092896 - Value: false - View Text Velocity: - Scale: 0.30000001192092896 - Value: false - View Velocity: - Alpha: 0.30000001192092896 - Color: 0; 0; 0 - Constant Color: false - Scale: 0.30000001192092896 - Value: false - - Class: rviz_plugins/Path - Color Border Vel Max: 3 - Enabled: true - Name: PathChangeCandidate_LaneChangeLeft - Topic: - Depth: 5 - Durability Policy: Volatile - Filter size: 10 - History Policy: Keep Last - Reliability Policy: Reliable - Value: /planning/path_candidate/lane_change_left - Value: true - View Drivable Area: - Alpha: 0.9990000128746033 - Color: 0; 148; 205 - Value: true - Width: 0.30000001192092896 - View Footprint: - Alpha: 1 - Color: 230; 230; 50 - Offset from BaseLink: 0 - Rear Overhang: 1.100000023841858 - Value: false - Vehicle Length: 4.889999866485596 - Vehicle Width: 1.8960000276565552 - View Path: - Alpha: 0.30000001192092896 - Constant Width: false - Fade Out Distance: 0 - Max Velocity Color: 0; 230; 120 - Mid Velocity Color: 32; 138; 174 - Min Velocity Color: 63; 46; 227 - Value: true - Width: 2 - View Point: - Alpha: 1 - Color: 0; 60; 255 - Offset: 0 - Radius: 0.10000000149011612 - Value: false - View Text Slope: - Scale: 0.30000001192092896 - Value: false - View Text Velocity: - Scale: 0.30000001192092896 - Value: false - View Velocity: - Alpha: 0.30000001192092896 - Color: 0; 0; 0 - Constant Color: false - Scale: 0.30000001192092896 - Value: false - - Class: rviz_plugins/Path - Color Border Vel Max: 3 - Enabled: true - Name: PathChangeCandidate_ExternalRequestLaneChangeRight - Topic: - Depth: 5 - Durability Policy: Volatile - Filter size: 10 - History Policy: Keep Last - Reliability Policy: Reliable - Value: /planning/path_candidate/external_request_lane_change_right - Value: true - View Drivable Area: - Alpha: 0.9990000128746033 - Color: 0; 148; 205 - Value: true - Width: 0.30000001192092896 - View Footprint: - Alpha: 1 - Color: 230; 230; 50 - Offset from BaseLink: 0 - Rear Overhang: 1.0299999713897705 - Value: false - Vehicle Length: 4.769999980926514 - Vehicle Width: 1.8300000429153442 - View Path: - Alpha: 0.30000001192092896 - Constant Width: false - Fade Out Distance: 0 - Max Velocity Color: 0; 230; 120 - Mid Velocity Color: 32; 138; 174 - Min Velocity Color: 63; 46; 227 - Value: true - Width: 2 - View Point: - Alpha: 1 - Color: 0; 60; 255 - Offset: 0 - Radius: 0.10000000149011612 - Value: false - View Text Slope: - Scale: 0.30000001192092896 - Value: false - View Text Velocity: - Scale: 0.30000001192092896 - Value: false - View Velocity: - Alpha: 0.30000001192092896 - Color: 0; 0; 0 - Constant Color: false - Scale: 0.30000001192092896 - Value: false - - Class: rviz_plugins/Path - Color Border Vel Max: 3 - Enabled: true - Name: PathChangeCandidate_ExternalRequestLaneChangeLeft - Topic: - Depth: 5 - Durability Policy: Volatile - Filter size: 10 - History Policy: Keep Last - Reliability Policy: Reliable - Value: /planning/path_candidate/external_request_lane_change_left - Value: true - View Drivable Area: - Alpha: 0.9990000128746033 - Color: 0; 148; 205 - Value: true - Width: 0.30000001192092896 - View Footprint: - Alpha: 1 - Color: 230; 230; 50 - Offset from BaseLink: 0 - Rear Overhang: 1.0299999713897705 - Value: false - Vehicle Length: 4.769999980926514 - Vehicle Width: 1.8300000429153442 - View Path: - Alpha: 0.30000001192092896 - Constant Width: false - Fade Out Distance: 0 - Max Velocity Color: 0; 230; 120 - Mid Velocity Color: 32; 138; 174 - Min Velocity Color: 63; 46; 227 - Value: true - Width: 2 - View Point: - Alpha: 1 - Color: 0; 60; 255 - Offset: 0 - Radius: 0.10000000149011612 - Value: false - View Text Slope: - Scale: 0.30000001192092896 - Value: false - View Text Velocity: - Scale: 0.30000001192092896 - Value: false - View Velocity: - Alpha: 0.30000001192092896 - Color: 0; 0; 0 - Constant Color: false - Scale: 0.30000001192092896 - Value: false - - Class: rviz_plugins/Path - Color Border Vel Max: 3 - Enabled: true - Name: PathChangeCandidate_Avoidance - Topic: - Depth: 5 - Durability Policy: Volatile - Filter size: 10 - History Policy: Keep Last - Reliability Policy: Reliable - Value: /planning/path_candidate/static_obstacle_avoidance - Value: true - View Drivable Area: - Alpha: 0.9990000128746033 - Color: 0; 148; 205 - Value: true - Width: 0.30000001192092896 - View Footprint: - Alpha: 1 - Color: 230; 230; 50 - Offset from BaseLink: 0 - Rear Overhang: 1.100000023841858 - Value: false - Vehicle Length: 4.889999866485596 - Vehicle Width: 1.8960000276565552 - View Path: - Alpha: 0.30000001192092896 - Constant Width: false - Fade Out Distance: 0 - Max Velocity Color: 0; 230; 120 - Mid Velocity Color: 32; 138; 174 - Min Velocity Color: 63; 46; 227 - Value: true - Width: 2 - View Point: - Alpha: 1 - Color: 0; 60; 255 - Offset: 0 - Radius: 0.10000000149011612 - Value: false - View Text Slope: - Scale: 0.30000001192092896 - Value: false - View Text Velocity: - Scale: 0.30000001192092896 - Value: false - View Velocity: - Alpha: 0.30000001192092896 - Color: 0; 0; 0 - Constant Color: false - Scale: 0.30000001192092896 - Value: false - - Class: rviz_plugins/Path - Color Border Vel Max: 3 - Enabled: true - Name: PathChangeCandidate_StartPlanner - Topic: - Depth: 5 - Durability Policy: Volatile - Filter size: 10 - History Policy: Keep Last - Reliability Policy: Reliable - Value: /planning/path_candidate/start_planner - Value: true - View Drivable Area: - Alpha: 0.9990000128746033 - Color: 0; 148; 205 - Value: true - Width: 0.30000001192092896 - View Footprint: - Alpha: 1 - Color: 230; 230; 50 - Offset from BaseLink: 0 - Rear Overhang: 1.100000023841858 - Value: false - Vehicle Length: 4.889999866485596 - Vehicle Width: 1.8960000276565552 - View Path: - Alpha: 0.30000001192092896 - Constant Width: false - Fade Out Distance: 0 - Max Velocity Color: 0; 230; 120 - Mid Velocity Color: 32; 138; 174 - Min Velocity Color: 63; 46; 227 - Value: true - Width: 2 - View Point: - Alpha: 1 - Color: 0; 60; 255 - Offset: 0 - Radius: 0.10000000149011612 - Value: false - View Text Slope: - Scale: 0.30000001192092896 - Value: false - View Text Velocity: - Scale: 0.30000001192092896 - Value: false - View Velocity: - Alpha: 0.30000001192092896 - Color: 0; 0; 0 - Constant Color: false - Scale: 0.30000001192092896 - Value: false - - Class: rviz_plugins/Path - Color Border Vel Max: 3 - Enabled: true - Name: PathChangeCandidate_GoalPlanner - Topic: - Depth: 5 - Durability Policy: Volatile - Filter size: 10 - History Policy: Keep Last - Reliability Policy: Reliable - Value: /planning/path_candidate/goal_planner - Value: true - View Drivable Area: - Alpha: 0.9990000128746033 - Color: 0; 148; 205 - Value: true - Width: 0.30000001192092896 - View Footprint: - Alpha: 1 - Color: 230; 230; 50 - Offset from BaseLink: 0 - Rear Overhang: 1.100000023841858 - Value: false - Vehicle Length: 4.889999866485596 - Vehicle Width: 1.8960000276565552 - View Path: - Alpha: 0.30000001192092896 - Constant Width: false - Fade Out Distance: 0 - Max Velocity Color: 0; 230; 120 - Mid Velocity Color: 32; 138; 174 - Min Velocity Color: 63; 46; 227 - Value: true - Width: 2 - View Point: - Alpha: 1 - Color: 0; 60; 255 - Offset: 0 - Radius: 0.10000000149011612 - Value: false - View Text Slope: - Scale: 0.30000001192092896 - Value: false - View Text Velocity: - Scale: 0.30000001192092896 - Value: false - View Velocity: - Alpha: 0.30000001192092896 - Color: 0; 0; 0 - Constant Color: false - Scale: 0.30000001192092896 - Value: false - - Class: rviz_default_plugins/MarkerArray - Enabled: false - Name: Bound - Namespaces: - {} - Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Reliable - Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/debug/bound - Value: false - - Class: rviz_common/Group - Displays: - - Class: rviz_default_plugins/MarkerArray - Enabled: true - Name: VirtualWall (StaticObstacleAvoidance) - Namespaces: - {} - Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Reliable - Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/virtual_wall/static_obstacle_avoidance - Value: true - - Class: rviz_default_plugins/MarkerArray - Enabled: true - Name: VirtualWall (AvoidanceByLC) - Namespaces: - {} - Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Reliable - Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/virtual_wall/avoidance_by_lane_change - Value: true - - Class: rviz_default_plugins/MarkerArray - Enabled: true - Name: VirtualWall (LaneChangeRight) - Namespaces: - {} - Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Reliable - Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/virtual_wall/lane_change_right - Value: true - - Class: rviz_default_plugins/MarkerArray - Enabled: true - Name: VirtualWall (LaneChangeLeft) - Namespaces: - {} - Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Reliable - Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/virtual_wall/lane_change_left - Value: true - - Class: rviz_default_plugins/MarkerArray - Enabled: true - Name: VirtualWall (ExtLaneChangeRight) - Namespaces: - {} - Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Reliable - Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/virtual_wall/external_request_lane_change_right - Value: true - - Class: rviz_default_plugins/MarkerArray - Enabled: true - Name: VirtualWall (ExtLaneChangeLeft) - Namespaces: - {} - Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Reliable - Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/virtual_wall/external_request_lane_change_left - Value: true - - Class: rviz_default_plugins/MarkerArray - Enabled: true - Name: VirtualWall (GoalPlanner) - Namespaces: - stop_factor_text: true - stop_virtual_wall: true - Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Reliable - Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/virtual_wall/goal_planner - Value: true - - Class: rviz_default_plugins/MarkerArray - Enabled: true - Name: VirtualWall (StartPlanner) - Namespaces: - {} - Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Reliable - Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/virtual_wall/start_planner - Value: true - - Class: rviz_default_plugins/MarkerArray - Enabled: true - Name: VirtualWall (BlindSpot) - Namespaces: - {} - Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Reliable - Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/virtual_wall/blind_spot - Value: true - - Class: rviz_default_plugins/MarkerArray - Enabled: true - Name: VirtualWall (Crosswalk) - Namespaces: - {} - Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Reliable - Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/virtual_wall/crosswalk - Value: true - - Class: rviz_default_plugins/MarkerArray - Enabled: true - Name: VirtualWall (Walkway) - Namespaces: - {} - Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Reliable - Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/virtual_wall/walkway - Value: true - - Class: rviz_default_plugins/MarkerArray - Enabled: true - Name: VirtualWall (DetectionArea) - Namespaces: - {} - Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Reliable - Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/virtual_wall/detection_area - Value: true - - Class: rviz_default_plugins/MarkerArray - Enabled: true - Name: VirtualWall (Intersection) - Namespaces: - {} - Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Reliable - Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/virtual_wall/intersection - Value: true - - Class: rviz_default_plugins/MarkerArray - Enabled: true - Name: VirtualWall (MergeFromPrivateArea) - Namespaces: - stop_factor_text: true - stop_virtual_wall: true - Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Reliable - Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/virtual_wall/merge_from_private - Value: true - - Class: rviz_default_plugins/MarkerArray - Enabled: true - Name: VirtualWall (NoStoppingArea) - Namespaces: - {} - Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Reliable - Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/virtual_wall/no_stopping_area - Value: true - - Class: rviz_default_plugins/MarkerArray - Enabled: true - Name: VirtualWall (OcclusionSpot) - Namespaces: - {} - Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Reliable - Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/virtual_wall/occlusion_spot - Value: true - - Class: rviz_default_plugins/MarkerArray - Enabled: true - Name: VirtualWall (StopLine) - Namespaces: - {} - Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Reliable - Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/virtual_wall/stop_line - Value: true - - Class: rviz_default_plugins/MarkerArray - Enabled: true - Name: VirtualWall (TrafficLight) - Namespaces: - {} - Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Reliable - Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/virtual_wall/traffic_light - Value: true - - Class: rviz_default_plugins/MarkerArray - Enabled: true - Name: VirtualWall (VirtualTrafficLight) - Namespaces: - {} - Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Reliable - Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/virtual_wall/virtual_traffic_light - Value: true - - Class: rviz_default_plugins/MarkerArray - Enabled: true - Name: VirtualWall (RunOut) - Namespaces: - {} - Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Reliable - Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/virtual_wall/run_out - Value: true - - Class: rviz_default_plugins/MarkerArray - Enabled: true - Name: VirtualWall (SpeedBump) - Namespaces: - {} - Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Reliable - Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/virtual_wall/speed_bump - Value: true - - Class: rviz_default_plugins/MarkerArray - Enabled: true - Name: VirtualWall (NoDrivableLane) - Namespaces: - {} - Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Reliable - Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/virtual_wall/no_drivable_lane - Value: true - Enabled: true - Name: VirtualWall - - Class: rviz_common/Group - Displays: - - Class: rviz_default_plugins/MarkerArray - Enabled: false - Name: Arrow - Namespaces: - {} - Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Reliable - Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/debug/path - Value: false - - Class: rviz_default_plugins/MarkerArray - Enabled: false - Name: Crosswalk - Namespaces: - {} - Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Reliable - Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/debug/crosswalk - Value: false - - Class: rviz_default_plugins/MarkerArray - Enabled: false - Name: Intersection - Namespaces: - {} - Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Reliable - Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/debug/intersection - Value: false - - Class: rviz_default_plugins/MarkerArray - Enabled: false - Name: Blind Spot - Namespaces: - {} - Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Reliable - Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/debug/blind_spot - Value: false - - Class: rviz_default_plugins/MarkerArray - Enabled: false - Name: TrafficLight - Namespaces: - {} - Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Reliable - Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/debug/traffic_light - Value: false - - Class: rviz_default_plugins/MarkerArray - Enabled: false - Name: VirtualTrafficLight - Namespaces: - {} - Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Reliable - Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/debug/virtual_traffic_light - Value: false - - Class: rviz_default_plugins/MarkerArray - Enabled: false - Name: StopLine - Namespaces: - {} - Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Reliable - Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/debug/stop_line - Value: false - - Class: rviz_default_plugins/MarkerArray - Enabled: false - Name: DetectionArea - Namespaces: - {} - Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Reliable - Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/debug/detection_area - Value: false - - Class: rviz_default_plugins/MarkerArray - Enabled: false - Name: OcclusionSpot - Namespaces: - {} - Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Reliable - Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/debug/occlusion_spot - Value: false - - Class: rviz_default_plugins/MarkerArray - Enabled: false - Name: NoStoppingArea - Namespaces: - {} - Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Reliable - Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/debug/no_stopping_area - Value: false - - Class: rviz_default_plugins/MarkerArray - Enabled: false - Name: RunOut - Namespaces: - {} - Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Reliable - Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/debug/run_out - Value: false - - Class: rviz_default_plugins/MarkerArray - Enabled: false - Name: StaticObstacleAvoidance - Namespaces: - {} - Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Reliable - Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/debug/static_obstacle_avoidance - Value: false - - Class: rviz_default_plugins/MarkerArray - Enabled: false - Name: LeftLaneChange - Namespaces: - {} - Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Reliable - Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/debug/lane_change_left - Value: false - - Class: rviz_default_plugins/MarkerArray - Enabled: false - Name: RightLaneChange - Namespaces: - {} - Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Reliable - Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/debug/lane_change_right - Value: false - - Class: rviz_default_plugins/MarkerArray - Enabled: false - Name: LaneFollowing - Namespaces: - {} - Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Reliable - Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/debug/lane_following - Value: false - - Class: rviz_default_plugins/MarkerArray - Enabled: true - Name: GoalPlanner - Namespaces: - current_path: true - detection_polygons: true - expanded_pull_over_lane_between_ego: true - full_path: true - goal_candidates: true - goal_candidates_num_objects_to_avoid: true - goal_candidates_priority: true - objects_extraction_polygon: true - partial_path_0: true - planner_type: true - previous_module_path: true - pull_over_area_0: true - pull_over_end_pose: true - pull_over_start_pose: true - safety_status: true - Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Reliable - Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/debug/goal_planner - Value: true - - Class: rviz_default_plugins/MarkerArray - Enabled: false - Name: StartPlanner - Namespaces: - {} - Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Reliable - Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/debug/start_planner - Value: false - - Class: rviz_default_plugins/MarkerArray - Enabled: false - Name: SideShift - Namespaces: - {} - Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Reliable - Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/debug/side_shift - Value: false - - Class: rviz_default_plugins/MarkerArray - Enabled: false - Name: SpeedBump - Namespaces: - {} - Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Reliable - Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/debug/speed_bump - Value: false - - Class: rviz_default_plugins/MarkerArray - Enabled: false - Name: DynamicObstacleAvoidance - Namespaces: - {} - Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Reliable - Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/debug/dynamic_obstacle_avoidance - Value: false - - Class: rviz_default_plugins/MarkerArray - Enabled: false - Name: NoDrivableLane - Namespaces: - {} - Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Reliable - Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/debug/no_drivable_lane - Value: false - Enabled: true - Name: DebugMarker - - Class: rviz_common/Group - Displays: - - Class: rviz_default_plugins/MarkerArray - Enabled: false - Name: Info (StaticObstacleAvoidance) - Namespaces: - {} - Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Reliable - Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/info/static_obstacle_avoidance - Value: false - - Class: rviz_default_plugins/MarkerArray - Enabled: false - Name: Info (AvoidanceByLC) - Namespaces: - {} - Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Reliable - Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/info/avoidance_by_lane_change - Value: false - - Class: rviz_default_plugins/MarkerArray - Enabled: false - Name: Info (LaneChangeLeft) - Namespaces: - {} - Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Reliable - Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/info/lane_change_left - Value: false - - Class: rviz_default_plugins/MarkerArray - Enabled: false - Name: Info (LaneChangeRight) - Namespaces: - {} - Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Reliable - Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/info/lane_change_right - Value: false - - Class: rviz_default_plugins/MarkerArray - Enabled: false - Name: Info (ExtLaneChangeLeft) - Namespaces: - {} - Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Reliable - Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/info/external_request_lane_change_left - Value: false - - Class: rviz_default_plugins/MarkerArray - Enabled: false - Name: Info (ExtLaneChangeRight) - Namespaces: - {} - Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Reliable - Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/info/external_request_lane_change_right - Value: false - - Class: rviz_default_plugins/MarkerArray - Enabled: false - Name: Info (GoalPlanner) - Namespaces: - {} - Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Reliable - Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/info/goal_planner - Value: false - - Class: rviz_default_plugins/MarkerArray - Enabled: false - Name: Info (StartPlanner) - Namespaces: - {} - Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Reliable - Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/info/start_planner - Value: false - - Class: rviz_default_plugins/MarkerArray - Enabled: false - Name: Info (DynamicObstacleAvoidance) - Namespaces: - {} - Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Reliable - Value: /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/info/dynamic_obstacle_avoidance - Value: false - Enabled: false - Name: InfoMarker - Enabled: true - Name: BehaviorPlanning - - Class: rviz_common/Group - Displays: - - Class: rviz_plugins/Trajectory - Color Border Vel Max: 3 - Enabled: false - Name: Trajectory - Topic: - Depth: 5 - Durability Policy: Volatile - Filter size: 10 - History Policy: Keep Last - Reliability Policy: Reliable - Value: /planning/scenario_planning/lane_driving/trajectory - Value: false - View Footprint: - Alpha: 1 - Color: 230; 230; 50 - Offset from BaseLink: 0 - Rear Overhang: 1.0299999713897705 - Value: false - Vehicle Length: 4.769999980926514 - Vehicle Width: 1.8300000429153442 - View Path: - Alpha: 0.9990000128746033 - Constant Width: false - Fade Out Distance: 0 - Max Velocity Color: 0; 230; 120 - Mid Velocity Color: 32; 138; 174 - Min Velocity Color: 63; 46; 227 - Value: true - Width: 2 - View Point: - Alpha: 1 - Color: 0; 60; 255 - Offset: 0 - Radius: 0.10000000149011612 - Value: false - View Text Slope: - Scale: 0.30000001192092896 - Value: false - View Text Velocity: - Scale: 0.30000001192092896 - Value: false - View Velocity: - Alpha: 0.9990000128746033 - Color: 0; 0; 0 - Constant Color: false - Scale: 0.30000001192092896 - Value: true - - Class: rviz_common/Group - Displays: - - Class: rviz_default_plugins/MarkerArray - Enabled: true - Name: VirtualWall (ObstacleStop) - Namespaces: - {} - Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Reliable - Value: /planning/scenario_planning/lane_driving/motion_planning/obstacle_stop_planner/virtual_wall - Value: true - - Class: rviz_default_plugins/MarkerArray - Enabled: true - Name: VirtualWall (SurroundObstacle) - Namespaces: - {} - Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Reliable - Value: /planning/scenario_planning/lane_driving/motion_planning/surround_obstacle_checker/virtual_wall - Value: true - - Class: rviz_default_plugins/MarkerArray - Enabled: true - Name: VirtualWall (ObstacleAvoidance) - Namespaces: - {} - Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Reliable - Value: /planning/scenario_planning/lane_driving/motion_planning/obstacle_avoidance_planner/virtual_wall - Value: true - - Class: rviz_default_plugins/MarkerArray - Enabled: true - Name: VirtualWall (ObstacleCruise) - Namespaces: - {} - Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Reliable - Value: /planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/virtual_wall - Value: true - - Class: rviz_default_plugins/MarkerArray - Enabled: true - Name: VirtualWall (MotionVelocitySmoother) - Namespaces: - {} - Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Reliable - Value: /planning/scenario_planning/velocity_smoother/virtual_wall - Value: true - - Class: rviz_default_plugins/MarkerArray - Enabled: true - Name: VirtualWall (OutOfLane) - Namespaces: - {} - Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Reliable - Value: /planning/scenario_planning/lane_driving/motion_planning/motion_velocity_planner/out_of_lane/virtual_walls - Value: true - - Class: rviz_default_plugins/MarkerArray - Enabled: true - Name: VirtualWall (ObstacleVelocityLimiter) - Namespaces: - {} - Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Reliable - Value: /planning/scenario_planning/lane_driving/motion_planning/motion_velocity_planner/obstacle_velocity_limiter/virtual_walls - Value: true - - Class: rviz_default_plugins/MarkerArray - Enabled: true - Name: VirtualWall (DynamicObstacleStop) - Namespaces: - {} - Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Reliable - Value: /planning/scenario_planning/lane_driving/motion_planning/motion_velocity_planner/dynamic_obstacle_stop/virtual_walls - Value: true - Enabled: true - Name: VirtualWall - - Class: rviz_common/Group - Displays: - - Class: rviz_common/Group - Displays: - - Class: rviz_default_plugins/MarkerArray - Enabled: true - Name: SurroundObstacleCheck - Namespaces: - {} - Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Reliable - Value: /planning/scenario_planning/lane_driving/motion_planning/surround_obstacle_checker/debug/marker - Value: true - - Alpha: 1 - Class: rviz_default_plugins/Polygon - Color: 25; 255; 0 - Enabled: false - Name: Footprint - Topic: - Depth: 5 - Durability Policy: Volatile - Filter size: 10 - History Policy: Keep Last - Reliability Policy: Reliable - Value: /planning/scenario_planning/lane_driving/motion_planning/surround_obstacle_checker/debug/footprint - Value: false - - Alpha: 1 - Class: rviz_default_plugins/Polygon - Color: 239; 41; 41 - Enabled: false - Name: FootprintOffset - Topic: - Depth: 5 - Durability Policy: Volatile - Filter size: 10 - History Policy: Keep Last - Reliability Policy: Reliable - Value: /planning/scenario_planning/lane_driving/motion_planning/surround_obstacle_checker/debug/footprint_offset - Value: false - - Alpha: 1 - Class: rviz_default_plugins/Polygon - Color: 10; 21; 255 - Enabled: false - Name: FootprintRecoverOffset - Topic: - Depth: 5 - Durability Policy: Volatile - Filter size: 10 - History Policy: Keep Last - Reliability Policy: Reliable - Value: /planning/scenario_planning/lane_driving/motion_planning/surround_obstacle_checker/debug/footprint_recover_offset - Value: false - Enabled: false - Name: SurroundObstacleChecker - - Class: rviz_default_plugins/MarkerArray - Enabled: false - Name: ObstacleStop - Namespaces: - {} - Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Reliable - Value: /planning/scenario_planning/lane_driving/motion_planning/obstacle_stop_planner/debug/marker - Value: false - - Class: rviz_common/Group - Displays: - - Class: rviz_default_plugins/MarkerArray - Enabled: true - Name: CruiseVirtualWall - Namespaces: - {} - Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Reliable - Value: /planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/debug/cruise/virtual_wall - Value: true - - Class: rviz_default_plugins/MarkerArray - Enabled: true - Name: SlowDownVirtualWall - Namespaces: - {} - Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Reliable - Value: /planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/debug/slow_down/virtual_wall - Value: true - - Class: rviz_default_plugins/MarkerArray - Enabled: true - Name: DebugMarker - Namespaces: - {} - Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Reliable - Value: /planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/debug/marker - Value: true - Enabled: false - Name: ObstacleCruise - - Class: rviz_default_plugins/MarkerArray - Enabled: false - Name: ObstacleAvoidance - Namespaces: - {} - Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Reliable - Value: /planning/scenario_planning/lane_driving/motion_planning/obstacle_avoidance_planner/debug/marker - Value: false - - Class: rviz_common/Group - Displays: - - Class: rviz_default_plugins/MarkerArray - Enabled: true - Name: OutOfLane - Namespaces: - {} - Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Reliable - Value: /planning/scenario_planning/lane_driving/motion_planning/motion_velocity_planner/out_of_lane/debug_markers - Value: true - - Class: rviz_default_plugins/MarkerArray - Enabled: true - Name: ObstacleVelocityLimiter - Namespaces: - {} - Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Reliable - Value: /planning/scenario_planning/lane_driving/motion_planning/motion_velocity_planner/obstacle_velocity_limiter/debug_markers - Value: true - - Class: rviz_default_plugins/MarkerArray - Enabled: true - Name: DynamicObstacleStop - Namespaces: - {} - Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Reliable - Value: /planning/scenario_planning/lane_driving/motion_planning/motion_velocity_planner/dynamic_obstacle_stop/debug_markers - Value: true - Enabled: false - Name: MotionVelocityPlanner - Enabled: false - Name: DebugMarker - Enabled: true - Name: MotionPlanning - Enabled: true - Name: LaneDriving - - Class: rviz_common/Group - Displays: - - Alpha: 0.699999988079071 - Class: rviz_default_plugins/Map - Color Scheme: map - Draw Behind: false - Enabled: false - Name: Costmap - Topic: - Depth: 5 - Durability Policy: Volatile - Filter size: 10 - History Policy: Keep Last - Reliability Policy: Reliable - Value: /planning/scenario_planning/parking/costmap_generator/occupancy_grid - Update Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Reliable - Value: /planning/scenario_planning/parking/costmap_generator/occupancy_grid_updates - Use Timestamp: false - Value: false - - Alpha: 0.9990000128746033 - Arrow Length: 0.30000001192092896 - Axes Length: 0.30000001192092896 - Axes Radius: 0.009999999776482582 - Class: rviz_default_plugins/PoseArray - Color: 255; 25; 0 - Enabled: true - Head Length: 0.10000000149011612 - Head Radius: 0.20000000298023224 - Name: PartialPoseArray - Shaft Length: 0.20000000298023224 - Shaft Radius: 0.05000000074505806 - Shape: Arrow (3D) - Topic: - Depth: 5 - Durability Policy: Volatile - Filter size: 10 - History Policy: Keep Last - Reliability Policy: Reliable - Value: /planning/scenario_planning/parking/freespace_planner/debug/partial_pose_array - Value: true - - Alpha: 0.9990000128746033 - Arrow Length: 0.5 - Axes Length: 0.30000001192092896 - Axes Radius: 0.009999999776482582 - Class: rviz_default_plugins/PoseArray - Color: 0; 0; 255 - Enabled: true - Head Length: 0.10000000149011612 - Head Radius: 0.20000000298023224 - Name: PoseArray - Shaft Length: 0.20000000298023224 - Shaft Radius: 0.05000000074505806 - Shape: Arrow (Flat) - Topic: - Depth: 5 - Durability Policy: Volatile - Filter size: 10 - History Policy: Keep Last - Reliability Policy: Reliable - Value: /planning/scenario_planning/parking/freespace_planner/debug/pose_array - Value: true - Enabled: true - Name: Parking - - Class: rviz_plugins/PoseWithUuidStamped - Enabled: true - Length: 1.5 - Name: ModifiedGoal - Radius: 0.5 - Topic: - Depth: 5 - Durability Policy: Volatile - Filter size: 10 - History Policy: Keep Last - Reliability Policy: Reliable - Value: /planning/scenario_planning/modified_goal - UUID: - Scale: 0.30000001192092896 - Value: false - Value: true - Enabled: true - Name: ScenarioPlanning - - Class: rviz_common/Group - Displays: - - Class: rviz_default_plugins/MarkerArray - Enabled: true - Name: PlanningErrorMarker - Namespaces: - {} - Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Best Effort - Value: /planning/planning_diagnostics/planning_error_monitor/debug/marker - Value: true - Enabled: false - Name: Diagnostic - Enabled: true - Name: Planning - - Class: rviz_common/Group - Displays: - - Class: rviz_plugins/Trajectory - Color Border Vel Max: 3 - Enabled: true - Name: Predicted Trajectory - Topic: - Depth: 5 - Durability Policy: Volatile - Filter size: 10 - History Policy: Keep Last - Reliability Policy: Reliable - Value: /control/trajectory_follower/controller_node_exe/debug/predicted_trajectory_in_frenet_coordinate - Value: true - View Footprint: - Alpha: 1 - Color: 230; 230; 50 - Offset from BaseLink: 0 - Rear Overhang: 1.100000023841858 - Value: false - Vehicle Length: 4.889999866485596 - Vehicle Width: 1.8960000276565552 - View Path: - Alpha: 1 - Constant Width: true - Fade Out Distance: 0 - Max Velocity Color: 0; 230; 120 - Mid Velocity Color: 32; 138; 174 - Min Velocity Color: 63; 46; 227 - Value: true - Width: 0.05000000074505806 - View Point: - Alpha: 1 - Color: 0; 60; 255 - Offset: 0 - Radius: 0.10000000149011612 - Value: false - View Text Slope: - Scale: 0.30000001192092896 - Value: false - View Text Velocity: - Scale: 0.30000001192092896 - Value: false - View Velocity: - Alpha: 1 - Color: 0; 0; 0 - Constant Color: false - Scale: 0.30000001192092896 - Value: false - - Class: rviz_plugins/Trajectory - Color Border Vel Max: 3 - Enabled: false - Name: Resampled Reference Trajectory - Topic: - Depth: 5 - Durability Policy: Volatile - Filter size: 10 - History Policy: Keep Last - Reliability Policy: Reliable - Value: /control/trajectory_follower/controller_node_exe/debug/resampled_reference_trajectory - Value: false - View Footprint: - Alpha: 1 - Color: 230; 230; 50 - Offset from BaseLink: 0 - Rear Overhang: 1.0299999713897705 - Value: false - Vehicle Length: 4.769999980926514 - Vehicle Width: 1.8300000429153442 - View Path: - Alpha: 1 - Constant Width: true - Fade Out Distance: 0 - Max Velocity Color: 0; 230; 120 - Mid Velocity Color: 32; 138; 174 - Min Velocity Color: 63; 46; 227 - Value: false - Width: 0.20000000298023224 - View Point: - Alpha: 1 - Color: 0; 60; 255 - Offset: 0 - Radius: 0.10000000149011612 - Value: true - View Text Slope: - Scale: 0.30000001192092896 - Value: false - View Text Velocity: - Scale: 0.30000001192092896 - Value: false - View Velocity: - Alpha: 1 - Color: 0; 0; 0 - Constant Color: false - Scale: 0.30000001192092896 - Value: false - - Class: rviz_common/Group - Displays: - - Class: rviz_default_plugins/MarkerArray - Enabled: true - Name: VirtualWall (AEB) - Namespaces: - {} - Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Reliable - Value: /control/autonomous_emergency_braking/virtual_wall - Value: true - Enabled: true - Name: VirtualWall - - Class: rviz_default_plugins/Marker - Enabled: false - Name: Stop Reason - Namespaces: - {} - Topic: - Depth: 5 - Durability Policy: Volatile - Filter size: 10 - History Policy: Keep Last - Reliability Policy: Reliable - Value: /control/trajectory_follower/longitudinal/stop_reason - Value: false - - Class: rviz_default_plugins/MarkerArray - Enabled: false - Name: Debug/MPC - Namespaces: - {} - Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Reliable - Value: /control/trajectory_follower/mpc_follower/debug/markers - Value: false - - Class: rviz_default_plugins/MarkerArray - Enabled: false - Name: Debug/PurePursuit - Namespaces: - {} - Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Reliable - Value: /control/trajectory_follower/controller_node_exe/debug/markers - Value: false - - Class: rviz_default_plugins/MarkerArray - Enabled: false - Name: Debug/AEB - Namespaces: - {} - Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Reliable - Value: /control/autonomous_emergency_braking/debug/markers - Value: false - Enabled: true - Name: Control - - Class: rviz_common/Group - Displays: - - Class: rviz_common/Group - Displays: ~ - Enabled: true - Name: Map - - Class: rviz_common/Group - Displays: - - Class: rviz_default_plugins/Camera - Enabled: true - Far Plane Distance: 100 - Image Rendering: background and overlay - Name: PointcloudOnCamera - Overlay Alpha: 0.5 - Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Best Effort - Value: /sensing/camera/camera6/image_raw - Value: true - Visibility: - Control: - Debug/AEB: true - Debug/MPC: true - Debug/PurePursuit: true - Predicted Trajectory: true - Resampled Reference Trajectory: true - Stop Reason: true - Value: false - VirtualWall: - Value: true - VirtualWall (AEB): true - Debug: - Control: true - Localization: - EKFPoseHistory: true - NDT pointclouds: true - NDTLoadedPCDMap: true - NDTPoseHistory: true - Value: true - Map: true - Perception: - CameraLidarFusion(purple): true - Centerpoint(red1): true - CenterpointROIFusion(red2): true - CenterpointValidator(red3): true - Detection(yellow): true - DetectionByTracker(orange): true - PointPainting(light_green1): true - PointPaintingROIFusion(light_green2): true - PointPaintingValidator(light_green3): true - Prediction(light_blue): true - RadarFarObjects(white): true - Tracking(green): true - Value: true - Planning: - "": - "": true - Value: true - Value: true - Sensing: - ConcatenatePointCloud: true - RadarRawObjects(white): true - Value: true - Value: true - Localization: - EKF: - PoseHistory: true - Value: true - NDT: - Aligned: true - Initial: true - MonteCarloInitialPose: true - PoseHistory: true - PoseWithCovAligned: true - PoseWithCovInitial: true - Value: true - Value: false - Map: - Lanelet2VectorMap: true - PointCloudMap: true - Value: false - Perception: - ObjectRecognition: - Detection: - DetectedObjects: true - Value: true - Prediction: - Maneuver: true - PredictedObjects: true - Value: true - Tracking: - TrackedObjects: true - Value: true - Value: true - OccupancyGrid: - Map: true - Value: true - Segmentation: - NoGroundPointCloud: true - Value: true - TrafficLight: - MapBasedDetectionResult: true - RecognitionResultOnImage: true - Value: true - Value: false - Planning: - Diagnostic: - PlanningErrorMarker: true - Value: true - MissionPlanning: - GoalPose: true - MissionDetailsDisplay: true - RouteArea: true - Value: true - ScenarioPlanning: - LaneDriving: - BehaviorPlanning: - (old)PathChangeCandidate_LaneChange: true - Bound: true - DebugMarker: - Arrow: true - Blind Spot: true - Crosswalk: true - DetectionArea: true - DynamicObstacleAvoidance: true - GoalPlanner: true - Intersection: true - LaneFollowing: true - LeftLaneChange: true - NoDrivableLane: true - NoStoppingArea: true - OcclusionSpot: true - RightLaneChange: true - RunOut: true - SideShift: true - SpeedBump: true - StartPlanner: true - StaticObstacleAvoidance: true - StopLine: true - TrafficLight: true - Value: true - VirtualTrafficLight: true - InfoMarker: - Info (AvoidanceByLC): true - Info (DynamicObstacleAvoidance): true - Info (ExtLaneChangeLeft): true - Info (ExtLaneChangeRight): true - Info (GoalPlanner): true - Info (LaneChangeLeft): true - Info (LaneChangeRight): true - Info (StartPlanner): true - Info (StaticObstacleAvoidance): true - Value: true - Path: true - PathChangeCandidate_Avoidance: true - PathChangeCandidate_AvoidanceByLC: true - PathChangeCandidate_ExternalRequestLaneChangeLeft: true - PathChangeCandidate_ExternalRequestLaneChangeRight: true - PathChangeCandidate_GoalPlanner: true - PathChangeCandidate_LaneChangeLeft: true - PathChangeCandidate_LaneChangeRight: true - PathChangeCandidate_StartPlanner: true - PathReference_Avoidance: true - PathReference_AvoidanceByLC: true - PathReference_GoalPlanner: true - PathReference_LaneChangeLeft: true - PathReference_LaneChangeRight: true - PathReference_StartPlanner: true - Value: true - VirtualWall: - Value: true - VirtualWall (AvoidanceByLC): true - VirtualWall (BlindSpot): true - VirtualWall (Crosswalk): true - VirtualWall (DetectionArea): true - VirtualWall (ExtLaneChangeLeft): true - VirtualWall (ExtLaneChangeRight): true - VirtualWall (GoalPlanner): true - VirtualWall (Intersection): true - VirtualWall (LaneChangeLeft): true - VirtualWall (LaneChangeRight): true - VirtualWall (MergeFromPrivateArea): true - VirtualWall (NoDrivableLane): true - VirtualWall (NoStoppingArea): true - VirtualWall (OcclusionSpot): true - VirtualWall (RunOut): true - VirtualWall (SpeedBump): true - VirtualWall (StartPlanner): true - VirtualWall (StaticObstacleAvoidance): true - VirtualWall (StopLine): true - VirtualWall (TrafficLight): true - VirtualWall (VirtualTrafficLight): true - VirtualWall (Walkway): true - MotionPlanning: - DebugMarker: - MotionVelocityPlanner: - DynamicObstacleStop: true - ObstacleVelocityLimiter: true - OutOfLane: true - Value: true - ObstacleAvoidance: true - ObstacleCruise: - CruiseVirtualWall: true - DebugMarker: true - SlowDownVirtualWall: true - Value: true - ObstacleStop: true - SurroundObstacleChecker: - Footprint: true - FootprintOffset: true - FootprintRecoverOffset: true - SurroundObstacleCheck: true - Value: true - Value: true - Trajectory: true - Value: true - VirtualWall: - Value: true - VirtualWall (DynamicObstacleStop): true - VirtualWall (MotionVelocitySmoother): true - VirtualWall (ObstacleAvoidance): true - VirtualWall (ObstacleCruise): true - VirtualWall (ObstacleStop): true - VirtualWall (ObstacleVelocityLimiter): true - VirtualWall (OutOfLane): true - VirtualWall (SurroundObstacle): true - Value: true - ModifiedGoal: true - Parking: - Costmap: true - PartialPoseArray: true - PoseArray: true - Value: true - ScenarioTrajectory: true - Value: true - Value: false - Sensing: - GNSS: - PoseWithCovariance: true - Value: true - LiDAR: - ConcatenatePointCloud: true - MeasurementRange: true - Value: true - Value: true - System: - Grid: true - MRM Summary: true - TF: true - Value: false - Vehicle: - PolarGridDisplay: true - SignalDisplay: true - Value: true - VehicleModel: true - Value: true - Zoom Factor: 1 - - Alpha: 1 - Autocompute Intensity Bounds: true - Autocompute Value Bounds: - Max Value: 5 - Min Value: -1 - Value: false - Axis: Z - Channel Name: intensity - Class: rviz_default_plugins/PointCloud2 - Color: 255; 255; 255 - Color Transformer: AxisColor - Decay Time: 0 - Enabled: true - Invert Rainbow: false - Max Color: 255; 255; 255 - Max Intensity: 4096 - Min Color: 0; 0; 0 - Min Intensity: 0 - Name: ConcatenatePointCloud - Position Transformer: XYZ - Selectable: false - Size (Pixels): 3 - Size (m): 0.019999999552965164 - Style: Points - Topic: - Depth: 5 - Durability Policy: Volatile - Filter size: 10 - History Policy: Keep Last - Reliability Policy: Best Effort - Value: /sensing/lidar/concatenated/pointcloud - Use Fixed Frame: false - Use rainbow: true - Value: true - - BUS: - Alpha: 0.5 - Color: 255; 255; 255 - CAR: - Alpha: 0.5 - Color: 255; 255; 255 - CYCLIST: - Alpha: 0.5 - Color: 255; 255; 255 - Class: autoware_perception_rviz_plugin/DetectedObjects - Confidence Interval: 95% - Display Acceleration: true - Display Existence Probability: false - Display Label: true - Display Pose Covariance: true - Display Predicted Path Confidence: true - Display Predicted Paths: true - Display Twist: true - Display Twist Covariance: false - Display UUID: true - Display Velocity: true - Display Yaw Covariance: false - Display Yaw Rate: false - Display Yaw Rate Covariance: false - Enabled: true - Line Width: 0.029999999329447746 - MOTORCYCLE: - Alpha: 0.5 - Color: 255; 255; 255 - Name: RadarRawObjects(white) - Namespaces: - {} - Object Fill Type: skeleton - PEDESTRIAN: - Alpha: 0.5 - Color: 255; 255; 255 - Polygon Type: 3d - TRAILER: - Alpha: 0.5 - Color: 255; 255; 255 - TRUCK: - Alpha: 0.5 - Color: 255; 255; 255 - Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Best Effort - Value: /sensing/radar/detected_objects - UNKNOWN: - Alpha: 0.5 - Color: 255; 255; 255 - Value: true - Visualization Type: Normal - Enabled: false - Name: Sensing - - Class: rviz_common/Group - Displays: - - Alpha: 0.9990000128746033 - Autocompute Intensity Bounds: true - Autocompute Value Bounds: - Max Value: 10 - Min Value: -10 - Value: true - Axis: Z - Channel Name: intensity - Class: rviz_default_plugins/PointCloud2 - Color: 85; 255; 0 - Color Transformer: FlatColor - Decay Time: 0 - Enabled: true - Invert Rainbow: false - Max Color: 85; 255; 127 - Max Intensity: 0 - Min Color: 0; 0; 0 - Min Intensity: 0 - Name: NDT pointclouds - Position Transformer: XYZ - Selectable: false - Size (Pixels): 10 - Size (m): 0.5 - Style: Squares - Topic: - Depth: 5 - Durability Policy: Volatile - Filter size: 10 - History Policy: Keep Last - Reliability Policy: Reliable - Value: /localization/pose_estimator/points_aligned - Use Fixed Frame: true - Use rainbow: true - Value: true - - Alpha: 1 - Autocompute Intensity Bounds: true - Autocompute Value Bounds: - Max Value: 10 - Min Value: -10 - Value: true - Axis: Z - Channel Name: intensity - Class: rviz_default_plugins/PointCloud2 - Color: 255; 255; 255 - Color Transformer: "" - Decay Time: 0 - Enabled: true - Invert Rainbow: false - Max Color: 255; 255; 255 - Max Intensity: 4096 - Min Color: 0; 0; 0 - Min Intensity: 0 - Name: NDTLoadedPCDMap - Position Transformer: "" - Selectable: true - Size (Pixels): 3 - Size (m): 0.10000000149011612 - Style: Flat Squares - Topic: - Depth: 5 - Durability Policy: Volatile - Filter size: 10 - History Policy: Keep Last - Reliability Policy: Reliable - Value: /localization/pose_estimator/debug/loaded_pointcloud_map - Use Fixed Frame: true - Use rainbow: true - Value: true - - Buffer Size: 200 - Class: rviz_plugins::PoseHistory - Enabled: true - Line: - Alpha: 0.9990000128746033 - Color: 170; 255; 127 - Value: true - Width: 0.10000000149011612 - Name: NDTPoseHistory - Topic: - Depth: 5 - Durability Policy: Volatile - Filter size: 10 - History Policy: Keep Last - Reliability Policy: Reliable - Value: /localization/pose_estimator/pose - Value: true - - Buffer Size: 1000 - Class: rviz_plugins::PoseHistory - Enabled: true - Line: - Alpha: 0.9990000128746033 - Color: 0; 255; 255 - Value: true - Width: 0.10000000149011612 - Name: EKFPoseHistory - Topic: - Depth: 5 - Durability Policy: Volatile - Filter size: 10 - History Policy: Keep Last - Reliability Policy: Reliable - Value: /localization/pose_twist_fusion_filter/pose - Value: true - Enabled: true - Name: Localization - - Class: rviz_common/Group - Displays: - - BUS: - Alpha: 0.9990000128746033 - Color: 255; 138; 128 - CAR: - Alpha: 0.9990000128746033 - Color: 255; 138; 128 - CYCLIST: - Alpha: 0.9990000128746033 - Color: 255; 138; 128 - Class: autoware_perception_rviz_plugin/DetectedObjects - Confidence Interval: 95% - Display Acceleration: true - Display Existence Probability: false - Display Label: true - Display Pose Covariance: true - Display Predicted Path Confidence: true - Display Predicted Paths: true - Display Twist: true - Display Twist Covariance: false - Display UUID: true - Display Velocity: true - Display Yaw Covariance: false - Display Yaw Rate: false - Display Yaw Rate Covariance: false - Enabled: true - Line Width: 0.10000000149011612 - MOTORCYCLE: - Alpha: 0.9990000128746033 - Color: 255; 138; 128 - Name: Centerpoint(red1) - Namespaces: - {} - Object Fill Type: skeleton - PEDESTRIAN: - Alpha: 0.9990000128746033 - Color: 255; 138; 128 - Polygon Type: 3d - TRAILER: - Alpha: 0.9990000128746033 - Color: 255; 138; 128 - TRUCK: - Alpha: 0.9990000128746033 - Color: 255; 138; 128 - Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Best Effort - Value: /perception/object_recognition/detection/centerpoint/objects - UNKNOWN: - Alpha: 0.9990000128746033 - Color: 255; 138; 128 - Value: true - Visualization Type: Normal - - BUS: - Alpha: 0.9990000128746033 - Color: 255; 82; 82 - CAR: - Alpha: 0.9990000128746033 - Color: 255; 82; 82 - CYCLIST: - Alpha: 0.9990000128746033 - Color: 255; 82; 82 - Class: autoware_perception_rviz_plugin/DetectedObjects - Confidence Interval: 95% - Display Acceleration: true - Display Existence Probability: false - Display Label: true - Display Pose Covariance: true - Display Predicted Path Confidence: true - Display Predicted Paths: true - Display Twist: true - Display Twist Covariance: false - Display UUID: true - Display Velocity: true - Display Yaw Covariance: false - Display Yaw Rate: false - Display Yaw Rate Covariance: false - Enabled: true - Line Width: 0.10000000149011612 - MOTORCYCLE: - Alpha: 0.9990000128746033 - Color: 255; 82; 82 - Name: CenterpointROIFusion(red2) - Namespaces: - {} - Object Fill Type: skeleton - PEDESTRIAN: - Alpha: 0.9990000128746033 - Color: 255; 82; 82 - Polygon Type: 3d - TRAILER: - Alpha: 0.9990000128746033 - Color: 255; 82; 82 - TRUCK: - Alpha: 0.9990000128746033 - Color: 255; 82; 82 - Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Best Effort - Value: /perception/object_recognition/detection/centerpoint/roi_fusion/objects - UNKNOWN: - Alpha: 0.9990000128746033 - Color: 255; 82; 82 - Value: true - Visualization Type: Normal - - BUS: - Alpha: 0.9990000128746033 - Color: 213; 0; 0 - CAR: - Alpha: 0.9990000128746033 - Color: 213; 0; 0 - CYCLIST: - Alpha: 0.9990000128746033 - Color: 213; 0; 0 - Class: autoware_perception_rviz_plugin/DetectedObjects - Confidence Interval: 95% - Display Acceleration: true - Display Existence Probability: false - Display Label: true - Display Pose Covariance: true - Display Predicted Path Confidence: true - Display Predicted Paths: true - Display Twist: true - Display Twist Covariance: false - Display UUID: true - Display Velocity: true - Display Yaw Covariance: false - Display Yaw Rate: false - Display Yaw Rate Covariance: false - Enabled: true - Line Width: 0.10000000149011612 - MOTORCYCLE: - Alpha: 0.9990000128746033 - Color: 213; 0; 0 - Name: CenterpointValidator(red3) - Namespaces: - {} - Object Fill Type: skeleton - PEDESTRIAN: - Alpha: 0.9990000128746033 - Color: 213; 0; 0 - Polygon Type: 3d - TRAILER: - Alpha: 0.9990000128746033 - Color: 213; 0; 0 - TRUCK: - Alpha: 0.9990000128746033 - Color: 213; 0; 0 - Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Best Effort - Value: /perception/object_recognition/detection/centerpoint/validation/objects - UNKNOWN: - Alpha: 0.9990000128746033 - Color: 213; 0; 0 - Value: true - Visualization Type: Normal - - BUS: - Alpha: 0.9990000128746033 - Color: 178; 255; 89 - CAR: - Alpha: 0.9990000128746033 - Color: 178; 255; 89 - CYCLIST: - Alpha: 0.9990000128746033 - Color: 178; 255; 89 - Class: autoware_perception_rviz_plugin/DetectedObjects - Confidence Interval: 95% - Display Acceleration: true - Display Existence Probability: false - Display Label: true - Display Pose Covariance: true - Display Predicted Path Confidence: true - Display Predicted Paths: true - Display Twist: true - Display Twist Covariance: false - Display UUID: true - Display Velocity: true - Display Yaw Covariance: false - Display Yaw Rate: false - Display Yaw Rate Covariance: false - Enabled: true - Line Width: 0.10000000149011612 - MOTORCYCLE: - Alpha: 0.9990000128746033 - Color: 178; 255; 89 - Name: PointPainting(light_green1) - Namespaces: - {} - Object Fill Type: skeleton - PEDESTRIAN: - Alpha: 0.9990000128746033 - Color: 178; 255; 89 - Polygon Type: 3d - TRAILER: - Alpha: 0.9990000128746033 - Color: 178; 255; 89 - TRUCK: - Alpha: 0.9990000128746033 - Color: 178; 255; 89 - Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Best Effort - Value: /perception/object_recognition/detection/pointpainting/objects - UNKNOWN: - Alpha: 0.9990000128746033 - Color: 178; 255; 89 - Value: true - Visualization Type: Normal - - BUS: - Alpha: 0.9990000128746033 - Color: 118; 255; 3 - CAR: - Alpha: 0.9990000128746033 - Color: 118; 255; 3 - CYCLIST: - Alpha: 0.9990000128746033 - Color: 118; 255; 3 - Class: autoware_perception_rviz_plugin/DetectedObjects - Confidence Interval: 95% - Display Acceleration: true - Display Existence Probability: false - Display Label: true - Display Pose Covariance: true - Display Predicted Path Confidence: true - Display Predicted Paths: true - Display Twist: true - Display Twist Covariance: false - Display UUID: true - Display Velocity: true - Display Yaw Covariance: false - Display Yaw Rate: false - Display Yaw Rate Covariance: false - Enabled: true - Line Width: 0.10000000149011612 - MOTORCYCLE: - Alpha: 0.9990000128746033 - Color: 118; 255; 3 - Name: PointPaintingROIFusion(light_green2) - Namespaces: - {} - Object Fill Type: skeleton - PEDESTRIAN: - Alpha: 0.9990000128746033 - Color: 118; 255; 3 - Polygon Type: 3d - TRAILER: - Alpha: 0.9990000128746033 - Color: 118; 255; 3 - TRUCK: - Alpha: 0.9990000128746033 - Color: 118; 255; 3 - Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Best Effort - Value: /perception/object_recognition/detection/pointpainting/roi_fusion/objects - UNKNOWN: - Alpha: 0.9990000128746033 - Color: 118; 255; 3 - Value: true - Visualization Type: Normal - - BUS: - Alpha: 0.9990000128746033 - Color: 100; 221; 23 - CAR: - Alpha: 0.9990000128746033 - Color: 100; 221; 23 - CYCLIST: - Alpha: 0.9990000128746033 - Color: 100; 221; 23 - Class: autoware_perception_rviz_plugin/DetectedObjects - Confidence Interval: 95% - Display Acceleration: true - Display Existence Probability: false - Display Label: true - Display Pose Covariance: true - Display Predicted Path Confidence: true - Display Predicted Paths: true - Display Twist: true - Display Twist Covariance: false - Display UUID: true - Display Velocity: true - Display Yaw Covariance: false - Display Yaw Rate: false - Display Yaw Rate Covariance: false - Enabled: true - Line Width: 0.10000000149011612 - MOTORCYCLE: - Alpha: 0.9990000128746033 - Color: 100; 221; 23 - Name: PointPaintingValidator(light_green3) - Namespaces: - {} - Object Fill Type: skeleton - PEDESTRIAN: - Alpha: 0.9990000128746033 - Color: 100; 221; 23 - Polygon Type: 3d - TRAILER: - Alpha: 0.9990000128746033 - Color: 100; 221; 23 - TRUCK: - Alpha: 0.9990000128746033 - Color: 100; 221; 23 - Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Best Effort - Value: /perception/object_recognition/detection/pointpainting/validation/objects - UNKNOWN: - Alpha: 0.9990000128746033 - Color: 100; 221; 23 - Value: true - Visualization Type: Normal - - BUS: - Alpha: 0.9990000128746033 - Color: 255; 145; 0 - CAR: - Alpha: 0.9990000128746033 - Color: 255; 145; 0 - CYCLIST: - Alpha: 0.9990000128746033 - Color: 255; 145; 0 - Class: autoware_perception_rviz_plugin/DetectedObjects - Confidence Interval: 95% - Display Acceleration: true - Display Existence Probability: false - Display Label: true - Display Pose Covariance: true - Display Predicted Path Confidence: true - Display Predicted Paths: true - Display Twist: true - Display Twist Covariance: false - Display UUID: true - Display Velocity: true - Display Yaw Covariance: false - Display Yaw Rate: false - Display Yaw Rate Covariance: false - Enabled: true - Line Width: 0.10000000149011612 - MOTORCYCLE: - Alpha: 0.9990000128746033 - Color: 255; 145; 0 - Name: DetectionByTracker(orange) - Namespaces: - {} - Object Fill Type: skeleton - PEDESTRIAN: - Alpha: 0.9990000128746033 - Color: 255; 145; 0 - Polygon Type: 3d - TRAILER: - Alpha: 0.9990000128746033 - Color: 255; 145; 0 - TRUCK: - Alpha: 0.9990000128746033 - Color: 255; 145; 0 - Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Best Effort - Value: /perception/object_recognition/detection/detection_by_tracker/objects - UNKNOWN: - Alpha: 0.9990000128746033 - Color: 255; 145; 0 - Value: true - Visualization Type: Normal - - BUS: - Alpha: 0.9990000128746033 - Color: 213; 0; 249 - CAR: - Alpha: 0.9990000128746033 - Color: 213; 0; 249 - CYCLIST: - Alpha: 0.9990000128746033 - Color: 213; 0; 249 - Class: autoware_perception_rviz_plugin/DetectedObjects - Confidence Interval: 95% - Display Acceleration: true - Display Existence Probability: false - Display Label: true - Display Pose Covariance: true - Display Predicted Path Confidence: true - Display Predicted Paths: true - Display Twist: true - Display Twist Covariance: false - Display UUID: true - Display Velocity: true - Display Yaw Covariance: false - Display Yaw Rate: false - Display Yaw Rate Covariance: false - Enabled: true - Line Width: 0.10000000149011612 - MOTORCYCLE: - Alpha: 0.9990000128746033 - Color: 213; 0; 249 - Name: CameraLidarFusion(purple) - Namespaces: - {} - Object Fill Type: skeleton - PEDESTRIAN: - Alpha: 0.9990000128746033 - Color: 213; 0; 249 - Polygon Type: 3d - TRAILER: - Alpha: 0.9990000128746033 - Color: 213; 0; 249 - TRUCK: - Alpha: 0.9990000128746033 - Color: 213; 0; 249 - Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Best Effort - Value: /perception/object_recognition/detection/clustering/camera_lidar_fusion/objects - UNKNOWN: - Alpha: 0.9990000128746033 - Color: 213; 0; 249 - Value: true - Visualization Type: Normal - - BUS: - Alpha: 0.9990000128746033 - Color: 255; 255; 255 - CAR: - Alpha: 0.9990000128746033 - Color: 255; 255; 255 - CYCLIST: - Alpha: 0.9990000128746033 - Color: 255; 255; 255 - Class: autoware_perception_rviz_plugin/DetectedObjects - Confidence Interval: 95% - Display Acceleration: true - Display Existence Probability: false - Display Label: true - Display Pose Covariance: true - Display Predicted Path Confidence: true - Display Predicted Paths: true - Display Twist: true - Display Twist Covariance: false - Display UUID: true - Display Velocity: true - Display Yaw Covariance: false - Display Yaw Rate: false - Display Yaw Rate Covariance: false - Enabled: true - Line Width: 0.10000000149011612 - MOTORCYCLE: - Alpha: 0.9990000128746033 - Color: 255; 255; 255 - Name: RadarFarObjects(white) - Namespaces: - {} - Object Fill Type: skeleton - PEDESTRIAN: - Alpha: 0.9990000128746033 - Color: 255; 255; 255 - Polygon Type: 3d - TRAILER: - Alpha: 0.9990000128746033 - Color: 255; 255; 255 - TRUCK: - Alpha: 0.9990000128746033 - Color: 255; 255; 255 - Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Best Effort - Value: /perception/object_recognition/detection/radar/far_objects - UNKNOWN: - Alpha: 0.9990000128746033 - Color: 255; 255; 255 - Value: true - Visualization Type: Normal - - BUS: - Alpha: 0.9990000128746033 - Color: 255; 234; 0 - CAR: - Alpha: 0.9990000128746033 - Color: 255; 234; 0 - CYCLIST: - Alpha: 0.9990000128746033 - Color: 255; 234; 0 - Class: autoware_perception_rviz_plugin/DetectedObjects - Confidence Interval: 95% - Display Acceleration: true - Display Existence Probability: false - Display Label: true - Display Pose Covariance: true - Display Predicted Path Confidence: true - Display Predicted Paths: true - Display Twist: true - Display Twist Covariance: false - Display UUID: true - Display Velocity: true - Display Yaw Covariance: false - Display Yaw Rate: false - Display Yaw Rate Covariance: false - Enabled: true - Line Width: 0.10000000149011612 - MOTORCYCLE: - Alpha: 0.9990000128746033 - Color: 255; 234; 0 - Name: Detection(yellow) - Namespaces: - {} - Object Fill Type: skeleton - PEDESTRIAN: - Alpha: 0.9990000128746033 - Color: 255; 234; 0 - Polygon Type: 3d - TRAILER: - Alpha: 0.9990000128746033 - Color: 255; 234; 0 - TRUCK: - Alpha: 0.9990000128746033 - Color: 255; 234; 0 - Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Best Effort - Value: /perception/object_recognition/detection/objects - UNKNOWN: - Alpha: 0.9990000128746033 - Color: 255; 234; 0 - Value: true - Visualization Type: Normal - - BUS: - Alpha: 0.9990000128746033 - Color: 0; 230; 118 - CAR: - Alpha: 0.9990000128746033 - Color: 0; 230; 118 - CYCLIST: - Alpha: 0.9990000128746033 - Color: 0; 230; 118 - Class: autoware_perception_rviz_plugin/TrackedObjects - Confidence Interval: 95% - Display Acceleration: true - Display Existence Probability: false - Display Label: true - Display Pose Covariance: true - Display Predicted Path Confidence: true - Display Predicted Paths: true - Display Twist: true - Display Twist Covariance: false - Display UUID: true - Display Velocity: true - Display Yaw Covariance: false - Display Yaw Rate: false - Display Yaw Rate Covariance: false - Dynamic Status: All - Enabled: true - Line Width: 0.10000000149011612 - MOTORCYCLE: - Alpha: 0.9990000128746033 - Color: 0; 230; 118 - Name: Tracking(green) - Namespaces: - {} - Object Fill Type: skeleton - PEDESTRIAN: - Alpha: 0.9990000128746033 - Color: 0; 230; 118 - Polygon Type: 3d - TRAILER: - Alpha: 0.9990000128746033 - Color: 0; 230; 118 - TRUCK: - Alpha: 0.9990000128746033 - Color: 0; 230; 118 - Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Best Effort - Value: /perception/object_recognition/tracking/objects - UNKNOWN: - Alpha: 0.9990000128746033 - Color: 0; 230; 118 - Value: true - Visualization Type: Normal - - BUS: - Alpha: 0.9990000128746033 - Color: 0; 176; 255 - CAR: - Alpha: 0.9990000128746033 - Color: 0; 176; 255 - CYCLIST: - Alpha: 0.9990000128746033 - Color: 0; 176; 255 - Class: autoware_perception_rviz_plugin/PredictedObjects - Confidence Interval: 95% - Display Acceleration: true - Display Existence Probability: false - Display Label: true - Display Pose Covariance: true - Display Predicted Path Confidence: true - Display Predicted Paths: true - Display Twist: true - Display Twist Covariance: false - Display UUID: true - Display Velocity: true - Display Yaw Covariance: false - Display Yaw Rate: false - Display Yaw Rate Covariance: false - Enabled: true - Line Width: 0.10000000149011612 - MOTORCYCLE: - Alpha: 0.9990000128746033 - Color: 0; 176; 255 - Name: Prediction(light_blue) - Namespaces: - {} - Object Fill Type: skeleton - PEDESTRIAN: - Alpha: 0.9990000128746033 - Color: 0; 176; 255 - Polygon Type: 3d - TRAILER: - Alpha: 0.9990000128746033 - Color: 0; 176; 255 - TRUCK: - Alpha: 0.9990000128746033 - Color: 0; 176; 255 - Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Best Effort - Value: /perception/object_recognition/objects - UNKNOWN: - Alpha: 0.9990000128746033 - Color: 0; 176; 255 - Value: true - Visualization Type: Normal - Enabled: true - Name: Perception - - Class: rviz_common/Group - Displays: - - Class: rviz_common/Group - Displays: - - Class: rviz_default_plugins/MarkerArray - Enabled: true - Name: LaneChangeLeft - Namespaces: - {} - Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Reliable - Value: /planning/debug/objects_of_interest/lane_change_left - Value: true - - Class: rviz_default_plugins/MarkerArray - Enabled: true - Name: LaneChangeRight - Namespaces: - {} - Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Reliable - Value: /planning/debug/objects_of_interest/lane_change_right - Value: true - - Class: rviz_default_plugins/MarkerArray - Enabled: true - Name: AvoidanceLeft - Namespaces: - {} - Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Reliable - Value: /planning/debug/objects_of_interest/static_obstacle_avoidance_left - Value: true - - Class: rviz_default_plugins/MarkerArray - Enabled: true - Name: AvoidanceRight - Namespaces: - {} - Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Reliable - Value: /planning/debug/objects_of_interest/static_obstacle_avoidance_right - Value: true - - Class: rviz_default_plugins/MarkerArray - Enabled: true - Name: AvoidanceByLCLeft - Namespaces: - {} - Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Reliable - Value: /planning/debug/objects_of_interest/avoidance_by_lc_left - Value: true - - Class: rviz_default_plugins/MarkerArray - Enabled: true - Name: AvoidanceByLCRight - Namespaces: - {} - Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Reliable - Value: /planning/debug/objects_of_interest/avoidance_by_lc_right - Value: true - - Class: rviz_default_plugins/MarkerArray - Enabled: true - Name: StartPlanner - Namespaces: - {} - Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Reliable - Value: /planning/debug/objects_of_interest/start_planner - Value: true - - Class: rviz_default_plugins/MarkerArray - Enabled: true - Name: GoalPlanner - Namespaces: - {} - Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Reliable - Value: /planning/debug/objects_of_interest/goal_planner - Value: true - - Class: rviz_default_plugins/MarkerArray - Enabled: true - Name: Crosswalk - Namespaces: - {} - Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Reliable - Value: /planning/debug/objects_of_interest/crosswalk - Value: true - - Class: rviz_default_plugins/MarkerArray - Enabled: true - Name: Intersection - Namespaces: - {} - Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Reliable - Value: /planning/debug/objects_of_interest/intersection - Value: true - - Class: rviz_default_plugins/MarkerArray - Enabled: true - Name: BlindSpot - Namespaces: - {} - Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Reliable - Value: /planning/debug/objects_of_interest/blind_spot - Value: true - - Class: rviz_default_plugins/MarkerArray - Enabled: true - Name: TrafficLight - Namespaces: - {} - Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Reliable - Value: /planning/debug/objects_of_interest/traffic_light - Value: true - - Class: rviz_default_plugins/MarkerArray - Enabled: true - Name: DetectionArea - Namespaces: - {} - Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Reliable - Value: /planning/debug/objects_of_interest/detection_area - Value: true - - Class: rviz_default_plugins/MarkerArray - Enabled: true - Name: NoStoppingArea - Namespaces: - {} - Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Reliable - Value: /planning/debug/objects_of_interest/no_stopping_area - Value: true - Enabled: true - Name: Objects Of Interest - Enabled: true - Name: Planning - - Class: rviz_common/Group - Displays: ~ - Enabled: true - Name: Control - Enabled: false - Name: Debug - Enabled: true - Global Options: - Background Color: 15; 20; 23 - Fixed Frame: map - Frame Rate: 30 - Name: root - Tools: - - Class: rviz_default_plugins/Interact - Hide Inactive Objects: true - - Class: rviz_default_plugins/MoveCamera - - Class: rviz_default_plugins/Select - - Class: rviz_default_plugins/FocusCamera - - Class: rviz_default_plugins/Measure - Line color: 128; 128; 0 - - Class: rviz_default_plugins/SetInitialPose - Covariance x: 0.25 - Covariance y: 0.25 - Covariance yaw: 0.06853891909122467 - Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Reliable - Value: /initialpose - - Class: rviz_default_plugins/SetGoal - Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Reliable - Value: /planning/mission_planning/goal - - Class: tier4_adapi_rviz_plugins::RouteTool - Topic: - Depth: 5 - Durability Policy: Volatile - History Policy: Keep Last - Reliability Policy: Reliable - Value: /rviz/routing/rough_goal - - Acceleration: 0 - Class: rviz_plugins/PedestrianInitialPoseTool - Interactive: false - Max velocity: 33.29999923706055 - Min velocity: -33.29999923706055 - Pose Topic: /simulation/dummy_perception_publisher/object_info - Target Frame: - Theta std deviation: 0.0872664600610733 - Velocity: 0 - X std deviation: 0.029999999329447746 - Y std deviation: 0.029999999329447746 - Z position: 1 - Z std deviation: 0.029999999329447746 - - Acceleration: 0 - Class: rviz_plugins/CarInitialPoseTool - H vehicle height: 2 - Interactive: false - L vehicle length: 4 - Max velocity: 33.29999923706055 - Min velocity: -33.29999923706055 - Pose Topic: /simulation/dummy_perception_publisher/object_info - Target Frame: - Theta std deviation: 0.0872664600610733 - Velocity: 3 - W vehicle width: 1.7999999523162842 - X std deviation: 0.029999999329447746 - Y std deviation: 0.029999999329447746 - Z position: 0 - Z std deviation: 0.029999999329447746 - - Acceleration: 0 - Class: rviz_plugins/BusInitialPoseTool - H vehicle height: 3.5 - Interactive: false - L vehicle length: 10.5 - Max velocity: 33.29999923706055 - Min velocity: -33.29999923706055 - Pose Topic: /simulation/dummy_perception_publisher/object_info - Target Frame: - Theta std deviation: 0.0872664600610733 - Velocity: 0 - W vehicle width: 2.5 - X std deviation: 0.029999999329447746 - Y std deviation: 0.029999999329447746 - Z position: 0 - Z std deviation: 0.029999999329447746 - - Class: rviz_plugins/MissionCheckpointTool - Pose Topic: /planning/mission_planning/checkpoint - Theta std deviation: 0.2617993950843811 - X std deviation: 0.5 - Y std deviation: 0.5 - Z position: 0 - - Class: rviz_plugins/DeleteAllObjectsTool - Pose Topic: /simulation/dummy_perception_publisher/object_info - Transformation: - Current: - Class: rviz_default_plugins/TF - Value: true - Views: - Current: - Angle: -1.575000524520874 - Class: rviz_default_plugins/TopDownOrtho - Enable Stereo Rendering: - Stereo Eye Separation: 0.05999999865889549 - Stereo Focal Distance: 1 - Swap Stereo Eyes: false - Value: false - Invert Z Axis: false - Name: Current View - Near Clip Distance: 0.009999999776482582 - Scale: 218.00759887695312 - Target Frame: viewer - Value: TopDownOrtho (rviz_default_plugins) - X: -160.8595733642578 - Y: -100.9619140625 - Saved: - - Class: rviz_default_plugins/ThirdPersonFollower - Distance: 18 - Enable Stereo Rendering: - Stereo Eye Separation: 0.05999999865889549 - Stereo Focal Distance: 1 - Swap Stereo Eyes: false - Value: false - Focal Point: - X: 0 - Y: 0 - Z: 0 - Focal Shape Fixed Size: true - Focal Shape Size: 0.05000000074505806 - Invert Z Axis: false - Name: ThirdPersonFollower - Near Clip Distance: 0.009999999776482582 - Pitch: 0.20000000298023224 - Target Frame: base_link - Value: ThirdPersonFollower (rviz) - Yaw: 3.141592025756836 - - Angle: 0 - Class: rviz_default_plugins/TopDownOrtho - Enable Stereo Rendering: - Stereo Eye Separation: 0.05999999865889549 - Stereo Focal Distance: 1 - Swap Stereo Eyes: false - Value: false - Invert Z Axis: false - Name: TopDownOrtho - Near Clip Distance: 0.009999999776482582 - Scale: 10 - Target Frame: viewer - Value: TopDownOrtho (rviz) - X: 0 - Y: 0 -Window Geometry: - AutowareDateTimePanel: - collapsed: false - AutowareStatePanel: - collapsed: false - Displays: - collapsed: false - Height: 2640 - Hide Left Dock: false - Hide Right Dock: false - PointcloudOnCamera: - collapsed: false - QMainWindow State: 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- RecognitionResultOnImage: - collapsed: false - Selection: - collapsed: false - SimulatedClockPanel: - collapsed: false - Tool Properties: - collapsed: false - TrafficLightPublishPanel: - collapsed: false - Views: - collapsed: false - Width: 3370 - X: 1750 - Y: 54 From ce4007834d7b1da780cc0609f1a08547d7aaef4a Mon Sep 17 00:00:00 2001 From: Mamoru Sobue Date: Wed, 22 Jan 2025 17:01:37 +0900 Subject: [PATCH 05/17] fix Signed-off-by: Mamoru Sobue --- .../src/goal_planner_module.cpp | 10 +--------- 1 file changed, 1 insertion(+), 9 deletions(-) diff --git a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/goal_planner_module.cpp b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/goal_planner_module.cpp index 57a181c9ab4f6..44d03c1008829 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/goal_planner_module.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/goal_planner_module.cpp @@ -1497,14 +1497,6 @@ BehaviorModuleOutput GoalPlannerModule::planPullOverAsCandidate( { universe_utils::ScopedTimeTrack st(__func__, *time_keeper_); - // if pull over path candidates generation is not finished, use previous module output - /* - candidateなかったら問答無用で停止 - if (context_data.lane_parking_response.pull_over_path_candidates.empty()) { - return getPreviousModuleOutput(); - } - */ - BehaviorModuleOutput output{}; const BehaviorModuleOutput pull_over_output = planPullOverAsOutput(context_data); output.modified_goal = pull_over_output.modified_goal; @@ -1541,7 +1533,7 @@ BehaviorModuleOutput GoalPlannerModule::planPullOverAsOutput(PullOverContextData BehaviorModuleOutput output{}; // const BehaviorModuleOutput pull_over_output = planPullOverAsOutput(context_data); // output.modified_goal = pull_over_output.modified_goal; - output.path = generateStopPath(context_data, "hoge"); + output.path = generateStopPath(context_data, "no path candidate"); output.reference_path = getPreviousModuleOutput().reference_path; const auto target_drivable_lanes = utils::getNonOverlappingExpandedLanes( From 831c6c195baa57bb67e6150666ffa2912ad87017 Mon Sep 17 00:00:00 2001 From: Mamoru Sobue Date: Thu, 23 Jan 2025 13:40:53 +0900 Subject: [PATCH 06/17] revert align pose Signed-off-by: Mamoru Sobue --- .../src/goal_searcher.cpp | 50 +++++++++---------- 1 file changed, 24 insertions(+), 26 deletions(-) diff --git a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/goal_searcher.cpp b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/goal_searcher.cpp index d96e51561c0f5..66192a00a99fa 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/goal_searcher.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/goal_searcher.cpp @@ -185,52 +185,50 @@ GoalCandidates GoalSearcher::search(const std::shared_ptr & p const auto transformed_vehicle_footprint = transformVector(vehicle_footprint_, autoware::universe_utils::pose2transform(search_pose)); - // modify the goal_pose orientation so that vehicle footprint front heading is parallel to the - // lane boundary - const auto vehicle_front_midpoint = - (transformed_vehicle_footprint.at(vehicle_info_utils::VehicleInfo::FrontLeftIndex) + - transformed_vehicle_footprint.at(vehicle_info_utils::VehicleInfo::FrontRightIndex)) / - 2.0; - const auto pull_over_lanelet = lanelet::utils::combineLaneletsShape(pull_over_lanes); - const auto vehicle_front_pose_for_bound_opt = goal_planner_utils::calcClosestPose( - left_side_parking_ ? pull_over_lanelet.leftBound() : pull_over_lanelet.rightBound(), - autoware::universe_utils::createPoint( - vehicle_front_midpoint.x(), vehicle_front_midpoint.y(), search_pose.position.z)); - if (!vehicle_front_pose_for_bound_opt) { - continue; - } - const auto & vehicle_front_pose_for_bound = vehicle_front_pose_for_bound_opt.value(); - const auto aligned_pose = geometry_msgs::build() - .position(search_pose.position) - .orientation(vehicle_front_pose_for_bound.orientation); - const auto aligned_vehicle_footprint = - transformVector(vehicle_footprint_, autoware::universe_utils::pose2transform(aligned_pose)); - if ( parameters_.bus_stop_area.use_bus_stop_area && - !goal_planner_utils::isWithinAreas(aligned_vehicle_footprint, bus_stop_area_polygons)) { + !goal_planner_utils::isWithinAreas(transformed_vehicle_footprint, bus_stop_area_polygons)) { continue; } if (goal_planner_utils::isIntersectingAreas( - aligned_vehicle_footprint, no_parking_area_polygons)) { + transformed_vehicle_footprint, no_parking_area_polygons)) { // break here to exclude goals located laterally in no_parking_areas break; } if (goal_planner_utils::isIntersectingAreas( - aligned_vehicle_footprint, no_stopping_area_polygons)) { + transformed_vehicle_footprint, no_stopping_area_polygons)) { // break here to exclude goals located laterally in no_stopping_areas break; } if (!boost::geometry::within( - aligned_vehicle_footprint, departure_check_lane.polygon2d().basicPolygon())) { + transformed_vehicle_footprint, departure_check_lane.polygon2d().basicPolygon())) { continue; } + // modify the goal_pose orientation so that vehicle footprint front heading is parallel to the + // lane boundary + const auto vehicle_front_midpoint = + (transformed_vehicle_footprint.at(vehicle_info_utils::VehicleInfo::FrontLeftIndex) + + transformed_vehicle_footprint.at(vehicle_info_utils::VehicleInfo::FrontRightIndex)) / + 2.0; + lanelet::ConstLanelet vehicle_front_closest_lanelet; + lanelet::utils::query::getClosestLanelet( + pull_over_lanes, search_pose, &vehicle_front_closest_lanelet); + const auto vehicle_front_pose_for_bound_opt = goal_planner_utils::calcClosestPose( + left_side_parking_ ? vehicle_front_closest_lanelet.leftBound() + : vehicle_front_closest_lanelet.rightBound(), + autoware::universe_utils::createPoint( + vehicle_front_midpoint.x(), vehicle_front_midpoint.y(), search_pose.position.z)); + if (!vehicle_front_pose_for_bound_opt) { + continue; + } + const auto & vehicle_front_pose_for_bound = vehicle_front_pose_for_bound_opt.value(); GoalCandidate goal_candidate{}; - goal_candidate.goal_pose = aligned_pose; + goal_candidate.goal_pose = search_pose; + goal_candidate.goal_pose.orientation = vehicle_front_pose_for_bound.orientation; goal_candidate.lateral_offset = dy; goal_candidate.id = goal_id; goal_id++; From 23862b68c22cc46dfa4b5bdcdb4671c5747c5ea8 Mon Sep 17 00:00:00 2001 From: Mamoru Sobue Date: Thu, 23 Jan 2025 14:42:19 +0900 Subject: [PATCH 07/17] fix to work as before Signed-off-by: Mamoru Sobue --- .../src/goal_planner_module.cpp | 5 +++-- .../src/goal_searcher.cpp | 7 ++----- 2 files changed, 5 insertions(+), 7 deletions(-) diff --git a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/goal_planner_module.cpp b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/goal_planner_module.cpp index 44d03c1008829..60bfa7e61e178 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/goal_planner_module.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/goal_planner_module.cpp @@ -480,16 +480,17 @@ void LaneParkingPlanner::shift_planning_helper( if (closest_start_pose) { const auto original_pose = planner_data->route_handler->getOriginalGoalPose(); if ( + parameters_.bus_stop_area.use_bus_stop_area && std::fabs(autoware::universe_utils::normalizeRadian( autoware::universe_utils::getRPY(original_pose).z - autoware::universe_utils::getRPY(closest_start_pose.value()).z)) > - pull_over_azimuth_threshold) { + pull_over_azimuth_threshold) { // reset and try bezier next time switch_bezier_ = true; path_candidates.clear(); RCLCPP_INFO(getLogger(), "will generate Bezier Paths next"); } - } else if (path_candidates.size() == 0) { + } else if (parameters_.bus_stop_area.use_bus_stop_area && path_candidates.size() == 0) { switch_bezier_ = true; RCLCPP_INFO( getLogger(), "Could not find any shift pull over paths, will generate Bezier Paths next"); diff --git a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/goal_searcher.cpp b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/goal_searcher.cpp index 66192a00a99fa..b973cfd7ed549 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/goal_searcher.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/goal_searcher.cpp @@ -214,12 +214,9 @@ GoalCandidates GoalSearcher::search(const std::shared_ptr & p (transformed_vehicle_footprint.at(vehicle_info_utils::VehicleInfo::FrontLeftIndex) + transformed_vehicle_footprint.at(vehicle_info_utils::VehicleInfo::FrontRightIndex)) / 2.0; - lanelet::ConstLanelet vehicle_front_closest_lanelet; - lanelet::utils::query::getClosestLanelet( - pull_over_lanes, search_pose, &vehicle_front_closest_lanelet); + const auto pull_over_lanelet = lanelet::utils::combineLaneletsShape(pull_over_lanes); const auto vehicle_front_pose_for_bound_opt = goal_planner_utils::calcClosestPose( - left_side_parking_ ? vehicle_front_closest_lanelet.leftBound() - : vehicle_front_closest_lanelet.rightBound(), + left_side_parking_ ? pull_over_lanelet.leftBound() : pull_over_lanelet.rightBound(), autoware::universe_utils::createPoint( vehicle_front_midpoint.x(), vehicle_front_midpoint.y(), search_pose.position.z)); if (!vehicle_front_pose_for_bound_opt) { From 31850b90a3b8761f377e3b9359de529c50b8163a Mon Sep 17 00:00:00 2001 From: Mamoru Sobue Date: Thu, 23 Jan 2025 15:05:04 +0900 Subject: [PATCH 08/17] only sort based on total curvature at bezier thread side Signed-off-by: Mamoru Sobue --- .../src/goal_planner_module.cpp | 9 --------- 1 file changed, 9 deletions(-) diff --git a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/goal_planner_module.cpp b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/goal_planner_module.cpp index 60bfa7e61e178..9c1cbeb2ac2f5 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/goal_planner_module.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/goal_planner_module.cpp @@ -1196,15 +1196,6 @@ void sortPullOverPaths( }); } - std::stable_sort( - std::execution::par, sorted_path_indices.begin(), sorted_path_indices.end(), - [&](const size_t a_i, const size_t b_i) { - const auto & a = pull_over_path_candidates[a_i]; - const auto & b = pull_over_path_candidates[b_i]; - return a.parking_path_curvature_total_derivative() < - b.parking_path_curvature_total_derivative(); - }); - // debug print path priority sorted by // - efficient_path_order // - collision check margin From 00e05a504312e1fd4e42ea961984f98c74cc731b Mon Sep 17 00:00:00 2001 From: Mamoru Sobue Date: Thu, 23 Jan 2025 15:26:36 +0900 Subject: [PATCH 09/17] divide param Signed-off-by: Mamoru Sobue --- .../config/goal_planner.param.yaml | 29 ++++++++++--------- .../goal_planner_parameters.hpp | 1 + .../src/manager.cpp | 2 ++ .../pull_over_planner/bezier_pull_over.cpp | 3 +- 4 files changed, 20 insertions(+), 15 deletions(-) diff --git a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/config/goal_planner.param.yaml b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/config/goal_planner.param.yaml index cd51e24f1ba96..3deccbaec6444 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/config/goal_planner.param.yaml +++ b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/config/goal_planner.param.yaml @@ -25,8 +25,8 @@ high_curvature_threshold: 0.1 bus_stop_area: use_bus_stop_area: false - goal_search_interval: 0.5 - lateral_offset_interval: 0.25 + goal_search_interval: 0.75 + lateral_offset_interval: 0.3 # occupancy grid map occupancy_grid: @@ -51,7 +51,7 @@ # pull over pull_over: - minimum_request_length: 0.0 + minimum_request_length: 100.0 pull_over_velocity: 3.0 pull_over_minimum_velocity: 1.38 decide_path_distance: 10.0 @@ -59,7 +59,7 @@ maximum_jerk: 1.0 path_priority: "efficient_path" # "efficient_path" or "close_goal" efficient_path_order: ["SHIFT", "ARC_FORWARD", "ARC_BACKWARD"] # only lane based pull over(exclude freespace parking) - lane_departure_check_expansion_margin: 0.0 + lane_departure_check_expansion_margin: 0.2 # shift parking shift_parking: @@ -68,26 +68,26 @@ maximum_lateral_jerk: 2.0 minimum_lateral_jerk: 0.5 deceleration_interval: 15.0 - after_shift_straight_distance: 1.0 + after_shift_straight_distance: 1.5 # parallel parking path parallel_parking: path_interval: 1.0 - max_steer_angle: 0.35 # 20deg + max_steer_angle: 0.4 #22.9deg forward: enable_arc_forward_parking: true after_forward_parking_straight_distance: 2.0 forward_parking_velocity: 1.38 forward_parking_lane_departure_margin: 0.0 forward_parking_path_interval: 1.0 - forward_parking_max_steer_angle: 0.35 # 20deg + forward_parking_max_steer_angle: 0.4 # 22.9deg backward: enable_arc_backward_parking: true after_backward_parking_straight_distance: 2.0 backward_parking_velocity: -1.38 backward_parking_lane_departure_margin: 0.0 backward_parking_path_interval: 1.0 - backward_parking_max_steer_angle: 0.35 # 20deg + backward_parking_max_steer_angle: 0.4 # 22.9deg # freespace parking freespace_parking: @@ -131,7 +131,8 @@ margin: 1.0 bezier_parking: - pull_over_azimuth_threshold: 0.785 + pull_over_azimuth_threshold: 0.5 + after_shift_straight_distance: 1.5 stop_condition: maximum_deceleration_for_stop: 1.0 @@ -142,13 +143,13 @@ min_velocity: 1.0 min_acceleration: 1.0 max_velocity: 1.0 - time_horizon_for_front_object: 10.0 - time_horizon_for_rear_object: 10.0 + time_horizon_for_front_object: 5.0 + time_horizon_for_rear_object: 5.0 time_resolution: 0.5 delay_until_departure: 1.0 # For target object filtering target_filtering: - safety_check_time_horizon: 10.0 + safety_check_time_horizon: 5.0 safety_check_time_resolution: 1.0 # detection range object_check_forward_distance: 100.0 @@ -182,7 +183,7 @@ # safety check configuration enable_safety_check: true method: "integral_predicted_polygon" - keep_unsafe_time: 3.0 + keep_unsafe_time: 0.5 # collision check parameters publish_debug_marker: false rss_params: @@ -195,7 +196,7 @@ forward_margin: 1.0 backward_margin: 1.0 lat_margin: 1.0 - time_horizon: 10.0 + time_horizon: 5.0 # hysteresis factor to expand/shrink polygon with the value hysteresis_factor_expand_rate: 1.0 collision_check_yaw_diff_threshold: 3.1416 diff --git a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/goal_planner_parameters.hpp b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/goal_planner_parameters.hpp index 299e0a5892e1d..01a1c1b7d583c 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/goal_planner_parameters.hpp +++ b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/goal_planner_parameters.hpp @@ -122,6 +122,7 @@ struct GoalPlannerParameters struct BezierParking { double pull_over_azimuth_threshold; + double after_shift_straight_distance; } bezier_parking; // stop condition diff --git a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/manager.cpp b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/manager.cpp index 41d1d3b3a01de..069f7144def2a 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/manager.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/manager.cpp @@ -271,6 +271,8 @@ GoalPlannerParameters GoalPlannerModuleManager::initGoalPlannerParameters( const std::string ns = base_ns + "pull_over.bezier_parking."; p.bezier_parking.pull_over_azimuth_threshold = node->declare_parameter(ns + "pull_over_azimuth_threshold"); + p.bezier_parking.after_shift_straight_distance = + node->declare_parameter(ns + "after_shift_straight_distance"); } // stop condition diff --git a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/pull_over_planner/bezier_pull_over.cpp b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/pull_over_planner/bezier_pull_over.cpp index f829e5b617027..3347f2e4a6bdf 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/pull_over_planner/bezier_pull_over.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/pull_over_planner/bezier_pull_over.cpp @@ -127,7 +127,8 @@ std::vector BezierPullOver::generateBezierPath( const lanelet::ConstLanelets & pull_over_lanes, const double lateral_jerk) const { const double pull_over_velocity = parameters_.pull_over_velocity; - const double after_shift_straight_distance = parameters_.after_shift_straight_distance; + const double after_shift_straight_distance = + parameters_.bezier_parking.after_shift_straight_distance; const auto & goal_pose = goal_candidate.goal_pose; From 0cb568ed551aa6f8b660af9942ea454a6a541fa5 Mon Sep 17 00:00:00 2001 From: Mamoru Sobue Date: Thu, 23 Jan 2025 17:42:00 +0900 Subject: [PATCH 10/17] fix turn signal Signed-off-by: Mamoru Sobue --- .../src/goal_planner_module.cpp | 2 ++ 1 file changed, 2 insertions(+) diff --git a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/goal_planner_module.cpp b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/goal_planner_module.cpp index 9c1cbeb2ac2f5..9ac055cbd92b6 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/goal_planner_module.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/goal_planner_module.cpp @@ -1339,6 +1339,7 @@ void GoalPlannerModule::setOutput( universe_utils::ScopedTimeTrack st(__func__, *time_keeper_); output.reference_path = getPreviousModuleOutput().reference_path; + output.turn_signal_info = getPreviousModuleOutput().turn_signal_info; if (!selected_pull_over_path_with_velocity_opt) { // situation : not safe against static objects use stop_path @@ -1494,6 +1495,7 @@ BehaviorModuleOutput GoalPlannerModule::planPullOverAsCandidate( output.modified_goal = pull_over_output.modified_goal; output.path = generateStopPath(context_data, detail); output.reference_path = getPreviousModuleOutput().reference_path; + output.turn_signal_info = getPreviousModuleOutput().turn_signal_info; const auto target_drivable_lanes = utils::getNonOverlappingExpandedLanes( output.path, generateDrivableLanes(), planner_data_->drivable_area_expansion_parameters); From 16583366e784dd8563898045c83846f4ef3fd358 Mon Sep 17 00:00:00 2001 From: Mamoru Sobue Date: Fri, 24 Jan 2025 03:54:45 +0900 Subject: [PATCH 11/17] reflect comment Signed-off-by: Mamoru Sobue --- .../config/goal_planner.param.yaml | 2 +- .../goal_planner_module.hpp | 4 +-- .../goal_planner_parameters.hpp | 2 +- .../src/goal_planner_module.cpp | 35 +++++++++---------- .../src/manager.cpp | 4 +-- 5 files changed, 23 insertions(+), 24 deletions(-) diff --git a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/config/goal_planner.param.yaml b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/config/goal_planner.param.yaml index 3deccbaec6444..485ef99f29fd5 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/config/goal_planner.param.yaml +++ b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/config/goal_planner.param.yaml @@ -131,7 +131,7 @@ margin: 1.0 bezier_parking: - pull_over_azimuth_threshold: 0.5 + pull_over_angle_threshold: 0.5 after_shift_straight_distance: 1.5 stop_condition: diff --git a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/goal_planner_module.hpp b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/goal_planner_module.hpp index fda9a74d6604a..4de8fe0873c65 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/goal_planner_module.hpp +++ b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/goal_planner_module.hpp @@ -198,10 +198,10 @@ class LaneParkingPlanner // pull_over_path_candidates(only updated when new candidates // are generated) std::shared_ptr bezier_pull_over_planner_; - const double pull_over_azimuth_threshold; + const double pull_over_angle_threshold; bool switch_bezier_{false}; - void shift_planning_helper( + void normal_pullover_planning_helper( const std::shared_ptr planner_data, const GoalCandidates & goal_candidates, const BehaviorModuleOutput & upstream_module_output, const lanelet::ConstLanelets current_lanelets, std::optional & closest_start_pose, diff --git a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/goal_planner_parameters.hpp b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/goal_planner_parameters.hpp index 01a1c1b7d583c..6faffa1da47e7 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/goal_planner_parameters.hpp +++ b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/goal_planner_parameters.hpp @@ -121,7 +121,7 @@ struct GoalPlannerParameters struct BezierParking { - double pull_over_azimuth_threshold; + double pull_over_angle_threshold; double after_shift_straight_distance; } bezier_parking; diff --git a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/goal_planner_module.cpp b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/goal_planner_module.cpp index 9ac055cbd92b6..bdac59bfa782f 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/goal_planner_module.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/goal_planner_module.cpp @@ -280,7 +280,7 @@ LaneParkingPlanner::LaneParkingPlanner( response_(response), is_lane_parking_cb_running_(is_lane_parking_cb_running), logger_(logger), - pull_over_azimuth_threshold(parameters.bezier_parking.pull_over_azimuth_threshold) + pull_over_angle_threshold(parameters.bezier_parking.pull_over_angle_threshold) { for (const std::string & planner_type : parameters.efficient_path_order) { if (planner_type == "SHIFT" && parameters.enable_shift_parking) { @@ -399,7 +399,7 @@ void LaneParkingPlanner::onTimer() local_planner_data, goal_candidates, upstream_module_output, current_lanes, closest_start_pose, path_candidates, sorted_indices_opt); } else { - shift_planning_helper( + normal_pullover_planning_helper( local_planner_data, goal_candidates, upstream_module_output, current_lanes, closest_start_pose, path_candidates); } @@ -419,7 +419,7 @@ void LaneParkingPlanner::onTimer() } } -void LaneParkingPlanner::shift_planning_helper( +void LaneParkingPlanner::normal_pullover_planning_helper( const std::shared_ptr planner_data, const GoalCandidates & goal_candidates, const BehaviorModuleOutput & upstream_module_output, const lanelet::ConstLanelets current_lanelets, std::optional & closest_start_pose, @@ -484,7 +484,7 @@ void LaneParkingPlanner::shift_planning_helper( std::fabs(autoware::universe_utils::normalizeRadian( autoware::universe_utils::getRPY(original_pose).z - autoware::universe_utils::getRPY(closest_start_pose.value()).z)) > - pull_over_azimuth_threshold) { + pull_over_angle_threshold) { // reset and try bezier next time switch_bezier_ = true; path_candidates.clear(); @@ -1243,23 +1243,22 @@ std::optional GoalPlannerModule::selectPullOverPath( std::vector sorted_path_indices; if (!sorted_bezier_indices_opt) { sorted_path_indices.reserve(pull_over_path_candidates.size()); - - // STEP1-1: Extract paths which have safe goal - // Create a map of goal_id to GoalCandidate for quick access - std::unordered_map goal_candidate_map; - for (const auto & goal_candidate : goal_candidates) { - goal_candidate_map[goal_candidate.id] = goal_candidate; - } - for (size_t i = 0; i < pull_over_path_candidates.size(); ++i) { - const auto & path = pull_over_path_candidates[i]; - const auto goal_candidate_it = goal_candidate_map.find(path.goal_id()); - if (goal_candidate_it != goal_candidate_map.end() && goal_candidate_it->second.is_safe) { - sorted_path_indices.push_back(i); - } - } } else { sorted_path_indices = sorted_bezier_indices_opt.value(); } + // STEP1-1: Extract paths which have safe goal + // Create a map of goal_id to GoalCandidate for quick access + std::unordered_map goal_candidate_map; + for (const auto & goal_candidate : goal_candidates) { + goal_candidate_map[goal_candidate.id] = goal_candidate; + } + for (size_t i = 0; i < pull_over_path_candidates.size(); ++i) { + const auto & path = pull_over_path_candidates[i]; + const auto goal_candidate_it = goal_candidate_map.find(path.goal_id()); + if (goal_candidate_it != goal_candidate_map.end() && goal_candidate_it->second.is_safe) { + sorted_path_indices.push_back(i); + } + } // STEP1-2: Remove paths which do not have enough distance const double prev_path_front_to_goal_dist = calcSignedArcLength( diff --git a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/manager.cpp b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/manager.cpp index 069f7144def2a..266b8f1297bcc 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/manager.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/manager.cpp @@ -269,8 +269,8 @@ GoalPlannerParameters GoalPlannerModuleManager::initGoalPlannerParameters( // bezier parking { const std::string ns = base_ns + "pull_over.bezier_parking."; - p.bezier_parking.pull_over_azimuth_threshold = - node->declare_parameter(ns + "pull_over_azimuth_threshold"); + p.bezier_parking.pull_over_angle_threshold = + node->declare_parameter(ns + "pull_over_angle_threshold"); p.bezier_parking.after_shift_straight_distance = node->declare_parameter(ns + "after_shift_straight_distance"); } From 47eb0624029cde6e7faaf704c0c09b3b93a7d9f3 Mon Sep 17 00:00:00 2001 From: Mamoru Sobue Date: Fri, 24 Jan 2025 14:29:50 +0900 Subject: [PATCH 12/17] add prepare_length param, divide util Signed-off-by: Mamoru Sobue --- .../config/goal_planner.param.yaml | 3 +- .../goal_planner_parameters.hpp | 1 + .../src/goal_planner_module.cpp | 67 +++++++------------ .../src/manager.cpp | 1 + 4 files changed, 27 insertions(+), 45 deletions(-) diff --git a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/config/goal_planner.param.yaml b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/config/goal_planner.param.yaml index 485ef99f29fd5..f822a6d97647c 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/config/goal_planner.param.yaml +++ b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/config/goal_planner.param.yaml @@ -51,7 +51,8 @@ # pull over pull_over: - minimum_request_length: 100.0 + minimum_request_length: 0.0 + pull_over_prepare_length: 100.0 pull_over_velocity: 3.0 pull_over_minimum_velocity: 1.38 decide_path_distance: 10.0 diff --git a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/goal_planner_parameters.hpp b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/goal_planner_parameters.hpp index 6faffa1da47e7..814cffd388703 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/goal_planner_parameters.hpp +++ b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/goal_planner_parameters.hpp @@ -88,6 +88,7 @@ struct GoalPlannerParameters // pull over general params double pull_over_minimum_request_length{0.0}; + double pull_over_prepare_length{0.0}; double pull_over_velocity{0.0}; double pull_over_minimum_velocity{0.0}; double decide_path_distance{0.0}; diff --git a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/goal_planner_module.cpp b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/goal_planner_module.cpp index bdac59bfa782f..1dd9da3af18c7 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/goal_planner_module.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/goal_planner_module.cpp @@ -532,24 +532,9 @@ void LaneParkingPlanner::bezier_planning_helper( sorted_indices.push_back(i); } } - const double vehicle_width = planner_data->parameters.vehicle_width; - const bool left_side_parking = parameters_.parking_policy == ParkingPolicy::LEFT_SIDE; - const auto pull_over_lanes = goal_planner_utils::getPullOverLanes( - *(planner_data->route_handler), left_side_parking, parameters_.backward_goal_search_length, - parameters_.forward_goal_search_length); - const auto objects_extraction_polygon = goal_planner_utils::generateObjectExtractionPolygon( - pull_over_lanes, left_side_parking, parameters_.detection_bound_offset, - parameters_.margin_from_boundary + parameters_.max_lateral_offset + vehicle_width); - - PredictedObjects dynamic_target_objects{}; - for (const auto & object : planner_data->dynamic_object->objects) { - const auto object_polygon = universe_utils::toPolygon2d(object); - if ( - objects_extraction_polygon.has_value() && - boost::geometry::intersects(object_polygon, objects_extraction_polygon.value())) { - dynamic_target_objects.objects.push_back(object); - } - } + const auto dynamic_target_objects = goal_planner_utils::extract_dynamic_objects( + *(planner_data->dynamic_object), *(planner_data->route_handler), parameters_, + planner_data->parameters.vehicle_width); const auto static_target_objects = utils::path_safety_checker::filterObjectsByVelocity( dynamic_target_objects, parameters_.th_moving_object_velocity); sortPullOverPaths( @@ -637,24 +622,9 @@ void FreespaceParkingPlanner::onTimer() return; } - const double vehicle_width = local_planner_data->parameters.vehicle_width; - const bool left_side_parking = parameters.parking_policy == ParkingPolicy::LEFT_SIDE; - const auto pull_over_lanes = goal_planner_utils::getPullOverLanes( - *(local_planner_data->route_handler), left_side_parking, parameters.backward_goal_search_length, - parameters.forward_goal_search_length); - const auto objects_extraction_polygon = goal_planner_utils::generateObjectExtractionPolygon( - pull_over_lanes, left_side_parking, parameters.detection_bound_offset, - parameters.margin_from_boundary + parameters.max_lateral_offset + vehicle_width); - - PredictedObjects dynamic_target_objects{}; - for (const auto & object : local_planner_data->dynamic_object->objects) { - const auto object_polygon = universe_utils::toPolygon2d(object); - if ( - objects_extraction_polygon.has_value() && - boost::geometry::intersects(object_polygon, objects_extraction_polygon.value())) { - dynamic_target_objects.objects.push_back(object); - } - } + const auto dynamic_target_objects = goal_planner_utils::extract_dynamic_objects( + *(local_planner_data->dynamic_object), *(local_planner_data->route_handler), parameters, + local_planner_data->parameters.vehicle_width); const auto static_target_objects = utils::path_safety_checker::filterObjectsByVelocity( dynamic_target_objects, parameters.th_moving_object_velocity); @@ -749,19 +719,20 @@ void GoalPlannerModule::updateData() { universe_utils::ScopedTimeTrack st(__func__, *time_keeper_); - // extract static and dynamic objects in extraction polygon for path collision check - const auto dynamic_target_objects = goal_planner_utils::extract_dynamic_objects( - *(planner_data_->dynamic_object), *(planner_data_->route_handler), *parameters_, - planner_data_->parameters.vehicle_width); - const auto static_target_objects = utils::path_safety_checker::filterObjectsByVelocity( - dynamic_target_objects, parameters_->th_moving_object_velocity); - // update goal searcher and generate goal candidates if (goal_candidates_.empty()) { goal_candidates_ = generateGoalCandidates(); } - auto [lane_parking_response, freespace_parking_response] = syncWithThreads(); + /* + const Pose & current_pose = planner_data_->self_odometry->pose.pose; + const Pose goal_pose = planner_data_->route_handler->getOriginalGoalPose(); + // check if goal_pose is in current_lanes or neighboring road lanes + const lanelet::ConstLanelets current_lanes = + utils::getCurrentLanesFromPath(getPreviousModuleOutput().reference_path, planner_data_); + const double self_to_goal_arc_length = + utils::getSignedDistance(current_pose, goal_pose, current_lanes); + */ if (getCurrentStatus() == ModuleStatus::IDLE && !isExecutionRequested()) { return; @@ -792,11 +763,19 @@ void GoalPlannerModule::updateData() ego_predicted_path_params_, objects_filtering_params_, safety_check_params_); debug_data_.collision_check = collision_check_map; // update to latest state + // extract static and dynamic objects in extraction polygon for path collision check + const auto dynamic_target_objects = goal_planner_utils::extract_dynamic_objects( + *(planner_data_->dynamic_object), *(planner_data_->route_handler), *parameters_, + planner_data_->parameters.vehicle_width); + const auto static_target_objects = utils::path_safety_checker::filterObjectsByVelocity( + dynamic_target_objects, parameters_->th_moving_object_velocity); + path_decision_controller_.transit_state( found_pull_over_path, clock_->now(), static_target_objects, dynamic_target_objects, modified_goal_pose, planner_data_, occupancy_grid_map_, is_current_safe, *parameters_, goal_searcher_, isActivated(), pull_over_path_recv, debug_data_.ego_polygons_expanded); + auto [lane_parking_response, freespace_parking_response] = syncWithThreads(); if (context_data_) { context_data_.value().update( path_decision_controller_.get_current_state().is_stable_safe, static_target_objects, diff --git a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/manager.cpp b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/manager.cpp index 266b8f1297bcc..aeaf6836cdba3 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/manager.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/manager.cpp @@ -139,6 +139,7 @@ GoalPlannerParameters GoalPlannerModuleManager::initGoalPlannerParameters( const std::string ns = base_ns + "pull_over."; p.pull_over_minimum_request_length = node->declare_parameter(ns + "minimum_request_length"); + p.pull_over_prepare_length = node->declare_parameter(ns + "pull_over_prepare_length"); p.pull_over_velocity = node->declare_parameter(ns + "pull_over_velocity"); p.pull_over_minimum_velocity = node->declare_parameter(ns + "pull_over_minimum_velocity"); From 4558161b941165cd73460591b71cafaa8a467e76 Mon Sep 17 00:00:00 2001 From: Mamoru Sobue Date: Fri, 24 Jan 2025 14:31:11 +0900 Subject: [PATCH 13/17] change trigger condition Signed-off-by: Mamoru Sobue --- .../config/goal_planner.param.yaml | 2 +- .../goal_planner_module.hpp | 1 + .../thread_data.hpp | 5 ++- .../src/goal_planner_module.cpp | 35 ++++++++++++------- .../src/thread_data.cpp | 4 ++- 5 files changed, 32 insertions(+), 15 deletions(-) diff --git a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/config/goal_planner.param.yaml b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/config/goal_planner.param.yaml index f822a6d97647c..95b2095f87164 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/config/goal_planner.param.yaml +++ b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/config/goal_planner.param.yaml @@ -69,7 +69,7 @@ maximum_lateral_jerk: 2.0 minimum_lateral_jerk: 0.5 deceleration_interval: 15.0 - after_shift_straight_distance: 1.5 + after_shift_straight_distance: 1.0 # parallel parking path parallel_parking: diff --git a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/goal_planner_module.hpp b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/goal_planner_module.hpp index 4de8fe0873c65..f2cc7e2f4ef65 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/goal_planner_module.hpp +++ b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/goal_planner_module.hpp @@ -318,6 +318,7 @@ class GoalPlannerModule : public SceneModuleInterface private: std::pair syncWithThreads(); + bool trigger_thread_on_approach_{false}; // NOTE: never access to following variables except in updateData()!!! std::mutex lane_parking_mutex_; std::optional lane_parking_request_; diff --git a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/thread_data.hpp b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/thread_data.hpp index 655cb87ad593c..af20c5f6debe5 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/thread_data.hpp +++ b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/include/autoware/behavior_path_goal_planner_module/thread_data.hpp @@ -43,7 +43,8 @@ class LaneParkingRequest void update( const PlannerData & planner_data, const ModuleStatus & current_status, const BehaviorModuleOutput & upstream_module_output, - const std::optional & pull_over_path, const PathDecisionState & prev_data); + const std::optional & pull_over_path, const PathDecisionState & prev_data, + const bool trigger_thread_on_approach); const autoware::universe_utils::LinearRing2d vehicle_footprint_; const GoalCandidates goal_candidates_; @@ -56,6 +57,7 @@ class LaneParkingRequest } const std::optional & get_pull_over_path() const { return pull_over_path_; } const PathDecisionState & get_prev_data() const { return prev_data_; } + bool trigger_thread_on_approach() const { return trigger_thread_on_approach_; } private: std::shared_ptr planner_data_; @@ -63,6 +65,7 @@ class LaneParkingRequest BehaviorModuleOutput upstream_module_output_; std::optional pull_over_path_; // GoalPlannerModule::sync // count is affected lane_parking_request_.value().update( *planner_data_, getCurrentStatus(), getPreviousModuleOutput(), pull_over_path, - path_decision_controller_.get_current_state()); + path_decision_controller_.get_current_state(), trigger_thread_on_approach_); // NOTE: RouteHandler holds several shared pointers in it, so just copying PlannerData as // value does not adds the reference counts of RouteHandler.lanelet_map_ptr_ and others. Since // behavior_path_planner::run() updates @@ -724,15 +724,26 @@ void GoalPlannerModule::updateData() goal_candidates_ = generateGoalCandidates(); } - /* - const Pose & current_pose = planner_data_->self_odometry->pose.pose; - const Pose goal_pose = planner_data_->route_handler->getOriginalGoalPose(); - // check if goal_pose is in current_lanes or neighboring road lanes const lanelet::ConstLanelets current_lanes = utils::getCurrentLanesFromPath(getPreviousModuleOutput().reference_path, planner_data_); - const double self_to_goal_arc_length = - utils::getSignedDistance(current_pose, goal_pose, current_lanes); - */ + + if ( + !trigger_thread_on_approach_ && + utils::isAllowedGoalModification(planner_data_->route_handler) && + goal_planner_utils::is_goal_reachable_on_path( + current_lanes, *(planner_data_->route_handler), left_side_parking_)) { + const double self_to_goal_arc_length = utils::getSignedDistance( + planner_data_->self_odometry->pose.pose, planner_data_->route_handler->getOriginalGoalPose(), + current_lanes); + if (self_to_goal_arc_length < parameters_->pull_over_prepare_length) { + trigger_thread_on_approach_ = true; + [[maybe_unused]] const auto send_only_request = syncWithThreads(); + RCLCPP_INFO( + getLogger(), "start preparing goal candidates once for goal ahead of %f meter", + self_to_goal_arc_length); + return; + } + } if (getCurrentStatus() == ModuleStatus::IDLE && !isExecutionRequested()) { return; diff --git a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/thread_data.cpp b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/thread_data.cpp index 89458c199c130..c334fec7a1bd9 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/thread_data.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/thread_data.cpp @@ -22,7 +22,8 @@ namespace autoware::behavior_path_planner void LaneParkingRequest::update( const PlannerData & planner_data, const ModuleStatus & current_status, const BehaviorModuleOutput & upstream_module_output, - const std::optional & pull_over_path, const PathDecisionState & prev_data) + const std::optional & pull_over_path, const PathDecisionState & prev_data, + const bool trigger_thread_on_approach) { planner_data_ = std::make_shared(planner_data); planner_data_->route_handler = std::make_shared(*(planner_data.route_handler)); @@ -30,6 +31,7 @@ void LaneParkingRequest::update( upstream_module_output_ = upstream_module_output; pull_over_path_ = pull_over_path; prev_data_ = prev_data; + trigger_thread_on_approach_ = trigger_thread_on_approach; } void FreespaceParkingRequest::initializeOccupancyGridMap( From 72689d789b3cf3a6e21e12558da06f3ded407794 Mon Sep 17 00:00:00 2001 From: Mamoru Sobue Date: Mon, 27 Jan 2025 12:45:24 +0900 Subject: [PATCH 14/17] revert stop path Signed-off-by: Mamoru Sobue --- .../src/goal_planner_module.cpp | 16 +--------------- 1 file changed, 1 insertion(+), 15 deletions(-) diff --git a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/goal_planner_module.cpp b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/goal_planner_module.cpp index fdca15362f06b..df3fb983a658f 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/goal_planner_module.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/goal_planner_module.cpp @@ -1512,21 +1512,7 @@ BehaviorModuleOutput GoalPlannerModule::planPullOverAsOutput(PullOverContextData // if pull over path candidates generation is not finished, use previous module output if (context_data.lane_parking_response.pull_over_path_candidates.empty()) { - // return getPreviousModuleOutput(); - BehaviorModuleOutput output{}; - // const BehaviorModuleOutput pull_over_output = planPullOverAsOutput(context_data); - // output.modified_goal = pull_over_output.modified_goal; - output.path = generateStopPath(context_data, "no path candidate"); - output.reference_path = getPreviousModuleOutput().reference_path; - - const auto target_drivable_lanes = utils::getNonOverlappingExpandedLanes( - output.path, generateDrivableLanes(), planner_data_->drivable_area_expansion_parameters); - - DrivableAreaInfo current_drivable_area_info{}; - current_drivable_area_info.drivable_lanes = target_drivable_lanes; - output.drivable_area_info = utils::combineDrivableAreaInfo( - current_drivable_area_info, getPreviousModuleOutput().drivable_area_info); - return output; + return getPreviousModuleOutput(); } /** From 6792063bc0fd93e3c15bdade35d8e70fbc8158f8 Mon Sep 17 00:00:00 2001 From: Mamoru Sobue Date: Mon, 27 Jan 2025 12:50:35 +0900 Subject: [PATCH 15/17] revert stop path(2) Signed-off-by: Mamoru Sobue --- .../src/goal_planner_module.cpp | 5 +++++ 1 file changed, 5 insertions(+) diff --git a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/goal_planner_module.cpp b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/goal_planner_module.cpp index df3fb983a658f..02258f8b509bd 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/goal_planner_module.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/goal_planner_module.cpp @@ -1479,6 +1479,11 @@ BehaviorModuleOutput GoalPlannerModule::planPullOverAsCandidate( { universe_utils::ScopedTimeTrack st(__func__, *time_keeper_); + // if pull over path candidates generation is not finished, use previous module output + if (context_data.lane_parking_response.pull_over_path_candidates.empty()) { + return getPreviousModuleOutput(); + } + BehaviorModuleOutput output{}; const BehaviorModuleOutput pull_over_output = planPullOverAsOutput(context_data); output.modified_goal = pull_over_output.modified_goal; From 57157f128726954612572314c0251b2d39aefefb Mon Sep 17 00:00:00 2001 From: Mamoru Sobue Date: Tue, 28 Jan 2025 02:38:24 +0900 Subject: [PATCH 16/17] revert blinker Signed-off-by: Mamoru Sobue --- .../src/goal_planner_module.cpp | 2 -- 1 file changed, 2 deletions(-) diff --git a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/goal_planner_module.cpp b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/goal_planner_module.cpp index 02258f8b509bd..1edbc89aa39cd 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/goal_planner_module.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/goal_planner_module.cpp @@ -1328,7 +1328,6 @@ void GoalPlannerModule::setOutput( universe_utils::ScopedTimeTrack st(__func__, *time_keeper_); output.reference_path = getPreviousModuleOutput().reference_path; - output.turn_signal_info = getPreviousModuleOutput().turn_signal_info; if (!selected_pull_over_path_with_velocity_opt) { // situation : not safe against static objects use stop_path @@ -1489,7 +1488,6 @@ BehaviorModuleOutput GoalPlannerModule::planPullOverAsCandidate( output.modified_goal = pull_over_output.modified_goal; output.path = generateStopPath(context_data, detail); output.reference_path = getPreviousModuleOutput().reference_path; - output.turn_signal_info = getPreviousModuleOutput().turn_signal_info; const auto target_drivable_lanes = utils::getNonOverlappingExpandedLanes( output.path, generateDrivableLanes(), planner_data_->drivable_area_expansion_parameters); From 9b9c8e8a5c8fc739e74f98bc21b3d5772d54e0c1 Mon Sep 17 00:00:00 2001 From: Mamoru Sobue Date: Tue, 28 Jan 2025 18:07:42 +0900 Subject: [PATCH 17/17] fix ci Signed-off-by: Mamoru Sobue --- .../src/goal_planner_module.cpp | 23 ++++++++++--------- 1 file changed, 12 insertions(+), 11 deletions(-) diff --git a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/goal_planner_module.cpp b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/goal_planner_module.cpp index 1edbc89aa39cd..448429b9a3b0b 100644 --- a/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/goal_planner_module.cpp +++ b/planning/behavior_path_planner/autoware_behavior_path_goal_planner_module/src/goal_planner_module.cpp @@ -506,27 +506,29 @@ void LaneParkingPlanner::bezier_planning_helper( { autoware::universe_utils::StopWatch timer; timer.tic("bezier"); + std::vector path_candidates_all; for (const auto & goal_candidate : goal_candidates) { auto bezier_pull_over_paths = bezier_pull_over_planner_->plans( - goal_candidate, path_candidates.size(), planner_data, upstream_module_output); + goal_candidate, path_candidates_all.size(), planner_data, upstream_module_output); std::copy( std::make_move_iterator(bezier_pull_over_paths.begin()), - std::make_move_iterator(bezier_pull_over_paths.end()), std::back_inserter(path_candidates)); + std::make_move_iterator(bezier_pull_over_paths.end()), + std::back_inserter(path_candidates_all)); } RCLCPP_INFO( - getLogger(), "there are %lu bezier paths (calculated in %f [sec])", path_candidates.size(), + getLogger(), "there are %lu bezier paths (calculated in %f [sec])", path_candidates_all.size(), timer.toc("bezier")); sorted_indices_opt = std::vector(); auto & sorted_indices = sorted_indices_opt.value(); - sorted_indices.reserve(path_candidates.size()); + sorted_indices.reserve(path_candidates_all.size()); std::unordered_map goal_candidate_map; for (const auto & goal_candidate : goal_candidates) { goal_candidate_map[goal_candidate.id] = goal_candidate; } - for (size_t i = 0; i < path_candidates.size(); ++i) { - const auto & path = path_candidates[i]; + for (size_t i = 0; i < path_candidates_all.size(); ++i) { + const auto & path = path_candidates_all[i]; const auto goal_candidate_it = goal_candidate_map.find(path.goal_id()); if (goal_candidate_it != goal_candidate_map.end() && goal_candidate_it->second.is_safe) { sorted_indices.push_back(i); @@ -538,15 +540,14 @@ void LaneParkingPlanner::bezier_planning_helper( const auto static_target_objects = utils::path_safety_checker::filterObjectsByVelocity( dynamic_target_objects, parameters_.th_moving_object_velocity); sortPullOverPaths( - planner_data, parameters_, path_candidates, goal_candidates, static_target_objects, getLogger(), - sorted_indices); + planner_data, parameters_, path_candidates_all, goal_candidates, static_target_objects, + getLogger(), sorted_indices); - const auto clip_size = std::min(path_candidates.size(), 100); - const auto path_candidates_tmp = std::move(path_candidates); + const auto clip_size = std::min(path_candidates_all.size(), 100); // take upto 100 elements sorted_indices.resize(clip_size); for (const auto sorted_index : sorted_indices) { - path_candidates.push_back(path_candidates_tmp[sorted_index]); + path_candidates.push_back(path_candidates_all[sorted_index]); } sorted_indices.clear(); // now path_candidates are sorted from 0 to 100