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autoware_perception_rviz_plugin#

目的#

認識モジュールからの結果を可視化するためのrvizプラグインです。このパッケージは、Autoware.Autoによって開発されたrvizプラグインの実装をベースにしています。

元の設計思想については、Autoware.Auto設計ドキュメントを参照してください。[1]

入力タイプ / 可視化結果#

検出された物体#

入力タイプ#

  • AutowareAuto::DetectedObject

Visualized Result#

  • rviz::MarkerArray

LandMarks#

Input Types#

  • AutowareAuto::LandMark

Visualized Result#

  • rviz::MarkerArray

PointClouds#

Input Types#

  • AutowareAuto::PointCloud
  • AutowareAuto::LidarPointCloud
  • AutowareAuto::CameraPointCloud
  • AutowareAuto::PointCloud2

Visualized Result#

  • sensor_msgs::PointCloud2

TrackingObjects#

Input Types#

  • AutowareAuto::TrackedObject

Visualized Result#

  • rviz::MarkerArray

TrafficLights#

Input Types#

  • AutowareAuto::TrafficLight

Visualized Result#

  • rviz::MarkerArray

Planning (optional)#

Input Types#

  • AutowareAuto::Trajectory

Visualized Result#

  • rviz::MarkerArray

Configuration#

AutowareAuto::DetectedObjects#

  • Topic Name: The topic name of the AutowareAuto::DetectedObject message received by the plugin.
  • Marker Scale: The scale of the marker.
  • Marker Lifetime: The lifetime of the marker in seconds.
  • Marker Alpha: The alpha value of the marker.
  • Marker Color: The color of the marker.
  • Ground Truth Marker Enabled: Enable/disable the display of ground truth marker.
  • Measured Marker Enabled: Enable/disable the display of measured marker.
  • Ground Truth Color: The color of the ground truth marker.
  • Measured Color: The color of the measured marker.

LandMarks#

  • Topic Name: The topic name of the AutowareAuto::LandMark message received by the plugin.
  • Marker Scale: The scale of the marker.
  • Marker Lifetime: The lifetime of the marker in seconds.
  • Marker Alpha: The alpha value of the marker.
  • Marker Color: The color of the marker.

PointClouds#

  • Topic Name: The topic name of the AutowareAuto::PointCloud message received by the plugin.
  • Show Color: Enable/disable the display of the point cloud with color information.
  • Color Attribute: The attribute name of the color information.
  • Normalize Color: Enable/disable the normalization of the color information.
  • Min Intensity: The minimum intensity threshold for displaying the point cloud.
  • Max Intensity: The maximum intensity threshold for displaying the point cloud.

TrackingObjects#

  • Topic Name: The topic name of the AutowareAuto::TrackedObject message received by the plugin.
  • Marker Scale: The scale of the marker.
  • Marker Lifetime: The lifetime of the marker in seconds.
  • Marker Alpha: The alpha value of the marker.
  • Marker Color: The color of the marker.

TrafficLights#

  • Topic Name: The topic name of the AutowareAuto::TrafficLight message received by the plugin.
  • Marker Scale: The scale of the marker.
  • Marker Lifetime: The lifetime of the marker in seconds.
  • Marker Alpha: The alpha value of the marker.
  • Marker Color: The color of the marker.

Planning#

  • Topic Name: The topic name of the AutowareAuto::Trajectory message received by the plugin.
  • Marker Scale: The scale of the marker.
  • Marker Lifetime: The lifetime of the marker in seconds.
  • Marker Alpha: The alpha value of the marker.
  • Marker Color: The color of the marker.
  • Show Reference Trajectory: Enable/disable the display of the reference trajectory.
  • Show Prediction Trajectory: Enable/disable the display of the prediction trajectory.
  • Show Planning Trajectory: Enable/disable the display of the planning trajectory.
  • Show Predicted Obstacle Trajectory: Enable/disable the display of the predicted obstacle trajectory.
  • Show Sensor Predicted Obstacle: Enable/disable the display of the sensor predicted obstacle.
  • Show Speed Profile: Enable/disable the display of the speed profile.
  • Show Lateral Speed Profile: Enable/disable the display of the lateral speed profile.
  • Show Longitudinal Speed Profile: Enable/disable the display of the longitudinal speed profile.
  • Show Selected Motion Plan: Enable/disable the display of the selected motion plan.
  • Show Goal Pose: Enable/disable the display of the goal pose.
  • Prediction Trajectory Duration: The duration of the prediction trajectory in seconds.
  • Planning Trajectory Duration: The duration of the planning trajectory in seconds.
  • Reference Trajectory Duration: The duration of the reference trajectory in seconds.
  • Reference Velocity: The velocity of the reference trajectory in meters per second.
  • Reference Acceleration: The acceleration of the reference trajectory in meters per second squared.
  • Reference Jerk: The jerk of the reference trajectory in meters per second cubed.
  • Max Velocity Violation (m/s): The maximum velocity逸脱量 in meters per second.
  • Max Lateral Acceleration Violation (m/s^2): The maximum lateral acceleration逸脱量 in meters per second squared.
  • Max Longitudinal Acceleration Violation (m/s^2): The maximum longitudinal acceleration逸脱量 in meters per second squared.
  • Max Jerk Violation (m/s^3): The maximum jerk逸脱量 in meters per second cubed.
  • Max Curvature Violation (1/m): The maximum curvature逸脱量 in inverse meters.
  • Additional Moving Obstacle: The path of an additional moving obstacle for planning.
  • Initial Distance to Moving Obstacle: The initial distance to the moving obstacle in meters.
  • Perception Planning Horizon: The perception planning horizon.
  • Sensor Planning Horizon: The sensor planning horizon.
  • Topic Name: The topic name of the selected motion plan.

Planned Path Optimization (optional)#

  • Topic Name: The topic name of the autoware_planning_msgs::PlannedPathOptimization message received by the plugin.
  • Marker Scale: The scale of the marker.
  • Marker Lifetime: The lifetime of the marker in seconds.
  • Marker Alpha: The alpha value of the marker.
  • Marker Color: The color of the marker.
  • Optimization Success Marker Color: The color of the optimization success marker.
  • Optimization Failure Marker Color: The color of the optimization failure marker.

Usage#

rviz

roslaunch autoware_perception_rviz_plugin autoware_perception_rviz_plugin.launch
名称 タイプ 説明
autoware_perception_msgs::msg::DetectedObjects 検出結果配列

可視化結果#

detected-object-visualization-description

トラッキングされたオブジェクト#

入力タイプ#

名称 タイプ 説明
autoware_perception_msgs::msg::TrackedObjects 追跡結果の配列

可視化結果#

検出結果で追跡結果を上書きします。

tracked-object-visualization-description

PredictedObjects#

入力タイプ#

名前 種別 説明
autoware_perception_msgs::msg::PredictedObjects prediction結果配列

可視化結果#

追跡結果を予測結果で上書きします。

predicted-object-visualization-description

参照/外部リンク#

[1] https://gitlab.com/autowarefoundation/autoware.auto/AutowareAuto/-/tree/master/src/tools/visualization/autoware_rviz_plugins

今後の拡張/未実装部分#