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feat: update autoware component launch files (autowarefoundation#496)
* feat(autoware_core_localization): add pointcloud based localization packages to launch file Signed-off-by: mitsudome-r <ryohsuke.mitsudome@tier4.jp> * feat(autoware_core_map): add pointcloud map loader to launch file Signed-off-by: mitsudome-r <ryohsuke.mitsudome@tier4.jp> * feat(autoware_core_perception): add euclidean clustering and ground filter to launch Signed-off-by: mitsudome-r <ryohsuke.mitsudome@tier4.jp> * feat: update rviz config Signed-off-by: mitsudome-r <ryohsuke.mitsudome@tier4.jp> * style(pre-commit): autofix * fix: typo in package name Signed-off-by: mitsudome-r <ryohsuke.mitsudome@tier4.jp> --------- Signed-off-by: mitsudome-r <ryohsuke.mitsudome@tier4.jp> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
1 parent 79f2c75 commit 2bb1c92

12 files changed

Lines changed: 437 additions & 23 deletions

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‎autoware_core/launch/autoware_core.launch.xml‎

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Original file line numberDiff line numberDiff line change
@@ -32,6 +32,8 @@
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<include file="$(find-pkg-share autoware_core_map)/launch/autoware_core_map.launch.xml">
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<arg name="lanelet2_map_path" value="$(var map_path)/lanelet2_map.osm"/>
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<arg name="map_projector_info_path" value="$(var map_path)/map_projector_info.yaml"/>
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<arg name="pointcloud_map_path" value="$(var map_path)/pointcloud_map.pcd"/>
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<arg name="pointcloud_map_metadata_path" value="$(var map_path)/pointcloud_map/metadata.yaml"/>
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</include>
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</group>
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‎autoware_core/rviz/autoware_core.rviz‎

Lines changed: 163 additions & 16 deletions
Original file line numberDiff line numberDiff line change
@@ -6,11 +6,12 @@ Panels:
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Expanded:
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- /Global Options1
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- /Status1
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- /Map1/VectorMap1
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- /Map1
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- /Localization1/KinematicState1
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- /Perception1
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- /Perception1/PointCloud21
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Splitter Ratio: 0.4440993666648865
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- /PointCloud21/Topic1
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- /PointCloud22/Topic1
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Splitter Ratio: 0.5308057069778442
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Tree Height: 746
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- Class: rviz_common/Selection
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Name: Selection
@@ -24,14 +25,13 @@ Panels:
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- Class: rviz_common/Views
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Expanded:
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- /Current View1
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- /TopDownOrtho2
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Name: Views
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Splitter Ratio: 0.5
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- Class: rviz_common/Time
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Experimental: false
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Name: Time
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SyncMode: 0
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SyncSource: PointCloudRaw
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SyncSource: PointCloud2
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Visualization Manager:
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Class: ""
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Displays:
@@ -88,6 +88,8 @@ Visualization Manager:
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Value: true
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map:
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Value: true
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ndt_base_link:
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Value: true
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sensor_kit_base_link:
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Value: true
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tamagawa/imu_link:
@@ -165,6 +167,8 @@ Visualization Manager:
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velodyne_rear_base_link:
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velodyne_rear:
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{}
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ndt_base_link:
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{}
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Update Interval: 0
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Value: true
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- Class: rviz_common/Group
@@ -173,14 +177,72 @@ Visualization Manager:
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Enabled: true
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Name: VectorMap
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Namespaces:
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{}
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center_lane_line: true
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center_line_arrows: false
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crosswalk_lanelet_id: true
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crosswalk_lanelets: true
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detection_area: true
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detection_area_stopline: true
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lane_start_bound: true
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lanelet direction: false
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lanelet_id: true
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left_lane_bound: true
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pedestrian_polygon_marking: true
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right_lane_bound: true
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road_lanelets: false
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shoulder_center_lane_line: true
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shoulder_center_line_arrows: false
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shoulder_lane_start_bound: true
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shoulder_left_lane_bound: true
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shoulder_right_lane_bound: true
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shoulder_road_lanelets: true
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stop_lines: true
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traffic_light: true
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traffic_light_id: false
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traffic_light_reg_elem_id: false
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traffic_light_triangle: true
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walkway_lanelets: true
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Topic:
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Depth: 5
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Durability Policy: Transient Local
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History Policy: Keep Last
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Reliability Policy: Reliable
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Value: /map/vector_map_marker
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Value: true
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- Alpha: 0.05000000074505806
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Autocompute Intensity Bounds: true
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Autocompute Value Bounds:
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Max Value: 10
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Min Value: -10
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Value: true
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Axis: Z
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Channel Name: intensity
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Class: rviz_default_plugins/PointCloud2
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Color: 255; 255; 255
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Color Transformer: FlatColor
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Decay Time: 0
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Enabled: true
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Invert Rainbow: false
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Max Color: 255; 255; 255
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Max Intensity: 999999
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Min Color: 0; 0; 0
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Min Intensity: 9.41491761969997e-18
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Name: PointCloud2
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Position Transformer: XYZ
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Selectable: false
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Size (Pixels): 1
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Size (m): 0.5
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Style: Points
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Topic:
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Depth: 5
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Durability Policy: Transient Local
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Filter size: 10
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History Policy: Keep Last
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Reliability Policy: Reliable
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Value: /map/pointcloud_map
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Use Fixed Frame: true
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Use rainbow: true
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Value: true
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Enabled: true
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Name: Map
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- Class: rviz_common/Group
@@ -305,7 +367,12 @@ Visualization Manager:
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Enabled: true
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Name: Route
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Namespaces:
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{}
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end_lanelets: true
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goal_lanelets: true
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lane_start_bound: true
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left_lane_bound: true
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right_lane_bound: true
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route_lanelets: true
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Topic:
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Depth: 5
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Durability Policy: Transient Local
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Enabled: true
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Name: BehaviorPath
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Namespaces:
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{}
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"": true
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Topic:
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Depth: 5
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Durability Policy: Volatile
@@ -363,8 +430,88 @@ Visualization Manager:
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Use Fixed Frame: true
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Use rainbow: true
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Value: true
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Enabled: true
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Enabled: false
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Name: Perception
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- Alpha: 1
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Autocompute Intensity Bounds: true
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Autocompute Value Bounds:
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Max Value: 10
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Min Value: -10
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Value: true
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Axis: Z
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Channel Name: intensity
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Class: rviz_default_plugins/PointCloud2
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Color: 255; 255; 255
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Color Transformer: Intensity
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Decay Time: 0
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Enabled: false
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Invert Rainbow: false
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Max Color: 255; 255; 255
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Max Intensity: 4096
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Min Color: 0; 0; 0
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Min Intensity: 0
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Name: PointCloud2
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Position Transformer: XYZ
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Selectable: false
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Size (Pixels): 3
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Size (m): 0.10000000149011612
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Style: Flat Squares
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Topic:
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Depth: 5
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Durability Policy: Transient Local
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Filter size: 10
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History Policy: Keep Last
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Reliability Policy: Best Effort
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Value: /localization/pose_estimator/debug/loaded_pointcloud_map
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Use Fixed Frame: true
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Use rainbow: true
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Value: false
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- Alpha: 1
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Autocompute Intensity Bounds: true
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Autocompute Value Bounds:
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Max Value: 10
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Min Value: -10
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Value: true
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Axis: Z
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Channel Name: intensity
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Class: rviz_default_plugins/PointCloud2
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Color: 249; 240; 107
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Color Transformer: FlatColor
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Decay Time: 0
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Enabled: false
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Invert Rainbow: false
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Max Color: 255; 255; 255
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Max Intensity: 4096
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Min Color: 0; 0; 0
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Min Intensity: 0
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Name: PointCloud2
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Position Transformer: XYZ
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Selectable: true
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Size (Pixels): 3
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Size (m): 0.5
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Style: Flat Squares
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Topic:
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Depth: 5
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Durability Policy: Volatile
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Filter size: 10
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History Policy: Keep Last
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Reliability Policy: Best Effort
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Value: /localization/pose_estimator/points_aligned
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Use Fixed Frame: true
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Use rainbow: true
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Value: false
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- Class: rviz_default_plugins/MarkerArray
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Enabled: false
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Name: MarkerArray
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Namespaces:
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{}
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Topic:
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Depth: 5
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Durability Policy: Volatile
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History Policy: Keep Last
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Reliability Policy: Reliable
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Value: /planning/mission_planning/route_marker
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Value: false
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Enabled: true
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Global Options:
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Background Color: 48; 48; 48
@@ -388,14 +535,14 @@ Visualization Manager:
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Durability Policy: Volatile
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History Policy: Keep Last
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Reliability Policy: Reliable
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Value: /initialpose3d
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Value: /initialpose
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- Class: rviz_default_plugins/SetGoal
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Topic:
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Depth: 5
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Durability Policy: Volatile
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History Policy: Keep Last
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Reliability Policy: Reliable
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Value: /goal_pose
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Value: /planning/mission_planning/goal
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- Class: rviz_default_plugins/PublishPoint
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Single click: true
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Topic:
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Value: true
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Views:
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Current:
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Angle: 0.5849998593330383
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Angle: 0.47499993443489075
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Class: rviz_default_plugins/TopDownOrtho
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Enable Stereo Rendering:
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Stereo Eye Separation: 0.05999999865889549
@@ -420,11 +567,11 @@ Visualization Manager:
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Invert Z Axis: false
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Name: Current View
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Near Clip Distance: 0.009999999776482582
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Scale: 59.98975372314453
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Scale: 2.091386079788208
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Target Frame: <Fixed Frame>
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Value: TopDownOrtho (rviz_default_plugins)
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X: 81381.25
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Y: 49918.57421875
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X: 81390.3359375
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Y: 49835.6171875
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Saved:
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- Angle: 0.47499993443489075
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Class: rviz_default_plugins/TopDownOrtho
@@ -462,7 +609,7 @@ Window Geometry:
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Height: 1043
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Hide Left Dock: false
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Hide Right Dock: false
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QMainWindow State: 000000ff00000000fd0000000400000000000001a800000375fc020000000bfb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d00000375000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb00000026006200610073006c00650072005f00660072006f006e0074005f00630065006e00740065007200000001710000005a0000000000000000fb00000022006200610073006c00650072005f00660072006f006e0074005f006c0065006600740000000197000000830000000000000000fb00000024006200610073006c00650072005f00660072006f006e0074005f0072006900670068007400000001d6000000cb0000000000000000fb00000024006200610073006c00650072005f0072006500610072005f00630065006e00740065007200000002540000015e0000000000000000000000010000017700000375fc0200000004fb0000000a00560069006500770073010000003d000001d7000000a400fffffffb0000001e0054006f006f006c002000500072006f0070006500720074006900650073010000021a000001980000005c00fffffffb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000247000001500000000000000000fb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000007800000003efc0100000002fb0000000800540069006d0065010000000000000780000002fb00fffffffb0000000800540069006d00650100000000000004500000000000000000000004550000037500000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
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QMainWindow State: 000000ff00000000fd0000000400000000000001da00000375fc020000000bfb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d00000375000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb00000026006200610073006c00650072005f00660072006f006e0074005f00630065006e00740065007200000001710000005a0000000000000000fb00000022006200610073006c00650072005f00660072006f006e0074005f006c0065006600740000000197000000830000000000000000fb00000024006200610073006c00650072005f00660072006f006e0074005f0072006900670068007400000001d6000000cb0000000000000000fb00000024006200610073006c00650072005f0072006500610072005f00630065006e00740065007200000002540000015e0000000000000000000000010000017700000375fc0200000004fb0000000a00560069006500770073010000003d000001d7000000a400fffffffb0000001e0054006f006f006c002000500072006f0070006500720074006900650073010000021a000001980000005c00fffffffb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000247000001500000000000000000fb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000007800000003efc0100000002fb0000000800540069006d0065010000000000000780000002fb00fffffffb0000000800540069006d00650100000000000004500000000000000000000004230000037500000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
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Selection:
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collapsed: false
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Time:

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