tier4_vehicle_rviz_plugin
This package is including jsk code.
Note that jsk_overlay_utils.cpp and jsk_overlay_utils.hpp are BSD license.
This plugin provides a visual and easy-to-understand display of vehicle speed, turn signal, steering status and acceleration.
Name
Type
Description
/vehicle/status/velocity_status
autoware_vehicle_msgs::msg::VelocityReport
The topic is vehicle twist
/control/turn_signal_cmd
autoware_vehicle_msgs::msg::TurnIndicatorsReport
The topic is status of turn signal
/vehicle/status/steering_status
autoware_vehicle_msgs::msg::SteeringReport
The topic is status of steering
/localization/acceleration
geometry_msgs::msg::AccelWithCovarianceStamped
The topic is the acceleration
Name
Type
Default Value
Description
property_text_color_
QColor
QColor(25, 255, 240)
Text color
property_left_
int
128
Left of the plotter window [px]
property_top_
int
128
Top of the plotter window [px]
property_length_
int
256
Height of the plotter window [px]
property_value_height_offset_
int
0
Height offset of the plotter window [px]
property_value_scale_
float
1.0 / 6.667
Value scale
Name
Type
Default Value
Description
property_text_color_
QColor
QColor(25, 255, 240)
Text color
property_left_
int
128
Left of the plotter window [px]
property_top_
int
128
Top of the plotter window [px]
property_length_
int
256
Height of the plotter window [px]
property_value_height_offset_
int
0
Height offset of the plotter window [px]
property_value_scale_
float
1.0 / 6.667
Value scale
property_handle_angle_scale_
float
3.0
Scale is steering angle to handle angle
Name
Type
Default Value
Description
property_left_
int
128
Left of the plotter window [px]
property_top_
int
128
Top of the plotter window [px]
property_width_
int
256
Left of the plotter window [px]
property_height_
int
256
Width of the plotter window [px]
Name
Type
Default Value
Description
property_velocity_timeout_
float
10.0
Timeout of velocity [s]
property_velocity_alpha_
float
1.0
Alpha of velocity
property_velocity_scale_
float
0.3
Scale of velocity
property_velocity_color_view_
bool
false
Use Constant Color or not
property_velocity_color_
QColor
Qt::black
Color of velocity history
property_vel_max_
float
3.0
Color Border Vel Max [m/s]
Name
Type
Default Value
Description
property_normal_text_color_
QColor
QColor(25, 255, 240)
Normal text color
property_emergency_text_color_
QColor
QColor(255, 80, 80)
Emergency acceleration color
property_left_
int
896
Left of the plotter window [px]
property_top_
int
128
Top of the plotter window [px]
property_length_
int
256
Height of the plotter window [px]
property_value_height_offset_
int
0
Height offset of the plotter window [px]
property_value_scale_
float
1 / 6.667
Value text scale
property_emergency_threshold_max_
float
1.0
Max acceleration threshold for emergency [m/s^2]
property_emergency_threshold_min_
float
-2.5
Min acceleration threshold for emergency [m/s^2]
Assumptions / Known limits
TBD.
Start rviz and select Add under the Displays panel.
Select any one of the tier4_vehicle_rviz_plugin and press OK.
Enter the name of the topic where you want to view the status.