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op.rviz
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Panels:
- Class: rviz/Displays
Help Height: 0
Name: Displays
Property Tree Widget:
Expanded:
- /Map1/Points Map1
- /Sensing1/Points Raw1
- /Planning1
- /Planning1/OP Planner1
- /Planning1/OP Planner1/Tracked Contours1/Namespaces1
Splitter Ratio: 0.6102783679962158
Tree Height: 578
- Class: rviz/Selection
Name: Selection
- Class: rviz/Tool Properties
Expanded:
- /2D Pose Estimate1
- /2D Nav Goal1
- /Publish Point1
Name: Tool Properties
Splitter Ratio: 0.5886790156364441
- Class: rviz/Views
Expanded:
- /Current View1
Name: Views
Splitter Ratio: 0.5
- Class: rviz/Time
Experimental: false
Name: Time
SyncMode: 0
SyncSource: Points Raw
- Class: autoware_rviz_debug/DecisionMakerPanel
Name: DecisionMakerPanel
- Class: integrated_viewer/TrafficLightPlugin
Name: TrafficLightPlugin
- Class: integrated_viewer/ImageViewerPlugin
Image topic: /tlr_superimpose_image
Lane topic: -----
Name: ImageViewerPlugin
Point size: 3
Point topic: -----
Rect topic: -----
- Class: integrated_viewer/ImageViewerPlugin
Image topic: /image_raw
Lane topic: -----
Name: ImageViewerPlugin
Point size: 3
Point topic: -----
Rect topic: -----
- Class: integrated_viewer/ImageViewerPlugin
Image topic: -----
Lane topic: -----
Name: ImageViewerPlugin
Point size: 3
Point topic: -----
Rect topic: /detection/image_detector/objects
- Class: integrated_viewer/ImageViewerPlugin
Image topic: -----
Lane topic: -----
Name: ImageViewerPlugin
Point size: 3
Point topic: -----
Rect topic: /detection/image_detector/objects
- Class: integrated_viewer/TrafficLightPlugin
Name: TrafficLightPlugin
- Class: integrated_viewer/ImageViewerPlugin
Image topic: -----
Lane topic: -----
Name: ImageViewerPlugin
Point size: 3
Point topic: -----
Rect topic: /detection/image_detector/objects
- Class: integrated_viewer/ImageViewerPlugin
Image topic: /image_raw
Lane topic: -----
Name: ImageViewerPlugin
Point size: 3
Point topic: -----
Rect topic: /detection/image_detector/objects
- Class: integrated_viewer/ImageViewerPlugin
Image topic: /image_raw
Lane topic: -----
Name: ImageViewerPlugin
Point size: 3
Point topic: -----
Rect topic: /detection/image_detector/objects
- Class: integrated_viewer/TrafficLightPlugin
Name: TrafficLightPlugin
Preferences:
PromptSaveOnExit: true
Toolbars:
toolButtonStyle: 2
Visualization Manager:
Class: ""
Displays:
- Alpha: 0.5
Cell Size: 1
Class: rviz/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: <Fixed Frame>
Value: false
- Class: rviz/Group
Displays:
- Class: rviz/TF
Enabled: true
Frame Timeout: 15
Frames:
All Enabled: true
base_link:
Value: true
gps:
Value: true
map:
Value: true
mobility:
Value: true
velodyne:
Value: true
world:
Value: true
Marker Scale: 5
Name: TF
Show Arrows: true
Show Axes: true
Show Names: true
Tree:
world:
map:
base_link:
velodyne:
{}
gps:
{}
mobility:
{}
Update Interval: 0
Value: true
- Alpha: 1
Class: rviz/RobotModel
Collision Enabled: false
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
Name: Vehicle Model
Robot Description: robot_description
TF Prefix: ""
Update Interval: 0
Value: true
Visual Enabled: true
- Class: rviz/Group
Displays:
- Buffer length: 100
Class: jsk_rviz_plugin/Plotter2D
Enabled: true
Name: Velocity (km/h)
Show Value: true
Topic: /linear_velocity_viz
Value: true
auto color change: false
auto scale: true
background color: 0; 0; 0
backround alpha: 0
border: true
foreground alpha: 1
foreground color: 0; 255; 255
height: 80
left: 40
linewidth: 1
max color: 255; 0; 0
max value: 1
min value: -1
show caption: true
text size: 8
top: 30
update interval: 0.03999999910593033
width: 80
- Buffer length: 100
Class: jsk_rviz_plugin/Plotter2D
Enabled: true
Name: NDT Time [ms]
Show Value: true
Topic: /time_ndt_matching
Value: true
auto color change: false
auto scale: true
background color: 0; 0; 0
backround alpha: 0
border: true
foreground alpha: 1
foreground color: 0; 255; 255
height: 80
left: 140
linewidth: 1
max color: 255; 0; 0
max value: 1
min value: -1
show caption: true
text size: 8
top: 30
update interval: 0.03999999910593033
width: 80
- Align Bottom: false
Background Alpha: 0.8999999761581421
Background Color: 0; 0; 0
Class: jsk_rviz_plugin/OverlayText
Enabled: true
Foreground Alpha: 0.800000011920929
Foreground Color: 0; 255; 255
Invert Shadow: false
Name: NDT Monitor
Overtake BG Color Properties: false
Overtake FG Color Properties: false
Overtake Position Properties: true
Topic: /ndt_monitor/ndt_info_text
Value: true
font: DejaVu Sans Mono
height: 50
left: 40
line width: 2
text size: 8
top: 150
width: 200
- Align Bottom: false
Background Alpha: 0.8999999761581421
Background Color: 0; 0; 0
Class: jsk_rviz_plugin/OverlayText
Enabled: true
Foreground Alpha: 0.800000011920929
Foreground Color: 0; 255; 255
Invert Shadow: false
Name: Decision Maker Panel
Overtake BG Color Properties: false
Overtake FG Color Properties: false
Overtake Position Properties: true
Topic: /decision_maker/state_overlay
Value: true
font: DejaVu Sans Mono
height: 200
left: 40
line width: 2
text size: 8
top: 220
width: 200
Enabled: true
Name: Monitor
- Class: rviz/Group
Displays:
- Align Bottom: false
Background Alpha: 0.800000011920929
Background Color: 0; 0; 0
Class: jsk_rviz_plugin/OverlayText
Enabled: true
Foreground Alpha: 0.800000011920929
Foreground Color: 25; 255; 240
Invert Shadow: false
Name: OK
Overtake BG Color Properties: false
Overtake FG Color Properties: false
Overtake Position Properties: true
Topic: /health_aggregator/ok_text
Value: true
font: DejaVu Sans Mono
height: 80
left: 40
line width: 2
text size: 6
top: 430
width: 200
- Align Bottom: false
Background Alpha: 0.800000011920929
Background Color: 0; 0; 0
Class: jsk_rviz_plugin/OverlayText
Enabled: true
Foreground Alpha: 0.800000011920929
Foreground Color: 255; 255; 0
Invert Shadow: false
Name: WARN
Overtake BG Color Properties: false
Overtake FG Color Properties: false
Overtake Position Properties: true
Topic: /health_aggregator/warn_text
Value: true
font: DejaVu Sans Mono
height: 80
left: 40
line width: 2
text size: 6
top: 520
width: 200
- Align Bottom: false
Background Alpha: 0.800000011920929
Background Color: 0; 0; 0
Class: jsk_rviz_plugin/OverlayText
Enabled: true
Foreground Alpha: 0.800000011920929
Foreground Color: 255; 85; 0
Invert Shadow: false
Name: ERROR
Overtake BG Color Properties: false
Overtake FG Color Properties: false
Overtake Position Properties: true
Topic: /health_aggregator/error_text
Value: true
font: DejaVu Sans Mono
height: 80
left: 40
line width: 2
text size: 6
top: 620
width: 200
- Align Bottom: false
Background Alpha: 0.800000011920929
Background Color: 0; 0; 0
Class: jsk_rviz_plugin/OverlayText
Enabled: true
Foreground Alpha: 0.800000011920929
Foreground Color: 255; 0; 0
Invert Shadow: false
Name: FATAL
Overtake BG Color Properties: false
Overtake FG Color Properties: false
Overtake Position Properties: true
Topic: /health_aggregator/fatal_text
Value: true
font: DejaVu Sans Mono
height: 80
left: 40
line width: 2
text size: 6
top: 720
width: 200
Enabled: true
Name: Health Checker
Enabled: true
Name: System
- Class: rviz/Group
Displays:
- Alpha: 0.10000000149011612
Autocompute Intensity Bounds: true
Autocompute Value Bounds:
Max Value: 10
Min Value: -10
Value: true
Axis: Z
Channel Name: intensity
Class: rviz/PointCloud2
Color: 255; 255; 255
Color Transformer: FlatColor
Decay Time: 0
Enabled: true
Invert Rainbow: false
Max Color: 255; 255; 255
Min Color: 0; 0; 0
Name: Points Map
Position Transformer: XYZ
Queue Size: 10
Selectable: true
Size (Pixels): 2
Size (m): 0.009999999776482582
Style: Points
Topic: /points_map
Unreliable: false
Use Fixed Frame: true
Use rainbow: true
Value: true
- Class: rviz/MarkerArray
Enabled: true
Marker Topic: /vector_map
Name: ADAS Map
Namespaces:
{}
Queue Size: 100
Value: true
- Class: rviz/MarkerArray
Enabled: true
Marker Topic: /lanelet2_map_viz
Name: Lanelet2 Map
Namespaces:
{}
Queue Size: 100
Value: true
Enabled: false
Name: Map
- Class: rviz/Group
Displays:
- Alpha: 0.5
Autocompute Intensity Bounds: true
Autocompute Value Bounds:
Max Value: 23.83440399169922
Min Value: -22.532455444335938
Value: true
Axis: Z
Channel Name: intensity
Class: rviz/PointCloud2
Color: 255; 255; 255
Color Transformer: Intensity
Decay Time: 0
Enabled: true
Invert Rainbow: false
Max Color: 255; 255; 255
Min Color: 0; 0; 0
Name: Points Raw
Position Transformer: XYZ
Queue Size: 10
Selectable: true
Size (Pixels): 2
Size (m): 0.009999999776482582
Style: Points
Topic: /points_raw
Unreliable: false
Use Fixed Frame: true
Use rainbow: true
Value: true
- Alpha: 1
Autocompute Intensity Bounds: true
Autocompute Value Bounds:
Max Value: 2.4487273693084717
Min Value: -2.0988173484802246
Value: true
Axis: Z
Channel Name: intensity
Class: rviz/PointCloud2
Color: 255; 0; 0
Color Transformer: AxisColor
Decay Time: 0
Enabled: false
Invert Rainbow: false
Max Color: 255; 255; 255
Min Color: 0; 0; 0
Name: Points No Ground
Position Transformer: XYZ
Queue Size: 10
Selectable: true
Size (Pixels): 2
Size (m): 0.009999999776482582
Style: Points
Topic: /points_no_ground
Unreliable: false
Use Fixed Frame: true
Use rainbow: true
Value: false
Enabled: true
Name: Sensing
- Class: rviz/Group
Displays:
- Alpha: 1
Axes Length: 1
Axes Radius: 0.10000000149011612
Class: rviz/Pose
Color: 255; 170; 255
Enabled: false
Head Length: 2
Head Radius: 2
Name: Current Pose
Shaft Length: 2
Shaft Radius: 1
Shape: Arrow
Topic: /current_pose
Unreliable: false
Value: false
- Alpha: 1
Axes Length: 1
Axes Radius: 0.10000000149011612
Class: rviz/Pose
Color: 255; 255; 0
Enabled: false
Head Length: 2
Head Radius: 1
Name: EKF Pose
Shaft Length: 2
Shaft Radius: 0.5
Shape: Arrow
Topic: /ekf_pose
Unreliable: false
Value: false
- Alpha: 1
Axes Length: 1
Axes Radius: 0.10000000149011612
Class: rviz/Pose
Color: 0; 255; 255
Enabled: false
Head Length: 2
Head Radius: 1
Name: NDT Pose
Shaft Length: 2
Shaft Radius: 0.5
Shape: Arrow
Topic: /ndt_pose
Unreliable: false
Value: false
Enabled: true
Name: Localization
- Class: rviz/Group
Displays:
- Alpha: 0.699999988079071
Class: rviz/Map
Color Scheme: map
Draw Behind: true
Enabled: true
Name: Occupancy Grid Map
Topic: /semantics/costmap_generator/occupancy_grid
Unreliable: false
Use Timestamp: false
Value: true
- Alpha: 1
Autocompute Intensity Bounds: true
Autocompute Value Bounds:
Max Value: 23.83440399169922
Min Value: -22.532455444335938
Value: true
Axis: Z
Channel Name: intensity
Class: rviz/PointCloud2
Color: 255; 255; 255
Color Transformer: RGB8
Decay Time: 0
Enabled: false
Invert Rainbow: false
Max Color: 255; 255; 255
Min Color: 0; 0; 0
Name: Clustered Points
Position Transformer: XYZ
Queue Size: 10
Selectable: true
Size (Pixels): 5
Size (m): 0.009999999776482582
Style: Points
Topic: /points_cluster
Unreliable: false
Use Fixed Frame: true
Use rainbow: true
Value: false
- Class: rviz/MarkerArray
Enabled: false
Marker Topic: /detection/contour_tracker/objects_markers
Name: Tracked Objects
Namespaces:
{}
Queue Size: 100
Value: false
- Class: rviz/MarkerArray
Enabled: true
Marker Topic: /prediction/motion_predictor/path_markers
Name: Predicted Path
Namespaces:
{}
Queue Size: 100
Value: true
Enabled: true
Name: Perception
- Class: rviz/Group
Displays:
- Class: rviz/MarkerArray
Enabled: true
Marker Topic: /waypoint_saver_marker
Name: Saved Waypoints
Namespaces:
{}
Queue Size: 100
Value: true
- Class: rviz/MarkerArray
Enabled: true
Marker Topic: /global_waypoints_mark
Name: Global Waypoints
Namespaces:
{}
Queue Size: 100
Value: true
- Class: rviz/MarkerArray
Enabled: true
Marker Topic: /local_waypoints_mark
Name: Local Waypoints
Namespaces:
{}
Queue Size: 100
Value: true
- Class: rviz/MarkerArray
Enabled: true
Marker Topic: /detection_range
Name: Detection Range
Namespaces:
{}
Queue Size: 100
Value: true
- Class: rviz/Group
Displays:
- Class: rviz/MarkerArray
Enabled: true
Marker Topic: /vector_map_center_lines_rviz
Name: MapCenterLines
Namespaces:
road_network_stop_line: true
road_network_vector_map: true
Queue Size: 100
Value: true
- Class: rviz/MarkerArray
Enabled: true
Marker Topic: /op_destinations_rviz
Name: Goals
Namespaces:
HMI_Destinations: true
Queue Size: 100
Value: true
- Class: rviz/MarkerArray
Enabled: true
Marker Topic: /global_waypoints_rviz
Name: Global Path
Namespaces:
global_lane_array_marker: true
global_lane_waypoint_orientation_marker: true
global_velocity_lane_1: true
Queue Size: 100
Value: true
- Class: rviz/MarkerArray
Enabled: true
Marker Topic: /AnimateGlobalPlan
Name: GlobalPathAnimation
Namespaces:
{}
Queue Size: 100
Value: true
- Class: rviz/MarkerArray
Enabled: true
Marker Topic: /local_trajectories_gen_rviz
Name: Local Rollouts Gen
Namespaces:
global_lane_array_marker: true
Queue Size: 100
Value: true
- Class: rviz/MarkerArray
Enabled: false
Marker Topic: /local_trajectories_eval_rviz
Name: Local Rollouts Eval
Namespaces:
{}
Queue Size: 100
Value: false
- Class: rviz/MarkerArray
Enabled: true
Marker Topic: /local_selected_trajectory_rviz
Name: SelectedTrajectory
Namespaces:
Path_Part: true
Queue Size: 100
Value: true
- Class: rviz/MarkerArray
Enabled: true
Marker Topic: /predicted_trajectories_rviz
Name: Predicted Trajectories
Namespaces:
Predicted_Trajectories: true
Queue Size: 100
Value: true
- Class: rviz/MarkerArray
Enabled: true
Marker Topic: /detection/contour_tracker/detected_polygons
Name: Tracked Contours
Namespaces:
CenterMarker: true
Directions: true
InfoText: true
detected_polygons: true
tracked_trajectories: true
Queue Size: 100
Value: true
- Class: rviz/MarkerArray
Enabled: true
Marker Topic: /dynamic_collision_points_rviz
Name: Collision Points
Namespaces:
collision_points_rviz: true
Queue Size: 100
Value: true
- Class: rviz/MarkerArray
Enabled: true
Marker Topic: /behavior_state
Name: BehaviorState
Namespaces:
beh_state: true
Queue Size: 100
Value: true
- Class: rviz/Marker
Enabled: true
Marker Topic: /curr_simu_pose_1
Name: SimCarPose
Namespaces:
{}
Queue Size: 100
Value: true
- Class: rviz/Marker
Enabled: true
Marker Topic: /safety_border
Name: Safety Box
Namespaces:
global_lane_array_marker: true
Queue Size: 100
Value: true
- Class: rviz/Marker
Enabled: true
Marker Topic: /follow_pose
Name: Follow Point
Namespaces:
follow_pose: true
Queue Size: 100
Value: true
- Class: rviz/Marker
Enabled: true
Marker Topic: /op_forward_simu_pose
Name: Future Follow Point
Namespaces:
op_forward_simu_pose: true
Queue Size: 100
Value: true
- Class: rviz/MarkerArray
Enabled: true
Marker Topic: /op_actual_driving_path
Name: Actual Path
Namespaces:
{}
Queue Size: 100
Value: true
Enabled: true
Name: OP Planner
Enabled: true
Name: Planning
- Class: rviz/Group
Displays:
- Class: rviz/Marker
Enabled: true
Marker Topic: /trajectory_circle_mark
Name: Pure Pursuit Trajectory
Namespaces:
{}
Queue Size: 100
Value: true
- Class: rviz/Marker
Enabled: true
Marker Topic: /next_target_mark
Name: Pure Pursuit Target
Namespaces:
{}
Queue Size: 100
Value: true
- Class: rviz/Marker
Enabled: true
Marker Topic: /mpc_follower/debug/predicted_traj
Name: MPC Predicted Trajectory
Namespaces:
{}
Queue Size: 100
Value: true
- Class: rviz/Marker
Enabled: true
Marker Topic: /mpc_follower/debug/filtered_traj
Name: MPC Reference Trajectory
Namespaces:
{}
Queue Size: 100
Value: true
Enabled: false
Name: Control
- Class: rviz/Image
Enabled: true
Image Topic: /image_raw
Max Value: 1
Median window: 5
Min Value: 0
Name: Image
Normalize Range: true
Queue Size: 2
Transport Hint: raw
Unreliable: false
Value: true
- Class: rviz/MarkerArray
Enabled: false
Marker Topic: /carla_global_waypoints_rviz
Name: MarkerArray
Namespaces:
{}
Queue Size: 100
Value: false
Enabled: true
Global Options:
Background Color: 0; 0; 0
Default Light: true
Fixed Frame: world
Frame Rate: 30
Name: root
Tools:
- Class: rviz/Interact
Hide Inactive Objects: true
- Class: rviz/MoveCamera
- Class: rviz/Select
- Class: rviz/FocusCamera
- Class: rviz/Measure
- Class: rviz/SetInitialPose
Theta std deviation: 0.2617993950843811
Topic: /initialpose
X std deviation: 0.5
Y std deviation: 0.5
- Class: rviz/SetGoal
Topic: /move_base_simple/goal
- Class: rviz/PublishPoint
Single click: true
Topic: /clicked_point
Value: true
Views:
Current:
Angle: 0
Class: rviz/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: 10
Target Frame: base_link
Value: TopDownOrtho (rviz)
X: 0
Y: 0
Saved: ~
Window Geometry:
DecisionMakerPanel:
collapsed: false
Displays:
collapsed: false
Height: 1383
Hide Left Dock: false
Hide Right Dock: true
Image:
collapsed: false
ImageViewerPlugin:
collapsed: false
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Selection:
collapsed: false
Time:
collapsed: false
Tool Properties:
collapsed: false
TrafficLightPlugin:
collapsed: false
Views:
collapsed: true
Width: 1566
X: 980
Y: 27