Panels: - Class: rviz/Displays Help Height: 0 Name: Displays Property Tree Widget: Expanded: - /Global Options1 - /Perception1/Clustered Points1 - /OP Planner1 Splitter Ratio: 0.5158371329307556 Tree Height: 441 - 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: Clustered Points - Class: autoware_rviz_debug/DecisionMakerPanel Name: DecisionMakerPanel - Class: autoware_rviz_debug/VehicleEngagePanel Name: VehicleEngagePanel 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: Value: false - Class: rviz/Group Displays: - Class: rviz/TF Enabled: true Frame Timeout: 15 Frames: All Enabled: true base_link: Value: true camera_fl: Value: true camera_fr: Value: true imu: Value: true lidar: Value: true lidar_front: Value: true map: Value: true radar_fc: 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: imu: {} lidar: camera_fl: {} camera_fr: {} velodyne: {} lidar_front: {} radar_fc: {} 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 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 Name: NDT Monitor Overtake Color Properties: true 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 Name: Decision Maker Panel Overtake Color Properties: true 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 Name: OK Overtake Color Properties: true 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 Name: WARN Overtake Color Properties: true 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 Name: ERROR Overtake Color Properties: true 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 Name: FATAL Overtake Color Properties: true 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: 0.05000000074505806 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: false Invert Rainbow: false Max Color: 255; 255; 255 Max Intensity: 4096 Min Color: 0; 0; 0 Min Intensity: 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: false - Class: rviz/MarkerArray Enabled: true Marker Topic: /vector_map Name: ADAS Map Namespaces: cross_road: true cross_walk: true curb: true road_sign: true signal: true stop_line: true white_line: true 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: true Name: Map - Class: rviz/Group Displays: - Alpha: 0.30000001192092896 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 Max Intensity: 237 Min Color: 0; 0; 0 Min Intensity: 0 Name: Points Raw Position Transformer: XYZ Queue Size: 10 Selectable: true Size (Pixels): 4 Size (m): 0.009999999776482582 Style: Points Topic: /points_raw Unreliable: false Use Fixed Frame: true Use rainbow: true Value: true - 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; 0; 0 Color Transformer: FlatColor Decay Time: 0 Enabled: true Invert Rainbow: false Max Color: 255; 255; 255 Max Intensity: 0 Min Color: 0; 0; 0 Min Intensity: 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: true Enabled: false 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: true Invert Rainbow: false Max Color: 255; 255; 255 Max Intensity: 0 Min Color: 0; 0; 0 Min Intensity: 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: true - Class: rviz/MarkerArray Enabled: true Marker Topic: /detection/object_tracker/objects_markers Name: Tracked Objects Namespaces: {} Queue Size: 100 Value: true - 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 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: true Name: Control - Class: rviz/Group Displays: - Class: rviz/Group Displays: - Class: rviz/Marker Enabled: true Marker Topic: /safety_border_1 Name: Safety border Namespaces: {} Queue Size: 100 Value: true Enabled: true Name: Simulated car 1 - Class: rviz/Marker Enabled: true Marker Topic: /safety_border Name: Safety Box Namespaces: {} Queue Size: 100 Value: true - Class: jsk_rviz_plugin/BoundingBoxArray Enabled: true Name: Simulated Obstacle Topic: /dp_planner_tracked_boxes Unreliable: false Value: true alpha: 0.800000011920929 color: 25; 255; 0 coloring: Value line width: 0.009999999776482582 only edge: false show coords: false - Class: rviz/MarkerArray Enabled: true Marker Topic: /AnimateGlobalPlan Name: GlobalPathAnimation Namespaces: {} Queue Size: 100 Value: true - Class: rviz/MarkerArray Enabled: true Marker Topic: /behavior_state Name: Behaviour state Namespaces: {} Queue Size: 100 Value: true - Class: rviz/MarkerArray Enabled: true Marker Topic: /detected_polygons Name: Tracked Contours Namespaces: CenterMarker: true Detection_Circles: true Directions: true InfoText: true detected_polygons: true matching_connections: true tracked_trajectories: true Queue Size: 100 Value: true - Class: rviz/MarkerArray Enabled: true Marker Topic: /global_waypoints_rviz Name: Global Path Namespaces: {} Queue Size: 100 Value: true - Class: rviz/MarkerArray Enabled: true Marker Topic: /local_trajectories_eval_rviz Name: Local traj eval Namespaces: {} Queue Size: 100 Value: true - Class: rviz/MarkerArray Enabled: true Marker Topic: /vector_map_center_lines_rviz Name: Center Lanes Namespaces: road_network_vector_map: true Queue Size: 100 Value: true - Class: rviz/MarkerArray Enabled: true Marker Topic: /local_selected_trajectory_rviz Name: MarkerArray Namespaces: {} Queue Size: 100 Value: true Enabled: true Name: OP Planner - Class: rviz/MarkerArray Enabled: true Marker Topic: /vector_map_center_lines_rviz Name: Map center lines Namespaces: road_network_vector_map: true Queue Size: 100 Value: true - Class: rviz/MarkerArray Enabled: true Marker Topic: /op_destinations_rviz Name: MarkerArray Namespaces: {} Queue Size: 100 Value: true - Class: rviz/MarkerArray Enabled: true Marker Topic: /prediction_particles Name: MarkerArray Namespaces: Particles: true Queue Size: 100 Value: true - Class: rviz/MarkerArray Enabled: true Marker Topic: /op_traffic_lights_rviz Name: Traffic_lights Namespaces: {} Queue Size: 100 Value: true - Class: rviz/MarkerArray Enabled: true Marker Topic: /detected_polygons Name: MarkerArray Namespaces: CenterMarker: true Detection_Circles: true Directions: true InfoText: true detected_polygons: true matching_connections: true tracked_trajectories: true Queue Size: 100 Value: true Enabled: true Global Options: Background Color: 48; 48; 48 Default Light: true Fixed Frame: map 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: true Height: 736 Hide Left Dock: true Hide Right Dock: false QMainWindow State: 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 Selection: collapsed: false Time: collapsed: false Tool Properties: collapsed: false VehicleEngagePanel: collapsed: false Views: collapsed: false Width: 902 X: 373 Y: 27