From c9ac4fe529cdc3cda1498c0b9327797cbb2fd48b Mon Sep 17 00:00:00 2001 From: Takayuki Murooka Date: Thu, 21 Nov 2024 19:50:27 +0900 Subject: [PATCH 1/6] feat(rviz): visualize error diag graph (false by default) Signed-off-by: Takayuki Murooka --- .../components/tier4_system_component.launch.xml | 1 + autoware_launch/rviz/autoware.rviz | 14 +++++++------- 2 files changed, 8 insertions(+), 7 deletions(-) diff --git a/autoware_launch/launch/components/tier4_system_component.launch.xml b/autoware_launch/launch/components/tier4_system_component.launch.xml index fa5056b9d9..d800bd7822 100644 --- a/autoware_launch/launch/components/tier4_system_component.launch.xml +++ b/autoware_launch/launch/components/tier4_system_component.launch.xml @@ -34,5 +34,6 @@ + diff --git a/autoware_launch/rviz/autoware.rviz b/autoware_launch/rviz/autoware.rviz index 589c9cbfd5..de169a0d18 100644 --- a/autoware_launch/rviz/autoware.rviz +++ b/autoware_launch/rviz/autoware.rviz @@ -268,20 +268,20 @@ Visualization Manager: Primary Color: 174; 174; 174 Enabled: true Name: Vehicle - - Class: rviz_plugins/MrmSummaryOverlayDisplay + - Class: rviz_plugins/StringStampedOverlayDisplay Enabled: true - Font Size: 10 + Font Size: 12 Left: 10 - Max Letter Num: 100 - Name: MRM Summary - Text Color: 25; 255; 240 + Max Letter Num: 70 + Name: Error Diag Graph + Text Color: 51; 201; 220 Top: 10 Topic: - Depth: 5 + Depth: 1 Durability Policy: Volatile History Policy: Keep Last Reliability Policy: Reliable - Value: /system/emergency/hazard_status + Value: /logging_diag_graph/debug/error_graph Value: false Value height offset: 0 Enabled: true From 7979bedb26da0ee66323a7a51fbfa8d12ad0f611 Mon Sep 17 00:00:00 2001 From: Takayuki Murooka Date: Thu, 21 Nov 2024 20:05:18 +0900 Subject: [PATCH 2/6] enable Signed-off-by: Takayuki Murooka --- autoware_launch/rviz/autoware.rviz | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/autoware_launch/rviz/autoware.rviz b/autoware_launch/rviz/autoware.rviz index de169a0d18..fa87d5f3c3 100644 --- a/autoware_launch/rviz/autoware.rviz +++ b/autoware_launch/rviz/autoware.rviz @@ -282,7 +282,7 @@ Visualization Manager: History Policy: Keep Last Reliability Policy: Reliable Value: /logging_diag_graph/debug/error_graph - Value: false + Value: true Value height offset: 0 Enabled: true Name: System From 8e5f348a0dbb2432381181d84e47a7565557a3f4 Mon Sep 17 00:00:00 2001 From: Takayuki Murooka Date: Thu, 21 Nov 2024 21:17:10 +0900 Subject: [PATCH 3/6] increase show_rate Signed-off-by: Takayuki Murooka --- .../launch/components/tier4_system_component.launch.xml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/autoware_launch/launch/components/tier4_system_component.launch.xml b/autoware_launch/launch/components/tier4_system_component.launch.xml index d800bd7822..b80bde9b78 100644 --- a/autoware_launch/launch/components/tier4_system_component.launch.xml +++ b/autoware_launch/launch/components/tier4_system_component.launch.xml @@ -33,7 +33,7 @@ - + From 5e3e6d10dcaa78cf729769335573fe62d0cdd9b6 Mon Sep 17 00:00:00 2001 From: Shintaro Sakoda Date: Tue, 10 Dec 2024 09:03:26 +0900 Subject: [PATCH 4/6] Fixed the diag name of /localization/004-accuracy Signed-off-by: Shintaro Sakoda --- .../config/system/tier4_diagnostics/localization.yaml | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/autoware_launch/config/system/tier4_diagnostics/localization.yaml b/autoware_launch/config/system/tier4_diagnostics/localization.yaml index 45adcac68e..22bfa26ae0 100644 --- a/autoware_launch/config/system/tier4_diagnostics/localization.yaml +++ b/autoware_launch/config/system/tier4_diagnostics/localization.yaml @@ -94,6 +94,6 @@ units: - path: /localization/004-accuracy type: diag - node: localization - name: localization_error_monitor + node: localization_error_monitor + name: ellipse_error_status timeout: 1.0 From 244897d9986550025dc9cf1d3d924e6b5fdf6930 Mon Sep 17 00:00:00 2001 From: Takayuki Murooka Date: Tue, 10 Dec 2024 12:10:41 +0900 Subject: [PATCH 5/6] Update autoware_launch/rviz/autoware.rviz Co-authored-by: Takagi, Isamu <43976882+isamu-takagi@users.noreply.github.com> --- autoware_launch/rviz/autoware.rviz | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/autoware_launch/rviz/autoware.rviz b/autoware_launch/rviz/autoware.rviz index fa87d5f3c3..f7d363655f 100644 --- a/autoware_launch/rviz/autoware.rviz +++ b/autoware_launch/rviz/autoware.rviz @@ -281,7 +281,7 @@ Visualization Manager: Durability Policy: Volatile History Policy: Keep Last Reliability Policy: Reliable - Value: /logging_diag_graph/debug/error_graph + Value: /logging_diag_graph/debug/error_graph_text Value: true Value height offset: 0 Enabled: true From 7952ed90aafcf273d5c7300f744ccfd64a52d1fa Mon Sep 17 00:00:00 2001 From: Shintaro Sakoda Date: Tue, 10 Dec 2024 18:53:01 +0900 Subject: [PATCH 6/6] Fixed tier4 dummy_diag_publisher.param.yaml Signed-off-by: Shintaro Sakoda --- .../system/tier4_diagnostics/dummy_diag_publisher.param.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/autoware_launch/config/system/tier4_diagnostics/dummy_diag_publisher.param.yaml b/autoware_launch/config/system/tier4_diagnostics/dummy_diag_publisher.param.yaml index b5c168cdd0..8a171c01f6 100644 --- a/autoware_launch/config/system/tier4_diagnostics/dummy_diag_publisher.param.yaml +++ b/autoware_launch/config/system/tier4_diagnostics/dummy_diag_publisher.param.yaml @@ -28,7 +28,7 @@ "ndt_scan_matcher: scan_matching_status": default ## /localization/004-accuracy - "localization: localization_error_monitor": default + "localization_error_monitor: ellipse_error_status": default # map ## /map/001-topic_status/pointcloud_map