feat(tier4_planning_rviz_plugin): add drivable area plugin #2868

purewater0901 · 2023-02-10T14:12:57Z

Signed-off-by: yutaka purewater0901@gmail.com

Description

Since the drivable area format changes a few months ago, I add a new planning path plugin for visualizing the new drivable area. The image of this new feature can be seen in the following video.

drivable_area_rviz_plugin-2023-02-10_23.00.03.mp4

Tests performed

PSim

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Signed-off-by: yutaka <purewater0901@gmail.com>

purewater0901 · 2023-02-10T14:28:22Z

Default Color and size

yukkysaito · 2023-02-10T14:32:38Z

common/tier4_planning_rviz_plugin/include/path/display.hpp

+  rviz_rendering::BillboardLine * left_bound_line_{nullptr};
+  rviz_rendering::BillboardLine * right_bound_line_{nullptr};


Could you please create it in TRIANGLE instead of BILLBOARD? The billboard would rotate with the viewpoint.

Thank you for your comment, but if I use TRIANGLE I have to compute the angle and orthogonal vectors for changing the width of the line

If it is possible, I would like to use BILLBOARD. (I intentionally use Billboard insteadd of TRIANGLE)

I do not want to use billboard if it is possible.
Especially, it looks bad with billboard when the viewpoint goes straight to the billboard.
We also avoid the use of billboard for trajectory, path, lane(linestring) and etc., and use triangles.

This is the result when I use triangle

@yukkysaito I changed it to use triangle

takayuki5168 · 2023-02-10T14:33:01Z

@yukkysaito Is it okay to visualize the drivable area line string on Rviz by default?

yukkysaito · 2023-02-10T14:41:34Z

@yukkysaito Is it okay to visualize the drivable area line string on Rviz by default?

@takayuki5168 I think it's okay 👍

Signed-off-by: yutaka <purewater0901@gmail.com>

common/tier4_planning_rviz_plugin/include/path/display.hpp

Signed-off-by: yutaka <purewater0901@gmail.com>

purewater0901 · 2023-02-14T16:23:29Z

@takayuki5168 I used your base class to extend the visualization class. Could you check the code again?

codecov · 2023-02-14T16:42:06Z

Codecov Report

Base: 11.70% // Head: 11.69% // Decreases project coverage by -0.01% ⚠️

Coverage data is based on head (19dc42d) compared to base (b850b25).
Patch coverage: 0.00% of modified lines in pull request are covered.

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #2868      +/-   ##
==========================================
- Coverage   11.70%   11.69%   -0.01%     
==========================================
  Files        1314     1314              
  Lines       91624    91696      +72     
  Branches    24489    24489              
==========================================
  Hits        10726    10726              
- Misses      69710    69782      +72     
  Partials    11188    11188

Flag	Coverage Δ		*Carryforward flag
differential	`0.00% <0.00%> (?)`
total	`11.70% <ø> (+<0.01%)`	⬆️	Carriedforward from b850b25

*This pull request uses carry forward flags. Click here to find out more.

Impacted Files	Coverage Δ
...ier4_planning_rviz_plugin/include/path/display.hpp	`0.00% <0.00%> (ø)`
...planning_rviz_plugin/include/path/display_base.hpp	`0.00% <0.00%> (ø)`
...on/tier4_planning_rviz_plugin/src/path/display.cpp	`0.00% <ø> (ø)`

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yukkysaito

LGTM

…oundation#2868) * feat(tier4_planning_rviz_plugin): add drivable area plugin Signed-off-by: yutaka <purewater0901@gmail.com> * change default size and color Signed-off-by: yutaka <purewater0901@gmail.com> * update Signed-off-by: yutaka <purewater0901@gmail.com> * add drivable area to path Signed-off-by: yutaka <purewater0901@gmail.com> * update Signed-off-by: yutaka <purewater0901@gmail.com> --------- Signed-off-by: yutaka <purewater0901@gmail.com>

feat(tier4_planning_rviz_plugin): add drivable area plugin

333cbae

Signed-off-by: yutaka <purewater0901@gmail.com>

purewater0901 requested review from takayuki5168, yukkysaito and a team as code owners February 10, 2023 14:12

github-actions bot added the component:common Common packages from the autoware-common repository. (auto-assigned) label Feb 10, 2023

change default size and color

a17e32e

Signed-off-by: yutaka <purewater0901@gmail.com>

takayuki5168 approved these changes Feb 10, 2023

View reviewed changes

yukkysaito reviewed Feb 10, 2023

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update

4e23dff

Signed-off-by: yutaka <purewater0901@gmail.com>

yukkysaito reviewed Feb 14, 2023

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common/tier4_planning_rviz_plugin/include/path/display.hpp Outdated Show resolved Hide resolved

purewater0901 added 3 commits February 14, 2023 23:25

fix conflict

67db397

Signed-off-by: yutaka <purewater0901@gmail.com>

add drivable area to path

93dd318

Signed-off-by: yutaka <purewater0901@gmail.com>

update

19dc42d

Signed-off-by: yutaka <purewater0901@gmail.com>

yukkysaito approved these changes Feb 15, 2023

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purewater0901 merged commit 8761266 into autowarefoundation:main Feb 15, 2023

purewater0901 deleted the feat/add-drivable-area-plugin branch February 15, 2023 08:01

tier4-autoware-public-bot bot mentioned this pull request Feb 16, 2023

chore: sync upstream tier4/autoware.universe#279

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feat(tier4_planning_rviz_plugin): add drivable area plugin #2868

feat(tier4_planning_rviz_plugin): add drivable area plugin #2868

purewater0901 commented Feb 10, 2023 •

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purewater0901 commented Feb 10, 2023

yukkysaito Feb 10, 2023

purewater0901 Feb 10, 2023

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yukkysaito Feb 10, 2023 •

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purewater0901 Feb 14, 2023

takayuki5168 commented Feb 10, 2023

yukkysaito commented Feb 10, 2023

purewater0901 commented Feb 14, 2023

codecov bot commented Feb 14, 2023 •

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		rviz_rendering::BillboardLine * left_bound_line_{nullptr};
		rviz_rendering::BillboardLine * right_bound_line_{nullptr};

feat(tier4_planning_rviz_plugin): add drivable area plugin #2868

feat(tier4_planning_rviz_plugin): add drivable area plugin #2868

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purewater0901 commented Feb 10, 2023 • edited Loading

Description

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takayuki5168 commented Feb 10, 2023

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purewater0901 commented Feb 10, 2023 •

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