feat(autonomous_emergency_braking): add info marker to aeb and state …

…check override (#1103) * add info marker and override for state Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com> * make stop wall viz default Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com> --------- Signed-off-by: Daniel Sanchez <danielsanchezaran@gmail.com>
autowarefoundation · Aug 2, 2024 · 83c6907 · 83c6907
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diff --git a/...fig/control/autoware_autonomous_emergency_braking/autonomous_emergency_braking.param.yaml b/...fig/control/autoware_autonomous_emergency_braking/autonomous_emergency_braking.param.yaml
@@ -6,6 +6,7 @@
     use_pointcloud_data: true
     use_predicted_object_data: false
     use_object_velocity_calculation: true
+    check_autoware_state: true
     min_generated_path_length: 0.5
     imu_prediction_time_horizon: 1.5
     imu_prediction_time_interval: 0.1

diff --git a/autoware_launch/rviz/autoware.rviz b/autoware_launch/rviz/autoware.rviz
@@ -2461,6 +2461,19 @@ Visualization Manager:
             Reliability Policy: Reliable
             Value: /control/autonomous_emergency_braking/debug/markers
           Value: false
+        - Class: rviz_default_plugins/MarkerArray
+          Enabled: true
+          Name: Info/AEB
+          Namespaces:
+            stop_factor_text: true
+            stop_virtual_wall: true
+          Topic:
+            Depth: 5
+            Durability Policy: Volatile
+            History Policy: Keep Last
+            Reliability Policy: Reliable
+            Value: /control/autonomous_emergency_braking/info/markers
+          Value: true
       Enabled: true
       Name: Control
     - Class: rviz_common/Group