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feat: change visualization of localization results from PoseHistory to PoseWithCovarianceHistory #1164

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merged 4 commits into from
Sep 17, 2024
Merged

feat: change visualization of localization results from PoseHistory to PoseWithCovarianceHistory #1164

merged 4 commits into from
Sep 17, 2024

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SaltUhey
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@SaltUhey SaltUhey commented Sep 12, 2024 •
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Description

Change rviz config for visualization of pose with covariance history.

Screenshot from 2024-09-12 14-31-46

  • Purple ellipse(default:OFF): covariance of ndt
  • Yellow-green line(default:OFF): estimated trajectory of ndt
  • Light blue ellipse (default:OFF): covariance of ekf
  • Light blue line(default:ON): estimated trajectory of ekf

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SaltUhey and others added 2 commits September 12, 2024 14:19
@SaltUhey
PoseHistory to PoseWithCovarianceHistory
7b55d44 
Signed-off-by: yuhei <yuhei1030.mini.normal@gmail.com>
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style(pre-commit): autofix
875d69b
@github-actions github-actions bot added the component:ui User interface, user experience, graphical user interfaces. (auto-assigned) label Sep 12, 2024
@SaltUhey SaltUhey marked this pull request as ready for review September 12, 2024 05:39
@SaltUhey
fix param of alpha related to PoseWithCovarianceHistory
386a401 
Signed-off-by: yuhei <yuhei1030.mini.normal@gmail.com>
@SaltUhey
Merge remote-tracking branch 'oshikubo/tier4_localization_rviz_plugin…
04bd8d4 
…' into tier4_localization_rviz_plugin
SakodaShintaro
SakodaShintaro approved these changes Sep 12, 2024
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Thanks a lot.
I have verified that logging_simulator works well and the default visualization in Rviz is the same as before.
I also enabled the covariance visualization and checked it.
LGTM

@SakodaShintaro SakodaShintaro merged commit 593ad1f into autowarefoundation:main Sep 17, 2024
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@tier4-autoware-public-bot tier4-autoware-public-bot bot mentioned this pull request Sep 17, 2024
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xmfcx commented Sep 20, 2024

This slowed down rviz2 from 31 stable fps to 5 fps.

xmfcx added a commit that referenced this pull request Sep 20, 2024
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Revert "feat: change visualization of localization results from PoseH…
59865b0 
…istory to PoseWithCovarianceHistory (#1164)"

This reverts commit 593ad1f.
@xmfcx xmfcx mentioned this pull request Sep 20, 2024
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xmfcx added a commit that referenced this pull request Sep 20, 2024
@xmfcx
revert: feat: change visualization of localization results from PoseH…
5563b43 
…istory to PoseWithCovarianceHistory (#1164) (#1179)

Revert "feat: change visualization of localization results from PoseHistory to PoseWithCovarianceHistory (#1164)"

This reverts commit 593ad1f.
@tier4-autoware-public-bot tier4-autoware-public-bot bot mentioned this pull request Sep 20, 2024
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@SakodaShintaro SakodaShintaro SakodaShintaro approved these changes

@RyuYamamoto RyuYamamoto Awaiting requested review from RyuYamamoto

@anhnv3991 anhnv3991 Awaiting requested review from anhnv3991

@YamatoAndo YamatoAndo Awaiting requested review from YamatoAndo

@Motsu-san Motsu-san Awaiting requested review from Motsu-san

@TaikiYamada4 TaikiYamada4 Awaiting requested review from TaikiYamada4

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@SaltUhey @xmfcx @SakodaShintaro