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Feature/display map msg #2485

Merged
merged 34 commits into from
Feb 11, 2025
+403 −509
Merged

Feature/display map msg #2485

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34043a8
fix drivre
MishkaMN Jun 20, 2024
9e84aea
fix mock_driver
MishkaMN Jun 20, 2024
f451dc8
Merge branch 'develop' into feature/basic-travel-simulator
MishkaMN Sep 13, 2024
c59085b
add realistic speed
MishkaMN Sep 13, 2024
9a08d89
Fix not moving
MishkaMN Sep 13, 2024
2346ab1
still going back and forth
MishkaMN Sep 13, 2024
06a3269
fix: resolve vehicle pose oscillation by updating trajectory index on…
MishkaMN Sep 14, 2024
b5635f4
Ignore aider
MishkaMN Sep 14, 2024
2282978
fix: update yaw calculation in composePoseStamped to prevent trajecto…
MishkaMN Sep 14, 2024
5874563
fix: update header to use frame_id "map" and current timestamp in Pos…
MishkaMN Sep 14, 2024
12039f6
fix base_link frame of twist msg
MishkaMN Sep 14, 2024
7699e46
Merge branch 'develop' into feature/basic-travel-simulator
MishkaMN Sep 30, 2024
99c5a45
Add toggle on/off
MishkaMN Sep 30, 2024
0c978c0
clean for PR
MishkaMN Sep 30, 2024
9f9edbb
revert gitigonore
MishkaMN Sep 30, 2024
eabe792
revert system_controller
MishkaMN Sep 30, 2024
bebe014
Add readme
MishkaMN Sep 30, 2024
06d361a
use system_controller
MishkaMN Oct 2, 2024
8ccac9b
display
MishkaMN Nov 13, 2024
ddb2b66
Fixes
MishkaMN Nov 13, 2024
d176643
move to error logs and fix build
EricChen-Lei Dec 3, 2024
bfab203
fix all issues
EricChen-Lei Dec 3, 2024
7cd36cf
Merge branch 'develop' into feature/display-map-msg
MishkaMN Feb 10, 2025
e23e9f9
Remove extra files
MishkaMN Feb 10, 2025
ed81ce5
reset the code
MishkaMN Feb 10, 2025
5874ccc
reset carma_wm
MishkaMN Feb 10, 2025
0242893
add visualization
MishkaMN Feb 10, 2025
7b6a24d
Update config.yaml
MishkaMN Feb 10, 2025
4a50570
Separate MAP Viz from TCM
MishkaMN Feb 10, 2025
2c5d10f
Merge branch 'feature/display-map-msg' of https://github.com/usdot-fh…
MishkaMN Feb 10, 2025
6ac00aa
Rename better
MishkaMN Feb 10, 2025
35d87cf
visualization publication fix
MishkaMN Feb 10, 2025
43814c4
Add ros2 rviz
MishkaMN Feb 10, 2025
92162a5
resolve comments
MishkaMN Feb 11, 2025
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168 changes: 51 additions & 117 deletions carma/rviz/carma_default.rviz
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Original file line number Diff line number Diff line change
Expand Up @@ -9,8 +9,10 @@ Panels:
- /Vector Map CenterLines1/Namespaces1
- /MobilityPath Collision Warning1
- /TCM Visualizer1
Splitter Ratio: 0.5446686148643494
Tree Height: 484
- /J2735 MAP Msg Viz1
- /J2735 MAP Msg Viz1/Status1
Splitter Ratio: 0.32218843698501587
Tree Height: 865
- Class: rviz/Selection
Name: Selection
- Class: rviz/Tool Properties
Expand All @@ -26,7 +28,6 @@ Panels:
Name: Views
Splitter Ratio: 0.5
- Class: rviz/Time
Experimental: false
Name: Time
SyncMode: 0
SyncSource: ""
Expand Down Expand Up @@ -57,59 +58,21 @@ Visualization Manager:
Value: false
- Class: rviz/TF
Enabled: true
Filter (blacklist): ""
Filter (whitelist): ""
Frame Timeout: 15
Frames:
207:
Value: true
221:
Value: true
222:
Value: true
223:
Value: true
224:
Value: true
All Enabled: true
base_link:
Value: true
camera:
Value: true
carma_1:
Value: true
carma_1/camera/rgb/front:
Value: true
carma_1/gnss/gnss1:
Value: true
carma_1/gnss/novatel_gnss:
Value: true
carma_1/imu/novatel_imu:
Value: true
carma_1/lidar/lidar:
Value: true
carma_1/radar/radar_fc:
Value: true
carma_1/radar/radar_fl:
Value: true
carma_1/radar/radar_fr:
Value: true
carma_1/radar/radar_rl:
Value: true
carma_1/radar/radar_rr:
Value: true
carma_1/semantic_lidar/front:
Value: true
gps:
Value: true
host_vehicle:
Value: true
lidar/front:
Value: true
map:
Value: true
mobileye:
Value: true
mobility:
Value: true
ned_heading:
Value: true
novatel_imu:
Expand All @@ -124,81 +87,41 @@ Visualization Manager:
Value: true
radar_rr:
Value: true
semantic_lidar/front:
Value: true
vehicle_front:
Value: true
velodyne:
Value: true
world:
Value: true
Marker Alpha: 1
Marker Scale: 5
Name: TF
Show Arrows: true
Show Axes: true
Show Names: true
Tree:
world:
map:
207:
carma_1:
base_link:
gps:
ned_heading:
{}
host_vehicle:
{}
mobileye:
{}
novatel_imu:
{}
radar_fc:
{}
radar_fl:
{}
radar_fr:
{}
radar_rl:
{}
radar_rr:
{}
vehicle_front:
{}
221:
{}
222:
{}
223:
{}
224:
{}
carma_1/camera/rgb/front:
camera:
map:
base_link:
gps:
ned_heading:
{}
carma_1/gnss/novatel_gnss:
host_vehicle:
{}
carma_1/imu/novatel_imu:
mobileye:
{}
carma_1/lidar/lidar:
velodyne:
{}
carma_1/radar/radar_fc:
novatel_imu:
{}
carma_1/radar/radar_fl:
radar_fc:
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Probably a good chance to remove these unused radar topics

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@MishkaMN MishkaMN Feb 11, 2025 •
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removed

{}
carma_1/radar/radar_fr:
radar_fl:
{}
carma_1/radar/radar_rl:
radar_fr:
{}
carma_1/radar/radar_rr:
radar_rl:
{}
carma_1/semantic_lidar/front:
radar_rr:
{}
lidar/front:
vehicle_front:
{}
mobility:
{}
semantic_lidar/front:
velodyne:
{}
Update Interval: 0
Value: true
Expand All @@ -217,9 +140,7 @@ Visualization Manager:
Enabled: true
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
Expand Down Expand Up @@ -252,6 +173,7 @@ Visualization Manager:
Value: false
Visibility:
"": true
Cooperative Perception Detected Objects: true
Detection Range: true
ERROR: true
FATAL: true
Expand All @@ -264,6 +186,7 @@ Visualization Manager:
MobilityPath Collision Warning: true
Next Waypoint Mark: true
OK: true
Object Prediction Visualization: true
OverlayImage: true
OverlayText: true
PP Trajectory Mark: true
Expand Down Expand Up @@ -300,9 +223,7 @@ Visualization Manager:
Enabled: true
Invert Rainbow: false
Max Color: 255; 255; 255
Max Intensity: 4096
Min Color: 0; 0; 0
Min Intensity: 0
Name: Points Raw
Position Transformer: XYZ
Queue Size: 10
Expand Down Expand Up @@ -431,9 +352,7 @@ Visualization Manager:
Enabled: false
Invert Rainbow: false
Max Color: 255; 255; 255
Max Intensity: 4096
Min Color: 0; 0; 0
Min Intensity: 0
Name: Points Cluster
Position Transformer: XYZ
Queue Size: 10
Expand Down Expand Up @@ -478,11 +397,15 @@ Visualization Manager:
Unreliable: false
Value: true
alpha: 0.800000011920929
alpha max: 1
alpha method: flat
alpha min: 0
color: 25; 255; 0
coloring: Value
line width: 0.009999999776482582
only edge: false
show coords: false
value threshold: 0
- Buffer length: 100
Class: jsk_rviz_plugin/Plotter2D
Enabled: true
Expand All @@ -492,6 +415,7 @@ Visualization Manager:
Value: true
auto color change: false
auto scale: true
auto text size in plot: true
background color: 0; 0; 0
backround alpha: 0
border: true
Expand All @@ -505,6 +429,7 @@ Visualization Manager:
min value: -1
show caption: true
text size: 8
text size in plot: 12
top: 30
update interval: 0.03999999910593033
width: 80
Expand Down Expand Up @@ -655,6 +580,7 @@ Visualization Manager:
Head Length: 0.30000001192092896
Head Radius: 0.10000000149011612
Name: Pose
Queue Size: 10
Shaft Length: 1
Shaft Radius: 0.05000000074505806
Shape: Axes
Expand All @@ -678,7 +604,7 @@ Visualization Manager:
Marker Topic: /guidance/trajectory_visualizer
Name: MarkerArray
Namespaces:
trajectory_visualizer: true
{}
Queue Size: 10
Value: true
- Class: rviz/Marker
Expand Down Expand Up @@ -726,7 +652,7 @@ Visualization Manager:
Marker Topic: /environment/fused_external_objects_viz
Name: Cooperative Perception Detected Objects
Namespaces:
external_objects: true
{}
Queue Size: 100
Value: true
- Alpha: 1
Expand All @@ -739,12 +665,21 @@ Visualization Manager:
Head Length: 0.07000000029802322
Head Radius: 0.029999999329447746
Name: Object Prediction Visualization
Queue Size: 10
Shaft Length: 0.23000000417232513
Shaft Radius: 0.009999999776482582
Shape: Arrow (Flat)
Topic: /environment/motion_computation_visualize
Unreliable: false
Value: true
- Class: rviz/MarkerArray
Enabled: true
Marker Topic: /environment/j2735_map_msg_visualizer
Name: J2735 MAP Msg Viz
Namespaces:
map_update_visualizer: true
Queue Size: 100
Value: true
Enabled: true
Global Options:
Background Color: 48; 48; 48
Expand Down Expand Up @@ -782,23 +717,22 @@ Visualization Manager:
Invert Z Axis: false
Name: Current View
Near Clip Distance: 0.009999999776482582
Scale: 8.796120643615723
Scale: 7.946867942810059
Target Frame: base_link
Value: TopDownOrtho (rviz)
X: 12.316020965576172
Y: 5.000333786010742
X: 31.435550689697266
Y: -0.949552059173584
Saved: ~
Window Geometry:
Camera:
collapsed: false
Displays:
collapsed: true
Height: 635
Hide Left Dock: true
collapsed: false
Height: 1016
Hide Left Dock: false
Hide Right Dock: true
Image:
collapsed: false
QMainWindow State: 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
QMainWindow State: 000000ff00000000fd0000000400000000000002940000039efc0200000010fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afc0000003d0000039e000000c900fffffffa000000020100000003fb0000000a0049006d0061006700650000000000ffffffff0000007600fffffffb0000000c00430061006d0065007200610000000000ffffffff0000008100fffffffb000000100044006900730070006c0061007900730100000000000001360000015600fffffffb0000000a0049006d00610067006501000001a3000000d20000000000000000fb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb000000120049006d006100670065005f0072006100770000000000ffffffff0000000000000000fb0000000c00430061006d006500720061000000024e000001710000000000000000fb000000120049006d00610067006500200052006100770100000421000000160000000000000000fb0000000a0049006d00610067006501000002f4000000cb0000000000000000fb0000000a0049006d006100670065010000056c0000026c0000000000000000fb0000002000430061006d006500720061002000500061007300730065006e0067006500720000000028000003d50000000000000000fb0000001a00430061006d00650072006100200044007200690076006500720000000403000003d50000000000000000000000010000010f000002b1fc0200000003fb0000000a005600690065007700730000000028000002b1000000a400fffffffb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000001200530065006c0065006300740069006f006e010000025a000000b20000000000000000000000020000073f000000a8fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000003510000006ffc0100000002fb0000000800540069006d00650000000000000003510000041800fffffffb0000000800540069006d006501000000000000045000000000000000000000049e0000039e00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
Selection:
collapsed: false
Time:
Expand All @@ -807,6 +741,6 @@ Window Geometry:
collapsed: false
Views:
collapsed: true
Width: 1150
X: 92
Y: 373
Width: 1848
X: 72
Y: 27
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