Objects Of Interest Marker Interface

Overview

autoware_objects_of_interest_marker_interface is a collection of object visualization function packages.

Design

This package implement a library to manage and visualize the object information by construct and publish it as marker array to rviz.

For a object to be visualized, it has three import characteristics.

• pose the position of the object
• shape the shape of the Bounding box of the object
• color the color of the Bounding box of the object

Usage

init

include the header file to use then init the library

#include <autoware/objects_of_interest_marker_interface/objects_of_interest_marker_interface.hpp>

autoware::objects_of_interest_marker_interface::ObjectsOfInterestMarkerInterface
    objects_of_interest_marker_interface_{this, "obstacle_cruise_planner"};

insert

insert object information to the ‘objects_of_interest_marker_interface’ manager

using autoware::objects_of_interest_marker_interface::ColorName;
objects_of_interest_marker_interface_.insertObjectData(
    stopped_obstacle.pose, stopped_obstacle.shape, ColorName::RED);

publish

publish object information to the rviz to visualize

objects_of_interest_marker_interface_.publishMarkerArray();

Changelog for package autoware_objects_of_interest_marker_interface

1.0.0 (2025-03-31)

0.3.0 (2025-03-21)

• chore: fix versions in package.xml
• feat(autoware_objects_of_interest_marker_interface): porting from universe to core (#168)
• Contributors: mitsudome-r, 心刚