tier4_automatic_goal_rviz_plugin

Purpose

1. Defining a GoalsList by adding goals using RvizTool (Pose on the map).

2. Automatic execution of the created GoalsList from the selected goal - it can be stopped and restarted.

3. Looping the current GoalsList.

4. Saving achieved goals to a file.

5. Plan the route to one (single) selected goal and starting that route - it can be stopped and restarted.

6. Remove any goal from the list or clear the current route.

7. Save the current GoalsList to a file and load the list from the file.

8. The application enables/disables access to options depending on the current state.

9. The saved GoalsList can be executed without using a plugin - using a node automatic_goal_sender.

Inputs / Outputs

Input

Output

HowToUse

1. Start rviz and select panels/Add new panel.

   

2. Select tier4_automatic_goal_rviz_plugin/AutowareAutomaticGoalPanel and press OK.

3. Select Add a new tool.

   

4. Select tier4_automatic_goal_rviz_plugin/AutowareAutomaticGoalTool and press OK.

5. Add goals visualization as markers to Displays.

   

6. Append goals to the GoalsList to be achieved using 2D Append Goal - in such a way that routes can be planned.

7. Start sequential planning and goal achievement by clicking Send goals automatically

   

8. You can save GoalsList by clicking Save to file.

9. After saving, you can run the GoalsList without using a plugin also:

   • example: ros2 launch tier4_automatic_goal_rviz_plugin automatic_goal_sender.launch.xml goals_list_file_path:="/tmp/goals_list.yaml" goals_achieved_dir_path:="/tmp/"
     • goals_list_file_path - is the path to the saved GoalsList file to be loaded
     • goals_achieved_dir_path - is the path to the directory where the file goals_achieved.log will be created and the achieved goals will be written to it

Hints

If the application (Engagement) goes into ERROR mode (usually returns to EDITING later), it means that one of the services returned a calling error (code!=0). In this situation, check the terminal output for more information.

• Often it is enough to try again.
• Sometimes a clearing of the current route is required before retrying.

Material Design Icons

This project uses Material Design Icons by Google. These icons are used under the terms of the Apache License, Version 2.0.

Material Design Icons are a collection of symbols provided by Google that are used to enhance the user interface of applications, websites, and other digital products.

License

The Material Design Icons are licensed under the Apache License, Version 2.0. You may obtain a copy of the License at:

http://www.apache.org/licenses/LICENSE-2.0

Unless required by applicable law or agreed to in writing, software distributed under the License is distributed on an “AS IS” BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the License for the specific language governing permissions and limitations under the License.

Acknowledgments

We would like to express our gratitude to Google for making these icons available to the community, helping developers and designers enhance the visual appeal and user experience of their projects.

Changelog for package tier4_automatic_goal_rviz_plugin

0.2.0 (2025-03-24)

0.1.0 (2025-01-28)

• chore: sync files (#11) Co-authored-by: github-actions <<github-actions@github.com>> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]\@users.noreply.github.com>
• style: update rviz plugin icons to match the theme (#117)
• feat: wait until autonomous mode is enabled (#74)

• refactor(universe_utils/motion_utils)!: add autoware namespace (#59) * refactor(universe_utils): add autoware namespace style(pre-commit): autofix * refactor(motion_utils): add autoware namespace ---------

• refactor(autoware_universe_utils)!: rename tier4_autoware_utils to autoware_universe_utils (#52) Co-authored-by: kosuke55 <<kosuke.tnp@gmail.com>> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]\@users.noreply.github.com>
• chore(rviz_plugin): move peripheral rviz plugin (#27)
  • feat: calibrator tier4 pkg name (#200)
  • feat: change names
  • feat: move pkg to common
  • feat: change pkg name

  * fix: library path (#225) Co-authored-by: taikitanaka3 <<taiki.tanaka@tier4.jp>>

  • feat: add rviz plugin to publish and control the simulated clock (#349)
  • Add tier4_clock_rviz_plugin to publish&control the sim clock in rviz
  • Add step control
  • Fix precommit
  • Update documentation
  • Fix spellcheck
  • Update plugin description and icon
  • Rename package
  • Fix bug with long duration jumps (high speed + low rate)
  • ci: check include guard (#438)
  • ci: check include guard
  • apply pre-commit

  * Update .pre-commit-config.yaml Co-authored-by: Kenji Miyake <<31987104+kenji-miyake@users.noreply.github.com>> * fix: pre-commit Co-authored-by: Kenji Miyake <<kenji.miyake@tier4.jp>> Co-authored-by: Kenji Miyake <<31987104+kenji-miyake@users.noreply.github.com>>

  • chore: sync files (#629)
  • chore: sync files

  * ci(pre-commit): autofix Co-authored-by: kenji-miyake <<kenji-miyake@users.noreply.github.com>> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]\@users.noreply.github.com>

  • style: fix format of package.xml (#844)
  • refactor: use autoware cmake (#849)
  • remove autoware_auto_cmake
  • add build_depend of autoware_cmake
  • use autoware_cmake in CMakeLists.txt
  • fix bugs
  • fix cmake lint errors
  • chore: upgrade cmake_minimum_required to 3.14 (#856)
  • fix(accel_brake_map_calibrator): rviz panel type (#895)
  • fixed panel type
  • modified instruction for rosbag replay case
  • modified update_map_dir service name
  • feat: add manual controller (#989)
  • feat: add manual controller
  • ci(pre-commit): autofix
  • fix : typo
  • chore: minor update
  • chore : add minor update
  • docs: add image for readme
  • docs: update docs
  • ci(pre-commit): autofix
  • ci(pre-commit): autofix

  * Update common/tier4_control_rviz_plugin/src/tools/manual_controller.cpp Co-authored-by: taikitanaka3 <<65527974+taikitanaka3@users.noreply.github.com>> * Update common/tier4_control_rviz_plugin/src/tools/manual_controller.hpp Co-authored-by: taikitanaka3 <<65527974+taikitanaka3@users.noreply.github.com>> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]\@users.noreply.github.com> Co-authored-by: Shumpei Wakabayashi <<shumpei.wakabayashi@tier4.jp>> Co-authored-by: Shumpei Wakabayashi <<42209144+shmpwk@users.noreply.github.com>>

  • feat(manual_controller): support backward driving (#1119)
  • feat(manual_controller): support backward driving
  • chore: unite variable
  • feat: add screen capture package (#1177)
  • feat: add screen capture package
  • feat: add state to current process
  • style: refactor codes
  • fix: time
  • feat: add mp4 writer and finalize folders
  • feat: add trigger by service
  • feat: update recorder
  • fix: change codec of mp4 to h264 (#1262)
  • feat: optimize screen capture panel (#1470)
  • feat: optimize screen capture panel
  • apply pre-commit
  • fix: remove unused check of rviz plugin version (#1474)
  • fix(rviz_plugin): fix screen capture plugin (#1492)
  • refactor(tier4_calibration_rviz_plugin): apply clang-tidy (#1596)
  • refactor(tier4_control_rviz_plugin): apply clang-tidy (#1597)
  • refactor(tier4_control_rviz_plugin): apply clang-tidy
  • revert: readability-identifier-naming
  • revert(tier4_calibration_rviz_plugin): readability-identifier-naming (#1618)
  • fix(tier4_screen_capture_rviz_plugin): fix release process to handle video writer correctly (#1622)
  • refactor(tier4_screen_capture_rviz_plugin):apply clang-tidy (#1649)
  • fix(tier4_screen_capture_rviz_plugin): fix spell check (#1790)
  • fix(tier4_screen_capture_rviz_plugin): fix spell check

  * ci(pre-commit): autofix Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]\@users.noreply.github.com>

  • feat: add rtc manager rviz plugin (#1936)
  • feat: add rtc manager rviz plugin
  • chore: cosmetic change
  • chore: remove indent
  • feat: add rtc safe unsafe color
  • fix: typo
  • chore: simplify layout
  • feat: update rtc panel
  • feat(rtc_manager_panel): add rtc all approval (#2009)
  • feat(rtc_manager_panel): add rtc all approval
  • chore: cosmetic change
  • fix: static cast

  * chore: update text Co-authored-by: Fumiya Watanabe <<rej55.g@gmail.com>> * chore: update text Co-authored-by: Fumiya Watanabe <<rej55.g@gmail.com>>

  • doc: update documents
  • doc: update

  * doc: small update Co-authored-by: Fumiya Watanabe <<rej55.g@gmail.com>>

  • feat(rtc_manager_rviz_plugin): add_indivisual_exe (#2021)

  * feat(tier4_screen_capture_rviz_plugin): add prefix to video name (#2038) feat: add prefix

  • feat(tier4_debug_rviz_plugin): pie chart with float32 multi array stamped (#2055)
  • feat(tier4_debug_rviz_plugin): add ros2 pie chart with Float32MultiArrayStamped
  • update README.md
  • fix typo
  • fixed license
  • fix
  • removed unnecessary include
  • fix
  • fix
  • fix(tier4_control_rviz_plugin): add time stamp for control command (#2154)
  • fix(rtc_manager_rviz_plugin): size check (#2163)
  • feat(behavior_path_planner): external request lane change (#2442)

  * feature(behavior_path_planner): add external request lane change module feature(behavior_path_planner): fix for RTC feature(behavior_path_planner): fix decision logic feat(behavior_path_planner): fix behavior_path_planner_tree.xml feat(behavior_path_planner): fix for rebase feat(behavior_path_planner): output multiple candidate paths feat(behavior_path_planner): get path candidate in behavior tree manager feat(behavior_path_planner): fix for multiple candidate path feat(behavior_path_planner): separate external request lane change module feature(behavior_path_planner): add create publisher method feature(behavior_path_planner): move publishers to node feature(behavior_path_planner): remove unnecessary publisher feat(behavior_path_planner): move reset path candidate function to behavior tree manager feat(behavior_path_planner): add external request lane change path candidate publisher feat(behavior_path_planner): apply abort lane change

  • fix(behavior_path_planner): remove unnecessary change
  • feat(behavior_path_planner): fix getLaneChangePaths()
  • feat(behavior_path_planner): disable external request lane change in default tree
  • Update rtc_auto_mode_manager.param.yaml
  • fix(route_handler): remove redundant code
  • fix(behavior_path_planner): fix for turn signal
  • chore(rtc_manager_rviz_plugin): add code owner (#2792)
  • feat(rtc_manager_rviz_plugin): add the number of rtc status (#2791)
  • feat(rtc_manager_rviz_plugin): add the number of rtc status

  * chore: simplify layout ---------Co-authored-by: Tomoya Kimura <<tomoya.kimura@tier4.jp>>

  • feat(automatic_goal): add automatic goal rviz plugin (#3031)
  • add first version automatic_goal plugin
  • feat(automatic_goal): extract automatic_goal_sender, add logging achieved goals
  • doc(automatic_goal): append README
  • ref(automatic_goal): apply pre-commity, fix depend
  • fix(automatic_goal): fix warnings - treated as errors
  • ref(automatic_goal): add author, apply clang-tidy hints
  • ref(automatic_goal): add maintainer, change year
  • ref(automatic_goal): fix package.xml order
  • ref(automatic_goal): names, initializations, main except
  • fix(automatic_goal): change path home->tmp
  • fix(automatic_goal): fix bad string init, expand readme

  * fix(automatic_goal): fix name ---------

  • feat(rtc_manager_rviz_plugin): add avoidance by lc (#3118)
  • fix(tier4_screen_capture_rviz_plugin): fix extra/missing naming components (#3207)
  • chore: sync files (#3227)
  • chore: sync files

  * style(pre-commit): autofix ---------Co-authored-by: kenji-miyake <<kenji-miyake@users.noreply.github.com>> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]\@users.noreply.github.com>

  • feat: change external lane change rtc name (#3259)
  • feat: change external lane change rtc name

  * update config ---------

  • feat(behavior_velocity_planner::intersection): add occlusion detection feature (#3458)
  • migrated
  • WIP
  • IntersectionModuleManager own one rtc_interface for intersection_occlusion
  • divide occlusion safety and activated
  • fixed to update occlusion cooperate status at construction
  • fixed getOcclusionFirstStopSafety()
  • fixed not to show both intersection and intersection_occlusion after passed 1st stop line
  • fixed the intersection_occlusion/inersection stop position afte r CLEARED
  • if occlusion cleared when eog is before 1st stop line, set stop line to 1st stop line and clear prev_occlusion_stop_line_pose_
  • (misc) fix viz, sync param
  • fixed vehicle footprint offset calculation
  • add occcupancy_grid_map method/param var to launcher
  • migrated latest
  • use static pass judge line
  • removed some params
  • organized param
  • add occlusion enable flag
  • revert occupancy grid settings in this PR
  • remove comment
  • fixed pass judge line collision detection to original
  • style(pre-commit): autofix
  • use vehicle_length for static pass judge line

  * fixed virtual wall marker ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]\@users.noreply.github.com>

  • fix(rtc_manager_rviz_plugin): update panel visualization properly (#3517)
  • refactor(behavior_path_planner): rename pull_over to goal_planner (#3501)
  • build: mark autoware_cmake as <buildtool_depend> (#3616)

  * build: mark autoware_cmake as <buildtool_depend> with <build_depend>, autoware_cmake is automatically exported with ament_target_dependencies() (unecessary)

  • style(pre-commit): autofix

  * chore: fix pre-commit errors ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]\@users.noreply.github.com> Co-authored-by: Kenji Miyake <<kenji.miyake@tier4.jp>>

  • build(iron): remove rmw_qos_profile_t (#3809)
  • refactor(start_planner): rename pull out to start planner (#3908)
  • fix(accel_brake_map_calibrator_button_panel): fix calibration service name (#4539)
  • fix(accel_brake_map_calibrator_button_panel): fix calibration service name

  * misc

  • feat(rviz_plugin): add target object type display (#4855)
  • add common/tier4_target_object_type_rviz_plugin
  • fix format
  • update color
  • update
  • add readme

  * Update common/tier4_target_object_type_rviz_plugin/src/target_object_type_panel.cpp Co-authored-by: Satoshi OTA <<44889564+satoshi-ota@users.noreply.github.com>> * Update common/tier4_target_object_type_rviz_plugin/src/target_object_type_panel.hpp Co-authored-by: Satoshi OTA <<44889564+satoshi-ota@users.noreply.github.com>> * remove unused depend ---------Co-authored-by: Satoshi OTA <<44889564+satoshi-ota@users.noreply.github.com>>

  • fix(rtc_manager_panel): fix panel chattering (#4988)
  • build(tier4_target_object_type_rviz_plugin): add missing cv_bridge dependency (#5000)
  • feat(logging_level_configure): add rviz plugin to change logging level (#5112)
  • feat(logging_level_configure): add rviz plugin to change logging level
  • change file names
  • move initialization code from constructor to onInitialize
  • add maintainer
  • add maintainer

  * fix include ---------

  • feat(logger_level_reconfigure_plugin): use node interface and some cosmetic updates (#5204)
  • use node service
  • enable yaml configuration
  • update yaml loading
  • make it scrollable
  • change function order
  • change color for level
  • fix depend

  * Update common/tier4_logging_level_configure_rviz_plugin/src/logging_level_configure.cpp Co-authored-by: Kosuke Takeuchi <<kosuke.tnp@gmail.com>> * Update common/tier4_logging_level_configure_rviz_plugin/src/logging_level_configure.cpp ---------Co-authored-by: Kosuke Takeuchi <<kosuke.tnp@gmail.com>>

  • refactor(lane_change): add debug log (#5308)
  • docs(logger_level_reconfigure): update readme (#5471)
  • feat(localization): enable logging_level_configure (#5487)
  • feat(localization): enable logging_level_configure
  • style(pre-commit): autofix
  • update logger config
  • fix pre-commit
  • add tier4_autoware_utils in dependency

  * add tier4_autoware_utils in dependency ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]\@users.noreply.github.com>

  • Logger level update (#5494)
  • address ordering
  • add grouping

  * remove unused comment ---------

  • feat(logging_level_configure_rviz_plugin): add autoware_util logger button (#5666)
  • feat(logging_level_configure_rviz_plugin): add autoware_util logger button

  * add for control ---------

  • refactor(lane_change): standardizing lane change logger name (#5899)
  • feat(tier4_logging_level_configure_rviz_plugin): add goal/start planner (#5978)
  • chore: set log level of debug printing in rviz plugin to DEBUG (#5996)
  • feat(rviz_plugin): add string visualization plugin (#6100)
  • feat(tier4_automatic_goal_rviz_plugin): make it possible to register checkpoints (#6153)
  • chore(object_type_panel): update rosparam name config (#6347)
  • style(update): autoware tools icons (#6351)
  • fix(readme): add acknowledgement for material icons in tool plugins (#6354)
  • feat(mission_planner_rviz_plugin): create mission planner tool (#6362)
  • feat(mission_planner_rviz_plugin): create package
  • fix copyright
  • add interrupted state

  * use full license text instead of spdx ---------

  • fix(manual_controller): set PARK gear when going from reverse to drive (#6230)
  • feat(logger_level_configure): make it possible to change level of container logger (#6823)
  • feat(launch): add logging_demo::LoggerConfig into container
  • fix(logger_level_reconfigure_plugin): fix yaml

  * feat(logging_level_configure): add composable node --------- * revert: "feat(logger_level_configure): make it possible to change level of container logger (#6823)" (#6842) This reverts commit 9d045335d8e3763984bce8dea92f63de3423ebde.

  • docs(tier4_logging_level_configure_rviz_plugin): update document (#6720)
  • docs(tier4_logging_level_configure_rviz_plugin): update document
  • fix spell check

  * fix Warning ---------

  • refactor(bpp, avoidance): remove unnecessary verbose flag (#6822)
  • refactor(avoidance): logger small change

  * refactor(bpp): remove verbose flag ---------

  • feat(tier4_screen_capture_panel): add new service to capture screen shot (#6867)
  • feat(tier4_screen_capture_panel): add new service to capture screen shot

  * docs(tier4_screen_capture_rviz_plugin): update readme ---------

  • refactor(lane_change): fix logger (#6873)
  • fix(route_handler): add logger (#6888)
  • fix(route_handler): add logger

  * fix indent ---------

  • docs(tier4_simulated_clock_rviz_plugin): update how to use (#6914)
  • docs(tier4_simulated_clock_rviz_plugin): update how to use
  • fixed tabbed warning
  • fix warning not working

  * Fix bullet list ---------

  • refactor(bpp): path shifter clang tidy and logging level configuration (#6917)
  • fix(accel_brake_calibrator): fix to set service name and exception failure (#6973)
  • add service
  • fix exception
  • fix style
  • refactor(motion_utils): supress log message with rclcpp logging (#6955)
  • refactor(motion_utils): supress log message with rclcpp logging

  * remove std string ------------------Co-authored-by: taikitanaka3 <<65527974+taikitanaka3@users.noreply.github.com>> Co-authored-by: taikitanaka3 <<taiki.tanaka@tier4.jp>> Co-authored-by: Maxime CLEMENT <<78338830+maxime-clem@users.noreply.github.com>> Co-authored-by: Takagi, Isamu <<43976882+isamu-takagi@users.noreply.github.com>> Co-authored-by: Kenji Miyake <<kenji.miyake@tier4.jp>> Co-authored-by: Kenji Miyake <<31987104+kenji-miyake@users.noreply.github.com>> Co-authored-by: awf-autoware-bot[bot] <94889083+awf-autoware-bot[bot]\@users.noreply.github.com> Co-authored-by: kenji-miyake <<kenji-miyake@users.noreply.github.com>> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]\@users.noreply.github.com> Co-authored-by: Shumpei Wakabayashi <<shumpei.wakabayashi@tier4.jp>> Co-authored-by: Shumpei Wakabayashi <<42209144+shmpwk@users.noreply.github.com>> Co-authored-by: Tomoya Kimura <<tomoya.kimura@tier4.jp>> Co-authored-by: Hiroki OTA <<hiroki.ota@tier4.jp>> Co-authored-by: Fumiya Watanabe <<rej55.g@gmail.com>> Co-authored-by: Takayuki Murooka <<takayuki5168@gmail.com>> Co-authored-by: dmoszynski <<121798334+dmoszynski@users.noreply.github.com>> Co-authored-by: Satoshi OTA <<44889564+satoshi-ota@users.noreply.github.com>> Co-authored-by: Mehmet Dogru <<48479081+mehmetdogru@users.noreply.github.com>> Co-authored-by: Kosuke Takeuchi <<kosuke.tnp@gmail.com>> Co-authored-by: Vincent Richard <<richard-v@macnica.co.jp>> Co-authored-by: Daisuke Nishimatsu <<42202095+wep21@users.noreply.github.com>> Co-authored-by: Takamasa Horibe <<horibe.takamasa@gmail.com>> Co-authored-by: Esteve Fernandez <<33620+esteve@users.noreply.github.com>> Co-authored-by: kminoda <<44218668+kminoda@users.noreply.github.com>> Co-authored-by: Zulfaqar Azmi <<93502286+zulfaqar-azmi-t4@users.noreply.github.com>> Co-authored-by: Khalil Selyan <<36904941+KhalilSelyan@users.noreply.github.com>>

• Contributors: Khalil Selyan, Kosuke Takeuchi, Mamoru Sobue, Takayuki Murooka, Tomoya Kimura, awf-autoware-bot[bot]