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tier4_localization_rviz_plugin package from autoware_universe repo

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autoware_trajectory_follower_base autoware_trajectory_follower_node autoware_vehicle_cmd_gate autoware_control_evaluator autoware_kinematic_evaluator autoware_localization_evaluator autoware_perception_online_evaluator autoware_planning_evaluator autoware_scenario_simulator_v2_adapter tier4_autoware_api_launch tier4_control_launch tier4_localization_launch tier4_map_launch tier4_perception_launch tier4_planning_launch tier4_sensing_launch tier4_simulator_launch tier4_system_launch tier4_vehicle_launch autoware_geo_pose_projector autoware_gyro_odometer autoware_ar_tag_based_localizer autoware_landmark_manager autoware_lidar_marker_localizer autoware_localization_error_monitor autoware_ndt_scan_matcher autoware_pose2twist autoware_pose_covariance_modifier autoware_pose_estimator_arbiter autoware_pose_initializer autoware_pose_instability_detector yabloc_common yabloc_image_processing yabloc_monitor yabloc_particle_filter yabloc_pose_initializer autoware_lanelet2_map_visualizer autoware_map_height_fitter autoware_map_tf_generator autoware_bytetrack autoware_cluster_merger autoware_compare_map_segmentation autoware_crosswalk_traffic_light_estimator autoware_detected_object_feature_remover autoware_detected_object_validation autoware_detection_by_tracker autoware_elevation_map_loader autoware_euclidean_cluster autoware_ground_segmentation autoware_image_projection_based_fusion autoware_lidar_apollo_instance_segmentation autoware_lidar_centerpoint autoware_lidar_transfusion autoware_map_based_prediction autoware_multi_object_tracker autoware_object_merger autoware_object_range_splitter autoware_object_velocity_splitter autoware_occupancy_grid_map_outlier_filter autoware_probabilistic_occupancy_grid_map autoware_radar_crossing_objects_noise_filter autoware_radar_fusion_to_detected_object autoware_radar_object_clustering autoware_radar_object_tracker autoware_radar_tracks_msgs_converter autoware_raindrop_cluster_filter autoware_shape_estimation autoware_simple_object_merger autoware_tensorrt_classifier autoware_tensorrt_common autoware_tensorrt_yolox autoware_tracking_object_merger autoware_traffic_light_arbiter autoware_traffic_light_category_merger autoware_traffic_light_classifier autoware_traffic_light_fine_detector autoware_traffic_light_map_based_detector autoware_traffic_light_multi_camera_fusion autoware_traffic_light_occlusion_predictor autoware_traffic_light_selector autoware_traffic_light_visualization perception_utils autoware_costmap_generator autoware_external_velocity_limit_selector autoware_freespace_planner autoware_freespace_planning_algorithms autoware_mission_planner_universe autoware_obstacle_cruise_planner autoware_obstacle_stop_planner autoware_path_optimizer autoware_path_smoother autoware_planning_validator autoware_remaining_distance_time_calculator autoware_rtc_interface autoware_scenario_selector autoware_surround_obstacle_checker autoware_behavior_path_avoidance_by_lane_change_module autoware_behavior_path_dynamic_obstacle_avoidance_module autoware_behavior_path_external_request_lane_change_module autoware_behavior_path_goal_planner_module autoware_behavior_path_lane_change_module autoware_behavior_path_planner autoware_behavior_path_planner_common autoware_behavior_path_sampling_planner_module autoware_behavior_path_side_shift_module autoware_behavior_path_start_planner_module autoware_behavior_path_static_obstacle_avoidance_module autoware_behavior_velocity_blind_spot_module autoware_behavior_velocity_crosswalk_module autoware_behavior_velocity_detection_area_module autoware_behavior_velocity_intersection_module autoware_behavior_velocity_no_drivable_lane_module autoware_behavior_velocity_no_stopping_area_module autoware_behavior_velocity_occlusion_spot_module autoware_behavior_velocity_rtc_interface autoware_behavior_velocity_run_out_module autoware_behavior_velocity_speed_bump_module autoware_behavior_velocity_template_module autoware_behavior_velocity_traffic_light_module autoware_behavior_velocity_virtual_traffic_light_module autoware_behavior_velocity_walkway_module autoware_motion_velocity_dynamic_obstacle_stop_module autoware_motion_velocity_obstacle_cruise_module autoware_motion_velocity_obstacle_slow_down_module autoware_motion_velocity_obstacle_velocity_limiter_module autoware_motion_velocity_out_of_lane_module autoware_bezier_sampler autoware_frenet_planner autoware_path_sampler autoware_sampler_common autoware_cuda_pointcloud_preprocessor autoware_cuda_utils autoware_image_diagnostics autoware_image_transport_decompressor autoware_imu_corrector autoware_pcl_extensions autoware_pointcloud_preprocessor autoware_radar_scan_to_pointcloud2 autoware_radar_static_pointcloud_filter autoware_radar_threshold_filter autoware_radar_tracks_noise_filter autoware_livox_tag_filter autoware_carla_interface autoware_dummy_perception_publisher autoware_fault_injection autoware_learning_based_vehicle_model autoware_simple_planning_simulator autoware_vehicle_door_simulator tier4_dummy_object_rviz_plugin autoware_bluetooth_monitor autoware_component_monitor autoware_component_state_monitor autoware_default_adapi autoware_adapi_adaptors autoware_adapi_visualizers autoware_automatic_pose_initializer autoware_diagnostic_graph_aggregator autoware_diagnostic_graph_utils autoware_dummy_diag_publisher autoware_dummy_infrastructure autoware_duplicated_node_checker autoware_hazard_status_converter autoware_mrm_comfortable_stop_operator autoware_mrm_emergency_stop_operator autoware_mrm_handler autoware_processing_time_checker autoware_system_diagnostic_monitor autoware_system_monitor autoware_topic_relay_controller autoware_topic_state_monitor autoware_velodyne_monitor reaction_analyzer autoware_accel_brake_map_calibrator autoware_external_cmd_converter autoware_raw_vehicle_cmd_converter autoware_steer_offset_estimator autoware_bag_time_manager_rviz_plugin autoware_mission_details_overlay_rviz_plugin autoware_overlay_rviz_plugin autoware_string_stamped_rviz_plugin autoware_perception_rviz_plugin tier4_adapi_rviz_plugin tier4_camera_view_rviz_plugin tier4_datetime_rviz_plugin tier4_localization_rviz_plugin tier4_planning_factor_rviz_plugin tier4_planning_rviz_plugin tier4_state_rviz_plugin tier4_system_rviz_plugin tier4_traffic_light_rviz_plugin tier4_vehicle_rviz_plugin

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Package Summary

Tags No category tags.
Version 0.43.0
License Apache License 2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/autowarefoundation/autoware_universe.git
VCS Type git
VCS Version main
Last Updated 2025-04-03
Dev Status UNMAINTAINED
CI status No Continuous Integration
Released UNRELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

The tier4_localization_rviz_plugin package

Additional Links

No additional links.

Maintainers

  • Takagi, Isamu
  • Takamasa Horibe
  • Yamato Ando

Authors

  • Takagi, Isamu
  • Takamasa Horibe
  • Yuhei Oshikubo
visualization/tier4_localization_rviz_plugin/README.md

tier4_localization_rviz_plugin

Purpose

This plugin can display the localization history obtained by ekf_localizer, ndt_scan_matching, and GNSS. If the uncertainty of the estimated pose is given, it can also be displayed.

Inputs / Outputs

Input

Pose History

Name Type Description
input/pose geometry_msgs::msg::PoseStamped In input/pose, put the result of localization calculated by ekf_localizer, ndt_scan_matching, or GNSS

Pose With Covariance History

Name Type Description
input/pose_with_covariance geometry_msgs::msg::PoseWithCovarianceStamped In input/pose_with_covariance, put the result of localization calculated by ekf_localizer, ndt_scan_matching, or GNSS

Parameters

Core Parameters

Pose History

Name Type Default Value Description
property_buffer_size_ int 100 Buffer size of topic
property_line_view_ bool true Use Line property or not
property_line_width_ float 0.1 Width of Line property [m]
property_line_alpha_ float 1.0 Alpha of Line property
property_line_color_ QColor Qt::white Color of Line property

Pose With Covariance History

Name Type Default Value Description
property_buffer_size_ int 100 Buffer size of topic
property_path_view_ bool true Use path property or not
property_shape_type_ string Line Line or Arrow
property_line_width_ float 0.1 Width of Line property [m]
property_line_alpha_ float 1.0 Alpha of Line property
property_line_color_ QColor Qt::white Color of Line property
property_arrow_shaft_length float 0.3 Shaft length of Arrow property
property_arrow_shaft_diameter float 0.15 Shaft diameter of Arrow property
property_arrow_head_length float 0.2 Head length of Arrow property
property_arrow_head_diameter float 0.3 Head diameter of Arrow property
property_arrow_alpha_ float 1.0 Alpha of Arrow property
property_arrow_color_ QColor Qt::white Color of Arrow property
property_sphere_scale_ float 1.0 Scale of Sphere property
property_sphere_alpha_ float 0.5 Alpha of Sphere property
property_sphere_color_ QColor (204, 51, 204) Color of Sphere property

Assumptions / Known limits

TBD.

Usage

  1. Start rviz and select Add under the Displays panel. select_add
  2. Select tier4_localization_rviz_plugin/PoseHistory or PoseWithCovarianceHistory. Next, press OK. select_localization_plugin
  3. Enter the name of the topic where you want to view the trajectory and the covariance. select_topic_name
  4. You can view the trajectory and the covariance. ex_pose_with_covariance_history
CHANGELOG

Changelog for package tier4_localization_rviz_plugin

0.43.0 (2025-03-21)

  • Merge remote-tracking branch 'origin/main' into chore/bump-version-0.43
  • chore: rename from [autoware.universe]{.title-ref} to [autoware_universe]{.title-ref} (#10306)
  • Contributors: Hayato Mizushima, Yutaka Kondo

0.42.0 (2025-03-03)

0.41.2 (2025-02-19)

  • chore: bump version to 0.41.1 (#10088)
  • Contributors: Ryohsuke Mitsudome

0.41.1 (2025-02-10)

0.41.0 (2025-01-29)

0.40.0 (2024-12-12)

  • Merge branch 'main' into release-0.40.0
  • Revert "chore(package.xml): bump version to 0.39.0 (#9587)" This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5.
  • chore: move rviz plugins from common to visualization/ folder (#9417)
  • Contributors: Esteve Fernandez, Fumiya Watanabe

0.39.0 (2024-11-25)

0.38.0 (2024-11-08)

  • unify package.xml version to 0.37.0
  • fix(tier4_localization_rviz_plugin): fix unmatchedSuppression (#8919) fix:unmatchedSuppression
  • fix(tier4_localization_rviz_plugin): fix unusedFunction (#8848) fix:unusedFunction
  • fix(tier4_localization_rviz_plugin): fix constVariableReference (#8838) fix:constVariableReference
  • fix(tier4_localization_rviz_plugin): fix knownConditionTrueFalse (#8824)
    • fix:knownConditionTrueFalse

    * fix:merge ---------

  • refactor(tier4_localization_rviz_plugin): apply static analysis (#8683)
    • refactor based on linter
    • add comment on no lint

    * mod comment for clarification ---------

  • feat(tier4_localization_rviz_plugin): add visualization of pose with covariance history (#8191)
    • display PoseWithCovariance History
    • Correct spelling errors and year
    • Add arrows clear()
    • Extension to 3D in matrix calculations
    • style(pre-commit): autofix

    * Correcting spelling mistakes and adding includes ---------Co-authored-by: Yamato Ando <<yamato.ando@gmail.com>> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]\@users.noreply.github.com>

  • fix(tier4_localization_rviz_plugin): fix unusedFunction (#8637) fix:unusedFunction
  • chore(tier4_localization_rviz_plugin): add maintainer and author (#8184) add maintainer and author
  • refactor(vehicle_info_utils)!: prefix package and namespace with autoware (#7353)
    • chore(autoware_vehicle_info_utils): rename header
    • chore(bpp-common): vehicle info
    • chore(path_optimizer): vehicle info
    • chore(velocity_smoother): vehicle info
    • chore(bvp-common): vehicle info
    • chore(static_centerline_generator): vehicle info
    • chore(obstacle_cruise_planner): vehicle info
    • chore(obstacle_velocity_limiter): vehicle info
    • chore(mission_planner): vehicle info
    • chore(obstacle_stop_planner): vehicle info
    • chore(planning_validator): vehicle info
    • chore(surround_obstacle_checker): vehicle info
    • chore(goal_planner): vehicle info
    • chore(start_planner): vehicle info
    • chore(control_performance_analysis): vehicle info
    • chore(lane_departure_checker): vehicle info
    • chore(predicted_path_checker): vehicle info
    • chore(vehicle_cmd_gate): vehicle info
    • chore(obstacle_collision_checker): vehicle info
    • chore(operation_mode_transition_manager): vehicle info
    • chore(mpc): vehicle info
    • chore(control): vehicle info
    • chore(common): vehicle info
    • chore(perception): vehicle info
    • chore(evaluator): vehicle info
    • chore(freespace): vehicle info
    • chore(planning): vehicle info
    • chore(vehicle): vehicle info
    • chore(simulator): vehicle info
    • chore(launch): vehicle info
    • chore(system): vehicle info
    • chore(sensing): vehicle info

    * fix(autoware_joy_controller): remove unused deps ---------

  • Contributors: Masaki Baba, SaltUhey, Satoshi OTA, Yamato Ando, Yutaka Kondo, kobayu858

0.26.0 (2024-04-03)

  • chore: update api package maintainers (#6086)
    • update api maintainers

    * fix

  • build: proper eigen deps and include (#3615)
    • build: proper eigen deps and include

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

  • 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>>

  • 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(tier4_localization_rviz_plugin): add pose history footprint (#2387)
    • feat(tier4_localization_rviz_plugin): add pose history footprint
    • remove unused variables
    • add maintainer
  • chore: add api maintainers (#2361)

  • revert: readability-identifier-naming for pose history (#1641) * revert: readability-identifier-naming for pose history This reverts commit 9278e714bdbd29ca344976e9a2b26fdb93b41370. * Revert "fix: build error" This reverts commit 5e855993250a94494d9a8d05e03097162d4e6e0e.

  • refactor(tier4_localization_rviz_plugin): apply clang-tidy (#1608)
    • refactor(tier4_localization_rviz_plugin): apply clang-tidy
    • ci(pre-commit): autofix
    • refactor: add NOLINT
    • refactor: fix readability-identifier-naming
    • ci(pre-commit): autofix

    * fix: build error Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]\@users.noreply.github.com>

  • refactor(tier4_perception_rviz_plugin): apply clang-tidy (#1624)
    • refactor(tier4_perception_rviz_plugin): apply clang-tidy

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

  • fix: remove unused check of rviz plugin version (#1474)
  • chore: upgrade cmake_minimum_required to 3.14 (#856)
  • 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
  • style: fix format of package.xml (#844)
  • 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>

  • feat: rename existing packages name starting with autoware to different names (#180)
    • autoware_api_utils -> tier4_api_utils
    • autoware_debug_tools -> tier4_debug_tools
    • autoware_error_monitor -> system_error_monitor
    • autoware_utils -> tier4_autoware_utils
    • autoware_global_parameter_loader -> global_parameter_loader
    • autoware_iv_auto_msgs_converter -> tier4_auto_msgs_converter
    • autoware_joy_controller -> joy_controller
    • autoware_error_monitor -> system_error_monitor(launch)
    • autoware_state_monitor -> ad_service_state_monitor
    • autoware_web_controller -> web_controller
    • remove autoware_version
    • remove autoware_rosbag_recorder
    • autoware__rviz_plugin -> tier4__rviz_plugin
    • fix ad_service_state_monitor

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

  • Contributors: Hiroki OTA, Kenji Miyake, Takagi, Isamu, Takamasa Horibe, Tomoya Kimura, Vincent Richard, awf-autoware-bot[bot]

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