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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 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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_motion_velocity_run_out_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_objects_adapter 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

API Docs
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Package Summary

Tags No category tags.
Version 0.44.0
License Apache License 2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Description
Checkout URI https://github.com/autowarefoundation/autoware_universe.git
VCS Type git
VCS Version main
Last Updated 2025-04-25
Dev Status UNKNOWN
CI status No Continuous Integration
Released UNRELEASED
Tags planner ros calibration self-driving-car autonomous-driving autonomous-vehicles ros2 3d-map autoware
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
  • Kazusa Hashimoto
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

0.44.0 (2025-04-18)

  • Merge remote-tracking branch 'origin/main' into humble
  • feat(tier4_localization_rviz_plugin): add colored_pose_with_covariance_history (#10271)
    • feat: add colored pose with covariance history
    • fix: CMakeLists library name
    • fix: transplant mistake
    • fix: segmentation fault
    • style(pre-commit): autofix
    • fix: visualization
    • style(pre-commit): autofix
    • fix: include ci error
    • fix: bug that occurred when re-enabling
    • fix: copyright year
    • feat: less (than min), greater (than max) value's color property

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

  • Contributors: Kazu, Ryohsuke Mitsudome

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]

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

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Messages

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Services

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