tier4_simulated_clock_rviz_plugin

Purpose

This plugin allows publishing and controlling the simulated ROS time.

Output

How to use the plugin

1. Launch planning simulator with use_sim_time:=true.

   ros2 launch autoware_launch planning_simulator.launch.xml map_path:=$HOME/autoware_map/sample-map-planning vehicle_model:=sample_vehicle sensor_model:=sample_sensor_kit use_sim_time:=true
   

Warning If you launch the planning simulator without adding the tier4_simulated_clock_rviz_plugin, your simulation will not be running. You’ll not even be able to place the initial and the goal poses.

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

   

2. Select tier4_clock_rviz_plugin/SimulatedClock and press OK.

   

3. Use the added panel to control how the simulated clock is published.

   

   1. Pause button: pause/resume the clock.
   2. Speed: speed of the clock relative to the system clock.
   3. Rate: publishing rate of the clock.
   4. Step button: advance the clock by the specified time step.
   5. Time step: value used to advance the clock when pressing the step button d).
   6. Time unit: time unit associated with the value from e).

   Warning If you set the time step too large, your simulation will go haywire.

Changelog for package tier4_simulated_clock_rviz_plugin

0.2.0 (2025-03-24)

0.1.0 (2025-01-28)

• unify version to 0.0.0
• 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: Mamoru Sobue, Yutaka Kondo