Vehicle-cpp/Nav/autoware_src/autoware/visualization/detected_objects_visualizer

Detected Object Visualizer

This node interprets the output of each of the perception nodes and creates the corresponding rviz visualization.

Parameters

Launch file available parameters:

Parameter	Type	Description
marker_display_duration	Double	Time in ms to display the marker. Default 0.1.
object_speed_threshold	Double	Speed threshold to display. Default 0.1.
arrow_speed_threshold	Double	Arrow speed threshold to display. Default 0.25.
label_color	Array	Four double values (RGBA), representing the color of the object. Default [255,255,255,1].
arrow_color	Array	Four double values (RGBA), representing the color of the object. Default [0,255,0,1,0.8].
hull_color	Array	Four double values (RGBA), representing the color of the object. Default [51,204,51,0.8].
box_color	Array	Four double values (RGBA), representing the color of the object. Default [51,128,204,0.8].
centroid_color	Array	Four double values (RGBA), representing the color of the object. Default [77,121,255,0.8].

Subscribed topics

Topic	Type	Objective
ROS_NAMESPACE/objects	autoware_msgs/DetectedObjectArray	Objects Array topic to visualize

Published topics

Topic	Type	Objective
ROS_NAMESPACE/objects_markers	visualization_msgs::MarkerArray	A Label indicating the class and info of the object

The message includes each of the following namespaces:

Namespace	Objective
ROS_NAMESPACE/objects_arrows	An arrow indicating the direction (Marker::ARROW)
ROS_NAMESPACE/objects_hulls	Convex Hull, the containing polygon (Marker::LINE_STRIP)
ROS_NAMESPACE/objects_boxes	Bounding box containing the object (Marker::CUBE)
ROS_NAMESPACE/objects_centroids	Sphere representing the centroid of the object in space (Marker::SPHERE)
ROS_NAMESPACE/objects_mdoels	Model representing the object in space (Marker::MESH_RESOURCE)

Notes

This node is already included in the perception nodes' launch file.

If you need to use it manually, be sure to add the ROS_NAMESPACE if using rosrun.

For launch files, add the following line to your launch file:

<node pkg="detected_objects_visualizer" type="visualize_detected_objects" name="AN_INSTANCENAME_01"
          output="screen" ns="ROS_NAMESPACE"/>

i.e. to visualize the output of the lidar tracker use ROS_NAMESPACE=/detection/lidar_tracker in rosrun or ns="/detection/lidar_tracker" in the launch file.