Merge branch 'main' into feat/separate_association_gate

Author: YoshiRi

.github/CODEOWNERS

@@ -79,7 +79,7 @@ evaluator/planning_evaluator/** kyoichi.sugahara@tier4.jp maxime.clement@tier4.j
 launch/tier4_autoware_api_launch/** isamu.takagi@tier4.jp kahhooi.tan@tier4.jp makoto.yabuta@tier4.jp ryohsuke.mitsudome@tier4.jp
 launch/tier4_control_launch/** takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp
 launch/tier4_localization_launch/** kento.yabuuchi.2@tier4.jp koji.minoda@tier4.jp ryu.yamamoto@tier4.jp yamato.ando@tier4.jp
-launch/tier4_map_launch/** koji.minoda@tier4.jp ryohsuke.mitsudome@tier4.jp ryu.yamamoto@tier4.jp
+launch/tier4_map_launch/** kento.yabuuchi.2@tier4.jp koji.minoda@tier4.jp ryohsuke.mitsudome@tier4.jp ryu.yamamoto@tier4.jp
 launch/tier4_perception_launch/** shunsuke.miura@tier4.jp yoshi.ri@tier4.jp yukihiro.saito@tier4.jp
 launch/tier4_planning_launch/** fumiya.watanabe@tier4.jp kosuke.takeuchi@tier4.jp kyoichi.sugahara@tier4.jp makoto.kurihara@tier4.jp mamoru.sobue@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp taiki.tanaka@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp tomohito.ando@tier4.jp tomoya.kimura@tier4.jp zhe.shen@tier4.jp zulfaqar.azmi@tier4.jp
 launch/tier4_sensing_launch/** yukihiro.saito@tier4.jp
@@ -105,10 +105,10 @@ localization/yabloc/yabloc_image_processing/** kento.yabuuchi.2@tier4.jp masahir
 localization/yabloc/yabloc_monitor/** kento.yabuuchi.2@tier4.jp koji.minoda@tier4.jp masahiro.sakamoto@tier4.jp
 localization/yabloc/yabloc_particle_filter/** kento.yabuuchi.2@tier4.jp masahiro.sakamoto@tier4.jp
 localization/yabloc/yabloc_pose_initializer/** kento.yabuuchi.2@tier4.jp masahiro.sakamoto@tier4.jp
-map/map_height_fitter/** isamu.takagi@tier4.jp masahiro.sakamoto@tier4.jp yamato.ando@tier4.jp
-map/map_loader/** koji.minoda@tier4.jp masahiro.sakamoto@tier4.jp ryohsuke.mitsudome@tier4.jp ryu.yamamoto@tier4.jp
-map/map_projection_loader/** koji.minoda@tier4.jp masahiro.sakamoto@tier4.jp yamato.ando@tier4.jp
-map/map_tf_generator/** azumi.suzuki@tier4.jp
+map/map_height_fitter/** isamu.takagi@tier4.jp kento.yabuuchi.2@tier4.jp masahiro.sakamoto@tier4.jp yamato.ando@tier4.jp
+map/map_loader/** kento.yabuuchi.2@tier4.jp koji.minoda@tier4.jp masahiro.sakamoto@tier4.jp ryohsuke.mitsudome@tier4.jp ryu.yamamoto@tier4.jp
+map/map_projection_loader/** kento.yabuuchi.2@tier4.jp koji.minoda@tier4.jp masahiro.sakamoto@tier4.jp yamato.ando@tier4.jp
+map/map_tf_generator/** kento.yabuuchi.2@tier4.jp masahiro.sakamoto@tier4.jp yamato.ando@tier4.jp
 map/util/lanelet2_map_preprocessor/** ryohsuke.mitsudome@tier4.jp
 perception/bytetrack/** manato.hirabayashi@tier4.jp
 perception/cluster_merger/** dai.nguyen@tier4.jp shunsuke.miura@tier4.jp yukihiro.saito@tier4.jp
@@ -122,7 +122,7 @@ perception/euclidean_cluster/** yukihiro.saito@tier4.jp
 perception/front_vehicle_velocity_estimator/** satoshi.tanaka@tier4.jp shunsuke.miura@tier4.jp
 perception/ground_segmentation/** abrahammonrroy@yahoo.com dai.nguyen@tier4.jp shunsuke.miura@tier4.jp yukihiro.saito@tier4.jp
 perception/heatmap_visualizer/** kotaro.uetake@tier4.jp
-perception/image_projection_based_fusion/** dai.nguyen@tier4.jp shunsuke.miura@tier4.jp yoshi.ri@tier4.jp yukihiro.saito@tier4.jp yusuke.muramatsu@tier4.jp
+perception/image_projection_based_fusion/** dai.nguyen@tier4.jp kotaro.uetake@tier4.jp shunsuke.miura@tier4.jp tao.zhong@tier4.jp yoshi.ri@tier4.jp yukihiro.saito@tier4.jp yusuke.muramatsu@tier4.jp
 perception/lidar_apollo_instance_segmentation/** yukihiro.saito@tier4.jp
 perception/lidar_apollo_segmentation_tvm/** ambroise.vincent@arm.com xinyu.wang@tier4.jp
 perception/lidar_apollo_segmentation_tvm_nodes/** ambroise.vincent@arm.com xinyu.wang@tier4.jp
@@ -156,13 +156,15 @@ perception/traffic_light_ssd_fine_detector/** daisuke.nishimatsu@tier4.jp
 perception/traffic_light_visualization/** yukihiro.saito@tier4.jp
 planning/behavior_path_avoidance_by_lane_change_module/** fumiya.watanabe@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp tomohito.ando@tier4.jp tomoya.kimura@tier4.jp zulfaqar.azmi@tier4.jp
 planning/behavior_path_avoidance_module/** fumiya.watanabe@tier4.jp kyoichi.sugahara@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp takamasa.horibe@tier4.jp tomohito.ando@tier4.jp tomoya.kimura@tier4.jp
+planning/behavior_path_external_request_lane_change_module/** fumiya.watanabe@tier4.jp kosuke.takeuchi@tier4.jp shumpei.wakabayashi@tier4.jp tomohito.ando@tier4.jp tomoya.kimura@tier4.jp zulfaqar.azmi@tier4.jp
 planning/behavior_path_goal_planner_module/** kosuke.takeuchi@tier4.jp kyoichi.sugahara@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp tomohito.ando@tier4.jp tomoya.kimura@tier4.jp
+planning/behavior_path_lane_change_module/** fumiya.watanabe@tier4.jp kosuke.takeuchi@tier4.jp shumpei.wakabayashi@tier4.jp tomohito.ando@tier4.jp tomoya.kimura@tier4.jp zulfaqar.azmi@tier4.jp
 planning/behavior_path_planner/** fumiya.watanabe@tier4.jp kosuke.takeuchi@tier4.jp kyoichi.sugahara@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp tomohito.ando@tier4.jp tomoya.kimura@tier4.jp zulfaqar.azmi@tier4.jp
-planning/behavior_path_planner_common/** fumiya.watanabe@tier4.jp kosuke.takeuchi@tier4.jp mamoru.sobue@tier4.jp maxime.clement@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp tomoya.kimura@tier4.jp zulfaqar.azmi@tier4.jp
+planning/behavior_path_planner_common/** daniel.sanchez@tier4.jp fumiya.watanabe@tier4.jp kosuke.takeuchi@tier4.jp mamoru.sobue@tier4.jp maxime.clement@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp tomoya.kimura@tier4.jp zulfaqar.azmi@tier4.jp
 planning/behavior_path_side_shift_module/** fumiya.watanabe@tier4.jp kyoichi.sugahara@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp tomohito.ando@tier4.jp tomoya.kimura@tier4.jp
 planning/behavior_path_start_planner_module/** kosuke.takeuchi@tier4.jp kyoichi.sugahara@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp tomohito.ando@tier4.jp tomoya.kimura@tier4.jp
 planning/behavior_velocity_blind_spot_module/** mamoru.sobue@tier4.jp shumpei.wakabayashi@tier4.jp tomoya.kimura@tier4.jp
-planning/behavior_velocity_crosswalk_module/** kyoichi.sugahara@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp takayuki.murooka@tier4.jp tomoya.kimura@tier4.jp
+planning/behavior_velocity_crosswalk_module/** kyoichi.sugahara@tier4.jp mamoru.sobue@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp takayuki.murooka@tier4.jp tomoya.kimura@tier4.jp yuki.takagi@tier4.jp
 planning/behavior_velocity_detection_area_module/** kyoichi.sugahara@tier4.jp shumpei.wakabayashi@tier4.jp tomoya.kimura@tier4.jp
 planning/behavior_velocity_intersection_module/** kyoichi.sugahara@tier4.jp mamoru.sobue@tier4.jp shumpei.wakabayashi@tier4.jp takayuki.murooka@tier4.jp tomoya.kimura@tier4.jp
 planning/behavior_velocity_no_drivable_lane_module/** ahmed.ebrahim@leodrive.ai fumiya.watanabe@tier4.jp satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp tomoya.kimura@tier4.jp
@@ -186,7 +188,7 @@ planning/mission_planner/** isamu.takagi@tier4.jp kosuke.takeuchi@tier4.jp ryohs
 planning/motion_velocity_smoother/** fumiya.watanabe@tier4.jp makoto.kurihara@tier4.jp takamasa.horibe@tier4.jp
 planning/objects_of_interest_marker_interface/** fumiya.watanabe@tier4.jp kosuke.takeuchi@tier4.jp zulfaqar.azmi@tier4.jp
 planning/obstacle_avoidance_planner/** kosuke.takeuchi@tier4.jp takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp
-planning/obstacle_cruise_planner/** kosuke.takeuchi@tier4.jp satoshi.ota@tier4.jp takayuki.murooka@tier4.jp
+planning/obstacle_cruise_planner/** kosuke.takeuchi@tier4.jp satoshi.ota@tier4.jp takayuki.murooka@tier4.jp yuki.takagi@tier4.jp
 planning/obstacle_stop_planner/** berkay@leodrive.ai satoshi.ota@tier4.jp shumpei.wakabayashi@tier4.jp taiki.tanaka@tier4.jp tomoya.kimura@tier4.jp
 planning/obstacle_velocity_limiter/** maxime.clement@tier4.jp
 planning/path_smoother/** maxime.clement@tier4.jp takayuki.murooka@tier4.jp
@@ -226,13 +228,13 @@ system/default_ad_api/** isamu.takagi@tier4.jp kahhooi.tan@tier4.jp makoto.yabut
 system/default_ad_api_helpers/ad_api_adaptors/** isamu.takagi@tier4.jp kahhooi.tan@tier4.jp makoto.yabuta@tier4.jp ryohsuke.mitsudome@tier4.jp yukihiro.saito@tier4.jp
 system/default_ad_api_helpers/ad_api_visualizers/** isamu.takagi@tier4.jp kahhooi.tan@tier4.jp makoto.yabuta@tier4.jp ryohsuke.mitsudome@tier4.jp yukihiro.saito@tier4.jp
 system/default_ad_api_helpers/automatic_pose_initializer/** isamu.takagi@tier4.jp kahhooi.tan@tier4.jp makoto.yabuta@tier4.jp ryohsuke.mitsudome@tier4.jp yukihiro.saito@tier4.jp
+system/diagnostic_graph_aggregator/** isamu.takagi@tier4.jp
 system/dummy_diag_publisher/** fumihito.ito@tier4.jp tetsuhiro.kawaguchi@tier4.jp
 system/dummy_infrastructure/** ryohsuke.mitsudome@tier4.jp
 system/duplicated_node_checker/** shumpei.wakabayashi@tier4.jp uken.ryu@tier4.jp
 system/emergency_handler/** makoto.kurihara@tier4.jp
 system/mrm_comfortable_stop_operator/** makoto.kurihara@tier4.jp tomohito.ando@tier4.jp
 system/mrm_emergency_stop_operator/** makoto.kurihara@tier4.jp tomohito.ando@tier4.jp
-system/system_diagnostic_graph/** isamu.takagi@tier4.jp
 system/system_error_monitor/** fumihito.ito@tier4.jp
 system/system_monitor/** fumihito.ito@tier4.jp tetsuhiro.kawaguchi@tier4.jp
 system/topic_state_monitor/** ryohsuke.mitsudome@tier4.jp

.github/workflows/cancel-previous-workflows.yaml

@@ -8,7 +8,7 @@ jobs:
     runs-on: ubuntu-latest
     steps:
       - name: Cancel previous runs
-        uses: styfle/cancel-workflow-action@0.11.0
+        uses: styfle/cancel-workflow-action@0.12.0
         with:
           workflow_id: all
           all_but_latest: true

.github/workflows/github-release.yaml

@@ -30,7 +30,7 @@ jobs:
           echo "tag-name=${REF_NAME#beta/}" >> $GITHUB_OUTPUT
 
       - name: Check out repository
-        uses: actions/checkout@v3
+        uses: actions/checkout@v4
         with:
           fetch-depth: 0
           ref: ${{ steps.set-tag-name.outputs.ref-name }}

.github/workflows/pre-commit-optional.yaml

@@ -8,7 +8,7 @@ jobs:
     runs-on: ubuntu-latest
     steps:
       - name: Check out repository
-        uses: actions/checkout@v3
+        uses: actions/checkout@v4
         with:
           fetch-depth: 0
 

.github/workflows/pre-commit.yaml

@@ -16,7 +16,7 @@ jobs:
           private_key: ${{ secrets.PRIVATE_KEY }}
 
       - name: Check out repository
-        uses: actions/checkout@v3
+        uses: actions/checkout@v4
         with:
           ref: ${{ github.event.pull_request.head.ref }}
 

.github/workflows/spell-check-differential.yaml

@@ -8,7 +8,7 @@ jobs:
     runs-on: ubuntu-latest
     steps:
       - name: Check out repository
-        uses: actions/checkout@v3
+        uses: actions/checkout@v4
 
       - name: Run spell-check
         uses: autowarefoundation/autoware-github-actions/spell-check@v1

common/autoware_auto_perception_rviz_plugin/include/object_detection/object_polygon_detail.hpp

@@ -120,7 +120,7 @@ get_acceleration_text_marker_ptr(
 AUTOWARE_AUTO_PERCEPTION_RVIZ_PLUGIN_PUBLIC visualization_msgs::msg::Marker::SharedPtr
 get_twist_marker_ptr(
   const geometry_msgs::msg::PoseWithCovariance & pose_with_covariance,
-  const geometry_msgs::msg::TwistWithCovariance & twist_with_covariance);
+  const geometry_msgs::msg::TwistWithCovariance & twist_with_covariance, const double & line_width);
 
 AUTOWARE_AUTO_PERCEPTION_RVIZ_PLUGIN_PUBLIC visualization_msgs::msg::Marker::SharedPtr
 get_predicted_path_marker_ptr(

common/autoware_auto_perception_rviz_plugin/include/object_detection/object_polygon_display_base.hpp

@@ -91,6 +91,7 @@ class AUTOWARE_AUTO_PERCEPTION_RVIZ_PLUGIN_PUBLIC ObjectPolygonDisplayBase
       "Visualization Type", "Normal", "Simplicity of the polygon to display object.", this);
     m_simple_visualize_mode_property->addOption("Normal", 0);
     m_simple_visualize_mode_property->addOption("Simple", 1);
+
     // iterate over default values to create and initialize the properties.
     for (const auto & map_property_it : detail::kDefaultObjectPropertyValues) {
       const auto & class_property_values = map_property_it.second;
@@ -254,10 +255,11 @@ class AUTOWARE_AUTO_PERCEPTION_RVIZ_PLUGIN_PUBLIC ObjectPolygonDisplayBase
 
   std::optional<Marker::SharedPtr> get_twist_marker_ptr(
     const geometry_msgs::msg::PoseWithCovariance & pose_with_covariance,
-    const geometry_msgs::msg::TwistWithCovariance & twist_with_covariance) const
+    const geometry_msgs::msg::TwistWithCovariance & twist_with_covariance,
+    const double & line_width) const
   {
     if (m_display_twist_property.getBool()) {
-      return detail::get_twist_marker_ptr(pose_with_covariance, twist_with_covariance);
+      return detail::get_twist_marker_ptr(pose_with_covariance, twist_with_covariance, line_width);
     } else {
       return std::nullopt;
     }

common/autoware_auto_perception_rviz_plugin/include/object_detection/tracked_objects_display.hpp

@@ -39,11 +39,23 @@ class AUTOWARE_AUTO_PERCEPTION_RVIZ_PLUGIN_PUBLIC TrackedObjectsDisplay
   Q_OBJECT
 
 public:
+  using TrackedObject = autoware_auto_perception_msgs::msg::TrackedObject;
   using TrackedObjects = autoware_auto_perception_msgs::msg::TrackedObjects;
 
   TrackedObjectsDisplay();
 
+protected:
+  uint get_object_dynamics_to_visualize()
+  {
+    return m_select_object_dynamics_property->getOptionInt();
+  }
+
+  static bool is_object_to_show(const uint showing_dynamic_status, const TrackedObject & object);
+
 private:
+  // Property to choose object dynamics to visualize
+  rviz_common::properties::EnumProperty * m_select_object_dynamics_property;
+
   void processMessage(TrackedObjects::ConstSharedPtr msg) override;
 
   boost::uuids::uuid to_boost_uuid(const unique_identifier_msgs::msg::UUID & uuid_msg)

common/autoware_auto_perception_rviz_plugin/src/object_detection/detected_objects_display.cpp

@@ -73,7 +73,8 @@ void DetectedObjectsDisplay::processMessage(DetectedObjects::ConstSharedPtr msg)
 
     // Get marker for twist
     auto twist_marker = get_twist_marker_ptr(
-      object.kinematics.pose_with_covariance, object.kinematics.twist_with_covariance);
+      object.kinematics.pose_with_covariance, object.kinematics.twist_with_covariance,
+      get_line_width());
     if (twist_marker) {
       auto twist_marker_ptr = twist_marker.value();
       twist_marker_ptr->header = msg->header;

common/autoware_auto_perception_rviz_plugin/src/object_detection/object_polygon_detail.cpp

@@ -56,7 +56,7 @@ visualization_msgs::msg::Marker::SharedPtr get_path_confidence_marker_ptr(
   marker_ptr->type = visualization_msgs::msg::Marker::TEXT_VIEW_FACING;
   marker_ptr->ns = std::string("path confidence");
   marker_ptr->action = visualization_msgs::msg::Marker::MODIFY;
-  marker_ptr->lifetime = rclcpp::Duration::from_seconds(0.2);
+  marker_ptr->lifetime = rclcpp::Duration::from_seconds(0.5);
   marker_ptr->scale.x = 0.5;
   marker_ptr->scale.y = 0.5;
   marker_ptr->scale.z = 0.5;
@@ -77,7 +77,7 @@ visualization_msgs::msg::Marker::SharedPtr get_predicted_path_marker_ptr(
   marker_ptr->type = visualization_msgs::msg::Marker::LINE_LIST;
   marker_ptr->ns = std::string("path");
   marker_ptr->action = visualization_msgs::msg::Marker::MODIFY;
-  marker_ptr->lifetime = rclcpp::Duration::from_seconds(0.2);
+  marker_ptr->lifetime = rclcpp::Duration::from_seconds(0.5);
   marker_ptr->pose = initPose();
   marker_ptr->color = predicted_path_color;
   marker_ptr->color.a = 0.6;
@@ -91,12 +91,12 @@ visualization_msgs::msg::Marker::SharedPtr get_predicted_path_marker_ptr(
 
 visualization_msgs::msg::Marker::SharedPtr get_twist_marker_ptr(
   const geometry_msgs::msg::PoseWithCovariance & pose_with_covariance,
-  const geometry_msgs::msg::TwistWithCovariance & twist_with_covariance)
+  const geometry_msgs::msg::TwistWithCovariance & twist_with_covariance, const double & line_width)
 {
   auto marker_ptr = std::make_shared<Marker>();
   marker_ptr->type = visualization_msgs::msg::Marker::LINE_LIST;
   marker_ptr->ns = std::string("twist");
-  marker_ptr->scale.x = 0.03;
+  marker_ptr->scale.x = line_width;
   marker_ptr->action = visualization_msgs::msg::Marker::MODIFY;
   marker_ptr->pose = pose_with_covariance.pose;
 
@@ -112,7 +112,7 @@ visualization_msgs::msg::Marker::SharedPtr get_twist_marker_ptr(
   pt_e.z = twist_with_covariance.twist.linear.z;
   marker_ptr->points.push_back(pt_e);
 
-  marker_ptr->lifetime = rclcpp::Duration::from_seconds(0.2);
+  marker_ptr->lifetime = rclcpp::Duration::from_seconds(0.5);
   marker_ptr->color.a = 0.999;
   marker_ptr->color.r = 1.0;
   marker_ptr->color.g = 0.0;
@@ -137,7 +137,7 @@ visualization_msgs::msg::Marker::SharedPtr get_velocity_text_marker_ptr(
   marker_ptr->text = std::to_string(static_cast<int>(vel * 3.6)) + std::string("[km/h]");
   marker_ptr->action = visualization_msgs::msg::Marker::MODIFY;
   marker_ptr->pose.position = vis_pos;
-  marker_ptr->lifetime = rclcpp::Duration::from_seconds(0.2);
+  marker_ptr->lifetime = rclcpp::Duration::from_seconds(0.5);
   marker_ptr->color = color_rgba;
   return marker_ptr;
 }
@@ -158,7 +158,7 @@ visualization_msgs::msg::Marker::SharedPtr get_acceleration_text_marker_ptr(
   marker_ptr->text = getRoundedDoubleString(acc) + std::string("[m/s^2]");
   marker_ptr->action = visualization_msgs::msg::Marker::MODIFY;
   marker_ptr->pose.position = vis_pos;
-  marker_ptr->lifetime = rclcpp::Duration::from_seconds(0.2);
+  marker_ptr->lifetime = rclcpp::Duration::from_seconds(0.5);
   marker_ptr->color = color_rgba;
   return marker_ptr;
 }
@@ -202,7 +202,7 @@ visualization_msgs::msg::Marker::SharedPtr get_pose_with_covariance_marker_ptr(
   point.y = e2.y() * sigma2;
   point.z = 0;
   marker_ptr->points.push_back(point);
-  marker_ptr->lifetime = rclcpp::Duration::from_seconds(0.2);
+  marker_ptr->lifetime = rclcpp::Duration::from_seconds(0.5);
   marker_ptr->color.a = 0.999;
   marker_ptr->color.r = 1.0;
   marker_ptr->color.g = 1.0;
@@ -237,7 +237,7 @@ visualization_msgs::msg::Marker::SharedPtr get_label_marker_ptr(
   marker_ptr->text = label;
   marker_ptr->action = visualization_msgs::msg::Marker::MODIFY;
   marker_ptr->pose = marker_ptr->pose = to_pose(centroid, orientation);
-  marker_ptr->lifetime = rclcpp::Duration::from_seconds(0.2);
+  marker_ptr->lifetime = rclcpp::Duration::from_seconds(0.5);
   marker_ptr->color = color_rgba;
   return marker_ptr;
 }
@@ -267,7 +267,7 @@ visualization_msgs::msg::Marker::SharedPtr get_shape_marker_ptr(
 
   marker_ptr->action = visualization_msgs::msg::Marker::MODIFY;
   marker_ptr->pose = to_pose(centroid, orientation);
-  marker_ptr->lifetime = rclcpp::Duration::from_seconds(0.2);
+  marker_ptr->lifetime = rclcpp::Duration::from_seconds(0.5);
   marker_ptr->scale.x = line_width;
   marker_ptr->color = color_rgba;
 
@@ -299,7 +299,7 @@ visualization_msgs::msg::Marker::SharedPtr get_2d_shape_marker_ptr(
 
   marker_ptr->action = visualization_msgs::msg::Marker::MODIFY;
   marker_ptr->pose = to_pose(centroid, orientation);
-  marker_ptr->lifetime = rclcpp::Duration::from_seconds(0.2);
+  marker_ptr->lifetime = rclcpp::Duration::from_seconds(0.5);
   marker_ptr->scale.x = line_width;
   marker_ptr->color = color_rgba;
 

common/autoware_auto_perception_rviz_plugin/src/object_detection/predicted_objects_display.cpp

@@ -154,7 +154,7 @@ std::vector<visualization_msgs::msg::Marker::SharedPtr> PredictedObjectsDisplay:
     // Get marker for twist
     auto twist_marker = get_twist_marker_ptr(
       object.kinematics.initial_pose_with_covariance,
-      object.kinematics.initial_twist_with_covariance);
+      object.kinematics.initial_twist_with_covariance, get_line_width());
     if (twist_marker) {
       auto twist_marker_ptr = twist_marker.value();
       twist_marker_ptr->header = msg->header;