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| 1 | +# autoware_overlay_rviz_plugin |
| 2 | + |
| 3 | +Plugin for displaying 2D overlays over the RViz2 3D scene. |
| 4 | + |
| 5 | +Based on the [jsk_visualization](https://github.com/jsk-ros-pkg/jsk_visualization) |
| 6 | +package, under the 3-Clause BSD license. |
| 7 | + |
| 8 | +## Purpose |
| 9 | + |
| 10 | +This plugin provides a visual and easy-to-understand display of vehicle speed, turn signal, steering status and gears. |
| 11 | + |
| 12 | +## Inputs / Outputs |
| 13 | + |
| 14 | +### Input |
| 15 | + |
| 16 | +| Name | Type | Description | |
| 17 | +| ------------------------------------------------------- | ------------------------------------------------------- | ------------------------------------ | |
| 18 | +| `/vehicle/status/velocity_status` | `autoware_auto_vehicle_msgs::msg::VelocityReport` | The topic is vehicle velocity | |
| 19 | +| `/vehicle/status/turn_indicators_status` | `autoware_auto_vehicle_msgs::msg::TurnIndicatorsReport` | The topic is status of turn signal | |
| 20 | +| `/vehicle/status/hazard_status` | `autoware_auto_vehicle_msgs::msg::HazardReport` | The topic is status of hazard | |
| 21 | +| `/vehicle/status/steering_status` | `autoware_auto_vehicle_msgs::msg::SteeringReport` | The topic is status of steering | |
| 22 | +| `/vehicle/status/gear_status` | `autoware_auto_vehicle_msgs::msg::GearReport` | The topic is status of gear | |
| 23 | +| `/planning/scenario_planning/current_max_velocity` | `tier4_planning_msgs::msg::VelocityLimit` | The topic is velocity limit | |
| 24 | +| `/perception/traffic_light_recognition/traffic_signals` | `autoware_perception_msgs::msg::TrafficSignalArray` | The topic is status of traffic light | |
| 25 | + |
| 26 | +## Parameter |
| 27 | + |
| 28 | +### Core Parameters |
| 29 | + |
| 30 | +#### SignalDisplay |
| 31 | + |
| 32 | +| Name | Type | Default Value | Description | |
| 33 | +| ------------------------ | ------ | -------------------- | --------------------------------- | |
| 34 | +| `property_width_` | int | 128 | Width of the plotter window [px] | |
| 35 | +| `property_height_` | int | 128 | Height of the plotter window [px] | |
| 36 | +| `property_left_` | int | 128 | Left of the plotter window [px] | |
| 37 | +| `property_top_` | int | 128 | Top of the plotter window [px] | |
| 38 | +| `property_signal_color_` | QColor | QColor(25, 255, 240) | Turn Signal color | |
| 39 | + |
| 40 | +## Assumptions / Known limits |
| 41 | + |
| 42 | +TBD. |
| 43 | + |
| 44 | +## Usage |
| 45 | + |
| 46 | +1. Start `rviz2` and click `Add` button under the `Displays` panel. |
| 47 | + |
| 48 | +  |
| 49 | + |
| 50 | +2. Under `By display type` tab, select `autoware_overlay_rviz_plugin/SignalDisplay` and press OK. |
| 51 | + |
| 52 | +3. Enter the names of the topics if necessary. |
| 53 | + |
| 54 | +  |
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