feat: update vehicle overlay plugin

[KhalilSelyan]

Description

This PR introduces a series of enhancements to the awf_vehicle_rviz_plugin for Autoware, aimed at improving the visual elements and functionality of the plugin. The modifications include adjustments to opacity, color specifications for signal indicators, changes to the gear indicator outline, and improvements to the speed limit and traffic light indicators. These changes are designed to make the plugin more intuitive, visually appealing, and user-friendly, enhancing the driving and simulation experience in Autoware.

Related links

• Modernize the RViz2 overlay interface #3984
• feat: update rviz splash and vehicle UI display autoware_launch#836 (comment)
• Improve the new awf_vehicle_rviz_plugin #4146
• Reference Figma page link: Figma Design

Notes for reviewers

This PR is a follow-up from discussions in issues #3984 and comments in PR #836 as well as #4146, focusing on enhancing the RViz plugin's aesthetics and usability. Reviewers are encouraged to check the visual elements and functionality changes against the proposed design specifications.

Interface changes

• Renamed the package from awf_vehicle_rviz_plugin to autoware_vehicle_overlay_rviz_plugin.
• Renamed rviz_2d_overlay_msgs to autoware_overlay_msgs.
• Updated the top-level folder name to autoware_overlay_rviz_plugin.

Effects on system behavior

The changes in this PR will not affect the core functionalities of Autoware but will improve the user interaction with the RViz visualization plugin by providing a more intuitive and visually appealing interface.

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• The PR follows the pull request guidelines.
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Post-review checklist for the PR author

After all checkboxes are checked and discussions are resolved, the PR author should proceed with the merging process.

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[KhalilSelyan]

updated-plugin.mp4

[xmfcx]

Thanks for all the updates, it really looks much more polished now!

I've updated the package name to "autoware_overlay_rviz_plugin" from the issue.

[KhalilSelyan]

Thanks for helping on the design, it was fun to work on

[xmfcx]

When the speed is less than 0.7 * v_max, it should be the color_min (#FF9999), not light gray.

Also when the velocity is positive but the speed limit is 0, the circle disappears.

[KhalilSelyan]

When the speed is less than 0.7 * v_max, it should be the color_min (#FF9999), not light gray.

Also when the velocity is positive but the speed limit is 0, the circle disappears.

I didn't check for this case, i will fix it up

Also, maybe i misunderstood the logic currently it is this way

• 0 to 70% -> light gray
• 70% to 100% -> light red interpolating slowly towards red

should it be
0-70% -> light red
70-100% -> light red interpolating slowly towards red

[xmfcx]

75166f9

Here I've updated the traffic light colors.

2024-02-06.13-48-05.mp4

Set it to no pen to disable strokes.

Set the colors to be more consistent (uniform Saturation and Values).
Set the scale of the small traffic light image to be 1.0. (And color to be darker)

This way when it is not used, it is a more muted color.

[xmfcx]

2024-02-06.14-03-26.mp4

This is the final state after all the updates, I think we can merge it!

[xmfcx]

@KhalilSelyan Could you also create a PR for the autoware_launch .rviz file as well?

We should merge them together.

[github-actions]

Documentation URL: https://autowarefoundation.github.io/autoware.universe/pr-6323/
Modified URLs:

• https://autowarefoundation.github.io/autoware.universe/pr-6323/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/
• https://autowarefoundation.github.io/autoware.universe/pr-6323/common/awf_vehicle_rviz_plugin/awf_2d_overlay_vehicle/

[KhalilSelyan]

autowarefoundation/autoware_launch#855 i created the PR for the autoware.rviz file as well

[xmfcx]

Also could you update the README Input section with speed limit and traffic light information too? @KhalilSelyan

[xmfcx]

5caa6a7

With this commit, I've converted the color space transition to be in HSV.

Initial plan was:

• Speed limit logo outer border to fade from #FF9999 to #FF3333 depending on:
• color_min = #FF9999 = hsl(0, 100%, 80%)
• color_max = #FF3333 = hsl(0, 100%, 60%)
• v : [0, v_max * 0.7) -> color_min
• v : [v_max * 0.7, v_max] -> interpolate between color_min and color_max (lightness of HSL)

It turns QT has HSV and not HSL. Converting them to HSV:

• color_min = #FF9999 = hsl(0, 100%, 80%) = hsv(0, 40%, 100%)
• color_max = #FF3333 = hsl(0, 100%, 60%) = hsv(0, 80%, 100%)

Also I've lowered the thresholds by 0.1, previous limits were:

• speed_to_limit_ratio_min = 0.7
• speed_to_limit_ratio_max = 1.0
  new limits:
• speed_to_limit_ratio_min = 0.6
• speed_to_limit_ratio_max = 0.9

With these, the interpolation works similar to before but it is easier to tune now.

[xmfcx]

Thanks for everything!

[codecov]

Codecov Report

Attention: 97 lines in your changes are missing coverage. Please review.

Comparison is base (c897b3d) 14.86% compared to head (b67d420) 14.74%.
Report is 4 commits behind head on main.

Files	Patch %	Lines
...re_overlay_rviz_plugin/src/speed_limit_display.cpp	0.00%	30 Missing ⚠️
...toware_overlay_rviz_plugin/src/traffic_display.cpp	0.00%	27 Missing ⚠️
...utoware_overlay_rviz_plugin/src/signal_display.cpp	0.00%	23 Missing ⚠️
...e_overlay_rviz_plugin/src/overlay_text_display.cpp	0.00%	12 Missing ⚠️
.../autoware_overlay_rviz_plugin/src/gear_display.cpp	0.00%	2 Missing ⚠️
...autoware_overlay_rviz_plugin/src/speed_display.cpp	0.00%	1 Missing ⚠️
...overlay_rviz_plugin/src/steering_wheel_display.cpp	0.00%	1 Missing ⚠️
...e_overlay_rviz_plugin/src/turn_signals_display.cpp	0.00%	1 Missing ⚠️

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #6323      +/-   ##
==========================================
- Coverage   14.86%   14.74%   -0.12%     
==========================================
  Files        1845     1857      +12     
  Lines      126611   127599     +988     
  Branches    37871    37871              
==========================================
  Hits        18818    18818              
- Misses      86633    87621     +988     
  Partials    21160    21160              

Flag	Coverage Δ		*Carryforward flag
differential	0.00% <0.00%> (?)
total	14.86% <ø> (ø)		Carriedforward from c897b3d

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