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refactor(start_planner): separate debug and info marker for rviz visualization #6376

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kyoichi-sugahara
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@kyoichi-sugahara kyoichi-sugahara commented Feb 11, 2024

Description

Originally, all the start_planner specific information is visualized with the same topic of /planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/debug/start_planner.
It becomes cluttered because everything is visualized by just enabling one checkbox as shown in the folloing screenshot.

image

After categorizing in this PR,

info marker's are

  • back_end_pose
  • start_pose
  • end_pose
  • static_collision_check_end_pose
  • static_collision_check_end_polygon
  • planner_type
  • filtered_objects
  • predicted_path_for_safety_check
  • ego_and_target_polygon_relation
  • ego_and_target_polygon_relation_text
  • ego_and_target_polygon_relation_cube

image

debug marker's are

  • refined_start_pose
  • full_path
  • backward_driving_path
  • start_pose_candidates
  • start_pose_candidates_idx
  • shift_path_footprint
  • ego_predicted_path_start_planner
  • departure_check_lanes_for_shift_pull_out_path
  • pull_out_lanes_for_static_objects_collision_check
  • object_debug_info

image

The basic concepts are as follows:

  • Info: The purpose of info marker visualization is to visualize information that is helpful in understanding the state and behavior.
  • Debug: The purpose of debug visualization is to provide developers with information that is useful in analyzing problems.

Tests performed

Not applicable.

Effects on system behavior

Not applicable.

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Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp>
Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp>
@github-actions github-actions bot added the component:planning Route planning, decision-making, and navigation. (auto-assigned) label Feb 11, 2024
@kyoichi-sugahara kyoichi-sugahara marked this pull request as ready for review February 11, 2024 12:30
@kosuke55
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wooo!! thanks!!!!

@kyoichi-sugahara kyoichi-sugahara added the run:build-and-test-differential Mark to enable build-and-test-differential workflow. (used-by-ci) label Feb 11, 2024
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codecov bot commented Feb 11, 2024

Codecov Report

Attention: 42 lines in your changes are missing coverage. Please review.

Comparison is base (1121f3b) 14.88% compared to head (208ca0a) 14.88%.

Files Patch % Lines
..._start_planner_module/src/start_planner_module.cpp 0.00% 42 Missing ⚠️
Additional details and impacted files
@@            Coverage Diff             @@
##             main    #6376      +/-   ##
==========================================
- Coverage   14.88%   14.88%   -0.01%     
==========================================
  Files        1838     1838              
  Lines      126699   126708       +9     
  Branches    38042    38042              
==========================================
  Hits        18865    18865              
- Misses      86535    86544       +9     
  Partials    21299    21299              
Flag Coverage Δ *Carryforward flag
differential 0.00% <0.00%> (?)
total 14.89% <ø> (+<0.01%) ⬆️ Carriedforward from 1121f3b

*This pull request uses carry forward flags. Click here to find out more.

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@kyoichi-sugahara kyoichi-sugahara merged commit dcd29d3 into autowarefoundation:main Feb 11, 2024
31 of 34 checks passed
@kyoichi-sugahara kyoichi-sugahara deleted the refactor/separate_debug_info_marker branch February 11, 2024 17:07
kyoichi-sugahara added a commit to kyoichi-sugahara/autoware.universe that referenced this pull request Feb 12, 2024
…alization (autowarefoundation#6376)

* separate debug and info marker

Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp>

* replace util function for footprint

Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp>

---------

Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp>
StepTurtle pushed a commit to StepTurtle/autoware.universe that referenced this pull request Feb 28, 2024
…alization (autowarefoundation#6376)

* separate debug and info marker

Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp>

* replace util function for footprint

Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp>

---------

Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp>
karishma1911 pushed a commit to Interplai/autoware.universe that referenced this pull request Jun 3, 2024
…alization (autowarefoundation#6376)

* separate debug and info marker

Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp>

* replace util function for footprint

Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp>

---------

Signed-off-by: kyoichi-sugahara <kyoichi.sugahara@tier4.jp>
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2 participants