feat(rviz_plugin): move peripheral rviz plugin

Signed-off-by: Mamoru Sobue <mamoru.sobue@tier4.jp>

Author: soblin

common/rtc_manager_rviz_plugin/CMakeLists.txt

@@ -0,0 +1,28 @@
+cmake_minimum_required(VERSION 3.14)
+project(rtc_manager_rviz_plugin)
+
+find_package(autoware_cmake REQUIRED)
+autoware_package()
+
+find_package(Qt5 REQUIRED Core Widgets)
+set(QT_LIBRARIES Qt5::Widgets)
+set(CMAKE_AUTOMOC ON)
+set(CMAKE_INCLUDE_CURRENT_DIR ON)
+add_definitions(-DQT_NO_KEYWORDS)
+
+ament_auto_add_library(${PROJECT_NAME} SHARED
+  src/rtc_manager_panel.cpp
+)
+
+target_link_libraries(${PROJECT_NAME}
+  ${QT_LIBRARIES}
+)
+
+# Export the plugin to be imported by rviz2
+pluginlib_export_plugin_description_file(rviz_common plugins/plugin_description.xml)
+
+ament_auto_package(
+  INSTALL_TO_SHARE
+  icons
+  plugins
+)

common/rtc_manager_rviz_plugin/README.md

@@ -0,0 +1,36 @@
+# rtc_manager_rviz_plugin
+
+## Purpose
+
+The purpose of this Rviz plugin is
+
+1. To display each content of RTC status.
+
+2. To switch each module of RTC auto mode.
+
+3. To change RTC cooperate commands by button.
+
+![rtc_manager_panel](./images/rtc_manager_panel.png)
+
+## Inputs / Outputs
+
+### Input
+
+| Name                           | Type                                        | Description                             |
+| ------------------------------ | ------------------------------------------- | --------------------------------------- |
+| `/api/external/get/rtc_status` | `tier4_rtc_msgs::msg::CooperateStatusArray` | The statuses of each Cooperate Commands |
+
+### Output
+
+| Name                             | Type                                     | Description                                          |
+| -------------------------------- | ---------------------------------------- | ---------------------------------------------------- |
+| `/api/external/set/rtc_commands` | `tier4_rtc_msgs::src::CooperateCommands` | The Cooperate Commands for each planning             |
+| `/planning/enable_auto_mode/*`   | `tier4_rtc_msgs::src::AutoMode`          | The Cooperate Commands mode for each planning module |
+
+## HowToUse
+
+1. Start rviz and select panels/Add new panel.
+   ![select_panel](./images/select_panels.png)
+
+2. tier4_state_rviz_plugin/RTCManagerPanel and press OK.
+   ![select_rtc_panel](./images/rtc_selection.png)

common/rtc_manager_rviz_plugin/icons/classes/RTCManagerPanel.png

@@ -0,0 +1,33 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>rtc_manager_rviz_plugin</name>
+  <version>0.0.0</version>
+  <description>The rtc manager rviz plugin package</description>
+  <maintainer email="taiki.tanaka@tier4.jp">Taiki Tanaka</maintainer>
+  <maintainer email="tomoya.kimura@tier4.jp">Tomoya Kimura</maintainer>
+
+  <license>Apache License 2.0</license>
+
+  <buildtool_depend>ament_cmake_auto</buildtool_depend>
+  <buildtool_depend>autoware_cmake</buildtool_depend>
+
+  <depend>libqt5-core</depend>
+  <depend>libqt5-gui</depend>
+  <depend>libqt5-widgets</depend>
+  <depend>qtbase5-dev</depend>
+  <depend>rclcpp</depend>
+  <depend>rviz_common</depend>
+  <depend>tier4_external_api_msgs</depend>
+  <depend>tier4_planning_msgs</depend>
+  <depend>tier4_rtc_msgs</depend>
+  <depend>unique_identifier_msgs</depend>
+
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>autoware_lint_common</test_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+    <rviz plugin="${prefix}/plugins/plugin_description.xml"/>
+  </export>
+</package>

common/rtc_manager_rviz_plugin/images/rtc_manager_panel.png

@@ -0,0 +1,9 @@
+<library path="rtc_manager_rviz_plugin">
+
+  <class
+    type="rviz_plugins::RTCManagerPanel"
+    base_class_type="rviz_common::Panel">
+    <description>RTCManagerPanel</description>
+  </class>
+
+</library>