Merge remote-tracking branch 'partial/main' into feat/move-peripheral-rviz-plugin

Author: soblin

common/mission_planner_rviz_plugin/CMakeLists.txt

@@ -0,0 +1,23 @@
+cmake_minimum_required(VERSION 3.14)
+project(mission_planner_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)
+
+ament_auto_add_library(${PROJECT_NAME} SHARED
+  src/mrm_goal.cpp
+  src/route_selector_panel.cpp
+)
+
+target_link_libraries(${PROJECT_NAME}
+  ${QT_LIBRARIES}
+)
+
+pluginlib_export_plugin_description_file(rviz_common plugins/plugin_description.xml)
+
+ament_auto_package()

common/mission_planner_rviz_plugin/README.md

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+# mission_planner_rviz_plugin
+
+## MrmGoalTool
+
+This is a copy of `rviz_default_plugins::tools::GoalTool`. Used together with the RouteSelectorPanel to set the MRM route.
+After adding the tool, change the topic name to `/rviz/route_selector/mrm/goal` from the topic property panel in rviz.
+
+## RouteSelectorPanel
+
+This panel shows the main and mrm route state in the route_selector and the route states in the mission_planner.
+Additionally, it provides clear and set functions for each main route and mrm route.
+
+| Trigger                                | Action                                                                   |
+| -------------------------------------- | ------------------------------------------------------------------------ |
+| main route clear button                | call `/planning/mission_planning/route_selector/main/clear_route`        |
+| mrm route clear button                 | call `/planning/mission_planning/route_selector/mrm/clear_route`         |
+| `/rviz/route_selector/main/goal` topic | call `/planning/mission_planning/route_selector/main/set_waypoint_route` |
+| `/rviz/route_selector/mrm/goal` topic  | call `/planning/mission_planning/route_selector/mrm/set_waypoint_route`  |