diff --git a/common/awf_vehicle_rviz_plugin/rviz_2d_overlay_msgs/CHANGELOG.rst b/common/autoware_overlay_rviz_plugin/autoware_overlay_msgs/CHANGELOG.rst
similarity index 100%
rename from common/awf_vehicle_rviz_plugin/rviz_2d_overlay_msgs/CHANGELOG.rst
rename to common/autoware_overlay_rviz_plugin/autoware_overlay_msgs/CHANGELOG.rst
diff --git a/common/awf_vehicle_rviz_plugin/rviz_2d_overlay_msgs/CMakeLists.txt b/common/autoware_overlay_rviz_plugin/autoware_overlay_msgs/CMakeLists.txt
similarity index 92%
rename from common/awf_vehicle_rviz_plugin/rviz_2d_overlay_msgs/CMakeLists.txt
rename to common/autoware_overlay_rviz_plugin/autoware_overlay_msgs/CMakeLists.txt
index 9e9a8f277fd53..e23a4e755cbc4 100644
--- a/common/awf_vehicle_rviz_plugin/rviz_2d_overlay_msgs/CMakeLists.txt
+++ b/common/autoware_overlay_rviz_plugin/autoware_overlay_msgs/CMakeLists.txt
@@ -1,5 +1,5 @@
cmake_minimum_required(VERSION 3.5)
-project(rviz_2d_overlay_msgs)
+project(autoware_overlay_msgs)
if (NOT CMAKE_CXX_STANDARD)
set(CMAKE_CXX_STANDARD 17)
diff --git a/common/awf_vehicle_rviz_plugin/rviz_2d_overlay_msgs/msg/OverlayText.msg b/common/autoware_overlay_rviz_plugin/autoware_overlay_msgs/msg/OverlayText.msg
similarity index 100%
rename from common/awf_vehicle_rviz_plugin/rviz_2d_overlay_msgs/msg/OverlayText.msg
rename to common/autoware_overlay_rviz_plugin/autoware_overlay_msgs/msg/OverlayText.msg
diff --git a/common/awf_vehicle_rviz_plugin/rviz_2d_overlay_msgs/package.xml b/common/autoware_overlay_rviz_plugin/autoware_overlay_msgs/package.xml
similarity index 96%
rename from common/awf_vehicle_rviz_plugin/rviz_2d_overlay_msgs/package.xml
rename to common/autoware_overlay_rviz_plugin/autoware_overlay_msgs/package.xml
index 53396c64aa156..4881b126ffffb 100644
--- a/common/awf_vehicle_rviz_plugin/rviz_2d_overlay_msgs/package.xml
+++ b/common/autoware_overlay_rviz_plugin/autoware_overlay_msgs/package.xml
@@ -1,7 +1,7 @@
<?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>rviz_2d_overlay_msgs</name>
+ <name>autoware_overlay_msgs</name>
<version>1.3.0</version>
<description>Messages describing 2D overlays for RVIZ, extracted/derived from the jsk_visualization package.</description>
<maintainer email="team-spatzenhirn@uni-ulm.de">Team Spatzenhirn</maintainer>
diff --git a/common/awf_vehicle_rviz_plugin/awf_2d_overlay_vehicle/CMakeLists.txt b/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/CMakeLists.txt
similarity index 94%
rename from common/awf_vehicle_rviz_plugin/awf_2d_overlay_vehicle/CMakeLists.txt
rename to common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/CMakeLists.txt
index da67a6f63aeae..afb12bffeeaa7 100644
--- a/common/awf_vehicle_rviz_plugin/awf_2d_overlay_vehicle/CMakeLists.txt
+++ b/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/CMakeLists.txt
@@ -1,5 +1,5 @@
cmake_minimum_required(VERSION 3.8)
-project(awf_2d_overlay_vehicle)
+project(autoware_overlay_rviz_plugin)
# find dependencies
find_package(ament_cmake_auto REQUIRED)
@@ -9,7 +9,7 @@ find_package(tier4_planning_msgs REQUIRED)
find_package(autoware_perception_msgs REQUIRED)
ament_auto_find_build_dependencies()
-find_package(rviz_2d_overlay_msgs REQUIRED)
+find_package(autoware_overlay_msgs REQUIRED)
find_package(rviz_common REQUIRED)
find_package(rviz_rendering REQUIRED)
@@ -90,7 +90,7 @@ ament_target_dependencies(
PUBLIC
rviz_common
rviz_rendering
- rviz_2d_overlay_msgs
+ autoware_overlay_msgs
autoware_auto_vehicle_msgs
tier4_planning_msgs
autoware_perception_msgs
@@ -136,5 +136,5 @@ install(
add_definitions(-DQT_NO_KEYWORDS)
ament_package(
- CONFIG_EXTRAS "awf_2d_overlay_vehicle-extras.cmake"
+ CONFIG_EXTRAS "autoware_overlay_rviz_plugin-extras.cmake"
)
diff --git a/common/awf_vehicle_rviz_plugin/awf_2d_overlay_vehicle/LICENSE b/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/LICENSE
similarity index 100%
rename from common/awf_vehicle_rviz_plugin/awf_2d_overlay_vehicle/LICENSE
rename to common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/LICENSE
diff --git a/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/README.md b/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/README.md
new file mode 100644
index 0000000000000..0d0def1a46997
--- /dev/null
+++ b/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/README.md
@@ -0,0 +1,54 @@
+# autoware_overlay_rviz_plugin
+
+Plugin for displaying 2D overlays over the RViz2 3D scene.
+
+Based on the [jsk_visualization](https://github.com/jsk-ros-pkg/jsk_visualization)
+package, under the 3-Clause BSD license.
+
+## Purpose
+
+This plugin provides a visual and easy-to-understand display of vehicle speed, turn signal, steering status and gears.
+
+## Inputs / Outputs
+
+### Input
+
+| Name | Type | Description |
+| ------------------------------------------------------- | ------------------------------------------------------- | ------------------------------------ |
+| `/vehicle/status/velocity_status` | `autoware_auto_vehicle_msgs::msg::VelocityReport` | The topic is vehicle velocity |
+| `/vehicle/status/turn_indicators_status` | `autoware_auto_vehicle_msgs::msg::TurnIndicatorsReport` | The topic is status of turn signal |
+| `/vehicle/status/hazard_status` | `autoware_auto_vehicle_msgs::msg::HazardReport` | The topic is status of hazard |
+| `/vehicle/status/steering_status` | `autoware_auto_vehicle_msgs::msg::SteeringReport` | The topic is status of steering |
+| `/vehicle/status/gear_status` | `autoware_auto_vehicle_msgs::msg::GearReport` | The topic is status of gear |
+| `/planning/scenario_planning/current_max_velocity` | `tier4_planning_msgs::msg::VelocityLimit` | The topic is velocity limit |
+| `/perception/traffic_light_recognition/traffic_signals` | `autoware_perception_msgs::msg::TrafficSignalArray` | The topic is status of traffic light |
+
+## Parameter
+
+### Core Parameters
+
+#### SignalDisplay
+
+| Name | Type | Default Value | Description |
+| ------------------------ | ------ | -------------------- | --------------------------------- |
+| `property_width_` | int | 128 | Width of the plotter window [px] |
+| `property_height_` | int | 128 | Height of the plotter window [px] |
+| `property_left_` | int | 128 | Left of the plotter window [px] |
+| `property_top_` | int | 128 | Top of the plotter window [px] |
+| `property_signal_color_` | QColor | QColor(25, 255, 240) | Turn Signal color |
+
+## Assumptions / Known limits
+
+TBD.
+
+## Usage
+
+1. Start `rviz2` and click `Add` button under the `Displays` panel.
+
+ 
+
+2. Under `By display type` tab, select `autoware_overlay_rviz_plugin/SignalDisplay` and press OK.
+
+3. Enter the names of the topics if necessary.
+
+ 
diff --git a/common/awf_vehicle_rviz_plugin/awf_2d_overlay_vehicle/assets/font/Quicksand/LICENSE b/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/assets/font/Quicksand/LICENSE
similarity index 100%
rename from common/awf_vehicle_rviz_plugin/awf_2d_overlay_vehicle/assets/font/Quicksand/LICENSE
rename to common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/assets/font/Quicksand/LICENSE
diff --git a/common/awf_vehicle_rviz_plugin/awf_2d_overlay_vehicle/assets/font/Quicksand/static/Quicksand-Bold.ttf b/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/assets/font/Quicksand/static/Quicksand-Bold.ttf
similarity index 100%
rename from common/awf_vehicle_rviz_plugin/awf_2d_overlay_vehicle/assets/font/Quicksand/static/Quicksand-Bold.ttf
rename to common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/assets/font/Quicksand/static/Quicksand-Bold.ttf
diff --git a/common/awf_vehicle_rviz_plugin/awf_2d_overlay_vehicle/assets/font/Quicksand/static/Quicksand-Light.ttf b/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/assets/font/Quicksand/static/Quicksand-Light.ttf
similarity index 100%
rename from common/awf_vehicle_rviz_plugin/awf_2d_overlay_vehicle/assets/font/Quicksand/static/Quicksand-Light.ttf
rename to common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/assets/font/Quicksand/static/Quicksand-Light.ttf
diff --git a/common/awf_vehicle_rviz_plugin/awf_2d_overlay_vehicle/assets/font/Quicksand/static/Quicksand-Medium.ttf b/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/assets/font/Quicksand/static/Quicksand-Medium.ttf
similarity index 100%
rename from common/awf_vehicle_rviz_plugin/awf_2d_overlay_vehicle/assets/font/Quicksand/static/Quicksand-Medium.ttf
rename to common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/assets/font/Quicksand/static/Quicksand-Medium.ttf
diff --git a/common/awf_vehicle_rviz_plugin/awf_2d_overlay_vehicle/assets/font/Quicksand/static/Quicksand-Regular.ttf b/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/assets/font/Quicksand/static/Quicksand-Regular.ttf
similarity index 100%
rename from common/awf_vehicle_rviz_plugin/awf_2d_overlay_vehicle/assets/font/Quicksand/static/Quicksand-Regular.ttf
rename to common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/assets/font/Quicksand/static/Quicksand-Regular.ttf
diff --git a/common/awf_vehicle_rviz_plugin/awf_2d_overlay_vehicle/assets/font/Quicksand/static/Quicksand-SemiBold.ttf b/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/assets/font/Quicksand/static/Quicksand-SemiBold.ttf
similarity index 100%
rename from common/awf_vehicle_rviz_plugin/awf_2d_overlay_vehicle/assets/font/Quicksand/static/Quicksand-SemiBold.ttf
rename to common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/assets/font/Quicksand/static/Quicksand-SemiBold.ttf
diff --git a/common/awf_vehicle_rviz_plugin/awf_2d_overlay_vehicle/assets/images/arrow.png b/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/assets/images/arrow.png
similarity index 100%
rename from common/awf_vehicle_rviz_plugin/awf_2d_overlay_vehicle/assets/images/arrow.png
rename to common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/assets/images/arrow.png
diff --git a/common/awf_vehicle_rviz_plugin/awf_2d_overlay_vehicle/assets/images/select_add.png b/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/assets/images/select_add.png
similarity index 100%
rename from common/awf_vehicle_rviz_plugin/awf_2d_overlay_vehicle/assets/images/select_add.png
rename to common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/assets/images/select_add.png
diff --git a/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/assets/images/select_topic_name.png b/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/assets/images/select_topic_name.png
new file mode 100644
index 0000000000000..490552efc114f
Binary files /dev/null and b/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/assets/images/select_topic_name.png differ
diff --git a/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/assets/images/traffic.png b/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/assets/images/traffic.png
new file mode 100644
index 0000000000000..79715b0573e1a
Binary files /dev/null and b/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/assets/images/traffic.png differ
diff --git a/common/awf_vehicle_rviz_plugin/awf_2d_overlay_vehicle/assets/images/wheel.png b/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/assets/images/wheel.png
similarity index 100%
rename from common/awf_vehicle_rviz_plugin/awf_2d_overlay_vehicle/assets/images/wheel.png
rename to common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/assets/images/wheel.png
diff --git a/common/awf_vehicle_rviz_plugin/awf_2d_overlay_vehicle/awf_2d_overlay_vehicle-extras.cmake b/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin-extras.cmake
similarity index 100%
rename from common/awf_vehicle_rviz_plugin/awf_2d_overlay_vehicle/awf_2d_overlay_vehicle-extras.cmake
rename to common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin-extras.cmake
diff --git a/common/awf_vehicle_rviz_plugin/awf_2d_overlay_vehicle/include/gear_display.hpp b/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/include/gear_display.hpp
similarity index 94%
rename from common/awf_vehicle_rviz_plugin/awf_2d_overlay_vehicle/include/gear_display.hpp
rename to common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/include/gear_display.hpp
index b289bfc541cee..3fe473d5d5123 100644
--- a/common/awf_vehicle_rviz_plugin/awf_2d_overlay_vehicle/include/gear_display.hpp
+++ b/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/include/gear_display.hpp
@@ -29,7 +29,7 @@
#include <OgreMaterial.h>
#include <OgreTexture.h>
-namespace awf_2d_overlay_vehicle
+namespace autoware_overlay_rviz_plugin
{
class GearDisplay
@@ -44,6 +44,6 @@ class GearDisplay
QColor gray = QColor(194, 194, 194);
};
-} // namespace awf_2d_overlay_vehicle
+} // namespace autoware_overlay_rviz_plugin
#endif // GEAR_DISPLAY_HPP_
diff --git a/common/awf_vehicle_rviz_plugin/awf_2d_overlay_vehicle/include/overlay_text_display.hpp b/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/include/overlay_text_display.hpp
similarity index 93%
rename from common/awf_vehicle_rviz_plugin/awf_2d_overlay_vehicle/include/overlay_text_display.hpp
rename to common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/include/overlay_text_display.hpp
index 9b3ecccf6301c..ccea51b9a5349 100644
--- a/common/awf_vehicle_rviz_plugin/awf_2d_overlay_vehicle/include/overlay_text_display.hpp
+++ b/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/include/overlay_text_display.hpp
@@ -50,7 +50,7 @@
#ifndef OVERLAY_TEXT_DISPLAY_HPP_
#define OVERLAY_TEXT_DISPLAY_HPP_
-#include "rviz_2d_overlay_msgs/msg/overlay_text.hpp"
+#include "autoware_overlay_msgs/msg/overlay_text.hpp"
#ifndef Q_MOC_RUN
#include "overlay_utils.hpp"
@@ -69,10 +69,10 @@
#include <string>
#endif
-namespace awf_2d_overlay_vehicle
+namespace autoware_overlay_rviz_plugin
{
class OverlayTextDisplay
-: public rviz_common::RosTopicDisplay<rviz_2d_overlay_msgs::msg::OverlayText>
+: public rviz_common::RosTopicDisplay<autoware_overlay_msgs::msg::OverlayText>
{
Q_OBJECT
public:
@@ -80,7 +80,7 @@ class OverlayTextDisplay
virtual ~OverlayTextDisplay();
protected:
- awf_2d_overlay_vehicle::OverlayObject::SharedPtr overlay_;
+ autoware_overlay_rviz_plugin::OverlayObject::SharedPtr overlay_;
int texture_width_;
int texture_height_;
@@ -150,8 +150,8 @@ protected Q_SLOTS:
void updateLineWidth();
private:
- void processMessage(rviz_2d_overlay_msgs::msg::OverlayText::ConstSharedPtr msg) override;
+ void processMessage(autoware_overlay_msgs::msg::OverlayText::ConstSharedPtr msg) override;
};
-} // namespace awf_2d_overlay_vehicle
+} // namespace autoware_overlay_rviz_plugin
#endif // OVERLAY_TEXT_DISPLAY_HPP_
diff --git a/common/awf_vehicle_rviz_plugin/awf_2d_overlay_vehicle/include/overlay_utils.hpp b/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/include/overlay_utils.hpp
similarity index 90%
rename from common/awf_vehicle_rviz_plugin/awf_2d_overlay_vehicle/include/overlay_utils.hpp
rename to common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/include/overlay_utils.hpp
index 1270f15ca80ae..8581628ef0bce 100644
--- a/common/awf_vehicle_rviz_plugin/awf_2d_overlay_vehicle/include/overlay_utils.hpp
+++ b/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/include/overlay_utils.hpp
@@ -54,7 +54,7 @@
#include <QColor>
#include <QImage>
-#include "rviz_2d_overlay_msgs/msg/overlay_text.hpp"
+#include "autoware_overlay_msgs/msg/overlay_text.hpp"
#include <OgreHardwarePixelBuffer.h>
#include <OgreMaterialManager.h>
@@ -70,7 +70,7 @@
#include <memory>
#include <string>
-namespace awf_2d_overlay_vehicle
+namespace autoware_overlay_rviz_plugin
{
class OverlayObject;
@@ -90,15 +90,15 @@ class ScopedPixelBuffer
};
enum class VerticalAlignment : uint8_t {
- CENTER = rviz_2d_overlay_msgs::msg::OverlayText::CENTER,
- TOP = rviz_2d_overlay_msgs::msg::OverlayText::TOP,
- BOTTOM = rviz_2d_overlay_msgs::msg::OverlayText::BOTTOM,
+ CENTER = autoware_overlay_msgs::msg::OverlayText::CENTER,
+ TOP = autoware_overlay_msgs::msg::OverlayText::TOP,
+ BOTTOM = autoware_overlay_msgs::msg::OverlayText::BOTTOM,
};
enum class HorizontalAlignment : uint8_t {
- LEFT = rviz_2d_overlay_msgs::msg::OverlayText::LEFT,
- RIGHT = rviz_2d_overlay_msgs::msg::OverlayText::RIGHT,
- CENTER = rviz_2d_overlay_msgs::msg::OverlayText::CENTER
+ LEFT = autoware_overlay_msgs::msg::OverlayText::LEFT,
+ RIGHT = autoware_overlay_msgs::msg::OverlayText::RIGHT,
+ CENTER = autoware_overlay_msgs::msg::OverlayText::CENTER
};
/**
@@ -136,6 +136,6 @@ class OverlayObject
Ogre::MaterialPtr panel_material_;
Ogre::TexturePtr texture_;
};
-} // namespace awf_2d_overlay_vehicle
+} // namespace autoware_overlay_rviz_plugin
#endif // OVERLAY_UTILS_HPP_
diff --git a/common/awf_vehicle_rviz_plugin/awf_2d_overlay_vehicle/include/signal_display.hpp b/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/include/signal_display.hpp
similarity index 93%
rename from common/awf_vehicle_rviz_plugin/awf_2d_overlay_vehicle/include/signal_display.hpp
rename to common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/include/signal_display.hpp
index aff475aba2f33..4fa39f2c5a903 100644
--- a/common/awf_vehicle_rviz_plugin/awf_2d_overlay_vehicle/include/signal_display.hpp
+++ b/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/include/signal_display.hpp
@@ -39,7 +39,7 @@
#include <mutex>
#endif
-namespace awf_2d_overlay_vehicle
+namespace autoware_overlay_rviz_plugin
{
class SignalDisplay : public rviz_common::Display
{
@@ -70,7 +70,7 @@ private Q_SLOTS:
private:
std::mutex mutex_;
- awf_2d_overlay_vehicle::OverlayObject::SharedPtr overlay_;
+ autoware_overlay_rviz_plugin::OverlayObject::SharedPtr overlay_;
rviz_common::properties::IntProperty * property_width_;
rviz_common::properties::IntProperty * property_height_;
rviz_common::properties::IntProperty * property_left_;
@@ -84,7 +84,8 @@ private Q_SLOTS:
std::unique_ptr<rviz_common::properties::RosTopicProperty> traffic_topic_property_;
std::unique_ptr<rviz_common::properties::RosTopicProperty> speed_limit_topic_property_;
- void drawBackground(QPainter & painter, const QRectF & backgroundRect);
+ void drawHorizontalRoundedRectangle(QPainter & painter, const QRectF & backgroundRect);
+ void drawVerticalRoundedRectangle(QPainter & painter, const QRectF & backgroundRect);
void setupRosSubscriptions();
std::unique_ptr<SteeringWheelDisplay> steering_wheel_display_;
@@ -119,6 +120,6 @@ private Q_SLOTS:
const autoware_perception_msgs::msg::TrafficSignalArray::ConstSharedPtr msg);
void drawWidget(QImage & hud);
};
-} // namespace awf_2d_overlay_vehicle
+} // namespace autoware_overlay_rviz_plugin
#endif // SIGNAL_DISPLAY_HPP_
diff --git a/common/awf_vehicle_rviz_plugin/awf_2d_overlay_vehicle/include/speed_display.hpp b/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/include/speed_display.hpp
similarity index 94%
rename from common/awf_vehicle_rviz_plugin/awf_2d_overlay_vehicle/include/speed_display.hpp
rename to common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/include/speed_display.hpp
index 317e45917f927..0669028dba3b2 100644
--- a/common/awf_vehicle_rviz_plugin/awf_2d_overlay_vehicle/include/speed_display.hpp
+++ b/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/include/speed_display.hpp
@@ -29,7 +29,7 @@
#include <OgreMaterial.h>
#include <OgreTexture.h>
-namespace awf_2d_overlay_vehicle
+namespace autoware_overlay_rviz_plugin
{
class SpeedDisplay
@@ -44,6 +44,6 @@ class SpeedDisplay
QColor gray = QColor(194, 194, 194);
};
-} // namespace awf_2d_overlay_vehicle
+} // namespace autoware_overlay_rviz_plugin
#endif // SPEED_DISPLAY_HPP_
diff --git a/common/awf_vehicle_rviz_plugin/awf_2d_overlay_vehicle/include/speed_limit_display.hpp b/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/include/speed_limit_display.hpp
similarity index 78%
rename from common/awf_vehicle_rviz_plugin/awf_2d_overlay_vehicle/include/speed_limit_display.hpp
rename to common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/include/speed_limit_display.hpp
index 00eae077ff2ac..b59f4acf380db 100644
--- a/common/awf_vehicle_rviz_plugin/awf_2d_overlay_vehicle/include/speed_limit_display.hpp
+++ b/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/include/speed_limit_display.hpp
@@ -23,13 +23,14 @@
#include <rviz_common/properties/int_property.hpp>
#include <rviz_common/ros_topic_display.hpp>
+#include "autoware_auto_vehicle_msgs/msg/velocity_report.hpp"
#include <tier4_planning_msgs/msg/velocity_limit.hpp>
#include <OgreColourValue.h>
#include <OgreMaterial.h>
#include <OgreTexture.h>
-namespace awf_2d_overlay_vehicle
+namespace autoware_overlay_rviz_plugin
{
class SpeedLimitDisplay
@@ -38,12 +39,14 @@ class SpeedLimitDisplay
SpeedLimitDisplay();
void drawSpeedLimitIndicator(QPainter & painter, const QRectF & backgroundRect);
void updateSpeedLimitData(const tier4_planning_msgs::msg::VelocityLimit::ConstSharedPtr msg);
+ void updateSpeedData(const autoware_auto_vehicle_msgs::msg::VelocityReport::ConstSharedPtr & msg);
private:
- float current_limit; // Internal variable to store current gear
+ float current_limit; // Internal variable to store current gear
+ float current_speed_; // Internal variable to store current speed
QColor gray = QColor(194, 194, 194);
};
-} // namespace awf_2d_overlay_vehicle
+} // namespace autoware_overlay_rviz_plugin
#endif // SPEED_LIMIT_DISPLAY_HPP_
diff --git a/common/awf_vehicle_rviz_plugin/awf_2d_overlay_vehicle/include/steering_wheel_display.hpp b/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/include/steering_wheel_display.hpp
similarity index 94%
rename from common/awf_vehicle_rviz_plugin/awf_2d_overlay_vehicle/include/steering_wheel_display.hpp
rename to common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/include/steering_wheel_display.hpp
index a8291064c3807..121ee9a0a4d84 100644
--- a/common/awf_vehicle_rviz_plugin/awf_2d_overlay_vehicle/include/steering_wheel_display.hpp
+++ b/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/include/steering_wheel_display.hpp
@@ -29,7 +29,7 @@
#include <OgreMaterial.h>
#include <OgreTexture.h>
-namespace awf_2d_overlay_vehicle
+namespace autoware_overlay_rviz_plugin
{
class SteeringWheelDisplay
@@ -49,6 +49,6 @@ class SteeringWheelDisplay
QImage coloredImage(const QImage & source, const QColor & color);
};
-} // namespace awf_2d_overlay_vehicle
+} // namespace autoware_overlay_rviz_plugin
#endif // STEERING_WHEEL_DISPLAY_HPP_
diff --git a/common/awf_vehicle_rviz_plugin/awf_2d_overlay_vehicle/include/traffic_display.hpp b/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/include/traffic_display.hpp
similarity index 84%
rename from common/awf_vehicle_rviz_plugin/awf_2d_overlay_vehicle/include/traffic_display.hpp
rename to common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/include/traffic_display.hpp
index bf776d27dfa94..20410a78edc44 100644
--- a/common/awf_vehicle_rviz_plugin/awf_2d_overlay_vehicle/include/traffic_display.hpp
+++ b/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/include/traffic_display.hpp
@@ -31,7 +31,7 @@
#include <OgreMaterial.h>
#include <OgreTexture.h>
-namespace awf_2d_overlay_vehicle
+namespace autoware_overlay_rviz_plugin
{
class TrafficDisplay
@@ -45,18 +45,15 @@ class TrafficDisplay
private:
QImage traffic_light_image_;
- // yellow #CFC353
- QColor yellow = QColor(207, 195, 83);
- // red #CF5353
- QColor red = QColor(207, 83, 83);
- // green #53CF5F
- QColor green = QColor(83, 207, 95);
- // gray #C2C2C2
- QColor gray = QColor(194, 194, 194);
+
+ const QColor tl_red_;
+ const QColor tl_yellow_;
+ const QColor tl_green_;
+ const QColor tl_gray_;
QImage coloredImage(const QImage & source, const QColor & color);
};
-} // namespace awf_2d_overlay_vehicle
+} // namespace autoware_overlay_rviz_plugin
#endif // TRAFFIC_DISPLAY_HPP_
diff --git a/common/awf_vehicle_rviz_plugin/awf_2d_overlay_vehicle/include/turn_signals_display.hpp b/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/include/turn_signals_display.hpp
similarity index 94%
rename from common/awf_vehicle_rviz_plugin/awf_2d_overlay_vehicle/include/turn_signals_display.hpp
rename to common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/include/turn_signals_display.hpp
index cd659883c9ca0..87f141353d5b2 100644
--- a/common/awf_vehicle_rviz_plugin/awf_2d_overlay_vehicle/include/turn_signals_display.hpp
+++ b/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/include/turn_signals_display.hpp
@@ -32,7 +32,7 @@
#include <chrono>
-namespace awf_2d_overlay_vehicle
+namespace autoware_overlay_rviz_plugin
{
class TurnSignalsDisplay
@@ -47,7 +47,7 @@ class TurnSignalsDisplay
private:
QImage arrowImage;
- QColor gray = QColor(194, 194, 194);
+ QColor gray = QColor(46, 46, 46);
int current_turn_signal_; // Internal variable to store turn signal state
int current_hazard_lights_; // Internal variable to store hazard lights state
@@ -58,6 +58,6 @@ class TurnSignalsDisplay
const std::chrono::milliseconds blink_interval_{500}; // Blink interval in milliseconds
};
-} // namespace awf_2d_overlay_vehicle
+} // namespace autoware_overlay_rviz_plugin
#endif // TURN_SIGNALS_DISPLAY_HPP_
diff --git a/common/awf_vehicle_rviz_plugin/awf_2d_overlay_vehicle/package.xml b/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/package.xml
similarity index 91%
rename from common/awf_vehicle_rviz_plugin/awf_2d_overlay_vehicle/package.xml
rename to common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/package.xml
index b19b384d020b6..cc0ada00fa41b 100644
--- a/common/awf_vehicle_rviz_plugin/awf_2d_overlay_vehicle/package.xml
+++ b/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/package.xml
@@ -1,7 +1,7 @@
<?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>awf_2d_overlay_vehicle</name>
+ <name>autoware_overlay_rviz_plugin</name>
<version>0.0.1</version>
<description>
RViz2 plugin for 2D overlays in the 3D view. Mainly a port of the JSK overlay plugin
@@ -12,9 +12,9 @@
<license>BSD-3-Clause</license>
<depend>autoware_auto_vehicle_msgs</depend>
+ <depend>autoware_overlay_msgs</depend>
<depend>autoware_perception_msgs</depend>
<depend>boost</depend>
- <depend>rviz_2d_overlay_msgs</depend>
<depend>rviz_common</depend>
<depend>rviz_ogre_vendor</depend>
<depend>rviz_rendering</depend>
diff --git a/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/plugins_description.xml b/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/plugins_description.xml
new file mode 100644
index 0000000000000..05c33f2fd10a5
--- /dev/null
+++ b/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/plugins_description.xml
@@ -0,0 +1,5 @@
+<library path="autoware_overlay_rviz_plugin">
+ <class name="autoware_overlay_rviz_plugin/SignalDisplay" type="autoware_overlay_rviz_plugin::SignalDisplay" base_class_type="rviz_common::Display">
+ <description>Signal overlay plugin for the 3D view.</description>
+ </class>
+</library>
diff --git a/common/awf_vehicle_rviz_plugin/awf_2d_overlay_vehicle/src/gear_display.cpp b/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/src/gear_display.cpp
similarity index 92%
rename from common/awf_vehicle_rviz_plugin/awf_2d_overlay_vehicle/src/gear_display.cpp
rename to common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/src/gear_display.cpp
index 153e106f04264..8f05ce6fdce1c 100644
--- a/common/awf_vehicle_rviz_plugin/awf_2d_overlay_vehicle/src/gear_display.cpp
+++ b/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/src/gear_display.cpp
@@ -31,12 +31,13 @@
#include <memory>
#include <string>
-namespace awf_2d_overlay_vehicle
+namespace autoware_overlay_rviz_plugin
{
GearDisplay::GearDisplay() : current_gear_(0)
{
- std::string package_path = ament_index_cpp::get_package_share_directory("awf_2d_overlay_vehicle");
+ std::string package_path =
+ ament_index_cpp::get_package_share_directory("autoware_overlay_rviz_plugin");
std::string font_path = package_path + "/assets/font/Quicksand/static/Quicksand-Regular.ttf";
std::string font_path2 = package_path + "/assets/font/Quicksand/static/Quicksand-Bold.ttf";
int fontId = QFontDatabase::addApplicationFont(
@@ -91,8 +92,8 @@ void GearDisplay::drawGearIndicator(QPainter & painter, const QRectF & backgroun
int gearY = backgroundRect.height() - gearBoxSize - 20;
QRect gearRect(gearX, gearY, gearBoxSize, gearBoxSize);
painter.setBrush(QColor(0, 0, 0, 0));
- painter.drawRoundedRect(gearRect, 5, 5);
+ painter.drawRoundedRect(gearRect, 10, 10);
painter.drawText(gearRect, Qt::AlignCenter, QString::fromStdString(gearString));
}
-} // namespace awf_2d_overlay_vehicle
+} // namespace autoware_overlay_rviz_plugin
diff --git a/common/awf_vehicle_rviz_plugin/awf_2d_overlay_vehicle/src/overlay_text_display.cpp b/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/src/overlay_text_display.cpp
similarity index 93%
rename from common/awf_vehicle_rviz_plugin/awf_2d_overlay_vehicle/src/overlay_text_display.cpp
rename to common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/src/overlay_text_display.cpp
index 053d0f6e981c0..b853e14a5858d 100644
--- a/common/awf_vehicle_rviz_plugin/awf_2d_overlay_vehicle/src/overlay_text_display.cpp
+++ b/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/src/overlay_text_display.cpp
@@ -67,7 +67,7 @@
#include <regex>
#include <sstream>
-namespace awf_2d_overlay_vehicle
+namespace autoware_overlay_rviz_plugin
{
OverlayTextDisplay::OverlayTextDisplay()
: texture_width_(0),
@@ -105,15 +105,15 @@ OverlayTextDisplay::OverlayTextDisplay()
hor_alignment_property_ = new rviz_common::properties::EnumProperty(
"hor_alignment", "left", "horizontal alignment of the overlay", this,
SLOT(updateHorizontalAlignment()));
- hor_alignment_property_->addOption("left", rviz_2d_overlay_msgs::msg::OverlayText::LEFT);
- hor_alignment_property_->addOption("center", rviz_2d_overlay_msgs::msg::OverlayText::CENTER);
- hor_alignment_property_->addOption("right", rviz_2d_overlay_msgs::msg::OverlayText::RIGHT);
+ hor_alignment_property_->addOption("left", autoware_overlay_msgs::msg::OverlayText::LEFT);
+ hor_alignment_property_->addOption("center", autoware_overlay_msgs::msg::OverlayText::CENTER);
+ hor_alignment_property_->addOption("right", autoware_overlay_msgs::msg::OverlayText::RIGHT);
ver_alignment_property_ = new rviz_common::properties::EnumProperty(
"ver_alignment", "top", "vertical alignment of the overlay", this,
SLOT(updateVerticalAlignment()));
- ver_alignment_property_->addOption("top", rviz_2d_overlay_msgs::msg::OverlayText::TOP);
- ver_alignment_property_->addOption("center", rviz_2d_overlay_msgs::msg::OverlayText::CENTER);
- ver_alignment_property_->addOption("bottom", rviz_2d_overlay_msgs::msg::OverlayText::BOTTOM);
+ ver_alignment_property_->addOption("top", autoware_overlay_msgs::msg::OverlayText::TOP);
+ ver_alignment_property_->addOption("center", autoware_overlay_msgs::msg::OverlayText::CENTER);
+ ver_alignment_property_->addOption("bottom", autoware_overlay_msgs::msg::OverlayText::BOTTOM);
width_property_ = new rviz_common::properties::IntProperty(
"width", 128, "width position", this, SLOT(updateWidth()));
width_property_->setMin(0);
@@ -212,7 +212,7 @@ void OverlayTextDisplay::update(float /*wall_dt*/, float /*ros_dt*/)
overlay_->updateTextureSize(texture_width_, texture_height_);
{
- awf_2d_overlay_vehicle::ScopedPixelBuffer buffer = overlay_->getBuffer();
+ autoware_overlay_rviz_plugin::ScopedPixelBuffer buffer = overlay_->getBuffer();
QImage Hud = buffer.getQImage(*overlay_, bg_color_);
QPainter painter(&Hud);
painter.setRenderHint(QPainter::Antialiasing, true);
@@ -288,7 +288,7 @@ void OverlayTextDisplay::reset()
}
}
-void OverlayTextDisplay::processMessage(rviz_2d_overlay_msgs::msg::OverlayText::ConstSharedPtr msg)
+void OverlayTextDisplay::processMessage(autoware_overlay_msgs::msg::OverlayText::ConstSharedPtr msg)
{
if (!isEnabled()) {
return;
@@ -297,13 +297,13 @@ void OverlayTextDisplay::processMessage(rviz_2d_overlay_msgs::msg::OverlayText::
static int count = 0;
std::stringstream ss;
ss << "OverlayTextDisplayObject" << count++;
- overlay_.reset(new awf_2d_overlay_vehicle::OverlayObject(ss.str()));
+ overlay_.reset(new autoware_overlay_rviz_plugin::OverlayObject(ss.str()));
overlay_->show();
}
if (overlay_) {
- if (msg->action == rviz_2d_overlay_msgs::msg::OverlayText::DELETE) {
+ if (msg->action == autoware_overlay_msgs::msg::OverlayText::DELETE) {
overlay_->hide();
- } else if (msg->action == rviz_2d_overlay_msgs::msg::OverlayText::ADD) {
+ } else if (msg->action == autoware_overlay_msgs::msg::OverlayText::ADD) {
overlay_->show();
}
}
@@ -550,7 +550,7 @@ void OverlayTextDisplay::updateLineWidth()
}
}
-} // namespace awf_2d_overlay_vehicle
+} // namespace autoware_overlay_rviz_plugin
#include <pluginlib/class_list_macros.hpp>
-PLUGINLIB_EXPORT_CLASS(awf_2d_overlay_vehicle::OverlayTextDisplay, rviz_common::Display)
+PLUGINLIB_EXPORT_CLASS(autoware_overlay_rviz_plugin::OverlayTextDisplay, rviz_common::Display)
diff --git a/common/awf_vehicle_rviz_plugin/awf_2d_overlay_vehicle/src/overlay_utils.cpp b/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/src/overlay_utils.cpp
similarity index 99%
rename from common/awf_vehicle_rviz_plugin/awf_2d_overlay_vehicle/src/overlay_utils.cpp
rename to common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/src/overlay_utils.cpp
index e65a74415fb6a..d6f061e724369 100644
--- a/common/awf_vehicle_rviz_plugin/awf_2d_overlay_vehicle/src/overlay_utils.cpp
+++ b/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/src/overlay_utils.cpp
@@ -52,7 +52,7 @@
#include <rviz_common/logging.hpp>
-namespace awf_2d_overlay_vehicle
+namespace autoware_overlay_rviz_plugin
{
ScopedPixelBuffer::ScopedPixelBuffer(Ogre::HardwarePixelBufferSharedPtr pixel_buffer)
: pixel_buffer_(pixel_buffer)
@@ -264,4 +264,4 @@ unsigned int OverlayObject::getTextureHeight() const
return 0;
}
}
-} // namespace awf_2d_overlay_vehicle
+} // namespace autoware_overlay_rviz_plugin
diff --git a/common/awf_vehicle_rviz_plugin/awf_2d_overlay_vehicle/src/signal_display.cpp b/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/src/signal_display.cpp
similarity index 92%
rename from common/awf_vehicle_rviz_plugin/awf_2d_overlay_vehicle/src/signal_display.cpp
rename to common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/src/signal_display.cpp
index f2a82dd386b37..b2995327eb472 100644
--- a/common/awf_vehicle_rviz_plugin/awf_2d_overlay_vehicle/src/signal_display.cpp
+++ b/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/src/signal_display.cpp
@@ -33,7 +33,7 @@
#include <mutex>
#include <string>
-namespace awf_2d_overlay_vehicle
+namespace autoware_overlay_rviz_plugin
{
SignalDisplay::SignalDisplay()
@@ -47,7 +47,7 @@ SignalDisplay::SignalDisplay()
property_top_ = new rviz_common::properties::IntProperty(
"Top", 10, "Top position of the overlay", this, SLOT(updateOverlayPosition()));
property_signal_color_ = new rviz_common::properties::ColorProperty(
- "Signal Color", QColor(94, 130, 255), "Color of the signal arrows", this,
+ "Signal Color", QColor(QString("#00E678")), "Color of the signal arrows", this,
SLOT(updateOverlayColor()));
// Initialize the component displays
@@ -68,7 +68,7 @@ void SignalDisplay::onInitialize()
static int count = 0;
std::stringstream ss;
ss << "SignalDisplayObject" << count++;
- overlay_.reset(new awf_2d_overlay_vehicle::OverlayObject(ss.str()));
+ overlay_.reset(new autoware_overlay_rviz_plugin::OverlayObject(ss.str()));
overlay_->show();
updateOverlaySize();
updateOverlayPosition();
@@ -206,7 +206,7 @@ void SignalDisplay::update(float /* wall_dt */, float /* ros_dt */)
if (!overlay_) {
return;
}
- awf_2d_overlay_vehicle::ScopedPixelBuffer buffer = overlay_->getBuffer();
+ autoware_overlay_rviz_plugin::ScopedPixelBuffer buffer = overlay_->getBuffer();
QImage hud = buffer.getQImage(*overlay_);
hud.fill(Qt::transparent);
drawWidget(hud);
@@ -297,6 +297,7 @@ void SignalDisplay::updateSpeedData(
if (speed_display_) {
speed_display_->updateSpeedData(msg);
+ speed_limit_display_->updateSpeedData(msg);
queueRender();
}
}
@@ -324,7 +325,7 @@ void SignalDisplay::drawWidget(QImage & hud)
painter.setRenderHint(QPainter::Antialiasing, true);
QRectF backgroundRect(0, 0, 322, hud.height());
- drawBackground(painter, backgroundRect);
+ drawHorizontalRoundedRectangle(painter, backgroundRect);
// Draw components
if (steering_wheel_display_) {
@@ -342,9 +343,9 @@ void SignalDisplay::drawWidget(QImage & hud)
// a 27px space between the two halves of the HUD
- QRectF smallerBackgroundRect(349, 0, 168, hud.height() / 2);
+ QRectF smallerBackgroundRect(340, 0, 190.0 / 2, hud.height());
- drawBackground(painter, smallerBackgroundRect);
+ drawVerticalRoundedRectangle(painter, smallerBackgroundRect);
if (traffic_display_) {
traffic_display_->drawTrafficLightIndicator(painter, smallerBackgroundRect);
@@ -357,13 +358,33 @@ void SignalDisplay::drawWidget(QImage & hud)
painter.end();
}
-void SignalDisplay::drawBackground(QPainter & painter, const QRectF & backgroundRect)
+void SignalDisplay::drawHorizontalRoundedRectangle(
+ QPainter & painter, const QRectF & backgroundRect)
{
- painter.setBrush(QColor(0, 0, 0, 255 * 0.2)); // Black background with opacity
+ painter.setRenderHint(QPainter::Antialiasing, true);
+ QColor colorFromHSV;
+ colorFromHSV.setHsv(0, 0, 0); // Hue, Saturation, Value
+ colorFromHSV.setAlphaF(0.65); // Transparency
+
+ painter.setBrush(colorFromHSV);
+
painter.setPen(Qt::NoPen);
painter.drawRoundedRect(
backgroundRect, backgroundRect.height() / 2, backgroundRect.height() / 2); // Circular ends
}
+void SignalDisplay::drawVerticalRoundedRectangle(QPainter & painter, const QRectF & backgroundRect)
+{
+ painter.setRenderHint(QPainter::Antialiasing, true);
+ QColor colorFromHSV;
+ colorFromHSV.setHsv(0, 0, 0); // Hue, Saturation, Value
+ colorFromHSV.setAlphaF(0.65); // Transparency
+
+ painter.setBrush(colorFromHSV);
+
+ painter.setPen(Qt::NoPen);
+ painter.drawRoundedRect(
+ backgroundRect, backgroundRect.width() / 2, backgroundRect.width() / 2); // Circular ends
+}
void SignalDisplay::reset()
{
@@ -495,7 +516,7 @@ void SignalDisplay::topic_updated_traffic()
});
}
-} // namespace awf_2d_overlay_vehicle
+} // namespace autoware_overlay_rviz_plugin
#include <pluginlib/class_list_macros.hpp>
-PLUGINLIB_EXPORT_CLASS(awf_2d_overlay_vehicle::SignalDisplay, rviz_common::Display)
+PLUGINLIB_EXPORT_CLASS(autoware_overlay_rviz_plugin::SignalDisplay, rviz_common::Display)
diff --git a/common/awf_vehicle_rviz_plugin/awf_2d_overlay_vehicle/src/speed_display.cpp b/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/src/speed_display.cpp
similarity index 95%
rename from common/awf_vehicle_rviz_plugin/awf_2d_overlay_vehicle/src/speed_display.cpp
rename to common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/src/speed_display.cpp
index 8212758c09a9f..b1df14956d16c 100644
--- a/common/awf_vehicle_rviz_plugin/awf_2d_overlay_vehicle/src/speed_display.cpp
+++ b/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/src/speed_display.cpp
@@ -31,12 +31,13 @@
#include <memory>
#include <string>
-namespace awf_2d_overlay_vehicle
+namespace autoware_overlay_rviz_plugin
{
SpeedDisplay::SpeedDisplay() : current_speed_(0.0)
{
- std::string package_path = ament_index_cpp::get_package_share_directory("awf_2d_overlay_vehicle");
+ std::string package_path =
+ ament_index_cpp::get_package_share_directory("autoware_overlay_rviz_plugin");
std::string font_path = package_path + "/assets/font/Quicksand/static/Quicksand-Regular.ttf";
std::string font_path2 = package_path + "/assets/font/Quicksand/static/Quicksand-Bold.ttf";
int fontId = QFontDatabase::addApplicationFont(
@@ -106,4 +107,4 @@ void SpeedDisplay::drawSpeedDisplay(QPainter & painter, const QRectF & backgroun
painter.drawText(unitPos, speedUnit);
}
-} // namespace awf_2d_overlay_vehicle
+} // namespace autoware_overlay_rviz_plugin
diff --git a/common/awf_vehicle_rviz_plugin/awf_2d_overlay_vehicle/src/speed_limit_display.cpp b/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/src/speed_limit_display.cpp
similarity index 54%
rename from common/awf_vehicle_rviz_plugin/awf_2d_overlay_vehicle/src/speed_limit_display.cpp
rename to common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/src/speed_limit_display.cpp
index fcc1df998798b..6913ef6a48ecd 100644
--- a/common/awf_vehicle_rviz_plugin/awf_2d_overlay_vehicle/src/speed_limit_display.cpp
+++ b/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/src/speed_limit_display.cpp
@@ -31,12 +31,13 @@
#include <memory>
#include <string>
-namespace awf_2d_overlay_vehicle
+namespace autoware_overlay_rviz_plugin
{
-SpeedLimitDisplay::SpeedLimitDisplay() : current_limit(0.0)
+SpeedLimitDisplay::SpeedLimitDisplay() : current_limit(0.0), current_speed_(0.0)
{
- std::string package_path = ament_index_cpp::get_package_share_directory("awf_2d_overlay_vehicle");
+ std::string package_path =
+ ament_index_cpp::get_package_share_directory("autoware_overlay_rviz_plugin");
std::string font_path = package_path + "/assets/font/Quicksand/static/Quicksand-Regular.ttf";
std::string font_path2 = package_path + "/assets/font/Quicksand/static/Quicksand-Bold.ttf";
int fontId = QFontDatabase::addApplicationFont(
@@ -54,45 +55,81 @@ void SpeedLimitDisplay::updateSpeedLimitData(
current_limit = msg->max_velocity;
}
+void SpeedLimitDisplay::updateSpeedData(
+ const autoware_auto_vehicle_msgs::msg::VelocityReport::ConstSharedPtr & msg)
+{
+ try {
+ float speed = msg->longitudinal_velocity;
+ current_speed_ = speed;
+ } catch (const std::exception & e) {
+ // Log the error
+ std::cerr << "Error in processMessage: " << e.what() << std::endl;
+ }
+}
+
void SpeedLimitDisplay::drawSpeedLimitIndicator(QPainter & painter, const QRectF & backgroundRect)
{
// Enable Antialiasing for smoother drawing
painter.setRenderHint(QPainter::Antialiasing, true);
painter.setRenderHint(QPainter::SmoothPixmapTransform, true);
- // #C2C2C2
- painter.setPen(QPen(gray, 2, Qt::SolidLine, Qt::RoundCap, Qt::RoundJoin));
- painter.setBrush(QBrush(gray, Qt::SolidPattern));
+ const double color_s_min = 0.4;
+ const double color_s_max = 0.8;
+ QColor colorMin;
+ colorMin.setHsvF(0.0, color_s_min, 1.0);
+ QColor colorMax;
+ colorMax.setHsvF(0.0, color_s_max, 1.0);
+
+ QColor borderColor = colorMin;
+ if (current_limit > 0.0) {
+ double speed_to_limit_ratio = current_speed_ / current_limit;
+ const double speed_to_limit_ratio_min = 0.6;
+ const double speed_to_limit_ratio_max = 0.9;
+
+ if (speed_to_limit_ratio >= speed_to_limit_ratio_max) {
+ borderColor = colorMax;
+ } else if (speed_to_limit_ratio > speed_to_limit_ratio_min) {
+ double interpolation_factor = (speed_to_limit_ratio - speed_to_limit_ratio_min) /
+ (speed_to_limit_ratio_max - speed_to_limit_ratio_min);
+ // Interpolate between colorMin and colorMax
+ double saturation = color_s_min + (color_s_max - color_s_min) * interpolation_factor;
+
+ borderColor.setHsvF(0.0, saturation, 1.0);
+ }
+ }
// Define the area for the outer circle
QRectF outerCircleRect = backgroundRect;
- outerCircleRect.setWidth(backgroundRect.width() / 2 - 20);
- outerCircleRect.setHeight(backgroundRect.height() - 20);
- outerCircleRect.moveTopLeft(QPointF(backgroundRect.left() + 10, backgroundRect.top() + 10));
+ outerCircleRect.setWidth(backgroundRect.width() - 30);
+ outerCircleRect.setHeight(backgroundRect.width() - 30);
+ outerCircleRect.moveTopLeft(QPointF(backgroundRect.left() + 15, backgroundRect.top() + 10));
+
+ // Now use borderColor for drawing
+ painter.setPen(QPen(borderColor, 2, Qt::SolidLine, Qt::RoundCap, Qt::RoundJoin));
+ painter.setBrush(borderColor);
+ // Draw the outer circle for the speed limit indicator
+ painter.drawEllipse(outerCircleRect);
// Define the area for the inner circle
QRectF innerCircleRect = outerCircleRect;
- innerCircleRect.setWidth(outerCircleRect.width() / 1.375);
- innerCircleRect.setHeight(outerCircleRect.height() / 1.375);
+ innerCircleRect.setWidth(outerCircleRect.width() / 1.25);
+ innerCircleRect.setHeight(outerCircleRect.height() / 1.25);
innerCircleRect.moveCenter(outerCircleRect.center());
- // Draw the outer circle
- painter.drawEllipse(outerCircleRect);
+ painter.setRenderHint(QPainter::Antialiasing, true);
+ QColor colorFromHSV;
+ colorFromHSV.setHsv(0, 0, 0); // Hue, Saturation, Value
- // Change the composition mode and draw the inner circle
- painter.setCompositionMode(QPainter::CompositionMode_Clear);
+ painter.setBrush(colorFromHSV);
painter.drawEllipse(innerCircleRect);
- // Reset the composition mode
- painter.setCompositionMode(QPainter::CompositionMode_SourceOver);
-
int current_limit_int = std::round(current_limit * 3.6);
// Define the text to be drawn
QString text = QString::number(current_limit_int);
// Set the font and color for the text
- QFont font = QFont("Quicksand", 14, QFont::Bold);
+ QFont font = QFont("Quicksand", 24, QFont::Bold);
painter.setFont(font);
// #C2C2C2
@@ -102,4 +139,4 @@ void SpeedLimitDisplay::drawSpeedLimitIndicator(QPainter & painter, const QRectF
painter.drawText(innerCircleRect, Qt::AlignCenter, text);
}
-} // namespace awf_2d_overlay_vehicle
+} // namespace autoware_overlay_rviz_plugin
diff --git a/common/awf_vehicle_rviz_plugin/awf_2d_overlay_vehicle/src/steering_wheel_display.cpp b/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/src/steering_wheel_display.cpp
similarity index 95%
rename from common/awf_vehicle_rviz_plugin/awf_2d_overlay_vehicle/src/steering_wheel_display.cpp
rename to common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/src/steering_wheel_display.cpp
index b4da8ff5f8ffb..5882d7780dc92 100644
--- a/common/awf_vehicle_rviz_plugin/awf_2d_overlay_vehicle/src/steering_wheel_display.cpp
+++ b/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/src/steering_wheel_display.cpp
@@ -31,13 +31,14 @@
#include <memory>
#include <string>
-namespace awf_2d_overlay_vehicle
+namespace autoware_overlay_rviz_plugin
{
SteeringWheelDisplay::SteeringWheelDisplay()
{
// Load the Quicksand font
- std::string package_path = ament_index_cpp::get_package_share_directory("awf_2d_overlay_vehicle");
+ std::string package_path =
+ ament_index_cpp::get_package_share_directory("autoware_overlay_rviz_plugin");
std::string font_path = package_path + "/assets/font/Quicksand/static/Quicksand-Regular.ttf";
std::string font_path2 = package_path + "/assets/font/Quicksand/static/Quicksand-Bold.ttf";
int fontId = QFontDatabase::addApplicationFont(
@@ -120,4 +121,4 @@ QImage SteeringWheelDisplay::coloredImage(const QImage & source, const QColor &
return result;
}
-} // namespace awf_2d_overlay_vehicle
+} // namespace autoware_overlay_rviz_plugin
diff --git a/common/awf_vehicle_rviz_plugin/awf_2d_overlay_vehicle/src/traffic_display.cpp b/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/src/traffic_display.cpp
similarity index 54%
rename from common/awf_vehicle_rviz_plugin/awf_2d_overlay_vehicle/src/traffic_display.cpp
rename to common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/src/traffic_display.cpp
index 233da1f36b4a7..4fea8f78b80da 100644
--- a/common/awf_vehicle_rviz_plugin/awf_2d_overlay_vehicle/src/traffic_display.cpp
+++ b/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/src/traffic_display.cpp
@@ -31,13 +31,18 @@
#include <memory>
#include <string>
-namespace awf_2d_overlay_vehicle
+namespace autoware_overlay_rviz_plugin
{
TrafficDisplay::TrafficDisplay()
+: tl_red_(QString("#cc3d3d")),
+ tl_yellow_(QString("#ccb43d")),
+ tl_green_(QString("#3dcc55")),
+ tl_gray_(QString("#4f4f4f"))
{
// Load the traffic light image
- std::string package_path = ament_index_cpp::get_package_share_directory("awf_2d_overlay_vehicle");
+ std::string package_path =
+ ament_index_cpp::get_package_share_directory("autoware_overlay_rviz_plugin");
std::string image_path = package_path + "/assets/images/traffic.png";
traffic_light_image_.load(image_path.c_str());
}
@@ -54,50 +59,60 @@ void TrafficDisplay::drawTrafficLightIndicator(QPainter & painter, const QRectF
painter.setRenderHint(QPainter::Antialiasing, true);
painter.setRenderHint(QPainter::SmoothPixmapTransform, true);
+ painter.setBrush(QBrush(tl_gray_, Qt::SolidPattern));
+ painter.setPen(Qt::NoPen);
// Define the area for the circle (background)
QRectF circleRect = backgroundRect;
- circleRect.setWidth(backgroundRect.width() / 2 - 20);
- circleRect.setHeight(backgroundRect.height() - 20);
- circleRect.moveTopRight(QPointF(backgroundRect.right() - 10, backgroundRect.top() + 10));
-
- painter.setBrush(QBrush(gray));
- painter.drawEllipse(circleRect.center(), 30, 30);
-
- // Define the area for the traffic light image (should be smaller or positioned within the circle)
- QRectF imageRect =
- circleRect.adjusted(15, 15, -15, -15); // Adjusting the rectangle to make the image smaller
-
- QImage scaled_traffic_image = traffic_light_image_.scaled(
- imageRect.size().toSize(), Qt::KeepAspectRatio, Qt::SmoothTransformation);
-
- if (current_traffic_.signals.size() > 0) {
+ circleRect.setWidth(backgroundRect.width() - 30);
+ circleRect.setHeight(backgroundRect.width() - 30);
+ circleRect.moveTopRight(QPointF(
+ backgroundRect.left() + circleRect.width() + 15,
+ backgroundRect.top() + circleRect.height() + 30));
+ painter.drawEllipse(circleRect);
+
+ if (!current_traffic_.signals.empty()) {
switch (current_traffic_.signals[0].elements[0].color) {
case 1:
- painter.setBrush(QBrush(red));
- painter.drawEllipse(circleRect.center(), 30, 30);
+ painter.setBrush(QBrush(tl_red_));
+ painter.drawEllipse(circleRect);
break;
case 2:
- painter.setBrush(QBrush(yellow));
- painter.drawEllipse(circleRect.center(), 30, 30);
+ painter.setBrush(QBrush(tl_yellow_));
+ painter.drawEllipse(circleRect);
break;
case 3:
- painter.setBrush(QBrush(green));
- painter.drawEllipse(circleRect.center(), 30, 30);
+ painter.setBrush(QBrush(tl_green_));
+ painter.drawEllipse(circleRect);
break;
case 4:
- painter.setBrush(QBrush(gray));
- painter.drawEllipse(circleRect.center(), 30, 30);
+ painter.setBrush(tl_gray_);
+ painter.drawEllipse(circleRect);
break;
default:
- painter.setBrush(QBrush(gray));
- painter.drawEllipse(circleRect.center(), 30, 30);
+ painter.setBrush(tl_gray_);
+ painter.drawEllipse(circleRect);
break;
}
}
- // make the image thicker
- painter.setPen(QPen(Qt::black, 2, Qt::SolidLine, Qt::RoundCap, Qt::RoundJoin));
- painter.drawImage(imageRect, scaled_traffic_image);
+ // Scaling factor (e.g., 1.5 for 150% size)
+ float scaleFactor = 1.00;
+
+ // Calculate the scaled size
+ QSize scaledSize = traffic_light_image_.size() * scaleFactor;
+
+ // Ensure the scaled image is still within the circle bounds or adjust scaleFactor accordingly
+
+ // Calculate the centered rectangle for the scaled image
+ QRectF scaledImageRect(0, 0, scaledSize.width(), scaledSize.height());
+ scaledImageRect.moveCenter(circleRect.center());
+
+ // Scale the image to the new size
+ QImage scaledTrafficImage =
+ traffic_light_image_.scaled(scaledSize, Qt::KeepAspectRatio, Qt::SmoothTransformation);
+
+ // Draw the scaled and centered image
+ painter.drawImage(scaledImageRect.topLeft(), scaledTrafficImage);
}
QImage TrafficDisplay::coloredImage(const QImage & source, const QColor & color)
@@ -110,4 +125,4 @@ QImage TrafficDisplay::coloredImage(const QImage & source, const QColor & color)
return result;
}
-} // namespace awf_2d_overlay_vehicle
+} // namespace autoware_overlay_rviz_plugin
diff --git a/common/awf_vehicle_rviz_plugin/awf_2d_overlay_vehicle/src/turn_signals_display.cpp b/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/src/turn_signals_display.cpp
similarity index 95%
rename from common/awf_vehicle_rviz_plugin/awf_2d_overlay_vehicle/src/turn_signals_display.cpp
rename to common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/src/turn_signals_display.cpp
index a9b780cb4eab2..b6d37062bf08b 100644
--- a/common/awf_vehicle_rviz_plugin/awf_2d_overlay_vehicle/src/turn_signals_display.cpp
+++ b/common/autoware_overlay_rviz_plugin/autoware_overlay_rviz_plugin/src/turn_signals_display.cpp
@@ -31,7 +31,7 @@
#include <memory>
#include <string>
-namespace awf_2d_overlay_vehicle
+namespace autoware_overlay_rviz_plugin
{
TurnSignalsDisplay::TurnSignalsDisplay() : current_turn_signal_(0)
@@ -39,7 +39,8 @@ TurnSignalsDisplay::TurnSignalsDisplay() : current_turn_signal_(0)
last_toggle_time_ = std::chrono::steady_clock::now();
// Load the arrow image
- std::string package_path = ament_index_cpp::get_package_share_directory("awf_2d_overlay_vehicle");
+ std::string package_path =
+ ament_index_cpp::get_package_share_directory("autoware_overlay_rviz_plugin");
std::string image_path = package_path + "/assets/images/arrow.png";
arrowImage.load(image_path.c_str());
}
@@ -119,4 +120,4 @@ QImage TurnSignalsDisplay::coloredImage(const QImage & source, const QColor & co
return result;
}
-} // namespace awf_2d_overlay_vehicle
+} // namespace autoware_overlay_rviz_plugin
diff --git a/common/awf_vehicle_rviz_plugin/awf_2d_overlay_vehicle/README.md b/common/awf_vehicle_rviz_plugin/awf_2d_overlay_vehicle/README.md
deleted file mode 100644
index 6728f26878e10..0000000000000
--- a/common/awf_vehicle_rviz_plugin/awf_2d_overlay_vehicle/README.md
+++ /dev/null
@@ -1,54 +0,0 @@
-# awf_2d_overlay_vehicle
-
-Plugin for displaying 2D overlays over the RViz2 3D scene.
-
-Based on the [jsk_visualization](https://github.com/jsk-ros-pkg/jsk_visualization)
-package, under the 3-Clause BSD license.
-
-## Purpose
-
-This plugin provides a visual and easy-to-understand display of vehicle speed, turn signal, steering status and gears.
-
-## Inputs / Outputs
-
-### Input
-
-| Name | Type | Description |
-| ---------------------------------------- | ------------------------------------------------------- | ---------------------------------- |
-| `/vehicle/status/velocity_status` | `autoware_auto_vehicle_msgs::msg::VelocityReport` | The topic is vehicle twist |
-| `/vehicle/status/turn_indicators_status` | `autoware_auto_vehicle_msgs::msg::TurnIndicatorsReport` | The topic is status of turn signal |
-| `/vehicle/status/hazard_status` | `autoware_auto_vehicle_msgs::msg::HazardReport` | The topic is status of hazard |
-| `/vehicle/status/steering_status` | `autoware_auto_vehicle_msgs::msg::SteeringReport` | The topic is status of steering |
-| `/vehicle/status/gear_status` | `autoware_auto_vehicle_msgs::msg::GearReport` | The topic is status of gear |
-
-## Parameter
-
-### Core Parameters
-
-#### SignalDisplay
-
-| Name | Type | Default Value | Description |
-| ------------------------ | ------ | -------------------- | --------------------------------- |
-| `property_width_` | int | 128 | Width of the plotter window [px] |
-| `property_height_` | int | 128 | Height of the plotter window [px] |
-| `property_left_` | int | 128 | Left of the plotter window [px] |
-| `property_top_` | int | 128 | Top of the plotter window [px] |
-| `property_signal_color_` | QColor | QColor(25, 255, 240) | Turn Signal color |
-
-## Assumptions / Known limits
-
-TBD.
-
-## Usage
-
-1. Start rviz and select Add under the Displays panel.
-
- 
-
-2. Select any one of the tier4_vehicle_rviz_plugin and press OK.
-
- 
-
-3. Enter the name of the topic where you want to view the status.
-
- 
diff --git a/common/awf_vehicle_rviz_plugin/awf_2d_overlay_vehicle/assets/images/select_topic_name.png b/common/awf_vehicle_rviz_plugin/awf_2d_overlay_vehicle/assets/images/select_topic_name.png
deleted file mode 100644
index 5466bcf0050df..0000000000000
Binary files a/common/awf_vehicle_rviz_plugin/awf_2d_overlay_vehicle/assets/images/select_topic_name.png and /dev/null differ
diff --git a/common/awf_vehicle_rviz_plugin/awf_2d_overlay_vehicle/assets/images/select_vehicle_plugin.png b/common/awf_vehicle_rviz_plugin/awf_2d_overlay_vehicle/assets/images/select_vehicle_plugin.png
deleted file mode 100644
index 863f63d728616..0000000000000
Binary files a/common/awf_vehicle_rviz_plugin/awf_2d_overlay_vehicle/assets/images/select_vehicle_plugin.png and /dev/null differ
diff --git a/common/awf_vehicle_rviz_plugin/awf_2d_overlay_vehicle/assets/images/traffic.png b/common/awf_vehicle_rviz_plugin/awf_2d_overlay_vehicle/assets/images/traffic.png
deleted file mode 100644
index 960985a3da5de..0000000000000
Binary files a/common/awf_vehicle_rviz_plugin/awf_2d_overlay_vehicle/assets/images/traffic.png and /dev/null differ
diff --git a/common/awf_vehicle_rviz_plugin/awf_2d_overlay_vehicle/plugins_description.xml b/common/awf_vehicle_rviz_plugin/awf_2d_overlay_vehicle/plugins_description.xml
deleted file mode 100644
index 8a5af0abcf0dd..0000000000000
--- a/common/awf_vehicle_rviz_plugin/awf_2d_overlay_vehicle/plugins_description.xml
+++ /dev/null
@@ -1,5 +0,0 @@
-<library path="awf_2d_overlay_vehicle">
- <class name="awf_2d_overlay_vehicle/SignalDisplay" type="awf_2d_overlay_vehicle::SignalDisplay" base_class_type="rviz_common::Display">
- <description>Signal overlay plugin for the 3D view.</description>
- </class>
-</library>