feat(tier4_vehicle_rviz_plugin): add acceleration visualization plugin to RViz #4506

Owen-Liuyuxuan · 2023-08-03T07:31:44Z

Description

Add an acceleration meter plugin for debugging on RVIZ.

Tests performed

PSimulation and Rosbag simulation.

Interface changes

The new plugin relies on topics like /localization/acceleration, and expose plugin parameters as described in changes in README.

Effects on system behavior

A new panel recording acceleration is expected to opened on the right of speed panel.

The center text should turn red (by default) if acceleration is larger than a max-threshold (re-configurable on Rviz), or smaller than a min-threshold. (In the screenshot we manually reconfigured the thresholds to demonstrate the behaviour)

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yukkysaito

Thank you for your PR 👍

My Feedback:
Is it possible to remove the limit part from this plugin as I would like to create it as a separate plugin?
https://github.com/autowarefoundation/autoware.universe/pull/4506/files#diff-b668fdfacd30844d8af0cdcaee2742a5c251f497dbf82ebbbd2793d88a9aceb1R182

Since the limiting acceleration is specified by a parameter, it is better to indicate it.

Owen-Liuyuxuan · 2023-08-03T07:44:47Z

Thank you for your PR 👍

My Feedback: Is it possible to remove the limit part from this plugin as I would like to create it as a separate plugin? https://github.com/autowarefoundation/autoware.universe/pull/4506/files#diff-b668fdfacd30844d8af0cdcaee2742a5c251f497dbf82ebbbd2793d88a9aceb1R182

Since the limiting acceleration is specified by a parameter, it is better to indicate it.

Agree, it is not necessary to have a limit here. I will try update these parts.

shmpwk · 2023-08-03T08:04:09Z

(It is ok not to force push the new commit but just add another commit because we will squash merge this PR.)

Owen-Liuyuxuan · 2023-08-03T08:04:23Z

Change two places:

Fix a bugged magic number (0.08) in line 178 with property_label_scale_;
Remove the limit text in line 182.

shmpwk · 2023-08-03T08:06:13Z

@Owen-Liuyuxuan
Could you exclude the commit 4edf9f8 ?
Maybe you have to rebase main and force push.

shmpwk · 2023-08-03T08:27:50Z

@Owen-Liuyuxuan
Could you check failing spell check CI ?

codecov · 2023-08-03T09:21:07Z

Codecov Report

Patch coverage has no change and project coverage change: -0.03% ⚠️

Comparison is base (73726bd) 14.89% compared to head (8336231) 14.86%.
Report is 11 commits behind head on main.

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #4506      +/-   ##
==========================================
- Coverage   14.89%   14.86%   -0.03%     
==========================================
  Files        1519     1520       +1     
  Lines      104972   105123     +151     
  Branches    31986    31986              
==========================================
  Hits        15631    15631              
- Misses      72274    72425     +151     
  Partials    17067    17067

Flag	Coverage Δ		*Carryforward flag
differential	`0.00% <0.00%> (?)`
total	`14.89% <ø> (ø)`		Carriedforward from 02a3a8f

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

Files Changed	Coverage Δ
...hicle_rviz_plugin/src/tools/acceleration_meter.cpp	`0.00% <0.00%> (ø)`

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shmpwk · 2023-08-03T09:22:19Z

@Owen-Liuyuxuan
You can ignore codecov fail for now. It is not required to merge PR.

shmpwk · 2023-08-03T10:26:19Z

@Owen-Liuyuxuan

Looks like even if the acceleration is negative value, the meter hand is shown on the right side.

common/tier4_vehicle_rviz_plugin/src/tools/acceleration_meter.cpp

Signed-off-by: Owen-Liuyuxuan <uken.ryu@tier4.jp>

… property_label_scale_ not responding Signed-off-by: Owen-Liuyuxuan <uken.ryu@tier4.jp>

Signed-off-by: Owen-Liuyuxuan <uken.ryu@tier4.jp>

…text of acceleration meter, and delte the parameter of property_label_value Signed-off-by: Owen-Liuyuxuan <uken.ryu@tier4.jp>

shmpwk · 2023-08-03T11:30:33Z

@Owen-Liuyuxuan

(Please check tomorrow.)
Could you also create for RViz viewer ?
https://github.com/autowarefoundation/autoware_launch/blob/main/autoware_launch/rviz/autoware.rviz

The acceleration meter is disable by default
The acceleration meter is aligned with other meters in the RViz Displays.

common/tier4_vehicle_rviz_plugin/src/tools/acceleration_meter.hpp

common/tier4_vehicle_rviz_plugin/README.md

…/min acceration; set threshold for reconfiguring emergency speed Signed-off-by: Owen-Liuyuxuan <uken.ryu@tier4.jp>

…warefoundation/autoware.universe#4506 Signed-off-by: Owen-Liuyuxuan <uken.ryu@tier4.jp>

shmpwk · 2023-08-04T05:46:47Z

@Owen-Liuyuxuan
Thank you for your fixing.
Could you update the screen shot of PR description ?

-> updated already

shmpwk

LGTM! I also tested with Psim.
Wating for @yukkysaito -san approval.

yukkysaito

LGTM

… default (#499) * feat: add acceleration meter for debugging, disabled by default; autowarefoundation/autoware.universe#4506 Signed-off-by: Owen-Liuyuxuan <uken.ryu@tier4.jp> * not directly setting pixel numbers in rviz for display on screen with various resolutions Signed-off-by: Owen-Liuyuxuan <uken.ryu@tier4.jp> --------- Signed-off-by: Owen-Liuyuxuan <uken.ryu@tier4.jp> Co-authored-by: Owen-Liuyuxuan <uken.ryu@tier4.jp>

…n to RViz (autowarefoundation#4506) * feat: add acceleration visualization plugin to RVIZ Signed-off-by: Owen-Liuyuxuan <uken.ryu@tier4.jp> * feat: add RVIZ plugin for acceleration; remove limit text; debugging: property_label_scale_ not responding Signed-off-by: Owen-Liuyuxuan <uken.ryu@tier4.jp> * style(pre-commit): autofix Signed-off-by: Owen-Liuyuxuan <uken.ryu@tier4.jp> * fix typo in acceleration Signed-off-by: Owen-Liuyuxuan <uken.ryu@tier4.jp> * fix a bug in keeping using abs(accel) to compute meter angle; delete text of acceleration meter, and delte the parameter of property_label_value Signed-off-by: Owen-Liuyuxuan <uken.ryu@tier4.jp> * feat: separate the setting of max/min emergency threshold; update max/min acceration; set threshold for reconfiguring emergency speed Signed-off-by: Owen-Liuyuxuan <uken.ryu@tier4.jp> * style(pre-commit): autofix --------- Signed-off-by: Owen-Liuyuxuan <uken.ryu@tier4.jp> Co-authored-by: Owen-Liuyuxuan <uken.ryu@tier4.jp> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>

Owen-Liuyuxuan requested a review from yukkysaito as a code owner August 3, 2023 07:31

github-actions bot added type:documentation Creating or refining documentation. (auto-assigned) component:common Common packages from the autoware-common repository. (auto-assigned) labels Aug 3, 2023

Owen-Liuyuxuan force-pushed the feat/acceleartion_rviz branch from cdd039d to edd6673 Compare August 3, 2023 07:36

Owen-Liuyuxuan requested review from rej55, kosuke55, kyoichi-sugahara, satoshi-ota, shmpwk, taikitanaka3, TakaHoribe, takayuki5168, tkimura4, purewater0901 and zulfaqar-azmi-t4 as code owners August 3, 2023 07:36

github-actions bot added the component:planning Route planning, decision-making, and navigation. (auto-assigned) label Aug 3, 2023

Owen-Liuyuxuan force-pushed the feat/acceleartion_rviz branch from edd6673 to e544238 Compare August 3, 2023 07:37

github-actions bot removed the component:planning Route planning, decision-making, and navigation. (auto-assigned) label Aug 3, 2023

takayuki5168 added the run:build-and-test-differential Mark to enable build-and-test-differential workflow. (used-by-ci) label Aug 3, 2023

yukkysaito requested changes Aug 3, 2023

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shmpwk changed the title ~~feat: add acceleration visualization plugin to RVIZ~~ feat(tier4_vehicle_rviz_plugin): add acceleration visualization plugin to RVIZ Aug 3, 2023

Owen-Liuyuxuan force-pushed the feat/acceleartion_rviz branch from 88bcdbb to edd6673 Compare August 3, 2023 08:00

github-actions bot added the component:planning Route planning, decision-making, and navigation. (auto-assigned) label Aug 3, 2023

Owen-Liuyuxuan force-pushed the feat/acceleartion_rviz branch from f72d868 to 8076aab Compare August 3, 2023 08:16

github-actions bot removed the component:planning Route planning, decision-making, and navigation. (auto-assigned) label Aug 3, 2023

shmpwk changed the title ~~feat(tier4_vehicle_rviz_plugin): add acceleration visualization plugin to RVIZ~~ feat(tier4_vehicle_rviz_plugin): add acceleration visualization plugin to RViz Aug 3, 2023

Owen-Liuyuxuan requested a review from yukkysaito August 3, 2023 09:01

shmpwk reviewed Aug 3, 2023

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common/tier4_vehicle_rviz_plugin/src/tools/acceleration_meter.cpp Outdated Show resolved Hide resolved

Owen-Liuyuxuan and others added 5 commits August 3, 2023 19:00

feat: add acceleration visualization plugin to RVIZ

8a9c078

Signed-off-by: Owen-Liuyuxuan <uken.ryu@tier4.jp>

feat: add RVIZ plugin for acceleration; remove limit text; debugging:…

3e43ee7

… property_label_scale_ not responding Signed-off-by: Owen-Liuyuxuan <uken.ryu@tier4.jp>

style(pre-commit): autofix

fdcfada

Signed-off-by: Owen-Liuyuxuan <uken.ryu@tier4.jp>

fix typo in acceleration

0e05cd9

Signed-off-by: Owen-Liuyuxuan <uken.ryu@tier4.jp>

fix a bug in keeping using abs(accel) to compute meter angle; delete …

02a3a8f

…text of acceleration meter, and delte the parameter of property_label_value Signed-off-by: Owen-Liuyuxuan <uken.ryu@tier4.jp>

Owen-Liuyuxuan force-pushed the feat/acceleartion_rviz branch from 14a8de5 to 02a3a8f Compare August 3, 2023 11:00

shmpwk reviewed Aug 3, 2023

View reviewed changes

common/tier4_vehicle_rviz_plugin/src/tools/acceleration_meter.hpp Outdated Show resolved Hide resolved

shmpwk reviewed Aug 3, 2023

View reviewed changes

common/tier4_vehicle_rviz_plugin/README.md Outdated Show resolved Hide resolved

Owen-Liuyuxuan and others added 2 commits August 4, 2023 13:20

feat: separate the setting of max/min emergency threshold; update max…

f1555ac

…/min acceration; set threshold for reconfiguring emergency speed Signed-off-by: Owen-Liuyuxuan <uken.ryu@tier4.jp>

style(pre-commit): autofix

8336231

Owen-Liuyuxuan pushed a commit to Owen-Liuyuxuan/autoware_launch that referenced this pull request Aug 4, 2023

feat: add acceleration meter for debugging, disabled by default; auto…

e9c9c8b

…warefoundation/autoware.universe#4506 Signed-off-by: Owen-Liuyuxuan <uken.ryu@tier4.jp>

Owen-Liuyuxuan mentioned this pull request Aug 4, 2023

feat(rviz): add acceleration meter for debugging which is disabled by default autowarefoundation/autoware_launch#499

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shmpwk approved these changes Aug 4, 2023

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yukkysaito approved these changes Aug 4, 2023

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shmpwk merged commit e39c928 into autowarefoundation:main Aug 4, 2023

Owen-Liuyuxuan deleted the feat/acceleartion_rviz branch August 4, 2023 09:44

tier4-autoware-public-bot bot mentioned this pull request Aug 7, 2023

chore: sync upstream tier4/autoware.universe#711

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feat(tier4_vehicle_rviz_plugin): add acceleration visualization plugin to RViz #4506

feat(tier4_vehicle_rviz_plugin): add acceleration visualization plugin to RViz #4506

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feat(tier4_vehicle_rviz_plugin): add acceleration visualization plugin to RViz #4506

feat(tier4_vehicle_rviz_plugin): add acceleration visualization plugin to RViz #4506

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Owen-Liuyuxuan commented Aug 3, 2023 • edited Loading

Description

Tests performed

Interface changes

Effects on system behavior

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