Add Rviz2 Plugins for Localization Metrics

[StepTurtle]

Hello all,

When we test the algorithms and sensors, we are currently use user interfaces and ros2 topic to check some localization metrics for example NDT process time, linear velocity average error, orientation velocity average error etc., and it's hard to control them every time. So, we are planning to use rivz2 plugins to visualize localization metrics. We will use jsk_visualization by porting to ROS2.

If you think this plugins will be useful for Autoware users, we can add these plugins to Autoware.

There are some examples in these links:

• https://www.youtube.com/watch?v=uLDFs85FcjY
• https://www.youtube.com/watch?v=DGVJ5-m3TR4

[meliketanrikulu]

Last status of plugin :

We added gps status as a text

[mitsudome-r]

There are also other tools like plotjuggler already available if you just want to see the values, but I don't mind adding the plugin if you want to show it on the rviz.
I'm not sure if we want to have them turned on as a default, though.

Regarding the porting of jsk_plugins to ROS 2, what is your plan? Do you plan to

• merge directly to autoware.universe,
• create a fork in AWF(or in LeoDrive GitHub), or
• do you plan to push it to the upstream? (It looks like the authors are welcoming anyone helping them port to ROS 2. Will jsk_visualization be ported to ROS2? jsk-ros-pkg/jsk_visualization#779)

[StepTurtle]

When we do localization tests, we prefer to display Gnss & Localization metrics in RViz instead of plotjuggler. A additional GUI for plotjuggler is not a desirable situation for us. Because of that, we want to add plugin to RViz.

If autoware don't want to merge to autoware.universe or universe/external we will think work on our fork (in Leo Drive organization).

[kminoda]

What is the status of this Discussion? Maybe is it OK to mark your comment as an answer and close this?