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autoware_trajectory_kinematics_rviz_plugin package from autoware_tools repo

autoware_dependency_checker bag2lanelet autoware_debug_tools autoware_trajectory_kinematics_rviz_plugin mission_planner_rviz_plugin rtc_manager_rviz_plugin tier4_automatic_goal_rviz_plugin tier4_calibration_msgs tier4_calibration_rviz_plugin tier4_control_rviz_plugin tier4_debug_rviz_plugin tier4_debug_tools tier4_logging_level_configure_rviz_plugin tier4_screen_capture_rviz_plugin tier4_simulated_clock_rviz_plugin tier4_string_viewer_rviz_plugin tier4_target_object_type_rviz_plugin control_debug_tools vehicle_cmd_analyzer control_data_collecting_tool driving_environment_analyzer tier4_metrics_rviz_plugin autoware_localization_evaluation_scripts autoware_position_error_evaluator deviation_estimator deviation_evaluator autoware_lanelet2_map_utils autoware_pointcloud_divider autoware_pointcloud_merger autoware_pointcloud_projection_converter autoware_pointcloud_saver_rviz_plugin autoware_tp_manager autoware_planning_data_analyzer autoware_route_client autoware_route_history autoware_rtc_replayer autoware_static_centerline_generator planning_debug_tools simulator_compatibility_test reaction_analyzer rqt_diagnostic_graph_monitor calibration_adapter estimator_utils learning_based_vehicle_calibration parameter_estimator pitch_checker time_delay_estimator

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github

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Package Summary

Version	0.46.0
License	Apache License 2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Description
Checkout URI	https://github.com/autowarefoundation/autoware_tools.git
VCS Type	git
VCS Version	main
Last Updated	2026-04-08
Dev Status	UNKNOWN
Released	UNRELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

RViz2 panel to plot trajectory kinematics (velocity, acceleration, curvature, lateral acceleration) from Trajectory or ScoredCandidateTrajectories topics.

Maintainers

Taiki Tanaka

Authors

No additional authors.

common/autoware_trajectory_kinematics_rviz_plugin/README.md

autoware_trajectory_kinematics_rviz_plugin

RViz2 panel plugin that plots kinematic quantities along planned paths and compares multiple trajectories on one Qt Charts graph.

Features

Subscribe to one or more topics publishing:
- autoware_planning_msgs/msg/Trajectory, or
- autoware_internal_planning_msgs/msg/ScoredCandidateTrajectories
Choose X (time from start or arc length) and Y (velocity, acceleration, curvature, lateral acceleration).
Checkbox which series to plot; optional fixed X/Y axis ranges; hover tooltip with crosshair.
Panel layout and topic list are stored in the RViz config (save / load).

Usage

Build the workspace with this package in the overlay (standard colcon build).
Start RViz2, Add Panel → select autoware_trajectory_kinematics_rviz_plugin/TrajectoryKinematicsPanel.
Choose message kind, add topics (dropdown or “Other topic”), tick trajectories to plot, set axes.

ROS interfaces

Subscribes (user-configured): topics you add, as Trajectory or ScoredCandidateTrajectories depending on the kind selector.
Does not publish topics.

CHANGELOG

No CHANGELOG found.

Package Dependencies

Deps	Name
	ament_cmake_auto
	autoware_cmake
	ament_cmake_gtest
	ament_lint_auto
	autoware_lint_common
	autoware_internal_planning_msgs
	autoware_planning_msgs
	pluginlib
	rclcpp
	rviz_common

System Dependencies

Name
libqt5-charts-dev

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

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API Docs Browse Code

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