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rtc_manager_rviz_plugin package from autoware_tools repo

autoware_dependency_checker bag2lanelet autoware_debug_tools autoware_sample_vehicle_description 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_rtc_replayer autoware_static_centerline_generator planning_debug_tools simulator_compatibility_test 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

Tags	No category tags.
Version	0.4.0
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	2025-12-17
Dev Status	UNKNOWN
Released	UNRELEASED
Tags	No category tags.
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

The rtc manager rviz plugin package

Additional Links

No additional links.

Maintainers

Taiki Tanaka
Tomoya Kimura
Satoshi Ota
Mamoru Sobue

Authors

No additional authors.

common/rtc_manager_rviz_plugin/README.md

rtc_manager_rviz_plugin

Purpose

The purpose of this RViz plugin is to provide a graphical interface for managing RTC (Request To Cooperate) functionality:

Display RTC status for each cooperate module (ID, Module, Safe, Command, AutoMode, State, StartDistance, FinishDistance).
Switch each module between Auto mode and Manual mode.
Send cooperate commands by button (Activate the front module).

rtc_manager_panel

Features

Auto Mode Panel: Toggle visibility with “Show Auto Mode Panel” checkbox. Displays a table of modules with buttons to switch between Auto/Manual mode.
Status Table: Shows real-time status of all RTC modules including distance information.
Activate Button: Sends an ACTIVATE command to the nearest activatable module (modules that are not yet activated, not in auto mode, and have positive start distance).

Inputs / Outputs

Input

Name	Type	Description
`/api/external/get/rtc_status`	`tier4_rtc_msgs::msg::CooperateStatusArray`	The statuses of each Cooperate Commands
`/api/external/get/rtc_auto_mode`	`tier4_rtc_msgs::msg::AutoModeStatusArray`	The auto mode statuses for each module

Output

Name	Type	Description
`/api/external/set/rtc_commands`	`tier4_rtc_msgs::srv::CooperateCommands`	The Cooperate Commands for each planning
`/planning/enable_auto_mode/*`	`tier4_rtc_msgs::srv::AutoMode`	The service to switch Auto/Manual mode for each module

HowToUse

Start RViz and select Panels > Add New Panel.
Select rtc_manager_rviz_plugin/RTCManagerPanel and press OK.
The panel will appear with:
- A checkbox to show/hide the Auto Mode Panel
- Auto Mode Table (if visible) with buttons to switch each module between Auto/Manual mode
- Status Table showing all RTC module statuses
- Activate button to send ACTIVATE command to the front activatable module

CHANGELOG

Changelog for package rtc_manager_rviz_plugin

0.4.0 (2025-11-16)

chore: add maintainers (#293) chore: add maintaiers
Contributors: Fumiya Watanabe

0.3.0 (2025-08-11)

0.2.0 (2025-03-24)

0.1.0 (2025-01-28)

chore: sync files (#11) Co-authored-by: github-actions <<github-actions@github.com>> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
feat(rtc_manager_panel): add cooperateStatus state column (#104)
- add another column
* fix
chore(rtc_manager_panel): update module name (#29)
- chore(rtc_manager_panel): update module name
* chore(gitignore): remove py cache ---------
chore(rviz_plugin): move peripheral rviz plugin (#27)
- feat: calibrator tier4 pkg name (#200)
- feat: change names
- feat: move pkg to common
- feat: change pkg name
* fix: library path (#225) Co-authored-by: taikitanaka3 <<taiki.tanaka@tier4.jp>>
- feat: add rviz plugin to publish and control the simulated clock (#349)
- Add tier4_clock_rviz_plugin to publish&control the sim clock in rviz
- Add step control
- Fix precommit
- Update documentation
- Fix spellcheck
- Update plugin description and icon
- Rename package
- Fix bug with long duration jumps (high speed + low rate)
- ci: check include guard (#438)
- ci: check include guard
- apply pre-commit
* Update .pre-commit-config.yaml Co-authored-by: Kenji Miyake <<31987104+kenji-miyake@users.noreply.github.com>>

* fix: pre-commit Co-authored-by: Kenji Miyake <<kenji.miyake@tier4.jp>> Co-authored-by: Kenji Miyake <<31987104+kenji-miyake@users.noreply.github.com>>
- chore: sync files (#629)
- chore: sync files
* ci(pre-commit): autofix Co-authored-by: kenji-miyake <<kenji-miyake@users.noreply.github.com>> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
- style: fix format of package.xml (#844)
- refactor: use autoware cmake (#849)
- remove autoware_auto_cmake
- add build_depend of autoware_cmake
- use autoware_cmake in CMakeLists.txt
- fix bugs
- fix cmake lint errors
- chore: upgrade cmake_minimum_required to 3.14 (#856)
- fix(accel_brake_map_calibrator): rviz panel type (#895)
- fixed panel type
- modified instruction for rosbag replay case
- modified update_map_dir service name
- feat: add manual controller (#989)
- feat: add manual controller
- ci(pre-commit): autofix

File truncated at 100 lines see the full file

Package Dependencies

Deps	Name
	ament_cmake_auto
	autoware_cmake
	ament_lint_auto
	autoware_lint_common
	rclcpp
	rviz_common
	tier4_external_api_msgs
	tier4_planning_msgs
	tier4_rtc_msgs
	unique_identifier_msgs

System Dependencies

Name
fmt
libqt5-core
libqt5-gui
libqt5-widgets
qtbase5-dev

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

rviz

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API Docs Browse Code

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