tier4_dummy_object_rviz_plugin

Purpose

This plugin is used to generate dummy pedestrians, cars, and obstacles in planning simulator.

Overview

The CarInitialPoseTool sends a topic for generating a dummy car.
The PedestrianInitialPoseTool sends a topic for generating a dummy pedestrian.
The UnknownInitialPoseTool sends a topic for generating a dummy obstacle.
The DeleteAllObjectsTool deletes the dummy cars, pedestrians, and obstacles displayed by the above three tools.

Inputs / Outputs

Output

Parameter

Core Parameters

CarPose

BusPose

PedestrianPose

UnknownPose

DeleteAllObjects

Assumptions / Known limits

Using a planning simulator

Usage

1. Start rviz and select + on the tool tab.
2. Select one of the following: tier4_dummy_object_rviz_plugin and press OK.
3. Select the new item in the tool tab (2D Dummy Car in the example) and click on it in rviz.

Interactive manipulation

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Changelog for package tier4_dummy_object_rviz_plugin

0.48.0 (2025-11-18)

• Merge remote-tracking branch 'origin/main' into humble

• feat(autoware_dummy_perception_publisher): dummy object predicted path functionality (#11011)

  • feat: implement euclidean distance-based mapping for dummy perception publisher
  • Add euclidean distance-based mapping between dummy objects and predicted objects
  • Implement 2-second grace period before using predicted paths
  • Add distance-based interpolation along predicted paths using dummy object speed
  • Use predictions at least 1 second old for better movement calculation
  • Maintain one-to-one mapping between dummy and predicted objects
  • Add predicted objects subscription and buffer management
  • Preserve dummy object velocity throughout movement
  • feat: enhance euclidean distance-based mapping with prediction stability
  • Implement prediction keeping logic for 1-second intervals to reduce jitter
  • Add prediction storage maps for stable object tracking
  • Remove debug output and clean up prediction selection logic
  • Use object creation time instead of mapping time for 2-second grace period
  • Improve handling of predicted object ID changes with proper remapping
  • Clean up unused mapping time parameter from ObjectInfo constructor
  • feat: increase prediction stability duration to 3 seconds
  • Change MIN_KEEP_DURATION from 1.0 to 3.0 seconds for more stable object tracking
  • Add debug output to track prediction usage
  • Fix code formatting and whitespace
  • feat: implement trajectory extrapolation and lost object handling
  • Add trajectory extrapolation when objects overshoot predicted paths
  • Use last two trajectory points to determine direction for extrapolation
  • Maintain last known orientation during extrapolation
  • Keep using last predicted trajectory for lost objects
  • Add proper fallbacks for edge cases (single point paths, zero-length segments)
  • Clean up debug output to avoid duplication
  • feat: add trajectory validation to prevent unrealistic direction changes
  • Add isTrajectoryValid function to validate new predictions against current ones
  • Implement thresholds for yaw change (45°), direction change (60°), and speed change (200%)
  • Skip trajectory updates when validation fails to maintain smooth object movement
  • Handle edge cases including empty paths and low-speed scenarios
  • Add detailed logging for debugging trajectory rejections
  • feat: relax trajectory validation thresholds for more realistic movement
  • Increase yaw change threshold from 45° to 90°
  • Increase direction change threshold from 60° to 120°
  • Increase speed change threshold from 200% to 500%
  • Allow for more realistic vehicle maneuvers while still preventing physics violations
  • feat: add path length validation to trajectory comparison
  • Add MAX_PATH_LENGTH_CHANGE_RATIO threshold (300% change)
  • Calculate path lengths for both current and new trajectories
  • Compare path length ratios to prevent unrealistic path changes
  • Skip validation for very short paths (less than 0.1m)
  • Add detailed logging for path length validation failures
  • feat: add comprehensive validation for object remapping candidates
  • Add isValidRemappingCandidate function to validate remapping candidates
  • Implement position, trajectory, and heading similarity checks
  • Add arePathsSimilar function to compare path shapes and directions
  • Use validation in both remapping and unmapped object scenarios
  • Add detailed logging for debugging validation failures
  • Set appropriate thresholds for distance, yaw, and path comparison
  • fix: remove unused variables and parameters to resolve build warnings
  • Mark unused parameter current_time in isValidRemappingCandidate
  • Mark unused parameter dummy_uuid_str in arePathsSimilar
  • Remove unused MAX_DIRECTION_CHANGE and MAX_VELOCITY_CHANGE_RATIO constants
  • Clean up warnings to improve code quality
  • refactor: remove unused parameters from function signatures
  • Remove unused current_time parameter from isValidRemappingCandidate
  • Remove unused dummy_uuid_str parameter from arePathsSimilar
  • Update function calls to match simplified signatures
  • Clean up function interfaces to remove unnecessary parameters
  • feat: improve remapping candidate validation using trajectory-based position calculation
  • Add calculateExpectedPosition function to predict object

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