tier4_simulated_clock_rviz_plugin

Purpose

This plugin allows publishing and controlling the simulated ROS time.

Output

How to use the plugin

1. Launch planning simulator with use_sim_time:=true.

   ros2 launch autoware_launch planning_simulator.launch.xml map_path:=$HOME/autoware_map/sample-map-planning vehicle_model:=sample_vehicle sensor_model:=sample_sensor_kit use_sim_time:=true
   

Warning If you launch the planning simulator without adding the tier4_simulated_clock_rviz_plugin, your simulation will not be running. You’ll not even be able to place the initial and the goal poses.

1. Start rviz and select panels/Add new panel.

   

2. Select tier4_clock_rviz_plugin/SimulatedClock and press OK.

   

3. Use the added panel to control how the simulated clock is published.

   

   1. Pause button: pause/resume the clock.
   2. Speed: speed of the clock relative to the system clock.
   3. Rate: publishing rate of the clock.
   4. Step button: advance the clock by the specified time step.
   5. Time step: value used to advance the clock when pressing the step button d).
   6. Time unit: time unit associated with the value from e).

   Warning If you set the time step too large, your simulation will go haywire.

Changelog for package tier4_simulated_clock_rviz_plugin

0.3.0 (2025-08-11)

0.2.0 (2025-03-24)

0.1.0 (2025-01-28)

• unify version to 0.0.0

• 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
  • fix : typo
  • chore: minor update
  • chore : add minor update
  • docs: add image for readme
  • docs: update docs
  • ci(pre-commit): autofix
  • ci(pre-commit): autofix

  * Update common/tier4_control_rviz_plugin/src/tools/manual_controller.cpp Co-authored-by: taikitanaka3 <<65527974+taikitanaka3@users.noreply.github.com>>

  * Update common/tier4_control_rviz_plugin/src/tools/manual_controller.hpp Co-authored-by: taikitanaka3 <<65527974+taikitanaka3@users.noreply.github.com>> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Shumpei Wakabayashi <<shumpei.wakabayashi@tier4.jp>> Co-authored-by: Shumpei Wakabayashi <<42209144+shmpwk@users.noreply.github.com>>

  • feat(manual_controller): support backward driving (#1119)

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