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tier4_vehicle_rviz_plugin package from autoware_universe repo

autoware_agnocast_wrapper autoware_auto_common autoware_boundary_departure_checker autoware_component_interface_specs_universe autoware_component_interface_tools autoware_component_interface_utils autoware_cuda_dependency_meta autoware_fake_test_node autoware_glog_component autoware_goal_distance_calculator autoware_grid_map_utils autoware_path_distance_calculator autoware_polar_grid autoware_time_utils autoware_traffic_light_recognition_marker_publisher autoware_traffic_light_utils autoware_universe_utils tier4_api_utils autoware_autonomous_emergency_braking autoware_collision_detector autoware_control_command_gate autoware_control_performance_analysis autoware_control_validator autoware_external_cmd_selector autoware_joy_controller autoware_lane_departure_checker autoware_mpc_lateral_controller autoware_obstacle_collision_checker autoware_operation_mode_transition_manager autoware_pid_longitudinal_controller autoware_predicted_path_checker autoware_pure_pursuit autoware_shift_decider autoware_smart_mpc_trajectory_follower autoware_stop_mode_operator autoware_trajectory_follower_base autoware_trajectory_follower_node autoware_vehicle_cmd_gate autoware_control_evaluator autoware_kinematic_evaluator autoware_localization_evaluator autoware_perception_online_evaluator autoware_planning_evaluator autoware_scenario_simulator_v2_adapter autoware_diagnostic_graph_test_examples tier4_autoware_api_launch tier4_control_launch tier4_localization_launch tier4_map_launch tier4_perception_launch tier4_planning_launch tier4_sensing_launch tier4_simulator_launch tier4_system_launch tier4_vehicle_launch autoware_geo_pose_projector autoware_ar_tag_based_localizer autoware_landmark_manager autoware_lidar_marker_localizer autoware_localization_error_monitor autoware_pose2twist autoware_pose_covariance_modifier autoware_pose_estimator_arbiter autoware_pose_instability_detector yabloc_common yabloc_image_processing yabloc_monitor yabloc_particle_filter yabloc_pose_initializer autoware_map_tf_generator autoware_bevfusion autoware_bytetrack autoware_cluster_merger autoware_compare_map_segmentation autoware_crosswalk_traffic_light_estimator autoware_detected_object_feature_remover autoware_detected_object_validation autoware_detection_by_tracker autoware_elevation_map_loader autoware_euclidean_cluster autoware_ground_segmentation autoware_image_projection_based_fusion autoware_lidar_apollo_instance_segmentation autoware_lidar_centerpoint autoware_lidar_transfusion autoware_map_based_prediction autoware_multi_object_tracker autoware_object_merger autoware_object_range_splitter autoware_object_sorter autoware_object_velocity_splitter autoware_occupancy_grid_map_outlier_filter autoware_probabilistic_occupancy_grid_map autoware_radar_fusion_to_detected_object autoware_radar_object_tracker autoware_radar_tracks_msgs_converter autoware_raindrop_cluster_filter autoware_shape_estimation autoware_simpl_prediction autoware_simple_object_merger autoware_tensorrt_bevdet autoware_tensorrt_classifier autoware_tensorrt_common autoware_tensorrt_plugins autoware_tensorrt_yolox autoware_tracking_object_merger autoware_traffic_light_arbiter autoware_traffic_light_category_merger autoware_traffic_light_classifier autoware_traffic_light_fine_detector autoware_traffic_light_map_based_detector autoware_traffic_light_multi_camera_fusion autoware_traffic_light_occlusion_predictor autoware_traffic_light_selector autoware_traffic_light_visualization perception_utils autoware_costmap_generator autoware_diffusion_planner autoware_external_velocity_limit_selector autoware_freespace_planner autoware_freespace_planning_algorithms autoware_hazard_lights_selector autoware_mission_planner_universe autoware_path_optimizer autoware_path_smoother autoware_remaining_distance_time_calculator autoware_rtc_interface autoware_scenario_selector autoware_surround_obstacle_checker autoware_behavior_path_avoidance_by_lane_change_module autoware_behavior_path_bidirectional_traffic_module autoware_behavior_path_dynamic_obstacle_avoidance_module autoware_behavior_path_external_request_lane_change_module autoware_behavior_path_goal_planner_module autoware_behavior_path_lane_change_module autoware_behavior_path_planner autoware_behavior_path_planner_common autoware_behavior_path_sampling_planner_module autoware_behavior_path_side_shift_module autoware_behavior_path_start_planner_module autoware_behavior_path_static_obstacle_avoidance_module autoware_behavior_velocity_blind_spot_module autoware_behavior_velocity_crosswalk_module autoware_behavior_velocity_detection_area_module autoware_behavior_velocity_intersection_module autoware_behavior_velocity_no_drivable_lane_module autoware_behavior_velocity_no_stopping_area_module autoware_behavior_velocity_occlusion_spot_module autoware_behavior_velocity_rtc_interface autoware_behavior_velocity_run_out_module autoware_behavior_velocity_speed_bump_module autoware_behavior_velocity_template_module autoware_behavior_velocity_traffic_light_module autoware_behavior_velocity_virtual_traffic_light_module autoware_behavior_velocity_walkway_module autoware_motion_velocity_boundary_departure_prevention_module autoware_motion_velocity_dynamic_obstacle_stop_module autoware_motion_velocity_obstacle_cruise_module autoware_motion_velocity_obstacle_slow_down_module autoware_motion_velocity_obstacle_velocity_limiter_module autoware_motion_velocity_out_of_lane_module autoware_motion_velocity_road_user_stop_module autoware_motion_velocity_run_out_module autoware_planning_validator autoware_planning_validator_intersection_collision_checker autoware_planning_validator_latency_checker autoware_planning_validator_rear_collision_checker autoware_planning_validator_test_utils autoware_planning_validator_trajectory_checker autoware_bezier_sampler autoware_frenet_planner autoware_path_sampler autoware_sampler_common autoware_cuda_pointcloud_preprocessor 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autoware_diagnostic_graph_utils autoware_dummy_diag_publisher autoware_dummy_infrastructure autoware_duplicated_node_checker autoware_hazard_status_converter autoware_mrm_comfortable_stop_operator autoware_mrm_emergency_stop_operator autoware_mrm_handler autoware_pipeline_latency_monitor autoware_processing_time_checker autoware_system_monitor autoware_topic_relay_controller autoware_topic_state_monitor autoware_velodyne_monitor reaction_analyzer autoware_accel_brake_map_calibrator autoware_external_cmd_converter autoware_raw_vehicle_cmd_converter autoware_steer_offset_estimator autoware_bag_time_manager_rviz_plugin autoware_traffic_light_rviz_plugin tier4_adapi_rviz_plugin tier4_camera_view_rviz_plugin tier4_control_mode_rviz_plugin tier4_datetime_rviz_plugin tier4_perception_rviz_plugin tier4_planning_factor_rviz_plugin tier4_state_rviz_plugin tier4_system_rviz_plugin tier4_traffic_light_rviz_plugin tier4_vehicle_rviz_plugin

ROS Distro
github

API Docs
Browse Code

Package Summary

Tags	No category tags.
Version	0.47.0
License	Apache License 2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Description
Checkout URI	https://github.com/autowarefoundation/autoware_universe.git
VCS Type	git
VCS Version	main
Last Updated	2025-08-16
Dev Status	UNKNOWN
Released	UNRELEASED
Tags	planner ros calibration self-driving-car autonomous-driving autonomous-vehicles ros2 3d-map autoware
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

The tier4_vehicle_rviz_plugin package

Additional Links

No additional links.

Maintainers

Yukihiro Saito

Authors

No additional authors.

visualization/tier4_vehicle_rviz_plugin/README.md

tier4_vehicle_rviz_plugin

This package is including jsk code.
Note that jsk_overlay_utils.cpp and jsk_overlay_utils.hpp are BSD license.

Purpose

This plugin provides a visual and easy-to-understand display of vehicle speed, turn signal, steering status and acceleration.

Inputs / Outputs

Input

Name	Type	Description
`/vehicle/status/velocity_status`	`autoware_vehicle_msgs::msg::VelocityReport`	The topic is vehicle twist
`/control/turn_signal_cmd`	`autoware_vehicle_msgs::msg::TurnIndicatorsReport`	The topic is status of turn signal
`/vehicle/status/steering_status`	`autoware_vehicle_msgs::msg::SteeringReport`	The topic is status of steering
`/localization/acceleration`	`geometry_msgs::msg::AccelWithCovarianceStamped`	The topic is the acceleration

Parameter

Core Parameters

ConsoleMeter

Name	Type	Default Value	Description
`property_text_color_`	QColor	QColor(25, 255, 240)	Text color
`property_left_`	int	128	Left of the plotter window [px]
`property_top_`	int	128	Top of the plotter window [px]
`property_length_`	int	256	Height of the plotter window [px]
`property_value_height_offset_`	int	0	Height offset of the plotter window [px]
`property_value_scale_`	float	1.0 / 6.667	Value scale

SteeringAngle

Name	Type	Default Value	Description
`property_text_color_`	QColor	QColor(25, 255, 240)	Text color
`property_left_`	int	128	Left of the plotter window [px]
`property_top_`	int	128	Top of the plotter window [px]
`property_length_`	int	256	Height of the plotter window [px]
`property_value_height_offset_`	int	0	Height offset of the plotter window [px]
`property_value_scale_`	float	1.0 / 6.667	Value scale
`property_handle_angle_scale_`	float	3.0	Scale is steering angle to handle angle

TurnSignal

Name	Type	Default Value	Description
`property_left_`	int	128	Left of the plotter window [px]
`property_top_`	int	128	Top of the plotter window [px]
`property_width_`	int	256	Left of the plotter window [px]
`property_height_`	int	256	Width of the plotter window [px]

VelocityHistory

Name	Type	Default Value	Description
`property_velocity_timeout_`	float	10.0	Timeout of velocity [s]
`property_velocity_alpha_`	float	1.0	Alpha of velocity
`property_velocity_scale_`	float	0.3	Scale of velocity
`property_velocity_color_view_`	bool	false	Use Constant Color or not
`property_velocity_color_`	QColor	Qt::black	Color of velocity history
`property_vel_max_`	float	3.0	Color Border Vel Max [m/s]

AccelerationMeter

Name	Type	Default Value	Description
`property_normal_text_color_`	QColor	QColor(25, 255, 240)	Normal text color
`property_emergency_text_color_`	QColor	QColor(255, 80, 80)	Emergency acceleration color
`property_left_`	int	896	Left of the plotter window [px]
`property_top_`	int	128	Top of the plotter window [px]
`property_length_`	int	256	Height of the plotter window [px]
`property_value_height_offset_`	int	0	Height offset of the plotter window [px]
`property_value_scale_`	float	1 / 6.667	Value text scale
`property_emergency_threshold_max_`	float	1.0	Max acceleration threshold for emergency [m/s^2]
`property_emergency_threshold_min_`	float	-2.5	Min acceleration threshold for emergency [m/s^2]

Assumptions / Known limits

TBD.

Usage

Start rviz and select Add under the Displays panel.
Select any one of the tier4_vehicle_rviz_plugin and press OK.
Enter the name of the topic where you want to view the status.

CHANGELOG

Changelog for package tier4_vehicle_rviz_plugin

0.47.0 (2025-08-11)

style(pre-commit): update to clang-format-20 (#11088) Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
Contributors: Mete Fatih Cırıt

0.46.0 (2025-06-20)

0.45.0 (2025-05-22)

0.44.2 (2025-06-10)

0.44.1 (2025-05-01)

0.44.0 (2025-04-18)

0.43.0 (2025-03-21)

Merge remote-tracking branch 'origin/main' into chore/bump-version-0.43
chore: rename from [autoware.universe]{.title-ref} to [autoware_universe]{.title-ref} (#10306)
Contributors: Hayato Mizushima, Yutaka Kondo

0.42.0 (2025-03-03)

Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base
feat(autoware_utils): replace autoware_universe_utils with autoware_utils (#10191)
Contributors: Fumiya Watanabe, 心刚

0.41.2 (2025-02-19)

chore: bump version to 0.41.1 (#10088)
Contributors: Ryohsuke Mitsudome

0.41.1 (2025-02-10)

0.41.0 (2025-01-29)

0.40.0 (2024-12-12)

Merge branch 'main' into release-0.40.0
Revert "chore(package.xml): bump version to 0.39.0 (#9587)" This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5.
chore: move rviz plugins from common to visualization/ folder (#9417)
Contributors: Esteve Fernandez, Fumiya Watanabe

0.39.0 (2024-11-25)

Merge commit '6a1ddbd08bd' into release-0.39.0
fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (#9304)
fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (#9304)
chore(package.xml): bump version to 0.38.0 (#9266) (#9284)
- unify package.xml version to 0.37.0
- remove system_monitor/CHANGELOG.rst
- add changelog
* 0.38.0
fix: missing dependency in common components (#9072)
Contributors: Esteve Fernandez, Yutaka Kondo, ぐるぐる

0.38.0 (2024-11-08)

unify package.xml version to 0.37.0
fix(tier4_vehicle_rviz_plugin): fix cppcheck warning of virtualCallInConstructor (#8379) fix: deal with virtualCallInConstructor warning Co-authored-by: Ryuta Kambe <<ryuta.kambe@tier4.jp>>
fix: replace Ogre deprecated header (#7606) Fix Ogre deprecated header Co-authored-by: Kotaro Yoshimoto <<pythagora.yoshimoto@gmail.com>>
refactor(universe_utils/motion_utils)!: add autoware namespace (#7594)
feat(autoware_universe_utils)!: rename from tier4_autoware_utils (#7538) Co-authored-by: kosuke55 <<kosuke.tnp@gmail.com>>
feat!: replace autoware_auto_msgs with autoware_msgs for common modules (#7239) Co-authored-by: Cynthia Liu <<cynthia.liu@autocore.ai>>

File truncated at 100 lines see the full file

Package Dependencies

Deps	Name
	ament_cmake_auto
	autoware_cmake
	ament_lint_auto
	autoware_lint_common
	ament_index_cpp
	autoware_utils
	autoware_vehicle_msgs
	rviz_common
	rviz_default_plugins
	rviz_ogre_vendor

System Dependencies

Name
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

No plugins found.

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API Docs Browse Code

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