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Package Summary
| Tags | No category tags. |
| Version | 0.1.0 |
| 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 | 2025-06-06 |
| Dev Status | UNKNOWN |
| CI status | No Continuous Integration |
| Released | UNRELEASED |
| Tags | planner ros calibration self-driving-car autonomous-driving autonomous-vehicles ros2 3d-map autoware |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
RViz plugin for displaying control mode
Additional Links
No additional links.
Maintainers
- Kyoichi Sugahara
- Yukinari Hisaki
- Shohei Sakai
- Naoto Hiramatsu
Authors
No additional authors.
tier4_control_mode_rviz_plugin
Purpose
This plugin displays the current control mode status of Autoware. The background color changes according to the mode, enabling intuitive status recognition.
Inputs / Outputs
Input
| Name | Type | Description |
|---|---|---|
/vehicle/status/control_mode |
autoware_vehicle_msgs::msg::ControlModeReport |
Topic representing the current control mode |
Control Mode Types
| Mode | Value | Color | Description |
|---|---|---|---|
| NO_COMMAND | 0 | Dark Gray | No command state |
| AUTONOMOUS | 1 | Green | Autonomous driving mode |
| AUTONOMOUS_STEER_ONLY | 2 | Dark Gray | Autonomous steering control only |
| AUTONOMOUS_VELOCITY_ONLY | 3 | Dark Gray | Autonomous velocity control only |
| MANUAL | 4 | Red | Manual driving mode |
| DISENGAGED | 5 | Orange | Control disengaged state |
| NOT_READY | 6 | Dark Gray | System not ready |
How to Use
- Launch RViz
- Select
Panels→Add New Panelfrom the menu - Choose
rviz_plugins/ControlModeDisplay - The panel will display the current control mode
RViz Configuration Example
Panels:
- Class: rviz_plugins/ControlModeDisplay
Name: ControlModeDisplay
CHANGELOG
No CHANGELOG found.
Wiki Tutorials
This package does not provide any links to tutorials in it's rosindex metadata.
You can check on the ROS Wiki Tutorials page for the package.
Package Dependencies
| Deps | Name |
|---|---|
| ament_cmake | |
| ament_cmake_auto | |
| ament_lint_auto | |
| ament_lint_common | |
| autoware_vehicle_msgs | |
| rclcpp | |
| rviz_common |
System Dependencies
Dependant Packages
No known dependants.
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
Recent questions tagged tier4_control_mode_rviz_plugin at Robotics Stack Exchange
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