Visualization Node for Autonomous Systems
Overview
The Visualization Node provides tools for visualizing autonomous vehicle states, trajectories, and maps. It integrates with ROS 2 and generates markers for visualization in RViz/Foxbox, enabling users to view and debug various aspects of autonomous driving systems.
Included Modules
Characters
File: characters.hpp
- Contains a map of ASCII characters to 5x7 pixel representations.
- Used for rendering text on visualizations.
Color Palette
File: color_palette.hpp
- Defines a set of predefined colors based on the Tableau 10 palette.
- Includes utilities for HSV-to-RGB color conversion.
Map Image Visualization
File: map_image_visualization.hpp
- Provides tools to convert map tiles into occupancy grids.
- Fetches map images and integrates them into visualization workflows.
State Buffer
File: state_buffer.hpp
- Implements a time-based circular buffer for vehicle state data.
- Useful for creating time-history visualizations.
Visualization Primitives
File: visualization_primitives.hpp
- Provides utilities for creating basic visualization markers:
- Rectangles, spheres, and lines.
- Finish lines and text markers.
- Supports flexible offsets and scaling.
Visualizer
File: visualizer.hpp
- Implements the main node for visualization.
- Subscribes to various ROS 2 topics and publishes visualization markers for RViz.
Visualizer Conversions
File: visualizer_conversions.hpp
- Converts ROS 2 messages (e.g., trajectories, maps, goals) into marker arrays.
- Includes support for traffic participant sets, safety corridors, and more.