How to visualize route in rviz2 using trajectory information.

[okataka123]

Hi.

I understand that the Autoware visualizes the route in rviz2 using lanelet2 information after the goal point is set, but if I want to visualize the route using trajectory information, as in the old version Autoware (Autoware.AI, Autoware.Auto), is it possible using the already existing functionality? Or would I need to implement a custom function myself?

[maxime-clem]

The route (/planning/mission_planning/route) is a LaneletRoute which contains the lanelet ids of the route.
If you want to visualize it as a "trajectory", you would need a function to convert it, although it is not clear what the corresponding trajectory would be. Naively, I would suggest to use the centerline of the lanelets, but this may not be a nice continuous line (e.g., in case of lane changes).

[okataka123]

@maxime-clem
Thank you for the reply. I actually want to visualize the information in /planning/scenario_planning/trajectory published from the planning_validator node. Do I need an additional implementation to visualize the trajectory? Or can I visualize it by manipulating the Display window on the left side in RViz2?

[maxime-clem]

I actually want to visualize the information in /planning/scenario_planning/trajectory

If you use the default rviz configuration (src/launcher/autoware_launch/autoware_launch/rviz/autoware.rviz), this topic is already visualized.

If you want to add another trajectory visualization, you need to click the Add button in the Displays panel, and then select the Trajectory under tier4_planning_rviz_plugin.

(all of these assume that you already built Autoware and sourced the workspace with source install/setup.sh )

[okataka123]

@maxime-clem
Thank you for your advice! I can now completely do what I wanted to do.