feat(autoware_planning_rviz_plugin): add pose visualization as an arrow #27
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ralwing
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yukkysaito
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ralwing
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Pull Request Overview
This PR adds pose visualization as arrows to the Autoware planning RViz plugin, displaying trajectory pose directions with configurable arrow markers that originate from pose positions and are oriented by pose orientations.
- Adds new properties for pose visualization: view toggle, alpha, color, arrow length, and offset
- Implements arrow rendering using triangle geometry with shaft and head
- Integrates pose visualization into existing path footprint rendering loop
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autoware_planning_rviz_plugin/include/autoware_planning_rviz_plugin/path/display_base.hpp
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autoware_planning_rviz_plugin/include/autoware_planning_rviz_plugin/path/display_base.hpp
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…s and rendering Signed-off-by: Grzegorz Głowacki <[email protected]>
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Co-authored-by: Copilot <[email protected]> Signed-off-by: Grzegorz Głowacki <[email protected]>
Co-authored-by: Copilot <[email protected]> Signed-off-by: Grzegorz Głowacki <[email protected]>
Co-authored-by: Copilot <[email protected]> Signed-off-by: Grzegorz Głowacki <[email protected]>
… visibility Signed-off-by: Grzegorz Głowacki <[email protected]>
Signed-off-by: Grzegorz Głowacki <[email protected]>
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Copilot finished reviewing on behalf of
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November 18, 2025 14:44
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Pull Request Overview
Copilot reviewed 1 out of 1 changed files in this pull request and generated 1 comment.
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| const double p0_x = origin_x - shaft_width / 2.0 * sin_yaw; | ||
| const double p0_y = origin_y + shaft_width / 2.0 * cos_yaw; | ||
| const double p1_x = origin_x + shaft_width / 2.0 * sin_yaw; | ||
| const double p1_y = origin_y - shaft_width / 2.0 * cos_yaw; | ||
| const double p2_x = origin_x + shaft_length * cos_yaw + shaft_width / 2.0 * sin_yaw; | ||
| const double p2_y = origin_y + shaft_length * sin_yaw - shaft_width / 2.0 * cos_yaw; | ||
| const double p3_x = origin_x + shaft_length * cos_yaw - shaft_width / 2.0 * sin_yaw; | ||
| const double p3_y = origin_y + shaft_length * sin_yaw + shaft_width / 2.0 * cos_yaw; |
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[nitpick] The arrow geometry calculations use repeated expressions like 'shaft_width / 2.0 * sin_yaw' and 'shaft_width / 2.0 * cos_yaw'. Extract these as named constants (e.g., 'half_shaft_width_perp_x' and 'half_shaft_width_perp_y') to improve readability and reduce potential errors from repeated calculations.
Suggested change
| const double p0_x = origin_x - shaft_width / 2.0 * sin_yaw; | |
| const double p0_y = origin_y + shaft_width / 2.0 * cos_yaw; | |
| const double p1_x = origin_x + shaft_width / 2.0 * sin_yaw; | |
| const double p1_y = origin_y - shaft_width / 2.0 * cos_yaw; | |
| const double p2_x = origin_x + shaft_length * cos_yaw + shaft_width / 2.0 * sin_yaw; | |
| const double p2_y = origin_y + shaft_length * sin_yaw - shaft_width / 2.0 * cos_yaw; | |
| const double p3_x = origin_x + shaft_length * cos_yaw - shaft_width / 2.0 * sin_yaw; | |
| const double p3_y = origin_y + shaft_length * sin_yaw + shaft_width / 2.0 * cos_yaw; | |
| const double half_shaft_width_perp_x = shaft_width / 2.0 * sin_yaw; | |
| const double half_shaft_width_perp_y = shaft_width / 2.0 * cos_yaw; | |
| const double p0_x = origin_x - half_shaft_width_perp_x; | |
| const double p0_y = origin_y + half_shaft_width_perp_y; | |
| const double p1_x = origin_x + half_shaft_width_perp_x; | |
| const double p1_y = origin_y - half_shaft_width_perp_y; | |
| const double p2_x = origin_x + shaft_length * cos_yaw + half_shaft_width_perp_x; | |
| const double p2_y = origin_y + shaft_length * sin_yaw - half_shaft_width_perp_y; | |
| const double p3_x = origin_x + shaft_length * cos_yaw - half_shaft_width_perp_x; | |
| const double p3_y = origin_y + shaft_length * sin_yaw + half_shaft_width_perp_y; |
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Description
This PR adds trajectory pose visualization as an arrow which shaft starts in the
pose.positionand directed bypose.orientationHow was this PR tested?
Tested in rviz.