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Autoware.Auto
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Supporting plugins are needed to visualize the output of various packages inside autoware.auto
This class implements rviz_common::RosTopicDisplay<autoware_auto_msgs::msg::BoundingBoxArray> to visualize BoundingBoxArray messages. It is a thin wrapper around rviz_default_plugins::displays::MarkerCommon and in general functions very similar to default_rviz_plugins::MarkerArrayDisplay. Whenever a new BoundingBoxArray arrives, each bounding box is converted to a marker and added to the internal display queue of rviz_default_plugins::displays::MarkerCommon, which in return handles the markers in the queue and their visualization.
This class implements rviz_common::RosTopicDisplay<autoware_auto_msgs::msg::Trajectory> to visualize Trajectory messages. It is a thin wrapper around rviz_default_plugins::displays::MarkerCommon and in general functions very similar to default_rviz_plugins::MarkerArrayDisplay. Whenever a new Trajectory arrives, each trajectory point is converted to two markers, and added to the internal display queue of rviz_default_plugins::displays::MarkerCommon, which in return handles the markers in the queue and their visualization. The two markers consists of Arrow for pose of the trajectory waypoint and Text for velocity of the same point. You can also choose a color for the markers. Scale and Alpa value for both type of markers can be choosen independently.