simulation.src.simulation_groundtruth.src.groundtruth.visualization module

Node that publishes groundtruth information for rviz.

Summary

Classes:

GroundtruthVisualizationNode

ROS node to visualize groundtruth objects in RVIZ.

Reference

class GroundtruthVisualizationNode

Bases: simulation.utils.ros_base.node_base.NodeBase

ROS node to visualize groundtruth objects in RVIZ.

publishers

Automatically generated dictionary containing all publishers. A publisher is created for every visualization topic listed in the parameter file.

Type

Dict[rospy.Publisher]

get_sections, get_lane, get_parking, get_obstacles, get_intersection

Can be called for groundtruth information.

Type

rospy.ServiceProxy

start()

Start the node by creating publishers and service proxies.

stop()

Stop the node by unregistering publishers.

_publish_point_marker(points: List[geometry_msgs.msg._Point32.Point32], publisher_name: str, id: int, rgba: List[float], ns='simulation/groundtruth')

Publish an RVIZ marker on the publisher’s topic.

Parameters

• points – Points to be published.

• publisher_name – Key of the publisher in the publisher dictionary.

• id – RVIZ marker id.

• rgba – List of the marker color.

• ns – RVIZ namespace of the marker.

_update_labeled_polygon_topic(proxy: rospy.impl.tcpros_service.ServiceProxy, publisher_name: str, marker_color: Tuple[float, float, float, float])

Publish polygons for all elements.

_show_lane_markers()

Publish markers for all lane markings of road.

_show_parking_markers()

Publish markers for all parking lines and spots of road.

_show_intersection_markers()

Publish lanes and surface markings of all intersections.

update()

Update all markers.