autoware_perception_rviz_plugin

Package Summary

Version	0.3.0
License	Apache 2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/autowarefoundation/autoware_rviz_plugins.git
VCS Type	git
VCS Version	main
Last Updated	2026-01-06
Dev Status	DEVELOPED
Released	UNRELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

Contains plugins to visualize object detection outputs

Maintainers

Apex.AI, Inc.
Taiki Tanaka
Takeshi Miura
Yoshi Ri

Authors

No additional authors.

[1] https://gitlab.com/autowarefoundation/autoware.auto/AutowareAuto/-/tree/master/src/tools/visualization/autoware_rviz_plugins

autoware_perception_rviz_plugin

Purpose

It is an rviz plugin for visualizing the result from perception module. This package is based on the implementation of the rviz plugin developed by Autoware.Auto.

See Autoware.Auto design documentation for the original design philosophy. [1]

Input Types / Visualization Results

DetectedObjects

Input Types

Name	Type	Description
	`autoware_perception_msgs::msg::DetectedObjects`	detection result array

Visualization Result

detected-object-visualization-description

TrackedObjects

Input Types

Name	Type	Description
	`autoware_perception_msgs::msg::TrackedObjects`	tracking result array

Visualization Result

Overwrite tracking results with detection results.

tracked-object-visualization-description

PredictedObjects

Input Types

Name	Type	Description
	`autoware_perception_msgs::msg::PredictedObjects`	prediction result array

Visualization Result

Overwrite prediction results with tracking results.

predicted-object-visualization-description

TrafficLight

Input Types

Name	Type	Description
Lanelet Map	`autoware_map_msgs::msg::LaneletMapBin`	Map data containing traffic light positions
Traffic Light State	`autoware_perception_msgs::msg::TrafficLightGroupArray`	Traffic light recognition results

Visualization Result

The plugin visualizes traffic light states in two ways:

Text display showing the current state (RED, AMBER, GREEN, directional arrows)
3D spheres representing the light bulbs, colored according to their state

traffic-light-visualization-description

Customizable Features

Text position offset (X, Y, Z)
Text font size and color
Text prefix
Show/hide text display
Show/hide bulb visualization
Timeout for stale data
Topic names for both input types

References/External links

Future extensions / Unimplemented parts

CHANGELOG

Changelog for package autoware_perception_rviz_plugin

0.3.0 (2025-11-16)

fix(autoware_perception_rviz_plugin): fix [calc_path_line_list]{.title-ref} (#25)
- Fixed [calc_path_line_list]{.title-ref}
- Fixed is_valid_orientation
- Added [#include <limits>]{.title-ref}
* Added a new condition [is_default_orientation]{.title-ref} ---------
Contributors: SakodaShintaro

0.2.0 (2025-08-14)

fix(autoware_perception_rviz_plugin): improve traffic light visualization transform handling (#17)
feat(autoware_perception_rviz_plugin): add traffic light display (#15)
- feat(autoware_traffic_light_rviz_plugin): add traffic light display
- update README.md
- fix copyright
* support without buble ---------
Contributors: Yukinari Hisaki

0.1.0 (2025-06-28)

feat: port autoware_perception_rviz_plugin from Autoware Universe (#6) Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
Contributors: Ryohsuke Mitsudome

Package Dependencies

Deps	Name
	ament_cmake
	autoware_cmake
	rviz2
	ament_lint_auto
	autoware_lint_common
	autoware_lanelet2_extension
	autoware_map_msgs
	autoware_perception_msgs
	rviz_common
	rviz_default_plugins
	tf2_geometry_msgs
	tf2_ros

System Dependencies

Name
libboost-dev
qtbase5-dev
libqt5-widgets

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `autoware_perception_rviz_plugin` at Robotics Stack Exchange

No version for distro jazzy showing humble. Known supported distros are highlighted in the buttons above.

autoware_perception_rviz_plugin package from autoware_rviz_plugins repo

autoware_localization_rviz_plugin autoware_mission_details_overlay_rviz_plugin autoware_overlay_rviz_plugin autoware_string_stamped_rviz_plugin autoware_perception_rviz_plugin autoware_planning_rviz_plugin

ROS Distro
humble

Package Summary

Version	0.3.0
License	Apache 2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/autowarefoundation/autoware_rviz_plugins.git
VCS Type	git
VCS Version	main
Last Updated	2026-01-06
Dev Status	DEVELOPED
Released	UNRELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

Contains plugins to visualize object detection outputs

Maintainers

Apex.AI, Inc.
Taiki Tanaka
Takeshi Miura
Yoshi Ri

Authors

No additional authors.

[1] https://gitlab.com/autowarefoundation/autoware.auto/AutowareAuto/-/tree/master/src/tools/visualization/autoware_rviz_plugins

autoware_perception_rviz_plugin

Purpose

It is an rviz plugin for visualizing the result from perception module. This package is based on the implementation of the rviz plugin developed by Autoware.Auto.

See Autoware.Auto design documentation for the original design philosophy. [1]

Input Types / Visualization Results

DetectedObjects

Input Types

Name	Type	Description
	`autoware_perception_msgs::msg::DetectedObjects`	detection result array

Visualization Result

detected-object-visualization-description

TrackedObjects

Input Types

Name	Type	Description
	`autoware_perception_msgs::msg::TrackedObjects`	tracking result array

Visualization Result

Overwrite tracking results with detection results.

tracked-object-visualization-description

PredictedObjects

Input Types

Name	Type	Description
	`autoware_perception_msgs::msg::PredictedObjects`	prediction result array

Visualization Result

Overwrite prediction results with tracking results.

predicted-object-visualization-description

TrafficLight

Input Types

Name	Type	Description
Lanelet Map	`autoware_map_msgs::msg::LaneletMapBin`	Map data containing traffic light positions
Traffic Light State	`autoware_perception_msgs::msg::TrafficLightGroupArray`	Traffic light recognition results

Visualization Result

The plugin visualizes traffic light states in two ways:

Text display showing the current state (RED, AMBER, GREEN, directional arrows)
3D spheres representing the light bulbs, colored according to their state

traffic-light-visualization-description

Customizable Features

Text position offset (X, Y, Z)
Text font size and color
Text prefix
Show/hide text display
Show/hide bulb visualization
Timeout for stale data
Topic names for both input types

References/External links

Future extensions / Unimplemented parts

CHANGELOG

Changelog for package autoware_perception_rviz_plugin

0.3.0 (2025-11-16)

fix(autoware_perception_rviz_plugin): fix [calc_path_line_list]{.title-ref} (#25)
- Fixed [calc_path_line_list]{.title-ref}
- Fixed is_valid_orientation
- Added [#include <limits>]{.title-ref}
* Added a new condition [is_default_orientation]{.title-ref} ---------
Contributors: SakodaShintaro

0.2.0 (2025-08-14)

fix(autoware_perception_rviz_plugin): improve traffic light visualization transform handling (#17)
feat(autoware_perception_rviz_plugin): add traffic light display (#15)
- feat(autoware_traffic_light_rviz_plugin): add traffic light display
- update README.md
- fix copyright
* support without buble ---------
Contributors: Yukinari Hisaki

0.1.0 (2025-06-28)

feat: port autoware_perception_rviz_plugin from Autoware Universe (#6) Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
Contributors: Ryohsuke Mitsudome

Package Dependencies

Deps	Name
	ament_cmake
	autoware_cmake
	rviz2
	ament_lint_auto
	autoware_lint_common
	autoware_lanelet2_extension
	autoware_map_msgs
	autoware_perception_msgs
	rviz_common
	rviz_default_plugins
	tf2_geometry_msgs
	tf2_ros

System Dependencies

Name
libboost-dev
qtbase5-dev
libqt5-widgets

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `autoware_perception_rviz_plugin` at Robotics Stack Exchange

No version for distro kilted showing humble. Known supported distros are highlighted in the buttons above.

autoware_perception_rviz_plugin package from autoware_rviz_plugins repo

autoware_localization_rviz_plugin autoware_mission_details_overlay_rviz_plugin autoware_overlay_rviz_plugin autoware_string_stamped_rviz_plugin autoware_perception_rviz_plugin autoware_planning_rviz_plugin

ROS Distro
humble

Package Summary

Version	0.3.0
License	Apache 2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/autowarefoundation/autoware_rviz_plugins.git
VCS Type	git
VCS Version	main
Last Updated	2026-01-06
Dev Status	DEVELOPED
Released	UNRELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

Contains plugins to visualize object detection outputs

Maintainers

Apex.AI, Inc.
Taiki Tanaka
Takeshi Miura
Yoshi Ri

Authors

No additional authors.

[1] https://gitlab.com/autowarefoundation/autoware.auto/AutowareAuto/-/tree/master/src/tools/visualization/autoware_rviz_plugins

autoware_perception_rviz_plugin

Purpose

It is an rviz plugin for visualizing the result from perception module. This package is based on the implementation of the rviz plugin developed by Autoware.Auto.

See Autoware.Auto design documentation for the original design philosophy. [1]

Input Types / Visualization Results

DetectedObjects

Input Types

Name	Type	Description
	`autoware_perception_msgs::msg::DetectedObjects`	detection result array

Visualization Result

detected-object-visualization-description

TrackedObjects

Input Types

Name	Type	Description
	`autoware_perception_msgs::msg::TrackedObjects`	tracking result array

Visualization Result

Overwrite tracking results with detection results.

tracked-object-visualization-description

PredictedObjects

Input Types

Name	Type	Description
	`autoware_perception_msgs::msg::PredictedObjects`	prediction result array

Visualization Result

Overwrite prediction results with tracking results.

predicted-object-visualization-description

TrafficLight

Input Types

Name	Type	Description
Lanelet Map	`autoware_map_msgs::msg::LaneletMapBin`	Map data containing traffic light positions
Traffic Light State	`autoware_perception_msgs::msg::TrafficLightGroupArray`	Traffic light recognition results

Visualization Result

The plugin visualizes traffic light states in two ways:

Text display showing the current state (RED, AMBER, GREEN, directional arrows)
3D spheres representing the light bulbs, colored according to their state

traffic-light-visualization-description

Customizable Features

Text position offset (X, Y, Z)
Text font size and color
Text prefix
Show/hide text display
Show/hide bulb visualization
Timeout for stale data
Topic names for both input types

References/External links

Future extensions / Unimplemented parts

CHANGELOG

Changelog for package autoware_perception_rviz_plugin

0.3.0 (2025-11-16)

fix(autoware_perception_rviz_plugin): fix [calc_path_line_list]{.title-ref} (#25)
- Fixed [calc_path_line_list]{.title-ref}
- Fixed is_valid_orientation
- Added [#include <limits>]{.title-ref}
* Added a new condition [is_default_orientation]{.title-ref} ---------
Contributors: SakodaShintaro

0.2.0 (2025-08-14)

fix(autoware_perception_rviz_plugin): improve traffic light visualization transform handling (#17)
feat(autoware_perception_rviz_plugin): add traffic light display (#15)
- feat(autoware_traffic_light_rviz_plugin): add traffic light display
- update README.md
- fix copyright
* support without buble ---------
Contributors: Yukinari Hisaki

0.1.0 (2025-06-28)

feat: port autoware_perception_rviz_plugin from Autoware Universe (#6) Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
Contributors: Ryohsuke Mitsudome

Package Dependencies

Deps	Name
	ament_cmake
	autoware_cmake
	rviz2
	ament_lint_auto
	autoware_lint_common
	autoware_lanelet2_extension
	autoware_map_msgs
	autoware_perception_msgs
	rviz_common
	rviz_default_plugins
	tf2_geometry_msgs
	tf2_ros

System Dependencies

Name
libboost-dev
qtbase5-dev
libqt5-widgets

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `autoware_perception_rviz_plugin` at Robotics Stack Exchange

No version for distro rolling showing humble. Known supported distros are highlighted in the buttons above.

autoware_perception_rviz_plugin package from autoware_rviz_plugins repo

autoware_localization_rviz_plugin autoware_mission_details_overlay_rviz_plugin autoware_overlay_rviz_plugin autoware_string_stamped_rviz_plugin autoware_perception_rviz_plugin autoware_planning_rviz_plugin

ROS Distro
humble

Package Summary

Version	0.3.0
License	Apache 2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/autowarefoundation/autoware_rviz_plugins.git
VCS Type	git
VCS Version	main
Last Updated	2026-01-06
Dev Status	DEVELOPED
Released	UNRELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

Contains plugins to visualize object detection outputs

Maintainers

Apex.AI, Inc.
Taiki Tanaka
Takeshi Miura
Yoshi Ri

Authors

No additional authors.

[1] https://gitlab.com/autowarefoundation/autoware.auto/AutowareAuto/-/tree/master/src/tools/visualization/autoware_rviz_plugins

autoware_perception_rviz_plugin

Purpose

It is an rviz plugin for visualizing the result from perception module. This package is based on the implementation of the rviz plugin developed by Autoware.Auto.

See Autoware.Auto design documentation for the original design philosophy. [1]

Input Types / Visualization Results

DetectedObjects

Input Types

Name	Type	Description
	`autoware_perception_msgs::msg::DetectedObjects`	detection result array

Visualization Result

detected-object-visualization-description

TrackedObjects

Input Types

Name	Type	Description
	`autoware_perception_msgs::msg::TrackedObjects`	tracking result array

Visualization Result

Overwrite tracking results with detection results.

tracked-object-visualization-description

PredictedObjects

Input Types

Name	Type	Description
	`autoware_perception_msgs::msg::PredictedObjects`	prediction result array

Visualization Result

Overwrite prediction results with tracking results.

predicted-object-visualization-description

TrafficLight

Input Types

Name	Type	Description
Lanelet Map	`autoware_map_msgs::msg::LaneletMapBin`	Map data containing traffic light positions
Traffic Light State	`autoware_perception_msgs::msg::TrafficLightGroupArray`	Traffic light recognition results

Visualization Result

The plugin visualizes traffic light states in two ways:

Text display showing the current state (RED, AMBER, GREEN, directional arrows)
3D spheres representing the light bulbs, colored according to their state

traffic-light-visualization-description

Customizable Features

Text position offset (X, Y, Z)
Text font size and color
Text prefix
Show/hide text display
Show/hide bulb visualization
Timeout for stale data
Topic names for both input types

References/External links

Future extensions / Unimplemented parts

CHANGELOG

Changelog for package autoware_perception_rviz_plugin

0.3.0 (2025-11-16)

fix(autoware_perception_rviz_plugin): fix [calc_path_line_list]{.title-ref} (#25)
- Fixed [calc_path_line_list]{.title-ref}
- Fixed is_valid_orientation
- Added [#include <limits>]{.title-ref}
* Added a new condition [is_default_orientation]{.title-ref} ---------
Contributors: SakodaShintaro

0.2.0 (2025-08-14)

fix(autoware_perception_rviz_plugin): improve traffic light visualization transform handling (#17)
feat(autoware_perception_rviz_plugin): add traffic light display (#15)
- feat(autoware_traffic_light_rviz_plugin): add traffic light display
- update README.md
- fix copyright
* support without buble ---------
Contributors: Yukinari Hisaki

0.1.0 (2025-06-28)

feat: port autoware_perception_rviz_plugin from Autoware Universe (#6) Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
Contributors: Ryohsuke Mitsudome

Package Dependencies

Deps	Name
	ament_cmake
	autoware_cmake
	rviz2
	ament_lint_auto
	autoware_lint_common
	autoware_lanelet2_extension
	autoware_map_msgs
	autoware_perception_msgs
	rviz_common
	rviz_default_plugins
	tf2_geometry_msgs
	tf2_ros

System Dependencies

Name
libboost-dev
qtbase5-dev
libqt5-widgets

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `autoware_perception_rviz_plugin` at Robotics Stack Exchange

No version for distro ardent showing humble. Known supported distros are highlighted in the buttons above.

autoware_perception_rviz_plugin package from autoware_rviz_plugins repo

autoware_localization_rviz_plugin autoware_mission_details_overlay_rviz_plugin autoware_overlay_rviz_plugin autoware_string_stamped_rviz_plugin autoware_perception_rviz_plugin autoware_planning_rviz_plugin

ROS Distro
humble

Package Summary

Version	0.3.0
License	Apache 2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/autowarefoundation/autoware_rviz_plugins.git
VCS Type	git
VCS Version	main
Last Updated	2026-01-06
Dev Status	DEVELOPED
Released	UNRELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

Contains plugins to visualize object detection outputs

Maintainers

Apex.AI, Inc.
Taiki Tanaka
Takeshi Miura
Yoshi Ri

Authors

No additional authors.

[1] https://gitlab.com/autowarefoundation/autoware.auto/AutowareAuto/-/tree/master/src/tools/visualization/autoware_rviz_plugins

autoware_perception_rviz_plugin

Purpose

It is an rviz plugin for visualizing the result from perception module. This package is based on the implementation of the rviz plugin developed by Autoware.Auto.

See Autoware.Auto design documentation for the original design philosophy. [1]

Input Types / Visualization Results

DetectedObjects

Input Types

Name	Type	Description
	`autoware_perception_msgs::msg::DetectedObjects`	detection result array

Visualization Result

detected-object-visualization-description

TrackedObjects

Input Types

Name	Type	Description
	`autoware_perception_msgs::msg::TrackedObjects`	tracking result array

Visualization Result

Overwrite tracking results with detection results.

tracked-object-visualization-description

PredictedObjects

Input Types

Name	Type	Description
	`autoware_perception_msgs::msg::PredictedObjects`	prediction result array

Visualization Result

Overwrite prediction results with tracking results.

predicted-object-visualization-description

TrafficLight

Input Types

Name	Type	Description
Lanelet Map	`autoware_map_msgs::msg::LaneletMapBin`	Map data containing traffic light positions
Traffic Light State	`autoware_perception_msgs::msg::TrafficLightGroupArray`	Traffic light recognition results

Visualization Result

The plugin visualizes traffic light states in two ways:

Text display showing the current state (RED, AMBER, GREEN, directional arrows)
3D spheres representing the light bulbs, colored according to their state

traffic-light-visualization-description

Customizable Features

Text position offset (X, Y, Z)
Text font size and color
Text prefix
Show/hide text display
Show/hide bulb visualization
Timeout for stale data
Topic names for both input types

References/External links

Future extensions / Unimplemented parts

CHANGELOG

Changelog for package autoware_perception_rviz_plugin

0.3.0 (2025-11-16)

fix(autoware_perception_rviz_plugin): fix [calc_path_line_list]{.title-ref} (#25)
- Fixed [calc_path_line_list]{.title-ref}
- Fixed is_valid_orientation
- Added [#include <limits>]{.title-ref}
* Added a new condition [is_default_orientation]{.title-ref} ---------
Contributors: SakodaShintaro

0.2.0 (2025-08-14)

fix(autoware_perception_rviz_plugin): improve traffic light visualization transform handling (#17)
feat(autoware_perception_rviz_plugin): add traffic light display (#15)
- feat(autoware_traffic_light_rviz_plugin): add traffic light display
- update README.md
- fix copyright
* support without buble ---------
Contributors: Yukinari Hisaki

0.1.0 (2025-06-28)

feat: port autoware_perception_rviz_plugin from Autoware Universe (#6) Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
Contributors: Ryohsuke Mitsudome

Package Dependencies

Deps	Name
	ament_cmake
	autoware_cmake
	rviz2
	ament_lint_auto
	autoware_lint_common
	autoware_lanelet2_extension
	autoware_map_msgs
	autoware_perception_msgs
	rviz_common
	rviz_default_plugins
	tf2_geometry_msgs
	tf2_ros

System Dependencies

Name
libboost-dev
qtbase5-dev
libqt5-widgets

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `autoware_perception_rviz_plugin` at Robotics Stack Exchange

No version for distro bouncy showing humble. Known supported distros are highlighted in the buttons above.

autoware_perception_rviz_plugin package from autoware_rviz_plugins repo

autoware_localization_rviz_plugin autoware_mission_details_overlay_rviz_plugin autoware_overlay_rviz_plugin autoware_string_stamped_rviz_plugin autoware_perception_rviz_plugin autoware_planning_rviz_plugin

ROS Distro
humble

Package Summary

Version	0.3.0
License	Apache 2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/autowarefoundation/autoware_rviz_plugins.git
VCS Type	git
VCS Version	main
Last Updated	2026-01-06
Dev Status	DEVELOPED
Released	UNRELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

Contains plugins to visualize object detection outputs

Maintainers

Apex.AI, Inc.
Taiki Tanaka
Takeshi Miura
Yoshi Ri

Authors

No additional authors.

[1] https://gitlab.com/autowarefoundation/autoware.auto/AutowareAuto/-/tree/master/src/tools/visualization/autoware_rviz_plugins

autoware_perception_rviz_plugin

Purpose

It is an rviz plugin for visualizing the result from perception module. This package is based on the implementation of the rviz plugin developed by Autoware.Auto.

See Autoware.Auto design documentation for the original design philosophy. [1]

Input Types / Visualization Results

DetectedObjects

Input Types

Name	Type	Description
	`autoware_perception_msgs::msg::DetectedObjects`	detection result array

Visualization Result

detected-object-visualization-description

TrackedObjects

Input Types

Name	Type	Description
	`autoware_perception_msgs::msg::TrackedObjects`	tracking result array

Visualization Result

Overwrite tracking results with detection results.

tracked-object-visualization-description

PredictedObjects

Input Types

Name	Type	Description
	`autoware_perception_msgs::msg::PredictedObjects`	prediction result array

Visualization Result

Overwrite prediction results with tracking results.

predicted-object-visualization-description

TrafficLight

Input Types

Name	Type	Description
Lanelet Map	`autoware_map_msgs::msg::LaneletMapBin`	Map data containing traffic light positions
Traffic Light State	`autoware_perception_msgs::msg::TrafficLightGroupArray`	Traffic light recognition results

Visualization Result

The plugin visualizes traffic light states in two ways:

Text display showing the current state (RED, AMBER, GREEN, directional arrows)
3D spheres representing the light bulbs, colored according to their state

traffic-light-visualization-description

Customizable Features

Text position offset (X, Y, Z)
Text font size and color
Text prefix
Show/hide text display
Show/hide bulb visualization
Timeout for stale data
Topic names for both input types

References/External links

Future extensions / Unimplemented parts

CHANGELOG

Changelog for package autoware_perception_rviz_plugin

0.3.0 (2025-11-16)

fix(autoware_perception_rviz_plugin): fix [calc_path_line_list]{.title-ref} (#25)
- Fixed [calc_path_line_list]{.title-ref}
- Fixed is_valid_orientation
- Added [#include <limits>]{.title-ref}
* Added a new condition [is_default_orientation]{.title-ref} ---------
Contributors: SakodaShintaro

0.2.0 (2025-08-14)

fix(autoware_perception_rviz_plugin): improve traffic light visualization transform handling (#17)
feat(autoware_perception_rviz_plugin): add traffic light display (#15)
- feat(autoware_traffic_light_rviz_plugin): add traffic light display
- update README.md
- fix copyright
* support without buble ---------
Contributors: Yukinari Hisaki

0.1.0 (2025-06-28)

feat: port autoware_perception_rviz_plugin from Autoware Universe (#6) Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
Contributors: Ryohsuke Mitsudome

Package Dependencies

Deps	Name
	ament_cmake
	autoware_cmake
	rviz2
	ament_lint_auto
	autoware_lint_common
	autoware_lanelet2_extension
	autoware_map_msgs
	autoware_perception_msgs
	rviz_common
	rviz_default_plugins
	tf2_geometry_msgs
	tf2_ros

System Dependencies

Name
libboost-dev
qtbase5-dev
libqt5-widgets

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `autoware_perception_rviz_plugin` at Robotics Stack Exchange

No version for distro crystal showing humble. Known supported distros are highlighted in the buttons above.

autoware_perception_rviz_plugin package from autoware_rviz_plugins repo

autoware_localization_rviz_plugin autoware_mission_details_overlay_rviz_plugin autoware_overlay_rviz_plugin autoware_string_stamped_rviz_plugin autoware_perception_rviz_plugin autoware_planning_rviz_plugin

ROS Distro
humble

Package Summary

Version	0.3.0
License	Apache 2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/autowarefoundation/autoware_rviz_plugins.git
VCS Type	git
VCS Version	main
Last Updated	2026-01-06
Dev Status	DEVELOPED
Released	UNRELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

Contains plugins to visualize object detection outputs

Maintainers

Apex.AI, Inc.
Taiki Tanaka
Takeshi Miura
Yoshi Ri

Authors

No additional authors.

[1] https://gitlab.com/autowarefoundation/autoware.auto/AutowareAuto/-/tree/master/src/tools/visualization/autoware_rviz_plugins

autoware_perception_rviz_plugin

Purpose

It is an rviz plugin for visualizing the result from perception module. This package is based on the implementation of the rviz plugin developed by Autoware.Auto.

See Autoware.Auto design documentation for the original design philosophy. [1]

Input Types / Visualization Results

DetectedObjects

Input Types

Name	Type	Description
	`autoware_perception_msgs::msg::DetectedObjects`	detection result array

Visualization Result

detected-object-visualization-description

TrackedObjects

Input Types

Name	Type	Description
	`autoware_perception_msgs::msg::TrackedObjects`	tracking result array

Visualization Result

Overwrite tracking results with detection results.

tracked-object-visualization-description

PredictedObjects

Input Types

Name	Type	Description
	`autoware_perception_msgs::msg::PredictedObjects`	prediction result array

Visualization Result

Overwrite prediction results with tracking results.

predicted-object-visualization-description

TrafficLight

Input Types

Name	Type	Description
Lanelet Map	`autoware_map_msgs::msg::LaneletMapBin`	Map data containing traffic light positions
Traffic Light State	`autoware_perception_msgs::msg::TrafficLightGroupArray`	Traffic light recognition results

Visualization Result

The plugin visualizes traffic light states in two ways:

Text display showing the current state (RED, AMBER, GREEN, directional arrows)
3D spheres representing the light bulbs, colored according to their state

traffic-light-visualization-description

Customizable Features

Text position offset (X, Y, Z)
Text font size and color
Text prefix
Show/hide text display
Show/hide bulb visualization
Timeout for stale data
Topic names for both input types

References/External links

Future extensions / Unimplemented parts

CHANGELOG

Changelog for package autoware_perception_rviz_plugin

0.3.0 (2025-11-16)

fix(autoware_perception_rviz_plugin): fix [calc_path_line_list]{.title-ref} (#25)
- Fixed [calc_path_line_list]{.title-ref}
- Fixed is_valid_orientation
- Added [#include <limits>]{.title-ref}
* Added a new condition [is_default_orientation]{.title-ref} ---------
Contributors: SakodaShintaro

0.2.0 (2025-08-14)

fix(autoware_perception_rviz_plugin): improve traffic light visualization transform handling (#17)
feat(autoware_perception_rviz_plugin): add traffic light display (#15)
- feat(autoware_traffic_light_rviz_plugin): add traffic light display
- update README.md
- fix copyright
* support without buble ---------
Contributors: Yukinari Hisaki

0.1.0 (2025-06-28)

feat: port autoware_perception_rviz_plugin from Autoware Universe (#6) Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
Contributors: Ryohsuke Mitsudome

Package Dependencies

Deps	Name
	ament_cmake
	autoware_cmake
	rviz2
	ament_lint_auto
	autoware_lint_common
	autoware_lanelet2_extension
	autoware_map_msgs
	autoware_perception_msgs
	rviz_common
	rviz_default_plugins
	tf2_geometry_msgs
	tf2_ros

System Dependencies

Name
libboost-dev
qtbase5-dev
libqt5-widgets

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `autoware_perception_rviz_plugin` at Robotics Stack Exchange

No version for distro eloquent showing humble. Known supported distros are highlighted in the buttons above.

autoware_perception_rviz_plugin package from autoware_rviz_plugins repo

autoware_localization_rviz_plugin autoware_mission_details_overlay_rviz_plugin autoware_overlay_rviz_plugin autoware_string_stamped_rviz_plugin autoware_perception_rviz_plugin autoware_planning_rviz_plugin

ROS Distro
humble

Package Summary

Version	0.3.0
License	Apache 2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/autowarefoundation/autoware_rviz_plugins.git
VCS Type	git
VCS Version	main
Last Updated	2026-01-06
Dev Status	DEVELOPED
Released	UNRELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

Contains plugins to visualize object detection outputs

Maintainers

Apex.AI, Inc.
Taiki Tanaka
Takeshi Miura
Yoshi Ri

Authors

No additional authors.

[1] https://gitlab.com/autowarefoundation/autoware.auto/AutowareAuto/-/tree/master/src/tools/visualization/autoware_rviz_plugins

autoware_perception_rviz_plugin

Purpose

It is an rviz plugin for visualizing the result from perception module. This package is based on the implementation of the rviz plugin developed by Autoware.Auto.

See Autoware.Auto design documentation for the original design philosophy. [1]

Input Types / Visualization Results

DetectedObjects

Input Types

Name	Type	Description
	`autoware_perception_msgs::msg::DetectedObjects`	detection result array

Visualization Result

detected-object-visualization-description

TrackedObjects

Input Types

Name	Type	Description
	`autoware_perception_msgs::msg::TrackedObjects`	tracking result array

Visualization Result

Overwrite tracking results with detection results.

tracked-object-visualization-description

PredictedObjects

Input Types

Name	Type	Description
	`autoware_perception_msgs::msg::PredictedObjects`	prediction result array

Visualization Result

Overwrite prediction results with tracking results.

predicted-object-visualization-description

TrafficLight

Input Types

Name	Type	Description
Lanelet Map	`autoware_map_msgs::msg::LaneletMapBin`	Map data containing traffic light positions
Traffic Light State	`autoware_perception_msgs::msg::TrafficLightGroupArray`	Traffic light recognition results

Visualization Result

The plugin visualizes traffic light states in two ways:

Text display showing the current state (RED, AMBER, GREEN, directional arrows)
3D spheres representing the light bulbs, colored according to their state

traffic-light-visualization-description

Customizable Features

Text position offset (X, Y, Z)
Text font size and color
Text prefix
Show/hide text display
Show/hide bulb visualization
Timeout for stale data
Topic names for both input types

References/External links

Future extensions / Unimplemented parts

CHANGELOG

Changelog for package autoware_perception_rviz_plugin

0.3.0 (2025-11-16)

fix(autoware_perception_rviz_plugin): fix [calc_path_line_list]{.title-ref} (#25)
- Fixed [calc_path_line_list]{.title-ref}
- Fixed is_valid_orientation
- Added [#include <limits>]{.title-ref}
* Added a new condition [is_default_orientation]{.title-ref} ---------
Contributors: SakodaShintaro

0.2.0 (2025-08-14)

fix(autoware_perception_rviz_plugin): improve traffic light visualization transform handling (#17)
feat(autoware_perception_rviz_plugin): add traffic light display (#15)
- feat(autoware_traffic_light_rviz_plugin): add traffic light display
- update README.md
- fix copyright
* support without buble ---------
Contributors: Yukinari Hisaki

0.1.0 (2025-06-28)

feat: port autoware_perception_rviz_plugin from Autoware Universe (#6) Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
Contributors: Ryohsuke Mitsudome

Package Dependencies

Deps	Name
	ament_cmake
	autoware_cmake
	rviz2
	ament_lint_auto
	autoware_lint_common
	autoware_lanelet2_extension
	autoware_map_msgs
	autoware_perception_msgs
	rviz_common
	rviz_default_plugins
	tf2_geometry_msgs
	tf2_ros

System Dependencies

Name
libboost-dev
qtbase5-dev
libqt5-widgets

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `autoware_perception_rviz_plugin` at Robotics Stack Exchange

No version for distro dashing showing humble. Known supported distros are highlighted in the buttons above.

autoware_perception_rviz_plugin package from autoware_rviz_plugins repo

autoware_localization_rviz_plugin autoware_mission_details_overlay_rviz_plugin autoware_overlay_rviz_plugin autoware_string_stamped_rviz_plugin autoware_perception_rviz_plugin autoware_planning_rviz_plugin

ROS Distro
humble

Package Summary

Version	0.3.0
License	Apache 2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/autowarefoundation/autoware_rviz_plugins.git
VCS Type	git
VCS Version	main
Last Updated	2026-01-06
Dev Status	DEVELOPED
Released	UNRELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

Contains plugins to visualize object detection outputs

Maintainers

Apex.AI, Inc.
Taiki Tanaka
Takeshi Miura
Yoshi Ri

Authors

No additional authors.

[1] https://gitlab.com/autowarefoundation/autoware.auto/AutowareAuto/-/tree/master/src/tools/visualization/autoware_rviz_plugins

autoware_perception_rviz_plugin

Purpose

It is an rviz plugin for visualizing the result from perception module. This package is based on the implementation of the rviz plugin developed by Autoware.Auto.

See Autoware.Auto design documentation for the original design philosophy. [1]

Input Types / Visualization Results

DetectedObjects

Input Types

Name	Type	Description
	`autoware_perception_msgs::msg::DetectedObjects`	detection result array

Visualization Result

detected-object-visualization-description

TrackedObjects

Input Types

Name	Type	Description
	`autoware_perception_msgs::msg::TrackedObjects`	tracking result array

Visualization Result

Overwrite tracking results with detection results.

tracked-object-visualization-description

PredictedObjects

Input Types

Name	Type	Description
	`autoware_perception_msgs::msg::PredictedObjects`	prediction result array

Visualization Result

Overwrite prediction results with tracking results.

predicted-object-visualization-description

TrafficLight

Input Types

Name	Type	Description
Lanelet Map	`autoware_map_msgs::msg::LaneletMapBin`	Map data containing traffic light positions
Traffic Light State	`autoware_perception_msgs::msg::TrafficLightGroupArray`	Traffic light recognition results

Visualization Result

The plugin visualizes traffic light states in two ways:

Text display showing the current state (RED, AMBER, GREEN, directional arrows)
3D spheres representing the light bulbs, colored according to their state

traffic-light-visualization-description

Customizable Features

Text position offset (X, Y, Z)
Text font size and color
Text prefix
Show/hide text display
Show/hide bulb visualization
Timeout for stale data
Topic names for both input types

References/External links

Future extensions / Unimplemented parts

CHANGELOG

Changelog for package autoware_perception_rviz_plugin

0.3.0 (2025-11-16)

fix(autoware_perception_rviz_plugin): fix [calc_path_line_list]{.title-ref} (#25)
- Fixed [calc_path_line_list]{.title-ref}
- Fixed is_valid_orientation
- Added [#include <limits>]{.title-ref}
* Added a new condition [is_default_orientation]{.title-ref} ---------
Contributors: SakodaShintaro

0.2.0 (2025-08-14)

fix(autoware_perception_rviz_plugin): improve traffic light visualization transform handling (#17)
feat(autoware_perception_rviz_plugin): add traffic light display (#15)
- feat(autoware_traffic_light_rviz_plugin): add traffic light display
- update README.md
- fix copyright
* support without buble ---------
Contributors: Yukinari Hisaki

0.1.0 (2025-06-28)

feat: port autoware_perception_rviz_plugin from Autoware Universe (#6) Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
Contributors: Ryohsuke Mitsudome

Package Dependencies

Deps	Name
	ament_cmake
	autoware_cmake
	rviz2
	ament_lint_auto
	autoware_lint_common
	autoware_lanelet2_extension
	autoware_map_msgs
	autoware_perception_msgs
	rviz_common
	rviz_default_plugins
	tf2_geometry_msgs
	tf2_ros

System Dependencies

Name
libboost-dev
qtbase5-dev
libqt5-widgets

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `autoware_perception_rviz_plugin` at Robotics Stack Exchange

No version for distro galactic showing humble. Known supported distros are highlighted in the buttons above.

autoware_perception_rviz_plugin package from autoware_rviz_plugins repo

autoware_localization_rviz_plugin autoware_mission_details_overlay_rviz_plugin autoware_overlay_rviz_plugin autoware_string_stamped_rviz_plugin autoware_perception_rviz_plugin autoware_planning_rviz_plugin

ROS Distro
humble

Package Summary

Version	0.3.0
License	Apache 2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/autowarefoundation/autoware_rviz_plugins.git
VCS Type	git
VCS Version	main
Last Updated	2026-01-06
Dev Status	DEVELOPED
Released	UNRELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

Contains plugins to visualize object detection outputs

Maintainers

Apex.AI, Inc.
Taiki Tanaka
Takeshi Miura
Yoshi Ri

Authors

No additional authors.

[1] https://gitlab.com/autowarefoundation/autoware.auto/AutowareAuto/-/tree/master/src/tools/visualization/autoware_rviz_plugins

autoware_perception_rviz_plugin

Purpose

It is an rviz plugin for visualizing the result from perception module. This package is based on the implementation of the rviz plugin developed by Autoware.Auto.

See Autoware.Auto design documentation for the original design philosophy. [1]

Input Types / Visualization Results

DetectedObjects

Input Types

Name	Type	Description
	`autoware_perception_msgs::msg::DetectedObjects`	detection result array

Visualization Result

detected-object-visualization-description

TrackedObjects

Input Types

Name	Type	Description
	`autoware_perception_msgs::msg::TrackedObjects`	tracking result array

Visualization Result

Overwrite tracking results with detection results.

tracked-object-visualization-description

PredictedObjects

Input Types

Name	Type	Description
	`autoware_perception_msgs::msg::PredictedObjects`	prediction result array

Visualization Result

Overwrite prediction results with tracking results.

predicted-object-visualization-description

TrafficLight

Input Types

Name	Type	Description
Lanelet Map	`autoware_map_msgs::msg::LaneletMapBin`	Map data containing traffic light positions
Traffic Light State	`autoware_perception_msgs::msg::TrafficLightGroupArray`	Traffic light recognition results

Visualization Result

The plugin visualizes traffic light states in two ways:

Text display showing the current state (RED, AMBER, GREEN, directional arrows)
3D spheres representing the light bulbs, colored according to their state

traffic-light-visualization-description

Customizable Features

Text position offset (X, Y, Z)
Text font size and color
Text prefix
Show/hide text display
Show/hide bulb visualization
Timeout for stale data
Topic names for both input types

References/External links

Future extensions / Unimplemented parts

CHANGELOG

Changelog for package autoware_perception_rviz_plugin

0.3.0 (2025-11-16)

fix(autoware_perception_rviz_plugin): fix [calc_path_line_list]{.title-ref} (#25)
- Fixed [calc_path_line_list]{.title-ref}
- Fixed is_valid_orientation
- Added [#include <limits>]{.title-ref}
* Added a new condition [is_default_orientation]{.title-ref} ---------
Contributors: SakodaShintaro

0.2.0 (2025-08-14)

fix(autoware_perception_rviz_plugin): improve traffic light visualization transform handling (#17)
feat(autoware_perception_rviz_plugin): add traffic light display (#15)
- feat(autoware_traffic_light_rviz_plugin): add traffic light display
- update README.md
- fix copyright
* support without buble ---------
Contributors: Yukinari Hisaki

0.1.0 (2025-06-28)

feat: port autoware_perception_rviz_plugin from Autoware Universe (#6) Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
Contributors: Ryohsuke Mitsudome

Package Dependencies

Deps	Name
	ament_cmake
	autoware_cmake
	rviz2
	ament_lint_auto
	autoware_lint_common
	autoware_lanelet2_extension
	autoware_map_msgs
	autoware_perception_msgs
	rviz_common
	rviz_default_plugins
	tf2_geometry_msgs
	tf2_ros

System Dependencies

Name
libboost-dev
qtbase5-dev
libqt5-widgets

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `autoware_perception_rviz_plugin` at Robotics Stack Exchange

No version for distro foxy showing humble. Known supported distros are highlighted in the buttons above.

autoware_perception_rviz_plugin package from autoware_rviz_plugins repo

autoware_localization_rviz_plugin autoware_mission_details_overlay_rviz_plugin autoware_overlay_rviz_plugin autoware_string_stamped_rviz_plugin autoware_perception_rviz_plugin autoware_planning_rviz_plugin

ROS Distro
humble

Package Summary

Version	0.3.0
License	Apache 2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/autowarefoundation/autoware_rviz_plugins.git
VCS Type	git
VCS Version	main
Last Updated	2026-01-06
Dev Status	DEVELOPED
Released	UNRELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

Contains plugins to visualize object detection outputs

Maintainers

Apex.AI, Inc.
Taiki Tanaka
Takeshi Miura
Yoshi Ri

Authors

No additional authors.

[1] https://gitlab.com/autowarefoundation/autoware.auto/AutowareAuto/-/tree/master/src/tools/visualization/autoware_rviz_plugins

autoware_perception_rviz_plugin

Purpose

It is an rviz plugin for visualizing the result from perception module. This package is based on the implementation of the rviz plugin developed by Autoware.Auto.

See Autoware.Auto design documentation for the original design philosophy. [1]

Input Types / Visualization Results

DetectedObjects

Input Types

Name	Type	Description
	`autoware_perception_msgs::msg::DetectedObjects`	detection result array

Visualization Result

detected-object-visualization-description

TrackedObjects

Input Types

Name	Type	Description
	`autoware_perception_msgs::msg::TrackedObjects`	tracking result array

Visualization Result

Overwrite tracking results with detection results.

tracked-object-visualization-description

PredictedObjects

Input Types

Name	Type	Description
	`autoware_perception_msgs::msg::PredictedObjects`	prediction result array

Visualization Result

Overwrite prediction results with tracking results.

predicted-object-visualization-description

TrafficLight

Input Types

Name	Type	Description
Lanelet Map	`autoware_map_msgs::msg::LaneletMapBin`	Map data containing traffic light positions
Traffic Light State	`autoware_perception_msgs::msg::TrafficLightGroupArray`	Traffic light recognition results

Visualization Result

The plugin visualizes traffic light states in two ways:

Text display showing the current state (RED, AMBER, GREEN, directional arrows)
3D spheres representing the light bulbs, colored according to their state

traffic-light-visualization-description

Customizable Features

Text position offset (X, Y, Z)
Text font size and color
Text prefix
Show/hide text display
Show/hide bulb visualization
Timeout for stale data
Topic names for both input types

References/External links

Future extensions / Unimplemented parts

CHANGELOG

Changelog for package autoware_perception_rviz_plugin

0.3.0 (2025-11-16)

fix(autoware_perception_rviz_plugin): fix [calc_path_line_list]{.title-ref} (#25)
- Fixed [calc_path_line_list]{.title-ref}
- Fixed is_valid_orientation
- Added [#include <limits>]{.title-ref}
* Added a new condition [is_default_orientation]{.title-ref} ---------
Contributors: SakodaShintaro

0.2.0 (2025-08-14)

fix(autoware_perception_rviz_plugin): improve traffic light visualization transform handling (#17)
feat(autoware_perception_rviz_plugin): add traffic light display (#15)
- feat(autoware_traffic_light_rviz_plugin): add traffic light display
- update README.md
- fix copyright
* support without buble ---------
Contributors: Yukinari Hisaki

0.1.0 (2025-06-28)

feat: port autoware_perception_rviz_plugin from Autoware Universe (#6) Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
Contributors: Ryohsuke Mitsudome

Package Dependencies

Deps	Name
	ament_cmake
	autoware_cmake
	rviz2
	ament_lint_auto
	autoware_lint_common
	autoware_lanelet2_extension
	autoware_map_msgs
	autoware_perception_msgs
	rviz_common
	rviz_default_plugins
	tf2_geometry_msgs
	tf2_ros

System Dependencies

Name
libboost-dev
qtbase5-dev
libqt5-widgets

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `autoware_perception_rviz_plugin` at Robotics Stack Exchange

No version for distro iron showing humble. Known supported distros are highlighted in the buttons above.

autoware_perception_rviz_plugin package from autoware_rviz_plugins repo

autoware_localization_rviz_plugin autoware_mission_details_overlay_rviz_plugin autoware_overlay_rviz_plugin autoware_string_stamped_rviz_plugin autoware_perception_rviz_plugin autoware_planning_rviz_plugin

ROS Distro
humble

Package Summary

Version	0.3.0
License	Apache 2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/autowarefoundation/autoware_rviz_plugins.git
VCS Type	git
VCS Version	main
Last Updated	2026-01-06
Dev Status	DEVELOPED
Released	UNRELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

Contains plugins to visualize object detection outputs

Maintainers

Apex.AI, Inc.
Taiki Tanaka
Takeshi Miura
Yoshi Ri

Authors

No additional authors.

[1] https://gitlab.com/autowarefoundation/autoware.auto/AutowareAuto/-/tree/master/src/tools/visualization/autoware_rviz_plugins

autoware_perception_rviz_plugin

Purpose

It is an rviz plugin for visualizing the result from perception module. This package is based on the implementation of the rviz plugin developed by Autoware.Auto.

See Autoware.Auto design documentation for the original design philosophy. [1]

Input Types / Visualization Results

DetectedObjects

Input Types

Name	Type	Description
	`autoware_perception_msgs::msg::DetectedObjects`	detection result array

Visualization Result

detected-object-visualization-description

TrackedObjects

Input Types

Name	Type	Description
	`autoware_perception_msgs::msg::TrackedObjects`	tracking result array

Visualization Result

Overwrite tracking results with detection results.

tracked-object-visualization-description

PredictedObjects

Input Types

Name	Type	Description
	`autoware_perception_msgs::msg::PredictedObjects`	prediction result array

Visualization Result

Overwrite prediction results with tracking results.

predicted-object-visualization-description

TrafficLight

Input Types

Name	Type	Description
Lanelet Map	`autoware_map_msgs::msg::LaneletMapBin`	Map data containing traffic light positions
Traffic Light State	`autoware_perception_msgs::msg::TrafficLightGroupArray`	Traffic light recognition results

Visualization Result

The plugin visualizes traffic light states in two ways:

Text display showing the current state (RED, AMBER, GREEN, directional arrows)
3D spheres representing the light bulbs, colored according to their state

traffic-light-visualization-description

Customizable Features

Text position offset (X, Y, Z)
Text font size and color
Text prefix
Show/hide text display
Show/hide bulb visualization
Timeout for stale data
Topic names for both input types

References/External links

Future extensions / Unimplemented parts

CHANGELOG

Changelog for package autoware_perception_rviz_plugin

0.3.0 (2025-11-16)

fix(autoware_perception_rviz_plugin): fix [calc_path_line_list]{.title-ref} (#25)
- Fixed [calc_path_line_list]{.title-ref}
- Fixed is_valid_orientation
- Added [#include <limits>]{.title-ref}
* Added a new condition [is_default_orientation]{.title-ref} ---------
Contributors: SakodaShintaro

0.2.0 (2025-08-14)

fix(autoware_perception_rviz_plugin): improve traffic light visualization transform handling (#17)
feat(autoware_perception_rviz_plugin): add traffic light display (#15)
- feat(autoware_traffic_light_rviz_plugin): add traffic light display
- update README.md
- fix copyright
* support without buble ---------
Contributors: Yukinari Hisaki

0.1.0 (2025-06-28)

feat: port autoware_perception_rviz_plugin from Autoware Universe (#6) Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
Contributors: Ryohsuke Mitsudome

Package Dependencies

Deps	Name
	ament_cmake
	autoware_cmake
	rviz2
	ament_lint_auto
	autoware_lint_common
	autoware_lanelet2_extension
	autoware_map_msgs
	autoware_perception_msgs
	rviz_common
	rviz_default_plugins
	tf2_geometry_msgs
	tf2_ros

System Dependencies

Name
libboost-dev
qtbase5-dev
libqt5-widgets

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `autoware_perception_rviz_plugin` at Robotics Stack Exchange

No version for distro lunar showing humble. Known supported distros are highlighted in the buttons above.

autoware_perception_rviz_plugin package from autoware_rviz_plugins repo

autoware_localization_rviz_plugin autoware_mission_details_overlay_rviz_plugin autoware_overlay_rviz_plugin autoware_string_stamped_rviz_plugin autoware_perception_rviz_plugin autoware_planning_rviz_plugin

ROS Distro
humble

Package Summary

Version	0.3.0
License	Apache 2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/autowarefoundation/autoware_rviz_plugins.git
VCS Type	git
VCS Version	main
Last Updated	2026-01-06
Dev Status	DEVELOPED
Released	UNRELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

Contains plugins to visualize object detection outputs

Maintainers

Apex.AI, Inc.
Taiki Tanaka
Takeshi Miura
Yoshi Ri

Authors

No additional authors.

[1] https://gitlab.com/autowarefoundation/autoware.auto/AutowareAuto/-/tree/master/src/tools/visualization/autoware_rviz_plugins

autoware_perception_rviz_plugin

Purpose

It is an rviz plugin for visualizing the result from perception module. This package is based on the implementation of the rviz plugin developed by Autoware.Auto.

See Autoware.Auto design documentation for the original design philosophy. [1]

Input Types / Visualization Results

DetectedObjects

Input Types

Name	Type	Description
	`autoware_perception_msgs::msg::DetectedObjects`	detection result array

Visualization Result

detected-object-visualization-description

TrackedObjects

Input Types

Name	Type	Description
	`autoware_perception_msgs::msg::TrackedObjects`	tracking result array

Visualization Result

Overwrite tracking results with detection results.

tracked-object-visualization-description

PredictedObjects

Input Types

Name	Type	Description
	`autoware_perception_msgs::msg::PredictedObjects`	prediction result array

Visualization Result

Overwrite prediction results with tracking results.

predicted-object-visualization-description

TrafficLight

Input Types

Name	Type	Description
Lanelet Map	`autoware_map_msgs::msg::LaneletMapBin`	Map data containing traffic light positions
Traffic Light State	`autoware_perception_msgs::msg::TrafficLightGroupArray`	Traffic light recognition results

Visualization Result

The plugin visualizes traffic light states in two ways:

Text display showing the current state (RED, AMBER, GREEN, directional arrows)
3D spheres representing the light bulbs, colored according to their state

traffic-light-visualization-description

Customizable Features

Text position offset (X, Y, Z)
Text font size and color
Text prefix
Show/hide text display
Show/hide bulb visualization
Timeout for stale data
Topic names for both input types

References/External links

Future extensions / Unimplemented parts

CHANGELOG

Changelog for package autoware_perception_rviz_plugin

0.3.0 (2025-11-16)

fix(autoware_perception_rviz_plugin): fix [calc_path_line_list]{.title-ref} (#25)
- Fixed [calc_path_line_list]{.title-ref}
- Fixed is_valid_orientation
- Added [#include <limits>]{.title-ref}
* Added a new condition [is_default_orientation]{.title-ref} ---------
Contributors: SakodaShintaro

0.2.0 (2025-08-14)

fix(autoware_perception_rviz_plugin): improve traffic light visualization transform handling (#17)
feat(autoware_perception_rviz_plugin): add traffic light display (#15)
- feat(autoware_traffic_light_rviz_plugin): add traffic light display
- update README.md
- fix copyright
* support without buble ---------
Contributors: Yukinari Hisaki

0.1.0 (2025-06-28)

feat: port autoware_perception_rviz_plugin from Autoware Universe (#6) Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
Contributors: Ryohsuke Mitsudome

Package Dependencies

Deps	Name
	ament_cmake
	autoware_cmake
	rviz2
	ament_lint_auto
	autoware_lint_common
	autoware_lanelet2_extension
	autoware_map_msgs
	autoware_perception_msgs
	rviz_common
	rviz_default_plugins
	tf2_geometry_msgs
	tf2_ros

System Dependencies

Name
libboost-dev
qtbase5-dev
libqt5-widgets

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `autoware_perception_rviz_plugin` at Robotics Stack Exchange

No version for distro jade showing humble. Known supported distros are highlighted in the buttons above.

autoware_perception_rviz_plugin package from autoware_rviz_plugins repo

autoware_localization_rviz_plugin autoware_mission_details_overlay_rviz_plugin autoware_overlay_rviz_plugin autoware_string_stamped_rviz_plugin autoware_perception_rviz_plugin autoware_planning_rviz_plugin

ROS Distro
humble

Package Summary

Version	0.3.0
License	Apache 2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/autowarefoundation/autoware_rviz_plugins.git
VCS Type	git
VCS Version	main
Last Updated	2026-01-06
Dev Status	DEVELOPED
Released	UNRELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

Contains plugins to visualize object detection outputs

Maintainers

Apex.AI, Inc.
Taiki Tanaka
Takeshi Miura
Yoshi Ri

Authors

No additional authors.

[1] https://gitlab.com/autowarefoundation/autoware.auto/AutowareAuto/-/tree/master/src/tools/visualization/autoware_rviz_plugins

autoware_perception_rviz_plugin

Purpose

It is an rviz plugin for visualizing the result from perception module. This package is based on the implementation of the rviz plugin developed by Autoware.Auto.

See Autoware.Auto design documentation for the original design philosophy. [1]

Input Types / Visualization Results

DetectedObjects

Input Types

Name	Type	Description
	`autoware_perception_msgs::msg::DetectedObjects`	detection result array

Visualization Result

detected-object-visualization-description

TrackedObjects

Input Types

Name	Type	Description
	`autoware_perception_msgs::msg::TrackedObjects`	tracking result array

Visualization Result

Overwrite tracking results with detection results.

tracked-object-visualization-description

PredictedObjects

Input Types

Name	Type	Description
	`autoware_perception_msgs::msg::PredictedObjects`	prediction result array

Visualization Result

Overwrite prediction results with tracking results.

predicted-object-visualization-description

TrafficLight

Input Types

Name	Type	Description
Lanelet Map	`autoware_map_msgs::msg::LaneletMapBin`	Map data containing traffic light positions
Traffic Light State	`autoware_perception_msgs::msg::TrafficLightGroupArray`	Traffic light recognition results

Visualization Result

The plugin visualizes traffic light states in two ways:

Text display showing the current state (RED, AMBER, GREEN, directional arrows)
3D spheres representing the light bulbs, colored according to their state

traffic-light-visualization-description

Customizable Features

Text position offset (X, Y, Z)
Text font size and color
Text prefix
Show/hide text display
Show/hide bulb visualization
Timeout for stale data
Topic names for both input types

References/External links

Future extensions / Unimplemented parts

CHANGELOG

Changelog for package autoware_perception_rviz_plugin

0.3.0 (2025-11-16)

fix(autoware_perception_rviz_plugin): fix [calc_path_line_list]{.title-ref} (#25)
- Fixed [calc_path_line_list]{.title-ref}
- Fixed is_valid_orientation
- Added [#include <limits>]{.title-ref}
* Added a new condition [is_default_orientation]{.title-ref} ---------
Contributors: SakodaShintaro

0.2.0 (2025-08-14)

fix(autoware_perception_rviz_plugin): improve traffic light visualization transform handling (#17)
feat(autoware_perception_rviz_plugin): add traffic light display (#15)
- feat(autoware_traffic_light_rviz_plugin): add traffic light display
- update README.md
- fix copyright
* support without buble ---------
Contributors: Yukinari Hisaki

0.1.0 (2025-06-28)

feat: port autoware_perception_rviz_plugin from Autoware Universe (#6) Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
Contributors: Ryohsuke Mitsudome

Package Dependencies

Deps	Name
	ament_cmake
	autoware_cmake
	rviz2
	ament_lint_auto
	autoware_lint_common
	autoware_lanelet2_extension
	autoware_map_msgs
	autoware_perception_msgs
	rviz_common
	rviz_default_plugins
	tf2_geometry_msgs
	tf2_ros

System Dependencies

Name
libboost-dev
qtbase5-dev
libqt5-widgets

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `autoware_perception_rviz_plugin` at Robotics Stack Exchange

No version for distro indigo showing humble. Known supported distros are highlighted in the buttons above.

autoware_perception_rviz_plugin package from autoware_rviz_plugins repo

autoware_localization_rviz_plugin autoware_mission_details_overlay_rviz_plugin autoware_overlay_rviz_plugin autoware_string_stamped_rviz_plugin autoware_perception_rviz_plugin autoware_planning_rviz_plugin

ROS Distro
humble

Package Summary

Version	0.3.0
License	Apache 2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/autowarefoundation/autoware_rviz_plugins.git
VCS Type	git
VCS Version	main
Last Updated	2026-01-06
Dev Status	DEVELOPED
Released	UNRELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

Contains plugins to visualize object detection outputs

Maintainers

Apex.AI, Inc.
Taiki Tanaka
Takeshi Miura
Yoshi Ri

Authors

No additional authors.

[1] https://gitlab.com/autowarefoundation/autoware.auto/AutowareAuto/-/tree/master/src/tools/visualization/autoware_rviz_plugins

autoware_perception_rviz_plugin

Purpose

It is an rviz plugin for visualizing the result from perception module. This package is based on the implementation of the rviz plugin developed by Autoware.Auto.

See Autoware.Auto design documentation for the original design philosophy. [1]

Input Types / Visualization Results

DetectedObjects

Input Types

Name	Type	Description
	`autoware_perception_msgs::msg::DetectedObjects`	detection result array

Visualization Result

detected-object-visualization-description

TrackedObjects

Input Types

Name	Type	Description
	`autoware_perception_msgs::msg::TrackedObjects`	tracking result array

Visualization Result

Overwrite tracking results with detection results.

tracked-object-visualization-description

PredictedObjects

Input Types

Name	Type	Description
	`autoware_perception_msgs::msg::PredictedObjects`	prediction result array

Visualization Result

Overwrite prediction results with tracking results.

predicted-object-visualization-description

TrafficLight

Input Types

Name	Type	Description
Lanelet Map	`autoware_map_msgs::msg::LaneletMapBin`	Map data containing traffic light positions
Traffic Light State	`autoware_perception_msgs::msg::TrafficLightGroupArray`	Traffic light recognition results

Visualization Result

The plugin visualizes traffic light states in two ways:

Text display showing the current state (RED, AMBER, GREEN, directional arrows)
3D spheres representing the light bulbs, colored according to their state

traffic-light-visualization-description

Customizable Features

Text position offset (X, Y, Z)
Text font size and color
Text prefix
Show/hide text display
Show/hide bulb visualization
Timeout for stale data
Topic names for both input types

References/External links

Future extensions / Unimplemented parts

CHANGELOG

Changelog for package autoware_perception_rviz_plugin

0.3.0 (2025-11-16)

fix(autoware_perception_rviz_plugin): fix [calc_path_line_list]{.title-ref} (#25)
- Fixed [calc_path_line_list]{.title-ref}
- Fixed is_valid_orientation
- Added [#include <limits>]{.title-ref}
* Added a new condition [is_default_orientation]{.title-ref} ---------
Contributors: SakodaShintaro

0.2.0 (2025-08-14)

fix(autoware_perception_rviz_plugin): improve traffic light visualization transform handling (#17)
feat(autoware_perception_rviz_plugin): add traffic light display (#15)
- feat(autoware_traffic_light_rviz_plugin): add traffic light display
- update README.md
- fix copyright
* support without buble ---------
Contributors: Yukinari Hisaki

0.1.0 (2025-06-28)

feat: port autoware_perception_rviz_plugin from Autoware Universe (#6) Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
Contributors: Ryohsuke Mitsudome

Package Dependencies

Deps	Name
	ament_cmake
	autoware_cmake
	rviz2
	ament_lint_auto
	autoware_lint_common
	autoware_lanelet2_extension
	autoware_map_msgs
	autoware_perception_msgs
	rviz_common
	rviz_default_plugins
	tf2_geometry_msgs
	tf2_ros

System Dependencies

Name
libboost-dev
qtbase5-dev
libqt5-widgets

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `autoware_perception_rviz_plugin` at Robotics Stack Exchange

No version for distro hydro showing humble. Known supported distros are highlighted in the buttons above.

autoware_perception_rviz_plugin package from autoware_rviz_plugins repo

autoware_localization_rviz_plugin autoware_mission_details_overlay_rviz_plugin autoware_overlay_rviz_plugin autoware_string_stamped_rviz_plugin autoware_perception_rviz_plugin autoware_planning_rviz_plugin

ROS Distro
humble

Package Summary

Version	0.3.0
License	Apache 2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/autowarefoundation/autoware_rviz_plugins.git
VCS Type	git
VCS Version	main
Last Updated	2026-01-06
Dev Status	DEVELOPED
Released	UNRELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

Contains plugins to visualize object detection outputs

Maintainers

Apex.AI, Inc.
Taiki Tanaka
Takeshi Miura
Yoshi Ri

Authors

No additional authors.

[1] https://gitlab.com/autowarefoundation/autoware.auto/AutowareAuto/-/tree/master/src/tools/visualization/autoware_rviz_plugins

autoware_perception_rviz_plugin

Purpose

It is an rviz plugin for visualizing the result from perception module. This package is based on the implementation of the rviz plugin developed by Autoware.Auto.

See Autoware.Auto design documentation for the original design philosophy. [1]

Input Types / Visualization Results

DetectedObjects

Input Types

Name	Type	Description
	`autoware_perception_msgs::msg::DetectedObjects`	detection result array

Visualization Result

detected-object-visualization-description

TrackedObjects

Input Types

Name	Type	Description
	`autoware_perception_msgs::msg::TrackedObjects`	tracking result array

Visualization Result

Overwrite tracking results with detection results.

tracked-object-visualization-description

PredictedObjects

Input Types

Name	Type	Description
	`autoware_perception_msgs::msg::PredictedObjects`	prediction result array

Visualization Result

Overwrite prediction results with tracking results.

predicted-object-visualization-description

TrafficLight

Input Types

Name	Type	Description
Lanelet Map	`autoware_map_msgs::msg::LaneletMapBin`	Map data containing traffic light positions
Traffic Light State	`autoware_perception_msgs::msg::TrafficLightGroupArray`	Traffic light recognition results

Visualization Result

The plugin visualizes traffic light states in two ways:

Text display showing the current state (RED, AMBER, GREEN, directional arrows)
3D spheres representing the light bulbs, colored according to their state

traffic-light-visualization-description

Customizable Features

Text position offset (X, Y, Z)
Text font size and color
Text prefix
Show/hide text display
Show/hide bulb visualization
Timeout for stale data
Topic names for both input types

References/External links

Future extensions / Unimplemented parts

CHANGELOG

Changelog for package autoware_perception_rviz_plugin

0.3.0 (2025-11-16)

fix(autoware_perception_rviz_plugin): fix [calc_path_line_list]{.title-ref} (#25)
- Fixed [calc_path_line_list]{.title-ref}
- Fixed is_valid_orientation
- Added [#include <limits>]{.title-ref}
* Added a new condition [is_default_orientation]{.title-ref} ---------
Contributors: SakodaShintaro

0.2.0 (2025-08-14)

fix(autoware_perception_rviz_plugin): improve traffic light visualization transform handling (#17)
feat(autoware_perception_rviz_plugin): add traffic light display (#15)
- feat(autoware_traffic_light_rviz_plugin): add traffic light display
- update README.md
- fix copyright
* support without buble ---------
Contributors: Yukinari Hisaki

0.1.0 (2025-06-28)

feat: port autoware_perception_rviz_plugin from Autoware Universe (#6) Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
Contributors: Ryohsuke Mitsudome

Package Dependencies

Deps	Name
	ament_cmake
	autoware_cmake
	rviz2
	ament_lint_auto
	autoware_lint_common
	autoware_lanelet2_extension
	autoware_map_msgs
	autoware_perception_msgs
	rviz_common
	rviz_default_plugins
	tf2_geometry_msgs
	tf2_ros

System Dependencies

Name
libboost-dev
qtbase5-dev
libqt5-widgets

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `autoware_perception_rviz_plugin` at Robotics Stack Exchange

No version for distro kinetic showing humble. Known supported distros are highlighted in the buttons above.

autoware_perception_rviz_plugin package from autoware_rviz_plugins repo

autoware_localization_rviz_plugin autoware_mission_details_overlay_rviz_plugin autoware_overlay_rviz_plugin autoware_string_stamped_rviz_plugin autoware_perception_rviz_plugin autoware_planning_rviz_plugin

ROS Distro
humble

Package Summary

Version	0.3.0
License	Apache 2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/autowarefoundation/autoware_rviz_plugins.git
VCS Type	git
VCS Version	main
Last Updated	2026-01-06
Dev Status	DEVELOPED
Released	UNRELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

Contains plugins to visualize object detection outputs

Maintainers

Apex.AI, Inc.
Taiki Tanaka
Takeshi Miura
Yoshi Ri

Authors

No additional authors.

[1] https://gitlab.com/autowarefoundation/autoware.auto/AutowareAuto/-/tree/master/src/tools/visualization/autoware_rviz_plugins

autoware_perception_rviz_plugin

Purpose

It is an rviz plugin for visualizing the result from perception module. This package is based on the implementation of the rviz plugin developed by Autoware.Auto.

See Autoware.Auto design documentation for the original design philosophy. [1]

Input Types / Visualization Results

DetectedObjects

Input Types

Name	Type	Description
	`autoware_perception_msgs::msg::DetectedObjects`	detection result array

Visualization Result

detected-object-visualization-description

TrackedObjects

Input Types

Name	Type	Description
	`autoware_perception_msgs::msg::TrackedObjects`	tracking result array

Visualization Result

Overwrite tracking results with detection results.

tracked-object-visualization-description

PredictedObjects

Input Types

Name	Type	Description
	`autoware_perception_msgs::msg::PredictedObjects`	prediction result array

Visualization Result

Overwrite prediction results with tracking results.

predicted-object-visualization-description

TrafficLight

Input Types

Name	Type	Description
Lanelet Map	`autoware_map_msgs::msg::LaneletMapBin`	Map data containing traffic light positions
Traffic Light State	`autoware_perception_msgs::msg::TrafficLightGroupArray`	Traffic light recognition results

Visualization Result

The plugin visualizes traffic light states in two ways:

Text display showing the current state (RED, AMBER, GREEN, directional arrows)
3D spheres representing the light bulbs, colored according to their state

traffic-light-visualization-description

Customizable Features

Text position offset (X, Y, Z)
Text font size and color
Text prefix
Show/hide text display
Show/hide bulb visualization
Timeout for stale data
Topic names for both input types

References/External links

Future extensions / Unimplemented parts

CHANGELOG

Changelog for package autoware_perception_rviz_plugin

0.3.0 (2025-11-16)

fix(autoware_perception_rviz_plugin): fix [calc_path_line_list]{.title-ref} (#25)
- Fixed [calc_path_line_list]{.title-ref}
- Fixed is_valid_orientation
- Added [#include <limits>]{.title-ref}
* Added a new condition [is_default_orientation]{.title-ref} ---------
Contributors: SakodaShintaro

0.2.0 (2025-08-14)

fix(autoware_perception_rviz_plugin): improve traffic light visualization transform handling (#17)
feat(autoware_perception_rviz_plugin): add traffic light display (#15)
- feat(autoware_traffic_light_rviz_plugin): add traffic light display
- update README.md
- fix copyright
* support without buble ---------
Contributors: Yukinari Hisaki

0.1.0 (2025-06-28)

feat: port autoware_perception_rviz_plugin from Autoware Universe (#6) Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
Contributors: Ryohsuke Mitsudome

Package Dependencies

Deps	Name
	ament_cmake
	autoware_cmake
	rviz2
	ament_lint_auto
	autoware_lint_common
	autoware_lanelet2_extension
	autoware_map_msgs
	autoware_perception_msgs
	rviz_common
	rviz_default_plugins
	tf2_geometry_msgs
	tf2_ros

System Dependencies

Name
libboost-dev
qtbase5-dev
libqt5-widgets

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `autoware_perception_rviz_plugin` at Robotics Stack Exchange

No version for distro melodic showing humble. Known supported distros are highlighted in the buttons above.

autoware_perception_rviz_plugin package from autoware_rviz_plugins repo

autoware_localization_rviz_plugin autoware_mission_details_overlay_rviz_plugin autoware_overlay_rviz_plugin autoware_string_stamped_rviz_plugin autoware_perception_rviz_plugin autoware_planning_rviz_plugin

ROS Distro
humble

Package Summary

Version	0.3.0
License	Apache 2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/autowarefoundation/autoware_rviz_plugins.git
VCS Type	git
VCS Version	main
Last Updated	2026-01-06
Dev Status	DEVELOPED
Released	UNRELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

Contains plugins to visualize object detection outputs

Maintainers

Apex.AI, Inc.
Taiki Tanaka
Takeshi Miura
Yoshi Ri

Authors

No additional authors.

[1] https://gitlab.com/autowarefoundation/autoware.auto/AutowareAuto/-/tree/master/src/tools/visualization/autoware_rviz_plugins

autoware_perception_rviz_plugin

Purpose

It is an rviz plugin for visualizing the result from perception module. This package is based on the implementation of the rviz plugin developed by Autoware.Auto.

See Autoware.Auto design documentation for the original design philosophy. [1]

Input Types / Visualization Results

DetectedObjects

Input Types

Name	Type	Description
	`autoware_perception_msgs::msg::DetectedObjects`	detection result array

Visualization Result

detected-object-visualization-description

TrackedObjects

Input Types

Name	Type	Description
	`autoware_perception_msgs::msg::TrackedObjects`	tracking result array

Visualization Result

Overwrite tracking results with detection results.

tracked-object-visualization-description

PredictedObjects

Input Types

Name	Type	Description
	`autoware_perception_msgs::msg::PredictedObjects`	prediction result array

Visualization Result

Overwrite prediction results with tracking results.

predicted-object-visualization-description

TrafficLight

Input Types

Name	Type	Description
Lanelet Map	`autoware_map_msgs::msg::LaneletMapBin`	Map data containing traffic light positions
Traffic Light State	`autoware_perception_msgs::msg::TrafficLightGroupArray`	Traffic light recognition results

Visualization Result

The plugin visualizes traffic light states in two ways:

Text display showing the current state (RED, AMBER, GREEN, directional arrows)
3D spheres representing the light bulbs, colored according to their state

traffic-light-visualization-description

Customizable Features

Text position offset (X, Y, Z)
Text font size and color
Text prefix
Show/hide text display
Show/hide bulb visualization
Timeout for stale data
Topic names for both input types

References/External links

Future extensions / Unimplemented parts

CHANGELOG

Changelog for package autoware_perception_rviz_plugin

0.3.0 (2025-11-16)

fix(autoware_perception_rviz_plugin): fix [calc_path_line_list]{.title-ref} (#25)
- Fixed [calc_path_line_list]{.title-ref}
- Fixed is_valid_orientation
- Added [#include <limits>]{.title-ref}
* Added a new condition [is_default_orientation]{.title-ref} ---------
Contributors: SakodaShintaro

0.2.0 (2025-08-14)

fix(autoware_perception_rviz_plugin): improve traffic light visualization transform handling (#17)
feat(autoware_perception_rviz_plugin): add traffic light display (#15)
- feat(autoware_traffic_light_rviz_plugin): add traffic light display
- update README.md
- fix copyright
* support without buble ---------
Contributors: Yukinari Hisaki

0.1.0 (2025-06-28)

feat: port autoware_perception_rviz_plugin from Autoware Universe (#6) Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
Contributors: Ryohsuke Mitsudome

Package Dependencies

Deps	Name
	ament_cmake
	autoware_cmake
	rviz2
	ament_lint_auto
	autoware_lint_common
	autoware_lanelet2_extension
	autoware_map_msgs
	autoware_perception_msgs
	rviz_common
	rviz_default_plugins
	tf2_geometry_msgs
	tf2_ros

System Dependencies

Name
libboost-dev
qtbase5-dev
libqt5-widgets

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `autoware_perception_rviz_plugin` at Robotics Stack Exchange

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autoware_perception_rviz_plugin package from autoware_rviz_plugins repo

autoware_localization_rviz_plugin autoware_mission_details_overlay_rviz_plugin autoware_overlay_rviz_plugin autoware_string_stamped_rviz_plugin autoware_perception_rviz_plugin autoware_planning_rviz_plugin

ROS Distro
humble

Package Summary

Version	0.3.0
License	Apache 2.0
Build type	AMENT_CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/autowarefoundation/autoware_rviz_plugins.git
VCS Type	git
VCS Version	main
Last Updated	2026-01-06
Dev Status	DEVELOPED
Released	UNRELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

Contains plugins to visualize object detection outputs

Maintainers

Apex.AI, Inc.
Taiki Tanaka
Takeshi Miura
Yoshi Ri

Authors

No additional authors.

[1] https://gitlab.com/autowarefoundation/autoware.auto/AutowareAuto/-/tree/master/src/tools/visualization/autoware_rviz_plugins

autoware_perception_rviz_plugin

Purpose

It is an rviz plugin for visualizing the result from perception module. This package is based on the implementation of the rviz plugin developed by Autoware.Auto.

See Autoware.Auto design documentation for the original design philosophy. [1]

Input Types / Visualization Results

DetectedObjects

Input Types

Name	Type	Description
	`autoware_perception_msgs::msg::DetectedObjects`	detection result array

Visualization Result

detected-object-visualization-description

TrackedObjects

Input Types

Name	Type	Description
	`autoware_perception_msgs::msg::TrackedObjects`	tracking result array

Visualization Result

Overwrite tracking results with detection results.

tracked-object-visualization-description

PredictedObjects

Input Types

Name	Type	Description
	`autoware_perception_msgs::msg::PredictedObjects`	prediction result array

Visualization Result

Overwrite prediction results with tracking results.

predicted-object-visualization-description

TrafficLight

Input Types

Name	Type	Description
Lanelet Map	`autoware_map_msgs::msg::LaneletMapBin`	Map data containing traffic light positions
Traffic Light State	`autoware_perception_msgs::msg::TrafficLightGroupArray`	Traffic light recognition results

Visualization Result

The plugin visualizes traffic light states in two ways:

Text display showing the current state (RED, AMBER, GREEN, directional arrows)
3D spheres representing the light bulbs, colored according to their state

traffic-light-visualization-description

Customizable Features

Text position offset (X, Y, Z)
Text font size and color
Text prefix
Show/hide text display
Show/hide bulb visualization
Timeout for stale data
Topic names for both input types

References/External links

Future extensions / Unimplemented parts

CHANGELOG

Changelog for package autoware_perception_rviz_plugin

0.3.0 (2025-11-16)

fix(autoware_perception_rviz_plugin): fix [calc_path_line_list]{.title-ref} (#25)
- Fixed [calc_path_line_list]{.title-ref}
- Fixed is_valid_orientation
- Added [#include <limits>]{.title-ref}
* Added a new condition [is_default_orientation]{.title-ref} ---------
Contributors: SakodaShintaro

0.2.0 (2025-08-14)

fix(autoware_perception_rviz_plugin): improve traffic light visualization transform handling (#17)
feat(autoware_perception_rviz_plugin): add traffic light display (#15)
- feat(autoware_traffic_light_rviz_plugin): add traffic light display
- update README.md
- fix copyright
* support without buble ---------
Contributors: Yukinari Hisaki

0.1.0 (2025-06-28)

feat: port autoware_perception_rviz_plugin from Autoware Universe (#6) Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
Contributors: Ryohsuke Mitsudome

Package Dependencies

Deps	Name
	ament_cmake
	autoware_cmake
	rviz2
	ament_lint_auto
	autoware_lint_common
	autoware_lanelet2_extension
	autoware_map_msgs
	autoware_perception_msgs
	rviz_common
	rviz_default_plugins
	tf2_geometry_msgs
	tf2_ros

System Dependencies

Name
libboost-dev
qtbase5-dev
libqt5-widgets

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged `autoware_perception_rviz_plugin` at Robotics Stack Exchange