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

Visualization Result

Customizable Features

These options are shared by the DetectedObjects, TrackedObjects and PredictedObjects displays.

• Color: a single color applied to every class by default.
• Per Class Color: when enabled, each class is drawn with its own color from the per-class color groups nested under this toggle, instead of the single Color above. When disabled (the default), the single Color is used for all classes. Changes take effect on the next received message. Per-class colors do not affect predicted-path colors, which encode per-object identity from the UUID.
• Alpha: opacity shared by all object colors (both the single Color and the per-class colors).

TrackedObjects

Input Types

Visualization Result

Overwrite tracking results with detection results.

PredictedObjects

Input Types

Visualization Result

Overwrite prediction results with tracking results.

Mesh Visualization

For all object types mentioned above it is possible to additionally visualize a mesh file for each object based on its class. For this the mesh namespace can be activated in RViz. For cars the visualization dynamically switches between a sedan and SUV model, based on the ratio between height and length.

Visualization Result

Visualization of only the mesh files for different vehicle types, pedestrians and cyclists.

Customizable Features

• Set visualization offset for predicted objects (n steps in to the future)
• Visualize vehicle lights (brake, left indicator, right indicator)

TrafficLight

Input Types

Visualization Result

The plugin visualizes traffic light states in two ways:

1. Text display showing the current state (RED, AMBER, GREEN, directional arrows)
2. 3D spheres representing the light bulbs, colored according to their state

Customizable Features

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Changelog for package autoware_perception_rviz_plugin

0.6.0 (2026-06-30)

• feat(perception): add predicted path footprint visualization and reorganize display properties (#45)

  • feat(perception): add predicted path footprint visualization
  • add override color
  • group options
  • group shapes
  • reorder color options
  • apply alpha for filled object
  • rename options
  • style(pre-commit): autofix
  • refactoring
  • bug fix
  • make footprint optional

  * style(pre-commit): autofix ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>

• feat: add visualization for 2 new classes (#42)

  • feat: add visualization for 2 new classes

  * style(pre-commit): autofix ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>

• feat(perception): show bbox footprint (#43) feat(object_polygon_detail): add footprint polygon visualization to shape markers

• Contributors: Taekjin LEE, badai nguyen

0.5.0 (2026-05-01)

• refactor(autoware_rviz_plugins): use autoware_ament_auto_package (#35) Co-authored-by: github-actions <<github-actions@github.com>>
• Contributors: Vishal Chauhan

0.4.0 (2026-02-14)

• feat(autoware_perception_rviz_plugin): object mesh marker visualization (#32)

  • Add meshes with license
  • Modify cmake
  • Modify code for mesh, vehicle light and prediction with offset visualization
  • Update license and readme
  • Update license reference in readme
  • Update license in package.xml
  • Fix casting style
  • Add missing import
  • style(pre-commit): autofix
  • style(pre-commit): autofix
  • style(pre-commit): autofix
  • Ignore certain spell checks

  * fix skipping of cspell check for LICENSE file ---------Co-authored-by: Jonas Krug <<jonas.krug@dai-labor.de>> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Ryohsuke Mitsudome <<ryohsuke.mitsudome@tier4.jp>>

• feat(autoware_perception_rviz_plugin): replace fromBinMsg (#31)

• fix(perception object): fix orientation of position covariance (#28)

  • fix(autoware_perception_rviz_plugin): refine marker pose and format existence probability text
  • fix(autoware_perception_rviz_plugin): update marker pose handling to correctly set position

  * fix(autoware_perception_rviz_plugin): increase precision of existence probability text in marker ---------

• Contributors: JonasKrug, Sarun MUKDAPITAK, Taekjin LEE

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}

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