Create api for visualization

[isamu-takagi]

Checklist

• I've read the contribution guidelines.
• I've searched other issues and no duplicate issues were found.
• I've agreed with the maintainers that I can plan this task.

Description

Now Autoware doesn't have a visualization API. Here we define the visualization API for services. The visualization interface for debugging should be defined as component interface internally, see here for it.

Purpose

Clarify the interface for visualization.

Possible approaches

Define these interfaces.

• vehicle
• pointcloud map
• vector map
• traffic signal
• detection objects
• detection area
• trajectory

Vehicle

Some information can be obtained from vehicle status. 3D model of the vehicle if necessary.

pointcloud map

Pointcloud map may be enough for debugging. Do you have a use case to show in your service?

Vector map

Provide polygons instead of visualization_msgs/msg/MarkerArray. The design is application dependent.

Active traffic signal

Use RTC status to get the decision of traffic signal. See here for details.
For image recognition result and v2x input, create internal interface for debugging later.

Definition of done

• Create specification.
• Create default implementation.

[tkhmy]

Object Recognition

• The message will be get from /perception/object_recognition/objects
• Objects
  • UUID object_id
  • float existence_probability
  • ObjectClassification classification
    • uint8 label
    • float probability
  • PredictedObjectKinematics kinematics
    • initial_pose_with_covariance
    • initial_twist_with_covariance
    • initial_acceleration_with_covariance
    • predicted_paths
  • Shape shape
    • uint8 type
    • Polygon footprint
    • Vector3 dimensionsl

[tkhmy]

Detection Area

• Show the area of the autoware that currently looking at.
• Most of the topic publish is in MarkerArray, I suggest we convert to Shape when in api

[isamu-takagi]

@tkhmy autowarefoundation/autoware_adapi_msgs#26
I created a general shape message. I think it can be used for both visualization and detection areas.

[tkhmy]

#3232 (comment)

I think we need to have an api that publish current max velocity. And put in under this topic
/api/planning/max_velocity