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Merge pull request #1033 from tier4/feat/condition_groups_visualization
Feat/condition groups visualization
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‎docs/ReleaseNotes.md

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Major Changes :race_car: :red_car: :blue_car:
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| Feature | Brief summary | Category | Pull request | Contributor |
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| --------------------------------------------------------------------- | ----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | -------------------------------------------------------------------------- | ----------------------------------------------------------------- | --------------------------------------------- |
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| Traffic Light Simulation | Start supporting to traffic light messages in `autoware_perception_msgs`. | `openscenario_interpreter`, `traffic_simulator`, `simple_sensor_simulator` | [#1027](https://github.com/tier4/scenario_simulator_v2/pull/1027) | [HansRobo](https://github.com/HansRobo) |
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| Detailed control of permissions for autonomous decisions | Add `featureIdentifiersRequiringExternalPermissionForAutonomousDecisions` property for ObjectController. scenario_simulator_v2 controls auto_mode of Autoware planning modules by settings in the property. | `openscenario_interpreter`, `concealer` | [#1092](https://github.com/tier4/scenario_simulator_v2/pull/1092) | [HansRobo](https://github.com/HansRobo) |
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| OpenSCENARIO `Controller.Properties.Property` | Support the property `allowGoalModification` to turn on the Autoware feature `allow_goal_modification`. | `openscenario_interpreter`, `concealer` | [#997](https://github.com/tier4/scenario_simulator_v2/pull/997) | [yamacir-kit](https://github.com/yamacir-kit) |
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| OpenSCENARIO 1.2 `UserDefinedAction.CustomCommandAction` | Add `PseudoTrafficSignalDetectorConfidenceSetAction@v1`, a CustomCommandAction to control confidences in traffic light topic. | `openscenario_interpreter`, `traffic_simulator` | [#1111](https://github.com/tier4/scenario_simulator_v2/pull/1111) | [HansRobo](https://github.com/HansRobo) |
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| Ego Vehicle Simulation | Update ego vehicle models ( Import `simple_planning_simulator` changes except [autowarefoundation/autoware.universe#4941](https://github.com/autowarefoundation/autoware.universe/pull/4941) ) | `simple_sensor_simulator` | [#1144](https://github.com/tier4/scenario_simulator_v2/pull/1144) | [HansRobo](https://github.com/HansRobo) |
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| Add `API::getLaneletLength()` and `API::getMapPoseFromRelativePose()` | Add `API::getLaneletLength()`to get a length of target lanelet, and `API::getMapPoseFromRelativePose()` to transform relative pose to map pose. | `traffic_simulator` | [#1145](https://github.com/tier4/scenario_simulator_v2/pull/1145) | [hakuturu583](https://github.com/hakuturu583) |
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| Start supporting ego entity in C++ scenario | Enable spawn ego entity in C++ scenarios in cpp_mock_scenarios package. | `cpp_mock_scenarios` | [#1145](https://github.com/tier4/scenario_simulator_v2/pull/1145) | [hakuturu583](https://github.com/hakuturu583) |
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| Feature | Brief summary | Category | Pull request | Contributor |
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| --------------------------------------------------------------------- | ----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- | -------------------------------------------------------------------------- | ----------------------------------------------------------------- | ------------------------------------------------------- |
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| Traffic Light Simulation | Start supporting to traffic light messages in `autoware_perception_msgs`. | `openscenario_interpreter`, `traffic_simulator`, `simple_sensor_simulator` | [#1027](https://github.com/tier4/scenario_simulator_v2/pull/1027) | [HansRobo](https://github.com/HansRobo) |
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| Detailed control of permissions for autonomous decisions | Add `featureIdentifiersRequiringExternalPermissionForAutonomousDecisions` property for ObjectController. scenario_simulator_v2 controls auto_mode of Autoware planning modules by settings in the property. | `openscenario_interpreter`, `concealer` | [#1092](https://github.com/tier4/scenario_simulator_v2/pull/1092) | [HansRobo](https://github.com/HansRobo) |
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| OpenSCENARIO `Controller.Properties.Property` | Support the property `allowGoalModification` to turn on the Autoware feature `allow_goal_modification`. | `openscenario_interpreter`, `concealer` | [#997](https://github.com/tier4/scenario_simulator_v2/pull/997) | [yamacir-kit](https://github.com/yamacir-kit) |
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| OpenSCENARIO 1.2 `UserDefinedAction.CustomCommandAction` | Add `PseudoTrafficSignalDetectorConfidenceSetAction@v1`, a CustomCommandAction to control confidences in traffic light topic. | `openscenario_interpreter`, `traffic_simulator` | [#1111](https://github.com/tier4/scenario_simulator_v2/pull/1111) | [HansRobo](https://github.com/HansRobo) |
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| Ego Vehicle Simulation | Update ego vehicle models ( Import `simple_planning_simulator` changes except [autowarefoundation/autoware.universe#4941](https://github.com/autowarefoundation/autoware.universe/pull/4941) ) | `simple_sensor_simulator` | [#1144](https://github.com/tier4/scenario_simulator_v2/pull/1144) | [HansRobo](https://github.com/HansRobo) |
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| Add `API::getLaneletLength()` and `API::getMapPoseFromRelativePose()` | Add `API::getLaneletLength()`to get a length of target lanelet, and `API::getMapPoseFromRelativePose()` to transform relative pose to map pose. | `traffic_simulator` | [#1145](https://github.com/tier4/scenario_simulator_v2/pull/1145) | [hakuturu583](https://github.com/hakuturu583) |
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| Start supporting ego entity in C++ scenario | Enable spawn ego entity in C++ scenarios in cpp_mock_scenarios package. | `cpp_mock_scenarios` | [#1145](https://github.com/tier4/scenario_simulator_v2/pull/1145) | [hakuturu583](https://github.com/hakuturu583) |
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| Visualize context in rviz display | Enable visualize `openscenario_interpreter_msgs/msg/Context` messages in rviz display | `openscenario_visualization` | [#1033](https://github.com/tier4/scenario_simulator_v2/pull/1033) | [kyoichi-sugahara](https://github.com/kyoichi-sugahara) |
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Bug Fixes:bug:
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‎docs/image/condition_group.png

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‎docs/user_guide/VisualizingInternalInformation.md

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# **Visualizing the Internal Information of the Simulator**
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This document provides instructions for users on how to visualize the internal information of `scenario_simulator_v2` using rviz. It also covers features that can be beneficial for analyzing this information. Please note, **this document is based on information up to version v0.7.0**.
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## Table of Contents
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- [**Visualizing the Internal Information of the Simulator**](#visualizing-the-internal-information-of-the-simulator)
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- [Table of Contents](#table-of-contents)
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- [**Visualizing Entity Information**](#visualizing-entity-information)
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- [**Visualizing the Status of ConditionGroups**](#visualizing-the-status-of-conditiongroups)
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## **Visualizing Entity Information**
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WIP
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## **Visualizing the Status of ConditionGroups**
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`ConditionGroup`s defined in the scenario file can be checked on rviz, a visualization tool.
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A `ConditionGroup` acts as a trigger for events described in the scenario. A `ConditionGroup` is deemed true when all its sub-Conditions are fulfilled. Furthermore, event triggers can have multiple `ConditionGroup`s. If the evaluation of any one `ConditionGroup` becomes true, the trigger is activated.
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One usage example is to display `ConditionGroup`s at the moment the scenario fails. This allows you to analyze the cause of the failure.
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The display structure is as follows, and allows multiple Conditions to be included in one `ConditionGroup`:
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```markdown
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Condition Group Name: xxx
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Current Evaluation: xxx
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Current Value: true/false
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Type: ReachPositionCondition, CollisionCondition, etc.
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Current Evaluation:
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Current Value:
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Type:
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︙
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Condition Group Name: xxx
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Current Evaluation: xxx
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Current Value: true/false
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Type: ReachPositionCondition, CollisionCondition, etc.
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Current Evaluation:
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Current Value:
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Type:
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︙
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```
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Each condition is described using three elements:
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- **Current Evaluation**: Current achievement status
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- **Current Value**: The fulfillment status of the condition expressed in true/false
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- **Type**: Types of conditions, such as `ReachPositionCondition`, `CollisionCondition`, etc.
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To visualize the achievement status, check the `ConditionGroup` checkbox as demonstrated in the image below.
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![condition group visualization](../image/condition_group.png "condition group visualization")")
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If an `Event name` is defined in the `ConditionGroup`, that name will be reflected. If left blank, names like `ConditionGroup1`, `ConditionGroup2`, `ConditionGroup3`, etc. are automatically assigned. However, this information alone doesn't clarify if each `ConditionGroup` is linked to success or failure conditions. Therefore, when visualizing with rviz and you want this information to be apparent, we recommend explicitly defining the `Event name` as `SuccessCondition` or similar when creating the scenario file.
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---

‎openscenario/openscenario_visualization/CMakeLists.txt

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# find dependencies
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find_package(Eigen3 REQUIRED)
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find_package(ament_cmake REQUIRED)
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find_package(class_loader REQUIRED)
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find_package(openscenario_interpreter_msgs REQUIRED)
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find_package(pluginlib REQUIRED)
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find_package(quaternion_operation REQUIRED)
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find_package(rclcpp REQUIRED)
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find_package(rclcpp_components REQUIRED)
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find_package(rclcpp_lifecycle REQUIRED)
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find_package(rviz_common REQUIRED)
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find_package(traffic_simulator REQUIRED)
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find_package(traffic_simulator_msgs REQUIRED)
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find_package(visualization_msgs REQUIRED)
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ament_export_dependencies(class_loader REQUIRED)
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ament_export_dependencies(pluginlib REQUIRED)
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ament_export_dependencies(rclcpp REQUIRED)
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ament_export_dependencies(std_msgs REQUIRED)
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ament_export_dependencies(Eigen3 REQUIRED)
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include_directories(
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include
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find_package(Qt5 ${rviz_QT_VERSION} REQUIRED Core Widgets)
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find_package(ament_cmake_auto REQUIRED)
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ament_auto_find_build_dependencies()
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# Qt settings
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set(CMAKE_INCLUDE_CURRENT_DIR ON)
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set(CMAKE_AUTOMOC ON)
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set(CMAKE_AUTORCC ON)
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add_definitions(-DQT_NO_KEYWORDS)
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# Include directories
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include_directories(include
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${EIGEN3_INCLUDE_DIR}
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)
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${Qt5Core_INCLUDE_DIRS}
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${Qt5Widgets_INCLUDE_DIRS}
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SYSTEM
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${OGRE_INCLUDE_DIRS})
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add_library(openscenario_visualization_component SHARED
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ament_auto_add_library(openscenario_visualization_component SHARED
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src/openscenario_visualization_component.cpp
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)
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ament_target_dependencies(openscenario_visualization_component
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rclcpp
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rclcpp_components
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rclcpp_lifecycle
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traffic_simulator
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visualization_msgs
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traffic_simulator_msgs
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quaternion_operation
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)
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add_executable(openscenario_visualization_node
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ament_auto_add_executable(openscenario_visualization_node
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src/openscenario_visualization_node.cpp
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)
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target_link_libraries(openscenario_visualization_node openscenario_visualization_component)
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ament_target_dependencies(openscenario_visualization_node
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quaternion_operation
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rclcpp
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rclcpp_components
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rclcpp_lifecycle
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traffic_simulator
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traffic_simulator_msgs
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visualization_msgs
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)
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###############
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# Qt settings #
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###############
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find_package(Qt5 ${rviz_QT_VERSION} REQUIRED Core Widgets)
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macro(qt_wrap_ui)
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qt5_wrap_ui(${ARGN})
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endmacro()
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include_directories(${Qt5Core_INCLUDE_DIRS})
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include_directories(${Qt5Widgets_INCLUDE_DIRS})
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add_definitions(-DQT_NO_KEYWORDS)
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set(CMAKE_INCLUDE_CURRENT_DIR ON)
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set(CMAKE_AUTOMOC ON)
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set(CMAKE_AUTORCC ON)
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pluginlib_export_plugin_description_file(rviz_common plugins.xml)
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include_directories(
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include
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)
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qt5_wrap_ui(UIC_FILES
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src/ui/context_panel_plugin.ui
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)
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qt5_wrap_ui(UIC_FILES src/ui/context_panel_plugin.ui)
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add_library(openscenario_visualization_rviz_plugin SHARED
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ament_auto_add_library(openscenario_visualization_rviz_plugin SHARED
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include/openscenario_visualization/context_panel_plugin.hpp
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src/context_panel_plugin.cpp
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${UIC_FILES})
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ament_target_dependencies(openscenario_visualization_rviz_plugin
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Qt5
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pluginlib
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rclcpp
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openscenario_interpreter_msgs
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rviz_common
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${UIC_FILES}
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include/openscenario_visualization_condition_groups_plugin/jsk_overlay_utils.hpp
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src/openscenario_visualization_condition_groups_plugin/jsk_overlay_utils.cpp
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include/openscenario_visualization_condition_groups_plugin/openscenario_visualization_condition_groups_plugin.hpp
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src/openscenario_visualization_condition_groups_plugin/openscenario_visualization_condition_groups_plugin.cpp
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)
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target_include_directories(openscenario_visualization_rviz_plugin PRIVATE "${OGRE_PREFIX_DIR}/include")
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install(DIRECTORY icons DESTINATION share/openscenario_visualization)
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install(DIRECTORY include/ DESTINATION include)
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install(TARGETS openscenario_visualization_rviz_plugin
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ARCHIVE DESTINATION lib
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LIBRARY DESTINATION lib
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RUNTIME DESTINATION bin)
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install(TARGETS openscenario_visualization_node DESTINATION lib/openscenario_visualization)
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install(TARGETS
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openscenario_visualization_component
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ARCHIVE DESTINATION lib
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LIBRARY DESTINATION lib
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RUNTIME DESTINATION bin)
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ament_export_libraries(openscenario_visualization_component)
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rclcpp_components_register_nodes(openscenario_visualization_component
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"openscenario_visualization::OpenscenarioVisualizationComponent")
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rclcpp_components_register_nodes(openscenario_visualization_component "openscenario_visualization::OpenscenarioVisualizationComponent")
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if(BUILD_TESTING)
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find_package(ament_lint_auto REQUIRED)
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# the following line skips the linter which checks for copyrights
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# uncomment the line when a copyright and license is not present in all source files
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#set(ament_cmake_copyright_FOUND TRUE)
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# the following line skips cpplint (only works in a git repo)
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# uncomment the line when this package is not in a git repo
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#set(ament_cmake_cpplint_FOUND TRUE)
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ament_lint_auto_find_test_dependencies()
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endif()
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ament_package()
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pluginlib_export_plugin_description_file(rviz_common plugins.xml)
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ament_auto_package()

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