feat: add rtc manager rviz plugin (autowarefoundation#1936)

* feat: add rtc  manager rviz plugin

Signed-off-by: tanaka3 <ttatcoder@outlook.jp>

* chore: cosmetic change

Signed-off-by: tanaka3 <ttatcoder@outlook.jp>

* chore: remove indent

Signed-off-by: tanaka3 <ttatcoder@outlook.jp>

* feat: add rtc safe unsafe color

Signed-off-by: tanaka3 <ttatcoder@outlook.jp>

* fix: typo

Signed-off-by: tanaka3 <ttatcoder@outlook.jp>

* chore: simplify layout

Signed-off-by: tanaka3 <ttatcoder@outlook.jp>

* feat: update rtc panel

Signed-off-by: tanaka3 <ttatcoder@outlook.jp>

Signed-off-by: tanaka3 <ttatcoder@outlook.jp>

common/rtc_manager_rviz_plugin/CMakeLists.txt

@@ -0,0 +1,28 @@
+cmake_minimum_required(VERSION 3.14)
+project(rtc_manager_rviz_plugin)
+
+find_package(autoware_cmake REQUIRED)
+autoware_package()
+
+find_package(Qt5 REQUIRED Core Widgets)
+set(QT_LIBRARIES Qt5::Widgets)
+set(CMAKE_AUTOMOC ON)
+set(CMAKE_INCLUDE_CURRENT_DIR ON)
+add_definitions(-DQT_NO_KEYWORDS)
+
+ament_auto_add_library(${PROJECT_NAME} SHARED
+  src/rtc_manager_panel.cpp
+)
+
+target_link_libraries(${PROJECT_NAME}
+  ${QT_LIBRARIES}
+)
+
+# Export the plugin to be imported by rviz2
+pluginlib_export_plugin_description_file(rviz_common plugins/plugin_description.xml)
+
+ament_auto_package(
+  INSTALL_TO_SHARE
+  icons
+  plugins
+)

common/rtc_manager_rviz_plugin/README.md

@@ -0,0 +1,20 @@
+# rtc_manager_rviz_plugin
+
+## Purpose
+
+This plugin displays each content of RTC status and switches each module of RTC auto mode.
+
+## Inputs / Outputs
+
+### Input
+
+tbd.
+
+### Output
+
+tbd.
+
+## HowToUse
+
+1. Start rviz and select panels/Add new panel.
+   ![select_panel](./images/select_panels.png)

common/rtc_manager_rviz_plugin/package.xml

@@ -0,0 +1,32 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>rtc_manager_rviz_plugin</name>
+  <version>0.0.0</version>
+  <description>The rtc manager rviz plugin package</description>
+  <maintainer email="taiki.tanaka@tier4.jp">Taiki Tanaka</maintainer>
+  <license>Apache License 2.0</license>
+
+  <buildtool_depend>ament_cmake_auto</buildtool_depend>
+
+  <build_depend>autoware_cmake</build_depend>
+
+  <depend>libqt5-core</depend>
+  <depend>libqt5-gui</depend>
+  <depend>libqt5-widgets</depend>
+  <depend>qtbase5-dev</depend>
+  <depend>rclcpp</depend>
+  <depend>rviz_common</depend>
+  <depend>tier4_external_api_msgs</depend>
+  <depend>tier4_planning_msgs</depend>
+  <depend>tier4_rtc_msgs</depend>
+  <depend>unique_identifier_msgs</depend>
+
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>autoware_lint_common</test_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+    <rviz plugin="${prefix}/plugins/plugin_description.xml"/>
+  </export>
+</package>

common/rtc_manager_rviz_plugin/plugins/plugin_description.xml

@@ -0,0 +1,9 @@
+<library path="rtc_manager_rviz_plugin">
+
+  <class
+    type="rviz_plugins::RTCManagerPanel"
+    base_class_type="rviz_common::Panel">
+    <description>RTCManagerPanel</description>
+  </class>
+
+</library>