feat(autoware_planning_rviz_plugin): add pose visualization as an arrow

[ralwing]

Description

This PR adds trajectory pose visualization as an arrow which shaft starts in the pose.position and directed by pose.orientation

How was this PR tested?

Tested in rviz.

[github-actions]

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[Copilot]

Pull Request Overview

This PR adds pose visualization as arrows to the Autoware planning RViz plugin, displaying trajectory pose directions with configurable arrow markers that originate from pose positions and are oriented by pose orientations.

• Adds new properties for pose visualization: view toggle, alpha, color, arrow length, and offset
• Implements arrow rendering using triangle geometry with shaft and head
• Integrates pose visualization into existing path footprint rendering loop

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[Copilot]

Pull Request Overview

Copilot reviewed 1 out of 1 changed files in this pull request and generated 1 comment.

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[Copilot]

[nitpick] The arrow geometry calculations use repeated expressions like 'shaft_width / 2.0 * sin_yaw' and 'shaft_width / 2.0 * cos_yaw'. Extract these as named constants (e.g., 'half_shaft_width_perp_x' and 'half_shaft_width_perp_y') to improve readability and reduce potential errors from repeated calculations.

Suggested change

	const double p0_x = origin_x - shaft_width / 2.0 * sin_yaw;
	const double p0_y = origin_y + shaft_width / 2.0 * cos_yaw;
	const double p1_x = origin_x + shaft_width / 2.0 * sin_yaw;
	const double p1_y = origin_y - shaft_width / 2.0 * cos_yaw;
	const double p2_x = origin_x + shaft_length * cos_yaw + shaft_width / 2.0 * sin_yaw;
	const double p2_y = origin_y + shaft_length * sin_yaw - shaft_width / 2.0 * cos_yaw;
	const double p3_x = origin_x + shaft_length * cos_yaw - shaft_width / 2.0 * sin_yaw;
	const double p3_y = origin_y + shaft_length * sin_yaw + shaft_width / 2.0 * cos_yaw;
	const double half_shaft_width_perp_x = shaft_width / 2.0 * sin_yaw;
	const double half_shaft_width_perp_y = shaft_width / 2.0 * cos_yaw;
	const double p0_x = origin_x - half_shaft_width_perp_x;
	const double p0_y = origin_y + half_shaft_width_perp_y;
	const double p1_x = origin_x + half_shaft_width_perp_x;
	const double p1_y = origin_y - half_shaft_width_perp_y;
	const double p2_x = origin_x + shaft_length * cos_yaw + half_shaft_width_perp_x;
	const double p2_y = origin_y + shaft_length * sin_yaw - half_shaft_width_perp_y;
	const double p3_x = origin_x + shaft_length * cos_yaw - half_shaft_width_perp_x;
	const double p3_y = origin_y + shaft_length * sin_yaw + half_shaft_width_perp_y;

[ralwing]

@yukkysaito i'm kindly pinging ;-)

[yukkysaito]

I have already approved it, but it looks like the CI hasn’t passed. I’ve re-triggered the CI, so please wait a moment.

[codecov]

Codecov Report

❌ Patch coverage is 0% with 57 lines in your changes missing coverage. Please review.
⚠️ Please upload report for BASE (main@bac3843). Learn more about missing BASE report.

Files with missing lines	Patch %	Lines
...utoware_planning_rviz_plugin/path/display_base.hpp	0.00%	57 Missing ⚠️

Additional details and impacted files

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[ralwing]

@yukkysaito friendly ping ;-)