dummy_perception_publisher publishes objects with acceleration

[takayuki5168]

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

Currently dummy_perception_publisher can publish the obstacle with the constant velocity. To realize more flexible use case, I'm thinking to add acceleration/deceleration functions to dummy_perception_publisher. This function will be helpful for obstacle stop/slow down (including adaptive_cruise_controller).

Purpose

To realize more flexible use case, I'm thinking to add acceleration/deceleration functions to dummy_perception_publisher. This function will be helpful for obstacle stop/slow down (including adaptive_cruise_controller).

Possible approaches

The current message to represent initial pose/twist of objects is InitialState.
https://github.com/autowarefoundation/autoware.universe/blob/main/simulator/dummy_perception_publisher/msg/InitialState.msg

Instead of InitialState, how about Motion or State message as follows.

geometry_msgs/PoseWithCovariance initial_pose_covariance
geometry_msgs/TwistWithCovariance initial_twist_covariance
double acceleration

Definition of done

Objects' acceleration can be changed with dummy_perception_publisher.

[takayuki5168]

@yukkysaito

[yukkysaito]

@takayuki5168
I agree with adding accel.

how about Motion or State message as follows.

This was a little confusing.
Are you saying that there is a type called Motion, State? If so, please provide a link.

[takayuki5168]

@yukkysaito

Are you saying that there is a type called Motion, State? If so, please provide a link.

Sorry to be confused. There is no existing messages. I just named Motion or State, whose content is as follows.

geometry_msgs/PoseWithCovariance initial_pose_covariance
geometry_msgs/TwistWithCovariance initial_twist_covariance
double acceleration

or it might be better like this

geometry_msgs/PoseWithCovariance initial_pose_covariance
geometry_msgs/TwistWithCovariance initial_twist_covariance
geometry_msgs/Accel accel

[takayuki5168]

I was thinking that in dummy perception publisher, in order to represent the case where the obstacle is running and will stop (= initial twist linear x is positive and acceleration is negative), the updated velocity (acceleration is added every cycle) will be made non-negative.
But sometimes we may want to make obstacle running backward, which has a conflict with a rule that the update velocity is non-negative.

If we have max_velocity and min_velocity variable in a new message, which I named Motion or State, the conflict can be resolved, but I feel the number of variables is too many.
Do you have any good idea.

[takayuki5168]

max_velocity and min_velocity can be in config file of dummy_perception_publisher. Those values cannot be changed every obstacles though.

[yukkysaito]

I would prefer the following

geometry_msgs/PoseWithCovariance initial_pose_covariance
geometry_msgs/TwistWithCovariance initial_twist_covariance
geometry_msgs/AccelWithCovariance initial_accel_covariance

• The dummy perception may consider in the future.
• Pose and twist are also cov for the above reason.

max_velocity and min_velocity can be in config file of dummy_perception_publisher. Those values cannot be changed every obstacles though.

I agree with you.

[stale]

This pull request has been automatically marked as stale because it has not had recent activity.

[takayuki5168]

Fixed by #1853