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fix(radar_fusion_to_detected_object): fix input from TrackedObjects to DetectedObjects #3459

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merged 3 commits into from
May 10, 2023
Merged

fix(radar_fusion_to_detected_object): fix input from TrackedObjects to DetectedObjects #3459

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06d1595
fix radar_fusion inputs
scepter914 Apr 18, 2023
58cd9e6
update README
scepter914 Apr 18, 2023
5fc4eca
Merge branch 'main' into fix/radar_fusion_input
scepter914 Apr 28, 2023
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8 changes: 4 additions & 4 deletions perception/radar_fusion_to_detected_object/README.md
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Expand Up @@ -56,10 +56,10 @@ ros2 launch radar_fusion_to_detected_object radar_object_to_detected_object.laun

### Input

| Name | Type | Description |
| ----------------------- | ---------------------------------------------------- | ---------------------------------------------------------------------- |
| `~/input/objects` | autoware_auto_perception_msgs/msg/DetectedObject.msg | 3D detected objects. |
| `~/input/radar_objects` | autoware_auto_perception_msgs/msg/TrackedObjects.msg | Radar objects. Note that frame_id need to be same as `~/input/objects` |
| Name | Type | Description |
| ----------------------- | ----------------------------------------------------- | ---------------------------------------------------------------------- |
| `~/input/objects` | autoware_auto_perception_msgs/msg/DetectedObject.msg | 3D detected objects. |
| `~/input/radar_objects` | autoware_auto_perception_msgs/msg/DetectedObjects.msg | Radar objects. Note that frame_id need to be same as `~/input/objects` |

### Output

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13 changes: 5 additions & 8 deletions ...de/radar_object_fusion_to_detected_object/radar_object_fusion_to_detected_object_node.hpp
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Expand Up @@ -23,7 +23,6 @@
#include "rclcpp/rclcpp.hpp"

#include "autoware_auto_perception_msgs/msg/detected_objects.hpp"
#include "autoware_auto_perception_msgs/msg/tracked_objects.hpp"

#include <chrono>
#include <memory>
Expand All @@ -34,8 +33,6 @@ namespace radar_fusion_to_detected_object
{
using autoware_auto_perception_msgs::msg::DetectedObject;
using autoware_auto_perception_msgs::msg::DetectedObjects;
using autoware_auto_perception_msgs::msg::TrackedObject;
using autoware_auto_perception_msgs::msg::TrackedObjects;

class RadarObjectFusionToDetectedObjectNode : public rclcpp::Node
{
Expand All @@ -50,22 +47,22 @@ class RadarObjectFusionToDetectedObjectNode : public rclcpp::Node
private:
// Subscriber
message_filters::Subscriber<DetectedObjects> sub_object_{};
message_filters::Subscriber<TrackedObjects> sub_radar_{};
message_filters::Subscriber<DetectedObjects> sub_radar_{};

using SyncPolicy =
message_filters::sync_policies::ApproximateTime<DetectedObjects, TrackedObjects>;
message_filters::sync_policies::ApproximateTime<DetectedObjects, DetectedObjects>;
using Sync = message_filters::Synchronizer<SyncPolicy>;
typename std::shared_ptr<Sync> sync_ptr_;

// Callback
void onData(
const DetectedObjects::ConstSharedPtr object_msg,
const TrackedObjects::ConstSharedPtr radar_msg);
const DetectedObjects::ConstSharedPtr radar_msg);
bool isDataReady();

// Data Buffer
DetectedObjects::ConstSharedPtr detected_objects_{};
TrackedObjects::ConstSharedPtr radar_objects_{};
DetectedObjects::ConstSharedPtr radar_objects_{};

// Publisher
rclcpp::Publisher<DetectedObjects>::SharedPtr pub_objects_{};
Expand All @@ -87,7 +84,7 @@ class RadarObjectFusionToDetectedObjectNode : public rclcpp::Node

// Lapper
RadarFusionToDetectedObject::RadarInput setRadarInput(
const TrackedObject & radar_object, const std_msgs::msg::Header & header_);
const DetectedObject & radar_object, const std_msgs::msg::Header & header_);
};

} // namespace radar_fusion_to_detected_object
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5 changes: 2 additions & 3 deletions ...dar_object_fusion_to_detected_object_node/radar_object_fusion_to_detected_object_node.cpp
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Expand Up @@ -51,7 +51,6 @@ namespace radar_fusion_to_detected_object
{
using autoware_auto_perception_msgs::msg::DetectedObject;
using autoware_auto_perception_msgs::msg::DetectedObjects;
using autoware_auto_perception_msgs::msg::TrackedObjects;

RadarObjectFusionToDetectedObjectNode::RadarObjectFusionToDetectedObjectNode(
const rclcpp::NodeOptions & node_options)
Expand Down Expand Up @@ -181,7 +180,7 @@ bool RadarObjectFusionToDetectedObjectNode::isDataReady()
}

void RadarObjectFusionToDetectedObjectNode::onData(
const DetectedObjects::ConstSharedPtr object_msg, const TrackedObjects::ConstSharedPtr radar_msg)
const DetectedObjects::ConstSharedPtr object_msg, const DetectedObjects::ConstSharedPtr radar_msg)
{
detected_objects_ = object_msg;
radar_objects_ = radar_msg;
Expand Down Expand Up @@ -211,7 +210,7 @@ void RadarObjectFusionToDetectedObjectNode::onData(
}

RadarFusionToDetectedObject::RadarInput RadarObjectFusionToDetectedObjectNode::setRadarInput(
const TrackedObject & radar_object, const std_msgs::msg::Header & header_)
const DetectedObject & radar_object, const std_msgs::msg::Header & header_)
{
RadarFusionToDetectedObject::RadarInput output{};
output.pose_with_covariance = radar_object.kinematics.pose_with_covariance;
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