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brkay54brkay54
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feat: update
Signed-off-by: Berkay Karaman <brkay54@gmail.com>
1 parent 9037259 commit 05b09e6

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5 files changed

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-65
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5 files changed

+76
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‎tools/reaction_analyzer/include/reaction_analyzer_node.hpp

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#include <memory>
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#include <mutex>
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#include <string>
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#include <unordered_map>
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#include <utility>
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#include <variant>
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#include <vector>
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namespace reaction_analyzer
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{

‎tools/reaction_analyzer/include/subscriber.hpp

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#include <memory>
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#include <mutex>
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#include <string>
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#include <unordered_map>
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#include <utility>
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#include <variant>
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#include <vector>
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namespace reaction_analyzer::subscriber
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{
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};
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// Reaction Types
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// TODO: For the future work, we can add more reaction types e.g. first shifted trajectory.
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enum class ReactionType {
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UNKNOWN = 0,
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FIRST_BRAKE = 1,

‎tools/reaction_analyzer/include/topic_publisher.hpp

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#include <memory>
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#include <mutex>
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#include <string>
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#include <unordered_map>
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#include <utility>
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#include <variant>
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#include <vector>
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namespace reaction_analyzer::topic_publisher
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{

‎tools/reaction_analyzer/include/utils.hpp

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#include <autoware_auto_planning_msgs/msg/trajectory.hpp>
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#include <string>
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#include <tuple>
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#include <unordered_map>
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#include <vector>
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// The reaction_analyzer namespace contains utility functions for the Reaction Analyzer tool.
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namespace reaction_analyzer

‎tools/reaction_analyzer/param/reaction_analyzer.param.yaml

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ros__parameters:
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timer_period: 0.033 # s
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test_iteration: 15
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output_file_path: /home/berkay/projects/reaction_analyzer_results/
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output_file_path: <PATH>/reaction_analyzer_results/
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object_search_radius_offset: 0.1 # m
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spawn_time_after_init: 5.0 # s for perception_planning mode
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spawn_distance_threshold: 15.0 # m # for planning_control mode
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pitch: 0.0
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yaw: 8.9305903
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topic_publisher:
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path_bag_without_object: /home/berkay/projects/bags/awsim-bag/bag/lexus_bag_without_car/rosbag2_2024_01_30-13_50_45_0.db3
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path_bag_with_object: /home/berkay/projects/bags/awsim-bag/bag/lexus_bag_with_car/rosbag2_2024_01_30-13_50_17_0.db3
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path_bag_without_object: <PATH_TO_YOUR_BAGS>/lexus_bag_without_car/rosbag2_2024_01_30-13_50_45_0.db3
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path_bag_with_object: <PATH_TO_YOUR_BAGS>/lexus_bag_with_car/rosbag2_2024_01_30-13_50_17_0.db3
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pointcloud_publisher:
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pointcloud_publisher_type: "sync_header_sync_publish" # "async_header_sync_publish", "sync_header_sync_publish" or "async_publish"
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pointcloud_publisher_period: 0.1 # s
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search_entity_params:
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search_radius: 5.0 # m
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reaction_chain:
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obstacle_stop_planner:
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obstacle_cruise_planner:
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topic_name: /planning/scenario_planning/lane_driving/trajectory
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time_debug_topic_name: /planning/scenario_planning/lane_driving/trajectory/debug/published_time
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message_type: autoware_auto_planning_msgs/msg/Trajectory
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# scenario_selector:
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# topic_name: /planning/scenario_planning/scenario_selector/trajectory
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# time_debug_topic_name: /planning/scenario_planning/scenario_selector/trajectory/debug/published_time
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# message_type: autoware_auto_planning_msgs/msg/Trajectory
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# motion_velocity_smoother:
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# topic_name: /planning/scenario_planning/motion_velocity_smoother/trajectory
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# time_debug_topic_name: /planning/scenario_planning/motion_velocity_smoother/trajectory/debug/published_time
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# message_type: autoware_auto_planning_msgs/msg/Trajectory
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# planning_validator:
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# topic_name: /planning/scenario_planning/trajectory
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# time_debug_topic_name: /planning/scenario_planning/trajectory/debug/published_time
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# message_type: autoware_auto_planning_msgs/msg/Trajectory
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# trajectory_follower:
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# topic_name: /control/trajectory_follower/control_cmd
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# time_debug_topic_name: /control/trajectory_follower/control_cmd/debug/published_time
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# message_type: autoware_auto_control_msgs/msg/AckermannControlCommand
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# vehicle_cmd_gate:
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# topic_name: /control/command/control_cmd
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# time_debug_topic_name: /control/command/control_cmd/debug/published_time
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# message_type: autoware_auto_control_msgs/msg/AckermannControlCommand
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# common_ground_filter:
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# topic_name: /perception/obstacle_segmentation/single_frame/pointcloud_raw
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# time_debug_topic_name: /perception/obstacle_segmentation/single_frame/pointcloud_raw/debug/published_time
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# message_type: sensor_msgs/msg/PointCloud2
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# occupancy_grid_map_outlier:
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# topic_name: /perception/obstacle_segmentation/pointcloud
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# time_debug_topic_name: /perception/obstacle_segmentation/pointcloud/debug/published_time
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# message_type: sensor_msgs/msg/PointCloud2
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# multi_object_tracker:
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# topic_name: /perception/object_recognition/tracking/near_objects
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# time_debug_topic_name: /perception/object_recognition/tracking/near_objects/debug/published_time
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# message_type: autoware_auto_perception_msgs/msg/TrackedObjects
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# lidar_centerpoint:
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# topic_name: /perception/object_recognition/detection/centerpoint/objects
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# time_debug_topic_name: /perception/object_recognition/detection/centerpoint/objects/debug/published_time
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# message_type: autoware_auto_perception_msgs/msg/DetectedObjects
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# obstacle_pointcloud_based_validator:
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# topic_name: /perception/object_recognition/detection/centerpoint/validation/objects
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# time_debug_topic_name: /perception/object_recognition/detection/centerpoint/validation/objects/debug/published_time
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# message_type: autoware_auto_perception_msgs/msg/DetectedObjects
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# decorative_tracker_merger:
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# topic_name: /perception/object_recognition/tracking/objects
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# time_debug_topic_name: /perception/object_recognition/tracking/objects/debug/published_time
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# message_type: autoware_auto_perception_msgs/msg/TrackedObjects
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# detected_object_feature_remover:
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# topic_name: /perception/object_recognition/detection/clustering/objects
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# time_debug_topic_name: /perception/object_recognition/detection/clustering/objects/debug/published_time
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# message_type: autoware_auto_perception_msgs/msg/DetectedObjects
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# detection_by_tracker:
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# topic_name: /perception/object_recognition/detection/detection_by_tracker/objects
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# time_debug_topic_name: /perception/object_recognition/detection/detection_by_tracker/objects/debug/published_time
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# message_type: autoware_auto_perception_msgs/msg/DetectedObjects
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# object_lanelet_filter:
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# topic_name: /perception/object_recognition/detection/objects
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# time_debug_topic_name: /perception/object_recognition/detection/objects/debug/published_time
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# message_type: autoware_auto_perception_msgs/msg/DetectedObjects
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# map_based_prediction:
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# topic_name: /perception/object_recognition/objects
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# time_debug_topic_name: /perception/object_recognition/objects/debug/published_time
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# message_type: autoware_auto_perception_msgs/msg/PredictedObjects
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scenario_selector:
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topic_name: /planning/scenario_planning/scenario_selector/trajectory
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time_debug_topic_name: /planning/scenario_planning/scenario_selector/trajectory/debug/published_time
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message_type: autoware_auto_planning_msgs/msg/Trajectory
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motion_velocity_smoother:
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topic_name: /planning/scenario_planning/motion_velocity_smoother/trajectory
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time_debug_topic_name: /planning/scenario_planning/motion_velocity_smoother/trajectory/debug/published_time
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message_type: autoware_auto_planning_msgs/msg/Trajectory
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planning_validator:
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topic_name: /planning/scenario_planning/trajectory
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time_debug_topic_name: /planning/scenario_planning/trajectory/debug/published_time
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message_type: autoware_auto_planning_msgs/msg/Trajectory
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trajectory_follower:
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topic_name: /control/trajectory_follower/control_cmd
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time_debug_topic_name: /control/trajectory_follower/control_cmd/debug/published_time
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message_type: autoware_auto_control_msgs/msg/AckermannControlCommand
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vehicle_cmd_gate:
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topic_name: /control/command/control_cmd
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time_debug_topic_name: /control/command/control_cmd/debug/published_time
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message_type: autoware_auto_control_msgs/msg/AckermannControlCommand
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common_ground_filter:
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topic_name: /perception/obstacle_segmentation/single_frame/pointcloud_raw
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time_debug_topic_name: /perception/obstacle_segmentation/single_frame/pointcloud_raw/debug/published_time
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message_type: sensor_msgs/msg/PointCloud2
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occupancy_grid_map_outlier:
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topic_name: /perception/obstacle_segmentation/pointcloud
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time_debug_topic_name: /perception/obstacle_segmentation/pointcloud/debug/published_time
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message_type: sensor_msgs/msg/PointCloud2
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multi_object_tracker:
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topic_name: /perception/object_recognition/tracking/near_objects
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time_debug_topic_name: /perception/object_recognition/tracking/near_objects/debug/published_time
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message_type: autoware_auto_perception_msgs/msg/TrackedObjects
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lidar_centerpoint:
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topic_name: /perception/object_recognition/detection/centerpoint/objects
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time_debug_topic_name: /perception/object_recognition/detection/centerpoint/objects/debug/published_time
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message_type: autoware_auto_perception_msgs/msg/DetectedObjects
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obstacle_pointcloud_based_validator:
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topic_name: /perception/object_recognition/detection/centerpoint/validation/objects
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time_debug_topic_name: /perception/object_recognition/detection/centerpoint/validation/objects/debug/published_time
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message_type: autoware_auto_perception_msgs/msg/DetectedObjects
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decorative_tracker_merger:
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topic_name: /perception/object_recognition/tracking/objects
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time_debug_topic_name: /perception/object_recognition/tracking/objects/debug/published_time
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message_type: autoware_auto_perception_msgs/msg/TrackedObjects
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detected_object_feature_remover:
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topic_name: /perception/object_recognition/detection/clustering/objects
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time_debug_topic_name: /perception/object_recognition/detection/clustering/objects/debug/published_time
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message_type: autoware_auto_perception_msgs/msg/DetectedObjects
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detection_by_tracker:
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topic_name: /perception/object_recognition/detection/detection_by_tracker/objects
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time_debug_topic_name: /perception/object_recognition/detection/detection_by_tracker/objects/debug/published_time
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message_type: autoware_auto_perception_msgs/msg/DetectedObjects
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object_lanelet_filter:
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topic_name: /perception/object_recognition/detection/objects
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time_debug_topic_name: /perception/object_recognition/detection/objects/debug/published_time
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message_type: autoware_auto_perception_msgs/msg/DetectedObjects
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map_based_prediction:
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topic_name: /perception/object_recognition/objects
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time_debug_topic_name: /perception/object_recognition/objects/debug/published_time
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message_type: autoware_auto_perception_msgs/msg/PredictedObjects

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