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feat: implement message_filters package, clean up
Signed-off-by: Berkay Karaman <brkay54@gmail.com>
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‎tools/reaction_analyzer/CMakeLists.txt

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@@ -10,8 +10,12 @@ find_package(Eigen3 REQUIRED)
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ament_auto_add_library(reaction_analyzer SHARED
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include/reaction_analyzer_node.hpp
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src/reaction_analyzer_node.cpp
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include/subscriber.hpp
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src/subscriber.cpp
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include/topic_publisher.hpp
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src/topic_publisher.cpp
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include/utils.hpp
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src/utils.cpp
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)
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target_include_directories(reaction_analyzer

‎tools/reaction_analyzer/README.md

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@@ -112,26 +112,27 @@ the `path_bag_without_object` and `path_bag_with_object` parameters with the pat
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## Parameters
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| Name | Type | Description |
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| ------------------------------------------------------------------ | ------ | --------------------------------------------------------------------------------------------------------------------------------------------- |
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| `timer_period` | double | [s] Period for the main processing timer. |
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| `published_time_expire_duration` | double | [s] Time horizon of the PublishedTime message vector. |
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| `test_iteration` | int | Number of iterations for the test. |
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| `output_file_path` | string | Directory path where test results and statictics will be stored. |
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| `object_search_radius_offset` | double | [m] Additional radius added to the search area when looking for objects. |
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| `spawn_time_after_init` | double | [s] Time delay after initialization before spawning objects. Only valid `perception_planning` mode. |
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| `spawn_distance_threshold` | double | [m] Distance threshold for spawning objects. Only valid `planning_control` mode. |
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| `spawned_pointcloud_sampling_distance` | double | [m] Sampling distance for point clouds of spawned objects. Only valid `planning_control` mode. |
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| `dummy_perception_publisher_period` | double | [s] Publishing period for the dummy perception data. Only valid `planning_control` mode. |
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| `first_brake_params.debug_control_commands` | bool | Debug publish flag. |
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| `first_brake_params.control_cmd_buffer_time_interval` | double | [s] Time interval for buffering control commands. |
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| `first_brake_params.min_number_descending_order_control_cmd` | int | Minimum number of control commands in descending order for triggering brake. |
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| `first_brake_params.min_jerk_for_brake_cmd` | double | [m/s³] Minimum jerk value for issuing a brake command. |
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| `initialization_pose` | struct | Initial pose of the vehicle, containing `x`, `y`, `z`, `roll`, `pitch`, and `yaw` fields. Only valid `planning_control` mode. |
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| `entity_params` | struct | Parameters for entities (e.g., obstacles), containing `x`, `y`, `z`, `roll`, `pitch`, `yaw`, `x_dimension`, `y_dimension`, and `z_dimension`. |
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| `goal_pose` | struct | Goal pose of the vehicle, containing `x`, `y`, `z`, `roll`, `pitch`, and `yaw` fields. |
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| `topic_publisher.path_bag_without_object` | string | Path to the ROS bag file without objects. Only valid `perception_planning` mode. |
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| `topic_publisher.path_bag_with_object` | string | Path to the ROS bag file with objects. Only valid `perception_planning` mode. |
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| `topic_publisher.pointcloud_publisher.pointcloud_publisher_type` | string | Defines how the PointCloud2 messages are going to be published. Modes explained above. |
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| `topic_publisher.pointcloud_publisher.pointcloud_publisher_period` | double | [s] Publishing period of the PointCloud2 messages. |
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| `reaction_chain` | struct | List of the nodes with their topics and topic's message types. |
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| Name | Type | Description |
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|------------------------------------------------------------------------------|--------|-----------------------------------------------------------------------------------------------------------------------------------------------|
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| `timer_period` | double | [s] Period for the main processing timer. |
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| `test_iteration` | int | Number of iterations for the test. |
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| `output_file_path` | string | Directory path where test results and statictics will be stored. |
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| `object_search_radius_offset` | double | [m] Additional radius added to the search area when looking for objects. |
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| `spawn_time_after_init` | double | [s] Time delay after initialization before spawning objects. Only valid `perception_planning` mode. |
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| `spawn_distance_threshold` | double | [m] Distance threshold for spawning objects. Only valid `planning_control` mode. |
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| `spawned_pointcloud_sampling_distance` | double | [m] Sampling distance for point clouds of spawned objects. Only valid `planning_control` mode. |
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| `dummy_perception_publisher_period` | double | [s] Publishing period for the dummy perception data. Only valid `planning_control` mode. |
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| `initialization_pose` | struct | Initial pose of the vehicle, containing `x`, `y`, `z`, `roll`, `pitch`, and `yaw` fields. Only valid `planning_control` mode. |
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| `entity_params` | struct | Parameters for entities (e.g., obstacles), containing `x`, `y`, `z`, `roll`, `pitch`, `yaw`, `x_dimension`, `y_dimension`, and `z_dimension`. |
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| `goal_pose` | struct | Goal pose of the vehicle, containing `x`, `y`, `z`, `roll`, `pitch`, and `yaw` fields. |
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| `topic_publisher.path_bag_without_object` | string | Path to the ROS bag file without objects. Only valid `perception_planning` mode. |
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| `topic_publisher.path_bag_with_object` | string | Path to the ROS bag file with objects. Only valid `perception_planning` mode. |
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| `topic_publisher.pointcloud_publisher.pointcloud_publisher_type` | string | Defines how the PointCloud2 messages are going to be published. Modes explained above. |
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| `topic_publisher.pointcloud_publisher.pointcloud_publisher_period` | double | [s] Publishing period of the PointCloud2 messages. |
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| `reaction_params.first_brake_params.debug_control_commands` | bool | Debug publish flag. |
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| `reaction_params.first_brake_params.control_cmd_buffer_time_interval` | double | [s] Time interval for buffering control commands. |
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| `reaction_params.first_brake_params.min_number_descending_order_control_cmd` | int | Minimum number of control commands in descending order for triggering brake. |
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| `reaction_params.first_brake_params.min_jerk_for_brake_cmd` | double | [m/s³] Minimum jerk value for issuing a brake command. |
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| `reaction_params.search_zero_vel_params.max_looking_distance` | double | [m] Maximum looking distance for zero velocity on trajectory |
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| `reaction_params.search_entity_params.search_radius` | double | [m] Searching radius for spawned entity. Distance between ego pose and entity pose. |
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| `reaction_chain` | struct | List of the nodes with their topics and topic's message types. |

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