update param for 3 lidar bag

temp

Author: brkay54

tools/reaction_analyzer/include/reaction_analyzer_node.hpp

@@ -159,22 +159,27 @@ template <typename T>
 struct PublisherVariablesMessageTypeExtractor;
 
 template <typename MessageType>
-struct PublisherVariablesMessageTypeExtractor<PublisherVariables<MessageType>> {
+struct PublisherVariablesMessageTypeExtractor<PublisherVariables<MessageType>>
+{
   using Type = MessageType;
 };
 
-template<typename T, typename = std::void_t<>>
-struct has_header : std::false_type {};
-
-template<typename T>
-struct has_header<T, std::void_t<decltype(T::header)>> : std::true_type {};
-
+template <typename T, typename = std::void_t<>>
+struct has_header : std::false_type
+{
+};
 
-struct PublisherVarAccessor {
+template <typename T>
+struct has_header<T, std::void_t<decltype(T::header)>> : std::true_type
+{
+};
 
+struct PublisherVarAccessor
+{
   // Method to set header time if available
   template <typename T>
-  void setHeaderTimeIfAvailable(T& publisherVar, const rclcpp::Time& time) {
+  void setHeaderTimeIfAvailable(T & publisherVar, const rclcpp::Time & time)
+  {
     if constexpr (has_header<typename T::MessageType>::value) {
       if (publisherVar.empty_area_message) {
         publisherVar.empty_area_message->header.stamp = time;
@@ -187,66 +192,76 @@ struct PublisherVarAccessor {
 
   // Set Period
   template <typename T>
-  void setPeriod(T& publisherVar, double newPeriod) {
+  void setPeriod(T & publisherVar, double newPeriod)
+  {
     publisherVar.period_ns = newPeriod;
   }
 
   // Get Period
   template <typename T>
-  double getPeriod(const T& publisherVar) const {
+  double getPeriod(const T & publisherVar) const
+  {
     return publisherVar.period_ns;
   }
 
   // Set Empty Area Message
   template <typename T, typename Message>
-  void setEmptyAreaMessage(T& publisherVar, typename Message::SharedPtr message) {
+  void setEmptyAreaMessage(T & publisherVar, typename Message::SharedPtr message)
+  {
     publisherVar.empty_area_message = message;
   }
 
   // Get Empty Area Message
   template <typename T>
-  std::shared_ptr<void> getEmptyAreaMessage(const T& publisherVar) const {
+  std::shared_ptr<void> getEmptyAreaMessage(const T & publisherVar) const
+  {
     return std::static_pointer_cast<void>(publisherVar.empty_area_message);
   }
 
   // Set Object Spawned Message
   template <typename T, typename Message>
-  void setObjectSpawnedMessage(T& publisherVar, typename Message::SharedPtr message) {
+  void setObjectSpawnedMessage(T & publisherVar, typename Message::SharedPtr message)
+  {
     publisherVar.object_spawned_message = message;
   }
 
   // Get Object Spawned Message
   template <typename T>
-  std::shared_ptr<void> getObjectSpawnedMessage(const T& publisherVar) const {
+  std::shared_ptr<void> getObjectSpawnedMessage(const T & publisherVar) const
+  {
     return std::static_pointer_cast<void>(publisherVar.object_spawned_message);
   }
 
   // Set Publisher
   template <typename T, typename PublisherType>
-  void setPublisher(T& publisherVar, typename rclcpp::Publisher<PublisherType>::SharedPtr publisher) {
+  void setPublisher(
+    T & publisherVar, typename rclcpp::Publisher<PublisherType>::SharedPtr publisher)
+  {
     publisherVar.publisher = publisher;
   }
 
   // Get Publisher
   template <typename T>
-  std::shared_ptr<void> getPublisher(const T& publisherVar) const {
+  std::shared_ptr<void> getPublisher(const T & publisherVar) const
+  {
     return std::static_pointer_cast<void>(publisherVar.publisher);
   }
 
   // Set Timer
   template <typename T>
-  void setTimer(T& publisherVar, rclcpp::TimerBase::SharedPtr newTimer) {
+  void setTimer(T & publisherVar, rclcpp::TimerBase::SharedPtr newTimer)
+  {
     publisherVar.timer = newTimer;
   }
 
   // Get Timer
   template <typename T>
-  std::shared_ptr<void> getTimer(const T& publisherVar) const {
+  std::shared_ptr<void> getTimer(const T & publisherVar) const
+  {
     return std::static_pointer_cast<void>(publisherVar.timer);
   }
 };
 
-
 using PublisherVariablesVariant = std::variant<
   PublisherVariables<PointCloud2>, PublisherVariables<sensor_msgs::msg::CameraInfo>,
   PublisherVariables<sensor_msgs::msg::Image>,

tools/reaction_analyzer/param/reaction_analyzer.param.yaml

@@ -3,8 +3,8 @@
     use_sim_time: false
     #running_mode: "perception_planning" # or planning_control
     run_from_bag: true
-    path_bag_without_object: /home/berkay/projects/bags/awsim-bag/bag-without-car-full/rosbag2_2024_01_17-16_23_07_0.db3
-    path_bag_with_object: /home/berkay/projects/bags/awsim-bag/bag-with-car-full/rosbag2_2024_01_17-17_27_14_0.db3
+    path_bag_without_object: /home/berkay/projects/bags/awsim-bag/bag/lexus_bag_without_car/rosbag2_2024_01_30-13_50_45_0.db3
+    path_bag_with_object: /home/berkay/projects/bags/awsim-bag/bag/lexus_bag_with_car/rosbag2_2024_01_30-13_50_17_0.db3
     topic_cloud: /sensing/lidar/top/pointcloud_raw_ex
     observer:
       timer_period: 0.1 # s
@@ -14,9 +14,9 @@
       min_jerk_for_brake_cmd: 0.3
     test_manager:
       entity:
-        x: 81389.51599364934
-        y: 49924.1119766238
-        z: 42.240638732910156
+        x: 81392.97671487389
+        y: 49927.361443601316
+        z: 42.13605499267578
         roll: 0.0
         pitch: 0.0
         yaw: 90.0

tools/reaction_analyzer/src/reaction_analyzer_node.cpp

@@ -1063,7 +1063,6 @@ void ReactionAnalyzerNode::onTimer()
     if (
       initialization_state_ptr &&
       initialization_state_ptr->state == LocalizationInitializationState::INITIALIZED) {
-
       if (route_state_ptr && route_state_ptr->state != RouteState::SET && !is_route_set_) {
         // publish goal pose
         is_route_set_ = true;