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brkay54brkay54
committedJan 21, 2024
(tmp) convert reaction_analyzer to run with rosbag
update update update update
1 parent a60d6df commit ae041f9

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6 files changed

+226
-50
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6 files changed

+226
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‎tools/reaction_analyzer/CMakeLists.txt

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Original file line numberDiff line numberDiff line change
@@ -5,6 +5,7 @@ find_package(autoware_cmake REQUIRED)
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autoware_package()
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find_package(PCL REQUIRED)
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find_package(Eigen3 REQUIRED)
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ament_auto_add_library(reaction_analyzer SHARED
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include/reaction_analyzer_node.hpp
@@ -14,6 +15,7 @@ ament_auto_add_library(reaction_analyzer SHARED
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target_include_directories(reaction_analyzer
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SYSTEM PUBLIC
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${PCL_INCLUDE_DIRS}
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${EIGEN3_INCLUDE_DIR}
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)
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target_link_libraries(reaction_analyzer

‎tools/reaction_analyzer/include/reaction_analyzer_node.hpp

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@@ -36,6 +36,7 @@
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#include <pcl_conversions/pcl_conversions.h>
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#include <tf2_ros/buffer.h>
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#include <tf2_ros/transform_listener.h>
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#include <rosbag2_cpp/reader.hpp>
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#include <memory>
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#include <mutex>
@@ -135,6 +136,11 @@ class ReactionAnalyzerNode : public rclcpp::Node
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NodeParams node_params_;
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double entity_search_radius_;
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// TEMP
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bool run_from_bag_{true};
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PointCloud2::SharedPtr msg_cloud_empty_;
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PointCloud2::SharedPtr msg_cloud_with_obj_;
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// Initialization Variables
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geometry_msgs::msg::Pose entity_pose_;
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geometry_msgs::msg::PoseWithCovarianceStamped init_pose_;

‎tools/reaction_analyzer/launch/reaction_analyzer.launch.xml

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@@ -3,7 +3,7 @@
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<node_container pkg="rclcpp_components" exec="component_container_mt" name="reaction_analyzer_container" namespace="" args="" output="screen">
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<composable_node pkg="reaction_analyzer" plugin="reaction_analyzer::ReactionAnalyzerNode" name="reaction_analyzer" namespace="">
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<param from="$(var reaction_analyzer_param_path)"/>
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<remap from="output/points_raw" to="/perception/obstacle_segmentation/pointcloud"/>
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<!-- <remap from="output/points_raw" to="/perception/obstacle_segmentation/pointcloud"/>-->
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<remap from="output/objects" to="/perception/object_recognition/objects"/>
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<remap from="output/initialpose" to="/initialpose"/>
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<remap from="output/goal" to="/planning/mission_planning/goal"/>

‎tools/reaction_analyzer/package.xml

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@@ -23,12 +23,16 @@
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<depend>eigen</depend>
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<depend>libpcl-all-dev</depend>
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<depend>motion_utils</depend>
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<depend>rosbag2_cpp</depend>
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<depend>pcl_conversions</depend>
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<depend>pcl_ros</depend>
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<depend>rclcpp</depend>
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<depend>rclcpp_components</depend>
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<depend>sensor_msgs</depend>
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<depend>tf2</depend>
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<depend>tf2_ros</depend>
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<depend>tf2_eigen</depend>
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<depend>tf2_geometry_msgs</depend>
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<depend>tier4_autoware_utils</depend>
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<test_depend>ament_cmake_ros</test_depend>

‎tools/reaction_analyzer/param/reaction_analyzer.param.yaml

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Original file line numberDiff line numberDiff line change
@@ -1,22 +1,26 @@
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/**:
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ros__parameters:
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use_sim_time: true
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path_bag_without_object: /home/berkay/projects/bags/awsim-bag/bag-without-car-full/rosbag2_2024_01_17-16_23_07_0.db3
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path_bag_with_object: /home/berkay/projects/bags/awsim-bag/bag-with-car-full/rosbag2_2024_01_17-17_27_14_0.db3
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topic_cloud: /sensing/lidar/top/pointcloud_raw_ex
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observer:
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timer_period: 0.033 # s
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timer_period: 0.1 # s
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spawn_distance_threshold: 25.0
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control_cmd_buffer_time_interval: 1.0
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min_number_descending_order_control_cmd: 8
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min_jerk_for_brake_cmd: 0.3
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test_manager:
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entity:
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x: 1.5
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y: 345.0
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z: 101.25
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x: 81389.51599364934
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y: 49924.1119766238
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z: 42.240638732910156
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roll: 0.0
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pitch: 0.0
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yaw: 90.0
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x_dimension: 3.0
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y_dimension: 3.0
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z_dimension: 2.5
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x_dimension: 4.118675972722859
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y_dimension: 1.7809072588403219
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z_dimension: 0.8328610206872963
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initial_pose:
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x: 1.5
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y: 200.0
@@ -32,27 +36,48 @@
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pitch: 0.0
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yaw: 90.0
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chain:
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planning_validator:
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topic_name: /planning/scenario_planning/trajectory
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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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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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message_type: autoware_auto_planning_msgs::msg::Trajectory
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obstacle_stop_planner:
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topic_name: /planning/scenario_planning/lane_driving/trajectory
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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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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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message_type: autoware_auto_control_msgs::msg::AckermannControlCommand
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pointcloud_topic:
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# planning_validator:
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# topic_name: /planning/scenario_planning/trajectory
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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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# 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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# message_type: autoware_auto_planning_msgs::msg::Trajectory
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# obstacle_stop_planner:
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# topic_name: /planning/scenario_planning/lane_driving/trajectory
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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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# 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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# message_type: autoware_auto_control_msgs::msg::AckermannControlCommand
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ground_filtered_pointcloud:
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topic_name: /perception/obstacle_segmentation/single_frame/pointcloud_raw
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message_type: sensor_msgs::msg::PointCloud2
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obstacle_seg_pointcloud:
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topic_name: /perception/obstacle_segmentation/pointcloud
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message_type: sensor_msgs::msg::PointCloud2
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voxel_based_compare_map_filter:
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topic_name: /perception/object_recognition/detection/pointcloud_map_filtered/pointcloud
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message_type: sensor_msgs::msg::PointCloud2
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# cropbox_filter_self:
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# topic_name: /sensing/lidar/top/self_cropped/pointcloud_ex
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# message_type: sensor_msgs::msg::PointCloud2
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# cropbox_filter_mirror:
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# topic_name: /sensing/lidar/top/mirror_cropped/pointcloud_ex
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# message_type: sensor_msgs::msg::PointCloud2
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# distortion_corrector:
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# topic_name: /sensing/lidar/top/rectified/pointcloud_ex
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# message_type: sensor_msgs::msg::PointCloud2
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# outlier_filter:
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# topic_name: /sensing/lidar/top/outlier_filtered/pointcloud
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# message_type: sensor_msgs::msg::PointCloud2
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# concat_pointcloud:
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# topic_name: /sensing/lidar/top/concatenated/pointcloud
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# message_type: sensor_msgs::msg::PointCloud2
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predicted_objects_topic:
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topic_name: /perception/object_recognition/objects
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message_type: autoware_auto_perception_msgs::msg::PredictedObjects

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