fix(autoware_radar_static_pointcloud_filter): lookup timestamp and er…

[mebasoglu]

…ror handling

Description

This PR fixes the lookup transform timestamp and error handling.

The node tries to get transform at map frame's timestamp, but it should use radar message's timestamp.

Sometimes, tf cannot find a match and get_transform returns an empty pointer.

Instead of checking if the pointer is empty or not, the current code checks an exception. Since the exception is handled inside the utility function, the returned pointer should be checked here for an error.

The empty pointer causes a segmentation fault.

Related links

Parent Issue:

• autoware_radar_static_pointcloud_filter sometimes dies #10349

How was this PR tested?

Tested with a bag file which includes ARS 548 RadarScan data via the following launch:

<?xml version="1.0"?>
<launch>
    <!-- Parameters -->
    <arg name="container_name" default="radar_scan_filter" />
    <arg name="radar_threshold_filter_param_path" default="$(find-pkg-share autoware_radar_threshold_filter)/config/radar_threshold_filter.param.yaml" />
    <arg name="radar_scan_to_pointcloud2_param_path" default="$(find-pkg-share autoware_radar_scan_to_pointcloud2)/config/radar_scan_to_pointcloud2.param.yaml" />

    <!-- External interfaces -->
    <arg name="input/radar_scan" default="/sensing/radar/front/scan_raw" />

    <!-- Radar scan filter pipeline -->
    <group>
        <push-ros-namespace namespace="scan" />
        <node_container pkg="rclcpp_components" exec="component_container_mt" name="$(var container_name)" namespace="">
            <composable_node pkg="autoware_radar_threshold_filter" plugin="autoware::radar_threshold_filter::RadarThresholdFilterNode" name="radar_threshold_filter" namespace="">
                <remap from="~/input/radar" to="$(var input/radar_scan)" />
                <remap from="~/output/radar" to="output/threshold_filtered_scan" />
                <param from="$(var radar_threshold_filter_param_path)" />
            </composable_node>

            <composable_node pkg="autoware_radar_static_pointcloud_filter" plugin="autoware::radar_static_pointcloud_filter::RadarStaticPointcloudFilterNode" name="radar_static_pointcloud_filter"
                             namespace="">
                <remap from="~/input/radar" to="output/threshold_filtered_scan" />
                <remap from="~/input/odometry" to="/localization/kinematic_state" />
                <remap from="~/output/static_radar_scan" to="output/static_radar_scan" />
                <remap from="~/output/dynamic_radar_scan" to="output/dynamic_radar_scan" />
                <param name="doppler_velocity_sd" value="4.0" />
                <param name="max_queue_size" value="5" />
            </composable_node>

            <composable_node pkg="autoware_radar_scan_to_pointcloud2" plugin="autoware::radar_scan_to_pointcloud2::RadarScanToPointcloud2Node" name="radar_scan_to_pointcloud2" namespace="">
                <remap from="~/input/radar" to="output/static_radar_scan" />
                <remap from="~/output/amplitude_pointcloud" to="output/amplitude_pointcloud" />
                <remap from="~/output/doppler_pointcloud" to="output/doppler_pointcloud" />
                <param from="$(var radar_scan_to_pointcloud2_param_path)" />
            </composable_node>

        </node_container>
    </group>
</launch>

Notes for reviewers

None.

Interface changes

None.

Effects on system behavior

None.

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[codecov]

Codecov Report

Attention: Patch coverage is 0% with 3 lines in your changes missing coverage. Please review.

Project coverage is 25.64%. Comparing base (8796045) to head (cd459f6).
Report is 15 commits behind head on main.

Files with missing lines	Patch %	Lines
...filter/src/radar_static_pointcloud_filter_node.cpp	0.00%	3 Missing ⚠️

Additional details and impacted files

@@            Coverage Diff             @@
##             main   #10350      +/-   ##
==========================================
- Coverage   25.66%   25.64%   -0.03%     
==========================================
  Files        1360     1362       +2     
  Lines      104688   104714      +26     
  Branches    39823    39827       +4     
==========================================
- Hits        26872    26854      -18     
- Misses      75209    75253      +44     
  Partials     2607     2607              

Flag	Coverage Δ		*Carryforward flag
differential	0.00% <0.00%> (?)
differential-cuda	0.00% <0.00%> (?)
total	25.65% <ø> (-0.02%)	⬇️	Carriedforward from ec13b8e

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[technolojin]

LGTM

[technolojin]

Thank you for your contribution!