feat(autoware_auto_perception_rviz_plugin): add perception objects pointcloud publisher #3097
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…d scripts Signed-off-by: Alexey Panferov <lexavtanke@gmail.com>
…o_perception_plugin subscription to pointclouds and publishing pointclouds Signed-off-by: Alexey Panferov <lexavtanke@gmail.com>
…ts_pointcloud_publisher
…message templated plugins, builds, but not woking correctly . Add rviz lauch file for debugging. modify package.xml Signed-off-by: Alexey Panferov <lexavtanke@gmail.com>
Signed-off-by: Alexey Panferov <lexavtanke@gmail.com>
…ts_pointcloud_publisher
…ntcloud_publisher' into feat/add_perception_objects_pointcloud_publisher
…o_rviz plugin to publish pointclouds Signed-off-by: Alexey Panferov <lexavtanke@gmail.com>
…use objectsCallback to update objects Signed-off-by: Alexey Panferov <lexavtanke@gmail.com>
…ts_pointcloud_publisher
…back to plugin hardcoded topic names, one color for all classes of objects Signed-off-by: Alexey Panferov <lexavtanke@gmail.com>
…ntcloud_publisher' into feat/add_perception_objects_pointcloud_publisher
…rent object classes Signed-off-by: Alexey Panferov <lexavtanke@gmail.com>
…/disable publish poincloud Signed-off-by: Alexey Panferov <lexavtanke@gmail.com>
…input pointcloud Signed-off-by: Alexey Panferov <lexavtanke@gmail.com>
Signed-off-by: Alexey Panferov <lexavtanke@gmail.com>
Signed-off-by: Alexey Panferov <lexavtanke@gmail.com>
Signed-off-by: Alexey Panferov <lexavtanke@gmail.com>
…and config Signed-off-by: Alexey Panferov <lexavtanke@gmail.com>
Signed-off-by: Alexey Panferov <lexavtanke@gmail.com>
…ts_pointcloud_publisher
lexavtanke
requested review from
scepter914,
taikitanaka3,
1222-takeshi and
a team
as code owners
github-actions
bot
added
component:common
… pr error Signed-off-by: Alexey Panferov <lexavtanke@gmail.com>
…r guard Signed-off-by: Alexey Panferov <lexavtanke@gmail.com>
…us and onObjectsAndObstaclePointCloud Signed-off-by: Alexey Panferov <lexavtanke@gmail.com>
…from Signed-off-by: Alexey Panferov <lexavtanke@gmail.com>
…ud to tracked and predicted works but sometime core dumped Signed-off-by: Alexey Panferov <lexavtanke@gmail.com>
…stPointCloud Signed-off-by: Alexey Panferov <lexavtanke@gmail.com>
Signed-off-by: Alexey Panferov <lexavtanke@gmail.com>
…earest poincloud , works on planning simulator Signed-off-by: Alexey Panferov <lexavtanke@gmail.com>
…t pointcloud buffer Signed-off-by: Alexey Panferov <lexavtanke@gmail.com>
Signed-off-by: Alexey Panferov <lexavtanke@gmail.com>
Signed-off-by: Alexey Panferov <lexavtanke@gmail.com>
…c update Signed-off-by: Alexey Panferov <lexavtanke@gmail.com>
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This pull request has been automatically marked as stale because it has not had recent activity. |
6 tasks
Shin-kyoto
added
the
component:perception
Shin-kyoto
requested changes
Aug 13, 2024
|
Thank you for creating the PR. To keep Autoware healthy, we close PRs if there is no response for more than a week after requesting conflict resolution. If this PR is still active, please let us know. Even if this PR is closed, you are welcome to reopen it once the conflicts have been resolved. |
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friendly ping |
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friendly ping |
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Hi @Shin-kyoto As I know there are PRs from @KhalilSelyan #7095 and #8247. |
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@lexavtanke |
The author @lexavtanke said that he would like to close this PR, so I will close it. |
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Description
This PR adding new function to autoware_auto_perception_rviz_plugin. Now it has ability to publish point cloud of detected objects. It improve visualization of perception pipeline.
This feature can be enabled/disabled in control panel of the plugin by toggling Publish Objects Pointcloud property.
New point cloud plugin should be added to autoware config to visualize output of the plugin. Like it's shown in this video.
Output topics for point clouds:
Video demo with predicted objects from autoware demo bagfile.
Related links
This feature was discussed here 2860.
Tests performed
This feature was tested manually against sample rosbag from Rosbag replay simulation demo. I didn't find any reduces in performance.
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