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>
Signed-off-by: Alexey Panferov <lexavtanke@gmail.com>
…terpoint confing file Signed-off-by: Alexey Panferov <lexavtanke@gmail.com>
github-actions
bot
removed
the
component:perception
…ts_pointcloud_publisher
kaancolak
reviewed
Mar 28, 2023
| object.classification; | ||
| object_info info = { | ||
| object.shape, object.kinematics.initial_pose_with_covariance.pose, object.classification}; | ||
| objs_buffer.push_back(info); |
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Do we really need to have the obj_buffer? input_objs_msgs already have the same content
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There is no objs_buffer but I still use conversion to object_info to unify data for filterPolygon function and keep in base class.
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| sync_ptr = std::make_shared<Sync>( | ||
| SyncPolicy(10), perception_objects_subscription, pointcloud_subscription); | ||
| sync_ptr->registerCallback(&PredictedObjectsDisplay::onObjectsAndObstaclePointCloud, this); |
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instead of message_filters::Synchronizer, maybe we can use a different callback for point cloud and objects message. if the m_publish_objs_pointcloud boolean variable is true, we can synchronize them based on their timestamps. Also in this way, we can subscribe/unsubscribe point cloud messages according to the "m_publish_objs_pointcloud" variables status. if "m_publish_objs_pointcloud" is false, we don't need to subscribe to the point cloud. Additionally, this logic makes it possible to change the point cloud topic name.
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I've updated this part. Now there is separate callback for poincloud messages.
| @@ -147,6 +226,62 @@ class AUTOWARE_AUTO_PERCEPTION_RVIZ_PLUGIN_PUBLIC ObjectPolygonDisplayBase | |||
| m_marker_common.addMessage(markers_ptr); | |||
| } | |||
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| void add_pointcloud(const sensor_msgs::msg::PointCloud2::ConstSharedPtr cloud) | |||
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maybe we can resize the point Size (Pixel) for better visualization, by default, points
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It is already build-in.
…ts_pointcloud_publisher
Signed-off-by: Alexey Panferov <lexavtanke@gmail.com>
… off, but update of the pointcloud topic doesn't work Signed-off-by: Alexey Panferov <lexavtanke@gmail.com>
…opic works Signed-off-by: Alexey Panferov <lexavtanke@gmail.com>
…t pointcloud by timestamp, builds, but crused on runtime 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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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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