16.7.6

Description

Abstract

Fix a bug where the detection_sensor is setting the wrong orientation_availability property.

Background

When running scenario tests with the perception noises, we observe that the tracking objects and published detection objects always maintain a non-random yaw offset:

(yellow is detection, green is tracking)
Screencast from 2025年06月25日 19時51分08秒.webm

Details

We originally thought that there was a problem with the tracking module.

After some investigation, we realized that the detection_sensor was not setting the orientation_availability property correctly, and this PR solves that problem:

Screencast.from.2025.06.25.21.51.30.webm

References

Slack: https://star4.slack.com/archives/C076ZGRC15X/p1750828785520339

CI Test: https://evaluation.tier4.jp/evaluation/reports/0a30f721-8ae0-5cb9-b4d0-97d522174687?project_id=prd_jt

Destructive Changes

None

Known Limitations

None

Related Issues