fix(dummy_perception_publisher, tier4_dummy_object_rviz_plugin): sepa…

…rate dummy object msg (autowarefoundation#8828) * fix: dummy object rviz plugin dependency Signed-off-by: Taekjin LEE <[email protected]> * fix: remove message from dummy perception publisher Signed-off-by: Taekjin LEE <[email protected]> * fix: node name Signed-off-by: Taekjin LEE <[email protected]> --------- Signed-off-by: Taekjin LEE <[email protected]>
a-maumau · Sep 12, 2024 · 69d3176 · 69d3176
1 parent 1322e0c
commit 69d3176
Show file tree

Hide file tree

Showing 19 changed files with 55 additions and 91 deletions.
diff --git a/simulator/dummy_perception_publisher/CMakeLists.txt b/simulator/dummy_perception_publisher/CMakeLists.txt
@@ -4,12 +4,6 @@ project(dummy_perception_publisher)
 find_package(autoware_cmake REQUIRED)
 autoware_package()
 
-rosidl_generate_interfaces(${PROJECT_NAME}
-  "msg/InitialState.msg"
-  "msg/Object.msg"
-  DEPENDENCIES autoware_perception_msgs tier4_perception_msgs geometry_msgs std_msgs unique_identifier_msgs
-)
-
 # See ndt_omp package for documentation on why PCL is special
 find_package(PCL REQUIRED COMPONENTS common filters)
 
@@ -46,16 +40,6 @@ target_include_directories(dummy_perception_publisher_node
     $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
     $<INSTALL_INTERFACE:include>)
 
-# For using message definitions from the same package
-if(${rosidl_cmake_VERSION} VERSION_LESS 2.5.0)
-  rosidl_target_interfaces(dummy_perception_publisher_node
-    ${PROJECT_NAME} "rosidl_typesupport_cpp")
-else()
-  rosidl_get_typesupport_target(
-    cpp_typesupport_target ${PROJECT_NAME} "rosidl_typesupport_cpp")
-  target_link_libraries(dummy_perception_publisher_node "${cpp_typesupport_target}")
-endif()
-
 # PCL dependencies - `ament_target_dependencies` doesn't respect the
 # components/modules selected above and only links in `common` ,so we need
 # to do this manually.

diff --git a/simulator/dummy_perception_publisher/README.md b/simulator/dummy_perception_publisher/README.md
@@ -13,7 +13,7 @@ This node publishes the result of the dummy detection with the type of perceptio
 | Name           | Type                                      | Description             |
 | -------------- | ----------------------------------------- | ----------------------- |
 | `/tf`          | `tf2_msgs/TFMessage`                      | TF (self-pose)          |
-| `input/object` | `dummy_perception_publisher::msg::Object` | dummy detection objects |
+| `input/object` | `tier4_simulation_msgs::msg::DummyObject` | dummy detection objects |
 
 ### Output
 

diff --git a/simulator/dummy_perception_publisher/include/dummy_perception_publisher/node.hpp b/simulator/dummy_perception_publisher/include/dummy_perception_publisher/node.hpp
@@ -15,14 +15,13 @@
 #ifndef DUMMY_PERCEPTION_PUBLISHER__NODE_HPP_
 #define DUMMY_PERCEPTION_PUBLISHER__NODE_HPP_
 
-#include "dummy_perception_publisher/msg/object.hpp"
-
 #include <rclcpp/rclcpp.hpp>
 
 #include <autoware_perception_msgs/msg/detected_objects.hpp>
 #include <autoware_perception_msgs/msg/tracked_objects.hpp>
 #include <sensor_msgs/msg/point_cloud2.hpp>
 #include <tier4_perception_msgs/msg/detected_objects_with_feature.hpp>
+#include <tier4_simulation_msgs/msg/dummy_object.hpp>
 
 #include <pcl/common/distances.h>
 #include <pcl/point_types.h>
@@ -45,7 +44,7 @@
 struct ObjectInfo
 {
   ObjectInfo(
-    const dummy_perception_publisher::msg::Object & object, const rclcpp::Time & current_time);
+    const tier4_simulation_msgs::msg::DummyObject & object, const rclcpp::Time & current_time);
   double length;
   double width;
   double height;
@@ -60,7 +59,7 @@ struct ObjectInfo
   // convert to TrackedObject
   // (todo) currently need object input to get id and header information, but it should be removed
   autoware_perception_msgs::msg::TrackedObject toTrackedObject(
-    const dummy_perception_publisher::msg::Object & object) const;
+    const tier4_simulation_msgs::msg::DummyObject & object) const;
 };
 
 class PointCloudCreator
@@ -116,11 +115,11 @@ class DummyPerceptionPublisherNode : public rclcpp::Node
     detected_object_with_feature_pub_;
   rclcpp::Publisher<autoware_perception_msgs::msg::TrackedObjects>::SharedPtr
     ground_truth_objects_pub_;
-  rclcpp::Subscription<dummy_perception_publisher::msg::Object>::SharedPtr object_sub_;
+  rclcpp::Subscription<tier4_simulation_msgs::msg::DummyObject>::SharedPtr object_sub_;
   rclcpp::TimerBase::SharedPtr timer_;
   tf2_ros::Buffer tf_buffer_;
   tf2_ros::TransformListener tf_listener_;
-  std::vector<dummy_perception_publisher::msg::Object> objects_;
+  std::vector<tier4_simulation_msgs::msg::DummyObject> objects_;
   double visible_range_;
   double detection_successful_rate_;
   bool enable_ray_tracing_;
@@ -134,7 +133,7 @@ class DummyPerceptionPublisherNode : public rclcpp::Node
 
   std::mt19937 random_generator_;
   void timerCallback();
-  void objectCallback(const dummy_perception_publisher::msg::Object::ConstSharedPtr msg);
+  void objectCallback(const tier4_simulation_msgs::msg::DummyObject::ConstSharedPtr msg);
 
 public:
   DummyPerceptionPublisherNode();

diff --git a/simulator/dummy_perception_publisher/msg/InitialState.msg b/simulator/dummy_perception_publisher/msg/InitialState.msg
diff --git a/simulator/dummy_perception_publisher/msg/Object.msg b/simulator/dummy_perception_publisher/msg/Object.msg
diff --git a/simulator/dummy_perception_publisher/package.xml b/simulator/dummy_perception_publisher/package.xml
@@ -20,7 +20,6 @@
 
   <depend>autoware_perception_msgs</depend>
   <depend>autoware_universe_utils</depend>
-  <depend>geometry_msgs</depend>
   <depend>libpcl-all-dev</depend>
   <depend>pcl_conversions</depend>
   <depend>rclcpp</depend>
@@ -30,9 +29,7 @@
   <depend>tf2_geometry_msgs</depend>
   <depend>tf2_ros</depend>
   <depend>tier4_perception_msgs</depend>
-  <depend>unique_identifier_msgs</depend>
-
-  <member_of_group>rosidl_interface_packages</member_of_group>
+  <depend>tier4_simulation_msgs</depend>
 
   <export>
     <build_type>ament_cmake</build_type>

diff --git a/simulator/dummy_perception_publisher/src/node.cpp b/simulator/dummy_perception_publisher/src/node.cpp
@@ -37,7 +37,7 @@ using autoware_perception_msgs::msg::TrackedObject;
 using autoware_perception_msgs::msg::TrackedObjects;
 
 ObjectInfo::ObjectInfo(
-  const dummy_perception_publisher::msg::Object & object, const rclcpp::Time & current_time)
+  const tier4_simulation_msgs::msg::DummyObject & object, const rclcpp::Time & current_time)
 : length(object.shape.dimensions.x),
   width(object.shape.dimensions.y),
   height(object.shape.dimensions.z),
@@ -108,7 +108,7 @@ ObjectInfo::ObjectInfo(
 }
 
 TrackedObject ObjectInfo::toTrackedObject(
-  const dummy_perception_publisher::msg::Object & object) const
+  const tier4_simulation_msgs::msg::DummyObject & object) const
 {
   TrackedObject tracked_object;
   tracked_object.kinematics.pose_with_covariance = pose_covariance_;
@@ -164,7 +164,7 @@ DummyPerceptionPublisherNode::DummyPerceptionPublisherNode()
     this->create_publisher<tier4_perception_msgs::msg::DetectedObjectsWithFeature>(
       "output/dynamic_object", qos);
   pointcloud_pub_ = this->create_publisher<sensor_msgs::msg::PointCloud2>("output/points_raw", qos);
-  object_sub_ = this->create_subscription<dummy_perception_publisher::msg::Object>(
+  object_sub_ = this->create_subscription<tier4_simulation_msgs::msg::DummyObject>(
     "input/object", 100,
     std::bind(&DummyPerceptionPublisherNode::objectCallback, this, std::placeholders::_1));
 
@@ -331,10 +331,10 @@ void DummyPerceptionPublisherNode::timerCallback()
 }
 
 void DummyPerceptionPublisherNode::objectCallback(
-  const dummy_perception_publisher::msg::Object::ConstSharedPtr msg)
+  const tier4_simulation_msgs::msg::DummyObject::ConstSharedPtr msg)
 {
   switch (msg->action) {
-    case dummy_perception_publisher::msg::Object::ADD: {
+    case tier4_simulation_msgs::msg::DummyObject::ADD: {
       tf2::Transform tf_input2map;
       tf2::Transform tf_input2object_origin;
       tf2::Transform tf_map2object_origin;
@@ -350,7 +350,7 @@ void DummyPerceptionPublisherNode::objectCallback(
       }
       tf2::fromMsg(msg->initial_state.pose_covariance.pose, tf_input2object_origin);
       tf_map2object_origin = tf_input2map.inverse() * tf_input2object_origin;
-      dummy_perception_publisher::msg::Object object;
+      tier4_simulation_msgs::msg::DummyObject object;
       object = *msg;
       tf2::toMsg(tf_map2object_origin, object.initial_state.pose_covariance.pose);
 
@@ -371,7 +371,7 @@ void DummyPerceptionPublisherNode::objectCallback(
       objects_.push_back(object);
       break;
     }
-    case dummy_perception_publisher::msg::Object::DELETE: {
+    case tier4_simulation_msgs::msg::DummyObject::DELETE: {
       for (size_t i = 0; i < objects_.size(); ++i) {
         if (objects_.at(i).id.uuid == msg->id.uuid) {
           objects_.erase(objects_.begin() + i);
@@ -380,7 +380,7 @@ void DummyPerceptionPublisherNode::objectCallback(
       }
       break;
     }
-    case dummy_perception_publisher::msg::Object::MODIFY: {
+    case tier4_simulation_msgs::msg::DummyObject::MODIFY: {
       for (size_t i = 0; i < objects_.size(); ++i) {
         if (objects_.at(i).id.uuid == msg->id.uuid) {
           tf2::Transform tf_input2map;
@@ -398,7 +398,7 @@ void DummyPerceptionPublisherNode::objectCallback(
           }
           tf2::fromMsg(msg->initial_state.pose_covariance.pose, tf_input2object_origin);
           tf_map2object_origin = tf_input2map.inverse() * tf_input2object_origin;
-          dummy_perception_publisher::msg::Object object;
+          tier4_simulation_msgs::msg::DummyObject object;
           objects_.at(i) = *msg;
           tf2::toMsg(tf_map2object_origin, objects_.at(i).initial_state.pose_covariance.pose);
           if (use_base_link_z_) {
@@ -420,7 +420,7 @@ void DummyPerceptionPublisherNode::objectCallback(
       }
       break;
     }
-    case dummy_perception_publisher::msg::Object::DELETEALL: {
+    case tier4_simulation_msgs::msg::DummyObject::DELETEALL: {
       objects_.clear();
       break;
     }

diff --git a/simulator/tier4_dummy_object_rviz_plugin/README.md b/simulator/tier4_dummy_object_rviz_plugin/README.md
@@ -17,7 +17,7 @@ The DeleteAllObjectsTool deletes the dummy cars, pedestrians, and obstacles disp
 
 | Name                                                 | Type                                      | Description                                     |
 | ---------------------------------------------------- | ----------------------------------------- | ----------------------------------------------- |
-| `/simulation/dummy_perception_publisher/object_info` | `dummy_perception_publisher::msg::Object` | The topic on which to publish dummy object info |
+| `/simulation/dummy_perception_publisher/object_info` | `tier4_simulation_msgs::msg::DummyObject` | The topic on which to publish dummy object info |
 
 ## Parameter
 

diff --git a/simulator/tier4_dummy_object_rviz_plugin/package.xml b/simulator/tier4_dummy_object_rviz_plugin/package.xml
@@ -10,7 +10,6 @@
   <buildtool_depend>ament_cmake</buildtool_depend>
   <buildtool_depend>autoware_cmake</buildtool_depend>
 
-  <depend>dummy_perception_publisher</depend>
   <depend>libqt5-core</depend>
   <depend>libqt5-gui</depend>
   <depend>libqt5-widgets</depend>
@@ -19,6 +18,7 @@
   <depend>rviz_default_plugins</depend>
   <depend>tf2_geometry_msgs</depend>
   <depend>tf2_ros</depend>
+  <depend>tier4_simulation_msgs</depend>
 
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>autoware_lint_common</test_depend>

diff --git a/simulator/tier4_dummy_object_rviz_plugin/src/tools/car_pose.cpp b/simulator/tier4_dummy_object_rviz_plugin/src/tools/car_pose.cpp
@@ -112,9 +112,9 @@ void CarInitialPoseTool::onInitialize()
   updateTopic();
 }
 
-Object CarInitialPoseTool::createObjectMsg() const
+DummyObject CarInitialPoseTool::createObjectMsg() const
 {
-  Object object{};
+  DummyObject object{};
   std::string fixed_frame = context_->getFixedFrame().toStdString();
 
   // header
@@ -205,9 +205,9 @@ void BusInitialPoseTool::onInitialize()
   updateTopic();
 }
 
-Object BusInitialPoseTool::createObjectMsg() const
+DummyObject BusInitialPoseTool::createObjectMsg() const
 {
-  Object object{};
+  DummyObject object{};
   std::string fixed_frame = context_->getFixedFrame().toStdString();
 
   // header
@@ -302,9 +302,9 @@ void BikeInitialPoseTool::onInitialize()
   updateTopic();
 }
 
-Object BikeInitialPoseTool::createObjectMsg() const
+DummyObject BikeInitialPoseTool::createObjectMsg() const
 {
-  Object object{};
+  DummyObject object{};
   std::string fixed_frame = context_->getFixedFrame().toStdString();
 
   // header

diff --git a/simulator/tier4_dummy_object_rviz_plugin/src/tools/car_pose.hpp b/simulator/tier4_dummy_object_rviz_plugin/src/tools/car_pose.hpp
@@ -55,30 +55,30 @@ namespace rviz_plugins
 
 using autoware_perception_msgs::msg::ObjectClassification;
 using autoware_perception_msgs::msg::Shape;
-using dummy_perception_publisher::msg::Object;
+using tier4_simulation_msgs::msg::DummyObject;
 
 class CarInitialPoseTool : public InteractiveObjectTool
 {
 public:
   CarInitialPoseTool();
   void onInitialize() override;
-  [[nodiscard]] Object createObjectMsg() const override;
+  [[nodiscard]] DummyObject createObjectMsg() const override;
 };
 
 class BusInitialPoseTool : public InteractiveObjectTool
 {
 public:
   BusInitialPoseTool();
   void onInitialize() override;
-  [[nodiscard]] Object createObjectMsg() const override;
+  [[nodiscard]] DummyObject createObjectMsg() const override;
 };
 
 class BikeInitialPoseTool : public InteractiveObjectTool
 {
 public:
   BikeInitialPoseTool();
   void onInitialize() override;
-  [[nodiscard]] Object createObjectMsg() const override;
+  [[nodiscard]] DummyObject createObjectMsg() const override;
 
 private:
   rviz_common::properties::EnumProperty * label_;

diff --git a/simulator/tier4_dummy_object_rviz_plugin/src/tools/delete_all_objects.cpp b/simulator/tier4_dummy_object_rviz_plugin/src/tools/delete_all_objects.cpp
@@ -73,7 +73,7 @@ void DeleteAllObjectsTool::onInitialize()
 void DeleteAllObjectsTool::updateTopic()
 {
   rclcpp::Node::SharedPtr raw_node = context_->getRosNodeAbstraction().lock()->get_raw_node();
-  dummy_object_info_pub_ = raw_node->create_publisher<dummy_perception_publisher::msg::Object>(
+  dummy_object_info_pub_ = raw_node->create_publisher<tier4_simulation_msgs::msg::DummyObject>(
     topic_property_->getStdString(), 1);
   clock_ = raw_node->get_clock();
 }
@@ -82,15 +82,15 @@ void DeleteAllObjectsTool::updateTopic()
 void DeleteAllObjectsTool::onPoseSet(
   [[maybe_unused]] double x, [[maybe_unused]] double y, [[maybe_unused]] double theta)
 {
-  dummy_perception_publisher::msg::Object output_msg;
+  tier4_simulation_msgs::msg::DummyObject output_msg;
   std::string fixed_frame = context_->getFixedFrame().toStdString();
 
   // header
   output_msg.header.frame_id = fixed_frame;
   output_msg.header.stamp = clock_->now();
 
   // action
-  output_msg.action = dummy_perception_publisher::msg::Object::DELETEALL;
+  output_msg.action = tier4_simulation_msgs::msg::DummyObject::DELETEALL;
 
   dummy_object_info_pub_->publish(output_msg);
 }

diff --git a/simulator/tier4_dummy_object_rviz_plugin/src/tools/delete_all_objects.hpp b/simulator/tier4_dummy_object_rviz_plugin/src/tools/delete_all_objects.hpp
@@ -57,7 +57,7 @@
 #include <rviz_default_plugins/tools/pose/pose_tool.hpp>
 #endif
 
-#include <dummy_perception_publisher/msg/object.hpp>
+#include <tier4_simulation_msgs/msg/dummy_object.hpp>
 
 namespace rviz_plugins
 {
@@ -77,7 +77,7 @@ private Q_SLOTS:
 
 private:  // NOLINT for Qt
   rclcpp::Clock::SharedPtr clock_;
-  rclcpp::Publisher<dummy_perception_publisher::msg::Object>::SharedPtr dummy_object_info_pub_;
+  rclcpp::Publisher<tier4_simulation_msgs::msg::DummyObject>::SharedPtr dummy_object_info_pub_;
 
   rviz_common::properties::StringProperty * topic_property_;
 };