feat: update

Signed-off-by: Berkay Karaman <[email protected]>
brkay54 · Mar 15, 2024 · b955d65 · b955d65
1 parent 102eed5
commit b955d65
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Showing 5 changed files with 76 additions and 65 deletions.
diff --git a/tools/reaction_analyzer/include/reaction_analyzer_node.hpp b/tools/reaction_analyzer/include/reaction_analyzer_node.hpp
@@ -47,8 +47,11 @@
 
 #include <memory>
 #include <mutex>
+#include <string>
+#include <unordered_map>
 #include <utility>
 #include <variant>
+#include <vector>
 
 namespace reaction_analyzer
 {

diff --git a/tools/reaction_analyzer/include/subscriber.hpp b/tools/reaction_analyzer/include/subscriber.hpp
@@ -45,8 +45,11 @@
 
 #include <memory>
 #include <mutex>
+#include <string>
+#include <unordered_map>
 #include <utility>
 #include <variant>
+#include <vector>
 
 namespace reaction_analyzer::subscriber
 {
@@ -107,7 +110,6 @@ enum class SubscriberMessageType {
 };
 
 // Reaction Types
-// TODO: For the future work, we can add more reaction types e.g. first shifted trajectory.
 enum class ReactionType {
   UNKNOWN = 0,
   FIRST_BRAKE = 1,

diff --git a/tools/reaction_analyzer/include/topic_publisher.hpp b/tools/reaction_analyzer/include/topic_publisher.hpp
@@ -38,8 +38,11 @@
 
 #include <memory>
 #include <mutex>
+#include <string>
+#include <unordered_map>
 #include <utility>
 #include <variant>
+#include <vector>
 
 namespace reaction_analyzer::topic_publisher
 {

diff --git a/tools/reaction_analyzer/include/utils.hpp b/tools/reaction_analyzer/include/utils.hpp
@@ -21,6 +21,9 @@
 #include <autoware_auto_planning_msgs/msg/trajectory.hpp>
 
 #include <string>
+#include <tuple>
+#include <unordered_map>
+#include <vector>
 
 // The reaction_analyzer namespace contains utility functions for the Reaction Analyzer tool.
 namespace reaction_analyzer

diff --git a/tools/reaction_analyzer/param/reaction_analyzer.param.yaml b/tools/reaction_analyzer/param/reaction_analyzer.param.yaml
@@ -2,7 +2,7 @@
   ros__parameters:
     timer_period: 0.033 # s
     test_iteration: 15
-    output_file_path: /home/berkay/projects/reaction_analyzer_results/
+    output_file_path: <PATH>/reaction_analyzer_results/
     object_search_radius_offset: 0.1 # m
     spawn_time_after_init: 5.0 # s for perception_planning mode
     spawn_distance_threshold: 15.0 # m # for planning_control mode
@@ -33,8 +33,8 @@
       pitch: 0.0
       yaw: 8.9305903
     topic_publisher:
-      path_bag_without_object: /home/berkay/projects/bags/awsim-bag/bag/lexus_bag_without_car/rosbag2_2024_01_30-13_50_45_0.db3
-      path_bag_with_object: /home/berkay/projects/bags/awsim-bag/bag/lexus_bag_with_car/rosbag2_2024_01_30-13_50_17_0.db3
+      path_bag_without_object: <PATH_TO_YOUR_BAGS>/lexus_bag_without_car/rosbag2_2024_01_30-13_50_45_0.db3
+      path_bag_with_object: <PATH_TO_YOUR_BAGS>/lexus_bag_with_car/rosbag2_2024_01_30-13_50_17_0.db3
       pointcloud_publisher:
         pointcloud_publisher_type: "sync_header_sync_publish" # "async_header_sync_publish", "sync_header_sync_publish" or "async_publish"
         pointcloud_publisher_period: 0.1 # s
@@ -51,67 +51,67 @@
         search_entity_params:
           search_radius: 5.0 # m
       reaction_chain:
-        obstacle_stop_planner:
+        obstacle_cruise_planner:
           topic_name: /planning/scenario_planning/lane_driving/trajectory
           time_debug_topic_name: /planning/scenario_planning/lane_driving/trajectory/debug/published_time
           message_type: autoware_auto_planning_msgs/msg/Trajectory
-#        scenario_selector:
-#          topic_name: /planning/scenario_planning/scenario_selector/trajectory
-#          time_debug_topic_name: /planning/scenario_planning/scenario_selector/trajectory/debug/published_time
-#          message_type: autoware_auto_planning_msgs/msg/Trajectory
-#        motion_velocity_smoother:
-#          topic_name: /planning/scenario_planning/motion_velocity_smoother/trajectory
-#          time_debug_topic_name: /planning/scenario_planning/motion_velocity_smoother/trajectory/debug/published_time
-#          message_type: autoware_auto_planning_msgs/msg/Trajectory
-#        planning_validator:
-#          topic_name: /planning/scenario_planning/trajectory
-#          time_debug_topic_name: /planning/scenario_planning/trajectory/debug/published_time
-#          message_type: autoware_auto_planning_msgs/msg/Trajectory
-#        trajectory_follower:
-#          topic_name: /control/trajectory_follower/control_cmd
-#          time_debug_topic_name: /control/trajectory_follower/control_cmd/debug/published_time
-#          message_type: autoware_auto_control_msgs/msg/AckermannControlCommand
-#        vehicle_cmd_gate:
-#          topic_name: /control/command/control_cmd
-#          time_debug_topic_name: /control/command/control_cmd/debug/published_time
-#          message_type: autoware_auto_control_msgs/msg/AckermannControlCommand
-#        common_ground_filter:
-#          topic_name: /perception/obstacle_segmentation/single_frame/pointcloud_raw
-#          time_debug_topic_name: /perception/obstacle_segmentation/single_frame/pointcloud_raw/debug/published_time
-#          message_type: sensor_msgs/msg/PointCloud2
-#        occupancy_grid_map_outlier:
-#          topic_name: /perception/obstacle_segmentation/pointcloud
-#          time_debug_topic_name: /perception/obstacle_segmentation/pointcloud/debug/published_time
-#          message_type: sensor_msgs/msg/PointCloud2
-#        multi_object_tracker:
-#          topic_name: /perception/object_recognition/tracking/near_objects
-#          time_debug_topic_name: /perception/object_recognition/tracking/near_objects/debug/published_time
-#          message_type: autoware_auto_perception_msgs/msg/TrackedObjects
-#        lidar_centerpoint:
-#          topic_name: /perception/object_recognition/detection/centerpoint/objects
-#          time_debug_topic_name: /perception/object_recognition/detection/centerpoint/objects/debug/published_time
-#          message_type: autoware_auto_perception_msgs/msg/DetectedObjects
-#        obstacle_pointcloud_based_validator:
-#          topic_name: /perception/object_recognition/detection/centerpoint/validation/objects
-#          time_debug_topic_name: /perception/object_recognition/detection/centerpoint/validation/objects/debug/published_time
-#          message_type: autoware_auto_perception_msgs/msg/DetectedObjects
-#        decorative_tracker_merger:
-#          topic_name: /perception/object_recognition/tracking/objects
-#          time_debug_topic_name: /perception/object_recognition/tracking/objects/debug/published_time
-#          message_type: autoware_auto_perception_msgs/msg/TrackedObjects
-#        detected_object_feature_remover:
-#          topic_name: /perception/object_recognition/detection/clustering/objects
-#          time_debug_topic_name: /perception/object_recognition/detection/clustering/objects/debug/published_time
-#          message_type: autoware_auto_perception_msgs/msg/DetectedObjects
-#        detection_by_tracker:
-#          topic_name: /perception/object_recognition/detection/detection_by_tracker/objects
-#          time_debug_topic_name: /perception/object_recognition/detection/detection_by_tracker/objects/debug/published_time
-#          message_type: autoware_auto_perception_msgs/msg/DetectedObjects
-#        object_lanelet_filter:
-#          topic_name: /perception/object_recognition/detection/objects
-#          time_debug_topic_name: /perception/object_recognition/detection/objects/debug/published_time
-#          message_type: autoware_auto_perception_msgs/msg/DetectedObjects
-#        map_based_prediction:
-#          topic_name: /perception/object_recognition/objects
-#          time_debug_topic_name: /perception/object_recognition/objects/debug/published_time
-#          message_type: autoware_auto_perception_msgs/msg/PredictedObjects
+        scenario_selector:
+          topic_name: /planning/scenario_planning/scenario_selector/trajectory
+          time_debug_topic_name: /planning/scenario_planning/scenario_selector/trajectory/debug/published_time
+          message_type: autoware_auto_planning_msgs/msg/Trajectory
+        motion_velocity_smoother:
+          topic_name: /planning/scenario_planning/motion_velocity_smoother/trajectory
+          time_debug_topic_name: /planning/scenario_planning/motion_velocity_smoother/trajectory/debug/published_time
+          message_type: autoware_auto_planning_msgs/msg/Trajectory
+        planning_validator:
+          topic_name: /planning/scenario_planning/trajectory
+          time_debug_topic_name: /planning/scenario_planning/trajectory/debug/published_time
+          message_type: autoware_auto_planning_msgs/msg/Trajectory
+        trajectory_follower:
+          topic_name: /control/trajectory_follower/control_cmd
+          time_debug_topic_name: /control/trajectory_follower/control_cmd/debug/published_time
+          message_type: autoware_auto_control_msgs/msg/AckermannControlCommand
+        vehicle_cmd_gate:
+          topic_name: /control/command/control_cmd
+          time_debug_topic_name: /control/command/control_cmd/debug/published_time
+          message_type: autoware_auto_control_msgs/msg/AckermannControlCommand
+        common_ground_filter:
+          topic_name: /perception/obstacle_segmentation/single_frame/pointcloud_raw
+          time_debug_topic_name: /perception/obstacle_segmentation/single_frame/pointcloud_raw/debug/published_time
+          message_type: sensor_msgs/msg/PointCloud2
+        occupancy_grid_map_outlier:
+          topic_name: /perception/obstacle_segmentation/pointcloud
+          time_debug_topic_name: /perception/obstacle_segmentation/pointcloud/debug/published_time
+          message_type: sensor_msgs/msg/PointCloud2
+        multi_object_tracker:
+          topic_name: /perception/object_recognition/tracking/near_objects
+          time_debug_topic_name: /perception/object_recognition/tracking/near_objects/debug/published_time
+          message_type: autoware_auto_perception_msgs/msg/TrackedObjects
+        lidar_centerpoint:
+          topic_name: /perception/object_recognition/detection/centerpoint/objects
+          time_debug_topic_name: /perception/object_recognition/detection/centerpoint/objects/debug/published_time
+          message_type: autoware_auto_perception_msgs/msg/DetectedObjects
+        obstacle_pointcloud_based_validator:
+          topic_name: /perception/object_recognition/detection/centerpoint/validation/objects
+          time_debug_topic_name: /perception/object_recognition/detection/centerpoint/validation/objects/debug/published_time
+          message_type: autoware_auto_perception_msgs/msg/DetectedObjects
+        decorative_tracker_merger:
+          topic_name: /perception/object_recognition/tracking/objects
+          time_debug_topic_name: /perception/object_recognition/tracking/objects/debug/published_time
+          message_type: autoware_auto_perception_msgs/msg/TrackedObjects
+        detected_object_feature_remover:
+          topic_name: /perception/object_recognition/detection/clustering/objects
+          time_debug_topic_name: /perception/object_recognition/detection/clustering/objects/debug/published_time
+          message_type: autoware_auto_perception_msgs/msg/DetectedObjects
+        detection_by_tracker:
+          topic_name: /perception/object_recognition/detection/detection_by_tracker/objects
+          time_debug_topic_name: /perception/object_recognition/detection/detection_by_tracker/objects/debug/published_time
+          message_type: autoware_auto_perception_msgs/msg/DetectedObjects
+        object_lanelet_filter:
+          topic_name: /perception/object_recognition/detection/objects
+          time_debug_topic_name: /perception/object_recognition/detection/objects/debug/published_time
+          message_type: autoware_auto_perception_msgs/msg/DetectedObjects
+        map_based_prediction:
+          topic_name: /perception/object_recognition/objects
+          time_debug_topic_name: /perception/object_recognition/objects/debug/published_time
+          message_type: autoware_auto_perception_msgs/msg/PredictedObjects