From b955d65457651e9803970cc6409759f90acdb2de Mon Sep 17 00:00:00 2001 From: Berkay Karaman Date: Fri, 15 Mar 2024 12:42:02 +0300 Subject: [PATCH] feat: update Signed-off-by: Berkay Karaman --- .../include/reaction_analyzer_node.hpp | 3 + .../reaction_analyzer/include/subscriber.hpp | 4 +- .../include/topic_publisher.hpp | 3 + tools/reaction_analyzer/include/utils.hpp | 3 + .../param/reaction_analyzer.param.yaml | 128 +++++++++--------- 5 files changed, 76 insertions(+), 65 deletions(-) diff --git a/tools/reaction_analyzer/include/reaction_analyzer_node.hpp b/tools/reaction_analyzer/include/reaction_analyzer_node.hpp index 921a9c9379ebf..4972a36469540 100644 --- a/tools/reaction_analyzer/include/reaction_analyzer_node.hpp +++ b/tools/reaction_analyzer/include/reaction_analyzer_node.hpp @@ -47,8 +47,11 @@ #include #include +#include +#include #include #include +#include namespace reaction_analyzer { diff --git a/tools/reaction_analyzer/include/subscriber.hpp b/tools/reaction_analyzer/include/subscriber.hpp index 5d9eba0643e1d..c2188f6c42013 100644 --- a/tools/reaction_analyzer/include/subscriber.hpp +++ b/tools/reaction_analyzer/include/subscriber.hpp @@ -45,8 +45,11 @@ #include #include +#include +#include #include #include +#include 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 index c53d24595e952..a7e90e51d3d1e 100644 --- a/tools/reaction_analyzer/include/topic_publisher.hpp +++ b/tools/reaction_analyzer/include/topic_publisher.hpp @@ -38,8 +38,11 @@ #include #include +#include +#include #include #include +#include namespace reaction_analyzer::topic_publisher { diff --git a/tools/reaction_analyzer/include/utils.hpp b/tools/reaction_analyzer/include/utils.hpp index 70fc39c73906d..94b62537490ca 100644 --- a/tools/reaction_analyzer/include/utils.hpp +++ b/tools/reaction_analyzer/include/utils.hpp @@ -21,6 +21,9 @@ #include #include +#include +#include +#include // 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 index cd878584b2270..e430e9fc3b43c 100644 --- 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: /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: /lexus_bag_without_car/rosbag2_2024_01_30-13_50_45_0.db3 + path_bag_with_object: /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