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feat: implement message_filters package, clean up
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Signed-off-by: Berkay Karaman <[email protected]>
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@brkay54
brkay54 committed Mar 4, 2024
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4 changes: 4 additions & 0 deletions tools/reaction_analyzer/CMakeLists.txt
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Expand Up @@ -10,8 +10,12 @@ find_package(Eigen3 REQUIRED)
ament_auto_add_library(reaction_analyzer SHARED
include/reaction_analyzer_node.hpp
src/reaction_analyzer_node.cpp
include/subscriber.hpp
src/subscriber.cpp
include/topic_publisher.hpp
src/topic_publisher.cpp
include/utils.hpp
src/utils.cpp
)

target_include_directories(reaction_analyzer
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47 changes: 24 additions & 23 deletions tools/reaction_analyzer/README.md
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Expand Up @@ -112,26 +112,27 @@ the `path_bag_without_object` and `path_bag_with_object` parameters with the pat

## Parameters

| Name | Type | Description |
| ------------------------------------------------------------------ | ------ | --------------------------------------------------------------------------------------------------------------------------------------------- |
| `timer_period` | double | [s] Period for the main processing timer. |
| `published_time_expire_duration` | double | [s] Time horizon of the PublishedTime message vector. |
| `test_iteration` | int | Number of iterations for the test. |
| `output_file_path` | string | Directory path where test results and statictics will be stored. |
| `object_search_radius_offset` | double | [m] Additional radius added to the search area when looking for objects. |
| `spawn_time_after_init` | double | [s] Time delay after initialization before spawning objects. Only valid `perception_planning` mode. |
| `spawn_distance_threshold` | double | [m] Distance threshold for spawning objects. Only valid `planning_control` mode. |
| `spawned_pointcloud_sampling_distance` | double | [m] Sampling distance for point clouds of spawned objects. Only valid `planning_control` mode. |
| `dummy_perception_publisher_period` | double | [s] Publishing period for the dummy perception data. Only valid `planning_control` mode. |
| `first_brake_params.debug_control_commands` | bool | Debug publish flag. |
| `first_brake_params.control_cmd_buffer_time_interval` | double | [s] Time interval for buffering control commands. |
| `first_brake_params.min_number_descending_order_control_cmd` | int | Minimum number of control commands in descending order for triggering brake. |
| `first_brake_params.min_jerk_for_brake_cmd` | double | [m/s³] Minimum jerk value for issuing a brake command. |
| `initialization_pose` | struct | Initial pose of the vehicle, containing `x`, `y`, `z`, `roll`, `pitch`, and `yaw` fields. Only valid `planning_control` mode. |
| `entity_params` | struct | Parameters for entities (e.g., obstacles), containing `x`, `y`, `z`, `roll`, `pitch`, `yaw`, `x_dimension`, `y_dimension`, and `z_dimension`. |
| `goal_pose` | struct | Goal pose of the vehicle, containing `x`, `y`, `z`, `roll`, `pitch`, and `yaw` fields. |
| `topic_publisher.path_bag_without_object` | string | Path to the ROS bag file without objects. Only valid `perception_planning` mode. |
| `topic_publisher.path_bag_with_object` | string | Path to the ROS bag file with objects. Only valid `perception_planning` mode. |
| `topic_publisher.pointcloud_publisher.pointcloud_publisher_type` | string | Defines how the PointCloud2 messages are going to be published. Modes explained above. |
| `topic_publisher.pointcloud_publisher.pointcloud_publisher_period` | double | [s] Publishing period of the PointCloud2 messages. |
| `reaction_chain` | struct | List of the nodes with their topics and topic's message types. |
| Name | Type | Description |
|------------------------------------------------------------------------------|--------|-----------------------------------------------------------------------------------------------------------------------------------------------|
| `timer_period` | double | [s] Period for the main processing timer. |
| `test_iteration` | int | Number of iterations for the test. |
| `output_file_path` | string | Directory path where test results and statictics will be stored. |

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| `object_search_radius_offset` | double | [m] Additional radius added to the search area when looking for objects. |
| `spawn_time_after_init` | double | [s] Time delay after initialization before spawning objects. Only valid `perception_planning` mode. |
| `spawn_distance_threshold` | double | [m] Distance threshold for spawning objects. Only valid `planning_control` mode. |
| `spawned_pointcloud_sampling_distance` | double | [m] Sampling distance for point clouds of spawned objects. Only valid `planning_control` mode. |
| `dummy_perception_publisher_period` | double | [s] Publishing period for the dummy perception data. Only valid `planning_control` mode. |
| `initialization_pose` | struct | Initial pose of the vehicle, containing `x`, `y`, `z`, `roll`, `pitch`, and `yaw` fields. Only valid `planning_control` mode. |
| `entity_params` | struct | Parameters for entities (e.g., obstacles), containing `x`, `y`, `z`, `roll`, `pitch`, `yaw`, `x_dimension`, `y_dimension`, and `z_dimension`. |
| `goal_pose` | struct | Goal pose of the vehicle, containing `x`, `y`, `z`, `roll`, `pitch`, and `yaw` fields. |
| `topic_publisher.path_bag_without_object` | string | Path to the ROS bag file without objects. Only valid `perception_planning` mode. |
| `topic_publisher.path_bag_with_object` | string | Path to the ROS bag file with objects. Only valid `perception_planning` mode. |
| `topic_publisher.pointcloud_publisher.pointcloud_publisher_type` | string | Defines how the PointCloud2 messages are going to be published. Modes explained above. |
| `topic_publisher.pointcloud_publisher.pointcloud_publisher_period` | double | [s] Publishing period of the PointCloud2 messages. |
| `reaction_params.first_brake_params.debug_control_commands` | bool | Debug publish flag. |
| `reaction_params.first_brake_params.control_cmd_buffer_time_interval` | double | [s] Time interval for buffering control commands. |
| `reaction_params.first_brake_params.min_number_descending_order_control_cmd` | int | Minimum number of control commands in descending order for triggering brake. |
| `reaction_params.first_brake_params.min_jerk_for_brake_cmd` | double | [m/s³] Minimum jerk value for issuing a brake command. |
| `reaction_params.search_zero_vel_params.max_looking_distance` | double | [m] Maximum looking distance for zero velocity on trajectory |
| `reaction_params.search_entity_params.search_radius` | double | [m] Searching radius for spawned entity. Distance between ego pose and entity pose. |
| `reaction_chain` | struct | List of the nodes with their topics and topic's message types. |
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