H LIDAR detection

Ebben a wiki bejegyzésben az egyszerű elekerüléses feladat LIDAR detektálójának kimeneti topicjait írjuk le.

Topicok

A LIDAR alapú detektálásnál a klaszterező (eucledian_cluster_detect) két fontos topicot hírdet:

• /detection/lidar_detector/objects topic, melynek típusa: autoware_msgs/DetectedObjectArray
• /detection/lidar_detector/objects_markers topic, melynek típusa: visualization_msgs/MarkerArray: ebben a topicban külön namespace-el szerepelnek a objektumok középpontjai (kék gömb az animáción), meg a lidartól való távolságuk (fehér text az animáción), illetve a befoglaló poligon (zöld poligonok az animáción)

Üzenetek felépítése

rosmsg show autoware_msgs/DetectedObjectArray

std_msgs/Header header
  uint32 seq
  time stamp
  string frame_id
autoware_msgs/DetectedObject[] objects
  std_msgs/Header header
    uint32 seq
    time stamp
    string frame_id
  uint32 id
  string label
  float32 score
  std_msgs/ColorRGBA color
    float32 r
    float32 g
    float32 b
    float32 a
  bool valid
  string space_frame
  geometry_msgs/Pose pose
    geometry_msgs/Point position
      float64 x
      float64 y
      float64 z
    geometry_msgs/Quaternion orientation
      float64 x
      float64 y
      float64 z
      float64 w
  geometry_msgs/Vector3 dimensions
    float64 x
    float64 y
    float64 z
  geometry_msgs/Vector3 variance
    float64 x
    float64 y
    float64 z
  geometry_msgs/Twist velocity
    geometry_msgs/Vector3 linear
      float64 x
      float64 y
      float64 z
    geometry_msgs/Vector3 angular
      float64 x
      float64 y
      float64 z
  geometry_msgs/Twist acceleration
    geometry_msgs/Vector3 linear
      float64 x
      float64 y
      float64 z
    geometry_msgs/Vector3 angular
      float64 x
      float64 y
      float64 z
  sensor_msgs/PointCloud2 pointcloud
    std_msgs/Header header
      uint32 seq
      time stamp
      string frame_id
    uint32 height
    uint32 width
    sensor_msgs/PointField[] fields
      uint8 INT8=1
      uint8 UINT8=2
      uint8 INT16=3
      uint8 UINT16=4
      uint8 INT32=5
      uint8 UINT32=6
      uint8 FLOAT32=7
      uint8 FLOAT64=8
      string name
      uint32 offset
      uint8 datatype
      uint32 count
    bool is_bigendian
    uint32 point_step
    uint32 row_step
    uint8[] data
    bool is_dense
  geometry_msgs/PolygonStamped convex_hull
    std_msgs/Header header
      uint32 seq
      time stamp
      string frame_id
    geometry_msgs/Polygon polygon
      geometry_msgs/Point32[] points
        float32 x
        float32 y
        float32 z
  autoware_msgs/LaneArray candidate_trajectories
    int32 id
    autoware_msgs/Lane[] lanes
      std_msgs/Header header
        uint32 seq
        time stamp
        string frame_id
      int32 increment
      int32 lane_id
      autoware_msgs/Waypoint[] waypoints
        int32 gid
        int32 lid
        geometry_msgs/PoseStamped pose
          std_msgs/Header header
            uint32 seq
            time stamp
            string frame_id
          geometry_msgs/Pose pose
            geometry_msgs/Point position
              float64 x
              float64 y
              float64 z
            geometry_msgs/Quaternion orientation
              float64 x
              float64 y
              float64 z
              float64 w
        geometry_msgs/TwistStamped twist
          std_msgs/Header header
            uint32 seq
            time stamp
            string frame_id
          geometry_msgs/Twist twist
            geometry_msgs/Vector3 linear
              float64 x
              float64 y
              float64 z
            geometry_msgs/Vector3 angular
              float64 x
              float64 y
              float64 z
        autoware_msgs/DTLane dtlane
          float64 dist
          float64 dir
          float64 apara
          float64 r
          float64 slope
          float64 cant
          float64 lw
          float64 rw
        int32 change_flag
        autoware_msgs/WaypointState wpstate
          uint8 NULLSTATE=0
          uint8 STR_LEFT=1
          uint8 STR_RIGHT=2
          uint8 STR_STRAIGHT=3
          uint8 STR_BACK=4
          uint8 TYPE_STOPLINE=1
          uint8 TYPE_STOP=2
          uint8 TYPE_EVENT_NULL=0
          uint8 TYPE_EVENT_GOAL=1
          uint8 TYPE_EVENT_MIDDLE_GOAL=2
          uint8 TYPE_EVENT_POSITION_STOP=3
          uint8 TYPE_EVENT_BUS_STOP=4
          uint8 TYPE_EVENT_PARKING=5
          int32 aid
          uint8 lanechange_state
          uint8 steering_state
          uint8 accel_state
          uint8 stop_state
          uint8 event_state
        uint32 lane_id
        uint32 left_lane_id
        uint32 right_lane_id
        uint32 stop_line_id
        float32 cost
        float32 time_cost
        uint32 direction
      uint32 lane_index
      float32 cost
      float32 closest_object_distance
      float32 closest_object_velocity
      bool is_blocked
  bool pose_reliable
  bool velocity_reliable
  bool acceleration_reliable
  string image_frame
  int32 x
  int32 y
  int32 width
  int32 height
  float32 angle
  sensor_msgs/Image roi_image
    std_msgs/Header header
      uint32 seq
      time stamp
      string frame_id
    uint32 height
    uint32 width
    string encoding
    uint8 is_bigendian
    uint32 step
    uint8[] data
  uint8 indicator_state
  uint8 behavior_state
  string[] user_defined_info

rosmsg show visualization_msgs/MarkerArray

visualization_msgs/Marker[] markers
  uint8 ARROW=0
  uint8 CUBE=1
  uint8 SPHERE=2
  uint8 CYLINDER=3
  uint8 LINE_STRIP=4
  uint8 LINE_LIST=5
  uint8 CUBE_LIST=6
  uint8 SPHERE_LIST=7
  uint8 POINTS=8
  uint8 TEXT_VIEW_FACING=9
  uint8 MESH_RESOURCE=10
  uint8 TRIANGLE_LIST=11
  uint8 ADD=0
  uint8 MODIFY=0
  uint8 DELETE=2
  uint8 DELETEALL=3
  std_msgs/Header header
    uint32 seq
    time stamp
    string frame_id
  string ns
  int32 id
  int32 type
  int32 action
  geometry_msgs/Pose pose
    geometry_msgs/Point position
      float64 x
      float64 y
      float64 z
    geometry_msgs/Quaternion orientation
      float64 x
      float64 y
      float64 z
      float64 w
  geometry_msgs/Vector3 scale
    float64 x
    float64 y
    float64 z
  std_msgs/ColorRGBA color
    float32 r
    float32 g
    float32 b
    float32 a
  duration lifetime
  bool frame_locked
  geometry_msgs/Point[] points
    float64 x
    float64 y
    float64 z
  std_msgs/ColorRGBA[] colors
    float32 r
    float32 g
    float32 b
    float32 a
  string text
  string mesh_resource
  bool mesh_use_embedded_materials

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