Launch cooperative perception nodes #2195
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carma@ubuntu:/$ ros2 topic info outgoing_sdsm Unknown topic 'outgoing_sdsm' carma@ubuntu:/$ ros2 topic info /message/outgoing_sdsm Type: carma_v2x_msgs/msg/SensorDataSharingMessage Publisher count: 1 Subscription count: 1 carma@ubuntu:/$ ros2 topic info /message/outgoing_sdsm --verbose Type: carma_v2x_msgs/msg/SensorDataSharingMessage Publisher count: 1 Node name: cp_external_object_list_to_sdsm_node Node namespace: /environment Topic type: carma_v2x_msgs/msg/SensorDataSharingMessage Endpoint type: PUBLISHER GID: b1.24.10.01.64.ab.c5.0a.0e.8d.3b.95.00.00.b1.03.00.00.00.00.00.00.00.00 QoS profile: Reliability: RMW_QOS_POLICY_RELIABILITY_RELIABLE Durability: RMW_QOS_POLICY_DURABILITY_VOLATILE Lifespan: 9223372036854775807 nanoseconds Deadline: 9223372036854775807 nanoseconds Liveliness: RMW_QOS_POLICY_LIVELINESS_AUTOMATIC Liveliness lease duration: 9223372036854775807 nanoseconds Subscription count: 1 Node name: j2735_convertor_node Node namespace: /message Topic type: carma_v2x_msgs/msg/SensorDataSharingMessage Endpoint type: SUBSCRIPTION GID: e0.41.10.01.48.3b.dd.cf.54.92.c9.60.00.00.cb.04.00.00.00.00.00.00.00.00 QoS profile: Reliability: RMW_QOS_POLICY_RELIABILITY_RELIABLE Durability: RMW_QOS_POLICY_DURABILITY_VOLATILE Lifespan: 9223372036854775807 nanoseconds Deadline: 9223372036854775807 nanoseconds Liveliness: RMW_QOS_POLICY_LIVELINESS_AUTOMATIC Liveliness lease duration: 9223372036854775807 nanoseconds |
carma@ubuntu:/$ ros2 topic info /message/incoming_sdsm --verbose Type: carma_v2x_msgs/msg/SensorDataSharingMessage Publisher count: 1 Node name: j2735_convertor_node Node namespace: /message Topic type: carma_v2x_msgs/msg/SensorDataSharingMessage Endpoint type: PUBLISHER GID: e0.41.10.01.48.3b.dd.cf.54.92.c9.60.00.00.ca.03.00.00.00.00.00.00.00.00 QoS profile: Reliability: RMW_QOS_POLICY_RELIABILITY_RELIABLE Durability: RMW_QOS_POLICY_DURABILITY_VOLATILE Lifespan: 9223372036854775807 nanoseconds Deadline: 9223372036854775807 nanoseconds Liveliness: RMW_QOS_POLICY_LIVELINESS_AUTOMATIC Liveliness lease duration: 9223372036854775807 nanoseconds Subscription count: 1 Node name: cp_sdsm_to_detection_list_node Node namespace: /environment Topic type: carma_v2x_msgs/msg/SensorDataSharingMessage Endpoint type: SUBSCRIPTION GID: b1.24.10.01.64.ab.c5.0a.0e.8d.3b.95.00.00.77.04.00.00.00.00.00.00.00.00 QoS profile: Reliability: RMW_QOS_POLICY_RELIABILITY_RELIABLE Durability: RMW_QOS_POLICY_DURABILITY_VOLATILE Lifespan: 9223372036854775807 nanoseconds Deadline: 9223372036854775807 nanoseconds Liveliness: RMW_QOS_POLICY_LIVELINESS_AUTOMATIC Liveliness lease duration: 9223372036854775807 nanoseconds |
carma@ubuntu:/$ ros2 topic info /environment/fused_external_objects --verbose Type: carma_perception_msgs/msg/ExternalObjectList Publisher count: 1 Node name: cp_track_list_to_external_object_list_node Node namespace: /environment Topic type: carma_perception_msgs/msg/ExternalObjectList Endpoint type: PUBLISHER GID: b1.24.10.01.64.ab.c5.0a.0e.8d.3b.95.00.00.bb.03.00.00.00.00.00.00.00.00 QoS profile: Reliability: RMW_QOS_POLICY_RELIABILITY_RELIABLE Durability: RMW_QOS_POLICY_DURABILITY_VOLATILE Lifespan: 9223372036854775807 nanoseconds Deadline: 9223372036854775807 nanoseconds Liveliness: RMW_QOS_POLICY_LIVELINESS_AUTOMATIC Liveliness lease duration: 9223372036854775807 nanoseconds Subscription count: 1 Node name: motion_computation_node Node namespace: /environment Topic type: carma_perception_msgs/msg/ExternalObjectList Endpoint type: SUBSCRIPTION GID: 66.06.10.01.3f.75.09.ad.b2.1a.52.94.00.00.da.04.00.00.00.00.00.00.00.00 QoS profile: Reliability: RMW_QOS_POLICY_RELIABILITY_RELIABLE Durability: RMW_QOS_POLICY_DURABILITY_VOLATILE Lifespan: 9223372036854775807 nanoseconds Deadline: 9223372036854775807 nanoseconds Liveliness: RMW_QOS_POLICY_LIVELINESS_AUTOMATIC Liveliness lease duration: 9223372036854775807 nanoseconds |
adamlm
suggested changes
Nov 21, 2023
carma/launch/environment.launch.py
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| carma_cooperative_perception_param_file = os.path.join( | ||
| get_package_share_directory('carma_cooperative_perception'), 'config/params.yaml') |
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The recommended way to do paths now is with pathlib. This should be refactored to something like this:
carma_cooperative_perception_param_file = str(get_package_share_directory("carma_cooperative_perception") / "config/params.yaml")There was a problem hiding this comment.
imported pathlib to handle this
adamlm
approved these changes
Nov 21, 2023
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PR Details
Description
This PR launches the cp nodes in carma-platform and connects the topics. Resulting nodes and topic connections look as follows, now:
carma@ubuntu:/$ ros2 lifecycle get | grep environment 1700556814.607293 [0] ros2: using network interface ens33 (udp/192.168.1.159) selected arbitrarily from: ens33, docker0 /environment/bounding_box_converter: active [3] /environment/carma_wm_broadcaster: active [3] /environment/cp_external_object_list_to_detection_list_node: active [3] /environment/cp_external_object_list_to_sdsm_node: active [3] /environment/cp_host_vehicle_filter_node: active [3] /environment/cp_multiple_object_tracker_node: active [3] /environment/cp_sdsm_to_detection_list_node: active [3] /environment/cp_track_list_to_external_object_list_node: active [3] /environment/environment_perception_controller: active [3] /environment/external_object: active [3] /environment/lanelet2_map_loader: active [3] /environment/lanelet2_map_loader_container: active [3] /environment/lanelet2_map_visualization: active [3] /environment/lanelet2_map_visualization_container: active [3] /environment/lidar_frame_transformer: active [3] /environment/lidar_to_map_frame_transformer: active [3] /environment/motion_computation_node: active [3] /environment/motion_prediction_visualizer: active [3] /environment/object_visualizer_node: active [3] /environment/perception_points_filter_container: active [3] /environment/points_map_filter: active [3] /environment/roadway_objects_node: active [3] /environment/traffic_incident_parser_node: active [3] carma@ubuntu:/$ ros2 node info /environment/cp_external_object_list_to_detection_list_node /environment/cp_external_object_list_to_detection_list_node Subscribers: /environment/external_objects: carma_perception_msgs/msg/ExternalObjectList /environment/georeference: std_msgs/msg/String /parameter_events: rcl_interfaces/msg/ParameterEvent Publishers: /environment/cp_external_object_list_to_detection_list_node/transition_event: lifecycle_msgs/msg/TransitionEvent /environment/full_detection_list: carma_cooperative_perception_interfaces/msg/DetectionList /parameter_events: rcl_interfaces/msg/ParameterEvent /rosout: rcl_interfaces/msg/Log /system_alert: carma_msgs/msg/SystemAlert Service Servers: /environment/cp_external_object_list_to_detection_list_node/change_state: lifecycle_msgs/srv/ChangeState /environment/cp_external_object_list_to_detection_list_node/describe_parameters: rcl_interfaces/srv/DescribeParameters /environment/cp_external_object_list_to_detection_list_node/get_available_states: lifecycle_msgs/srv/GetAvailableStates /environment/cp_external_object_list_to_detection_list_node/get_available_transitions: lifecycle_msgs/srv/GetAvailableTransitions /environment/cp_external_object_list_to_detection_list_node/get_parameter_types: rcl_interfaces/srv/GetParameterTypes /environment/cp_external_object_list_to_detection_list_node/get_parameters: rcl_interfaces/srv/GetParameters /environment/cp_external_object_list_to_detection_list_node/get_state: lifecycle_msgs/srv/GetState /environment/cp_external_object_list_to_detection_list_node/get_transition_graph: lifecycle_msgs/srv/GetAvailableTransitions /environment/cp_external_object_list_to_detection_list_node/list_parameters: rcl_interfaces/srv/ListParameters /environment/cp_external_object_list_to_detection_list_node/set_parameters: rcl_interfaces/srv/SetParameters /environment/cp_external_object_list_to_detection_list_node/set_parameters_atomically: rcl_interfaces/srv/SetParametersAtomically Service Clients: Action Servers: Action Clients: carma@ubuntu:/$ ros2 node info /environment/cp_external_object_list_to_sdsm_node /environment/cp_external_object_list_to_sdsm_node Subscribers: /environment/external_objects: carma_perception_msgs/msg/ExternalObjectList /environment/georeference: std_msgs/msg/String /localization/current_pose: geometry_msgs/msg/PoseStamped /parameter_events: rcl_interfaces/msg/ParameterEvent Publishers: /environment/cp_external_object_list_to_sdsm_node/transition_event: lifecycle_msgs/msg/TransitionEvent /message/outgoing_sdsm: carma_v2x_msgs/msg/SensorDataSharingMessage /parameter_events: rcl_interfaces/msg/ParameterEvent /rosout: rcl_interfaces/msg/Log /system_alert: carma_msgs/msg/SystemAlert Service Servers: /environment/cp_external_object_list_to_sdsm_node/change_state: lifecycle_msgs/srv/ChangeState /environment/cp_external_object_list_to_sdsm_node/describe_parameters: rcl_interfaces/srv/DescribeParameters /environment/cp_external_object_list_to_sdsm_node/get_available_states: lifecycle_msgs/srv/GetAvailableStates /environment/cp_external_object_list_to_sdsm_node/get_available_transitions: lifecycle_msgs/srv/GetAvailableTransitions /environment/cp_external_object_list_to_sdsm_node/get_parameter_types: rcl_interfaces/srv/GetParameterTypes /environment/cp_external_object_list_to_sdsm_node/get_parameters: rcl_interfaces/srv/GetParameters /environment/cp_external_object_list_to_sdsm_node/get_state: lifecycle_msgs/srv/GetState /environment/cp_external_object_list_to_sdsm_node/get_transition_graph: lifecycle_msgs/srv/GetAvailableTransitions /environment/cp_external_object_list_to_sdsm_node/list_parameters: rcl_interfaces/srv/ListParameters /environment/cp_external_object_list_to_sdsm_node/set_parameters: rcl_interfaces/srv/SetParameters /environment/cp_external_object_list_to_sdsm_node/set_parameters_atomically: rcl_interfaces/srv/SetParametersAtomically Service Clients: Action Servers: Action Clients: carma@ubuntu:/$ ros2 node info /environment/cp_host_vehicle_filter_node /environment/cp_host_vehicle_filter_node Subscribers: /environment/full_detection_list: carma_cooperative_perception_interfaces/msg/DetectionList /localization/current_pose: geometry_msgs/msg/PoseStamped /parameter_events: rcl_interfaces/msg/ParameterEvent Publishers: /environment/cp_host_vehicle_filter_node/transition_event: lifecycle_msgs/msg/TransitionEvent /environment/filtered_detection_list: carma_cooperative_perception_interfaces/msg/DetectionList /parameter_events: rcl_interfaces/msg/ParameterEvent /rosout: rcl_interfaces/msg/Log /system_alert: carma_msgs/msg/SystemAlert Service Servers: /environment/cp_host_vehicle_filter_node/change_state: lifecycle_msgs/srv/ChangeState /environment/cp_host_vehicle_filter_node/describe_parameters: rcl_interfaces/srv/DescribeParameters /environment/cp_host_vehicle_filter_node/get_available_states: lifecycle_msgs/srv/GetAvailableStates /environment/cp_host_vehicle_filter_node/get_available_transitions: lifecycle_msgs/srv/GetAvailableTransitions /environment/cp_host_vehicle_filter_node/get_parameter_types: rcl_interfaces/srv/GetParameterTypes /environment/cp_host_vehicle_filter_node/get_parameters: rcl_interfaces/srv/GetParameters /environment/cp_host_vehicle_filter_node/get_state: lifecycle_msgs/srv/GetState /environment/cp_host_vehicle_filter_node/get_transition_graph: lifecycle_msgs/srv/GetAvailableTransitions /environment/cp_host_vehicle_filter_node/list_parameters: rcl_interfaces/srv/ListParameters /environment/cp_host_vehicle_filter_node/set_parameters: rcl_interfaces/srv/SetParameters /environment/cp_host_vehicle_filter_node/set_parameters_atomically: rcl_interfaces/srv/SetParametersAtomically Service Clients: Action Servers: Action Clients: carma@ubuntu:/$ ros2 node info /environment/cp_multiple_object_tracker_node /environment/cp_multiple_object_tracker_node Subscribers: /environment/filtered_detection_list: carma_cooperative_perception_interfaces/msg/DetectionList /parameter_events: rcl_interfaces/msg/ParameterEvent Publishers: /environment/cooperative_perception_track_list: carma_cooperative_perception_interfaces/msg/TrackList /environment/cp_multiple_object_tracker_node/transition_event: lifecycle_msgs/msg/TransitionEvent /parameter_events: rcl_interfaces/msg/ParameterEvent /rosout: rcl_interfaces/msg/Log /system_alert: carma_msgs/msg/SystemAlert Service Servers: /environment/cp_multiple_object_tracker_node/change_state: lifecycle_msgs/srv/ChangeState /environment/cp_multiple_object_tracker_node/describe_parameters: rcl_interfaces/srv/DescribeParameters /environment/cp_multiple_object_tracker_node/get_available_states: lifecycle_msgs/srv/GetAvailableStates /environment/cp_multiple_object_tracker_node/get_available_transitions: lifecycle_msgs/srv/GetAvailableTransitions /environment/cp_multiple_object_tracker_node/get_parameter_types: rcl_interfaces/srv/GetParameterTypes /environment/cp_multiple_object_tracker_node/get_parameters: rcl_interfaces/srv/GetParameters /environment/cp_multiple_object_tracker_node/get_state: lifecycle_msgs/srv/GetState /environment/cp_multiple_object_tracker_node/get_transition_graph: lifecycle_msgs/srv/GetAvailableTransitions /environment/cp_multiple_object_tracker_node/list_parameters: rcl_interfaces/srv/ListParameters /environment/cp_multiple_object_tracker_node/set_parameters: rcl_interfaces/srv/SetParameters /environment/cp_multiple_object_tracker_node/set_parameters_atomically: rcl_interfaces/srv/SetParametersAtomically Service Clients: Action Servers: Action Clients: carma@ubuntu:/$ ros2 node info /environment/cp_sdsm_to_detection_list_node /environment/cp_sdsm_to_detection_list_node Subscribers: /message/incoming_sdsm: carma_v2x_msgs/msg/SensorDataSharingMessage /parameter_events: rcl_interfaces/msg/ParameterEvent Publishers: /environment/cp_sdsm_to_detection_list_node/transition_event: lifecycle_msgs/msg/TransitionEvent /environment/full_detection_list: carma_cooperative_perception_interfaces/msg/DetectionList /parameter_events: rcl_interfaces/msg/ParameterEvent /rosout: rcl_interfaces/msg/Log /system_alert: carma_msgs/msg/SystemAlert Service Servers: /environment/cp_sdsm_to_detection_list_node/change_state: lifecycle_msgs/srv/ChangeState /environment/cp_sdsm_to_detection_list_node/describe_parameters: rcl_interfaces/srv/DescribeParameters /environment/cp_sdsm_to_detection_list_node/get_available_states: lifecycle_msgs/srv/GetAvailableStates /environment/cp_sdsm_to_detection_list_node/get_available_transitions: lifecycle_msgs/srv/GetAvailableTransitions /environment/cp_sdsm_to_detection_list_node/get_parameter_types: rcl_interfaces/srv/GetParameterTypes /environment/cp_sdsm_to_detection_list_node/get_parameters: rcl_interfaces/srv/GetParameters /environment/cp_sdsm_to_detection_list_node/get_state: lifecycle_msgs/srv/GetState /environment/cp_sdsm_to_detection_list_node/get_transition_graph: lifecycle_msgs/srv/GetAvailableTransitions /environment/cp_sdsm_to_detection_list_node/list_parameters: rcl_interfaces/srv/ListParameters /environment/cp_sdsm_to_detection_list_node/set_parameters: rcl_interfaces/srv/SetParameters /environment/cp_sdsm_to_detection_list_node/set_parameters_atomically: rcl_interfaces/srv/SetParametersAtomically Service Clients: Action Servers: Action Clients: carma@ubuntu:/$ ros2 node info /environment/cp_track_list_to_external_object_list_node /environment/cp_track_list_to_external_object_list_node Subscribers: /environment/cooperative_perception_track_list: carma_cooperative_perception_interfaces/msg/TrackList /parameter_events: rcl_interfaces/msg/ParameterEvent Publishers: /environment/cp_track_list_to_external_object_list_node/transition_event: lifecycle_msgs/msg/TransitionEvent /environment/fused_external_objects: carma_perception_msgs/msg/ExternalObjectList /parameter_events: rcl_interfaces/msg/ParameterEvent /rosout: rcl_interfaces/msg/Log /system_alert: carma_msgs/msg/SystemAlert Service Servers: /environment/cp_track_list_to_external_object_list_node/change_state: lifecycle_msgs/srv/ChangeState /environment/cp_track_list_to_external_object_list_node/describe_parameters: rcl_interfaces/srv/DescribeParameters /environment/cp_track_list_to_external_object_list_node/get_available_states: lifecycle_msgs/srv/GetAvailableStates /environment/cp_track_list_to_external_object_list_node/get_available_transitions: lifecycle_msgs/srv/GetAvailableTransitions /environment/cp_track_list_to_external_object_list_node/get_parameter_types: rcl_interfaces/srv/GetParameterTypes /environment/cp_track_list_to_external_object_list_node/get_parameters: rcl_interfaces/srv/GetParameters /environment/cp_track_list_to_external_object_list_node/get_state: lifecycle_msgs/srv/GetState /environment/cp_track_list_to_external_object_list_node/get_transition_graph: lifecycle_msgs/srv/GetAvailableTransitions /environment/cp_track_list_to_external_object_list_node/list_parameters: rcl_interfaces/srv/ListParameters /environment/cp_track_list_to_external_object_list_node/set_parameters: rcl_interfaces/srv/SetParameters /environment/cp_track_list_to_external_object_list_node/set_parameters_atomically: rcl_interfaces/srv/SetParametersAtomically Service Clients: Action Servers: Action Clients:Related GitHub Issue
#2185
Related Jira Key
CDAR-449
Motivation and Context
How Has This Been Tested?
Local integration tested with develop-development images
Types of changes
Checklist: