[cooperative perception] Move motion model mapping default values to MotionModelMapping class
#2203
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The default motion model mapping values were specified in the ROS parameter declarations, but this meant the MotionModelMapper instance never got them. Its values wouldn't be updated unless a user changed them. Now, the default values are stored in the class instance, and the ROS parameter declarations get their default values from the instance.
The parameter declarations for the ExternalObjectListToDetectionListNode got moved to after the on_set_parameter_callback assignment because the callback was previously not being called when the parameters were initially declared. This prevented the motion_model_mapping_ from being updated with the user-overridden mappings.
MishkaMN
approved these changes
Dec 1, 2023
MishkaMN
requested changes
Dec 4, 2023
| @@ -112,7 +112,7 @@ auto make_detection(const carma_cooperative_perception_interfaces::msg::Detectio | |||
| return make_ctra_detection(msg); | |||
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| case msg.MOTION_MODEL_CV: | |||
| break; | |||
| throw std::runtime_error("unsupported motion model type '3: constant velocity (CV)'"); | |||
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actually why is this unsupported again?
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pedestrian seems to be using CV model
std::uint8_t pedestrian_model{carma_cooperative_perception_interfaces::msg::Detection::MOTION_MODEL_CV};
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That is the default, but in practice we will probably change it through parameters in the launch configuration. I will change the default to be CTRV since that is supported.
We don't support CV models because the multiple_object_tracking library does not have them. We can add it in, but that would be a different issue.
The previous motion model mapping used CV model for pedestrians and and unknowns, but the CV model is unsupported. This changes the default to CTRV so we don't default to unsupported motion models.
MishkaMN
approved these changes
Dec 4, 2023
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PR Details
Description
The default motion model mapping values were specified in the ROS parameter declarations, but this meant the
MotionModelMapperinstance never got them. Its values wouldn't be updated unless a user changed them. Now, the default values are stored in the class instance, and the ROS parameter declarations get their default values from the instance.Related GitHub Issue
Closes #2202
Related Jira Key
Closes CDAR-531
Motivation and Context
See above
How Has This Been Tested?
Types of changes
Checklist: