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[cooperative perception] Move motion model mapping default values to MotionModelMapping class #2203

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Dec 4, 2023
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[cooperative perception] Move motion model mapping default values to MotionModelMapping class #2203

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8077443
#2202 Move default mapping values to class
adamlm Nov 30, 2023
87831ce
#2202 Update parameter declaration
adamlm Dec 1, 2023
989c14d
#2202 Change default motion model mapping
adamlm Dec 4, 2023
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10 changes: 5 additions & 5 deletions carma_cooperative_perception/include/carma_cooperative_perception/msg_conversion.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -72,11 +72,11 @@ auto to_detection_list_msg(const carma_v2x_msgs::msg::SensorDataSharingMessage &

struct MotionModelMapping
{
std::uint8_t small_vehicle_model;
std::uint8_t large_vehicle_model;
std::uint8_t motorcycle_model;
std::uint8_t pedestrian_model;
std::uint8_t unknown_model;
std::uint8_t small_vehicle_model{carma_cooperative_perception_interfaces::msg::Detection::MOTION_MODEL_CTRV};
std::uint8_t large_vehicle_model{carma_cooperative_perception_interfaces::msg::Detection::MOTION_MODEL_CTRV};
std::uint8_t motorcycle_model{carma_cooperative_perception_interfaces::msg::Detection::MOTION_MODEL_CTRV};
std::uint8_t pedestrian_model{carma_cooperative_perception_interfaces::msg::Detection::MOTION_MODEL_CTRV};
std::uint8_t unknown_model{carma_cooperative_perception_interfaces::msg::Detection::MOTION_MODEL_CTRV};
};

auto to_detection_msg(
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33 changes: 13 additions & 20 deletions carma_cooperative_perception/src/external_object_list_to_detection_list_component.cpp
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Expand Up @@ -114,26 +114,6 @@ auto ExternalObjectListToDetectionListNode::handle_on_configure(
}
});

declare_parameter(
"small_vehicle_motion_model",
carma_cooperative_perception_interfaces::msg::Detection::MOTION_MODEL_CTRV);

declare_parameter(
"large_vehicle_motion_model",
carma_cooperative_perception_interfaces::msg::Detection::MOTION_MODEL_CTRV);

declare_parameter(
"motorcycle_motion_model",
carma_cooperative_perception_interfaces::msg::Detection::MOTION_MODEL_CTRA);

declare_parameter(
"pedestrian_motion_model",
carma_cooperative_perception_interfaces::msg::Detection::MOTION_MODEL_CV);

declare_parameter(
"unknown_motion_model",
carma_cooperative_perception_interfaces::msg::Detection::MOTION_MODEL_CV);

on_set_parameters_callback_ =
add_on_set_parameters_callback([this](const std::vector<rclcpp::Parameter> & parameters) {
rcl_interfaces::msg::SetParametersResult result;
Expand Down Expand Up @@ -164,6 +144,19 @@ auto ExternalObjectListToDetectionListNode::handle_on_configure(
return result;
});

// TODO(Adam Morrissett): Look into how the motion model mapping can be re-architected
// to avoid requiring this sequence. Maybe something like a mapping class that calls the
// declared parameters. Then the to_detected_object() function could be templated on a
// mapping strategy.

// Declarations must come after on_set_parameters_callback_ assignment because the ROS
// runtime will call the callback if declare_parameter() succeeds.
declare_parameter("small_vehicle_motion_model", motion_model_mapping_.small_vehicle_model);
declare_parameter("large_vehicle_motion_model", motion_model_mapping_.large_vehicle_model);
declare_parameter("motorcycle_motion_model", motion_model_mapping_.motorcycle_model);
declare_parameter("pedestrian_motion_model", motion_model_mapping_.pedestrian_model);
declare_parameter("unknown_motion_model", motion_model_mapping_.unknown_model);

return carma_ros2_utils::CallbackReturn::SUCCESS;
}

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2 changes: 1 addition & 1 deletion carma_cooperative_perception/src/multiple_object_tracker_component.cpp
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Expand Up @@ -112,7 +112,7 @@ auto make_detection(const carma_cooperative_perception_interfaces::msg::Detectio
return make_ctra_detection(msg);

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.

}

throw std::runtime_error("unkown motion model type '" + std::to_string(msg.motion_model) + "'");
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