carma_cooperative_perception::ExternalObjectListToDetectionListNode Class Reference

#include <external_object_list_to_detection_list_component.hpp>

Inheritance diagram for carma_cooperative_perception::ExternalObjectListToDetectionListNode:

Collaboration diagram for carma_cooperative_perception::ExternalObjectListToDetectionListNode:

Public Member Functions
	ExternalObjectListToDetectionListNode (const rclcpp::NodeOptions &options)
auto	handle_on_configure (const rclcpp_lifecycle::State &) -> carma_ros2_utils::CallbackReturn override
auto	handle_on_cleanup (const rclcpp_lifecycle::State &) -> carma_ros2_utils::CallbackReturn override
auto	handle_on_shutdown (const rclcpp_lifecycle::State &) -> carma_ros2_utils::CallbackReturn override
auto	publish_as_detection_list (const input_msg_type &msg) const -> void
auto	update_georeference (const std_msgs::msg::String &msg) -> void

Private Types
using	input_msg_type = carma_perception_msgs::msg::ExternalObjectList
using	input_msg_shared_pointer = typename input_msg_type::SharedPtr
using	output_msg_type = carma_cooperative_perception_interfaces::msg::DetectionList

Private Attributes
rclcpp_lifecycle::LifecyclePublisher< output_msg_type >::SharedPtr	publisher_ {nullptr}
rclcpp::Subscription< input_msg_type >::SharedPtr	external_objects_subscription_ {nullptr}
rclcpp::Subscription< std_msgs::msg::String >::SharedPtr	georeference_subscription_ {nullptr}
std::string	map_georeference_ {""}
MotionModelMapping	motion_model_mapping_ {}
OnSetParametersCallbackHandle::SharedPtr	on_set_parameters_callback_ {nullptr}

Detailed Description

Definition at line 38 of file external_object_list_to_detection_list_component.hpp.

Member Typedef Documentation

input_msg_shared_pointer

using carma_cooperative_perception::ExternalObjectListToDetectionListNode::input_msg_shared_pointer = typename input_msg_type::SharedPtr

private

Definition at line 41 of file external_object_list_to_detection_list_component.hpp.

input_msg_type

using carma_cooperative_perception::ExternalObjectListToDetectionListNode::input_msg_type = carma_perception_msgs::msg::ExternalObjectList

private

Definition at line 40 of file external_object_list_to_detection_list_component.hpp.

output_msg_type

using carma_cooperative_perception::ExternalObjectListToDetectionListNode::output_msg_type = carma_cooperative_perception_interfaces::msg::DetectionList

private

Definition at line 42 of file external_object_list_to_detection_list_component.hpp.

Constructor & Destructor Documentation

ExternalObjectListToDetectionListNode()

carma_cooperative_perception::ExternalObjectListToDetectionListNode::ExternalObjectListToDetectionListNode ( const rclcpp::NodeOptions &  options )

explicit

Definition at line 75 of file external_object_list_to_detection_list_component.cpp.

: CarmaLifecycleNode{options}
{
  lifecycle_publishers_.push_back(publisher_);
  param_callback_handles_.push_back(on_set_parameters_callback_);
}

References on_set_parameters_callback_, and publisher_.

Member Function Documentation

handle_on_cleanup()

auto carma_cooperative_perception::ExternalObjectListToDetectionListNode::handle_on_cleanup ( const rclcpp_lifecycle::State &  ) -> carma_ros2_utils::CallbackReturn

override

Definition at line 164 of file external_object_list_to_detection_list_component.cpp.

{
  // CarmaLifecycleNode does not handle subscriber pointer reseting for us
  external_objects_subscription_.reset();
  georeference_subscription_.reset();
 
  return carma_ros2_utils::CallbackReturn::SUCCESS;
}

handle_on_configure()

auto carma_cooperative_perception::ExternalObjectListToDetectionListNode::handle_on_configure ( const rclcpp_lifecycle::State &  ) -> carma_ros2_utils::CallbackReturn

override

Definition at line 83 of file external_object_list_to_detection_list_component.cpp.

{
  publisher_ = create_publisher<output_msg_type>("output/detections", 1);
 
  external_objects_subscription_ = create_subscription<input_msg_type>(
    "input/external_objects", 1, [this](input_msg_shared_pointer msg_ptr) {
      const auto current_state{this->get_current_state().label()};
 
      if (current_state == "active") {
        publish_as_detection_list(*msg_ptr);
      } else {
        RCLCPP_WARN(
          this->get_logger(),
          "Trying to receive message on the topic '%s', but the containing node is not activated. "
          "Current node state: '%s'",
          this->external_objects_subscription_->get_topic_name(), current_state.c_str());
      }
    });
 
  georeference_subscription_ = create_subscription<std_msgs::msg::String>(
    "input/georeference", 1, [this](std_msgs::msg::String::SharedPtr msg_ptr) {
      const auto current_state{this->get_current_state().label()};
 
      if (current_state == "active") {
        update_georeference(*msg_ptr);
      } else {
        RCLCPP_WARN(
          this->get_logger(),
          "Trying to receive message on the topic '%s', but the containing node is not activated. "
          "Current node state: '%s'",
          this->georeference_subscription_->get_topic_name(), current_state.c_str());
      }
    });
 
  on_set_parameters_callback_ =
    add_on_set_parameters_callback([this](const std::vector<rclcpp::Parameter> & parameters) {
      rcl_interfaces::msg::SetParametersResult result;
      result.successful = true;
      result.reason = "success";
 
      for (const auto & parameter : parameters) {
        if (parameter.get_name() == "small_vehicle_motion_model") {
          this->motion_model_mapping_.small_vehicle_model =
            static_cast<std::uint8_t>(parameter.as_int());
        } else if (parameter.get_name() == "large_vehicle_motion_model") {
          this->motion_model_mapping_.large_vehicle_model =
            static_cast<std::uint8_t>(parameter.as_int());
        } else if (parameter.get_name() == "motorcycle_motion_model") {
          this->motion_model_mapping_.motorcycle_model =
            static_cast<std::uint8_t>(parameter.as_int());
        } else if (parameter.get_name() == "pedestrian_motion_model") {
          this->motion_model_mapping_.pedestrian_model =
            static_cast<std::uint8_t>(parameter.as_int());
        } else if (parameter.get_name() == "unknown_motion_model") {
          this->motion_model_mapping_.unknown_model = static_cast<std::uint8_t>(parameter.as_int());
        } else {
          result.successful = false;
          result.reason = "Unexpected parameter name '" + parameter.get_name() + '\'';
        }
      }
 
      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;
}

handle_on_shutdown()

auto carma_cooperative_perception::ExternalObjectListToDetectionListNode::handle_on_shutdown ( const rclcpp_lifecycle::State &  ) -> carma_ros2_utils::CallbackReturn

override

Definition at line 174 of file external_object_list_to_detection_list_component.cpp.

{
  // CarmaLifecycleNode does not handle subscriber pointer reseting for us
  external_objects_subscription_.reset();
  georeference_subscription_.reset();
 
  return carma_ros2_utils::CallbackReturn::SUCCESS;
}

publish_as_detection_list()

auto carma_cooperative_perception::ExternalObjectListToDetectionListNode::publish_as_detection_list

(

const input_msg_type &

msg

)

const -> void

Definition at line 184 of file external_object_list_to_detection_list_component.cpp.

{
  try {
    publisher_->publish(to_detection_list_msg(msg, motion_model_mapping_));
  } catch (const std::invalid_argument & e) {
    RCLCPP_ERROR(
      this->get_logger(), "Could not convert external object list to detection list: %s", e.what());
  }
}

References carma_cooperative_perception::to_detection_list_msg().

Here is the call graph for this function:

update_georeference()

auto carma_cooperative_perception::ExternalObjectListToDetectionListNode::update_georeference

(

const std_msgs::msg::String &

msg

)

-> void

Definition at line 195 of file external_object_list_to_detection_list_component.cpp.

{
  map_georeference_ = msg.data;
}

Member Data Documentation

external_objects_subscription_

rclcpp::Subscription<input_msg_type>::SharedPtr carma_cooperative_perception::ExternalObjectListToDetectionListNode::external_objects_subscription_ {nullptr}

private

Definition at line 62 of file external_object_list_to_detection_list_component.hpp.

georeference_subscription_

rclcpp::Subscription<std_msgs::msg::String>::SharedPtr carma_cooperative_perception::ExternalObjectListToDetectionListNode::georeference_subscription_ {nullptr}

private

Definition at line 63 of file external_object_list_to_detection_list_component.hpp.

map_georeference_

std::string carma_cooperative_perception::ExternalObjectListToDetectionListNode::map_georeference_ {""}

private

Definition at line 64 of file external_object_list_to_detection_list_component.hpp.

motion_model_mapping_

MotionModelMapping carma_cooperative_perception::ExternalObjectListToDetectionListNode::motion_model_mapping_ {}

private

Definition at line 65 of file external_object_list_to_detection_list_component.hpp.

on_set_parameters_callback_

OnSetParametersCallbackHandle::SharedPtr carma_cooperative_perception::ExternalObjectListToDetectionListNode::on_set_parameters_callback_ {nullptr}

private

Definition at line 66 of file external_object_list_to_detection_list_component.hpp.

Referenced by ExternalObjectListToDetectionListNode().

publisher_

rclcpp_lifecycle::LifecyclePublisher<output_msg_type>::SharedPtr carma_cooperative_perception::ExternalObjectListToDetectionListNode::publisher_ {nullptr}

private

Definition at line 61 of file external_object_list_to_detection_list_component.hpp.

Referenced by ExternalObjectListToDetectionListNode().

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The documentation for this class was generated from the following files:

• carma_cooperative_perception/include/carma_cooperative_perception/external_object_list_to_detection_list_component.hpp
• carma_cooperative_perception/src/external_object_list_to_detection_list_component.cpp