carma_cooperative_perception::ExternalObjectListToSdsmNode Class Reference

#include <external_object_list_to_sdsm_component.hpp>

Inheritance diagram for carma_cooperative_perception::ExternalObjectListToSdsmNode:

Collaboration diagram for carma_cooperative_perception::ExternalObjectListToSdsmNode:

Public Member Functions
	ExternalObjectListToSdsmNode (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_sdsm (const external_objects_msg_type &msg) const -> void
auto	update_georeference (const georeference_msg_type &proj_string) -> void
auto	update_current_pose (const pose_msg_type &pose) -> void

Private Types
using	sdsm_msg_type = carma_v2x_msgs::msg::SensorDataSharingMessage
using	external_objects_msg_type = carma_perception_msgs::msg::ExternalObjectList
using	georeference_msg_type = std_msgs::msg::String
using	pose_msg_type = geometry_msgs::msg::PoseStamped

Private Attributes
rclcpp_lifecycle::LifecyclePublisher< sdsm_msg_type >::SharedPtr	sdsm_publisher_ {nullptr}
rclcpp::Subscription< external_objects_msg_type >::SharedPtr	external_objects_subscription_
rclcpp::Subscription< georeference_msg_type >::SharedPtr	georeference_subscription_ {nullptr}
rclcpp::Subscription< pose_msg_type >::SharedPtr	current_pose_subscription_ {nullptr}
std::string	map_georeference_ {""}
geometry_msgs::msg::PoseStamped	current_pose_
std::shared_ptr< lanelet::projection::LocalFrameProjector >	map_projector_ {nullptr}
OnSetParametersCallbackHandle::SharedPtr	on_set_parameters_callback_ {nullptr}

Detailed Description

Definition at line 34 of file external_object_list_to_sdsm_component.hpp.

Member Typedef Documentation

external_objects_msg_type

using carma_cooperative_perception::ExternalObjectListToSdsmNode::external_objects_msg_type = carma_perception_msgs::msg::ExternalObjectList

private

Definition at line 37 of file external_object_list_to_sdsm_component.hpp.

georeference_msg_type

using carma_cooperative_perception::ExternalObjectListToSdsmNode::georeference_msg_type = std_msgs::msg::String

private

Definition at line 38 of file external_object_list_to_sdsm_component.hpp.

pose_msg_type

using carma_cooperative_perception::ExternalObjectListToSdsmNode::pose_msg_type = geometry_msgs::msg::PoseStamped

private

Definition at line 40 of file external_object_list_to_sdsm_component.hpp.

sdsm_msg_type

using carma_cooperative_perception::ExternalObjectListToSdsmNode::sdsm_msg_type = carma_v2x_msgs::msg::SensorDataSharingMessage

private

Definition at line 36 of file external_object_list_to_sdsm_component.hpp.

Constructor & Destructor Documentation

ExternalObjectListToSdsmNode()

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

explicit

Definition at line 25 of file external_object_list_to_sdsm_component.cpp.

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

References on_set_parameters_callback_, and sdsm_publisher_.

Member Function Documentation

handle_on_cleanup()

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

override

Definition at line 90 of file external_object_list_to_sdsm_component.cpp.

{
  RCLCPP_INFO(get_logger(), "Life cycle state transition: cleaning up");
 
  sdsm_publisher_.reset();
  external_objects_subscription_.reset();
  georeference_subscription_.reset();
 
  current_pose_subscription_.reset();
 
  return carma_ros2_utils::CallbackReturn::SUCCESS;
}

handle_on_configure()

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

override

Definition at line 32 of file external_object_list_to_sdsm_component.cpp.

{
  RCLCPP_INFO(get_logger(), "Life cycle state transition: configuring");
 
  sdsm_publisher_ = create_publisher<sdsm_msg_type>("output/sdsms", 1);
 
  external_objects_subscription_ = create_subscription<external_objects_msg_type>(
    "input/external_objects", 1, [this](const external_objects_msg_type::SharedPtr msg_ptr) {
      const auto current_state{this->get_current_state().label()};
 
      if (current_state == "active") {
        publish_as_sdsm(*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());
      }
    });
 
  georeference_subscription_ = create_subscription<georeference_msg_type>(
    "input/georeference", 1, [this](const georeference_msg_type::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());
      }
    });
 
  current_pose_subscription_ = create_subscription<pose_msg_type>(
    "input/pose_stamped", 1, [this](const pose_msg_type::SharedPtr msg_ptr) {
      const auto current_state{this->get_current_state().label()};
 
      if (current_state == "active") {
        update_current_pose(*msg_ptr);
      } else {
        RCLCPP_WARN(
          this->get_logger(),
          "Trying to recieve message on topic '%s', but the containing node is not activated."
          "current node state: '%s'",
          this->current_pose_subscription_->get_topic_name(), current_state.c_str());
      }
    });
 
  RCLCPP_INFO(get_logger(), "Lifecycle transition: successfully configured");
 
  return carma_ros2_utils::CallbackReturn::SUCCESS;
}

handle_on_shutdown()

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

override

Definition at line 104 of file external_object_list_to_sdsm_component.cpp.

{
  RCLCPP_INFO(get_logger(), "Life cycle state transition: shutting down");
 
  sdsm_publisher_.reset();
  external_objects_subscription_.reset();
  georeference_subscription_.reset();
 
  current_pose_subscription_.reset();
 
  return carma_ros2_utils::CallbackReturn::SUCCESS;
}

publish_as_sdsm()

auto carma_cooperative_perception::ExternalObjectListToSdsmNode::publish_as_sdsm

(

const external_objects_msg_type &

msg

)

const -> void

Definition at line 118 of file external_object_list_to_sdsm_component.cpp.

{
  if (!map_projector_) {
    // Set to DEBUG level because this node may start up before any georeference publisher. In that
    // scenario, temporarily not having a georeference (and therefore, no projector) is expected.
    RCLCPP_DEBUG(
      this->get_logger(), "Could not convert external object list to SDSM: unknown georeference");
 
    return;
  }
 
  try {
    const auto sdsm_output{to_sdsm_msg(msg, current_pose_, map_projector_)};
 
    sdsm_publisher_->publish(sdsm_output);
  } catch (const std::invalid_argument & e) {
    RCLCPP_ERROR(
      this->get_logger(), "Could not convert external object list to SDSM: %s", e.what());
  }
}

References carma_cooperative_perception::to_sdsm_msg().

Here is the call graph for this function:

update_current_pose()

auto carma_cooperative_perception::ExternalObjectListToSdsmNode::update_current_pose

(

const pose_msg_type &

pose

)

-> void

Definition at line 149 of file external_object_list_to_sdsm_component.cpp.

{
  current_pose_ = msg;
}

update_georeference()

auto carma_cooperative_perception::ExternalObjectListToSdsmNode::update_georeference

(

const georeference_msg_type &

proj_string

)

-> void

Definition at line 140 of file external_object_list_to_sdsm_component.cpp.

{
  if (map_georeference_ != msg.data)
  {
    map_georeference_ = msg.data;
    map_projector_ = std::make_shared<lanelet::projection::LocalFrameProjector>(map_georeference_.c_str());
  }
}

Member Data Documentation

current_pose_

geometry_msgs::msg::PoseStamped carma_cooperative_perception::ExternalObjectListToSdsmNode::current_pose_

private

Definition at line 68 of file external_object_list_to_sdsm_component.hpp.

current_pose_subscription_

rclcpp::Subscription<pose_msg_type>::SharedPtr carma_cooperative_perception::ExternalObjectListToSdsmNode::current_pose_subscription_ {nullptr}

private

Definition at line 65 of file external_object_list_to_sdsm_component.hpp.

external_objects_subscription_

rclcpp::Subscription<external_objects_msg_type>::SharedPtr carma_cooperative_perception::ExternalObjectListToSdsmNode::external_objects_subscription_

private

Initial value:

{
    nullptr}

Definition at line 62 of file external_object_list_to_sdsm_component.hpp.

georeference_subscription_

rclcpp::Subscription<georeference_msg_type>::SharedPtr carma_cooperative_perception::ExternalObjectListToSdsmNode::georeference_subscription_ {nullptr}

private

Definition at line 64 of file external_object_list_to_sdsm_component.hpp.

map_georeference_

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

private

Definition at line 67 of file external_object_list_to_sdsm_component.hpp.

map_projector_

std::shared_ptr<lanelet::projection::LocalFrameProjector> carma_cooperative_perception::ExternalObjectListToSdsmNode::map_projector_ {nullptr}

private

Definition at line 70 of file external_object_list_to_sdsm_component.hpp.

on_set_parameters_callback_

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

private

Definition at line 71 of file external_object_list_to_sdsm_component.hpp.

Referenced by ExternalObjectListToSdsmNode().

sdsm_publisher_

rclcpp_lifecycle::LifecyclePublisher<sdsm_msg_type>::SharedPtr carma_cooperative_perception::ExternalObjectListToSdsmNode::sdsm_publisher_ {nullptr}

private

Definition at line 61 of file external_object_list_to_sdsm_component.hpp.

Referenced by ExternalObjectListToSdsmNode().

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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_sdsm_component.hpp
• carma_cooperative_perception/src/external_object_list_to_sdsm_component.cpp