#include <sdsm_to_detection_list_component.hpp>

Inheritance diagram for carma_cooperative_perception::SdsmToDetectionListNode:

Collaboration diagram for carma_cooperative_perception::SdsmToDetectionListNode:

Public Member Functions
	SdsmToDetectionListNode (const rclcpp::NodeOptions &options)

auto	sdsm_msg_callback (const input_msg_type &msg) const -> void

Private Types
using	input_msg_type = carma_v2x_msgs::msg::SensorDataSharingMessage

using	input_msg_shared_pointer = typename input_msg_type::SharedPtr

using	output_msg_type = carma_cooperative_perception_interfaces::msg::DetectionList

Private Attributes
rclcpp::Publisher< output_msg_type >::SharedPtr	publisher_

rclcpp::Subscription< input_msg_type >::SharedPtr	subscription_

rclcpp::Subscription< std_msgs::msg::String >::SharedPtr	georeference_subscription_

rclcpp::Subscription< rosgraph_msgs::msg::Clock >::SharedPtr	cdasim_clock_sub_

std::optional< rclcpp::Time >	cdasim_time_ {std::nullopt}

std::string	georeference_ {""}

Detailed Description

Definition at line 31 of file sdsm_to_detection_list_component.hpp.

Member Typedef Documentation

◆ input_msg_shared_pointer

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

private

Definition at line 34 of file sdsm_to_detection_list_component.hpp.

◆ input_msg_type

using carma_cooperative_perception::SdsmToDetectionListNode::input_msg_type = carma_v2x_msgs::msg::SensorDataSharingMessage

private

Definition at line 33 of file sdsm_to_detection_list_component.hpp.

◆ output_msg_type

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

private

Definition at line 35 of file sdsm_to_detection_list_component.hpp.

Constructor & Destructor Documentation

◆ SdsmToDetectionListNode()

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

inlineexplicit

Definition at line 38 of file sdsm_to_detection_list_component.hpp.

  : CarmaLifecycleNode{options},
    publisher_{create_publisher<output_msg_type>("output/detections", 1)},
    subscription_{create_subscription<input_msg_type>(
      "input/sdsm", 1, [this](input_msg_shared_pointer msg_ptr) { sdsm_msg_callback(*msg_ptr); })},
    georeference_subscription_{create_subscription<std_msgs::msg::String>(
      "input/georeference", 1,
      [this](std_msgs::msg::String::SharedPtr msg_ptr) { georeference_ = msg_ptr->data; })},
    cdasim_clock_sub_{create_subscription<rosgraph_msgs::msg::Clock>(
      "input/cdasim_clock", 1, [this](rosgraph_msgs::msg::Clock::ConstSharedPtr msg_ptr) {
        cdasim_time_ = msg_ptr->clock;
      })}
  {
  }

References sdsm_msg_callback().

Here is the call graph for this function:

Member Function Documentation

◆ sdsm_msg_callback()

auto carma_cooperative_perception::SdsmToDetectionListNode::sdsm_msg_callback ( const input_msg_type & msg ) const -> void

inline

Definition at line 53 of file sdsm_to_detection_list_component.hpp.

  {
    try {
      auto detection_list_msg{to_detection_list_msg(msg, georeference_)};
 
      if (cdasim_time_) {
        // When in simulation, ROS time is CARLA time, but SDSMs use CDASim time
        const auto time_delta{now() - cdasim_time_.value()};
 
        for (auto & detection : detection_list_msg.detections) {
          detection.header.stamp = rclcpp::Time(detection.header.stamp) + time_delta;
        }
      }
 
      publisher_->publish(detection_list_msg);
    } catch (const std::runtime_error & e) {
      RCLCPP_ERROR_STREAM(get_logger(), "Failed to convert SDSM to detection list: " << e.what());
    }
  }