object::ObjectDetectionTrackingNode Class Reference

#include <object_detection_tracking_node.h>

Inheritance diagram for object::ObjectDetectionTrackingNode:

Collaboration diagram for object::ObjectDetectionTrackingNode:

Public Member Functions
	ObjectDetectionTrackingNode (const rclcpp::NodeOptions &)
	ObjectDetectionTrackingNode constructor. More...
void	publishObject (const carma_perception_msgs::msg::ExternalObjectList &obj_msg)
	Callback to publish ObjectList. More...
boost::optional< geometry_msgs::msg::TransformStamped >	lookupTransform (const std::string &parent, const std::string &child, const rclcpp::Time &stamp)
	Callback to lookup a transform between two frames. More...
carma_ros2_utils::CallbackReturn	handle_on_configure (const rclcpp_lifecycle::State &)

Private Attributes
carma_ros2_utils::SubPtr< autoware_auto_msgs::msg::TrackedObjects >	autoware_obj_sub_
carma_ros2_utils::PubPtr< carma_perception_msgs::msg::ExternalObjectList >	carma_obj_pub_
ObjectDetectionTrackingWorker	object_worker_
std::shared_ptr< tf2_ros::Buffer >	tfBuffer_
std::shared_ptr< tf2_ros::TransformListener >	tfListener_
std::string	map_frame_

Detailed Description

Definition at line 31 of file object_detection_tracking_node.h.

Constructor & Destructor Documentation

ObjectDetectionTrackingNode()

object::ObjectDetectionTrackingNode::ObjectDetectionTrackingNode ( const rclcpp::NodeOptions &  options )

explicit

ObjectDetectionTrackingNode constructor.

Definition at line 24 of file object_detection_tracking_node.cpp.

  : carma_ros2_utils::CarmaLifecycleNode(options),
    object_worker_( 
      std::bind(&ObjectDetectionTrackingNode::publishObject, this, _1), 
      std::bind(&ObjectDetectionTrackingNode::lookupTransform, this, _1, _2, _3),
      get_node_logging_interface()
    )
    {
      // Initialize tf buffer with clock and duration
      tfBuffer_ = std::make_shared<tf2_ros::Buffer>(this->get_clock());
      // Initialize transform listener with buffer
      tfListener_ = std::make_shared<tf2_ros::TransformListener>(*tfBuffer_);
      map_frame_ = this->declare_parameter<std::string>("map_frame", map_frame_);
    }

References map_frame_, tfBuffer_, and tfListener_.

Member Function Documentation

handle_on_configure()

carma_ros2_utils::CallbackReturn object::ObjectDetectionTrackingNode::handle_on_configure

(

const rclcpp_lifecycle::State &

)

Definition at line 39 of file object_detection_tracking_node.cpp.

                                                                                                               {
 
    // Load parameters
    this->get_parameter<std::string>("map_frame", map_frame_);
    this->object_worker_.setMapFrame(map_frame_);
 
    this->add_on_set_parameters_callback(
        [this](auto param_vec) {
          
          auto error = update_params<std::string>({ {"map_frame", map_frame_} }, param_vec);
 
          rcl_interfaces::msg::SetParametersResult result;
 
          result.successful = !error;
 
          if (error) {
            result.reason = error.get();
          } else {
            this->object_worker_.setMapFrame(map_frame_);
          }
 
          return result;
        }
      );
    
 
    // Setup pub/sub
    autoware_obj_sub_= create_subscription<autoware_auto_msgs::msg::TrackedObjects>("detected_objects",10,
      std::bind(&ObjectDetectionTrackingWorker::detectedObjectCallback,&object_worker_, _1)
    );
 
    carma_obj_pub_= create_publisher<carma_perception_msgs::msg::ExternalObjectList>("external_objects", 10);
 
    return CallbackReturn::SUCCESS;
  }

References autoware_obj_sub_, carma_obj_pub_, object::ObjectDetectionTrackingWorker::detectedObjectCallback(), map_frame_, object_worker_, and object::ObjectDetectionTrackingWorker::setMapFrame().

Here is the call graph for this function:

lookupTransform()

boost::optional< geometry_msgs::msg::TransformStamped > object::ObjectDetectionTrackingNode::lookupTransform	(	const std::string &	parent,
		const std::string &	child,
		const rclcpp::Time &	stamp
	)

Callback to lookup a transform between two frames.

Parameters

parent	The parent frame
child	The child frame
stamp	The time stamp of the transform

Returns

boost::optional<geometry_msgs::TransformStamped> The transform between the two frames or boost::none if the transform does not exist or cannot be computed

Definition at line 81 of file object_detection_tracking_node.cpp.

                                                                                                                       {
    try {
      return tfBuffer_->lookupTransform(parent, child, stamp);
 
    } catch (tf2::TransformException &ex) {
 
      RCLCPP_WARN_STREAM(get_logger(), "Failed to find transform with exception " << ex.what());
      return boost::none;
    }
  }

References tfBuffer_.

publishObject()

void object::ObjectDetectionTrackingNode::publishObject

(

const carma_perception_msgs::msg::ExternalObjectList &

obj_msg

)

Callback to publish ObjectList.

Definition at line 75 of file object_detection_tracking_node.cpp.

  {
    carma_obj_pub_->publish(obj_msg);
  }

References carma_obj_pub_.

Member Data Documentation

autoware_obj_sub_

carma_ros2_utils::SubPtr<autoware_auto_msgs::msg::TrackedObjects> object::ObjectDetectionTrackingNode::autoware_obj_sub_

private

Definition at line 37 of file object_detection_tracking_node.h.

Referenced by handle_on_configure().

carma_obj_pub_

carma_ros2_utils::PubPtr<carma_perception_msgs::msg::ExternalObjectList> object::ObjectDetectionTrackingNode::carma_obj_pub_

private

Definition at line 40 of file object_detection_tracking_node.h.

Referenced by handle_on_configure(), and publishObject().

map_frame_

std::string object::ObjectDetectionTrackingNode::map_frame_

private

Definition at line 52 of file object_detection_tracking_node.h.

Referenced by ObjectDetectionTrackingNode(), and handle_on_configure().

object_worker_

ObjectDetectionTrackingWorker object::ObjectDetectionTrackingNode::object_worker_

private

Definition at line 43 of file object_detection_tracking_node.h.

Referenced by handle_on_configure().

tfBuffer_

std::shared_ptr<tf2_ros::Buffer> object::ObjectDetectionTrackingNode::tfBuffer_

private

Definition at line 46 of file object_detection_tracking_node.h.

Referenced by ObjectDetectionTrackingNode(), and lookupTransform().

tfListener_

std::shared_ptr<tf2_ros::TransformListener> object::ObjectDetectionTrackingNode::tfListener_

private

Definition at line 49 of file object_detection_tracking_node.h.

Referenced by ObjectDetectionTrackingNode().

---

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

• object_detection_tracking/include/object_detection_tracking_node.h
• object_detection_tracking/src/object_detection_tracking_node.cpp