roadway_objects::RoadwayObjectsNode Class Reference

The class responsible for converting detected objects into objects that are mapped onto specific lanelets. More...

#include <roadway_objects_component.hpp>

Inheritance diagram for roadway_objects::RoadwayObjectsNode:

Collaboration diagram for roadway_objects::RoadwayObjectsNode:

Public Member Functions
	RoadwayObjectsNode (const rclcpp::NodeOptions &)
auto	publish_obstacles (const carma_perception_msgs::msg::ExternalObjectList &msg) -> void
auto	handle_on_configure (const rclcpp_lifecycle::State &) -> carma_ros2_utils::CallbackReturn override

Private Attributes
rclcpp::Subscription< carma_perception_msgs::msg::ExternalObjectList >::SharedPtr	external_objects_sub_ {nullptr}
rclcpp_lifecycle::LifecyclePublisher< carma_perception_msgs::msg::RoadwayObstacleList >::SharedPtr	roadway_obs_pub_ {nullptr}
std::shared_ptr< carma_wm::WMListener >	wm_listener_ {nullptr}

Detailed Description

The class responsible for converting detected objects into objects that are mapped onto specific lanelets.

Definition at line 35 of file roadway_objects_component.hpp.

Constructor & Destructor Documentation

RoadwayObjectsNode()

roadway_objects::RoadwayObjectsNode::RoadwayObjectsNode ( const rclcpp::NodeOptions &  options )

explicit

Definition at line 23 of file roadway_objects_component.cpp.

: carma_ros2_utils::CarmaLifecycleNode(options)
{
}

Member Function Documentation

handle_on_configure()

auto roadway_objects::RoadwayObjectsNode::handle_on_configure ( const rclcpp_lifecycle::State &  ) -> carma_ros2_utils::CallbackReturn

override

Definition at line 28 of file roadway_objects_component.cpp.

{
  RCLCPP_INFO_STREAM(get_logger(), "RoadwayObjectsNode trying to configure");
 
  wm_listener_ = std::make_shared<carma_wm::WMListener>(
    get_node_base_interface(), get_node_logging_interface(), get_node_topics_interface(),
    get_node_parameters_interface());
 
  roadway_obs_pub_ =
    create_publisher<carma_perception_msgs::msg::RoadwayObstacleList>("roadway_objects", 10);
 
  external_objects_sub_ = create_subscription<carma_perception_msgs::msg::ExternalObjectList>(
    "external_objects", 10,
    [this](const carma_perception_msgs::msg::ExternalObjectList::SharedPtr msg_ptr) {
      publish_obstacles(*msg_ptr);
    });
 
  return CallbackReturn::SUCCESS;
}

References basic_autonomy::get_logger().

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publish_obstacles()

auto roadway_objects::RoadwayObjectsNode::publish_obstacles

(

const carma_perception_msgs::msg::ExternalObjectList &

msg

)

-> void

Definition at line 49 of file roadway_objects_component.cpp.

{
  carma_perception_msgs::msg::RoadwayObstacleList obstacle_list;
 
  const auto map{wm_listener_->getWorldModel()->getMap()};
 
  if (map == nullptr) {
    RCLCPP_WARN(
      get_logger(),
      "roadway_objects could not process external objects as no semantic map was available");
 
    return;
  }
 
  if (std::size(map->laneletLayer) == 0) {
    RCLCPP_WARN(
      get_logger(),
      "roadway_objects could not process external objects as the semantic map does not contain any "
      "lanelets");
 
    return;
  }
 
  const auto world_model{wm_listener_->getWorldModel()};
  for (auto object : msg.objects) {
    const auto obstacle{world_model->toRoadwayObstacle(object)};
 
    if (!obstacle.has_value()) {
      RCLCPP_DEBUG_STREAM(
        get_logger(), "roadway_objects dropping detected object with id: "
                        << object.id << " as it is off the road.");
 
      continue;
    }
 
    obstacle_list.roadway_obstacles.emplace_back(obstacle.get());
  }
 
  roadway_obs_pub_->publish(obstacle_list);
}

References basic_autonomy::get_logger().

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Member Data Documentation

external_objects_sub_

rclcpp::Subscription<carma_perception_msgs::msg::ExternalObjectList>::SharedPtr roadway_objects::RoadwayObjectsNode::external_objects_sub_ {nullptr}

private

Definition at line 47 of file roadway_objects_component.hpp.

roadway_obs_pub_

rclcpp_lifecycle::LifecyclePublisher<carma_perception_msgs::msg::RoadwayObstacleList>::SharedPtr roadway_objects::RoadwayObjectsNode::roadway_obs_pub_ {nullptr}

private

Definition at line 50 of file roadway_objects_component.hpp.

wm_listener_

std::shared_ptr<carma_wm::WMListener> roadway_objects::RoadwayObjectsNode::wm_listener_ {nullptr}

private

Definition at line 52 of file roadway_objects_component.hpp.

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

• roadway_objects/include/roadway_objects/roadway_objects_component.hpp
• roadway_objects/src/roadway_objects_component.cpp