20 using std::placeholders::_1;
21 using std::placeholders::_2;
22 using std::placeholders::_3;
25 : carma_ros2_utils::CarmaLifecycleNode(options),
29 get_node_logging_interface()
33 tfBuffer_ = std::make_shared<tf2_ros::Buffer>(this->get_clock());
42 this->get_parameter<std::string>(
"map_frame",
map_frame_);
45 this->add_on_set_parameters_callback(
46 [
this](
auto param_vec) {
48 auto error = update_params<std::string>({ {
"map_frame",
map_frame_} }, param_vec);
50 rcl_interfaces::msg::SetParametersResult result;
52 result.successful = !error;
55 result.reason = error.get();
66 autoware_obj_sub_= create_subscription<autoware_auto_msgs::msg::TrackedObjects>(
"detected_objects",10,
70 carma_obj_pub_= create_publisher<carma_perception_msgs::msg::ExternalObjectList>(
"external_objects", 10);
72 return CallbackReturn::SUCCESS;
80 boost::optional<geometry_msgs::msg::TransformStamped>
83 return tfBuffer_->lookupTransform(parent, child, stamp);
85 }
catch (tf2::TransformException &ex) {
87 RCLCPP_WARN_STREAM(get_logger(),
"Failed to find transform with exception " << ex.what());
96#include "rclcpp_components/register_node_macro.hpp"
carma_ros2_utils::SubPtr< autoware_auto_msgs::msg::TrackedObjects > autoware_obj_sub_
void publishObject(const carma_perception_msgs::msg::ExternalObjectList &obj_msg)
Callback to publish ObjectList.
carma_ros2_utils::CallbackReturn handle_on_configure(const rclcpp_lifecycle::State &)
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.
std::shared_ptr< tf2_ros::TransformListener > tfListener_
ObjectDetectionTrackingWorker object_worker_
ObjectDetectionTrackingNode(const rclcpp::NodeOptions &)
ObjectDetectionTrackingNode constructor.
carma_ros2_utils::PubPtr< carma_perception_msgs::msg::ExternalObjectList > carma_obj_pub_
std::shared_ptr< tf2_ros::Buffer > tfBuffer_
void detectedObjectCallback(autoware_auto_msgs::msg::TrackedObjects::UniquePtr msg)
detectedObjectCallback populates detected object along with its velocity,yaw, yaw_rate and static/dyn...
void setMapFrame(std::string map_frame)