refactor(multi_object_tracker): put node parameters to yaml file (aut…

…owarefoundation#5769) * rework multi object tracker parameters Signed-off-by: yoshiri <[email protected]> * update README Signed-off-by: yoshiri <[email protected]> * rework radar tracker parameter too Signed-off-by: yoshiri <[email protected]> --------- Signed-off-by: yoshiri <[email protected]> Signed-off-by: karishma <[email protected]>
Interplai · Dec 19, 2023 · 9715a7e · 9715a7e
1 parent 94a3342
commit 9715a7e
Show file tree

Hide file tree

Showing 7 changed files with 33 additions and 34 deletions.
diff --git a/launch/tier4_perception_launch/launch/object_recognition/tracking/tracking.launch.xml b/launch/tier4_perception_launch/launch/object_recognition/tracking/tracking.launch.xml
@@ -1,8 +1,6 @@
 <?xml version="1.0"?>
 <launch>
   <arg name="mode" default="lidar" description="options: `camera_lidar_radar_fusion`, `camera_lidar_fusion`, `lidar_radar_fusion`, `lidar` or `radar`"/>
-  <arg name="publish_rate" default="10.0"/>
-  <arg name="enable_delay_compensation" default="true"/>
 
   <!-- Radar Tracking and Merger parameters -->
   <arg name="use_radar_tracking_fusion" default="false" description="use radar tracking fusion"/>
@@ -19,8 +17,7 @@
     <!--multi object tracking-->
     <include file="$(find-pkg-share multi_object_tracker)/launch/multi_object_tracker.launch.xml">
       <arg name="data_association_matrix_path" value="$(var object_recognition_tracking_multi_object_tracker_data_association_matrix_param_path)"/>
-      <arg name="publish_rate" value="$(var publish_rate)"/>
-      <arg name="enable_delay_compensation" value="$(var enable_delay_compensation)"/>
+      <arg name="tracker_setting_path" value="$(var object_recognition_tracking_multi_object_tracker_node_param_path)"/>
     </include>
   </group>
 
@@ -29,15 +26,12 @@
     <!--multi object tracking for near objects-->
     <include file="$(find-pkg-share multi_object_tracker)/launch/multi_object_tracker.launch.xml">
       <arg name="data_association_matrix_path" value="$(var object_recognition_tracking_multi_object_tracker_data_association_matrix_param_path)"/>
-      <arg name="publish_rate" value="$(var publish_rate)"/>
-      <arg name="enable_delay_compensation" value="$(var enable_delay_compensation)"/>
+      <arg name="tracker_setting_path" value="$(var object_recognition_tracking_multi_object_tracker_node_param_path)"/>
       <arg name="output" value="/perception/object_recognition/tracking/near_objects"/>
     </include>
 
     <!--radar long range dynamic object tracking-->
     <include file="$(find-pkg-share radar_object_tracker)/launch/radar_object_tracker.launch.xml">
-      <arg name="publish_rate" value="$(var publish_rate)"/>
-      <arg name="enable_delay_compensation" value="$(var enable_delay_compensation)"/>
       <arg name="input" value="$(var radar_tracker_input)"/>
       <arg name="output" value="$(var radar_tracker_output)"/>
       <arg name="data_association_matrix_path" value="$(var object_recognition_tracking_radar_object_tracker_data_association_matrix_param_path)"/>

diff --git a/launch/tier4_perception_launch/launch/perception.launch.xml b/launch/tier4_perception_launch/launch/perception.launch.xml
@@ -14,6 +14,7 @@
   <arg name="object_recognition_detection_radar_lanelet_filtering_range_param"/>
   <arg name="object_recognition_detection_radar_object_clustering_param_path"/>
   <arg name="object_recognition_tracking_multi_object_tracker_data_association_matrix_param_path"/>
+  <arg name="object_recognition_tracking_multi_object_tracker_node_param_path"/>
   <arg name="object_recognition_tracking_radar_object_tracker_data_association_matrix_param_path"/>
   <arg name="object_recognition_tracking_radar_object_tracker_tracking_setting_param_path"/>
   <arg name="obstacle_segmentation_ground_segmentation_param_path"/>

diff --git a/perception/multi_object_tracker/README.md b/perception/multi_object_tracker/README.md
@@ -70,16 +70,26 @@ Example:
 
 ### Core Parameters
 
-| Name                        | Type   | Description                                                    |
-| --------------------------- | ------ | -------------------------------------------------------------- |
-| `can_assign_matrix`         | double | Assignment table for data association                          |
-| `max_dist_matrix`           | double | Maximum distance table for data association                    |
-| `max_area_matrix`           | double | Maximum area table for data association                        |
-| `min_area_matrix`           | double | Minimum area table for data association                        |
-| `max_rad_matrix`            | double | Maximum angle table for data association                       |
-| `world_frame_id`            | double | tracking frame                                                 |
-| `enable_delay_compensation` | bool   | Estimate obstacles at current time considering detection delay |
-| `publish_rate`              | double | if enable_delay_compensation is true, how many hertz to output |
+Node parameters are defined in [multi_object_tracker.param.yaml](config/multi_object_tracker.param.yaml) and association parameters are defined in [data_association.param.yaml](config/data_association.param.yaml).
+
+#### Node parameters
+
+| Name                        | Type   | Description                                                                                                                 |
+| --------------------------- | ------ | --------------------------------------------------------------------------------------------------------------------------- |
+| `***_tracker`               | string | EKF tracker name for each class                                                                                             |
+| `world_frame_id`            | double | object kinematics definition frame                                                                                          |
+| `enable_delay_compensation` | bool   | if True, tracker use timers to schedule publishers and use prediction step to extrapolate object state at desired timestamp |
+| `publish_rate`              | double | Timer frequency to output with delay compensation                                                                           |
+
+#### Association parameters
+
+| Name                | Type   | Description                                 |
+| ------------------- | ------ | ------------------------------------------- |
+| `can_assign_matrix` | double | Assignment table for data association       |
+| `max_dist_matrix`   | double | Maximum distance table for data association |
+| `max_area_matrix`   | double | Maximum area table for data association     |
+| `min_area_matrix`   | double | Minimum area table for data association     |
+| `max_rad_matrix`    | double | Maximum angle table for data association    |
 
 ## Assumptions / Known limits
 

diff --git a/...tracker/config/default_tracker.param.yaml → ...nfig/multi_object_tracker_node.param.yaml b/...tracker/config/default_tracker.param.yaml → ...nfig/multi_object_tracker_node.param.yaml
@@ -1,9 +1,15 @@
 /**:
   ros__parameters:
+    # default tracker models for each class
     car_tracker: "multi_vehicle_tracker"
     truck_tracker: "multi_vehicle_tracker"
     bus_tracker: "multi_vehicle_tracker"
     trailer_tracker: "multi_vehicle_tracker"
     pedestrian_tracker: "pedestrian_and_bicycle_tracker"
     bicycle_tracker: "pedestrian_and_bicycle_tracker"
     motorcycle_tracker: "pedestrian_and_bicycle_tracker"
+
+    # default tracker node parameters
+    publish_rate: 10.0
+    world_frame_id: map
+    enable_delay_compensation: false
diff --git a/perception/multi_object_tracker/launch/multi_object_tracker.launch.xml b/perception/multi_object_tracker/launch/multi_object_tracker.launch.xml
@@ -2,18 +2,12 @@
 <launch>
   <arg name="input" default="/perception/object_recognition/detection/objects"/>
   <arg name="output" default="objects"/>
-  <arg name="world_frame_id" default="map"/>
-  <arg name="publish_rate" default="10.0"/>
-  <arg name="enable_delay_compensation" default="false"/>
-  <arg name="tracker_setting_path" default="$(find-pkg-share multi_object_tracker)/config/default_tracker.param.yaml"/>
+  <arg name="tracker_setting_path" default="$(find-pkg-share multi_object_tracker)/config/multi_object_tracker_node.param.yaml"/>
   <arg name="data_association_matrix_path" default="$(find-pkg-share multi_object_tracker)/config/data_association_matrix.param.yaml"/>
 
   <node pkg="multi_object_tracker" exec="multi_object_tracker" name="multi_object_tracker" output="screen">
     <remap from="input" to="$(var input)"/>
     <remap from="output" to="$(var output)"/>
-    <param name="world_frame_id" value="$(var world_frame_id)"/>
-    <param name="publish_rate" value="$(var publish_rate)"/>
-    <param name="enable_delay_compensation" value="$(var enable_delay_compensation)"/>
     <param from="$(var tracker_setting_path)"/>
     <param from="$(var data_association_matrix_path)"/>
   </node>

diff --git a/perception/multi_object_tracker/src/multi_object_tracker_core.cpp b/perception/multi_object_tracker/src/multi_object_tracker_core.cpp
@@ -78,9 +78,9 @@ MultiObjectTracker::MultiObjectTracker(const rclcpp::NodeOptions & node_options)
     create_publisher<autoware_auto_perception_msgs::msg::TrackedObjects>("output", rclcpp::QoS{1});
 
   // Parameters
-  double publish_rate = declare_parameter<double>("publish_rate", 30.0);
-  world_frame_id_ = declare_parameter<std::string>("world_frame_id", "world");
-  bool enable_delay_compensation{declare_parameter("enable_delay_compensation", false)};
+  double publish_rate = declare_parameter<double>("publish_rate");
+  world_frame_id_ = declare_parameter<std::string>("world_frame_id");
+  bool enable_delay_compensation{declare_parameter<bool>("enable_delay_compensation")};
 
   auto cti = std::make_shared<tf2_ros::CreateTimerROS>(
     this->get_node_base_interface(), this->get_node_timers_interface());

diff --git a/perception/radar_object_tracker/launch/radar_object_tracker.launch.xml b/perception/radar_object_tracker/launch/radar_object_tracker.launch.xml
@@ -2,9 +2,6 @@
 <launch>
   <arg name="input" default="/perception/object_recognition/detection/objects"/>
   <arg name="output" default="objects"/>
-  <arg name="world_frame_id" default="map"/>
-  <arg name="publish_rate" default="10.0"/>
-  <arg name="enable_delay_compensation" default="true"/>
   <arg name="tracker_setting_path" default="$(find-pkg-share radar_object_tracker)/config/default_tracker.param.yaml"/>
   <arg name="tracking_config_directory" default="$(find-pkg-share radar_object_tracker)/config/tracking/"/>
   <arg name="data_association_matrix_path" default="$(find-pkg-share radar_object_tracker)/config/data_association_matrix.param.yaml"/>
@@ -19,8 +16,5 @@
     <param from="$(var data_association_matrix_path)"/>
     <param from="$(var radar_object_tracker_param_path)"/>
     <param name="tracking_config_directory" value="$(var tracking_config_directory)"/>
-    <param name="world_frame_id" value="$(var world_frame_id)"/>
-    <param name="publish_rate" value="$(var publish_rate)"/>
-    <param name="enable_delay_compensation" value="$(var enable_delay_compensation)"/>
   </node>
 </launch>