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feat(tier4_perception_rviz_plugin): plugin supports interactive manipulation for dummy CAR & UNKNOWN object #554

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merged 5 commits into from
Mar 22, 2022
Merged

feat(tier4_perception_rviz_plugin): plugin supports interactive manipulation for dummy CAR & UNKNOWN object #554

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aa8840c
fix(tier4_perception_rviz_plugin): split pedestrian.hpp(cpp) into two…
satoshi-ota Mar 22, 2022
61d625d
fix(tier4_perception_rviz_plugin): modify logic of velocity & pose ca…
satoshi-ota Mar 22, 2022
31fdc6c
feat(tier4_perception_rviz_plugin): plugin supports 2D Interactive du…
satoshi-ota Mar 22, 2022
be31997
feat(tier4_perception_rviz_plugin): plugin supports 2D Interactive un…
satoshi-ota Mar 22, 2022
d1e2eef
refactor(tier4_perception_rviz_plugin): use common class
satoshi-ota Mar 22, 2022
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1 change: 1 addition & 0 deletions common/tier4_perception_rviz_plugin/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -22,6 +22,7 @@ set(CMAKE_INCLUDE_CURRENT_DIR ON)
## Declare a C++ library
ament_auto_add_library(tier4_perception_rviz_plugin SHARED
src/tools/util.cpp
src/tools/interactive_object.cpp
src/tools/pedestrian_pose.cpp
src/tools/car_pose.cpp
src/tools/unknown_pose.cpp
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74 changes: 25 additions & 49 deletions common/tier4_perception_rviz_plugin/src/tools/car_pose.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -47,10 +47,9 @@

#include "car_pose.hpp"

#include <unique_identifier_msgs/msg/uuid.hpp>
#include "util.hpp"

#include <tf2_geometry_msgs/tf2_geometry_msgs.h>
#include <tf2_ros/transform_listener.h>
#include <rviz_common/display_context.hpp>

#include <algorithm>
#include <random>
Expand All @@ -62,6 +61,12 @@ CarInitialPoseTool::CarInitialPoseTool()
{
shortcut_key_ = 'k';

enable_interactive_property_ = new rviz_common::properties::BoolProperty(
"Interactive", false, "Enable/Disable interactive action by manipulating mouse.",
getPropertyContainer());
property_frame_ = new rviz_common::properties::TfFrameProperty(
"Target Frame", rviz_common::properties::TfFrameProperty::FIXED_FRAME_STRING,
"The TF frame where the point cloud is output.", getPropertyContainer(), nullptr, true);
topic_property_ = new rviz_common::properties::StringProperty(
"Pose Topic", "/simulation/dummy_perception_publisher/object_info",
"The topic on which to publish dummy object info.", getPropertyContainer(), SLOT(updateTopic()),
Expand Down Expand Up @@ -93,73 +98,44 @@ void CarInitialPoseTool::onInitialize()
updateTopic();
}

void CarInitialPoseTool::updateTopic()
{
rclcpp::Node::SharedPtr raw_node = context_->getRosNodeAbstraction().lock()->get_raw_node();
dummy_object_info_pub_ = raw_node->create_publisher<dummy_perception_publisher::msg::Object>(
topic_property_->getStdString(), 1);
clock_ = raw_node->get_clock();
}

void CarInitialPoseTool::onPoseSet(double x, double y, double theta)
Object CarInitialPoseTool::createObjectMsg() const
{
dummy_perception_publisher::msg::Object output_msg;
Object object{};
std::string fixed_frame = context_->getFixedFrame().toStdString();

// header
output_msg.header.frame_id = fixed_frame;
output_msg.header.stamp = clock_->now();
object.header.frame_id = fixed_frame;
object.header.stamp = clock_->now();

// semantic
output_msg.classification.label = autoware_auto_perception_msgs::msg::ObjectClassification::CAR;
output_msg.classification.probability = 1.0;
object.classification.label = ObjectClassification::CAR;
object.classification.probability = 1.0;

// shape
output_msg.shape.type = autoware_auto_perception_msgs::msg::Shape::BOUNDING_BOX;
object.shape.type = Shape::BOUNDING_BOX;
const double width = 1.8;
const double length = 4.0;
output_msg.shape.dimensions.x = length;
output_msg.shape.dimensions.y = width;
output_msg.shape.dimensions.z = 2.0;
object.shape.dimensions.x = length;
object.shape.dimensions.y = width;
object.shape.dimensions.z = 2.0;

// initial state
// pose
output_msg.initial_state.pose_covariance.pose.position.x = x;
output_msg.initial_state.pose_covariance.pose.position.y = y;
output_msg.initial_state.pose_covariance.pose.position.z = position_z_->getFloat();
output_msg.initial_state.pose_covariance.covariance[0] =
object.initial_state.pose_covariance.pose.position.z = position_z_->getFloat();
object.initial_state.pose_covariance.covariance[0] =
std_dev_x_->getFloat() * std_dev_x_->getFloat();
output_msg.initial_state.pose_covariance.covariance[7] =
object.initial_state.pose_covariance.covariance[7] =
std_dev_y_->getFloat() * std_dev_y_->getFloat();
output_msg.initial_state.pose_covariance.covariance[14] =
object.initial_state.pose_covariance.covariance[14] =
std_dev_z_->getFloat() * std_dev_z_->getFloat();
output_msg.initial_state.pose_covariance.covariance[35] =
object.initial_state.pose_covariance.covariance[35] =
std_dev_theta_->getFloat() * std_dev_theta_->getFloat();
tf2::Quaternion quat;
quat.setRPY(0.0, 0.0, theta);
output_msg.initial_state.pose_covariance.pose.orientation = tf2::toMsg(quat);
RCLCPP_INFO(
rclcpp::get_logger("CarInitialPoseTool"), "Setting pose: %.3f %.3f %.3f %.3f [frame=%s]", x, y,
position_z_->getFloat(), theta, fixed_frame.c_str());
// twist
output_msg.initial_state.twist_covariance.twist.linear.x = velocity_->getFloat();
output_msg.initial_state.twist_covariance.twist.linear.y = 0.0;
output_msg.initial_state.twist_covariance.twist.linear.z = 0.0;
RCLCPP_INFO(
rclcpp::get_logger("CarInitialPoseTool"), "Setting twist: %.3f %.3f %.3f [frame=%s]",
velocity_->getFloat(), 0.0, 0.0, fixed_frame.c_str());

// action
output_msg.action = dummy_perception_publisher::msg::Object::ADD;

// id
std::mt19937 gen(std::random_device{}());
std::independent_bits_engine<std::mt19937, 8, uint8_t> bit_eng(gen);
std::generate(output_msg.id.uuid.begin(), output_msg.id.uuid.end(), bit_eng);
std::generate(object.id.uuid.begin(), object.id.uuid.end(), bit_eng);

dummy_object_info_pub_->publish(output_msg);
return object;
}

} // end namespace rviz_plugins

#include <pluginlib/class_list_macros.hpp>
Expand Down
42 changes: 9 additions & 33 deletions common/tier4_perception_rviz_plugin/src/tools/car_pose.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -48,45 +48,21 @@
#ifndef TOOLS__CAR_POSE_HPP_
#define TOOLS__CAR_POSE_HPP_

#ifndef Q_MOC_RUN // See: https://bugreports.qt-project.org/browse/QTBUG-22829
#include <QObject>
#include <rclcpp/node.hpp>
#include <rviz_common/display_context.hpp>
#include <rviz_common/properties/float_property.hpp>
#include <rviz_common/properties/string_property.hpp>
#include <rviz_default_plugins/tools/pose/pose_tool.hpp>
#endif

#include <dummy_perception_publisher/msg/object.hpp>
#include "interactive_object.hpp"

namespace rviz_plugins
{
class CarInitialPoseTool : public rviz_default_plugins::tools::PoseTool
{
Q_OBJECT

using autoware_auto_perception_msgs::msg::ObjectClassification;
using autoware_auto_perception_msgs::msg::Shape;
using dummy_perception_publisher::msg::Object;

class CarInitialPoseTool : public InteractiveObjectTool
{
public:
CarInitialPoseTool();
virtual ~CarInitialPoseTool() {}
virtual void onInitialize();

protected:
virtual void onPoseSet(double x, double y, double theta);

private Q_SLOTS:
void updateTopic();

private:
rclcpp::Clock::SharedPtr clock_;
rclcpp::Publisher<dummy_perception_publisher::msg::Object>::SharedPtr dummy_object_info_pub_;

rviz_common::properties::StringProperty * topic_property_;
rviz_common::properties::FloatProperty * std_dev_x_;
rviz_common::properties::FloatProperty * std_dev_y_;
rviz_common::properties::FloatProperty * std_dev_z_;
rviz_common::properties::FloatProperty * std_dev_theta_;
rviz_common::properties::FloatProperty * position_z_;
rviz_common::properties::FloatProperty * velocity_;
void onInitialize();
Object createObjectMsg() const override;
};

} // namespace rviz_plugins
Expand Down
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