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feat(perception_reproducer): update new perception reproducer for debugging the version of beta/v0.19.1 #1563

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feat(perception_reproducer): update new perception reproducer for debugging the version of beta/v0.19.1 #1563

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f37150c
support new perception_reproducer
xtk8532704 Sep 27, 2024
7412198
move files
xtk8532704 Sep 27, 2024
bc08235
remove old files.
xtk8532704 Sep 30, 2024
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2 changes: 1 addition & 1 deletion perception/multi_object_tracker/package.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -24,7 +24,7 @@
<depend>tier4_autoware_utils</depend>
<depend>tier4_perception_msgs</depend>
<depend>unique_identifier_msgs</depend>

<depend>diagnostic_updater</depend>
<test_depend>ament_lint_auto</test_depend>
<test_depend>autoware_lint_common</test_depend>

Expand Down
47 changes: 26 additions & 21 deletions planning/planning_debug_tools/scripts/perception_replayer/perception_replayer_common.py
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Original file line number Diff line number Diff line change
Expand Up @@ -22,8 +22,8 @@
from autoware_auto_perception_msgs.msg import DetectedObjects
from autoware_auto_perception_msgs.msg import PredictedObjects
from autoware_auto_perception_msgs.msg import TrackedObjects
from autoware_auto_perception_msgs.msg import TrafficSignalArray as AutoTrafficSignalArray
from autoware_perception_msgs.msg import TrafficSignalArray
from geometry_msgs.msg import PoseStamped
from geometry_msgs.msg import PoseWithCovarianceStamped
from nav_msgs.msg import Odometry
import psutil
Expand All @@ -32,6 +32,7 @@
from rosbag2_py import StorageFilter
from rosidl_runtime_py.utilities import get_message
from sensor_msgs.msg import PointCloud2
from utils import get_starting_time
from utils import open_reader


Expand All @@ -40,11 +41,10 @@ def __init__(self, args, name):
super().__init__(name)
self.args = args

self.ego_pose = None
self.ego_odom = None
self.rosbag_objects_data = []
self.rosbag_ego_odom_data = []
self.rosbag_traffic_signals_data = []
self.is_auto_traffic_signals = False

# subscriber
self.sub_odom = self.create_subscription(
Expand Down Expand Up @@ -76,31 +76,33 @@ def __init__(self, args, name):
Odometry, "/perception_reproducer/rosbag_ego_odom", 1
)

self.goal_pose_publisher = self.create_publisher(
PoseStamped, "/planning/mission_planning/goal", 1
)

self.traffic_signals_pub = self.create_publisher(
TrafficSignalArray, "/perception/traffic_light_recognition/traffic_signals", 1
)

# load rosbag
print("Stared loading rosbag")
if os.path.isdir(args.bag):
for bag_file in sorted(os.listdir(args.bag)):
if bag_file.endswith(self.args.rosbag_format):
self.load_rosbag(args.bag + "/" + bag_file)
bags = [
os.path.join(args.bag, base_name)
for base_name in os.listdir(args.bag)
if base_name.endswith(args.rosbag_format)
]
for bag_file in sorted(bags, key=get_starting_time):
self.load_rosbag(bag_file)
else:
self.load_rosbag(args.bag)
print("Ended loading rosbag")

# temporary support old auto msgs
if self.is_auto_traffic_signals:
self.auto_traffic_signals_pub = self.create_publisher(
AutoTrafficSignalArray, "/perception/traffic_light_recognition/traffic_signals", 1
)
else:
self.traffic_signals_pub = self.create_publisher(
TrafficSignalArray, "/perception/traffic_light_recognition/traffic_signals", 1
)

# wait for ready to publish/subscribe
time.sleep(1.0)

def on_odom(self, odom):
self.ego_pose = odom.pose.pose
self.ego_odom = odom

def load_rosbag(self, rosbag2_path: str):
reader = open_reader(str(rosbag2_path))
Expand All @@ -126,14 +128,14 @@ def load_rosbag(self, rosbag2_path: str):
msg_type = get_message(type_map[topic])
msg = deserialize_message(data, msg_type)
if topic == objects_topic:
assert isinstance(msg, self.objects_pub.msg_type),f"Unsupported conversion from {type(msg)}"
self.rosbag_objects_data.append((stamp, msg))
if topic == ego_odom_topic:
assert isinstance(msg, Odometry),f"Unsupported conversion from {type(msg)}"
self.rosbag_ego_odom_data.append((stamp, msg))
if topic == traffic_signals_topic:
assert isinstance(msg, TrafficSignalArray),f"Unsupported conversion from {type(msg)}"
self.rosbag_traffic_signals_data.append((stamp, msg))
self.is_auto_traffic_signals = (
"autoware_auto_perception_msgs" in type(msg).__module__
)

def kill_online_perception_node(self):
# kill node if required
Expand All @@ -153,6 +155,9 @@ def kill_online_perception_node(self):
pass

def binary_search(self, data, timestamp):
if not data:
return None

if data[-1][0] < timestamp:
return data[-1][1]
elif data[0][0] > timestamp:
Expand Down Expand Up @@ -180,4 +185,4 @@ def find_topics_by_timestamp(self, timestamp):
return objects_data, traffic_signals_data

def find_ego_odom_by_timestamp(self, timestamp):
return self.binary_search(self.rosbag_ego_odom_data, timestamp)
return self.binary_search(self.rosbag_ego_odom_data, timestamp)
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