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dummy_perception_publisher#

Purpose#

This node publishes the result of the dummy detection with the type of perception.

Inner-workings / Algorithms#

Inputs / Outputs#

Input#

Name Type Description
/tf tf2_msgs/TFMessage TF (self-pose)
input/object tier4_simulation_msgs::msg::DummyObject dummy detection objects

Output#

Name Type Description
output/dynamic_object tier4_perception_msgs::msg::DetectedObjectsWithFeature dummy detection objects
output/points_raw sensor_msgs::msg::PointCloud2 point cloud of objects
output/debug/ground_truth_objects autoware_perception_msgs::msg::TrackedObjects ground truth objects

Parameters#

Name Type Default Value Explanation
visible_range double 100.0 sensor visible range [m]
detection_successful_rate double 0.8 sensor detection rate. (min) 0.0 - 1.0(max)
enable_ray_tracing bool true if True, use ray tracking
use_object_recognition bool true if True, publish objects topic
use_base_link_z bool true if True, node uses z coordinate of ego base_link
publish_ground_truth bool false if True, publish ground truth objects
use_fixed_random_seed bool false if True, use fixed random seed
random_seed int 0 random seed

Node Parameters#

None.

Core Parameters#

None.

Assumptions / Known limits#

TBD.