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.