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	Description	Default	Range
visible_range	float	sensor visible range [m]	100	N/A
detection_successful_rate	float	sensor detection rate. (min) 0.0 - 1.0(max)	0.8	N/A
enable_ray_tracing	boolean	if True, use ray tracing	1	N/A
use_object_recognition	boolean	if True, publish objects topic	1	N/A
use_base_link_z	boolean	if True, node uses z coordinate of ego base_link	1	N/A
object_centric_pointcloud	boolean	if True, use object-centric point cloud for detection.	0	N/A
publish_ground_truth	boolean	if True, publish ground truth objects	0	N/A
random_seed	float	random seed	0	N/A
use_fixed_random_seed	boolean	if True, use fixed random seed	0	N/A

Node Parameters

None.

Core Parameters

None.

Assumptions / Known limits

TBD.