Node for perception tasks, such as ground removal and cone detection. More...

#include <perception_node.hpp>

Inheritance diagram for Perception:

Collaboration diagram for Perception:

Public Member Functions
	Perception (const PerceptionParameters &params)
	Constructor for the Perception node.

void	point_cloud_callback (const sensor_msgs::msg::PointCloud2::SharedPtr msg)
	Callback function for the PointCloud2 subscription.

Static Public Member Functions
static PerceptionParameters	load_config ()
	Turns the parameters in the yaml file into PerceptionParameters class.

Private Member Functions
void	publish_cones (std::vector< Cluster > *cones, double exec_time, rclcpp::Time start_time)
	Publishes information about clusters (cones) using a custom ROS2 message.

void	velocities_callback (const custom_interfaces::msg::Velocities &msg)
	Callback function for the Velocities subscription.

void	lidar_timer_callback ()
	Callback function for the LiDAR timer to check for emergency.

Private Attributes
std::string	_vehicle_frame_id_
	String for the vehicle's frame id.

std::string	_adapter_
	String for the current adapter being used.

int16_t	_mission_type_
	integer value for the current mission type running.

bool	_publish_fov_trimmed_cloud_
	Whether to publish the FOV trimmed point cloud.

bool	_publish_ground_removed_cloud_
	Whether to publish the ground removed point cloud.

bool	_publish_wall_removed_cloud_
	Whether to publish the wall removed point cloud.

std::shared_ptr< std::unordered_map< int16_t, std::shared_ptr< FovTrimming > > >	_fov_trim_map_
	Shared pointer to the FovTrimming object.

std::shared_ptr< GroundGrid >	_ground_grid_
	Model for the ground grid.

std::shared_ptr< GroundRemoval >	_ground_removal_
	Shared pointer to the GroundRemoval object.

std::shared_ptr< WallRemoval >	_wall_removal_
	Shared pointer to the WallRemoval object.

std::shared_ptr< Clustering >	_clustering_
	Shared pointer to the Clustering object.

std::shared_ptr< ConeDifferentiation >	_cone_differentiator_
	Shared pointer to ConeDifferentiation object.

std::shared_ptr< ConeEvaluator >	_cone_evaluator_
	Shared pointer to ConeEvaluator object.

std::shared_ptr< Deskew >	_deskew_
	Shared pointer to Deskew object.

rclcpp::Subscription< custom_interfaces::msg::OperationalStatus >::SharedPtr	_operational_status_subscription
	Master Log subscription to aquire mission type.

rclcpp::Subscription< sensor_msgs::msg::PointCloud2 >::SharedPtr	_point_cloud_subscription
	PointCloud2 subscription.

rclcpp::Subscription< custom_interfaces::msg::Velocities >::SharedPtr	_velocities_subscription_

rclcpp::Publisher< custom_interfaces::msg::PerceptionOutput >::SharedPtr	_cones_publisher
	ConeArray + exec publisher.

rclcpp::Publisher< visualization_msgs::msg::MarkerArray >::SharedPtr	_cone_marker_array_
	MarkerArray publisher.

rclcpp::Publisher< std_msgs::msg::Float64MultiArray >::SharedPtr	_perception_execution_time_publisher_
	Perception execution time publisher.

rclcpp::Publisher< sensor_msgs::msg::PointCloud2 >::SharedPtr	_fov_trimmed_publisher_
	Point cloud after fov trimming publisher.

rclcpp::Publisher< sensor_msgs::msg::PointCloud2 >::SharedPtr	_ground_removed_publisher_
	Point cloud after ground removal publisher.

rclcpp::Publisher< sensor_msgs::msg::PointCloud2 >::SharedPtr	_wall_removed_publisher_
	Point cloud after wall removal publisher.

common_lib::structures::Velocities	_vehicle_velocity_

rclcpp::TimerBase::SharedPtr	lidar_off_timer_
	Timer to check for lidar emergency.

rclcpp::Client< std_srvs::srv::Trigger >::SharedPtr	emergency_client_

std::shared_ptr< std::vector< double > >	_execution_times_
	Vector to store execution times.

Detailed Description

Node for perception tasks, such as ground removal and cone detection.

This class is a ROS 2 node that subscribes to a PointCloud2 topic, performs ground removal using the specified GroundRemoval algorithm, and publishes cone detection results on a custom topic.

Definition at line 78 of file perception_node.hpp.

Constructor & Destructor Documentation

◆ Perception()

Perception::Perception ( const PerceptionParameters & params )

explicit

Constructor for the Perception node.

Parameters

params The parameters for perception.

Definition at line 186 of file perception_node.cpp.

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Member Function Documentation

◆ lidar_timer_callback()

void Perception::lidar_timer_callback ( )

private

Callback function for the LiDAR timer to check for emergency.

Definition at line 366 of file perception_node.cpp.

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◆ load_config()

PerceptionParameters Perception::load_config ( )

static

Turns the parameters in the yaml file into PerceptionParameters class.

Returns: parameters configured following yaml file.

Definition at line 12 of file perception_node.cpp.

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◆ point_cloud_callback()

void Perception::point_cloud_callback ( const sensor_msgs::msg::PointCloud2::SharedPtr msg )

Callback function for the PointCloud2 subscription.

Parameters

msg	The received PointCloud2 message.

Definition at line 258 of file perception_node.cpp.

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◆ publish_cones()

void Perception::publish_cones	(	std::vector< Cluster > *	cones,
		double	exec_time,
		rclcpp::Time	start_time
	)

private

Publishes information about clusters (cones) using a custom ROS2 message.

This function takes a vector of Cluster objects, extracts relevant information such as centroid and color, and publishes this information using a custom ROS2 message type ConeArray.

Parameters

cones A reference to a vector of Cluster objects representing the clusters (cones) to be published.

Definition at line 334 of file perception_node.cpp.

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◆ velocities_callback()

void Perception::velocities_callback ( const custom_interfaces::msg::Velocities & msg )

private

Callback function for the Velocities subscription.

Parameters

msg	The received Velocities message.

Definition at line 361 of file perception_node.cpp.

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Member Data Documentation

◆ _adapter_

std::string Perception::_adapter_

private

String for the current adapter being used.

Definition at line 101 of file perception_node.hpp.

◆ _clustering_

std::shared_ptr<Clustering> Perception::_clustering_

private

Shared pointer to the Clustering object.

Definition at line 111 of file perception_node.hpp.

◆ _cone_differentiator_

std::shared_ptr<ConeDifferentiation> Perception::_cone_differentiator_

private

Shared pointer to ConeDifferentiation object.

Definition at line 113 of file perception_node.hpp.

◆ _cone_evaluator_

std::shared_ptr<ConeEvaluator> Perception::_cone_evaluator_

private

Shared pointer to ConeEvaluator object.

Definition at line 114 of file perception_node.hpp.

◆ _cone_marker_array_

rclcpp::Publisher<visualization_msgs::msg::MarkerArray>::SharedPtr Perception::_cone_marker_array_

private

MarkerArray publisher.

Definition at line 124 of file perception_node.hpp.

◆ _cones_publisher

rclcpp::Publisher<custom_interfaces::msg::PerceptionOutput>::SharedPtr Perception::_cones_publisher

private

ConeArray + exec publisher.

Definition at line 122 of file perception_node.hpp.

◆ _deskew_

std::shared_ptr<Deskew> Perception::_deskew_

private

Shared pointer to Deskew object.

Definition at line 115 of file perception_node.hpp.

◆ _execution_times_

std::shared_ptr<std::vector<double> > Perception::_execution_times_

private

Vector to store execution times.

Definition at line 138 of file perception_node.hpp.

◆ _fov_trim_map_

std::shared_ptr<std::unordered_map<int16_t, std::shared_ptr<FovTrimming> > > Perception::_fov_trim_map_

private

Shared pointer to the FovTrimming object.

Definition at line 107 of file perception_node.hpp.

◆ _fov_trimmed_publisher_

rclcpp::Publisher<sensor_msgs::msg::PointCloud2>::SharedPtr Perception::_fov_trimmed_publisher_

private

Point cloud after fov trimming publisher.

Definition at line 128 of file perception_node.hpp.

◆ _ground_grid_

std::shared_ptr<GroundGrid> Perception::_ground_grid_

private

Model for the ground grid.

Definition at line 108 of file perception_node.hpp.

◆ _ground_removal_

std::shared_ptr<GroundRemoval> Perception::_ground_removal_

private

Shared pointer to the GroundRemoval object.

Definition at line 109 of file perception_node.hpp.

◆ _ground_removed_publisher_

rclcpp::Publisher<sensor_msgs::msg::PointCloud2>::SharedPtr Perception::_ground_removed_publisher_

private

Point cloud after ground removal publisher.

Definition at line 130 of file perception_node.hpp.

◆ _mission_type_

int16_t Perception::_mission_type_

private

integer value for the current mission type running.

Definition at line 102 of file perception_node.hpp.

◆ _operational_status_subscription

rclcpp::Subscription<custom_interfaces::msg::OperationalStatus>::SharedPtr Perception::_operational_status_subscription

private

Master Log subscription to aquire mission type.

Definition at line 117 of file perception_node.hpp.

◆ _perception_execution_time_publisher_

rclcpp::Publisher<std_msgs::msg::Float64MultiArray>::SharedPtr Perception::_perception_execution_time_publisher_

private

Perception execution time publisher.

Definition at line 126 of file perception_node.hpp.

◆ _point_cloud_subscription

rclcpp::Subscription<sensor_msgs::msg::PointCloud2>::SharedPtr Perception::_point_cloud_subscription

private

PointCloud2 subscription.

Definition at line 119 of file perception_node.hpp.

◆ _publish_fov_trimmed_cloud_

bool Perception::_publish_fov_trimmed_cloud_

private

Whether to publish the FOV trimmed point cloud.

Definition at line 103 of file perception_node.hpp.

◆ _publish_ground_removed_cloud_

bool Perception::_publish_ground_removed_cloud_

private

Whether to publish the ground removed point cloud.

Definition at line 104 of file perception_node.hpp.

◆ _publish_wall_removed_cloud_

bool Perception::_publish_wall_removed_cloud_

private

Whether to publish the wall removed point cloud.

Definition at line 105 of file perception_node.hpp.

◆ _vehicle_frame_id_

std::string Perception::_vehicle_frame_id_

private

String for the vehicle's frame id.

Definition at line 100 of file perception_node.hpp.

◆ _vehicle_velocity_

common_lib::structures::Velocities Perception::_vehicle_velocity_

private

Definition at line 134 of file perception_node.hpp.

◆ _velocities_subscription_

rclcpp::Subscription<custom_interfaces::msg::Velocities>::SharedPtr Perception::_velocities_subscription_

private

Definition at line 120 of file perception_node.hpp.

◆ _wall_removal_

std::shared_ptr<WallRemoval> Perception::_wall_removal_

private

Shared pointer to the WallRemoval object.

Definition at line 110 of file perception_node.hpp.

◆ _wall_removed_publisher_

rclcpp::Publisher<sensor_msgs::msg::PointCloud2>::SharedPtr Perception::_wall_removed_publisher_

private

Point cloud after wall removal publisher.

Definition at line 132 of file perception_node.hpp.

◆ emergency_client_

rclcpp::Client<std_srvs::srv::Trigger>::SharedPtr Perception::emergency_client_

private

Definition at line 137 of file perception_node.hpp.

◆ lidar_off_timer_

rclcpp::TimerBase::SharedPtr Perception::lidar_off_timer_

private

Timer to check for lidar emergency.

Definition at line 136 of file perception_node.hpp.

The documentation for this class was generated from the following files:

src/perception/include/perception/perception_node.hpp
src/perception/src/perception/perception_node.cpp

Public Member Functions

Static Public Member Functions

Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

◆ Perception()

Member Function Documentation

◆ lidar_timer_callback()

◆ load_config()

◆ point_cloud_callback()

◆ publish_cones()

◆ velocities_callback()

Member Data Documentation

◆ _adapter_

◆ _clustering_

◆ _cone_differentiator_

◆ _cone_evaluator_

◆ _cone_marker_array_

◆ _cones_publisher

◆ _deskew_

◆ _execution_times_

◆ _fov_trim_map_

◆ _fov_trimmed_publisher_

◆ _ground_grid_

◆ _ground_removal_

◆ _ground_removed_publisher_

◆ _mission_type_

◆ _operational_status_subscription

◆ _perception_execution_time_publisher_

◆ _point_cloud_subscription

◆ _publish_fov_trimmed_cloud_

◆ _publish_ground_removed_cloud_

◆ _publish_wall_removed_cloud_

◆ _vehicle_frame_id_

◆ _vehicle_velocity_

◆ _velocities_subscription_

◆ _wall_removal_

◆ _wall_removed_publisher_

◆ emergency_client_

◆ lidar_off_timer_