From 6bf539b88a33802676be7871d0492b81b25947bf Mon Sep 17 00:00:00 2001 From: "Guan Muhua (Tier4)" <134026894+Tier4Guan@users.noreply.github.com> Date: Wed, 12 Jul 2023 09:46:26 +0900 Subject: [PATCH] fix: take dummy objects' height into calculation when locating their Z position (#4195) * Update node.cpp fix: consider dummy objects' height when locating its Z position * style(pre-commit): autofix --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> --- simulator/dummy_perception_publisher/src/node.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/simulator/dummy_perception_publisher/src/node.cpp b/simulator/dummy_perception_publisher/src/node.cpp index b0c9f549650fd..6036e760fed47 100644 --- a/simulator/dummy_perception_publisher/src/node.cpp +++ b/simulator/dummy_perception_publisher/src/node.cpp @@ -359,7 +359,7 @@ void DummyPerceptionPublisherNode::objectCallback( ros_map2base_link = tf_buffer_.lookupTransform( "map", "base_link", rclcpp::Time(0), rclcpp::Duration::from_seconds(0.5)); object.initial_state.pose_covariance.pose.position.z = - ros_map2base_link.transform.translation.z; + ros_map2base_link.transform.translation.z + 0.5 * object.shape.dimensions.z; } catch (tf2::TransformException & ex) { RCLCPP_WARN_SKIPFIRST_THROTTLE(get_logger(), *get_clock(), 5000, "%s", ex.what()); return; @@ -406,7 +406,7 @@ void DummyPerceptionPublisherNode::objectCallback( ros_map2base_link = tf_buffer_.lookupTransform( "map", "base_link", rclcpp::Time(0), rclcpp::Duration::from_seconds(0.5)); objects_.at(i).initial_state.pose_covariance.pose.position.z = - ros_map2base_link.transform.translation.z; + ros_map2base_link.transform.translation.z + 0.5 * objects_.at(i).shape.dimensions.z; } catch (tf2::TransformException & ex) { RCLCPP_WARN_SKIPFIRST_THROTTLE(get_logger(), *get_clock(), 5000, "%s", ex.what()); return;