[Question] how to visualize naive L-shape fitting's output (DetectedObjectArray)?

[gyubeomim]

Specifications

• Ubuntu version: 16.04 LTS
• ROS version: kinetic
• Autoware branch: 1.9.1

Hello Autoware's developers :-)

Thank you for offering such a nice and great Integrated Packages of Autonomous driving.

I have a question about Visualizing L-Shape Fitting. according to this video and this site ,

the steps are

1. open autoware using ./run
2. run lidar_euclidean_cluster_detect after setting parameters
3. run lidar_naive_l_shape_detect after tuning parameters
4. run my own custom bag file which has /velodyne_points

I can visualize the output of L-shape fitting node from /detection/lidar_objects/l_shaped topic but
I don't know how to visualize autoware_msgs/DetectedObjectArray

how to visualize it like bounding box using RViz and autoware_msgs/DetectedObjectArray message?

Thank you in advance :-)

[amc-nu]

Please have a look at autowarefoundation/autoware#1815

[gyubeomim]

@amc-nu
Thank you for the reply :-)

I had a look autowarefoundation/autoware#1815 and realized there are a lot of branches in Autoware project
I've cloned master branch and used docker to make it simple.

I just a wonder how to visualize autoware_msgs/DetectedObjectArray msg on RViz because there is no plugin to visualize it.
this code you suggested is also having a publisher with autoware_msgs/DetectedObjectArray and I can't visualized it even though I can run it.

Thank you!

[amc-nu]

To visualize the DetectedObjectArray message you'll need to use the detected_objects_visualizer inside perception.

https://github.com/CPFL/Autoware/tree/develop/ros/src/computing/perception/detection/visualizers/packages/detected_objects_visualizer

[gyubeomim]

@amc-nu

sorry for the late reply
Thank you! I'll try it out :-)