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fix(planning_debug_tools): fix a bug of perception reproducer #1578

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merged 2 commits into from
Oct 4, 2024
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fix(planning_debug_tools): fix a bug of perception reproducer #1578

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1f00ebc
fix a small bug about perception reproducer
xtk8532704 Oct 4, 2024
a00f7b2
style(pre-commit): autofix
pre-commit-ci[bot] Oct 4, 2024
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8 changes: 6 additions & 2 deletions planning/planning_debug_tools/scripts/perception_replayer/perception_reproducer.py
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Original file line number Diff line number Diff line change
Expand Up @@ -176,8 +176,12 @@ def on_timer(self):
(ego_pose.position.x - ego_odom_msg.pose.pose.position.x) ** 2
+ (ego_pose.position.y - ego_odom_msg.pose.pose.position.y) ** 2
)
repeat_flag = ego_rosbag_speed > ego_speed * 5 and ego_rosbag_dist > 1.0
# set the speed threshold to many (5) times then ego_speed because this constraint is mainly for departing/stopping (ego speed is close to 0).
repeat_flag = (
ego_rosbag_speed > ego_speed * 2
and ego_rosbag_speed > 3.0
and ego_rosbag_dist > self.ego_odom_search_radius
)
# if ego_rosbag_speed is too fast than ego_speed, stop publishing the rosbag's ego odom message temporarily.

if not repeat_flag:
self.stopwatch.tic("find_topics_by_timestamp")
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