feat(tracking_object_merger): add radar far object tracking and its merger into perception flow #947
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…r radar object and conventional lidar object (autowarefoundation#4340) * init package: migrate from object merger Signed-off-by: yoshiri <yoshiyoshidetteiu@gmail.com> * add node outline and check build passed Signed-off-by: yoshiri <yoshiyoshidetteiu@gmail.com> * add util functions to interpolate tracked objs Signed-off-by: yoshiri <yoshiyoshidetteiu@gmail.com> * add object merger function using interpolation Signed-off-by: yoshiri <yoshiyoshidetteiu@gmail.com> * create object merger utils Signed-off-by: yoshiri <yoshiyoshidetteiu@gmail.com> * add kinematics velocity merger Signed-off-by: yoshiri <yoshiyoshidetteiu@gmail.com> * add association and merger Signed-off-by: yoshiri <yoshiyoshidetteiu@gmail.com> * rename perception_utils to object_recognition_utils Signed-off-by: yoshiri <yoshiyoshidetteiu@gmail.com> * add comment and complete main subscriber Signed-off-by: yoshiri <yoshiyoshidetteiu@gmail.com> * add parameter control and rename some executable files Signed-off-by: yoshiri <yoshiyoshidetteiu@gmail.com> * refactoring: fix apparent bugs Signed-off-by: yoshiri <yoshiyoshidetteiu@gmail.com> * add debug tools to check association Signed-off-by: yoshiri <yoshiyoshidetteiu@gmail.com> * temporary fix: radar tracker node name to anon Signed-off-by: yoshiri <yoshiyoshidetteiu@gmail.com> * debug: data association tuning Signed-off-by: yoshiri <yoshiyoshidetteiu@gmail.com> * rename copyright and add merger util function Signed-off-by: yoshiri <yoshiyoshidetteiu@gmail.com> * add tracker_state and update association Signed-off-by: yoshiri <yoshiyoshidetteiu@gmail.com> * update decorative tracker by using tracker_state Signed-off-by: yoshiri <yoshiyoshidetteiu@gmail.com> * update system around measurement state function Signed-off-by: yoshiri <yoshiyoshidetteiu@gmail.com> * fix radar object not merged problem Signed-off-by: yoshiri <yoshiyoshidetteiu@gmail.com> * add existence probability control Signed-off-by: yoshiri <yoshiyoshidetteiu@gmail.com> * create const function Signed-off-by: yoshiri <yoshiyoshidetteiu@gmail.com> * change association settings depend on measurement and tracker state Signed-off-by: yoshiri <yoshiyoshidetteiu@gmail.com> * fix association matrix Signed-off-by: yoshiri <yoshiyoshidetteiu@gmail.com> * put hardcoded node parameter to yaml file Signed-off-by: yoshiri <yoshiyoshidetteiu@gmail.com> * move tracker state parameter to yaml file Signed-off-by: yoshiri <yoshiyoshidetteiu@gmail.com> * remove prediction failed objects Signed-off-by: yoshiri <yoshiyoshidetteiu@gmail.com> * fix bug when none closest time sub objects found Signed-off-by: yoshiri <yoshiyoshidetteiu@gmail.com> * add velocity diff gate in association Signed-off-by: yoshiri <yoshiyoshidetteiu@gmail.com> * fix object interpolation problem Signed-off-by: yoshiri <yoshiyoshidetteiu@gmail.com> * use fixed object interpolation Signed-off-by: yoshiri <yoshiyoshidetteiu@gmail.com> * add README Signed-off-by: yoshiri <yoshiyoshidetteiu@gmail.com> * add interpolated sub object publisher for debug Signed-off-by: yoshiri <yoshiyoshidetteiu@gmail.com> * add debug message and fix interpolation Signed-off-by: yoshiri <yoshiyoshidetteiu@gmail.com> * update README Signed-off-by: yoshiri <yoshiyoshidetteiu@gmail.com> * fix unintended changes in radar tracking launch Signed-off-by: yoshiri <yoshiyoshidetteiu@gmail.com> * add CmakeLists version Signed-off-by: yoshiri <yoshiyoshidetteiu@gmail.com> * remove unnecessary debug description and type cast causes build warning Signed-off-by: yoshiri <yoshiyoshidetteiu@gmail.com> * fix spell-check error Signed-off-by: yoshiri <yoshiyoshidetteiu@gmail.com> * replace autoware_utils.hpp Signed-off-by: yoshiri <yoshiyoshidetteiu@gmail.com> --------- Signed-off-by: yoshiri <yoshiyoshidetteiu@gmail.com>
tkimura4
approved these changes
Oct 16, 2023
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Description
Radar遠距離Tracking関連のPRを使えるようにするためのPRその②です。その①はこちら：#949
デフォルトは塩尻と同じdetectionでradar objectのmergeをしようとしています。
Related PR in awf
Related links
Tests performed
デグレチェックでPredictionが出せるか確認します。
(Resolved) detectionでのError
要修正Fixがあったので#952 にて修正済。
radarとlidar objectのmergerで失敗。多分timestampが大きく違いすぎるため。Notes for reviewers
Interface changes
Effects on system behavior
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