feat(radar_threshold_filter): add radar_threshold_filter package #2300

scepter914 · 2022-11-16T04:16:26Z

Description

Add radar_threshold_filter package.
This package follow proposed radar sensing architecture.

Tests performed

Tests by rosbag.

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Signed-off-by: scepter914 <scepter914@gmail.com>

codecov · 2022-11-16T04:23:46Z

Codecov Report

Base: 10.48% // Head: 10.47% // Decreases project coverage by -0.00% ⚠️

Coverage data is based on head (d2f8a8b) compared to base (12fbe87).
Patch coverage: 0.00% of modified lines in pull request are covered.

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #2300      +/-   ##
==========================================
- Coverage   10.48%   10.47%   -0.01%     
==========================================
  Files        1249     1250       +1     
  Lines       90870    90931      +61     
  Branches    20843    20843              
==========================================
  Hits         9527     9527              
- Misses      71219    71280      +61     
  Partials    10124    10124

Flag	Coverage Δ		*Carryforward flag
differential	`0.00% <0.00%> (?)`
total	`10.46% <ø> (ø)`		Carriedforward from 12fbe87

*This pull request uses carry forward flags. Click here to find out more.

Impacted Files	Coverage Δ
...eshold_filter_node/radar_threshold_filter_node.cpp	`0.00% <0.00%> (ø)`

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Signed-off-by: scepter914 <scepter914@gmail.com>

yukkysaito · 2022-11-17T02:20:15Z

sensing/radar_threshold_filter/src/radar_threshold_filter_node/radar_threshold_filter_node.cpp

+void RadarThresholdFilterNode::onTimer()
+{
+  if (!isDataReady()) {
+    return;
+  }
+
+  RadarScan output;
+  output.header = radar_data_->header;
+  for (const auto & radar_return : radar_data_->returns) {
+    if (isWithinThreshold(radar_return)) {
+      output.returns.push_back(radar_return);
+    }
+  }
+
+  pub_radar_->publish(output);
+}


Please let me know if there is a reason why you are publishing onTimer.
Basically, I think it is better to publish with onData.

Fixed at 2824cb0

Signed-off-by: scepter914 <scepter914@gmail.com>

yukkysaito · 2022-11-17T11:34:38Z

sensing/radar_threshold_filter/src/radar_threshold_filter_node/radar_threshold_filter_node.cpp

+  radar_data_ = msg;
+  if (!isDataReady()) {
+    return;
+  }


Fixed at 2151bd7

Is the isDataReady function needed?

Fixed at d2f8a8b

Signed-off-by: scepter914 <scepter914@gmail.com>

…pter914/autoware.universe into feature/radar_threshold_filter

Signed-off-by: scepter914 <scepter914@gmail.com>

yukkysaito

LGTM

…owarefoundation#2300) * feat(radar_threshold_filter): add radar_threshold_filter Signed-off-by: scepter914 <scepter914@gmail.com> * apply pre-commit Signed-off-by: scepter914 <scepter914@gmail.com> * update README Signed-off-by: scepter914 <scepter914@gmail.com> * update package.xml Signed-off-by: scepter914 <scepter914@gmail.com> * change onTimer to onData Signed-off-by: scepter914 <scepter914@gmail.com> * refactor Signed-off-by: scepter914 <scepter914@gmail.com> * delete update hz param Signed-off-by: scepter914 <scepter914@gmail.com> * refactor Signed-off-by: scepter914 <scepter914@gmail.com> * delete xml model Signed-off-by: scepter914 <scepter914@gmail.com> * delete function Signed-off-by: scepter914 <scepter914@gmail.com> Signed-off-by: scepter914 <scepter914@gmail.com> Signed-off-by: Kotaro Yoshimoto <pythagora.yoshimoto@gmail.com>

…owarefoundation#2300) * feat(radar_threshold_filter): add radar_threshold_filter Signed-off-by: scepter914 <scepter914@gmail.com> * apply pre-commit Signed-off-by: scepter914 <scepter914@gmail.com> * update README Signed-off-by: scepter914 <scepter914@gmail.com> * update package.xml Signed-off-by: scepter914 <scepter914@gmail.com> * change onTimer to onData Signed-off-by: scepter914 <scepter914@gmail.com> * refactor Signed-off-by: scepter914 <scepter914@gmail.com> * delete update hz param Signed-off-by: scepter914 <scepter914@gmail.com> * refactor Signed-off-by: scepter914 <scepter914@gmail.com> * delete xml model Signed-off-by: scepter914 <scepter914@gmail.com> * delete function Signed-off-by: scepter914 <scepter914@gmail.com> Signed-off-by: scepter914 <scepter914@gmail.com> Signed-off-by: kminoda <koji.minoda@tier4.jp>

…owarefoundation#2300) * feat(radar_threshold_filter): add radar_threshold_filter Signed-off-by: scepter914 <scepter914@gmail.com> * apply pre-commit Signed-off-by: scepter914 <scepter914@gmail.com> * update README Signed-off-by: scepter914 <scepter914@gmail.com> * update package.xml Signed-off-by: scepter914 <scepter914@gmail.com> * change onTimer to onData Signed-off-by: scepter914 <scepter914@gmail.com> * refactor Signed-off-by: scepter914 <scepter914@gmail.com> * delete update hz param Signed-off-by: scepter914 <scepter914@gmail.com> * refactor Signed-off-by: scepter914 <scepter914@gmail.com> * delete xml model Signed-off-by: scepter914 <scepter914@gmail.com> * delete function Signed-off-by: scepter914 <scepter914@gmail.com> Signed-off-by: scepter914 <scepter914@gmail.com> Signed-off-by: yoshiri <yoshiyoshidetteiu@gmail.com>

scepter914 added 3 commits November 16, 2022 12:56

feat(radar_threshold_filter): add radar_threshold_filter

66e2859

Signed-off-by: scepter914 <scepter914@gmail.com>

apply pre-commit

afbe89d

Signed-off-by: scepter914 <scepter914@gmail.com>

update README

4834986

Signed-off-by: scepter914 <scepter914@gmail.com>

scepter914 requested review from aohsato, yukkysaito, drwnz and miursh November 16, 2022 04:16

github-actions bot added document component:sensing Data acquisition from sensors, drivers, preprocessing. (auto-assigned) labels Nov 16, 2022

shmpwk added type:documentation Creating or refining documentation. (auto-assigned) and removed document labels Nov 16, 2022

update package.xml

8fd2153

Signed-off-by: scepter914 <scepter914@gmail.com>

yukkysaito reviewed Nov 17, 2022

View reviewed changes

scepter914 added 3 commits November 17, 2022 16:15

change onTimer to onData

2824cb0

Signed-off-by: scepter914 <scepter914@gmail.com>

refactor

92cdb63

Signed-off-by: scepter914 <scepter914@gmail.com>

delete update hz param

311670d

Signed-off-by: scepter914 <scepter914@gmail.com>

yukkysaito reviewed Nov 17, 2022

View reviewed changes

scepter914 and others added 5 commits November 18, 2022 14:26

refactor

2151bd7

Signed-off-by: scepter914 <scepter914@gmail.com>

Merge branch 'main' into feature/radar_threshold_filter

7b2a3e8

delete xml model

d062863

Signed-off-by: scepter914 <scepter914@gmail.com>

Merge branch 'feature/radar_threshold_filter' of ssh://github.com/sce…

848bb9a

…pter914/autoware.universe into feature/radar_threshold_filter

delete function

d2f8a8b

Signed-off-by: scepter914 <scepter914@gmail.com>

yukkysaito approved these changes Nov 18, 2022

View reviewed changes

scepter914 merged commit c04d5ee into autowarefoundation:main Nov 19, 2022

scepter914 deleted the feature/radar_threshold_filter branch November 19, 2022 00:25

tier4-autoware-public-bot bot mentioned this pull request Nov 20, 2022

chore: sync upstream tier4/autoware.universe#183

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feat(radar_threshold_filter): add radar_threshold_filter package #2300

feat(radar_threshold_filter): add radar_threshold_filter package #2300

scepter914 commented Nov 16, 2022 •

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feat(radar_threshold_filter): add radar_threshold_filter package #2300

feat(radar_threshold_filter): add radar_threshold_filter package #2300

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scepter914 commented Nov 16, 2022 • edited Loading

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