feat: add detected object feature remover

perception/detected_object_feature_remover/CMakeLists.txt

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+cmake_minimum_required(VERSION 3.5)
+project(detected_object_feature_remover)
+
+### Compile options
+if(NOT CMAKE_CXX_STANDARD)
+  set(CMAKE_CXX_STANDARD 14)
+  set(CMAKE_CXX_STANDARD_REQUIRED ON)
+  set(CMAKE_CXX_EXTENSIONS OFF)
+endif()
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic -Werror)
+endif()
+
+### Dependencies
+find_package(ament_cmake_auto REQUIRED)
+ament_auto_find_build_dependencies()
+
+# Generate exe file
+ament_auto_add_library(detected_object_feature_remover_node SHARED
+  src/detected_object_feature_remover.cpp
+)
+
+rclcpp_components_register_node(detected_object_feature_remover_node
+  PLUGIN "detected_object_feature_remover::DetectedObjectFeatureRemover"
+  EXECUTABLE detected_object_feature_remover
+)
+
+ament_auto_package(
+  INSTALL_TO_SHARE
+    launch
+)

perception/detected_object_feature_remover/README.md

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+# detected_object_feature_remover
+
+## Purpose
+
+The `detected_object_feature_remover` is a package to convert topic-type from `DetectedObjectWithFeatureArray` to `DetectedObjects`.
+
+## Inner-workings / Algorithms
+
+## Inputs / Outputs
+
+### Input
+
+| Name      | Type                                                            | Description                         |
+| --------- | --------------------------------------------------------------- | ----------------------------------- |
+| `~/input` | `autoware_perception_msgs::msg::DetectedObjectWithFeatureArray` | detected objects with feature field |
+
+### Output
+
+| Name       | Type                                                  | Description      |
+| ---------- | ----------------------------------------------------- | ---------------- |
+| `~/output` | `autoware_auto_perception_msgs::msg::DetectedObjects` | detected objects |
+
+## Parameters
+
+None
+
+## Assumptions / Known limits

perception/detected_object_feature_remover/include/detected_object_feature_remover/detected_object_feature_remover.hpp

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+// Copyright 2021 Tier IV, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef DETECTED_OBJECT_FEATURE_REMOVER__DETECTED_OBJECT_FEATURE_REMOVER_HPP_
+#define DETECTED_OBJECT_FEATURE_REMOVER__DETECTED_OBJECT_FEATURE_REMOVER_HPP_
+
+#include <rclcpp/rclcpp.hpp>
+
+#include <autoware_auto_perception_msgs/msg/detected_objects.hpp>
+#include <autoware_perception_msgs/msg/detected_objects_with_feature.hpp>
+
+namespace detected_object_feature_remover
+{
+using autoware_auto_perception_msgs::msg::DetectedObjects;
+using autoware_perception_msgs::msg::DetectedObjectsWithFeature;
+
+class DetectedObjectFeatureRemover : public rclcpp::Node
+{
+public:
+  explicit DetectedObjectFeatureRemover(const rclcpp::NodeOptions & node_options);
+
+private:
+  rclcpp::Subscription<DetectedObjectsWithFeature>::SharedPtr sub_;
+  rclcpp::Publisher<DetectedObjects>::SharedPtr pub_;
+  void objectCallback(const DetectedObjectsWithFeature::ConstSharedPtr input);
+  void convert(const DetectedObjectsWithFeature & objs_with_feature, DetectedObjects & objs);
+};
+
+}  // namespace detected_object_feature_remover
+
+#endif  // DETECTED_OBJECT_FEATURE_REMOVER__DETECTED_OBJECT_FEATURE_REMOVER_HPP_

perception/detected_object_feature_remover/launch/detected_object_feature_remover.launch.xml

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+<launch>
+  <arg name="input" />
+  <arg name="output" />
+
+  <node pkg="detected_object_feature_remover" exec="detected_object_feature_remover" name="detected_object_feature_remover" output="screen">
+    <remap from="~/input" to="$(var input)"/>
+    <remap from="~/output" to="$(var output)"/>
+  </node>
+
+</launch>

perception/detected_object_feature_remover/package.xml

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+<?xml version="1.0"?>
+<package format="2">
+  <name>detected_object_feature_remover</name>
+  <version>0.1.0</version>
+  <description>The detected_object_feature_remover package</description>
+  <maintainer email="tomoya.kimura@tier4.jp">Tomoya Kimura</maintainer>
+  <license>Apache License 2.0</license>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+
+  <depend>autoware_auto_perception_msgs</depend>
+  <depend>autoware_perception_msgs</depend>
+  <depend>rclcpp</depend>
+  <depend>rclcpp_components</depend>
+
+  <test_depend>ament_cmake_gtest</test_depend>
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>autoware_lint_common</test_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>

perception/detected_object_feature_remover/src/detected_object_feature_remover.cpp

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+// Copyright 2021 Tier IV, Inc.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#include <detected_object_feature_remover/detected_object_feature_remover.hpp>
+
+namespace detected_object_feature_remover
+{
+DetectedObjectFeatureRemover::DetectedObjectFeatureRemover(const rclcpp::NodeOptions & node_options)
+: Node("detected_object_feature_remover", node_options)
+{
+  using std::placeholders::_1;
+  pub_ = this->create_publisher<DetectedObjects>("~/output", rclcpp::QoS(1));
+  sub_ = this->create_subscription<DetectedObjectsWithFeature>(
+    "~/input", 1, std::bind(&DetectedObjectFeatureRemover::objectCallback, this, _1));
+}
+
+void DetectedObjectFeatureRemover::objectCallback(
+  const DetectedObjectsWithFeature::ConstSharedPtr input)
+{
+  DetectedObjects output;
+  convert(*input, output);
+  pub_->publish(output);
+}
+
+void DetectedObjectFeatureRemover::convert(
+  const DetectedObjectsWithFeature & objs_with_feature, DetectedObjects & objs)
+{
+  objs.header = objs_with_feature.header;
+  for (const auto & obj_with_feature : objs_with_feature.feature_objects) {
+    objs.objects.emplace_back(obj_with_feature.object);
+  }
+}
+
+}  // namespace detected_object_feature_remover
+
+#include <rclcpp_components/register_node_macro.hpp>
+RCLCPP_COMPONENTS_REGISTER_NODE(detected_object_feature_remover::DetectedObjectFeatureRemover)