Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

fix(autoware_multi_object_tracker): revert latency reduction logic and bring back to timer trigger #8277

Merged
merged 3 commits into from
Aug 5, 2024
Merged

fix(autoware_multi_object_tracker): revert latency reduction logic and bring back to timer trigger #8277

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
3 commits
Select commit Hold shift + click to select a range
029e90a
fix: revert latency reduction logic and bring back to timer trigger
technolojin Jul 31, 2024
ebce651
style(pre-commit): autofix
pre-commit-ci[bot] Jul 31, 2024
960d8ca
chore: remove unused variables
technolojin Jul 31, 2024
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
26 changes: 1 addition & 25 deletions perception/autoware_multi_object_tracker/src/multi_object_tracker_node.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -153,9 +153,7 @@
// If the delay compensation is enabled, the timer is used to publish the output at the correct
// time.
if (enable_delay_compensation) {
publisher_period_ = 1.0 / publish_rate; // [s]
constexpr double timer_multiplier = 20.0; // 20 times frequent for publish timing check
const auto timer_period = rclcpp::Rate(publish_rate * timer_multiplier).period();
const auto timer_period = rclcpp::Rate(publish_rate).period();

Check notice on line 156 in perception/autoware_multi_object_tracker/src/multi_object_tracker_node.cpp

View check run for this annotation

CodeScene Delta Analysis / CodeScene Cloud Delta Analysis (main)

✅ Getting better: Large Method 

MultiObjectTracker::MultiObjectTracker decreases from 98 to 96 lines of code, threshold = 70. Large functions with many lines of code are generally harder to understand and lower the code health. Avoid adding more lines to this function.

Check warning on line 156 in perception/autoware_multi_object_tracker/src/multi_object_tracker_node.cpp

View check run for this annotation

Codecov / codecov/patch

perception/autoware_multi_object_tracker/src/multi_object_tracker_node.cpp#L156 

Added line #L156 was not covered by tests
publish_timer_ = rclcpp::create_timer(
this, get_clock(), timer_period, std::bind(&MultiObjectTracker::onTimer, this));
}
Expand Down Expand Up @@ -210,35 +208,13 @@
ObjectsList objects_list;
const bool is_objects_ready = input_manager_->getObjects(current_time, objects_list);
if (!is_objects_ready) return;

onMessage(objects_list);
const rclcpp::Time latest_time(objects_list.back().second.header.stamp);

// Publish objects if the timer is not enabled
if (publish_timer_ == nullptr) {
// if the delay compensation is disabled, publish the objects in the latest time
publish(latest_time);
} else {
// Publish if the next publish time is close
const double minimum_publish_interval = publisher_period_ * 0.70; // 70% of the period
const rclcpp::Time publish_time = this->now();
if ((publish_time - last_published_time_).seconds() > minimum_publish_interval) {
checkAndPublish(publish_time);
}
}
}

void MultiObjectTracker::onTimer()
{
const rclcpp::Time current_time = this->now();

// Check the publish period
const auto elapsed_time = (current_time - last_published_time_).seconds();
// If the elapsed time is over the period, publish objects with prediction
constexpr double maximum_latency_ratio = 1.11; // 11% margin
const double maximum_publish_latency = publisher_period_ * maximum_latency_ratio;
if (elapsed_time < maximum_publish_latency) return;

// get objects from the input manager and run process
ObjectsList objects_list;
const bool is_objects_ready = input_manager_->getObjects(current_time, objects_list);
Expand Down
1 change: 0 additions & 1 deletion perception/autoware_multi_object_tracker/src/multi_object_tracker_node.hpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -78,7 +78,6 @@ class MultiObjectTracker : public rclcpp::Node
// publish timer
rclcpp::TimerBase::SharedPtr publish_timer_;
rclcpp::Time last_published_time_;
double publisher_period_;

// internal states
std::string world_frame_id_; // tracking frame
Expand Down
Loading