structure changes

update
autowarefoundation · Jan 3, 2024 · 370ffe2 · 370ffe2
1 parent 06b2915
commit 370ffe2
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Showing 3 changed files with 232 additions and 210 deletions.
diff --git a/tools/reaction_analyzer/include/reaction_analyzer_node.hpp b/tools/reaction_analyzer/include/reaction_analyzer_node.hpp
@@ -146,6 +146,7 @@ class ReactionAnalyzerNode : public rclcpp::Node
   tf2_ros::TransformListener tf_listener_{tf_buffer_};
 
   // Functions
+  rclcpp::SubscriptionOptions createSubscriptionOptions();
   bool loadChainModules();
   bool initObservers(const ChainModules & modules);
   void initAnalyzerVariables();
@@ -157,6 +158,11 @@ class ReactionAnalyzerNode : public rclcpp::Node
   void setControlCommandToBuffer(
     std::vector<AckermannControlCommand> & buffer, const AckermannControlCommand & cmd);
   std::optional<size_t> findFirstBrakeIdx(const std::vector<AckermannControlCommand> & cmd_array);
+  void spawnObstacle(const geometry_msgs::msg::Point & ego_pose);
+  void searchForReactions(
+    const std::unordered_map<std::string, BufferVariant> & message_buffers,
+    const geometry_msgs::msg::Point & ego_pose);
+  void printResults(const std::unordered_map<std::string, BufferVariant> & message_buffers);
   void onTimer();
 
   // Callbacks
@@ -173,7 +179,7 @@ class ReactionAnalyzerNode : public rclcpp::Node
 
   // Variables
   std::vector<rclcpp::SubscriptionBase::SharedPtr> subscribers_;
-  std::unordered_map<std::string, BufferVariant> messageBuffers_;
+  std::unordered_map<std::string, BufferVariant> message_buffers_;
   std::optional<rclcpp::Time> last_test_environment_init_time_;
   std::optional<rclcpp::Time> spawn_cmd_time_;
   bool is_test_environment_created_{false};
@@ -187,8 +193,7 @@ class ReactionAnalyzerNode : public rclcpp::Node
 
   // Client
   rclcpp::Client<ChangeOperationMode>::SharedPtr client_change_to_autonomous_;
-  void callOperationModeServiceWithoutResponse(
-    const rclcpp::Client<ChangeOperationMode>::SharedPtr client);
+  void callOperationModeServiceWithoutResponse();
 
   // Pointers
   PointCloud2::SharedPtr entity_pointcloud_ptr_;

diff --git a/tools/reaction_analyzer/launch/reaction_analyzer.launch.xml b/tools/reaction_analyzer/launch/reaction_analyzer.launch.xml
@@ -5,11 +5,13 @@
       <param from="$(var reaction_analyzer_param_path)"/>
       <remap from="output/points_raw" to="/perception/obstacle_segmentation/pointcloud"/>
       <remap from="output/objects" to="/perception/object_recognition/objects"/>
+      <remap from="output/initialpose" to="/initialpose"/>
+      <remap from="output/goal" to="/planning/mission_planning/goal"/>
+      <remap from="service/change_to_autonomous" to="/api/operation_mode/change_to_autonomous"/>
       <remap from="input/kinematics" to="/localization/kinematic_state"/>
-      <!--      <remap from="input/localization_initialization_state" to="/localization/initialization_state"/>-->
-      <remap from="input/points_raw" to="/perception/obstacle_segmentation/pointcloud"/>
-      <remap from="input/trajectory_follower_cmd" to="/control/trajectory_follower/control_cmd"/>
-      <remap from="input/vehicle_cmd_gate_cmd" to="/control/command/control_cmd"/>
+      <remap from="input/localization_initialization_state" to="/api/localization/initialization_state"/>
+      <remap from="input/routing_state" to="/api/routing/state"/>
+      <remap from="input/operation_mode_state" to="/api/operation_mode/state"/>
       <extra_arg name="use_intra_process_comms" value="false"/>
     </composable_node>
   </node_container>