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feat(perception_replayer): add a button to publish the goal pose #15

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Mar 29, 2024
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feat(perception_replayer): add a button to publish the goal pose #15

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feat(perception_replayer): add a button to publish the goal pose
maxime-clem Mar 15, 2024
4770843
style(pre-commit): autofix
pre-commit-ci[bot] Mar 15, 2024
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13 changes: 13 additions & 0 deletions planning/planning_debug_tools/scripts/perception_replayer/perception_replayer.py
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Original file line number Diff line number Diff line change
Expand Up @@ -20,6 +20,7 @@
import sys

from PyQt5.QtWidgets import QApplication
from geometry_msgs.msg import PoseStamped
from geometry_msgs.msg import PoseWithCovarianceStamped
from perception_replayer_common import PerceptionReplayerCommon
import rclpy
Expand All @@ -46,6 +47,7 @@ def __init__(self, args):
for button in self.widget.rate_button:
button.clicked.connect(functools.partial(self.onSetRate, button))
self.widget.pub_recorded_ego_pose_button.clicked.connect(self.publish_recorded_ego_pose)
self.widget.pub_goal_pose_button.clicked.connect(self.publish_goal)

# start timer callback
self.delta_time = 0.1
Expand Down Expand Up @@ -172,6 +174,17 @@ def publish_recorded_ego_pose(self):
self.recorded_ego_pub_as_initialpose.publish(recorded_ego_pose)
print("Published recorded ego pose as /initialpose")

def publish_goal(self):
if not self.rosbag_ego_odom_data:
return

goal_pose = PoseStamped()
goal_pose.header.stamp = self.get_clock().now().to_msg()
goal_pose.header.frame_id = "map"
goal_pose.pose = self.rosbag_ego_odom_data[-1][1].pose.pose
self.goal_pose_publisher.publish(goal_pose)
print("Published last recorded ego pose as /planning/mission_planning/goal")


if __name__ == "__main__":
parser = argparse.ArgumentParser()
Expand Down
5 changes: 5 additions & 0 deletions planning/planning_debug_tools/scripts/perception_replayer/perception_replayer_common.py
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Original file line number Diff line number Diff line change
Expand Up @@ -24,6 +24,7 @@
from autoware_auto_perception_msgs.msg import TrackedObjects
from autoware_auto_perception_msgs.msg import TrafficSignalArray as AutoTrafficSignalArray
from autoware_perception_msgs.msg import TrafficSignalArray
from geometry_msgs.msg import PoseStamped
from geometry_msgs.msg import PoseWithCovarianceStamped
from nav_msgs.msg import Odometry
import psutil
Expand Down Expand Up @@ -76,6 +77,10 @@ def __init__(self, args, name):
Odometry, "/perception_reproducer/rosbag_ego_odom", 1
)

self.goal_pose_publisher = self.create_publisher(
PoseStamped, "/planning/mission_planning/goal", 1
)

# load rosbag
print("Stared loading rosbag")
if os.path.isdir(args.bag):
Expand Down
4 changes: 3 additions & 1 deletion planning/planning_debug_tools/scripts/perception_replayer/time_manager_widget.py
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Original file line number Diff line number Diff line change
Expand Up @@ -91,13 +91,15 @@ def setupUI(self):
self.grid_layout.addWidget(self.button, 1, 0, 1, -1)
self.pub_recorded_ego_pose_button = QPushButton("publish recorded ego pose")
self.grid_layout.addWidget(self.pub_recorded_ego_pose_button, 2, 0, 1, -1)
self.pub_goal_pose_button = QPushButton("publish last recorded ego pose as goal pose")
self.grid_layout.addWidget(self.pub_goal_pose_button, 3, 0, 1, -1)

# slider
self.slider = QJumpSlider(QtCore.Qt.Horizontal, self.max_value)
self.slider.setMinimum(0)
self.slider.setMaximum(self.max_value)
self.slider.setValue(0)
self.grid_layout.addWidget(self.slider, 3, 0, 1, -1)
self.grid_layout.addWidget(self.slider, 4, 0, 1, -1)

self.setCentralWidget(self.central_widget)

Expand Down
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