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fix(percerption_replayer): make sure that old message in rosbags can be converted to new type correctly #60

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merged 3 commits into from
Jun 21, 2024
Merged

fix(percerption_replayer): make sure that old message in rosbags can be converted to new type correctly #60

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48d84ac
ensure that old message in rosbagcan be converted to new type correctly.
xtk8532704 Jun 20, 2024
32450cf
style(pre-commit): autofix
pre-commit-ci[bot] Jun 20, 2024
e27d8ff
Merge branch 'main' into fix/perception_replayer/convert_old_rosbag
xtk8532704 Jun 21, 2024
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23 changes: 13 additions & 10 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 @@ -143,20 +143,23 @@ def load_rosbag(self, rosbag2_path: str):
self.rosbag_ego_odom_data.append((stamp, msg))
if topic == traffic_signals_topic:
if not isinstance(msg, self.traffic_signals_pub.msg_type):
# convert old TrafficSignalArray msg to new TrafficLightGroupArray msg.
# convert old `TrafficSignalArray` msg to new `TrafficLightGroupArray` msg.
new_msg = self.traffic_signals_pub.msg_type()
new_msg.stamp = msg.stamp
assert (
type(msg).__name__ == "TrafficSignalArray"
and type(new_msg).__name__ == "TrafficLightGroupArray"
), f"Unsupported conversion from {type(msg).__name__} to {type(new_msg).__name__}"

new_msg.stamp = msg.header.stamp
for traffic_signal in msg.signals:
traffic_light_group = TrafficLightGroup()
traffic_light_group.traffic_light_group_id = (
traffic_signal.traffic_signal_id
)
for traffic_signal_element in traffic_signal.elements:
traffic_light_group.traffic_light_group_id = traffic_signal.map_primitive_id
for traffic_light in traffic_signal.lights:
traffic_light_element = TrafficLightElement()
traffic_light_element.color = traffic_signal_element.color
traffic_light_element.shape = traffic_signal_element.shape
traffic_light_element.status = traffic_signal_element.status
traffic_light_element.confidence = traffic_signal_element.confidence
traffic_light_element.color = traffic_light.color
traffic_light_element.shape = traffic_light.shape
traffic_light_element.status = traffic_light.status
traffic_light_element.confidence = traffic_light.confidence
traffic_light_group.elements.append(traffic_light_element)
new_msg.traffic_light_groups.append(traffic_light_group)
msg = new_msg
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2 changes: 1 addition & 1 deletion planning/planning_debug_tools/scripts/perception_replayer/perception_reproducer.py
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Expand Up @@ -221,7 +221,7 @@ def on_timer(self):
self.ego_odom_id2last_published_timestamp[ego_odom_idx] = timestamp
self.cool_down_indices.append(ego_odom_idx)

self.stopwatch.toc("total on_timer")
self.stopwatch.toc("total on_timer")

def find_nearest_ego_odom_index(self, ego_pose):
# nearest search with numpy format is much (~ x100) faster than regular for loop
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