From b864937d6e2fe575516e81d040e790030c27efa5 Mon Sep 17 00:00:00 2001 From: Taekjin LEE Date: Tue, 22 Oct 2024 13:26:08 +0900 Subject: [PATCH] perf PR 8657 --- .../multi_object_tracker_core.hpp | 8 +++- .../src/multi_object_tracker_core.cpp | 44 ++++++++++++++----- 2 files changed, 40 insertions(+), 12 deletions(-) diff --git a/perception/multi_object_tracker/include/multi_object_tracker/multi_object_tracker_core.hpp b/perception/multi_object_tracker/include/multi_object_tracker/multi_object_tracker_core.hpp index 95d33b78ff184..7e9f3a8754695 100644 --- a/perception/multi_object_tracker/include/multi_object_tracker/multi_object_tracker_core.hpp +++ b/perception/multi_object_tracker/include/multi_object_tracker/multi_object_tracker_core.hpp @@ -98,6 +98,11 @@ class MultiObjectTracker : public rclcpp::Node rclcpp::Subscription::SharedPtr detected_object_sub_; rclcpp::TimerBase::SharedPtr publish_timer_; // publish timer + rclcpp::Time last_published_time_; + rclcpp::Time last_updated_time_; + double publisher_period_; + static constexpr double minimum_publish_interval_ratio = 0.85; + static constexpr double maximum_publish_interval_ratio = 1.05; // debugger class std::unique_ptr debugger_; @@ -116,8 +121,7 @@ class MultiObjectTracker : public rclcpp::Node std::unique_ptr data_association_; void checkTrackerLifeCycle( - std::list> & list_tracker, const rclcpp::Time & time, - const geometry_msgs::msg::Transform & self_transform); + std::list> & list_tracker, const rclcpp::Time & time); void sanitizeTracker( std::list> & list_tracker, const rclcpp::Time & time); std::shared_ptr createNewTracker( diff --git a/perception/multi_object_tracker/src/multi_object_tracker_core.cpp b/perception/multi_object_tracker/src/multi_object_tracker_core.cpp index d28833241bd5f..2acc4f447cb50 100644 --- a/perception/multi_object_tracker/src/multi_object_tracker_core.cpp +++ b/perception/multi_object_tracker/src/multi_object_tracker_core.cpp @@ -174,6 +174,8 @@ void TrackerDebugger::startMeasurementTime(const rclcpp::Time & measurement_head MultiObjectTracker::MultiObjectTracker(const rclcpp::NodeOptions & node_options) : rclcpp::Node("multi_object_tracker", node_options), + last_published_time_(this->now()), + last_updated_time_(this->now()), tf_buffer_(this->get_clock()), tf_listener_(tf_buffer_) { @@ -196,11 +198,15 @@ MultiObjectTracker::MultiObjectTracker(const rclcpp::NodeOptions & node_options) this->get_node_base_interface(), this->get_node_timers_interface()); tf_buffer_.setCreateTimerInterface(cti); - // Create ROS time based timer + // Create ROS time based timer. + // If the delay compensation is enabled, the timer is used to publish the output at the correct + // time. if (enable_delay_compensation) { - const auto period_ns = rclcpp::Rate(publish_rate).period(); + publisher_period_ = 1.0 / publish_rate; // [s] + constexpr double timer_multiplier = 10.0; // 10 times frequent for publish timing check + const auto timer_period = rclcpp::Rate(publish_rate * timer_multiplier).period(); publish_timer_ = rclcpp::create_timer( - this, get_clock(), period_ns, std::bind(&MultiObjectTracker::onTimer, this)); + this, get_clock(), timer_period, std::bind(&MultiObjectTracker::onTimer, this)); } const auto tmp = this->declare_parameter>("can_assign_matrix"); @@ -236,6 +242,8 @@ MultiObjectTracker::MultiObjectTracker(const rclcpp::NodeOptions & node_options) void MultiObjectTracker::onMeasurement( const autoware_auto_perception_msgs::msg::DetectedObjects::ConstSharedPtr input_objects_msg) { + last_updated_time_ = this->now(); + /* keep the latest input stamp and check transform*/ debugger_->startMeasurementTime(rclcpp::Time(input_objects_msg->header.stamp)); const auto self_transform = getTransformAnonymous( @@ -277,7 +285,7 @@ void MultiObjectTracker::onMeasurement( } /* life cycle check */ - checkTrackerLifeCycle(list_tracker_, measurement_time, *self_transform); + checkTrackerLifeCycle(list_tracker_, measurement_time); /* sanitize trackers */ sanitizeTracker(list_tracker_, measurement_time); @@ -326,14 +334,28 @@ std::shared_ptr MultiObjectTracker::createNewTracker( void MultiObjectTracker::onTimer() { rclcpp::Time current_time = this->now(); - const auto self_transform = - getTransformAnonymous(tf_buffer_, world_frame_id_, "base_link", current_time); - if (!self_transform) { + + // ensure minimum interval: room for the next process(prediction) + const double minimum_publish_interval = publisher_period_ * minimum_publish_interval_ratio; + const auto elapsed_time = (current_time - last_published_time_).seconds(); + if (elapsed_time < minimum_publish_interval) { + return; + } + + // if there was update after publishing, publish new messages + bool should_publish = last_published_time_ < last_updated_time_; + + // if there was no update, publish if the elapsed time is longer than the maximum publish latency + // in this case, it will perform extrapolate/remove old objects + const double maximum_publish_interval = publisher_period_ * maximum_publish_interval_ratio; + should_publish = should_publish || elapsed_time > maximum_publish_interval; + + if (!should_publish) { return; } /* life cycle check */ - checkTrackerLifeCycle(list_tracker_, current_time, *self_transform); + checkTrackerLifeCycle(list_tracker_, current_time); /* sanitize trackers */ sanitizeTracker(list_tracker_, current_time); @@ -342,8 +364,7 @@ void MultiObjectTracker::onTimer() } void MultiObjectTracker::checkTrackerLifeCycle( - std::list> & list_tracker, const rclcpp::Time & time, - [[maybe_unused]] const geometry_msgs::msg::Transform & self_transform) + std::list> & list_tracker, const rclcpp::Time & time) { /* params */ constexpr float max_elapsed_time = 1.0; @@ -464,6 +485,9 @@ void MultiObjectTracker::publish(const rclcpp::Time & time) // Publish tracked_objects_pub_->publish(output_msg); + // Update last published time + last_published_time_ = this->now(); + // Debugger Publish if enabled debugger_->publishProcessingTime(); debugger_->publishTentativeObjects(tentative_objects_msg);