From f6c1527d52fb56195a8936f7f1f1596cc8c15224 Mon Sep 17 00:00:00 2001 From: Taekjin LEE Date: Wed, 18 Dec 2024 14:20:24 +0900 Subject: [PATCH] fix: implementing trigger timing fix implementing https://github.com/autowarefoundation/autoware.universe/pull/8657 Signed-off-by: Taekjin LEE --- .../multi_object_tracker_core.hpp | 4 +++ .../src/multi_object_tracker_core.cpp | 36 ++++++++++++------- 2 files changed, 28 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 d6b79e13f1d3d..3a5bdc83b44e5 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 @@ -78,6 +78,10 @@ class MultiObjectTracker : public rclcpp::Node // publish timer rclcpp::TimerBase::SharedPtr 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; // internal states std::string world_frame_id_; // tracking frame 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 94062bcf9cc81..203889856e50a 100644 --- a/perception/multi_object_tracker/src/multi_object_tracker_core.cpp +++ b/perception/multi_object_tracker/src/multi_object_tracker_core.cpp @@ -73,7 +73,8 @@ MultiObjectTracker::MultiObjectTracker(const rclcpp::NodeOptions & node_options) : rclcpp::Node("multi_object_tracker", node_options), tf_buffer_(this->get_clock()), tf_listener_(tf_buffer_), - last_published_time_(this->now()) + last_published_time_(this->now()), + last_updated_time_(this->now()) { // glog for debug if (!google::IsGoogleLoggingInitialized()) { @@ -153,7 +154,9 @@ MultiObjectTracker::MultiObjectTracker(const rclcpp::NodeOptions & node_options) // If the delay compensation is enabled, the timer is used to publish the output at the correct // time. if (enable_delay_compensation) { - const auto timer_period = 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(), timer_period, std::bind(&MultiObjectTracker::onTimer, this)); } @@ -215,24 +218,33 @@ void MultiObjectTracker::onTimer() { const rclcpp::Time current_time = this->now(); - // get objects from the input manager and run process - ObjectsList objects_list; - const bool is_objects_ready = input_manager_->getObjects(current_time, objects_list); - if (is_objects_ready) { - onMessage(objects_list); + // 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; } - // Publish - checkAndPublish(current_time); -} + // 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; + // Publish with delay compensation to the current time + if (should_publish) checkAndPublish(current_time); +} void MultiObjectTracker::onMessage(const ObjectsList & objects_list) { const rclcpp::Time current_time = this->now(); - const rclcpp::Time oldest_time(objects_list.front().second.header.stamp); + const rclcpp::Time oldest_time(objects_list.back().second.header.stamp); // process start - debugger_->startMeasurementTime(this->now(), oldest_time); + last_updated_time_ = current_time; + const rclcpp::Time latest_time(objects_list.back().second.header.stamp); + debugger_->startMeasurementTime(this->now(), latest_time); // run process for each DetectedObjects for (const auto & objects_data : objects_list) { runProcess(objects_data.second, objects_data.first);