dummy_perception_publisher

Purpose

This node publishes the result of the dummy detection with the type of perception.

Inner-workings / Algorithms

Inputs / Outputs

Input

Name	Type	Description
/tf	tf2_msgs/TFMessage	TF (self-pose)
input/object	dummy_perception_publisher::msg::Object	dummy detection objects

Output

Name	Type	Description
output/dynamic_object	tier4_perception_msgs::msg::DetectedObjectsWithFeature	dummy detection objects
output/points_raw	sensor_msgs::msg::PointCloud2	point cloud of objects
output/debug/ground_truth_objects	autoware_auto_perception_msgs::msg::TrackedObjects	ground truth objects

Parameters

Name	Type	Default Value	Explanation
visible_range	double	100.0	sensor visible range [m]
detection_successful_rate	double	0.8	sensor detection rate. (min) 0.0 - 1.0(max)
enable_ray_tracing	bool	true	if True, use ray tracking
use_object_recognition	bool	true	if True, publish objects topic
use_base_link_z	bool	true	if True, node uses z coordinate of ego base_link
publish_ground_truth	bool	false	if True, publish ground truth objects
use_fixed_random_seed	bool	false	if True, use fixed random seed
random_seed	int	0	random seed

Node Parameters

None.

Core Parameters

None.

Assumptions / Known limits

TBD.