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Autoware.Auto
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This is the design document for the off_map_obstacles_filter_nodes package.
This is a temporary workaround for limitations in the parking planner and obstacle detection. Namely, some obstacles that were off the map (often spurious detections) were interrupting the parking maneuver.
The true solution would be to produce detections only for actual dynamic objects, and for the parking planner to be more robust (e.g. resume parking after waiting for an obstacle to disappear).
This is a standard ROS-level wrapper for the pure off_map_obstacles_filter package.
It fetches a lanelet map, and filters all incoming BoundingBoxArray messages. To calculate their overlap with the map, it also transforms them from their native frame into the map frame by asking tf2_ros for a transform with the same timestamp.
It is assumed that the transform is available within 100ms.
The input topic is bounding_boxes_in, the output topic is bounding_boxes_out. All settings are done through parameters.
If a transform is not available, the obstacles are not filtered because that means the system will fall back to braking for potentially spurious obstacles.
The map loading could be a bit nicer, also in the lanelet2_map_provider itself. But in the future, we should remove this node entirely anyway.
Issue #840.