Make DetectedObject's shape be in object-local coordinates
Description
Currently there is a lot of confusion as to how the shape of the DetectedObject
message is represented (see #1348)
It makes sense to have the shape be represented in object-local coordinates (coordinates with respect to a centroid of the object) as the centroid is already represented in the kinematics
field along with the orientation of the object.
Definition of Done
-
Shape is stored in object-local coordinates -
the shape comment is updated -> autoware_auto_msgs!44 (closed) -
the comment in DetectedObject
is updated -
Visualization and tracking still work as expected -
design docs of modified packages are updated
Edited by Frederik Beaujean