[#312] Transform for BoundingBoxArray
Description
Relates to #312 (closed)
- Created a new package
autoware_auto_tf2
fortf2
related utilities. -
tf2_autoware_auto_msgs.h
will hold anytf2
related functions forautoware_auto_msgs
- Added transform capability for
autoware_auto_msgs::msg::BoundingBoxArray
Notes for Reviewer
Added tests and also tested with recordreplay_planner_node
, where BoundingBoxArray
was transformed for obstacle detection in the planner's frame.
The usage is as simple as
void RecordReplayPlannerNode::on_bounding_box(const BoundingBoxArray::SharedPtr & msg)
{
...
auto msg_tansformed = tf_buffer_->transform(*msg, m_odom_frame_id, timeout);
m_planner->update_bounding_boxes(msg_tansformed);
Changes in recordreplay_planner_node
, in a different MR !366 (merged)
Checklist
-
Documentation was updated
/milestone %After AVP
Edited by Jit Ray Chowdhury