autoware_predicted_path_postprocessor

Purpose

The autoware_predicted_path_postprocessor performs post-processing on predicted paths.

Inner-workings / Algorithms

The following processors are supported:

• RefineBySpeed
  • Refine the paths of objects based on their current speed.

Inputs / Outputs

Input

Output

How to Add New Processor

Processors in this package should follow a structured naming convention as below:

As an example, let’s see how to add a new processor by using a processor called FilterBySomething.

1. Create a new processor class that inherits from ProcessorInterface:

   class FilterBySomething final : public ProcessorInterface
   {
     public:
       FilterBySomething(rclcpp::Node * node_ptr, const std::string & processor_name)
       : ProcessorInterface(processor_name)
       {
         // Load parameters
         double_param_ = node_ptr->declare_parameter<double>(processor_name + ".double_param");
         string_param_ = node_ptr->declare_parameter<std::string>(processor_name + ".string_param");
       }

    private:
       result_type check_context(const Context & context)
       {
         // ...Check context if it contains the required information
         return make_ok<error_type>();
       }

       result_type process(target_type & target, const Context & context) override
       {
         // ...Execute processor specific logic
         return make_ok<error_type>();
       }

    private:
      double double_param_;
      std::string string_param_;
   };
   

1. Register the new processor in build_processors(...) function:

   std::vector<ProcessorInterface::UniquePtr> build_processors(rclcpp::Node * node_ptr, const std::string & processor_name)
   {
     std::vector<ProcessorInterface::UniquePtr> outputs;
     for (const auto & name : processor_names) {
       if ( /* ... */) {
         // ...
       } else if (name == "filter_by_something") {
         outputs.push_back(std::make_unique<FilterBySomething>(node_ptr, name));
       }
     }
     return outputs;
   }
   

1. Add parameter to the config/predicted_path_postprocessor.param.yaml:

   The parameters must be grouped under the processor’s string identifier. The processors specified in the processors array are launched in runtime.

```yaml:config/predicted_path_postprocessor.param.yaml /**: ros__parameters: processors: [filter_by_something] # — FilterBySomething — filter_by_something:

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