dummy_perception_publisher

Purpose

This node publishes the result of the dummy detection with the type of perception. The node uses a plugin architecture to support different object movement strategies.

Inner-workings / Algorithms

Plugin Architecture

The node uses a plugin-based architecture to handle different types of object movement. This allows for flexible and extensible movement behaviors without modifying the core node logic.

Available Plugins

1. StraightLineObjectMovementPlugin: Moves objects in straight lines based on their initial velocity and direction.
2. PredictedObjectMovementPlugin: Moves objects along predicted paths from perception predictions, providing more realistic movement patterns.

Plugin Base Class

All movement plugins inherit from DummyObjectMovementBasePlugin which provides:

• Object management (add, delete operations)
• Associated action type handling
• Common interface for object movement

Object Action Handling

• ADD: New objects are created and they move in a straight line, acceleration and deceleration parameters can be used.
• MODIFY: Handled directly by the node, bypassing plugin movement logic. Immediately replaces the object’s position information across all plugins.
• DELETE: The specified object is removed from all plugins.
• DELETEALL: Clears all objects from all plugins.
• PREDICT: New objects are created, they move in a straight line for a set time and then the predictions extracted from the perception module are used to dictate where the objects will move to. NOTE: for ease of calculation, acceleration is not taken into account when calculating the object’s position, only its initial speed.

Inputs / Outputs

Input

Output

Parameters

Core Parameters

PredictedObjectMovementPlugin Parameters

Common Remapping Parameters

The plugin uses CommonParameters for both vehicle and pedestrian object types. Each parameter is prefixed with either vehicle. or pedestrian.:

Changelog for package autoware_dummy_perception_publisher

0.48.0 (2025-11-18)

• Merge remote-tracking branch 'origin/main' into humble

• feat(dummy_perception_publisher): add conversion to PointXYZIRC for output clouds (#11453)

  • feat(dummy_perception_publisher): Add conversion to PointXYZIRC for output clouds

  * style(pre-commit): autofix ---------Co-authored-by: Takeshi Miura <<m.takeshi1995@gmail.com>> Co-authored-by: Junya Sasaki <<junya.sasaki@tier4.jp>> Co-authored-by: pre-commit-ci-lite[bot] <117423508+pre-commit-ci-lite[bot]@users.noreply.github.com>

• fix: tf2 uses hpp headers in rolling (and is backported) (#11620)

• feat(autoware_dummy_perception_publisher): dummy object predicted path functionality (#11011)

  • feat: implement euclidean distance-based mapping for dummy perception publisher
  • Add euclidean distance-based mapping between dummy objects and predicted objects
  • Implement 2-second grace period before using predicted paths
  • Add distance-based interpolation along predicted paths using dummy object speed
  • Use predictions at least 1 second old for better movement calculation
  • Maintain one-to-one mapping between dummy and predicted objects
  • Add predicted objects subscription and buffer management
  • Preserve dummy object velocity throughout movement
  • feat: enhance euclidean distance-based mapping with prediction stability
  • Implement prediction keeping logic for 1-second intervals to reduce jitter
  • Add prediction storage maps for stable object tracking
  • Remove debug output and clean up prediction selection logic
  • Use object creation time instead of mapping time for 2-second grace period
  • Improve handling of predicted object ID changes with proper remapping
  • Clean up unused mapping time parameter from ObjectInfo constructor
  • feat: increase prediction stability duration to 3 seconds
  • Change MIN_KEEP_DURATION from 1.0 to 3.0 seconds for more stable object tracking
  • Add debug output to track prediction usage
  • Fix code formatting and whitespace
  • feat: implement trajectory extrapolation and lost object handling
  • Add trajectory extrapolation when objects overshoot predicted paths
  • Use last two trajectory points to determine direction for extrapolation
  • Maintain last known orientation during extrapolation
  • Keep using last predicted trajectory for lost objects
  • Add proper fallbacks for edge cases (single point paths, zero-length segments)
  • Clean up debug output to avoid duplication
  • feat: add trajectory validation to prevent unrealistic direction changes
  • Add isTrajectoryValid function to validate new predictions against current ones
  • Implement thresholds for yaw change (45°), direction change (60°), and speed change (200%)
  • Skip trajectory updates when validation fails to maintain smooth object movement
  • Handle edge cases including empty paths and low-speed scenarios
  • Add detailed logging for debugging trajectory rejections
  • feat: relax trajectory validation thresholds for more realistic movement
  • Increase yaw change threshold from 45° to 90°
  • Increase direction change threshold from 60° to 120°
  • Increase speed change threshold from 200% to 500%
  • Allow for more realistic vehicle maneuvers while still preventing physics violations
  • feat: add path length validation to trajectory comparison
  • Add MAX_PATH_LENGTH_CHANGE_RATIO threshold (300% change)
  • Calculate path lengths for both current and new trajectories
  • Compare path length ratios to prevent unrealistic path changes
  • Skip validation for very short paths (less than 0.1m)
  • Add detailed logging for path length validation failures
  • feat: add comprehensive validation for object remapping candidates
  • Add isValidRemappingCandidate function to validate remapping candidates
  • Implement position, trajectory, and heading similarity checks
  • Add arePathsSimilar function to compare path shapes and directions
  • Use validation in both remapping and unmapped object scenarios
  • Add detailed logging for debugging validation failures
  • Set appropriate thresholds for distance, yaw, and path comparison

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