A plugin that allows models to be spawned at a given location in a specific simulation time and then takes care of scoring correct identification and localization of the objects. More...

#include <perception_scoring_plugin.hh>

Inheritance diagram for PerceptionScoringPlugin:

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Public Member Functions
virtual void	Load (gazebo::physics::WorldPtr _world, sdf::ElementPtr _sdf)

	PerceptionScoringPlugin ()
	Constructor. More...

virtual	~PerceptionScoringPlugin ()
	Destructor. More...

Public Member Functions inherited from ScoringPlugin
void	Exit ()
	Shutdown Gazebo and ROS. More...

	ScoringPlugin ()
	Class constructor. More...

Public Attributes
gazebo::event::ConnectionPtr	connection
	Connection event. More...

gazebo::physics::EntityPtr	frame
	Link/model that the object poses use as their frame of reference. More...

std::string	frameName = std::string()
	Link/model name for the object poses use as their frame of reference. More...

gazebo::common::Time	lastUpdateTime
	Last time (sim time) that the plugin was updated. More...

bool	loopForever = false
	When true, "objects" will be repopulated when the object queue is empty, creating an infinite supply of objects. More...

std::vector< PerceptionObject >	objects
	Collection of objects to be spawned. More...

sdf::ElementPtr	sdf
	SDF pointer. More...

gazebo::common::Time	startTime
	The time specified in the object is relative to this time. More...

gazebo::physics::WorldPtr	world
	World pointer. More...

Protected Member Functions
void	OnUpdate ()
	Update the plugin. More...

Protected Member Functions inherited from ScoringPlugin
gazebo::common::Time	ElapsedTime () const
	Elapsed time in the running state. More...

void	Finish ()
	Finish the current task. This will set the "finished" flag in the task message to true. More...

double	GetRunningStateDuration ()
	Get running duration. More...

double	GetTimeoutScore ()
	Get the timeoutScore. More...

void	Load (gazebo::physics::WorldPtr _world, sdf::ElementPtr _sdf)

gazebo::common::Time	RemainingTime () const
	Remaining time in the running state. More...

double	Score () const
	Get the current score. More...

void	SetScore (double _newScore)
	Set the score. More...

void	SetTimeoutScore (double _timeoutScore)
	Set the score in case of timeout. More...

std::string	TaskName () const
	Get the task name. More...

std::string	TaskState () const
	Get the task state. More...

Private Member Functions
void	OnAttempt (const geographic_msgs::GeoPoseStamped::ConstPtr &_msg)

void	OnRunning () override
	Callback executed when the task state transition into "running". More...

void	ReleaseVehicle () override
	Tries to release the vehicle in case is locked. More...

void	Restart ()
	Restart the object population list. More...

Private Attributes
int	attemptBal = 0

ros::NodeHandle	nh
	ROS Node handle. More...

std::string	ns
	ROS namespace. More...

int	objectsDespawned =0
	\ brief count of how many objects have been despawned More...

ros::Subscriber	objectSub
	ROS subscriber. More...

std::string	objectTopic
	ROS topic where the object id/pose is received. More...

Additional Inherited Members
Protected Attributes inherited from ScoringPlugin
gazebo::common::Time	lastCollisionTime
	Last collision time. More...

double	runningStateDuration = 300.0
	Duration (seconds) of the running state (max task time). More...

vrx_gazebo::Task	taskMsg
	The next task message to be published. More...

std::string	taskName = "undefined"
	The name of the task. More...

ros::Publisher	taskPub
	Publisher for the task state. More...

gazebo::physics::ModelPtr	vehicleModel
	Pointer to the vehicle to score. More...

std::string	vehicleName
	The name of the vehicle to score. More...

gazebo::physics::WorldPtr	world
	A world pointer. More...

Detailed Description

A plugin that allows models to be spawned at a given location in a specific simulation time and then takes care of scoring correct identification and localization of the objects.

The plugin accepts the following SDF parameters:

<object_sequence>: Contains the list of objects to be populated. An object should be declared as an <object> element with the following parameters: <time> Simulation time to be spawned. <type> Model. <name> Landmark name. <pose> Initial object pose.

<loop_forever>: Optional parameter. If true, all objects will be spawned as a circular buffer. After spawning the last element of the collection, the first one will be inserted.

<frame>: Optional parameter. If present, the poses of the objects will be in the frame of this link/model. Otherwise the world frame is used.

<robot_namespace>: Optional parameter. If present, specifies ROS namespace.

<landmark_topic>: Optional parameter. Specify the topic to which the plugin subscribes for receiving identification and localization msgs. Default is "/vrx/perception/landmark"

<duration>: Optional parameter. Specify the time an object sticks around. defaults to 5

Here's an example of a valid SDF:

<plugin filename="libperception_scoring_plugin.so" name="perception_scoring_plugin"> <vehicle>wamv</vehicle> <task_name>perception</task_name> <initial_state_duration>1</initial_state_duration> <ready_state_duration>1</ready_state_duration> <running_state_duration>300</running_state_duration>

<loop_forever>false</loop_forever> <frame>wamv</frame> <object_sequence> <object> <time>10.0</time> <type>surmark950410</type> <name>red_0</name> <pose>6 0 1 0 0 0</pose> </object> <object> <time>10.0</time> <type>surmark950400</type> <name>green_0</name> <pose>6 6 1 0 0 0</pose> </object> </object_sequence> </plugin>

Definition at line 150 of file perception_scoring_plugin.hh.