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feat(distortion_corrector_node): replace imu and twist callback with polling subscriber #10057

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feat(distortion_corrector_node): replace imu and twist callback with polling subscriber #10057

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8f5480d
fix(distortion_corrector_node): replace imu and twist callback with p…
Jan 31, 2025
bc63672
fix(distortion_corrector_node): include vector header for cpplint check
Jan 31, 2025
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11 changes: 6 additions & 5 deletions ...clude/autoware/pointcloud_preprocessor/distortion_corrector/distortion_corrector_node.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -18,6 +18,7 @@
#include "autoware/pointcloud_preprocessor/distortion_corrector/distortion_corrector.hpp"

#include <autoware/universe_utils/ros/debug_publisher.hpp>
#include <autoware/universe_utils/ros/polling_subscriber.hpp>
#include <autoware/universe_utils/system/stop_watch.hpp>
#include <rclcpp/rclcpp.hpp>

Expand All @@ -40,8 +41,11 @@ class DistortionCorrectorComponent : public rclcpp::Node
explicit DistortionCorrectorComponent(const rclcpp::NodeOptions & options);

private:
rclcpp::Subscription<geometry_msgs::msg::TwistWithCovarianceStamped>::SharedPtr twist_sub_;
rclcpp::Subscription<sensor_msgs::msg::Imu>::SharedPtr imu_sub_;
autoware::universe_utils::InterProcessPollingSubscriber<
geometry_msgs::msg::TwistWithCovarianceStamped,
autoware::universe_utils::polling_policy::All>::SharedPtr twist_sub_;
autoware::universe_utils::InterProcessPollingSubscriber<
sensor_msgs::msg::Imu, autoware::universe_utils::polling_policy::All>::SharedPtr imu_sub_;
rclcpp::Subscription<PointCloud2>::SharedPtr pointcloud_sub_;

rclcpp::Publisher<PointCloud2>::SharedPtr undistorted_pointcloud_pub_;
Expand All @@ -59,9 +63,6 @@ class DistortionCorrectorComponent : public rclcpp::Node
std::unique_ptr<DistortionCorrectorBase> distortion_corrector_;

void pointcloud_callback(PointCloud2::UniquePtr pointcloud_msg);
void twist_callback(
const geometry_msgs::msg::TwistWithCovarianceStamped::ConstSharedPtr twist_msg);
void imu_callback(const sensor_msgs::msg::Imu::ConstSharedPtr imu_msg);
};

} // namespace autoware::pointcloud_preprocessor
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50 changes: 27 additions & 23 deletions ...g/autoware_pointcloud_preprocessor/src/distortion_corrector/distortion_corrector_node.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -19,6 +19,7 @@
#include <memory>
#include <string>
#include <utility>
#include <vector>

namespace autoware::pointcloud_preprocessor
{
Expand All @@ -28,8 +29,8 @@
{
// initialize debug tool

using autoware::universe_utils::DebugPublisher;
using autoware::universe_utils::StopWatch;
using universe_utils::DebugPublisher;
using universe_utils::StopWatch;
stop_watch_ptr_ = std::make_unique<StopWatch<std::chrono::milliseconds>>();
debug_publisher_ = std::make_unique<DebugPublisher>(this, "distortion_corrector");
stop_watch_ptr_->tic("cyclic_time");
Expand All @@ -52,13 +53,18 @@
"~/output/pointcloud", rclcpp::SensorDataQoS(), pub_options);
}

// Twist queue size needs to be larger than 'twist frequency' / 'pointcloud frequency'.
// To avoid individual tuning, a sufficiently large value is hard-coded.
// With 100, it can handle twist updates up to 1000Hz if the pointcloud is 10Hz.
const uint16_t TWIST_QUEUE_SIZE = 100;

// Subscriber
twist_sub_ = this->create_subscription<geometry_msgs::msg::TwistWithCovarianceStamped>(
"~/input/twist", 10,
std::bind(&DistortionCorrectorComponent::twist_callback, this, std::placeholders::_1));
imu_sub_ = this->create_subscription<sensor_msgs::msg::Imu>(
"~/input/imu", 10,
std::bind(&DistortionCorrectorComponent::imu_callback, this, std::placeholders::_1));
twist_sub_ = universe_utils::InterProcessPollingSubscriber<
geometry_msgs::msg::TwistWithCovarianceStamped, universe_utils::polling_policy::All>::
create_subscription(this, "~/input/twist", rclcpp::QoS(TWIST_QUEUE_SIZE));
imu_sub_ = universe_utils::InterProcessPollingSubscriber<
sensor_msgs::msg::Imu, universe_utils::polling_policy::All>::
create_subscription(this, "~/input/imu", rclcpp::QoS(TWIST_QUEUE_SIZE));
pointcloud_sub_ = this->create_subscription<PointCloud2>(
"~/input/pointcloud", rclcpp::SensorDataQoS(),
std::bind(&DistortionCorrectorComponent::pointcloud_callback, this, std::placeholders::_1));
Expand All @@ -72,21 +78,6 @@
}
}

void DistortionCorrectorComponent::twist_callback(
const geometry_msgs::msg::TwistWithCovarianceStamped::ConstSharedPtr twist_msg)
{
distortion_corrector_->process_twist_message(twist_msg);
}

void DistortionCorrectorComponent::imu_callback(const sensor_msgs::msg::Imu::ConstSharedPtr imu_msg)
{
if (!use_imu_) {
return;
}

distortion_corrector_->process_imu_message(base_frame_, imu_msg);
}

void DistortionCorrectorComponent::pointcloud_callback(PointCloud2::UniquePtr pointcloud_msg)
{
stop_watch_ptr_->toc("processing_time", true);
Expand All @@ -97,6 +88,19 @@
return;
}

std::vector<geometry_msgs::msg::TwistWithCovarianceStamped::ConstSharedPtr> twist_msgs =
twist_sub_->takeData();
for (const auto & msg : twist_msgs) {
distortion_corrector_->process_twist_message(msg);
}

if (use_imu_) {
std::vector<sensor_msgs::msg::Imu::ConstSharedPtr> imu_msgs = imu_sub_->takeData();
for (const auto & msg : imu_msgs) {
distortion_corrector_->process_imu_message(base_frame_, msg);
}
}

Check warning on line 103 in sensing/autoware_pointcloud_preprocessor/src/distortion_corrector/distortion_corrector_node.cpp

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CodeScene Delta Analysis / CodeScene Cloud Delta Analysis (main)

❌ New issue: Complex Method 

DistortionCorrectorComponent::pointcloud_callback has a cyclomatic complexity of 10, threshold = 9. This function has many conditional statements (e.g. if, for, while), leading to lower code health. Avoid adding more conditionals and code to it without refactoring.

Check warning on line 103 in sensing/autoware_pointcloud_preprocessor/src/distortion_corrector/distortion_corrector_node.cpp

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CodeScene Delta Analysis / CodeScene Cloud Delta Analysis (main)

❌ New issue: Bumpy Road Ahead 

DistortionCorrectorComponent::pointcloud_callback has 2 blocks with nested conditional logic. Any nesting of 2 or deeper is considered. Threshold is one single, nested block per function. The Bumpy Road code smell is a function that contains multiple chunks of nested conditional logic. The deeper the nesting and the more bumps, the lower the code health.
distortion_corrector_->set_pointcloud_transform(base_frame_, pointcloud_msg->header.frame_id);
distortion_corrector_->initialize();

Expand Down
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