Feature/display map msg #2485
Feature/display map msg #2485
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…ly for new trajectories
…eStamped and TwistStamped messages
carma/rviz/carma_default.rviz
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| {} | ||
| carma_1/radar/radar_fl: | ||
| radar_fc: |
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Probably a good chance to remove these unused radar topics
carma_wm_ctrl/src/WMBroadcaster.cpp
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| auto j2735_intersection_id = sim_->regem_id_to_intersection_id_[intersection->id()]; | ||
| for (auto pt: sim_->intersection_nodes_[j2735_intersection_id]) | ||
| { | ||
| RCLCPP_DEBUG_STREAM(rclcpp::get_logger("carma_wm_ctrl"), "Printing x: " << pt.x() << ", y: " << pt.y()); |
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If this debug statement is useful can we add some more information about what we are printing?
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added descriptive msg
It doesn't remove them when the broadcasting stops because if it is being displayed it means it is already processed by the carma-platform, so it does make sense it still visualizes. I understand how it maybe helpful when noticing MAP msg stopped broadcasting. However, we can check ros topic for it. Moreover, I believe currently not only it won't delete the MAP msg if it stops broadcasting, It also won't delete and remove the previous MAP msg if the MAP msg changed. However, both I think are very unlikely to happen in real world |
PR Details
Description
This PR allows the j2735 MAP msg to be visualized in the rviz
If the user wants to disable the view, they can turn the J2735 Map Msg marker off in rviz (the topic name in the pic says 2735, but the code corrected it to J2735).
I also updated the MAP msg creation document for CDASim to include this step
https://usdot-carma.atlassian.net/wiki/spaces/CRMSIM/pages/2619113473/Generating+MAP+uper+and+SPAT+messages+for+non-existent+intersections+in+cdasim
Related GitHub Issue
NA
Related Jira Key
TT-153
Motivation and Context
Creating MAP msg in Town05 requires iterative process of modifying lane geometry to get picked up by carma-platform correctly. This PR makes it easy to visualize where the offsets are falling so the developer can modify MAP message more easliy.
How Has This Been Tested?
tested on local pc with MAP msg sample for TFHRC, see the pic
Types of changes
Checklist: