Add parameters to maintain backward compatibility

Signed-off-by: yamacir-kit <httperror@404-notfound.jp>

simulation/simple_sensor_simulator/include/simple_sensor_simulator/sensor_simulation/detection_sensor/detection_sensor.hpp

@@ -95,6 +95,61 @@ class DetectionSensor : public DetectionSensorBase
 
   std::unordered_map<std::string, NoiseOutput> noise_outputs;
 
+  template <typename Message, typename std::enable_if_t<std::is_same_v<Message, T>, int> = 0>
+  auto delay() const
+  {
+    static const auto override_legacy_configuration = concealer::getParameter<bool>(
+      detected_objects_publisher->get_topic_name() + std::string(".override_legacy_configuration"));
+    if (override_legacy_configuration) {
+      static const auto delay = concealer::getParameter<double>(
+        detected_objects_publisher->get_topic_name() + std::string(".delay"));
+      return delay;
+    } else {
+      return configuration_.object_recognition_delay();
+    }
+  }
+
+  template <typename Message, typename std::enable_if_t<std::is_same_v<Message, U>, int> = 0>
+  auto delay() const
+  {
+    static const auto override_legacy_configuration = concealer::getParameter<bool>(
+      ground_truth_objects_publisher->get_topic_name() +
+      std::string(".override_legacy_configuration"));
+    if (override_legacy_configuration) {
+      static const auto delay = concealer::getParameter<double>(
+        ground_truth_objects_publisher->get_topic_name() + std::string(".delay"));
+      return delay;
+    } else {
+      return configuration_.object_recognition_ground_truth_delay();
+    }
+  }
+
+  auto range() const
+  {
+    static const auto override_legacy_configuration = concealer::getParameter<bool>(
+      detected_objects_publisher->get_topic_name() + std::string(".override_legacy_configuration"));
+    if (override_legacy_configuration) {
+      static const auto range = concealer::getParameter<double>(
+        detected_objects_publisher->get_topic_name() + std::string(".range"), 300.0);
+      return range;
+    } else {
+      return configuration_.range();
+    }
+  }
+
+  auto detect_all_objects_in_range() const
+  {
+    static const auto override_legacy_configuration = concealer::getParameter<bool>(
+      detected_objects_publisher->get_topic_name() + std::string(".override_legacy_configuration"));
+    if (override_legacy_configuration) {
+      static const auto clairvoyant = concealer::getParameter<bool>(
+        detected_objects_publisher->get_topic_name() + std::string(".clairvoyant"));
+      return clairvoyant;
+    } else {
+      return configuration_.detect_all_objects_in_range();
+    }
+  }
+
 public:
   explicit DetectionSensor(
     const double current_simulation_time,

simulation/simple_sensor_simulator/src/sensor_simulation/detection_sensor/detection_sensor.cpp

@@ -281,9 +281,9 @@ auto DetectionSensor<autoware_perception_msgs::msg::DetectedObjects>::update(
 
     auto is_in_range = [&](const auto & status) {
       return not isEgoEntityStatusToWhichThisSensorIsAttached(status) and
-             distance(status.pose(), ego_entity_status->pose()) <= configuration_.range() and
+             distance(status.pose(), ego_entity_status->pose()) <= range() and
              isOnOrAboveEgoPlane(status.pose(), ego_entity_status->pose()) and
-             (configuration_.detect_all_objects_in_range() or
+             (detect_all_objects_in_range() or
               std::find(
                 lidar_detected_entities.begin(), lidar_detected_entities.end(), status.name()) !=
                 lidar_detected_entities.end());
@@ -296,8 +296,23 @@ auto DetectionSensor<autoware_perception_msgs::msg::DetectedObjects>::update(
        simulator publishes, copy the following function and implement new one.
     */
     auto noise_v1 = [&](auto detected_entities, [[maybe_unused]] auto simulation_time) {
-      auto position_noise_distribution =
-        std::normal_distribution<>(0.0, configuration_.pos_noise_stddev());
+      static const auto override_legacy_configuration = concealer::getParameter<bool>(
+        detected_objects_publisher->get_topic_name() +
+        std::string(".override_legacy_configuration"));
+
+      static const auto standard_deviation =
+        override_legacy_configuration ? concealer::getParameter<double>(
+                                          detected_objects_publisher->get_topic_name() +
+                                          std::string(".noise.v1.position.standard_deviation"))
+                                      : configuration_.pos_noise_stddev();
+
+      static const auto missing_probability = override_legacy_configuration
+                                                ? concealer::getParameter<double>(
+                                                    detected_objects_publisher->get_topic_name() +
+                                                    std::string(".noise.v1.missing_probability"))
+                                                : configuration_.probability_of_lost();
+
+      auto position_noise_distribution = std::normal_distribution<>(0.0, standard_deviation);
 
       for (auto && detected_entity : detected_entities) {
         detected_entity.mutable_pose()->mutable_position()->set_x(
@@ -310,8 +325,7 @@ auto DetectionSensor<autoware_perception_msgs::msg::DetectedObjects>::update(
         std::remove_if(
           detected_entities.begin(), detected_entities.end(),
           [this](auto &&) {
-            return std::uniform_real_distribution()(random_engine_) <
-                   configuration_.probability_of_lost();
+            return std::uniform_real_distribution()(random_engine_) < missing_probability;
           }),
         detected_entities.end());
 
@@ -529,7 +543,7 @@ auto DetectionSensor<autoware_perception_msgs::msg::DetectedObjects>::update(
 
     if (
       current_simulation_time - unpublished_detected_entities.front().second >=
-      configuration_.object_recognition_delay()) {
+      delay<autoware_perception_msgs::msg::DetectedObjects>()) {
       const auto modified_detected_entities =
         std::apply(noise, unpublished_detected_entities.front());
       detected_objects_publisher->publish(make_detected_objects(modified_detected_entities));
@@ -540,7 +554,7 @@ auto DetectionSensor<autoware_perception_msgs::msg::DetectedObjects>::update(
 
     if (
       current_simulation_time - unpublished_ground_truth_entities.front().second >=
-      configuration_.object_recognition_ground_truth_delay()) {
+      delay<autoware_perception_msgs::msg::TrackedObjects>()) {
       ground_truth_objects_publisher->publish(
         make_ground_truth_objects(unpublished_ground_truth_entities.front().first));
       unpublished_ground_truth_entities.pop();

test_runner/scenario_test_runner/config/parameters.yaml

@@ -130,10 +130,18 @@ simulation:
       /perception/object_recognition/detection/objects:
         version: 20240605 # architecture_type suffix (mandatory)
         seed: 0 # If 0 is specified, a random seed value will be generated for each run.
+        override_legacy_configuration: false
+        delay: 0.0 # This value is used only if `override_legacy_configuration` is true. If it is false, the value of `detectedObjectPublishingDelay` in `ObjectController.Properties` in the scenario file is used.
+        range: 300.0 # This value is used only if `override_legacy_configuration` is true. If it is false, the value of `detectionSensorRange` in `ObjectController.Properties` in the scenario file is used.
+        clairvoyant: false # This value is used only if `override_legacy_configuration` is true. If it is false, the value of `isClairvoyant` in `ObjectController.Properties` in the scenario file is used.
         noise:
           model:
             version: 2 # Any of [1, 2].
-          v2:
+          v1: # This clause is used only if `model.version` is 1.
+            position:
+              standard_deviation: 0.0 # This value is used only if `override_legacy_configuration` is true. If it is false, the value of `detectedObjectPositionStandardDeviation` in `ObjectController.Properties` in the scenario file is used.
+            missing_probability: 0.0 # This value is used only if `override_legacy_configuration` is true. If it is false, the value of `detectedObjectMissingProbability` in `ObjectController.Properties` in the scenario file is used.
+          v2: # This clause is used only if `model.version` is 2.
             ellipse_y_radii: [10.0, 20.0, 40.0, 60.0, 80.0, 120.0, 150.0, 180.0, 1000.0]
             distance:
               autocorrelation_coefficient:
@@ -172,3 +180,7 @@ simulation:
               rate:
                 ellipse_normalized_x_radius: 0.7
                 values: [0.96, 0.78, 0.57, 0.48, 0.27, 0.07, 0.01, 0.0, 0.0]
+      /perception/object_recognition/ground_truth/objects:
+        version: 20240605 # architecture_type suffix (mandatory)
+        override_legacy_configuration: false
+        delay: 0.0  # This value is used only if `override_legacy_configuration` is true. If it is false, the value of `detectedObjectGroundTruthPublishingDelay` in `ObjectController.Properties` in the scenario file is used.