Add tracking node that builds

docker/perception/tracking/tracking.Dockerfile

@@ -7,7 +7,7 @@ WORKDIR ${AMENT_WS}/src
 
 # Copy in source code 
 COPY src/perception/tracking tracking
-COPY src/wato_msgs/sample_msgs sample_msgs
+COPY src/wato_msgs/perception_msgs/tracking_msgs tracking_msgs
 
 # Scan for rosdeps
 RUN apt-get -qq update && rosdep update && \
@@ -19,6 +19,16 @@ RUN apt-get -qq update && rosdep update && \
 ################################# Dependencies ################################
 FROM ${BASE_IMAGE} as dependencies
 
+# Install pip
+RUN apt-get update && apt-get install -y \
+    python3 \
+    python3-pip
+
+# Install python packages
+COPY src/perception/tracking/requirements.txt requirements.txt
+RUN python3 -m pip install -r requirements.txt
+RUN rm requirements.txt
+
 # Install Rosdep requirements
 COPY --from=source /tmp/colcon_install_list /tmp/colcon_install_list
 RUN apt-fast install -qq -y --no-install-recommends $(cat /tmp/colcon_install_list)

modules/dev_overrides/docker-compose.perception.yaml

@@ -64,3 +64,4 @@ services:
     command: tail -F anything
     volumes:
       - ${MONO_DIR}/src/perception/tracking:/home/bolty/ament_ws/src/tracking
+      - ${MONO_DIR}/src/wato_msgs/perception_msgs/tracking_msgs:/home/bolty/ament_ws/src/tracking_msgs

src/perception/tracking/config/AB3DMOT.yaml

@@ -0,0 +1,7 @@
+
+TRACKER:
+  COVARIANCE: 'BaselineCovariance'                # see covariance.py
+  MATCH_THRESHOLD: -0.1                           # -1 * Minimum IOU threshold 
+  MATCH_ALGORITHM: 'hungarian_match'              # see algorithms.py
+  SCORE_METRIC: 'iou_metric'
+  USE_ANGULAR_VELOCITY: False

src/perception/tracking/config/mahalanobis.yaml

@@ -0,0 +1,7 @@
+
+TRACKER:
+  COVARIANCE: 'BaselineCovariance'       # see covariance.py
+  MATCH_THRESHOLD: 11                    # maximum mahalanobis distance
+  MATCH_ALGORITHM: 'greedy_match'        # see algorithms.py
+  SCORE_METRIC: 'mahalanobis_euclidian_metric'
+  USE_ANGULAR_VELOCITY: False

src/perception/tracking/config/params.yaml

@@ -0,0 +1,19 @@
+obstacle_class_names:
+  - UNKNOWN
+  - PEDISTRIAN
+  - CYCLIST
+
+traffic_sign_class_names:
+  - LEFT_TURN_SIGN
+  - RIGHT_TURN_SIGN
+  - STOP_SIGN
+  - PED_CROSSING
+  - DO_NOT_ENTER
+  - 5MPH_SIGN
+  - 10MPH_SIGN
+  - 15MPH_SIGN
+  - 20MPH_SIGN
+  - 25MPH_SIGN
+  - HANDICAP_SIGN
+  - RAILROAD_CROSSING
+  - PARKING_SIGN

src/perception/tracking/launch/tracking.launch.py

@@ -0,0 +1,14 @@
+from launch import LaunchDescription
+from launch_ros.actions import Node
+
+
+def generate_launch_description():
+    """Launch Radar object detection system."""
+    trackingnode = Node(
+        package='tracking',
+        executable='tracking_node',
+    )
+
+    return LaunchDescription([
+        trackingnode
+    ])

src/perception/tracking/package.xml

@@ -4,13 +4,16 @@
   <name>tracking</name>
   <version>0.0.0</version>
   <description>TODO: Package description</description>
-  <maintainer email="e23zhou@uwaterloo.ca">bolty</maintainer>
+  <maintainer email="s36gong@uwaterloo.ca">Steven Gong</maintainer>
   <license>TODO: License declaration</license>
 
   <buildtool_depend>ament_cmake</buildtool_depend>
 
+  <depend>tf_transformations</depend>
+  <depend>vision_msgs</depend>
+  <exec_depend>tracking_msgs</exec_depend>
 
   <export>
-    <build_type>ament_cmake</build_type>
+    <build_type>ament_python</build_type>
   </export>
 </package>

src/perception/tracking/readme.md

@@ -0,0 +1,9 @@
+watod build tracking
+
+watod up tracking foxglove data_stream
+
+watod -t tracking 
+colcon build
+ros2 launch tracking tracking.launch.py
+
+watod run data_stream ros2 bag play ./nuscenes/NuScenes-v1.0-mini-scene-0061/NuScenes-v1.0-mini-scene-0061_0.mcap --loop

src/perception/tracking/requirements.txt

@@ -0,0 +1,5 @@
+transforms3d
+numba 
+filterpy==1.4.5 
+scipy 
+easydict 

src/perception/tracking/setup.cfg

@@ -0,0 +1,4 @@
+[develop]
+script_dir=$base/lib/tracking
+[install]
+install_scripts=$base/lib/tracking

src/perception/tracking/setup.py

@@ -0,0 +1,32 @@
+from setuptools import setup, find_packages
+import os
+from glob import glob
+
+package_name = 'tracking'
+
+setup(
+    name=package_name,
+    version='0.0.0',
+    # packages=[package_name],
+    packages=find_packages(),
+    data_files=[
+        ('share/ament_index/resource_index/packages',
+            ['resource/' + package_name]),
+        ('share/' + package_name, ['package.xml']),
+        (os.path.join('share', package_name, 'launch'), glob('launch/*.launch.py')),
+        (os.path.join('share', package_name, 'launch', 'include'), glob('launch/include/*.launch.py')),
+        (os.path.join('share', package_name, 'config'), glob('config/*.yaml')),
+    ],
+    install_requires=['setuptools'],
+    zip_safe=True,
+    maintainer='Steven',
+    maintainer_email='[email protected]',
+    description='TODO: Package description',
+    license='TODO: License declaration',
+    tests_require=['pytest'],
+    entry_points={
+        'console_scripts': [
+            'tracking_node = tracking.tracker:main'
+        ],
+    },
+)