nlitz88
commented
6 months ago Still need to take a little time to figure out what the interface is going to be between the BEVFusion ROS node and the workzone boundary detection node will be.
My guess is that this will (in its most simple form) quite literally just be an image message--especially since that's what we currently have working. Maybe that's what we assume for now and move on with our lives.
Whatever format / interface we decide on, we just have to be prepared to potentially modify/change the BEVFusion ROS node to output messages in this format and then create boundary detection node so that it accepts that same message type.
Some important things to consider:
- What format does the BEVFusion node already output in?
- Does the BEVFusion node even output anything meaningful? Does it output the BEV map? (I hope)
- Is the output of the BEVFusion node already just an image with colored bounding boxes? Or is it an occupancy grid with a separate bounding box message?
Basically, in order to work with the costmap received from the first stage, we may need some kind of parsing code that takes the costmap and converts it into whatever internal representation is desired. I.e., maybe you instantiate a new costmap class and include code internally to create a graph of the constructon objects as an adjacency list.
Of course, the implementation details are up to you--this is just a high level task to track that step in the process if applicable. Feel free to @me and change this up if the plan changes or you have some other ideas :)