perception-test - #15
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| executable="cctv_to_map", | ||
| name="cctv_to_map", | ||
| output="screen", | ||
| parameters=[cctv_to_map_params], |
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In perception_demo.launch.py this starts cctv_to_map with config/cctv_to_map.yaml, whose objects_topic is /cctv/objects_map, while the fusion node also hard-codes a publisher on /cctv/objects_map in fusion_node.py. When this demo launch is used, the Nav2 layer subscribes to alternating raw CCTV PoseArrays and fused PoseArrays, so LiDAR-only or fused obstacles can disappear whenever the raw CCTV publisher ticks. Point the raw cctv_to_map PoseArray output at an unused topic in this launch, or make fusion the only publisher to /cctv/objects_map.
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| # 매칭 안 된 CCTV 객체(LiDAR 사각지대) → ID 충돌 방지 오프셋 적용 | ||
| for j, c in enumerate(cctv): | ||
| if j not in matched_cctv: | ||
| c.id = c.id + CCTV_ID_OFFSET |
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When an unmatched CCTV object is fused, this mutates the same TrackedObject instance stored in self.cctv_by_topic; because _fuse_and_publish runs on a timer and can execute multiple times before the next CCTV callback, the same object gets CCTV_ID_OFFSET added every cycle. With the default 10 Hz publish rate and 1 s CCTV timeout, one detection can be published as 100005, 200005, etc., breaking the stable-ID contract and potentially overflowing the int32 message field. Build a copied output object or derive the offset ID without modifying the cached input.
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