This FMU receives ASAM OSI SensorData and outputs various information as ROS2 messages. It enables ROS2 nodes to receive data from ASAM OSI FMUs, e.g. synthetic perception sensor data from a lidar or radar sensor model FMU. Furthermore, ROS2 visualization tools, such as rviz2 or Lichtblick can be used to visualize ASAM OSI data. If the ASAM OSI model_reference contains a path to a 3D model file and in the same path a .dae file exists, it is set as the marker mesh in the ROS2 marker array.
Here is a list of all ASAM OSI fields that are sent as ROS2 messages.
| OSI Field | ROS Topic | Message Type |
|---|---|---|
| sensor_view(0).global_ground_truth.moving_object | gt_marker_<sensor_id> | MarkerArray |
| feature_data.lidar/radar_sensor(0).detection | detection_<sensor_id> | PointCloud2 |
| sensor_view(0).camera_sensor_view(0).image_data() | camera_<sensor_id> | Image |
| moving_object | detectedobjects_marker_<sensor_id> | MarkerArray |
The <sensor_id> is taken from the sensor_data.sensor_id field.
Next to the ROS2 topics named above, a tf is published. It contains the following frames, that are coherent with the corresponding ASAM OSI coordinate systems:
| Frame | Description |
|---|---|
| world | Fixed global coordinate system |
| bb_center | Center of the bounding box of the host vehicle |
| base_link | Host vehicle coordinate system (center of rear axle) as defined by the osi3::bbcenter_to_rear parameter |
| detections_<sensor_id> | Sensor coordinate system of sensor with given ID |
| Parameter Name | Description | Default Value |
|---|---|---|
| pcl_topic | Name of the point cloud topic. | detection_<sensor_id> |
| frame_id | Frame_id of the TF. If set, no TFs and no Ground Truth data are published. | detections_<sensor_id> |
Install dependencies and use built and packaged FMU in a co-simulation.
Install ROS 2 according to the official install instructions. Also install the following package:
ros-<distro>-pcl-rosros-<distro>-tf2-geometry-msgs
mkdir build
cd build
cmake ..
cmake --build .You may set the cmake variable INSTALL_DIR to specify the installation directory for the FMU.