General HD Map Todo List

[JStephenHuang]

Here is the Todo List involving everything in https://github.com/WATonomous/wato_monorepo/tree/main/src/world_modeling/hd_map.

Todo List

Here’s the to-do list in plain text without any special formatting:

---

Todo List

• Push traffic sign msgs from carla

• Populate detection attribute in the reg elem ptr with its state/type
  

  wato_monorepo/src/world_modeling/hd_map/src/hd_map_router.cpp

  Lines 170 to 182 in b573a4f

  	// TODO: populate the detection attribute in the reg elem and return the state/type from the
  	// detection
  	std::string HDMapRouter::get_detection3d_class(
  	const vision_msgs::msg::Detection3D::SharedPtr reg_elem_msg_ptr) {
  	std::string class_id = "";
  	float base_score = 0;
  	for (const auto& result : reg_elem_msg_ptr->results) {
  	if (result.hypothesis.score > base_score) {
  	class_id = result.hypothesis.class_id;
  	}
  	}
  	return class_id;
  	}

• Implement traffic sign to the HD Map #178

• Implement pedestrian reg elem to the HD Map #179

• Mock get_traffic_light_state function (to remove or change)
  

  wato_monorepo/src/world_modeling/hd_map/src/hd_map_router.cpp

  Lines 184 to 207 in b573a4f

  	// Mock function to get traffic light state (to change or remove)
  	TrafficLightState HDMapRouter::get_traffic_light_state(
  	const vision_msgs::msg::Detection3D::SharedPtr traffic_light_msg_ptr) {
  	if (traffic_light_msg_ptr->results.empty()) {
  	return TrafficLightState::Unknown;
  	}
  	TrafficLightState traffic_light_state = TrafficLightState::Unknown;
  	float base_score = 0;
  	for (const auto& result : traffic_light_msg_ptr->results) {
  	if (result.hypothesis.score > base_score) {
  	if (result.hypothesis.class_id == "GREEN") {
  	traffic_light_state = TrafficLightState::Green;
  	} else if (result.hypothesis.class_id == "YELLOW") {
  	traffic_light_state = TrafficLightState::Yellow;
  	} else if (result.hypothesis.class_id == "RED") {
  	traffic_light_state = TrafficLightState::Red;
  	}
  	base_score = result.hypothesis.score;
  	}
  	}
  	return TrafficLightState::Green;
  	}

• Transfer osm maps in a config
  

  wato_monorepo/src/world_modeling/hd_map/src/hd_map_manager.cpp

  Lines 82 to 87 in b573a4f

  	// Initializing example maps into the hashmap | TODO: transfer to maybe config (just for
  	// organizing the codebase)
  	osm_maps = {
  	{"map1.osm", 40.0, 41.0, -75.0, -74.0}, {"map2.osm", 42.0, 43.0, -76.0, -75.0}
  	// Add more maps as needed
  	};

• Complete behaviour tree service functions
  

  wato_monorepo/src/world_modeling/hd_map/src/hd_map_service.cpp

  Lines 247 to 257 in b573a4f

  	void HDMapService::behaviour_tree_info_callback(
  	const std::shared_ptr<world_modeling_msgs::srv::BehaviourTreeInfo::Request> request,
  	const std::shared_ptr<world_modeling_msgs::srv::BehaviourTreeInfo::Response> response) {
  	response->current_point = current_point_;
  	response->goal_point = goal_point_;
  	// response->current_lanelet = convert_lanelet_to_msg(current_lanelet_);
  	// response->goal_lanelet = convert_lanelet_to_msg(goal_lanelet_);
  	// response->route_list = convert_laneletPath_to_msg(lanelet_path);
  	}

[JStephenHuang]

I realized like Vishal said, the tasks are pretty granular. So feel free to combine some of the related task together into one checkbox and you can then create a sub-issue.