[TASK] Line filtering

[vortexuser]

Description of task

Filter the lines received from the line fitting node. Find the correct line to send on to the guidance system.

Suggested Workflow

• Look at how target tracking was done last year
• Transform measurements into static odom frame.
• Filter lines with parametrized form, store line points corresponding to each track(confirmed line).
• Update tracks in timer callback.
• Should project line endpoints onto the parametrized lines for more stable points.
• In timer callback determine correct line to publish based on line points and current pose of Orca from odom topic. Should use both position and orientation

Specifications

• Seperate non-ros stuff from ros code. Track manager functions should be independent of ROS, using Eigen etc... for these functions

Contacts

@jorgenfj

Code Quality

• Every function in header files are documented (inputs/returns/exceptions)
• The project has automated tests that cover MOST of the functions and branches in functions (pytest/gtest)
• The code is documented on the wiki (provide link)

[jorgenfj]

We should try to only publish the endpoint of the line to follow. When we approach an intersection we can determine the crossing of the two lines and publish that point once on a separate topic. This crossing point should be filtered before publishing for more stable results.

To determine valid crossing points you could check if the crossing point is ahead of Orca (position and heading). Could also check if the endpoint of the current line is close to the start-point(either point) of the next line to verify that they are actually connected