Summary
DummyDetectionNode.timerCB can attempt to publish a dummy detection when simulate_pool is disabled even if the object is outside both the forward and downward camera fields of view.
In that state, neither visibility flag is set, so the selected camera frame and ROS message headers become None. This can cause tfBuffer.lookup_transform(...) to fail and violates the required header type for the pose and detection messages.
Required changes
Update the dummy-detection visibility/publish flow so that a valid camera frame and header are always used when pool constraints are ignored. A minimal approach is to select the forward camera when neither camera sees the object and simulate_pool is False; alternatively, normalize the visibility state before selecting frames and headers.
Rationale
Dummy detections should remain publishable outside camera FOV when pool simulation is disabled, without creating invalid transform lookup arguments or ROS messages with None headers.
Affected area
riptide_mapping/riptide_mapping2/dummydetections.py
DummyDetectionNode.timerCB
Acceptance criteria
- With
simulate_pool=False and an object outside both camera FOVs, the callback does not pass None to lookup_transform.
PoseWithCovarianceStamped.header and Detection3D.header are valid headers.- The resulting detection is appended and published through a deterministic camera path (for example, the forward camera).
- Existing behavior when the object is visible to either camera remains unchanged.
Backlinks
Summary
DummyDetectionNode.timerCBcan attempt to publish a dummy detection whensimulate_poolis disabled even if the object is outside both the forward and downward camera fields of view.In that state, neither visibility flag is set, so the selected camera frame and ROS message headers become
None. This can causetfBuffer.lookup_transform(...)to fail and violates the required header type for the pose and detection messages.Required changes
Update the dummy-detection visibility/publish flow so that a valid camera frame and header are always used when pool constraints are ignored. A minimal approach is to select the forward camera when neither camera sees the object and
simulate_poolisFalse; alternatively, normalize the visibility state before selecting frames and headers.Rationale
Dummy detections should remain publishable outside camera FOV when pool simulation is disabled, without creating invalid transform lookup arguments or ROS messages with
Noneheaders.Affected area
riptide_mapping/riptide_mapping2/dummydetections.pyDummyDetectionNode.timerCBAcceptance criteria
simulate_pool=Falseand an object outside both camera FOVs, the callback does not passNonetolookup_transform.PoseWithCovarianceStamped.headerandDetection3D.headerare valid headers.Backlinks