refactor(autoware_map_based_prediction): map based pred time keeper p…

…tr (autowarefoundation#8462)

* refactor(map_based_prediction): implement time keeper by pointer

Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>

* feat(map_based_prediction): set time keeper in path generator

Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>

* feat: use scoped time track only when the timekeeper ptr is not null

Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>

* refactor: define publish function to measure time

Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>

* chore: add debug parameters for map-based prediction

Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>

* chore: remove unnecessary ScopedTimeTrack instances

Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>

* feat: replace member to pointer

Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>

---------

Signed-off-by: Taekjin LEE <taekjin.lee@tier4.jp>

perception/autoware_map_based_prediction/config/map_based_prediction.param.yaml

@@ -50,3 +50,8 @@
       consider_only_routable_neighbours: false
 
     reference_path_resolution: 0.5 #[m]
+
+    # debug parameters
+    publish_processing_time: false
+    publish_processing_time_detail: false
+    publish_debug_markers: false

perception/autoware_map_based_prediction/include/map_based_prediction/map_based_prediction_node.hpp

@@ -252,7 +252,7 @@ class MapBasedPredictionNode : public rclcpp::Node
   std::unique_ptr<autoware::universe_utils::PublishedTimePublisher> published_time_publisher_;
   rclcpp::Publisher<autoware::universe_utils::ProcessingTimeDetail>::SharedPtr
     detailed_processing_time_publisher_;
-  mutable autoware::universe_utils::TimeKeeper time_keeper_;
+  std::shared_ptr<autoware::universe_utils::TimeKeeper> time_keeper_;
 
   // Member Functions
   void mapCallback(const LaneletMapBin::ConstSharedPtr msg);
@@ -343,6 +343,10 @@ class MapBasedPredictionNode : public rclcpp::Node
     const TrackedObject & object, const LaneletData & current_lanelet_data,
     const double object_detected_time);
 
+  void publish(
+    const PredictedObjects & output,
+    const visualization_msgs::msg::MarkerArray & debug_markers) const;
+
   // NOTE: This function is copied from the motion_velocity_smoother package.
   // TODO(someone): Consolidate functions and move them to a common
   inline std::vector<double> calcTrajectoryCurvatureFrom3Points(

perception/autoware_map_based_prediction/include/map_based_prediction/path_generator.hpp

@@ -16,6 +16,7 @@
 #define MAP_BASED_PREDICTION__PATH_GENERATOR_HPP_
 
 #include <Eigen/Eigen>
+#include <autoware/universe_utils/system/time_keeper.hpp>
 #include <rclcpp/rclcpp.hpp>
 
 #include <autoware_perception_msgs/msg/predicted_objects.hpp>
@@ -82,6 +83,8 @@ class PathGenerator
 public:
   PathGenerator(const double sampling_time_interval, const double min_crosswalk_user_velocity);
 
+  void setTimeKeeper(std::shared_ptr<autoware::universe_utils::TimeKeeper> time_keeper_ptr);
+
   PredictedPath generatePathForNonVehicleObject(
     const TrackedObject & object, const double duration) const;
 
@@ -119,6 +122,8 @@ class PathGenerator
   bool use_vehicle_acceleration_;
   double acceleration_exponential_half_life_;
 
+  std::shared_ptr<autoware::universe_utils::TimeKeeper> time_keeper_;
+
   // Member functions
   PredictedPath generateStraightPath(const TrackedObject & object, const double duration) const;