align TopicMetadata interface

Signed-off-by: MasatoSaeki <masato.saeki@tier4.jp>

Author: MasatoSaeki

driving_log_replayer_v2/driving_log_replayer_v2/ground_segmentation/runner.py

@@ -20,7 +20,6 @@
 
 import numpy as np
 import ros2_numpy
-from rosbag2_py import TopicMetadata
 from std_msgs.msg import String
 
 from driving_log_replayer_v2.ground_segmentation.evaluation_manager import (
@@ -29,11 +28,13 @@
 from driving_log_replayer_v2.ground_segmentation.models import GroundSegmentationResult
 from driving_log_replayer_v2.ground_segmentation.models import GroundSegmentationScenario
 import driving_log_replayer_v2.perception_eval_conversions as eval_conversions
+from driving_log_replayer_v2.post_process.ros2_utils import get_topic_metadata
 from driving_log_replayer_v2.post_process.runner import ConvertedData
 from driving_log_replayer_v2.post_process.runner import Runner
 from driving_log_replayer_v2.post_process.runner import UseCaseInfo
 
 if TYPE_CHECKING:
+    from rosbag2_py import TopicMetadata
     from sensor_msgs.msg import PointCloud2
     from std_msgs.msg import Header
 
@@ -105,11 +106,9 @@ def _get_use_case_info_list(
 
     def _get_external_record_topics(self) -> list[TopicMetadata]:
         return [
-            TopicMetadata(
-                id=0,
+            get_topic_metadata(
                 name="/driving_log_replayer_v2/ground_segmentation/results",
-                type="std_msgs/msg/String",
-                serialization_format="cdr",
+                topic_type="std_msgs/msg/String",
             ),
         ]
 

driving_log_replayer_v2/driving_log_replayer_v2/perception/runner.py

@@ -24,7 +24,6 @@
 from autoware_perception_msgs.msg import DetectedObjects
 from autoware_perception_msgs.msg import PredictedObjects
 from autoware_perception_msgs.msg import TrackedObjects
-from rosbag2_py import TopicMetadata
 from std_msgs.msg import Header
 from std_msgs.msg import String
 
@@ -40,6 +39,7 @@
 from driving_log_replayer_v2.perception.topics import load_evaluation_topics
 import driving_log_replayer_v2.perception_eval_conversions as eval_conversions
 from driving_log_replayer_v2.planning_control import PlanningFactorResult
+from driving_log_replayer_v2.post_process.ros2_utils import get_topic_metadata
 from driving_log_replayer_v2.post_process.ros2_utils import lookup_transform
 from driving_log_replayer_v2.post_process.runner import ConvertedData
 from driving_log_replayer_v2.post_process.runner import Runner
@@ -51,6 +51,7 @@
     from perception_eval.config import PerceptionEvaluationConfig
     from perception_eval.evaluation.result.perception_frame_result import PerceptionFrameResult
     from perception_eval.tool import PerceptionAnalyzer3D
+    from rosbag2_py import TopicMetadata
     from visualization_msgs.msg import MarkerArray
 
     from driving_log_replayer_v2.post_process.evaluator import FrameResult
@@ -187,29 +188,21 @@ def _get_use_case_info_list(
 
     def _get_external_record_topics(self) -> list[TopicMetadata]:
         return [
-            TopicMetadata(
-                id=0,
+            get_topic_metadata(
                 name="/driving_log_replayer_v2/marker/ground_truth",
-                type="visualization_msgs/msg/MarkerArray",
-                serialization_format="cdr",
+                topic_type="visualization_msgs/msg/MarkerArray",
             ),
-            TopicMetadata(
-                id=0,
+            get_topic_metadata(
                 name="/driving_log_replayer_v2/marker/results",
-                type="visualization_msgs/msg/MarkerArray",
-                serialization_format="cdr",
+                topic_type="visualization_msgs/msg/MarkerArray",
             ),
-            TopicMetadata(
-                id=0,
+            get_topic_metadata(
                 name="/driving_log_replayer_v2/perception/results",
-                type="std_msgs/String",
-                serialization_format="cdr",
+                topic_type="std_msgs/String",
             ),
-            TopicMetadata(
-                id=0,
+            get_topic_metadata(
                 name="/driving_log_replayer_v2/planning_factor/results",
-                type="std_msgs/String",
-                serialization_format="cdr",
+                topic_type="std_msgs/String",
             ),
         ]
 

driving_log_replayer_v2/driving_log_replayer_v2/perception_fp/runner.py

@@ -31,7 +31,6 @@
 from perception_eval.common.object import DynamicObject
 from perception_eval.config import PerceptionEvaluationConfig
 from rclpy.time import Duration
-from rosbag2_py import TopicMetadata
 from sensor_msgs.msg import PointCloud2
 from std_msgs.msg import ColorRGBA
 from std_msgs.msg import Header
@@ -48,12 +47,15 @@
 from driving_log_replayer_v2.perception_fp.models import PerceptionFPScenario
 from driving_log_replayer_v2.perception_fp.models import Polygon3D
 from driving_log_replayer_v2.post_process.ros2_utils import convert_to_homogeneous_matrix
+from driving_log_replayer_v2.post_process.ros2_utils import get_topic_metadata
 from driving_log_replayer_v2.post_process.ros2_utils import lookup_transform
 from driving_log_replayer_v2.post_process.runner import ConvertedData
 from driving_log_replayer_v2.post_process.runner import Runner
 from driving_log_replayer_v2.post_process.runner import UseCaseInfo
 
 if TYPE_CHECKING:
+    from rosbag2_py import TopicMetadata
+
     from driving_log_replayer_v2.post_process.evaluator import FrameResult
     from driving_log_replayer_v2.result import ResultWriter
 
@@ -299,23 +301,17 @@ def _get_use_case_info_list(
 
     def _get_external_record_topics(self) -> list[TopicMetadata]:
         return [
-            TopicMetadata(
-                id=0,
+            get_topic_metadata(
                 name="/driving_log_replayer_v2/perception_fp/results",
-                type="std_msgs/msg/String",
-                serialization_format="cdr",
+                topic_type="std_msgs/msg/String",
             ),
-            TopicMetadata(
-                id=0,
+            get_topic_metadata(
                 name="/driving_log_replayer_v2/perception_fp/non_detection_area",
-                type="visualization_msgs/msg/MarkerArray",
-                serialization_format="cdr",
+                topic_type="visualization_msgs/msg/MarkerArray",
             ),
-            TopicMetadata(
-                id=0,
+            get_topic_metadata(
                 name="/driving_log_replayer_v2/perception_fp/fp_objects",
-                type="visualization_msgs/msg/MarkerArray",
-                serialization_format="cdr",
+                topic_type="visualization_msgs/msg/MarkerArray",
             ),
         ]
 

driving_log_replayer_v2/driving_log_replayer_v2/post_process/ros2_utils.py

@@ -357,3 +357,22 @@ def convert_to_homogeneous_matrix(transform: TransformStamped) -> np.ndarray:
     matrix[0:3, 3] = [translation.x, translation.y, translation.z]
     matrix[0:3, 0:3] = quaternion.rotation_matrix
     return matrix
+
+
+# TODO: remove this function after ROS Jazzy is supported
+def get_topic_metadata(name: str, topic_type: str) -> TopicMetadata:
+    # for humble
+    try:
+        return TopicMetadata(
+            name=name,
+            type=topic_type,
+            serialization_format="cdr",
+        )
+    # for jazzy
+    except TypeError:
+        return TopicMetadata(
+            id=0,
+            name=name,
+            type=topic_type,
+            serialization_format="cdr",
+        )