1.15.1
Description
Abstract
Partial fixes for #1193
Background
OccupancyGridSensor in simple_sensor_simulator takes detected objects from LidarSensor, but never uses it when filter_by_range is true.
This causes occluded objects (objects that were not detected) appeared in OccupancyGrid (explained in #1193).
Details
Filter objects using detected objects in getDetectedObjects method.
Before
After
As you see pictures, occluded object (tom, orange) emitted before this PR.
Reference
tier4/sim_evaluation_tools#270
Destructive Changes
OccupancyGridSensor behavior was changed.
It emits only LiDAR detected (non occluded) objects instead of all objects in sensor range.
Known Limitations
As LiDAR origin passed to Raycaster is too low (Ego bottom), detected objects from LidarSensor contain some objects that should be occluded.
This can be observed in DetectionSensor output in #1193