[BUG] Absence of bounding boxes in prediction

[blabla-my]

Describtion

The bounding box of a detected object is not predicted. Motion predictor will only predict object's trajectory waypoints, but the bounding box of every trajectory waypoints won't be calculated.

This may lead to some collisions, since the collision points are not calculated precisely due to the absence of contour.

Required information:

• ROS melodic
• Autoware 1.15
• Openplanner 2.5 (global+local)
• pure pursuit + twist filter
• lgsvl simualtor

demonstration videos

• A collision caused by the absence of contour in predicted trajectory. Ego does not stop early enough, because it cannot see the predicted bounding box of npc. link: https://youtu.be/oLsMyFPxwes

• After adding contours to every waypoints on the predicted trajectory and adding calculations of collision points for added contours, the collision won't happen. link: https://youtu.be/kiNELO_bhKY

[hatem-darweesh]

I agree, it is safer, but that will hurt the performance a lot. Test it with many NPC and check the fps for the trajectory evaluation. If okay please send a pull request

[blabla-my]

You are right about the performance, I have only tested it with one NPC yet. I will try to find test cases with more NPC to see if the performance will be affected seriously. Thanks for your advice.