The autoware_mtr_python package is part of the Autoware Universe project, specifically within the perception module. This package provides functionalities for the MTR (Motion Transformer) node implemented in mtr_node.py. For more information about the MTR model, please refer to the original paper publication: [Motion Transformer with Global Intention Localization and Local Movement Refinement]{https://arxiv.org/abs/2209.13508} by Shi et. al.
The mtr_node.py script is responsible for detecting and recognizing multiple agents in the vehicle's surroundings, including the ego vehicle itself. It generates a predicted trajectory of the ego vehicle based on its and other agents current and past states.
To run the MTR node, execute the following command:
ros2 launch autoware_mtr_python mtr_ego_python.launch.xmlEnsure that the necessary perception data topics are being published for the node to process.
- Odometry data (Ego Odometry)
- Perception data input (tracked objects)