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feat(velocity_smoother): introduce diagnostics #9933

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merged 2 commits into from
Jan 16, 2025
Merged

feat(velocity_smoother): introduce diagnostics #9933

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f776099
feat(velocity_smoother): introduce diagnostics
takayuki5168 Jan 16, 2025
973b161
fix
takayuki5168 Jan 16, 2025
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11 changes: 6 additions & 5 deletions planning/autoware_velocity_smoother/include/autoware/velocity_smoother/node.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -20,6 +20,7 @@
#include "autoware/osqp_interface/osqp_interface.hpp"
#include "autoware/universe_utils/geometry/geometry.hpp"
#include "autoware/universe_utils/math/unit_conversion.hpp"
#include "autoware/universe_utils/ros/diagnostics_interface.hpp"
#include "autoware/universe_utils/ros/logger_level_configure.hpp"
#include "autoware/universe_utils/ros/polling_subscriber.hpp"
#include "autoware/universe_utils/ros/self_pose_listener.hpp"
Expand All @@ -45,8 +46,7 @@
#include "autoware_planning_msgs/msg/trajectory_point.hpp"
#include "geometry_msgs/msg/accel_with_covariance_stamped.hpp"
#include "nav_msgs/msg/odometry.hpp"
#include "tier4_planning_msgs/msg/stop_speed_exceeded.hpp" // temporary
#include "tier4_planning_msgs/msg/velocity_limit.hpp" // temporary
#include "tier4_planning_msgs/msg/velocity_limit.hpp" // temporary
#include "visualization_msgs/msg/marker_array.hpp"

#include <iostream>
Expand All @@ -61,15 +61,15 @@ namespace autoware::velocity_smoother
using autoware_planning_msgs::msg::Trajectory;
using autoware_planning_msgs::msg::TrajectoryPoint;
using TrajectoryPoints = std::vector<TrajectoryPoint>;
using autoware::universe_utils::DiagnosticsInterface;
using autoware_adapi_v1_msgs::msg::OperationModeState;
using autoware_internal_debug_msgs::msg::Float32Stamped;
using autoware_internal_debug_msgs::msg::Float64Stamped;
using geometry_msgs::msg::AccelWithCovarianceStamped;
using geometry_msgs::msg::Pose;
using geometry_msgs::msg::PoseStamped;
using nav_msgs::msg::Odometry;
using tier4_planning_msgs::msg::StopSpeedExceeded; // temporary
using tier4_planning_msgs::msg::VelocityLimit; // temporary
using tier4_planning_msgs::msg::VelocityLimit; // temporary
using visualization_msgs::msg::MarkerArray;

struct Motion
Expand All @@ -89,7 +89,6 @@ class VelocitySmootherNode : public rclcpp::Node
private:
rclcpp::Publisher<Trajectory>::SharedPtr pub_trajectory_;
rclcpp::Publisher<MarkerArray>::SharedPtr pub_virtual_wall_;
rclcpp::Publisher<StopSpeedExceeded>::SharedPtr pub_over_stop_velocity_;
rclcpp::Subscription<Trajectory>::SharedPtr sub_current_trajectory_;
autoware::universe_utils::InterProcessPollingSubscriber<Odometry> sub_current_odometry_{
this, "/localization/kinematic_state"};
Expand Down Expand Up @@ -290,6 +289,8 @@ class VelocitySmootherNode : public rclcpp::Node
std::unique_ptr<autoware::universe_utils::PublishedTimePublisher> published_time_publisher_;

mutable std::shared_ptr<autoware::universe_utils::TimeKeeper> time_keeper_{nullptr};

std::unique_ptr<DiagnosticsInterface> diagnostics_interface_{nullptr};
};
} // namespace autoware::velocity_smoother

Expand Down
17 changes: 9 additions & 8 deletions planning/autoware_velocity_smoother/src/node.cpp
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Original file line number Diff line number Diff line change
@@ -1,4 +1,4 @@
// Copyright 2021 Tier IV, Inc.

Check notice on line 1 in planning/autoware_velocity_smoother/src/node.cpp

View check run for this annotation

CodeScene Delta Analysis / CodeScene Cloud Delta Analysis (main)

ℹ Getting worse: Overall Code Complexity 

The mean cyclomatic complexity increases from 4.42 to 4.53, threshold = 4. This file has many conditional statements (e.g. if, for, while) across its implementation, leading to lower code health. Avoid adding more conditionals.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
Expand Down Expand Up @@ -36,7 +36,8 @@
namespace autoware::velocity_smoother
{
VelocitySmootherNode::VelocitySmootherNode(const rclcpp::NodeOptions & node_options)
: Node("velocity_smoother", node_options)
: Node("velocity_smoother", node_options),
diagnostics_interface_(std::make_unique<DiagnosticsInterface>(this, "velocity_smoother"))
{
using std::placeholders::_1;

Expand All @@ -63,7 +64,6 @@
pub_velocity_limit_ = create_publisher<VelocityLimit>(
"~/output/current_velocity_limit_mps", rclcpp::QoS{1}.transient_local());
pub_dist_to_stopline_ = create_publisher<Float32Stamped>("~/distance_to_stopline", 1);
pub_over_stop_velocity_ = create_publisher<StopSpeedExceeded>("~/stop_speed_exceeded", 1);
sub_current_trajectory_ = create_subscription<Trajectory>(
"~/input/trajectory", 1, std::bind(&VelocitySmootherNode::onCurrentTrajectory, this, _1));

Expand Down Expand Up @@ -444,6 +444,7 @@
RCLCPP_DEBUG(get_logger(), "========================= run start =========================");
stop_watch_.tic();

diagnostics_interface_->clear();
base_traj_raw_ptr_ = msg;

// receive data
Expand Down Expand Up @@ -524,6 +525,10 @@

// Publish Calculation Time
publishStopWatchTime();

// Publish diagnostics
diagnostics_interface_->publish(now());

RCLCPP_DEBUG(get_logger(), "========================== run() end ==========================\n\n");
}

Expand Down Expand Up @@ -906,12 +911,8 @@
input_stop_vel, output_stop_vel, over_stop_velocity_warn_thr_);
}

{
StopSpeedExceeded msg{};
msg.stamp = this->now();
msg.stop_speed_exceeded = is_stop_velocity_exceeded;
pub_over_stop_velocity_->publish(msg);
}
diagnostics_interface_->add_key_value(
"The velocity on the stop point is larger than 0.", is_stop_velocity_exceeded);
}

void VelocitySmootherNode::applyExternalVelocityLimit(TrajectoryPoints & traj) const
Expand Down
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