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vish0012SakodaShintaro
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SakodaShintaro
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feat: tier4_debug_msgs changed to autoware_internal_debug_msgs in fies localization/autoware_ekf_localizer (#9860)
Signed-off-by: vish0012 <vishalchhn42@gmail.com> Co-authored-by: SakodaShintaro <shintaro.sakoda@tier4.jp>
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‎localization/autoware_ekf_localizer/README.md

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@@ -44,17 +44,17 @@ This package includes the following features:
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### Published Topics
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| Name | Type | Description |
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| --------------------------------- | ------------------------------------------------ | ----------------------------------------------------- |
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| `ekf_odom` | `nav_msgs::msg::Odometry` | Estimated odometry. |
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| `ekf_pose` | `geometry_msgs::msg::PoseStamped` | Estimated pose. |
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| `ekf_pose_with_covariance` | `geometry_msgs::msg::PoseWithCovarianceStamped` | Estimated pose with covariance. |
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| `ekf_biased_pose` | `geometry_msgs::msg::PoseStamped` | Estimated pose including the yaw bias |
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| `ekf_biased_pose_with_covariance` | `geometry_msgs::msg::PoseWithCovarianceStamped` | Estimated pose with covariance including the yaw bias |
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| `ekf_twist` | `geometry_msgs::msg::TwistStamped` | Estimated twist. |
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| `ekf_twist_with_covariance` | `geometry_msgs::msg::TwistWithCovarianceStamped` | The estimated twist with covariance. |
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| `diagnostics` | `diagnostics_msgs::msg::DiagnosticArray` | The diagnostic information. |
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| `debug/processing_time_ms` | `tier4_debug_msgs::msg::Float64Stamped` | The processing time [ms]. |
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| Name | Type | Description |
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| --------------------------------- | --------------------------------------------------- | ----------------------------------------------------- |
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| `ekf_odom` | `nav_msgs::msg::Odometry` | Estimated odometry. |
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| `ekf_pose` | `geometry_msgs::msg::PoseStamped` | Estimated pose. |
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| `ekf_pose_with_covariance` | `geometry_msgs::msg::PoseWithCovarianceStamped` | Estimated pose with covariance. |
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| `ekf_biased_pose` | `geometry_msgs::msg::PoseStamped` | Estimated pose including the yaw bias |
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| `ekf_biased_pose_with_covariance` | `geometry_msgs::msg::PoseWithCovarianceStamped` | Estimated pose with covariance including the yaw bias |
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| `ekf_twist` | `geometry_msgs::msg::TwistStamped` | Estimated twist. |
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| `ekf_twist_with_covariance` | `geometry_msgs::msg::TwistWithCovarianceStamped` | The estimated twist with covariance. |
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| `diagnostics` | `diagnostics_msgs::msg::DiagnosticArray` | The diagnostic information. |
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| `debug/processing_time_ms` | `autoware_internal_debug_msgs::msg::Float64Stamped` | The processing time [ms]. |
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### Published TF
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‎localization/autoware_ekf_localizer/include/autoware/ekf_localizer/ekf_localizer.hpp

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@@ -25,6 +25,8 @@
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#include <autoware/universe_utils/system/stop_watch.hpp>
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#include <rclcpp/rclcpp.hpp>
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#include <autoware_internal_debug_msgs/msg/float64_multi_array_stamped.hpp>
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#include <autoware_internal_debug_msgs/msg/float64_stamped.hpp>
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#include <diagnostic_msgs/msg/diagnostic_array.hpp>
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#include <geometry_msgs/msg/pose_array.hpp>
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#include <geometry_msgs/msg/pose_stamped.hpp>
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#include <geometry_msgs/msg/twist_with_covariance_stamped.hpp>
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#include <nav_msgs/msg/odometry.hpp>
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#include <std_srvs/srv/set_bool.hpp>
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#include <tier4_debug_msgs/msg/float64_multi_array_stamped.hpp>
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#include <tier4_debug_msgs/msg/float64_stamped.hpp>
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#include <tf2/LinearMath/Quaternion.h>
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#include <tf2/utils.h>
@@ -78,15 +78,16 @@ class EKFLocalizer : public rclcpp::Node
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//!< @brief ekf estimated twist with covariance publisher
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rclcpp::Publisher<geometry_msgs::msg::TwistWithCovarianceStamped>::SharedPtr pub_twist_cov_;
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//!< @brief ekf estimated yaw bias publisher
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rclcpp::Publisher<tier4_debug_msgs::msg::Float64Stamped>::SharedPtr pub_yaw_bias_;
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rclcpp::Publisher<autoware_internal_debug_msgs::msg::Float64Stamped>::SharedPtr pub_yaw_bias_;
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//!< @brief ekf estimated yaw bias publisher
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rclcpp::Publisher<geometry_msgs::msg::PoseStamped>::SharedPtr pub_biased_pose_;
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//!< @brief ekf estimated yaw bias publisher
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rclcpp::Publisher<geometry_msgs::msg::PoseWithCovarianceStamped>::SharedPtr pub_biased_pose_cov_;
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//!< @brief diagnostics publisher
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rclcpp::Publisher<diagnostic_msgs::msg::DiagnosticArray>::SharedPtr pub_diag_;
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//!< @brief processing_time publisher
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rclcpp::Publisher<tier4_debug_msgs::msg::Float64Stamped>::SharedPtr pub_processing_time_;
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rclcpp::Publisher<autoware_internal_debug_msgs::msg::Float64Stamped>::SharedPtr
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pub_processing_time_;
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//!< @brief initial pose subscriber
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rclcpp::Subscription<geometry_msgs::msg::PoseWithCovarianceStamped>::SharedPtr sub_initialpose_;
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//!< @brief measurement pose with covariance subscriber

‎localization/autoware_ekf_localizer/package.xml

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<build_depend>eigen</build_depend>
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<depend>autoware_internal_debug_msgs</depend>
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<depend>autoware_kalman_filter</depend>
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<depend>autoware_localization_util</depend>
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<depend>autoware_universe_utils</depend>
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<depend>std_srvs</depend>
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<depend>tf2</depend>
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<depend>tf2_ros</depend>
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<depend>tier4_debug_msgs</depend>
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<test_depend>ament_cmake_ros</test_depend>
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<test_depend>ament_lint_auto</test_depend>

‎localization/autoware_ekf_localizer/src/ekf_localizer.cpp

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@@ -70,13 +70,14 @@ EKFLocalizer::EKFLocalizer(const rclcpp::NodeOptions & node_options)
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pub_twist_ = create_publisher<geometry_msgs::msg::TwistStamped>("ekf_twist", 1);
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pub_twist_cov_ = create_publisher<geometry_msgs::msg::TwistWithCovarianceStamped>(
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"ekf_twist_with_covariance", 1);
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pub_yaw_bias_ = create_publisher<tier4_debug_msgs::msg::Float64Stamped>("estimated_yaw_bias", 1);
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pub_yaw_bias_ =
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create_publisher<autoware_internal_debug_msgs::msg::Float64Stamped>("estimated_yaw_bias", 1);
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pub_biased_pose_ = create_publisher<geometry_msgs::msg::PoseStamped>("ekf_biased_pose", 1);
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pub_biased_pose_cov_ = create_publisher<geometry_msgs::msg::PoseWithCovarianceStamped>(
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"ekf_biased_pose_with_covariance", 1);
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pub_diag_ = this->create_publisher<diagnostic_msgs::msg::DiagnosticArray>("/diagnostics", 10);
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pub_processing_time_ =
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create_publisher<tier4_debug_msgs::msg::Float64Stamped>("debug/processing_time_ms", 1);
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pub_processing_time_ = create_publisher<autoware_internal_debug_msgs::msg::Float64Stamped>(
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"debug/processing_time_ms", 1);
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sub_initialpose_ = create_subscription<geometry_msgs::msg::PoseWithCovarianceStamped>(
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"initialpose", 1, std::bind(&EKFLocalizer::callback_initial_pose, this, _1));
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sub_pose_with_cov_ = create_subscription<geometry_msgs::msg::PoseWithCovarianceStamped>(
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/* publish processing time */
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const double elapsed_time = stop_watch_timer_cb_.toc();
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pub_processing_time_->publish(tier4_debug_msgs::build<tier4_debug_msgs::msg::Float64Stamped>()
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.stamp(current_time)
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.data(elapsed_time));
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pub_processing_time_->publish(
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autoware_internal_debug_msgs::build<autoware_internal_debug_msgs::msg::Float64Stamped>()
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.stamp(current_time)
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.data(elapsed_time));
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}
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/*
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pub_twist_cov_->publish(twist_cov);
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/* publish yaw bias */
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tier4_debug_msgs::msg::Float64Stamped yawb;
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autoware_internal_debug_msgs::msg::Float64Stamped yawb;
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yawb.stamp = current_ekf_twist.header.stamp;
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yawb.data = ekf_module_->get_yaw_bias();
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pub_yaw_bias_->publish(yawb);

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