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build(control_performance_analysis): fix include paths and namespaces for messages
Signed-off-by: Esteve Fernandez <esteve.fernandez@tier4.jp>
1 parent 7507b2d commit 68143ae

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-35
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‎control/control_performance_analysis/README.md

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This package is used as a tool to quantify the results of the control module.
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That's why it doesn't interfere with the core logic of autonomous driving.
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Based on the various input from planning, control, and vehicle, it publishes the result of analysis as `control_performance_analysis::msg::ErrorStamped` defined in this package.
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Based on the various input from planning, control, and vehicle, it publishes the result of analysis as `autoware_control_performance_analysis::msg::ErrorStamped` defined in this package.
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All results in `ErrorStamped` message are calculated in Frenet Frame of curve. Errors and velocity errors are calculated by using paper below.
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@@ -35,14 +35,14 @@ Error acceleration calculations are made based on the velocity calculations abov
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### Output topics
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| Name | Type | Description |
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| --------------------------------------- | -------------------------------------------------------- | --------------------------------------------------- |
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| `/control_performance/performance_vars` | control_performance_analysis::msg::ErrorStamped | The result of the performance analysis. |
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| `/control_performance/driving_status` | control_performance_analysis::msg::DrivingMonitorStamped | Driving status (acceleration, jerk etc.) monitoring |
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| Name | Type | Description |
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| --------------------------------------- | ----------------------------------------------------------------- | --------------------------------------------------- |
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| `/control_performance/performance_vars` | autoware_control_performance_analysis::msg::ErrorStamped | The result of the performance analysis. |
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| `/control_performance/driving_status` | autoware_control_performance_analysis::msg::DrivingMonitorStamped | Driving status (acceleration, jerk etc.) monitoring |
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### Outputs
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#### control_performance_analysis::msg::DrivingMonitorStamped
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#### autoware_control_performance_analysis::msg::DrivingMonitorStamped
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| Name | Type | Description |
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| ---------------------------- | ----- | -------------------------------------------------------- |
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| `desired_steering_angle` | float | [rad] |
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| `controller_processing_time` | float | Timestamp between last two control command messages [ms] |
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#### control_performance_analysis::msg::ErrorStamped
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#### autoware_control_performance_analysis::msg::ErrorStamped
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| Name | Type | Description |
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| ------------------------------------------ | ----- | ----------------------------------------------------------------------------------------------------------------- |

‎control/control_performance_analysis/include/control_performance_analysis/control_performance_analysis_core.hpp

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#define CONTROL_PERFORMANCE_ANALYSIS__CONTROL_PERFORMANCE_ANALYSIS_CORE_HPP_
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#include "control_performance_analysis/control_performance_analysis_utils.hpp"
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#include "control_performance_analysis/msg/driving_monitor_stamped.hpp"
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#include "control_performance_analysis/msg/error_stamped.hpp"
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#include "control_performance_analysis/msg/float_stamped.hpp"
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#include "autoware_control_performance_analysis/msg/driving_monitor_stamped.hpp"
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#include "autoware_control_performance_analysis/msg/error_stamped.hpp"
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#include "autoware_control_performance_analysis/msg/float_stamped.hpp"
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#include "motion_utils/trajectory/trajectory.hpp"
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#include <Eigen/Core>
@@ -42,10 +42,10 @@ namespace control_performance_analysis
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using autoware_auto_control_msgs::msg::AckermannControlCommand;
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using autoware_auto_planning_msgs::msg::Trajectory;
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using autoware_auto_vehicle_msgs::msg::SteeringReport;
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using control_performance_analysis::msg::DrivingMonitorStamped;
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using control_performance_analysis::msg::Error;
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using control_performance_analysis::msg::ErrorStamped;
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using control_performance_analysis::msg::FloatStamped;
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using autoware_control_performance_analysis::msg::DrivingMonitorStamped;
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using autoware_control_performance_analysis::msg::Error;
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using autoware_control_performance_analysis::msg::ErrorStamped;
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using autoware_control_performance_analysis::msg::FloatStamped;
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using geometry_msgs::msg::Pose;
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using geometry_msgs::msg::PoseArray;
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using geometry_msgs::msg::Twist;

‎control/control_performance_analysis/include/control_performance_analysis/control_performance_analysis_node.hpp

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#define CONTROL_PERFORMANCE_ANALYSIS__CONTROL_PERFORMANCE_ANALYSIS_NODE_HPP_
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#include "control_performance_analysis/control_performance_analysis_core.hpp"
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#include "control_performance_analysis/msg/driving_monitor_stamped.hpp"
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#include "control_performance_analysis/msg/error_stamped.hpp"
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#include "autoware_control_performance_analysis/msg/driving_monitor_stamped.hpp"
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#include "autoware_control_performance_analysis/msg/error_stamped.hpp"
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#include <rclcpp/rclcpp.hpp>
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#include <signal_processing/lowpass_filter_1d.hpp>
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using autoware_auto_control_msgs::msg::AckermannControlCommand;
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using autoware_auto_planning_msgs::msg::Trajectory;
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using autoware_auto_vehicle_msgs::msg::SteeringReport;
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using control_performance_analysis::msg::DrivingMonitorStamped;
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using control_performance_analysis::msg::ErrorStamped;
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using autoware_control_performance_analysis::msg::DrivingMonitorStamped;
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using autoware_control_performance_analysis::msg::ErrorStamped;
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using geometry_msgs::msg::PoseStamped;
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using nav_msgs::msg::Odometry;
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‎control/control_performance_analysis/msg/DrivingMonitorStamped.msg

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control_performance_analysis/FloatStamped longitudinal_acceleration
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control_performance_analysis/FloatStamped longitudinal_jerk
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control_performance_analysis/FloatStamped lateral_acceleration
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control_performance_analysis/FloatStamped lateral_jerk
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control_performance_analysis/FloatStamped desired_steering_angle
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control_performance_analysis/FloatStamped controller_processing_time
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autoware_control_performance_analysis/FloatStamped longitudinal_acceleration
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autoware_control_performance_analysis/FloatStamped longitudinal_jerk
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autoware_control_performance_analysis/FloatStamped lateral_acceleration
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autoware_control_performance_analysis/FloatStamped lateral_jerk
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autoware_control_performance_analysis/FloatStamped desired_steering_angle
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autoware_control_performance_analysis/FloatStamped controller_processing_time

‎control/control_performance_analysis/msg/ErrorStamped.msg

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std_msgs/Header header
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control_performance_analysis/Error error
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autoware_control_performance_analysis/Error error

‎control/control_performance_analysis/src/control_performance_analysis_core.cpp

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ControlPerformanceAnalysisCore::ControlPerformanceAnalysisCore()
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{
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prev_target_vars_ = std::make_unique<msg::ErrorStamped>();
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prev_driving_vars_ = std::make_unique<msg::DrivingMonitorStamped>();
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prev_target_vars_ = std::make_unique<autoware_control_performance_analysis::msg::ErrorStamped>();
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prev_driving_vars_ = std::make_unique<autoware_control_performance_analysis::msg::DrivingMonitorStamped>();
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odom_history_ptr_ = std::make_shared<std::vector<Odometry>>();
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p_.odom_interval_ = 0;
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p_.curvature_interval_length_ = 10.0;
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ControlPerformanceAnalysisCore::ControlPerformanceAnalysisCore(Params & p) : p_{p}
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{
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// prepare control performance struct
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prev_target_vars_ = std::make_unique<msg::ErrorStamped>();
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prev_driving_vars_ = std::make_unique<msg::DrivingMonitorStamped>();
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prev_target_vars_ = std::make_unique<autoware_control_performance_analysis::msg::ErrorStamped>();
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prev_driving_vars_ = std::make_unique<autoware_control_performance_analysis::msg::DrivingMonitorStamped>();
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odom_history_ptr_ = std::make_shared<std::vector<Odometry>>();
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}
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lpf(error.error_energy, prev_error.error_energy);
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}
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prev_target_vars_ = std::make_unique<msg::ErrorStamped>(error_vars);
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prev_target_vars_ = std::make_unique<autoware_control_performance_analysis::msg::ErrorStamped>(error_vars);
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return true;
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}
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}
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prev_driving_vars_ =
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std::move(std::make_unique<msg::DrivingMonitorStamped>(driving_status_vars));
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std::move(std::make_unique<autoware_control_performance_analysis::msg::DrivingMonitorStamped>(driving_status_vars));
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last_odom_header.stamp = odom_history_ptr_->at(odom_size - 1).header.stamp;
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last_steering_report.stamp = current_vec_steering_msg_ptr_->stamp;

‎control/control_performance_analysis/src/control_performance_analysis_node.cpp

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#include "control_performance_analysis/control_performance_analysis_node.hpp"
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#include "control_performance_analysis/msg/driving_monitor_stamped.hpp"
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#include "control_performance_analysis/msg/error_stamped.hpp"
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#include "autoware_control_performance_analysis/msg/driving_monitor_stamped.hpp"
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#include "autoware_control_performance_analysis/msg/error_stamped.hpp"
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#include <vehicle_info_util/vehicle_info_util.hpp>
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namespace
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{
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using autoware_auto_control_msgs::msg::AckermannControlCommand;
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using control_performance_analysis::msg::DrivingMonitorStamped;
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using control_performance_analysis::msg::ErrorStamped;
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using autoware_control_performance_analysis::msg::DrivingMonitorStamped;
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using autoware_control_performance_analysis::msg::ErrorStamped;
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} // namespace
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