Merge branch 'main' into fix/diag_level_of_ndt_scan_matcher

Author: SakodaShintaro

evaluator/perception_online_evaluator/include/perception_online_evaluator/metrics/metric.hpp

@@ -20,6 +20,7 @@
 #include <iostream>
 #include <string>
 #include <unordered_map>
+#include <variant>
 #include <vector>
 
 namespace perception_diagnostics
@@ -36,7 +37,11 @@ enum class Metric {
   SIZE,
 };
 
+// Each metric has a different return type. (statistic or just a one value etc).
+// To handle them all in the MetricsCalculator::calculate function, define MetricsMap as a variant
 using MetricStatMap = std::unordered_map<std::string, Stat<double>>;
+using MetricValueMap = std::unordered_map<std::string, double>;
+using MetricsMap = std::variant<MetricStatMap, MetricValueMap>;
 
 struct PredictedPathDeviationMetrics
 {

evaluator/perception_online_evaluator/include/perception_online_evaluator/metrics_calculator.hpp

@@ -96,7 +96,7 @@ class MetricsCalculator
    * @param [in] metric Metric enum value
    * @return map of string describing the requested metric and the calculated value
    */
-  std::optional<MetricStatMap> calculate(const Metric & metric) const;
+  std::optional<MetricsMap> calculate(const Metric & metric) const;
 
   /**
    * @brief set the dynamic objects used to calculate obstacle metrics
@@ -143,7 +143,7 @@ class MetricsCalculator
   PredictedPathDeviationMetrics calcPredictedPathDeviationMetrics(
     const PredictedObjects & objects, const double time_horizon) const;
   MetricStatMap calcYawRateMetrics(const ClassObjectsMap & class_objects_map) const;
-  MetricStatMap calcObjectsCountMetrics() const;
+  MetricValueMap calcObjectsCountMetrics() const;
 
   bool hasPassedTime(const rclcpp::Time stamp) const;
   bool hasPassedTime(const std::string uuid, const rclcpp::Time stamp) const;

evaluator/perception_online_evaluator/include/perception_online_evaluator/perception_online_evaluator_node.hpp

@@ -61,6 +61,8 @@ class PerceptionOnlineEvaluatorNode : public rclcpp::Node
 
   DiagnosticStatus generateDiagnosticStatus(
     const std::string metric, const Stat<double> & metric_stat) const;
+  DiagnosticStatus generateDiagnosticStatus(
+    const std::string metric, const double metric_value) const;
 
 private:
   // Subscribers and publishers

evaluator/perception_online_evaluator/param/perception_online_evaluator.defaults.yaml

@@ -13,7 +13,7 @@
     prediction_time_horizons: [1.0, 2.0, 3.0, 5.0]
 
     stopped_velocity_threshold: 1.0
-    detection_radius_list: [50.0, 100.0, 150.0, 200.0]
+    detection_radius_list: [20.0, 40.0, 60.0, 80.0, 100.0, 120.0, 140.0, 160.0, 180.0, 200.0]
     detection_height_list: [10.0]
     detection_count_purge_seconds: 36000.0
     objects_count_window_seconds: 1.0

evaluator/perception_online_evaluator/src/metrics_calculator.cpp

@@ -26,7 +26,7 @@ namespace perception_diagnostics
 using object_recognition_utils::convertLabelToString;
 using tier4_autoware_utils::inverseTransformPoint;
 
-std::optional<MetricStatMap> MetricsCalculator::calculate(const Metric & metric) const
+std::optional<MetricsMap> MetricsCalculator::calculate(const Metric & metric) const
 {
   // clang-format off
   const bool use_past_objects = metric == Metric::lateral_deviation        ||
@@ -455,15 +455,14 @@ MetricStatMap MetricsCalculator::calcYawRateMetrics(const ClassObjectsMap & clas
   return metric_stat_map;
 }
 
-MetricStatMap MetricsCalculator::calcObjectsCountMetrics() const
+MetricValueMap MetricsCalculator::calcObjectsCountMetrics() const
 {
-  MetricStatMap metric_stat_map;
+  MetricValueMap metric_stat_map;
   // calculate the average number of objects in the detection area in all past frames
   const auto overall_average_count = detection_counter_.getOverallAverageCount();
   for (const auto & [label, range_and_count] : overall_average_count) {
     for (const auto & [range, count] : range_and_count) {
-      metric_stat_map["average_objects_count_" + convertLabelToString(label) + "_" + range].add(
-        count);
+      metric_stat_map["average_objects_count_" + convertLabelToString(label) + "_" + range] = count;
     }
   }
   // calculate the average number of objects in the detection area in the past
@@ -472,17 +471,16 @@ MetricStatMap MetricsCalculator::calcObjectsCountMetrics() const
     detection_counter_.getAverageCount(parameters_->objects_count_window_seconds);
   for (const auto & [label, range_and_count] : average_count) {
     for (const auto & [range, count] : range_and_count) {
-      metric_stat_map["interval_average_objects_count_" + convertLabelToString(label) + "_" + range]
-        .add(count);
+      metric_stat_map
+        ["interval_average_objects_count_" + convertLabelToString(label) + "_" + range] = count;
     }
   }
 
   // calculate the total number of objects in the detection area
   const auto total_count = detection_counter_.getTotalCount();
   for (const auto & [label, range_and_count] : total_count) {
     for (const auto & [range, count] : range_and_count) {
-      metric_stat_map["total_objects_count_" + convertLabelToString(label) + "_" + range].add(
-        count);
+      metric_stat_map["total_objects_count_" + convertLabelToString(label) + "_" + range] = count;
     }
   }
 

evaluator/perception_online_evaluator/src/perception_online_evaluator_node.cpp

@@ -69,16 +69,25 @@ void PerceptionOnlineEvaluatorNode::publishMetrics()
 
   // calculate metrics
   for (const Metric & metric : parameters_->metrics) {
-    const auto metric_stat_map = metrics_calculator_.calculate(Metric(metric));
-    if (!metric_stat_map.has_value()) {
+    const auto metric_result = metrics_calculator_.calculate(Metric(metric));
+    if (!metric_result.has_value()) {
       continue;
     }
 
-    for (const auto & [metric, stat] : metric_stat_map.value()) {
-      if (stat.count() > 0) {
-        metrics_msg.status.push_back(generateDiagnosticStatus(metric, stat));
-      }
-    }
+    std::visit(
+      [&metrics_msg, this](auto && arg) {
+        using T = std::decay_t<decltype(arg)>;
+        for (const auto & [metric, value] : arg) {
+          if constexpr (std::is_same_v<T, MetricStatMap>) {
+            if (value.count() > 0) {
+              metrics_msg.status.push_back(generateDiagnosticStatus(metric, value));
+            }
+          } else if constexpr (std::is_same_v<T, MetricValueMap>) {
+            metrics_msg.status.push_back(generateDiagnosticStatus(metric, value));
+          }
+        }
+      },
+      metric_result.value());
   }
 
   // publish metrics
@@ -111,6 +120,22 @@ DiagnosticStatus PerceptionOnlineEvaluatorNode::generateDiagnosticStatus(
   return status;
 }
 
+DiagnosticStatus PerceptionOnlineEvaluatorNode::generateDiagnosticStatus(
+  const std::string metric, const double value) const
+{
+  DiagnosticStatus status;
+
+  status.level = status.OK;
+  status.name = metric;
+
+  diagnostic_msgs::msg::KeyValue key_value;
+  key_value.key = "metric_value";
+  key_value.value = std::to_string(value);
+  status.values.push_back(key_value);
+
+  return status;
+}
+
 void PerceptionOnlineEvaluatorNode::onObjects(const PredictedObjects::ConstSharedPtr objects_msg)
 {
   metrics_calculator_.setPredictedObjects(*objects_msg, *tf_buffer_);

evaluator/perception_online_evaluator/test/test_perception_online_evaluator_node.cpp

@@ -141,7 +141,19 @@ class EvalTest : public ::testing::Test
       [=](const DiagnosticArray::ConstSharedPtr msg) {
         const auto it = std::find_if(msg->status.begin(), msg->status.end(), is_target_metric);
         if (it != msg->status.end()) {
-          metric_value_ = boost::lexical_cast<double>(it->values[2].value);
+          const auto mean_it = std::find_if(
+            it->values.begin(), it->values.end(),
+            [](const auto & key_value) { return key_value.key == "mean"; });
+          if (mean_it != it->values.end()) {
+            metric_value_ = boost::lexical_cast<double>(mean_it->value);
+          } else {
+            const auto metric_value_it = std::find_if(
+              it->values.begin(), it->values.end(),
+              [](const auto & key_value) { return key_value.key == "metric_value"; });
+            if (metric_value_it != it->values.end()) {
+              metric_value_ = boost::lexical_cast<double>(metric_value_it->value);
+            }
+          }
           metric_updated_ = true;
         }
       });

localization/gyro_odometer/CMakeLists.txt

@@ -4,17 +4,12 @@ project(gyro_odometer)
 find_package(autoware_cmake REQUIRED)
 autoware_package()
 
-ament_auto_add_executable(${PROJECT_NAME}
-  src/gyro_odometer_node.cpp
+ament_auto_add_library(${PROJECT_NAME} SHARED
   src/gyro_odometer_core.cpp
 )
 
 target_link_libraries(${PROJECT_NAME} fmt)
 
-ament_auto_add_library(gyro_odometer_node SHARED
-  src/gyro_odometer_core.cpp
-)
-
 if(BUILD_TESTING)
   ament_add_ros_isolated_gtest(test_gyro_odometer
     test/test_main.cpp
@@ -25,10 +20,15 @@ if(BUILD_TESTING)
     rclcpp
   )
   target_link_libraries(test_gyro_odometer
-    gyro_odometer_node
+    ${PROJECT_NAME}
   )
 endif()
 
+rclcpp_components_register_node(${PROJECT_NAME}
+  PLUGIN "autoware::gyro_odometer::GyroOdometerNode"
+  EXECUTABLE ${PROJECT_NAME}_node
+  EXECUTOR SingleThreadedExecutor
+)
 
 ament_auto_package(INSTALL_TO_SHARE
   launch

localization/gyro_odometer/include/gyro_odometer/gyro_odometer_core.hpp

@@ -36,14 +36,17 @@
 #include <memory>
 #include <string>
 
-class GyroOdometer : public rclcpp::Node
+namespace autoware::gyro_odometer
+{
+
+class GyroOdometerNode : public rclcpp::Node
 {
 private:
   using COV_IDX = tier4_autoware_utils::xyz_covariance_index::XYZ_COV_IDX;
 
 public:
-  explicit GyroOdometer(const rclcpp::NodeOptions & options);
-  ~GyroOdometer();
+  explicit GyroOdometerNode(const rclcpp::NodeOptions & node_options);
+  ~GyroOdometerNode();
 
 private:
   void callbackVehicleTwist(
@@ -75,4 +78,6 @@ class GyroOdometer : public rclcpp::Node
   std::deque<sensor_msgs::msg::Imu> gyro_queue_;
 };
 
+}  // namespace autoware::gyro_odometer
+
 #endif  // GYRO_ODOMETER__GYRO_ODOMETER_CORE_HPP_

localization/gyro_odometer/launch/gyro_odometer.launch.xml

@@ -11,7 +11,7 @@
 
   <arg name="config_file" default="$(find-pkg-share gyro_odometer)/config/gyro_odometer.param.yaml"/>
 
-  <node pkg="gyro_odometer" exec="gyro_odometer" name="gyro_odometer" output="screen">
+  <node pkg="gyro_odometer" exec="gyro_odometer_node" output="both">
     <remap from="vehicle/twist_with_covariance" to="$(var input_vehicle_twist_with_covariance_topic)"/>
 
     <remap from="imu" to="$(var input_imu_topic)"/>

localization/gyro_odometer/package.xml

@@ -19,14 +19,13 @@
 
   <depend>fmt</depend>
   <depend>geometry_msgs</depend>
+  <depend>rclcpp</depend>
+  <depend>rclcpp_components</depend>
   <depend>sensor_msgs</depend>
   <depend>tf2</depend>
   <depend>tf2_geometry_msgs</depend>
   <depend>tier4_autoware_utils</depend>
 
-  <exec_depend>rclcpp</exec_depend>
-  <exec_depend>rclcpp_components</exec_depend>
-
   <test_depend>ament_cmake_ros</test_depend>
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>autoware_lint_common</test_depend>

localization/gyro_odometer/src/gyro_odometer_core.cpp

@@ -14,6 +14,8 @@
 
 #include "gyro_odometer/gyro_odometer_core.hpp"
 
+#include <rclcpp/rclcpp.hpp>
+
 #ifdef ROS_DISTRO_GALACTIC
 #include <tf2_geometry_msgs/tf2_geometry_msgs.h>
 #else
@@ -25,6 +27,42 @@
 #include <memory>
 #include <string>
 
+namespace autoware::gyro_odometer
+{
+
+GyroOdometerNode::GyroOdometerNode(const rclcpp::NodeOptions & node_options)
+: Node("gyro_odometer", node_options),
+  output_frame_(declare_parameter<std::string>("output_frame")),
+  message_timeout_sec_(declare_parameter<double>("message_timeout_sec")),
+  vehicle_twist_arrived_(false),
+  imu_arrived_(false)
+{
+  transform_listener_ = std::make_shared<tier4_autoware_utils::TransformListener>(this);
+  logger_configure_ = std::make_unique<tier4_autoware_utils::LoggerLevelConfigure>(this);
+
+  vehicle_twist_sub_ = create_subscription<geometry_msgs::msg::TwistWithCovarianceStamped>(
+    "vehicle/twist_with_covariance", rclcpp::QoS{100},
+    std::bind(&GyroOdometerNode::callbackVehicleTwist, this, std::placeholders::_1));
+
+  imu_sub_ = create_subscription<sensor_msgs::msg::Imu>(
+    "imu", rclcpp::QoS{100},
+    std::bind(&GyroOdometerNode::callbackImu, this, std::placeholders::_1));
+
+  twist_raw_pub_ = create_publisher<geometry_msgs::msg::TwistStamped>("twist_raw", rclcpp::QoS{10});
+  twist_with_covariance_raw_pub_ = create_publisher<geometry_msgs::msg::TwistWithCovarianceStamped>(
+    "twist_with_covariance_raw", rclcpp::QoS{10});
+
+  twist_pub_ = create_publisher<geometry_msgs::msg::TwistStamped>("twist", rclcpp::QoS{10});
+  twist_with_covariance_pub_ = create_publisher<geometry_msgs::msg::TwistWithCovarianceStamped>(
+    "twist_with_covariance", rclcpp::QoS{10});
+
+  // TODO(YamatoAndo) createTimer
+}
+
+GyroOdometerNode::~GyroOdometerNode()
+{
+}
+
 std::array<double, 9> transformCovariance(const std::array<double, 9> & cov)
 {
   using COV_IDX = tier4_autoware_utils::xyz_covariance_index::XYZ_COV_IDX;
@@ -100,39 +138,7 @@ geometry_msgs::msg::TwistWithCovarianceStamped concatGyroAndOdometer(
   return twist_with_cov;
 }
 
-GyroOdometer::GyroOdometer(const rclcpp::NodeOptions & options)
-: Node("gyro_odometer", options),
-  output_frame_(declare_parameter<std::string>("output_frame")),
-  message_timeout_sec_(declare_parameter<double>("message_timeout_sec")),
-  vehicle_twist_arrived_(false),
-  imu_arrived_(false)
-{
-  transform_listener_ = std::make_shared<tier4_autoware_utils::TransformListener>(this);
-  logger_configure_ = std::make_unique<tier4_autoware_utils::LoggerLevelConfigure>(this);
-
-  vehicle_twist_sub_ = create_subscription<geometry_msgs::msg::TwistWithCovarianceStamped>(
-    "vehicle/twist_with_covariance", rclcpp::QoS{100},
-    std::bind(&GyroOdometer::callbackVehicleTwist, this, std::placeholders::_1));
-
-  imu_sub_ = create_subscription<sensor_msgs::msg::Imu>(
-    "imu", rclcpp::QoS{100}, std::bind(&GyroOdometer::callbackImu, this, std::placeholders::_1));
-
-  twist_raw_pub_ = create_publisher<geometry_msgs::msg::TwistStamped>("twist_raw", rclcpp::QoS{10});
-  twist_with_covariance_raw_pub_ = create_publisher<geometry_msgs::msg::TwistWithCovarianceStamped>(
-    "twist_with_covariance_raw", rclcpp::QoS{10});
-
-  twist_pub_ = create_publisher<geometry_msgs::msg::TwistStamped>("twist", rclcpp::QoS{10});
-  twist_with_covariance_pub_ = create_publisher<geometry_msgs::msg::TwistWithCovarianceStamped>(
-    "twist_with_covariance", rclcpp::QoS{10});
-
-  // TODO(YamatoAndo) createTimer
-}
-
-GyroOdometer::~GyroOdometer()
-{
-}
-
-void GyroOdometer::callbackVehicleTwist(
+void GyroOdometerNode::callbackVehicleTwist(
   const geometry_msgs::msg::TwistWithCovarianceStamped::ConstSharedPtr vehicle_twist_ptr)
 {
   vehicle_twist_arrived_ = true;
@@ -173,7 +179,7 @@ void GyroOdometer::callbackVehicleTwist(
   gyro_queue_.clear();
 }
 
-void GyroOdometer::callbackImu(const sensor_msgs::msg::Imu::ConstSharedPtr imu_msg_ptr)
+void GyroOdometerNode::callbackImu(const sensor_msgs::msg::Imu::ConstSharedPtr imu_msg_ptr)
 {
   imu_arrived_ = true;
   if (!vehicle_twist_arrived_) {
@@ -241,7 +247,7 @@ void GyroOdometer::callbackImu(const sensor_msgs::msg::Imu::ConstSharedPtr imu_m
   gyro_queue_.clear();
 }
 
-void GyroOdometer::publishData(
+void GyroOdometerNode::publishData(
   const geometry_msgs::msg::TwistWithCovarianceStamped & twist_with_cov_raw)
 {
   geometry_msgs::msg::TwistStamped twist_raw;
@@ -269,3 +275,8 @@ void GyroOdometer::publishData(
   twist_pub_->publish(twist);
   twist_with_covariance_pub_->publish(twist_with_covariance);
 }
+
+}  // namespace autoware::gyro_odometer
+
+#include <rclcpp_components/register_node_macro.hpp>
+RCLCPP_COMPONENTS_REGISTER_NODE(autoware::gyro_odometer::GyroOdometerNode)