feat(mpc_lateral_controller): signal a MRM when MPC fails. #7016
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TakaHoribe
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| @@ -88,9 +91,16 @@ class MpcLateralController : public trajectory_follower::LateralControllerBase | |||
| // Flag indicating whether to keep the steering control until it converges. | |||
| bool m_keep_steer_control_until_converged; | |||
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| // MPC solver checker. | |||
| bool m_is_mpc_solved{true}; | |||
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This code is okay, but let me write some advice here.
Increasing the number of member variables is generally not recommended because having more variables accessible from anywhere in the class reduces maintainability.
In essence, this variable does not need to be a member variable. It is enough to receive the results of the MPC optimization and, if it fails, publish the diagnostic as an ERROR right there. We don't have to store the information in the class member veriable.
This code has room for improvement in the sense that it unnecessarily increases the number of member variables and outputs diagnostic information via member variables.
However, since using the diagnostic_updater makes the above improvements somewhat difficult, the current code is acceptable.
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TomohitoAndo
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I confirmed there are no degradation on Evaluator.
https://evaluation.tier4.jp/evaluation/reports/d6ac264d-a7c7-506d-b2e0-b70347275cfd?project_id=prd_jt
LGTM
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Signed-off-by: Zhe Shen <lucidshenzhe@gmail.com>
Signed-off-by: Zhe Shen <lucidshenzhe@gmail.com>
Signed-off-by: Zhe Shen <lucidshenzhe@gmail.com>
Signed-off-by: Zhe Shen <lucidshenzhe@gmail.com>
Signed-off-by: Zhe Shen <lucidshenzhe@gmail.com>
Signed-off-by: Zhe Shen <lucidshenzhe@gmail.com>
Signed-off-by: Zhe Shen <lucidshenzhe@gmail.com>
Signed-off-by: Zhe Shen <lucidshenzhe@gmail.com>
Signed-off-by: Zhe Shen <lucidshenzhe@gmail.com>
Co-authored-by: Takamasa Horibe <horibe.takamasa@gmail.com>
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Signed-off-by: Zhe Shen <lucidshenzhe@gmail.com>
Signed-off-by: Zhe Shen <lucidshenzhe@gmail.com>
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Codecov ReportAll modified and coverable lines are covered by tests ✅
Additional details and impacted files@@ Coverage Diff @@
## main #7016 +/- ##
===========================================
+ Coverage 14.84% 19.01% +4.16%
===========================================
Files 1999 149 -1850
Lines 139163 13440 -125723
Branches 43716 2217 -41499
===========================================
- Hits 20661 2555 -18106
+ Misses 95731 10531 -85200
+ Partials 22771 354 -22417
☔ View full report in Codecov by Sentry. |
simon-eisenmann-driveblocks
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Jun 26, 2024
…oundation#7016) * mpc fail checker diagnostic added Signed-off-by: Zhe Shen <lucidshenzhe@gmail.com> * fix some scope issues Signed-off-by: Zhe Shen <lucidshenzhe@gmail.com> * member attribute added. Signed-off-by: Zhe Shen <lucidshenzhe@gmail.com> * shared pointer added. Signed-off-by: Zhe Shen <lucidshenzhe@gmail.com> * member attribute (diag_updater_) added Signed-off-by: Zhe Shen <lucidshenzhe@gmail.com> * dependency added. Signed-off-by: Zhe Shen <lucidshenzhe@gmail.com> * implementation of the MpcLateralController corrected! Signed-off-by: Zhe Shen <lucidshenzhe@gmail.com> * typo in comment corrected! Signed-off-by: Zhe Shen <lucidshenzhe@gmail.com> * member method argument corrected Signed-off-by: Zhe Shen <lucidshenzhe@gmail.com> * delete unnecessary reference mark Co-authored-by: Takamasa Horibe <horibe.takamasa@gmail.com> * rebase Signed-off-by: Zhe Shen <lucidshenzhe@gmail.com> * correct the include Signed-off-by: Zhe Shen <lucidshenzhe@gmail.com> * pre-commit Signed-off-by: Zhe Shen <lucidshenzhe@gmail.com> --------- Signed-off-by: Zhe Shen <lucidshenzhe@gmail.com> Co-authored-by: Takamasa Horibe <horibe.takamasa@gmail.com> Signed-off-by: Simon Eisenmann <simon.eisenmann@driveblocks.ai>
KhalilSelyan
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* mpc fail checker diagnostic added Signed-off-by: Zhe Shen <lucidshenzhe@gmail.com> * fix some scope issues Signed-off-by: Zhe Shen <lucidshenzhe@gmail.com> * member attribute added. Signed-off-by: Zhe Shen <lucidshenzhe@gmail.com> * shared pointer added. Signed-off-by: Zhe Shen <lucidshenzhe@gmail.com> * member attribute (diag_updater_) added Signed-off-by: Zhe Shen <lucidshenzhe@gmail.com> * dependency added. Signed-off-by: Zhe Shen <lucidshenzhe@gmail.com> * implementation of the MpcLateralController corrected! Signed-off-by: Zhe Shen <lucidshenzhe@gmail.com> * typo in comment corrected! Signed-off-by: Zhe Shen <lucidshenzhe@gmail.com> * member method argument corrected Signed-off-by: Zhe Shen <lucidshenzhe@gmail.com> * delete unnecessary reference mark Co-authored-by: Takamasa Horibe <horibe.takamasa@gmail.com> * rebase Signed-off-by: Zhe Shen <lucidshenzhe@gmail.com> * correct the include Signed-off-by: Zhe Shen <lucidshenzhe@gmail.com> * pre-commit Signed-off-by: Zhe Shen <lucidshenzhe@gmail.com> --------- Signed-off-by: Zhe Shen <lucidshenzhe@gmail.com> Co-authored-by: Takamasa Horibe <horibe.takamasa@gmail.com>
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Description
The car is expected to experience an MRM stop when MPC fails.
Related links
https://tier4.atlassian.net/jira/software/c/projects/RT1/boards/438?selectedIssue=RT1-6221
Tests performed
Set the is_mpc_solved to false manually.
We received the error message.
Screencast from 06-05-2024 03:34:32 PM.webm
Notes for reviewers
Interface changes
ROS Topic Changes
ROS Parameter Changes
Effects on system behavior
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