feat(multi_object_tracker): add warning_publish_interval_ratio

Author: lei.gu

perception/autoware_multi_object_tracker/src/multi_object_tracker_node.cpp

@@ -194,7 +194,8 @@ MultiObjectTracker::MultiObjectTracker(const rclcpp::NodeOptions & node_options)
   published_time_publisher_ = std::make_unique<autoware_utils::PublishedTimePublisher>(this);
   // Diagnostics
   diagnostics_interface_ptr_ =
-  std::make_unique<autoware_utils::DiagnosticsInterface>(this, "multi_object_tracker");
+  std::make_unique<autoware_utils::DiagnosticsInterface>(this, "multi_object_tracker_delay_compensation");
+
 }
 
 void MultiObjectTracker::onTrigger()
@@ -242,14 +243,19 @@ void MultiObjectTracker::onTimer()
   const double maximum_publish_interval = publisher_period_ * maximum_publish_interval_ratio;
   should_publish = should_publish || elapsed_time > maximum_publish_interval;
 
+  const double warning_publish_interval = publisher_period_ * warning_publish_interval_ratio;
+
   diagnostics_interface_ptr_->clear();
   diagnostics_interface_ptr_->add_key_value("elapsed_time", elapsed_time);
-  if (elapsed_time > 500e-3) {
+  if (elapsed_time > warning_publish_interval) {
     std::stringstream message;
-    message << "MultiObjectTracker::onTimer: elapsed_time exceeds its maximum value, "
-            << "which may limit the predition performance.";
+    message << "MultiObjectTracker::onTimer: elapsed_time exceeds its maximum value, " << warning_publish_interval;
     diagnostics_interface_ptr_->update_level_and_message(
       diagnostic_msgs::msg::DiagnosticStatus::WARN, message.str());
+  } else {
+      diagnostics_interface_ptr_->update_level_and_message(
+        diagnostic_msgs::msg::DiagnosticStatus::OK, "OK");
+
   }
   diagnostics_interface_ptr_->publish(current_time);
 

perception/autoware_multi_object_tracker/src/multi_object_tracker_node.hpp

@@ -80,6 +80,7 @@ class MultiObjectTracker : public rclcpp::Node
   double publisher_period_;
   static constexpr double minimum_publish_interval_ratio = 0.85;
   static constexpr double maximum_publish_interval_ratio = 1.05;
+  static constexpr double warning_publish_interval_ratio = 1.30;
 
   // internal states
   std::string world_frame_id_;  // tracking frame