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refactor(autoware_planning_evaluator): devops node dojo (#8746)
Signed-off-by: odra <me@lrossetti.com>
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‎evaluator/autoware_planning_evaluator/CMakeLists.txt

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ament_auto_package(
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INSTALL_TO_SHARE
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param
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launch
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config
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)

‎evaluator/autoware_planning_evaluator/README.md

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## Parameters
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| Name | Type | Description |
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| :-------------------------------- | :------- | :-------------------------------------------------------------------------- |
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| `output_file` | `string` | file used to write metrics |
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| `ego_frame` | `string` | frame used for the ego pose |
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| `selected_metrics` | List | metrics to measure and publish |
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| `trajectory.min_point_dist_m` | `double` | minimum distance between two successive points to use for angle calculation |
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| `trajectory.lookahead.max_dist_m` | `double` | maximum distance from ego along the trajectory to use for calculation |
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| `trajectory.lookahead.max_time_m` | `double` | maximum time ahead of ego along the trajectory to use for calculation |
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| `obstacle.dist_thr_m` | `double` | distance between ego and the obstacle below which a collision is considered |
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{{ json_to_markdown("evaluator/autoware_planning_evaluator/schema/autoware_planning_evaluator.schema.json") }}
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## Assumptions / Known limits
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‎evaluator/autoware_planning_evaluator/param/planning_evaluator.defaults.yaml ‎evaluator/autoware_planning_evaluator/config/planning_evaluator.param.yaml

File renamed without changes.

‎evaluator/autoware_planning_evaluator/launch/planning_evaluator.launch.xml

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<!-- planning evaluator -->
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<group>
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<node name="planning_evaluator" exec="planning_evaluator" pkg="autoware_planning_evaluator">
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<param from="$(find-pkg-share autoware_planning_evaluator)/param/planning_evaluator.defaults.yaml"/>
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<param from="$(find-pkg-share autoware_planning_evaluator)/config/planning_evaluator.param.yaml"/>
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<remap from="~/input/odometry" to="$(var input/odometry)"/>
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<remap from="~/input/acceleration" to="$(var input/acceleration)"/>
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<remap from="~/input/trajectory" to="$(var input/trajectory)"/>

‎evaluator/autoware_planning_evaluator/schema/autoware_planning_evaluator.schema.json

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{
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"$schema": "http://json-schema.org/draft-07/schema#",
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"title": "Parameters for Autoware Planning Evaluator Nodes",
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"type": "object",
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"definitions": {
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"autoware_planning_evaluator": {
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"type": "object",
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"properties": {
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"output_file": {
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"description": "output metrics file path",
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"type": "string",
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"default": ""
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},
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"ego_frame": {
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"description": "reference frame of ego",
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"type": "string",
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"default": "base_link"
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},
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"selected_metrics": {
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"description": "metrics to collect/record",
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"type": "array",
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"items": {
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"type": "string"
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},
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"default": [
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"curvature",
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"point_interval",
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"relative_angle",
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"length",
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"duration",
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"velocity",
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"acceleration",
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"jerk",
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"lateral_deviation",
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"yaw_deviation",
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"velocity_deviation",
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"stability",
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"stability_frechet",
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"obstacle_distance",
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"obstacle_ttc",
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"modified_goal_longitudinal_deviation",
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"modified_goal_lateral_deviation",
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"modified_goal_yaw_deviation"
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]
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},
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"trajectory": {
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"description": "trajectory object",
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"type": "object",
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"properties": {
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"min_point_dist_m": {
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"description": "minimum distance between two successive points to use for angle calculation",
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"type": "number",
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"default": 0.1
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},
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"lookahead": {
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"description": "lookahead object",
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"type": "object",
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"properties": {
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"max_dist_m": {
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"description": "maximum distance from ego along the trajectory to use for calculation",
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"type": "number",
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"default": 5.0
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},
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"max_time_s": {
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"description": "maximum time ahead of ego along the trajectory to use for calculation",
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"type": "number",
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"default": 3.0
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}
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}
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}
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}
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},
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"obstacle": {
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"description": "obstacle object",
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"type": "object",
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"properties": {
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"dist_thr_m": {
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"description": "distance between ego and the obstacle below which a collision is considered",
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"type": "number",
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"default": 1.0
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}
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}
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}
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},
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"required": ["ego_frame", "selected_metrics", "trajectory", "obstacle"]
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}
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},
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"properties": {
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"/**": {
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"type": "object",
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"properties": {
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"ros__parameters": {
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"$ref": "#/definitions/autoware_planning_evaluator"
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}
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},
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"required": ["ros__parameters"]
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}
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},
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"required": ["/**"]
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}

‎evaluator/autoware_planning_evaluator/test/test_planning_evaluator_node.cpp

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const auto share_dir =
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ament_index_cpp::get_package_share_directory("autoware_planning_evaluator");
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options.arguments(
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{"--ros-args", "--params-file", share_dir + "/param/planning_evaluator.defaults.yaml"});
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{"--ros-args", "--params-file", share_dir + "/config/planning_evaluator.param.yaml"});
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dummy_node = std::make_shared<rclcpp::Node>("planning_evaluator_test_node");
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eval_node = std::make_shared<EvalNode>(options);

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