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sasakisasakipre-commit-ci[bot]mitsudome-rSakodaShintaro
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feat: apply autoware_ prefix for control_performance_analysis (autowarefoundation#9982)
* feat(control_performance_analysis): apply `autoware_` prefix (see below): Note: * In this commit, I did not organize a folder structure. The folder structure will be organized in the next some commits. * The changes will follow the Autoware's guideline as below: - https://autowarefoundation.github.io/autoware-documentation/main/contributing/coding-guidelines/ros-nodes/directory-structure/#package-folder Signed-off-by: Junya Sasaki <junya.sasaki@tier4.jp> * rename(control_performance_analysis): move headers under `include/autoware`: * Fixes due to this changes for .hpp/.cpp files will be applied in the next commit Signed-off-by: Junya Sasaki <junya.sasaki@tier4.jp> * fix(control_performance_analysis): fix include paths * To follow the previous commit Signed-off-by: Junya Sasaki <junya.sasaki@tier4.jp> * rename: `control_performance_analysis` => `autoware_control_performance_analysis` Signed-off-by: Junya Sasaki <junya.sasaki@tier4.jp> * style(pre-commit): autofix * bug(autoware_control_performance_analysis): fix inconsistent namespacing Signed-off-by: Junya Sasaki <junya.sasaki@tier4.jp> * style(pre-commit): autofix * update(autoware_control_performance_analysis): `README.md` Signed-off-by: Junya Sasaki <junya.sasaki@tier4.jp> * bug(autoware_control_performance_analysis): fix critical bugs that contaminate topic name Signed-off-by: Junya Sasaki <junya.sasaki@tier4.jp> * style(pre-commit): autofix * fix: update package name for error_rqt_multiplot.xml Signed-off-by: Ryohsuke Mitsudome <ryohsuke.mitsudome@tier4.jp> * fix: update package name for control_performance_plot.py Signed-off-by: Ryohsuke Mitsudome <ryohsuke.mitsudome@tier4.jp> * docs(autoware_control_performance_analysis): update package name in README and CHANGELOG.rst Signed-off-by: Ryohsuke Mitsudome <ryohsuke.mitsudome@tier4.jp> * style(pre-commit): autofix --------- Signed-off-by: Junya Sasaki <junya.sasaki@tier4.jp> Signed-off-by: Ryohsuke Mitsudome <ryohsuke.mitsudome@tier4.jp> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Ryohsuke Mitsudome <ryohsuke.mitsudome@tier4.jp> Co-authored-by: SakodaShintaro <shintaro.sakoda@tier4.jp>
1 parent 2169394 commit ecc93f1

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-108
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‎control/control_performance_analysis/CHANGELOG.rst ‎control/autoware_control_performance_analysis/CHANGELOG.rst

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@@ -1,6 +1,6 @@
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^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
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Changelog for package control_performance_analysis
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^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
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^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
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Changelog for package autoware_control_performance_analysis
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^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
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0.40.0 (2024-12-12)
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-------------------

‎control/control_performance_analysis/CMakeLists.txt ‎control/autoware_control_performance_analysis/CMakeLists.txt

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@@ -1,5 +1,5 @@
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cmake_minimum_required(VERSION 3.14)
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project(control_performance_analysis)
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project(autoware_control_performance_analysis)
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find_package(autoware_cmake REQUIRED)
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autoware_package()
@@ -19,7 +19,7 @@ find_package(rosidl_default_generators REQUIRED)
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find_package(std_msgs REQUIRED)
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rosidl_generate_interfaces(
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control_performance_analysis
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${PROJECT_NAME}
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"msg/Error.msg"
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"msg/ErrorStamped.msg"
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"msg/DrivingMonitorStamped.msg"
@@ -40,12 +40,12 @@ ament_auto_add_library(
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if(${rosidl_cmake_VERSION} VERSION_LESS 2.5.0)
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rosidl_target_interfaces(control_performance_analysis_node
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control_performance_analysis "rosidl_typesupport_cpp")
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${PROJECT_NAME} "rosidl_typesupport_cpp")
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rosidl_target_interfaces(control_performance_analysis_core
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control_performance_analysis "rosidl_typesupport_cpp")
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${PROJECT_NAME} "rosidl_typesupport_cpp")
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else()
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rosidl_get_typesupport_target(
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cpp_typesupport_target control_performance_analysis "rosidl_typesupport_cpp")
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cpp_typesupport_target ${PROJECT_NAME} "rosidl_typesupport_cpp")
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target_link_libraries(control_performance_analysis_node "${cpp_typesupport_target}")
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target_link_libraries(control_performance_analysis_core "${cpp_typesupport_target}")
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@@ -58,8 +58,8 @@ target_link_libraries(
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rclcpp_components_register_node(
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control_performance_analysis_node
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PLUGIN "control_performance_analysis::ControlPerformanceAnalysisNode"
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EXECUTABLE control_performance_analysis_exe
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PLUGIN "autoware::control_performance_analysis::ControlPerformanceAnalysisNode"
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EXECUTABLE ${PROJECT_NAME}_node
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)
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ament_auto_package(

‎control/control_performance_analysis/README.md ‎control/autoware_control_performance_analysis/README.md

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# control_performance_analysis
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# autoware_control_performance_analysis
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## Purpose
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`control_performance_analysis` is the package to analyze the tracking performance of a control module and monitor the driving status of the vehicle.
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`autoware_control_performance_analysis` is the package to analyze the tracking performance of a control module and monitor the driving status of the vehicle.
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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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| ---------------------------- | ----- | --------------------------------------------------------------------- |
@@ -53,7 +53,7 @@ Error acceleration calculations are made based on the velocity calculations abov
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| `desired_steering_angle` | float | $[ \mathrm{rad} ]$ |
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| `controller_processing_time` | float | Timestamp between last two control command messages $[ \mathrm{ms} ]$ |
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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/config/control_performance_analysis.param.yaml ‎control/autoware_control_performance_analysis/config/control_performance_analysis.param.yaml

File renamed without changes.

‎control/control_performance_analysis/config/controller_monitor.xml ‎control/autoware_control_performance_analysis/config/controller_monitor.xml

File renamed without changes.

‎control/control_performance_analysis/config/error_rqt_multiplot.xml ‎control/autoware_control_performance_analysis/config/error_rqt_multiplot.xml

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<type>0</type>
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</scale>
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<topic>/control_performance/performance_vars</topic>
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<type>control_performance_analysis/ErrorStamped</type>
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<type>autoware_control_performance_analysis/ErrorStamped</type>
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</x_axis>
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<y_axis>
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<field>error/lateral_error</field>
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<type>0</type>
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</scale>
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<topic>/control_performance/performance_vars</topic>
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<type>control_performance_analysis/ErrorStamped</type>
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<type>autoware_control_performance_analysis/ErrorStamped</type>
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</y_axis>
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</axes>
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<color>
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<type>0</type>
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</scale>
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<topic>/control_performance/performance_vars</topic>
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<type>control_performance_analysis/ErrorStamped</type>
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<type>autoware_control_performance_analysis/ErrorStamped</type>
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</x_axis>
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<y_axis>
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<field>error/error_energy</field>
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<type>0</type>
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</scale>
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<topic>/control_performance/performance_vars</topic>
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<type>control_performance_analysis/ErrorStamped</type>
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<type>autoware_control_performance_analysis/ErrorStamped</type>
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</y_axis>
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</axes>
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<color>
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<type>0</type>
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</scale>
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<topic>/control_performance/performance_vars</topic>
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<type>control_performance_analysis/ErrorStamped</type>
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<type>autoware_control_performance_analysis/ErrorStamped</type>
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</x_axis>
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<y_axis>
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<field>error/lateral_error_velocity</field>
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<type>0</type>
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</scale>
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<topic>/control_performance/performance_vars</topic>
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<type>control_performance_analysis/ErrorStamped</type>
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<type>autoware_control_performance_analysis/ErrorStamped</type>
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</y_axis>
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</axes>
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<color>
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<type>0</type>
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</scale>
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<topic>/control_performance/performance_vars</topic>
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<type>control_performance_analysis/ErrorStamped</type>
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<type>autoware_control_performance_analysis/ErrorStamped</type>
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</x_axis>
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<y_axis>
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<field>error/heading_error</field>
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<type>0</type>
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</scale>
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<topic>/control_performance/performance_vars</topic>
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<type>control_performance_analysis/ErrorStamped</type>
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<type>autoware_control_performance_analysis/ErrorStamped</type>
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</y_axis>
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</axes>
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<color>
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<type>0</type>
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</scale>
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<topic>/control_performance/performance_vars</topic>
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<type>control_performance_analysis/ErrorStamped</type>
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<type>autoware_control_performance_analysis/ErrorStamped</type>
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</x_axis>
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<y_axis>
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<field>error/control_effort_energy</field>
@@ -347,7 +347,7 @@
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<type>0</type>
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</scale>
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<topic>/control_performance/performance_vars</topic>
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<type>control_performance_analysis/ErrorStamped</type>
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<type>autoware_control_performance_analysis/ErrorStamped</type>
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</y_axis>
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</axes>
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<color>
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<type>0</type>
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</scale>
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<topic>/control_performance/performance_vars</topic>
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<type>control_performance_analysis/ErrorStamped</type>
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<type>autoware_control_performance_analysis/ErrorStamped</type>
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</x_axis>
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<y_axis>
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<field>error/lateral_error_acceleration</field>
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<type>0</type>
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</scale>
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<topic>/control_performance/performance_vars</topic>
424-
<type>control_performance_analysis/ErrorStamped</type>
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<type>autoware_control_performance_analysis/ErrorStamped</type>
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</y_axis>
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</axes>
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<color>
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<type>0</type>
485485
</scale>
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<topic>/control_performance/performance_vars</topic>
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<type>control_performance_analysis/ErrorStamped</type>
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<type>autoware_control_performance_analysis/ErrorStamped</type>
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</x_axis>
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<y_axis>
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<field>error/value_approximation</field>
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<type>0</type>
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</scale>
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<topic>/control_performance/performance_vars</topic>
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<type>control_performance_analysis/ErrorStamped</type>
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<type>autoware_control_performance_analysis/ErrorStamped</type>
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</y_axis>
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</axes>
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<color>
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<type>0</type>
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</scale>
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<topic>/control_performance/performance_vars</topic>
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<type>control_performance_analysis/ErrorStamped</type>
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<type>autoware_control_performance_analysis/ErrorStamped</type>
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</x_axis>
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<y_axis>
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<field>error/curvature_estimate</field>
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<type>0</type>
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</scale>
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<topic>/control_performance/performance_vars</topic>
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<type>control_performance_analysis/ErrorStamped</type>
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<type>autoware_control_performance_analysis/ErrorStamped</type>
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</y_axis>
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</axes>
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<color>

‎control/control_performance_analysis/include/control_performance_analysis/control_performance_analysis_core.hpp ‎control/autoware_control_performance_analysis/include/autoware/control_performance_analysis/control_performance_analysis_core.hpp

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1-
// Copyright 2021 - 2022 Tier IV, Inc., Leo Drive Teknoloji A.Ş.
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// Copyright 2021 - 2025 Tier IV, Inc., Leo Drive Teknoloji A.Ş.
22
//
33
// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
@@ -12,14 +12,14 @@
1212
// See the License for the specific language governing permissions and
1313
// limitations under the License.
1414

15-
#ifndef CONTROL_PERFORMANCE_ANALYSIS__CONTROL_PERFORMANCE_ANALYSIS_CORE_HPP_
16-
#define CONTROL_PERFORMANCE_ANALYSIS__CONTROL_PERFORMANCE_ANALYSIS_CORE_HPP_
15+
#ifndef AUTOWARE__CONTROL_PERFORMANCE_ANALYSIS__CONTROL_PERFORMANCE_ANALYSIS_CORE_HPP_
16+
#define AUTOWARE__CONTROL_PERFORMANCE_ANALYSIS__CONTROL_PERFORMANCE_ANALYSIS_CORE_HPP_
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18+
#include "autoware/control_performance_analysis/control_performance_analysis_utils.hpp"
1819
#include "autoware/motion_utils/trajectory/trajectory.hpp"
19-
#include "control_performance_analysis/control_performance_analysis_utils.hpp"
20-
#include "control_performance_analysis/msg/driving_monitor_stamped.hpp"
21-
#include "control_performance_analysis/msg/error_stamped.hpp"
22-
#include "control_performance_analysis/msg/float_stamped.hpp"
20+
#include "autoware_control_performance_analysis/msg/driving_monitor_stamped.hpp"
21+
#include "autoware_control_performance_analysis/msg/error_stamped.hpp"
22+
#include "autoware_control_performance_analysis/msg/float_stamped.hpp"
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#include <Eigen/Core>
2525
#include <rclcpp/time.hpp>
@@ -37,15 +37,15 @@
3737
#include <utility>
3838
#include <vector>
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40-
namespace control_performance_analysis
40+
namespace autoware::control_performance_analysis
4141
{
4242
using autoware_control_msgs::msg::Control;
43+
using autoware_control_performance_analysis::msg::DrivingMonitorStamped;
44+
using autoware_control_performance_analysis::msg::Error;
45+
using autoware_control_performance_analysis::msg::ErrorStamped;
46+
using autoware_control_performance_analysis::msg::FloatStamped;
4347
using autoware_planning_msgs::msg::Trajectory;
4448
using autoware_vehicle_msgs::msg::SteeringReport;
45-
using control_performance_analysis::msg::DrivingMonitorStamped;
46-
using control_performance_analysis::msg::Error;
47-
using control_performance_analysis::msg::ErrorStamped;
48-
using control_performance_analysis::msg::FloatStamped;
4949
using geometry_msgs::msg::Pose;
5050
using geometry_msgs::msg::PoseArray;
5151
using geometry_msgs::msg::Twist;
@@ -129,6 +129,6 @@ class ControlPerformanceAnalysisCore
129129
rclcpp::Logger logger_{rclcpp::get_logger("control_performance_analysis")};
130130
rclcpp::Clock clock_{RCL_ROS_TIME};
131131
};
132-
} // namespace control_performance_analysis
132+
} // namespace autoware::control_performance_analysis
133133

134-
#endif // CONTROL_PERFORMANCE_ANALYSIS__CONTROL_PERFORMANCE_ANALYSIS_CORE_HPP_
134+
#endif // AUTOWARE__CONTROL_PERFORMANCE_ANALYSIS__CONTROL_PERFORMANCE_ANALYSIS_CORE_HPP_

‎control/control_performance_analysis/include/control_performance_analysis/control_performance_analysis_node.hpp ‎control/autoware_control_performance_analysis/include/autoware/control_performance_analysis/control_performance_analysis_node.hpp

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// Copyright 2021 - 2022 Tier IV, Inc., Leo Drive Teknoloji A.Ş.
1+
// Copyright 2021 - 2025 Tier IV, Inc., Leo Drive Teknoloji A.Ş.
22
//
33
// Licensed under the Apache License, Version 2.0 (the "License");
44
// you may not use this file except in compliance with the License.
@@ -12,12 +12,12 @@
1212
// See the License for the specific language governing permissions and
1313
// limitations under the License.
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15-
#ifndef CONTROL_PERFORMANCE_ANALYSIS__CONTROL_PERFORMANCE_ANALYSIS_NODE_HPP_
16-
#define CONTROL_PERFORMANCE_ANALYSIS__CONTROL_PERFORMANCE_ANALYSIS_NODE_HPP_
15+
#ifndef AUTOWARE__CONTROL_PERFORMANCE_ANALYSIS__CONTROL_PERFORMANCE_ANALYSIS_NODE_HPP_
16+
#define AUTOWARE__CONTROL_PERFORMANCE_ANALYSIS__CONTROL_PERFORMANCE_ANALYSIS_NODE_HPP_
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18-
#include "control_performance_analysis/control_performance_analysis_core.hpp"
19-
#include "control_performance_analysis/msg/driving_monitor_stamped.hpp"
20-
#include "control_performance_analysis/msg/error_stamped.hpp"
18+
#include "autoware/control_performance_analysis/control_performance_analysis_core.hpp"
19+
#include "autoware_control_performance_analysis/msg/driving_monitor_stamped.hpp"
20+
#include "autoware_control_performance_analysis/msg/error_stamped.hpp"
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2222
#include <autoware/signal_processing/lowpass_filter_1d.hpp>
2323
#include <autoware/universe_utils/ros/self_pose_listener.hpp>
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3434
#include <memory>
3535
#include <utility>
3636

37-
namespace control_performance_analysis
37+
namespace autoware::control_performance_analysis
3838
{
3939
using autoware_control_msgs::msg::Control;
40+
using autoware_control_performance_analysis::msg::DrivingMonitorStamped;
41+
using autoware_control_performance_analysis::msg::ErrorStamped;
4042
using autoware_planning_msgs::msg::Trajectory;
4143
using autoware_vehicle_msgs::msg::SteeringReport;
42-
using control_performance_analysis::msg::DrivingMonitorStamped;
43-
using control_performance_analysis::msg::ErrorStamped;
4444
using geometry_msgs::msg::PoseStamped;
4545
using nav_msgs::msg::Odometry;
4646

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9292
// Algorithm
9393
std::unique_ptr<ControlPerformanceAnalysisCore> control_performance_core_ptr_;
9494
};
95-
} // namespace control_performance_analysis
95+
} // namespace autoware::control_performance_analysis
9696

97-
#endif // CONTROL_PERFORMANCE_ANALYSIS__CONTROL_PERFORMANCE_ANALYSIS_NODE_HPP_
97+
#endif // AUTOWARE__CONTROL_PERFORMANCE_ANALYSIS__CONTROL_PERFORMANCE_ANALYSIS_NODE_HPP_

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