diff --git a/common/autoware_universe_utils/include/autoware/universe_utils/ros/debug_traits.hpp b/common/autoware_universe_utils/include/autoware/universe_utils/ros/debug_traits.hpp index 8934eb9d2f9d3..28c080b55401c 100644 --- a/common/autoware_universe_utils/include/autoware/universe_utils/ros/debug_traits.hpp +++ b/common/autoware_universe_utils/include/autoware/universe_utils/ros/debug_traits.hpp @@ -15,16 +15,6 @@ #ifndef AUTOWARE__UNIVERSE_UTILS__ROS__DEBUG_TRAITS_HPP_ #define AUTOWARE__UNIVERSE_UTILS__ROS__DEBUG_TRAITS_HPP_ -#include -#include -#include -#include -#include -#include -#include -#include -#include -#include #include #include #include @@ -51,7 +41,8 @@ struct is_debug_message : std::t }; template <> -struct is_debug_message : std::true_type +struct is_debug_message +: std::true_type { }; @@ -61,7 +52,8 @@ struct is_debug_message : std }; template <> -struct is_debug_message : std::true_type +struct is_debug_message +: std::true_type { }; diff --git a/control/autoware_autonomous_emergency_braking/include/autoware/autonomous_emergency_braking/node.hpp b/control/autoware_autonomous_emergency_braking/include/autoware/autonomous_emergency_braking/node.hpp index a232ffd099a46..0273bd8dc15d9 100644 --- a/control/autoware_autonomous_emergency_braking/include/autoware/autonomous_emergency_braking/node.hpp +++ b/control/autoware_autonomous_emergency_braking/include/autoware/autonomous_emergency_braking/node.hpp @@ -25,6 +25,7 @@ #include #include +#include #include #include #include @@ -33,7 +34,6 @@ #include #include #include -#include #include #include #include @@ -348,7 +348,8 @@ class AEB : public rclcpp::Node rclcpp::Publisher::SharedPtr virtual_wall_publisher_; rclcpp::Publisher::SharedPtr debug_processing_time_detail_pub_; - rclcpp::Publisher::SharedPtr debug_rss_distance_publisher_; + rclcpp::Publisher::SharedPtr + debug_rss_distance_publisher_; rclcpp::Publisher::SharedPtr metrics_pub_; // timer rclcpp::TimerBase::SharedPtr timer_; diff --git a/control/autoware_control_validator/src/control_validator.cpp b/control/autoware_control_validator/src/control_validator.cpp index 25a1865649d63..e0b9c7135e5f0 100644 --- a/control/autoware_control_validator/src/control_validator.cpp +++ b/control/autoware_control_validator/src/control_validator.cpp @@ -48,8 +48,8 @@ ControlValidator::ControlValidator(const rclcpp::NodeOptions & options) pub_markers_ = create_publisher("~/output/markers", 1); - pub_processing_time_ = - this->create_publisher("~/debug/processing_time_ms", 1); + pub_processing_time_ = this->create_publisher( + "~/debug/processing_time_ms", 1); debug_pose_publisher_ = std::make_shared(this); diff --git a/control/autoware_lane_departure_checker/package.xml b/control/autoware_lane_departure_checker/package.xml index 07e0ee3fcdc4e..97ad5eaf82e00 100644 --- a/control/autoware_lane_departure_checker/package.xml +++ b/control/autoware_lane_departure_checker/package.xml @@ -14,6 +14,7 @@ autoware_cmake autoware_adapi_v1_msgs + autoware_internal_debug_msgs autoware_lanelet2_extension autoware_map_msgs autoware_motion_utils @@ -32,7 +33,6 @@ tf2_eigen tf2_geometry_msgs tf2_ros - autoware_internal_debug_msgs ament_cmake_ros ament_lint_auto diff --git a/control/autoware_mpc_lateral_controller/include/autoware/mpc_lateral_controller/mpc_lateral_controller.hpp b/control/autoware_mpc_lateral_controller/include/autoware/mpc_lateral_controller/mpc_lateral_controller.hpp index c30db445f3486..0f3004775e5bd 100644 --- a/control/autoware_mpc_lateral_controller/include/autoware/mpc_lateral_controller/mpc_lateral_controller.hpp +++ b/control/autoware_mpc_lateral_controller/include/autoware/mpc_lateral_controller/mpc_lateral_controller.hpp @@ -26,13 +26,13 @@ #include #include "autoware_control_msgs/msg/lateral.hpp" +#include "autoware_internal_debug_msgs/msg/float32_multi_array_stamped.hpp" +#include "autoware_internal_debug_msgs/msg/float32_stamped.hpp" #include "autoware_planning_msgs/msg/trajectory.hpp" #include "autoware_vehicle_msgs/msg/steering_report.hpp" #include "geometry_msgs/msg/pose.hpp" #include "geometry_msgs/msg/pose_stamped.hpp" #include "nav_msgs/msg/odometry.hpp" -#include "autoware_internal_debug_msgs/msg/float32_multi_array_stamped.hpp" -#include "autoware_internal_debug_msgs/msg/float32_stamped.hpp" #include #include @@ -45,11 +45,11 @@ namespace autoware::motion::control::mpc_lateral_controller namespace trajectory_follower = ::autoware::motion::control::trajectory_follower; using autoware_control_msgs::msg::Lateral; +using autoware_internal_debug_msgs::msg::Float32MultiArrayStamped; +using autoware_internal_debug_msgs::msg::Float32Stamped; using autoware_planning_msgs::msg::Trajectory; using autoware_vehicle_msgs::msg::SteeringReport; using nav_msgs::msg::Odometry; -using autoware_internal_debug_msgs::msg::Float32MultiArrayStamped; -using autoware_internal_debug_msgs::msg::Float32Stamped; using trajectory_follower::LateralHorizon; class MpcLateralController : public trajectory_follower::LateralControllerBase diff --git a/control/autoware_pid_longitudinal_controller/include/autoware/pid_longitudinal_controller/pid_longitudinal_controller.hpp b/control/autoware_pid_longitudinal_controller/include/autoware/pid_longitudinal_controller/pid_longitudinal_controller.hpp index dbbea3bc4234c..db5fa09b5eeee 100644 --- a/control/autoware_pid_longitudinal_controller/include/autoware/pid_longitudinal_controller/pid_longitudinal_controller.hpp +++ b/control/autoware_pid_longitudinal_controller/include/autoware/pid_longitudinal_controller/pid_longitudinal_controller.hpp @@ -34,11 +34,11 @@ #include "autoware_adapi_v1_msgs/msg/operation_mode_state.hpp" #include "autoware_control_msgs/msg/longitudinal.hpp" +#include "autoware_internal_debug_msgs/msg/float32_multi_array_stamped.hpp" #include "autoware_planning_msgs/msg/trajectory.hpp" #include "geometry_msgs/msg/pose_stamped.hpp" #include "nav_msgs/msg/odometry.hpp" #include "tf2_msgs/msg/tf_message.hpp" -#include "autoware_internal_debug_msgs/msg/float32_multi_array_stamped.hpp" #include "visualization_msgs/msg/marker.hpp" #include @@ -98,8 +98,10 @@ class PidLongitudinalController : public trajectory_follower::LongitudinalContro rclcpp::Clock::SharedPtr clock_; rclcpp::Logger logger_; // ros variables - rclcpp::Publisher::SharedPtr m_pub_slope; - rclcpp::Publisher::SharedPtr m_pub_debug; + rclcpp::Publisher::SharedPtr + m_pub_slope; + rclcpp::Publisher::SharedPtr + m_pub_debug; rclcpp::Publisher::SharedPtr m_pub_virtual_wall_marker; rclcpp::Node::OnSetParametersCallbackHandle::SharedPtr m_set_param_res; diff --git a/control/autoware_pid_longitudinal_controller/package.xml b/control/autoware_pid_longitudinal_controller/package.xml index ec361620641dd..127ce8e76d69d 100644 --- a/control/autoware_pid_longitudinal_controller/package.xml +++ b/control/autoware_pid_longitudinal_controller/package.xml @@ -21,6 +21,7 @@ autoware_adapi_v1_msgs autoware_control_msgs + autoware_internal_debug_msgs autoware_interpolation autoware_motion_utils autoware_planning_msgs @@ -37,7 +38,6 @@ std_msgs tf2 tf2_ros - autoware_internal_debug_msgs ament_cmake_ros ament_lint_auto diff --git a/control/autoware_pure_pursuit/include/autoware/pure_pursuit/autoware_pure_pursuit_lateral_controller.hpp b/control/autoware_pure_pursuit/include/autoware/pure_pursuit/autoware_pure_pursuit_lateral_controller.hpp index 797dd011946da..f1ad63738df7c 100644 --- a/control/autoware_pure_pursuit/include/autoware/pure_pursuit/autoware_pure_pursuit_lateral_controller.hpp +++ b/control/autoware_pure_pursuit/include/autoware/pure_pursuit/autoware_pure_pursuit_lateral_controller.hpp @@ -42,11 +42,11 @@ #include #include "autoware_control_msgs/msg/lateral.hpp" +#include "autoware_internal_debug_msgs/msg/float32_multi_array_stamped.hpp" #include "autoware_planning_msgs/msg/trajectory.hpp" #include "geometry_msgs/msg/pose_stamped.hpp" #include "geometry_msgs/msg/twist_stamped.hpp" #include "nav_msgs/msg/odometry.hpp" -#include "autoware_internal_debug_msgs/msg/float32_multi_array_stamped.hpp" #include // To be replaced by std::optional in C++17 @@ -115,7 +115,8 @@ class PurePursuitLateralController : public LateralControllerBase // Debug Publisher rclcpp::Publisher::SharedPtr pub_debug_marker_; - rclcpp::Publisher::SharedPtr pub_debug_values_; + rclcpp::Publisher::SharedPtr + pub_debug_values_; // Predicted Trajectory publish rclcpp::Publisher::SharedPtr pub_predicted_trajectory_; diff --git a/control/autoware_pure_pursuit/package.xml b/control/autoware_pure_pursuit/package.xml index 5ac41d3b57c96..5b61cc10af1f5 100644 --- a/control/autoware_pure_pursuit/package.xml +++ b/control/autoware_pure_pursuit/package.xml @@ -15,6 +15,7 @@ autoware_cmake autoware_control_msgs + autoware_internal_debug_msgs autoware_motion_utils autoware_planning_msgs autoware_trajectory_follower_base @@ -32,7 +33,6 @@ tf2_eigen tf2_geometry_msgs tf2_ros - autoware_internal_debug_msgs visualization_msgs ament_lint_auto diff --git a/control/autoware_pure_pursuit/src/autoware_pure_pursuit/autoware_pure_pursuit_lateral_controller.cpp b/control/autoware_pure_pursuit/src/autoware_pure_pursuit/autoware_pure_pursuit_lateral_controller.cpp index 0323859c77b19..d173cfe64d3e8 100644 --- a/control/autoware_pure_pursuit/src/autoware_pure_pursuit/autoware_pure_pursuit_lateral_controller.cpp +++ b/control/autoware_pure_pursuit/src/autoware_pure_pursuit/autoware_pure_pursuit_lateral_controller.cpp @@ -92,8 +92,9 @@ PurePursuitLateralController::PurePursuitLateralController(rclcpp::Node & node) // Debug Publishers pub_debug_marker_ = node.create_publisher("~/debug/markers", 0); - pub_debug_values_ = node.create_publisher( - "~/debug/ld_outputs", rclcpp::QoS{1}); + pub_debug_values_ = + node.create_publisher( + "~/debug/ld_outputs", rclcpp::QoS{1}); // Publish predicted trajectory pub_predicted_trajectory_ = node.create_publisher( diff --git a/control/autoware_smart_mpc_trajectory_follower/scripts/pympc_trajectory_follower.py b/control/autoware_smart_mpc_trajectory_follower/scripts/pympc_trajectory_follower.py index f87ac09d40e56..104261866cf98 100755 --- a/control/autoware_smart_mpc_trajectory_follower/scripts/pympc_trajectory_follower.py +++ b/control/autoware_smart_mpc_trajectory_follower/scripts/pympc_trajectory_follower.py @@ -21,6 +21,9 @@ from autoware_adapi_v1_msgs.msg import OperationModeState from autoware_control_msgs.msg import Control +from autoware_internal_debug_msgs.msg import BoolStamped +from autoware_internal_debug_msgs.msg import Float32MultiArrayStamped +from autoware_internal_debug_msgs.msg import Float32Stamped from autoware_planning_msgs.msg import Trajectory from autoware_planning_msgs.msg import TrajectoryPoint from autoware_smart_mpc_trajectory_follower.scripts import drive_controller @@ -43,9 +46,6 @@ from scipy.spatial.transform import Rotation as R from scipy.spatial.transform import Slerp from std_msgs.msg import String -from autoware_internal_debug_msgs.msg import BoolStamped -from autoware_internal_debug_msgs.msg import Float32MultiArrayStamped -from autoware_internal_debug_msgs.msg import Float32Stamped from visualization_msgs.msg import Marker from visualization_msgs.msg import MarkerArray diff --git a/control/autoware_trajectory_follower_base/package.xml b/control/autoware_trajectory_follower_base/package.xml index d23a5c4c98d5c..195c077835910 100644 --- a/control/autoware_trajectory_follower_base/package.xml +++ b/control/autoware_trajectory_follower_base/package.xml @@ -21,6 +21,7 @@ autoware_adapi_v1_msgs autoware_control_msgs + autoware_internal_debug_msgs autoware_interpolation autoware_motion_utils autoware_osqp_interface @@ -37,7 +38,6 @@ std_msgs tf2 tf2_ros - autoware_internal_debug_msgs ament_cmake_ros ament_lint_auto diff --git a/control/autoware_vehicle_cmd_gate/package.xml b/control/autoware_vehicle_cmd_gate/package.xml index 74165826891ee..af2067700da0e 100644 --- a/control/autoware_vehicle_cmd_gate/package.xml +++ b/control/autoware_vehicle_cmd_gate/package.xml @@ -19,6 +19,7 @@ autoware_component_interface_specs autoware_component_interface_utils autoware_control_msgs + autoware_internal_debug_msgs autoware_motion_utils autoware_universe_utils autoware_vehicle_info_utils @@ -30,7 +31,6 @@ std_srvs tier4_api_utils tier4_control_msgs - autoware_internal_debug_msgs tier4_external_api_msgs tier4_system_msgs tier4_vehicle_msgs diff --git a/control/autoware_vehicle_cmd_gate/src/vehicle_cmd_gate.cpp b/control/autoware_vehicle_cmd_gate/src/vehicle_cmd_gate.cpp index 171507feb04f3..a4838ddcdc1f5 100644 --- a/control/autoware_vehicle_cmd_gate/src/vehicle_cmd_gate.cpp +++ b/control/autoware_vehicle_cmd_gate/src/vehicle_cmd_gate.cpp @@ -77,8 +77,8 @@ VehicleCmdGate::VehicleCmdGate(const rclcpp::NodeOptions & node_options) engage_pub_ = create_publisher("output/engage", durable_qos); pub_external_emergency_ = create_publisher("output/external_emergency", durable_qos); operation_mode_pub_ = create_publisher("output/operation_mode", durable_qos); - processing_time_pub_ = - this->create_publisher("~/debug/processing_time_ms", 1); + processing_time_pub_ = this->create_publisher( + "~/debug/processing_time_ms", 1); is_filter_activated_pub_ = create_publisher("~/is_filter_activated", durable_qos); diff --git a/control/autoware_vehicle_cmd_gate/src/vehicle_cmd_gate.hpp b/control/autoware_vehicle_cmd_gate/src/vehicle_cmd_gate.hpp index 061ec3ce22a89..094f114abb0a5 100644 --- a/control/autoware_vehicle_cmd_gate/src/vehicle_cmd_gate.hpp +++ b/control/autoware_vehicle_cmd_gate/src/vehicle_cmd_gate.hpp @@ -32,6 +32,8 @@ #include #include #include +#include +#include #include #include #include @@ -41,8 +43,6 @@ #include #include #include -#include -#include #include #include #include @@ -62,6 +62,7 @@ using autoware_adapi_v1_msgs::msg::MrmState; using autoware_adapi_v1_msgs::msg::OperationModeState; using autoware_control_msgs::msg::Control; using autoware_control_msgs::msg::Longitudinal; +using autoware_internal_debug_msgs::msg::BoolStamped; using autoware_vehicle_cmd_gate::msg::IsFilterActivated; using autoware_vehicle_msgs::msg::GearCommand; using autoware_vehicle_msgs::msg::HazardLightsCommand; @@ -70,7 +71,6 @@ using autoware_vehicle_msgs::msg::TurnIndicatorsCommand; using geometry_msgs::msg::AccelWithCovarianceStamped; using std_srvs::srv::Trigger; using tier4_control_msgs::msg::GateMode; -using autoware_internal_debug_msgs::msg::BoolStamped; using tier4_external_api_msgs::msg::Emergency; using tier4_external_api_msgs::msg::Heartbeat; using tier4_external_api_msgs::srv::SetEmergency; @@ -116,7 +116,8 @@ class VehicleCmdGate : public rclcpp::Node rclcpp::Publisher::SharedPtr filter_activated_marker_pub_; rclcpp::Publisher::SharedPtr filter_activated_marker_raw_pub_; rclcpp::Publisher::SharedPtr filter_activated_flag_pub_; - rclcpp::Publisher::SharedPtr processing_time_pub_; + rclcpp::Publisher::SharedPtr + processing_time_pub_; // Parameter callback OnSetParametersCallbackHandle::SharedPtr set_param_res_; rcl_interfaces::msg::SetParametersResult onParameter( diff --git a/control/control_performance_analysis/package.xml b/control/control_performance_analysis/package.xml index 459af5f2244a1..f2630a7d47f62 100644 --- a/control/control_performance_analysis/package.xml +++ b/control/control_performance_analysis/package.xml @@ -25,6 +25,7 @@ builtin_interfaces autoware_control_msgs + autoware_internal_debug_msgs autoware_motion_utils autoware_planning_msgs autoware_signal_processing @@ -41,7 +42,6 @@ tf2 tf2_eigen tf2_ros - autoware_internal_debug_msgs autoware_global_parameter_loader builtin_interfaces rosidl_default_runtime diff --git a/control/control_performance_analysis/scripts/control_performance_plot.py b/control/control_performance_analysis/scripts/control_performance_plot.py index 054163652aa3d..d4a6038465e12 100644 --- a/control/control_performance_analysis/scripts/control_performance_plot.py +++ b/control/control_performance_analysis/scripts/control_performance_plot.py @@ -17,13 +17,13 @@ import argparse import math +from autoware_internal_debug_msgs.msg import BoolStamped from control_performance_analysis.msg import DrivingMonitorStamped from control_performance_analysis.msg import ErrorStamped import matplotlib.pyplot as plt from nav_msgs.msg import Odometry import rclpy from rclpy.node import Node -from autoware_internal_debug_msgs.msg import BoolStamped parser = argparse.ArgumentParser() parser.add_argument("-i", "--interval", help="interval distance to plot") diff --git a/evaluator/autoware_control_evaluator/include/autoware/control_evaluator/control_evaluator_node.hpp b/evaluator/autoware_control_evaluator/include/autoware/control_evaluator/control_evaluator_node.hpp index bdf48efda55fd..9606dea577bd0 100644 --- a/evaluator/autoware_control_evaluator/include/autoware/control_evaluator/control_evaluator_node.hpp +++ b/evaluator/autoware_control_evaluator/include/autoware/control_evaluator/control_evaluator_node.hpp @@ -25,9 +25,9 @@ #include #include "geometry_msgs/msg/accel_with_covariance_stamped.hpp" +#include #include #include -#include #include #include @@ -85,7 +85,8 @@ class ControlEvaluatorNode : public rclcpp::Node LaneletMapBin, autoware::universe_utils::polling_policy::Newest> vector_map_subscriber_{this, "~/input/vector_map", rclcpp::QoS{1}.transient_local()}; - rclcpp::Publisher::SharedPtr processing_time_pub_; + rclcpp::Publisher::SharedPtr + processing_time_pub_; rclcpp::Publisher::SharedPtr metrics_pub_; // update Route Handler diff --git a/evaluator/autoware_control_evaluator/src/control_evaluator_node.cpp b/evaluator/autoware_control_evaluator/src/control_evaluator_node.cpp index 8999a1281cb45..79e89423af6dd 100644 --- a/evaluator/autoware_control_evaluator/src/control_evaluator_node.cpp +++ b/evaluator/autoware_control_evaluator/src/control_evaluator_node.cpp @@ -34,8 +34,8 @@ ControlEvaluatorNode::ControlEvaluatorNode(const rclcpp::NodeOptions & node_opti using std::placeholders::_1; // Publisher - processing_time_pub_ = - this->create_publisher("~/debug/processing_time_ms", 1); + processing_time_pub_ = this->create_publisher( + "~/debug/processing_time_ms", 1); metrics_pub_ = create_publisher("~/metrics", 1); // Parameters diff --git a/evaluator/autoware_planning_evaluator/include/autoware/planning_evaluator/planning_evaluator_node.hpp b/evaluator/autoware_planning_evaluator/include/autoware/planning_evaluator/planning_evaluator_node.hpp index d7f229c692fd1..8c0b49ce2dd26 100644 --- a/evaluator/autoware_planning_evaluator/include/autoware/planning_evaluator/planning_evaluator_node.hpp +++ b/evaluator/autoware_planning_evaluator/include/autoware/planning_evaluator/planning_evaluator_node.hpp @@ -31,8 +31,8 @@ #include "autoware_planning_msgs/msg/trajectory_point.hpp" #include "geometry_msgs/msg/accel_with_covariance_stamped.hpp" #include "nav_msgs/msg/odometry.hpp" -#include #include +#include #include #include @@ -145,7 +145,8 @@ class PlanningEvaluatorNode : public rclcpp::Node autoware::universe_utils::InterProcessPollingSubscriber accel_sub_{ this, "~/input/acceleration"}; - rclcpp::Publisher::SharedPtr processing_time_pub_; + rclcpp::Publisher::SharedPtr + processing_time_pub_; rclcpp::Publisher::SharedPtr metrics_pub_; std::shared_ptr transform_listener_{nullptr}; std::unique_ptr tf_buffer_; diff --git a/evaluator/autoware_planning_evaluator/src/planning_evaluator_node.cpp b/evaluator/autoware_planning_evaluator/src/planning_evaluator_node.cpp index d93de6ea703b3..53319ffa4c1fd 100644 --- a/evaluator/autoware_planning_evaluator/src/planning_evaluator_node.cpp +++ b/evaluator/autoware_planning_evaluator/src/planning_evaluator_node.cpp @@ -59,8 +59,8 @@ PlanningEvaluatorNode::PlanningEvaluatorNode(const rclcpp::NodeOptions & node_op output_metrics_ = declare_parameter("output_metrics"); ego_frame_str_ = declare_parameter("ego_frame"); - processing_time_pub_ = - this->create_publisher("~/debug/processing_time_ms", 1); + processing_time_pub_ = this->create_publisher( + "~/debug/processing_time_ms", 1); // List of metrics to calculate and publish metrics_pub_ = create_publisher("~/metrics", 1); diff --git a/localization/autoware_ekf_localizer/README.md b/localization/autoware_ekf_localizer/README.md index 957c8fc46b54c..c23632527bf6e 100644 --- a/localization/autoware_ekf_localizer/README.md +++ b/localization/autoware_ekf_localizer/README.md @@ -44,17 +44,17 @@ This package includes the following features: ### Published Topics -| Name | Type | Description | -| --------------------------------- | ------------------------------------------------ | ----------------------------------------------------- | -| `ekf_odom` | `nav_msgs::msg::Odometry` | Estimated odometry. | -| `ekf_pose` | `geometry_msgs::msg::PoseStamped` | Estimated pose. | -| `ekf_pose_with_covariance` | `geometry_msgs::msg::PoseWithCovarianceStamped` | Estimated pose with covariance. | -| `ekf_biased_pose` | `geometry_msgs::msg::PoseStamped` | Estimated pose including the yaw bias | -| `ekf_biased_pose_with_covariance` | `geometry_msgs::msg::PoseWithCovarianceStamped` | Estimated pose with covariance including the yaw bias | -| `ekf_twist` | `geometry_msgs::msg::TwistStamped` | Estimated twist. | -| `ekf_twist_with_covariance` | `geometry_msgs::msg::TwistWithCovarianceStamped` | The estimated twist with covariance. | -| `diagnostics` | `diagnostics_msgs::msg::DiagnosticArray` | The diagnostic information. | -| `debug/processing_time_ms` | `autoware_internal_debug_msgs::msg::Float64Stamped` | The processing time [ms]. | +| Name | Type | Description | +| --------------------------------- | --------------------------------------------------- | ----------------------------------------------------- | +| `ekf_odom` | `nav_msgs::msg::Odometry` | Estimated odometry. | +| `ekf_pose` | `geometry_msgs::msg::PoseStamped` | Estimated pose. | +| `ekf_pose_with_covariance` | `geometry_msgs::msg::PoseWithCovarianceStamped` | Estimated pose with covariance. | +| `ekf_biased_pose` | `geometry_msgs::msg::PoseStamped` | Estimated pose including the yaw bias | +| `ekf_biased_pose_with_covariance` | `geometry_msgs::msg::PoseWithCovarianceStamped` | Estimated pose with covariance including the yaw bias | +| `ekf_twist` | `geometry_msgs::msg::TwistStamped` | Estimated twist. | +| `ekf_twist_with_covariance` | `geometry_msgs::msg::TwistWithCovarianceStamped` | The estimated twist with covariance. | +| `diagnostics` | `diagnostics_msgs::msg::DiagnosticArray` | The diagnostic information. | +| `debug/processing_time_ms` | `autoware_internal_debug_msgs::msg::Float64Stamped` | The processing time [ms]. | ### Published TF diff --git a/localization/autoware_ekf_localizer/include/autoware/ekf_localizer/ekf_localizer.hpp b/localization/autoware_ekf_localizer/include/autoware/ekf_localizer/ekf_localizer.hpp index 361eb4c01f59b..3c5db351bb098 100644 --- a/localization/autoware_ekf_localizer/include/autoware/ekf_localizer/ekf_localizer.hpp +++ b/localization/autoware_ekf_localizer/include/autoware/ekf_localizer/ekf_localizer.hpp @@ -25,6 +25,8 @@ #include #include +#include +#include #include #include #include @@ -34,8 +36,6 @@ #include #include #include -#include -#include #include #include @@ -86,7 +86,8 @@ class EKFLocalizer : public rclcpp::Node //!< @brief diagnostics publisher rclcpp::Publisher::SharedPtr pub_diag_; //!< @brief processing_time publisher - rclcpp::Publisher::SharedPtr pub_processing_time_; + rclcpp::Publisher::SharedPtr + pub_processing_time_; //!< @brief initial pose subscriber rclcpp::Subscription::SharedPtr sub_initialpose_; //!< @brief measurement pose with covariance subscriber diff --git a/localization/autoware_ekf_localizer/package.xml b/localization/autoware_ekf_localizer/package.xml index cd422f6b1128f..e0e37f59d1acb 100644 --- a/localization/autoware_ekf_localizer/package.xml +++ b/localization/autoware_ekf_localizer/package.xml @@ -22,6 +22,7 @@ eigen + autoware_internal_debug_msgs autoware_kalman_filter autoware_localization_util autoware_universe_utils @@ -34,7 +35,6 @@ std_srvs tf2 tf2_ros - autoware_internal_debug_msgs ament_cmake_ros ament_lint_auto diff --git a/localization/autoware_ekf_localizer/src/ekf_localizer.cpp b/localization/autoware_ekf_localizer/src/ekf_localizer.cpp index 6fbcfe002779d..4d3d8b7820eb5 100644 --- a/localization/autoware_ekf_localizer/src/ekf_localizer.cpp +++ b/localization/autoware_ekf_localizer/src/ekf_localizer.cpp @@ -69,13 +69,14 @@ EKFLocalizer::EKFLocalizer(const rclcpp::NodeOptions & node_options) pub_twist_ = create_publisher("ekf_twist", 1); pub_twist_cov_ = create_publisher( "ekf_twist_with_covariance", 1); - pub_yaw_bias_ = create_publisher("estimated_yaw_bias", 1); + pub_yaw_bias_ = + create_publisher("estimated_yaw_bias", 1); pub_biased_pose_ = create_publisher("ekf_biased_pose", 1); pub_biased_pose_cov_ = create_publisher( "ekf_biased_pose_with_covariance", 1); pub_diag_ = this->create_publisher("/diagnostics", 10); - pub_processing_time_ = - create_publisher("debug/processing_time_ms", 1); + pub_processing_time_ = create_publisher( + "debug/processing_time_ms", 1); sub_initialpose_ = create_subscription( "initialpose", 1, std::bind(&EKFLocalizer::callback_initial_pose, this, _1)); sub_pose_with_cov_ = create_subscription( @@ -227,9 +228,10 @@ void EKFLocalizer::timer_callback() /* publish processing time */ const double elapsed_time = stop_watch_timer_cb_.toc(); - pub_processing_time_->publish(autoware_internal_debug_msgs::build() - .stamp(current_time) - .data(elapsed_time)); + pub_processing_time_->publish( + autoware_internal_debug_msgs::build() + .stamp(current_time) + .data(elapsed_time)); } /* diff --git a/localization/autoware_ndt_scan_matcher/README.md b/localization/autoware_ndt_scan_matcher/README.md index 3594edff5bbbc..ee177608bdefe 100644 --- a/localization/autoware_ndt_scan_matcher/README.md +++ b/localization/autoware_ndt_scan_matcher/README.md @@ -25,26 +25,26 @@ One optional function is regularization. Please see the regularization chapter i ### Output -| Name | Type | Description | -| --------------------------------- | ----------------------------------------------- | ---------------------------------------------------------------------------------------------------------------------------------------- | -| `ndt_pose` | `geometry_msgs::msg::PoseStamped` | estimated pose | -| `ndt_pose_with_covariance` | `geometry_msgs::msg::PoseWithCovarianceStamped` | estimated pose with covariance | -| `/diagnostics` | `diagnostic_msgs::msg::DiagnosticArray` | diagnostics | -| `points_aligned` | `sensor_msgs::msg::PointCloud2` | [debug topic] pointcloud aligned by scan matching | -| `points_aligned_no_ground` | `sensor_msgs::msg::PointCloud2` | [debug topic] no ground pointcloud aligned by scan matching | -| `initial_pose_with_covariance` | `geometry_msgs::msg::PoseWithCovarianceStamped` | [debug topic] initial pose used in scan matching | -| `multi_ndt_pose` | `geometry_msgs::msg::PoseArray` | [debug topic] estimated poses from multiple initial poses in real-time covariance estimation | -| `multi_initial_pose` | `geometry_msgs::msg::PoseArray` | [debug topic] initial poses for real-time covariance estimation | -| `exe_time_ms` | `autoware_internal_debug_msgs::msg::Float32Stamped` | [debug topic] execution time for scan matching [ms] | -| `transform_probability` | `autoware_internal_debug_msgs::msg::Float32Stamped` | [debug topic] score of scan matching | -| `no_ground_transform_probability` | `autoware_internal_debug_msgs::msg::Float32Stamped` | [debug topic] score of scan matching based on no ground LiDAR scan | -| `iteration_num` | `autoware_internal_debug_msgs::msg::Int32Stamped` | [debug topic] number of scan matching iterations | -| `initial_to_result_relative_pose` | `geometry_msgs::msg::PoseStamped` | [debug topic] relative pose between the initial point and the convergence point | -| `initial_to_result_distance` | `autoware_internal_debug_msgs::msg::Float32Stamped` | [debug topic] distance difference between the initial point and the convergence point [m] | -| `initial_to_result_distance_old` | `autoware_internal_debug_msgs::msg::Float32Stamped` | [debug topic] distance difference between the older of the two initial points used in linear interpolation and the convergence point [m] | -| `initial_to_result_distance_new` | `autoware_internal_debug_msgs::msg::Float32Stamped` | [debug topic] distance difference between the newer of the two initial points used in linear interpolation and the convergence point [m] | -| `ndt_marker` | `visualization_msgs::msg::MarkerArray` | [debug topic] markers for debugging | -| `monte_carlo_initial_pose_marker` | `visualization_msgs::msg::MarkerArray` | [debug topic] particles used in initial position estimation | +| Name | Type | Description | +| --------------------------------- | --------------------------------------------------- | ---------------------------------------------------------------------------------------------------------------------------------------- | +| `ndt_pose` | `geometry_msgs::msg::PoseStamped` | estimated pose | +| `ndt_pose_with_covariance` | `geometry_msgs::msg::PoseWithCovarianceStamped` | estimated pose with covariance | +| `/diagnostics` | `diagnostic_msgs::msg::DiagnosticArray` | diagnostics | +| `points_aligned` | `sensor_msgs::msg::PointCloud2` | [debug topic] pointcloud aligned by scan matching | +| `points_aligned_no_ground` | `sensor_msgs::msg::PointCloud2` | [debug topic] no ground pointcloud aligned by scan matching | +| `initial_pose_with_covariance` | `geometry_msgs::msg::PoseWithCovarianceStamped` | [debug topic] initial pose used in scan matching | +| `multi_ndt_pose` | `geometry_msgs::msg::PoseArray` | [debug topic] estimated poses from multiple initial poses in real-time covariance estimation | +| `multi_initial_pose` | `geometry_msgs::msg::PoseArray` | [debug topic] initial poses for real-time covariance estimation | +| `exe_time_ms` | `autoware_internal_debug_msgs::msg::Float32Stamped` | [debug topic] execution time for scan matching [ms] | +| `transform_probability` | `autoware_internal_debug_msgs::msg::Float32Stamped` | [debug topic] score of scan matching | +| `no_ground_transform_probability` | `autoware_internal_debug_msgs::msg::Float32Stamped` | [debug topic] score of scan matching based on no ground LiDAR scan | +| `iteration_num` | `autoware_internal_debug_msgs::msg::Int32Stamped` | [debug topic] number of scan matching iterations | +| `initial_to_result_relative_pose` | `geometry_msgs::msg::PoseStamped` | [debug topic] relative pose between the initial point and the convergence point | +| `initial_to_result_distance` | `autoware_internal_debug_msgs::msg::Float32Stamped` | [debug topic] distance difference between the initial point and the convergence point [m] | +| `initial_to_result_distance_old` | `autoware_internal_debug_msgs::msg::Float32Stamped` | [debug topic] distance difference between the older of the two initial points used in linear interpolation and the convergence point [m] | +| `initial_to_result_distance_new` | `autoware_internal_debug_msgs::msg::Float32Stamped` | [debug topic] distance difference between the newer of the two initial points used in linear interpolation and the convergence point [m] | +| `ndt_marker` | `visualization_msgs::msg::MarkerArray` | [debug topic] markers for debugging | +| `monte_carlo_initial_pose_marker` | `visualization_msgs::msg::MarkerArray` | [debug topic] particles used in initial position estimation | ### Service diff --git a/localization/autoware_ndt_scan_matcher/include/autoware/ndt_scan_matcher/ndt_scan_matcher_core.hpp b/localization/autoware_ndt_scan_matcher/include/autoware/ndt_scan_matcher/ndt_scan_matcher_core.hpp index f9a4ff429561b..f40b7b5109ec3 100644 --- a/localization/autoware_ndt_scan_matcher/include/autoware/ndt_scan_matcher/ndt_scan_matcher_core.hpp +++ b/localization/autoware_ndt_scan_matcher/include/autoware/ndt_scan_matcher/ndt_scan_matcher_core.hpp @@ -26,6 +26,8 @@ #include #include +#include +#include #include #include #include @@ -33,8 +35,6 @@ #include #include #include -#include -#include #include #include @@ -167,7 +167,8 @@ class NDTScanMatcher : public rclcpp::Node rclcpp::Publisher::SharedPtr multi_ndt_pose_pub_; rclcpp::Publisher::SharedPtr multi_initial_pose_pub_; rclcpp::Publisher::SharedPtr exe_time_pub_; - rclcpp::Publisher::SharedPtr transform_probability_pub_; + rclcpp::Publisher::SharedPtr + transform_probability_pub_; rclcpp::Publisher::SharedPtr nearest_voxel_transformation_likelihood_pub_; rclcpp::Publisher::SharedPtr voxel_score_points_pub_; diff --git a/localization/autoware_ndt_scan_matcher/package.xml b/localization/autoware_ndt_scan_matcher/package.xml index 1cada534d337f..ebd1ebda2d573 100644 --- a/localization/autoware_ndt_scan_matcher/package.xml +++ b/localization/autoware_ndt_scan_matcher/package.xml @@ -17,6 +17,7 @@ ament_cmake_auto autoware_cmake + autoware_internal_debug_msgs autoware_localization_util autoware_map_msgs autoware_universe_utils @@ -35,7 +36,6 @@ tf2_geometry_msgs tf2_ros tf2_sensor_msgs - autoware_internal_debug_msgs tier4_localization_msgs visualization_msgs diff --git a/localization/autoware_ndt_scan_matcher/src/ndt_scan_matcher_core.cpp b/localization/autoware_ndt_scan_matcher/src/ndt_scan_matcher_core.cpp index b1c5a42e39f33..016fd1a95cbfd 100644 --- a/localization/autoware_ndt_scan_matcher/src/ndt_scan_matcher_core.cpp +++ b/localization/autoware_ndt_scan_matcher/src/ndt_scan_matcher_core.cpp @@ -158,9 +158,11 @@ NDTScanMatcher::NDTScanMatcher(const rclcpp::NodeOptions & options) multi_ndt_pose_pub_ = this->create_publisher("multi_ndt_pose", 10); multi_initial_pose_pub_ = this->create_publisher("multi_initial_pose", 10); - exe_time_pub_ = this->create_publisher("exe_time_ms", 10); + exe_time_pub_ = + this->create_publisher("exe_time_ms", 10); transform_probability_pub_ = - this->create_publisher("transform_probability", 10); + this->create_publisher( + "transform_probability", 10); nearest_voxel_transformation_likelihood_pub_ = this->create_publisher( "nearest_voxel_transformation_likelihood", 10); @@ -177,7 +179,8 @@ NDTScanMatcher::NDTScanMatcher(const rclcpp::NodeOptions & options) initial_to_result_relative_pose_pub_ = this->create_publisher("initial_to_result_relative_pose", 10); initial_to_result_distance_pub_ = - this->create_publisher("initial_to_result_distance", 10); + this->create_publisher( + "initial_to_result_distance", 10); initial_to_result_distance_old_pub_ = this->create_publisher( "initial_to_result_distance_old", 10); diff --git a/localization/autoware_pose2twist/README.md b/localization/autoware_pose2twist/README.md index 2361b427828f3..7f81e0dece5b0 100644 --- a/localization/autoware_pose2twist/README.md +++ b/localization/autoware_pose2twist/README.md @@ -17,9 +17,9 @@ The `twist.angular` is calculated as `relative_rotation_vector / dt` for each fi ### Output -| Name | Type | Description | -| --------- | ------------------------------------- | --------------------------------------------- | -| twist | geometry_msgs::msg::TwistStamped | twist calculated from the input pose history. | +| Name | Type | Description | +| --------- | ------------------------------------------------- | --------------------------------------------- | +| twist | geometry_msgs::msg::TwistStamped | twist calculated from the input pose history. | | linear_x | autoware_internal_debug_msgs::msg::Float32Stamped | linear-x field of the output twist. | | angular_z | autoware_internal_debug_msgs::msg::Float32Stamped | angular-z field of the output twist. | diff --git a/localization/autoware_pose2twist/package.xml b/localization/autoware_pose2twist/package.xml index b381c34f5976b..cfde18d430cfd 100644 --- a/localization/autoware_pose2twist/package.xml +++ b/localization/autoware_pose2twist/package.xml @@ -17,11 +17,11 @@ ament_cmake autoware_cmake + autoware_internal_debug_msgs geometry_msgs rclcpp rclcpp_components tf2_geometry_msgs - autoware_internal_debug_msgs ament_lint_auto autoware_lint_common diff --git a/localization/autoware_pose2twist/src/pose2twist_core.cpp b/localization/autoware_pose2twist/src/pose2twist_core.cpp index 8b3ec2aa8890c..f071d7c8c66e2 100644 --- a/localization/autoware_pose2twist/src/pose2twist_core.cpp +++ b/localization/autoware_pose2twist/src/pose2twist_core.cpp @@ -29,7 +29,8 @@ Pose2Twist::Pose2Twist(const rclcpp::NodeOptions & options) : rclcpp::Node("pose durable_qos.transient_local(); twist_pub_ = create_publisher("twist", durable_qos); - linear_x_pub_ = create_publisher("linear_x", durable_qos); + linear_x_pub_ = + create_publisher("linear_x", durable_qos); angular_z_pub_ = create_publisher("angular_z", durable_qos); // Note: this callback publishes topics above diff --git a/localization/autoware_pose2twist/src/pose2twist_core.hpp b/localization/autoware_pose2twist/src/pose2twist_core.hpp index df1812505799d..22540c9aee473 100644 --- a/localization/autoware_pose2twist/src/pose2twist_core.hpp +++ b/localization/autoware_pose2twist/src/pose2twist_core.hpp @@ -17,9 +17,9 @@ #include +#include #include #include -#include #ifdef ROS_DISTRO_GALACTIC #include diff --git a/localization/autoware_stop_filter/README.md b/localization/autoware_stop_filter/README.md index f8c0b305f3fe3..9136f6b6fc8a0 100644 --- a/localization/autoware_stop_filter/README.md +++ b/localization/autoware_stop_filter/README.md @@ -18,9 +18,9 @@ This node aims to: ### Output -| Name | Type | Description | -| ----------------- | ------------------------------------ | -------------------------------------------------------- | -| `output/odom` | `nav_msgs::msg::Odometry` | odometry with suppressed longitudinal and yaw twist | +| Name | Type | Description | +| ----------------- | ------------------------------------------------ | -------------------------------------------------------- | +| `output/odom` | `nav_msgs::msg::Odometry` | odometry with suppressed longitudinal and yaw twist | | `debug/stop_flag` | `autoware_internal_debug_msgs::msg::BoolStamped` | flag to represent whether the vehicle is stopping or not | ## Parameters diff --git a/localization/autoware_stop_filter/package.xml b/localization/autoware_stop_filter/package.xml index d36ef3f6e4802..50ba98484f59d 100644 --- a/localization/autoware_stop_filter/package.xml +++ b/localization/autoware_stop_filter/package.xml @@ -17,12 +17,12 @@ ament_cmake_auto autoware_cmake + autoware_internal_debug_msgs geometry_msgs nav_msgs rclcpp rclcpp_components tf2 - autoware_internal_debug_msgs ament_cmake_ros ament_lint_auto diff --git a/localization/autoware_stop_filter/src/stop_filter.cpp b/localization/autoware_stop_filter/src/stop_filter.cpp index dad5191903110..b0f1bc8eba053 100644 --- a/localization/autoware_stop_filter/src/stop_filter.cpp +++ b/localization/autoware_stop_filter/src/stop_filter.cpp @@ -34,7 +34,8 @@ StopFilter::StopFilter(const rclcpp::NodeOptions & node_options) "input/odom", 1, std::bind(&StopFilter::callback_odometry, this, std::placeholders::_1)); pub_odom_ = create_publisher("output/odom", 1); - pub_stop_flag_ = create_publisher("debug/stop_flag", 1); + pub_stop_flag_ = + create_publisher("debug/stop_flag", 1); } void StopFilter::callback_odometry(const nav_msgs::msg::Odometry::SharedPtr msg) diff --git a/localization/autoware_stop_filter/src/stop_filter.hpp b/localization/autoware_stop_filter/src/stop_filter.hpp index 902b1027e551c..71864fab0a580 100644 --- a/localization/autoware_stop_filter/src/stop_filter.hpp +++ b/localization/autoware_stop_filter/src/stop_filter.hpp @@ -17,10 +17,10 @@ #include +#include #include #include #include -#include #include #include diff --git a/localization/autoware_twist2accel/package.xml b/localization/autoware_twist2accel/package.xml index 5028a8c86d79b..013ef54fe52d1 100644 --- a/localization/autoware_twist2accel/package.xml +++ b/localization/autoware_twist2accel/package.xml @@ -17,13 +17,13 @@ ament_cmake_auto autoware_cmake + autoware_internal_debug_msgs autoware_signal_processing geometry_msgs nav_msgs rclcpp rclcpp_components tf2 - autoware_internal_debug_msgs ament_cmake_ros ament_lint_auto diff --git a/localization/autoware_twist2accel/src/twist2accel.hpp b/localization/autoware_twist2accel/src/twist2accel.hpp index c807ed1f3d4ba..d142328f9d498 100644 --- a/localization/autoware_twist2accel/src/twist2accel.hpp +++ b/localization/autoware_twist2accel/src/twist2accel.hpp @@ -19,11 +19,11 @@ #include +#include #include #include #include #include -#include #include #include diff --git a/perception/autoware_crosswalk_traffic_light_estimator/include/autoware_crosswalk_traffic_light_estimator/node.hpp b/perception/autoware_crosswalk_traffic_light_estimator/include/autoware_crosswalk_traffic_light_estimator/node.hpp index 7f029c6b4e7c7..115c818ccb5c6 100644 --- a/perception/autoware_crosswalk_traffic_light_estimator/include/autoware_crosswalk_traffic_light_estimator/node.hpp +++ b/perception/autoware_crosswalk_traffic_light_estimator/include/autoware_crosswalk_traffic_light_estimator/node.hpp @@ -19,10 +19,10 @@ #include #include +#include #include #include #include -#include #include #include @@ -41,9 +41,9 @@ namespace autoware::crosswalk_traffic_light_estimator using autoware::universe_utils::DebugPublisher; using autoware::universe_utils::StopWatch; +using autoware_internal_debug_msgs::msg::Float64Stamped; using autoware_map_msgs::msg::LaneletMapBin; using autoware_planning_msgs::msg::LaneletRoute; -using autoware_internal_debug_msgs::msg::Float64Stamped; using TrafficSignal = autoware_perception_msgs::msg::TrafficLightGroup; using TrafficSignalArray = autoware_perception_msgs::msg::TrafficLightGroupArray; using TrafficSignalElement = autoware_perception_msgs::msg::TrafficLightElement; diff --git a/perception/autoware_lidar_apollo_instance_segmentation/package.xml b/perception/autoware_lidar_apollo_instance_segmentation/package.xml index b6c8e90606c05..8ff7ce77d943d 100755 --- a/perception/autoware_lidar_apollo_instance_segmentation/package.xml +++ b/perception/autoware_lidar_apollo_instance_segmentation/package.xml @@ -14,6 +14,7 @@ ament_cmake autoware_cuda_utils + autoware_internal_debug_msgs autoware_perception_msgs autoware_tensorrt_common autoware_universe_utils @@ -22,7 +23,6 @@ rclcpp rclcpp_components tf2_eigen - autoware_internal_debug_msgs tier4_perception_msgs ament_lint_auto diff --git a/perception/autoware_lidar_centerpoint/README.md b/perception/autoware_lidar_centerpoint/README.md index 190b5948ece9e..b05f3aa0cc587 100644 --- a/perception/autoware_lidar_centerpoint/README.md +++ b/perception/autoware_lidar_centerpoint/README.md @@ -20,11 +20,11 @@ We trained the models using . ### Output -| Name | Type | Description | -| -------------------------- | ------------------------------------------------ | -------------------- | -| `~/output/objects` | `autoware_perception_msgs::msg::DetectedObjects` | detected objects | -| `debug/cyclic_time_ms` | `autoware_internal_debug_msgs::msg::Float64Stamped` | cyclic time (msg) | -| `debug/processing_time_ms` | `autoware_internal_debug_msgs::msg::Float64Stamped` | processing time (ms) | +| Name | Type | Description | +| -------------------------- | --------------------------------------------------- | -------------------- | +| `~/output/objects` | `autoware_perception_msgs::msg::DetectedObjects` | detected objects | +| `debug/cyclic_time_ms` | `autoware_internal_debug_msgs::msg::Float64Stamped` | cyclic time (msg) | +| `debug/processing_time_ms` | `autoware_internal_debug_msgs::msg::Float64Stamped` | processing time (ms) | ## Parameters diff --git a/perception/autoware_lidar_transfusion/README.md b/perception/autoware_lidar_transfusion/README.md index 327a414ab9984..620adbcb40e00 100644 --- a/perception/autoware_lidar_transfusion/README.md +++ b/perception/autoware_lidar_transfusion/README.md @@ -20,15 +20,15 @@ We trained the models using . ### Output -| Name | Type | Description | -| -------------------------------------- | ------------------------------------------------ | --------------------------- | -| `~/output/objects` | `autoware_perception_msgs::msg::DetectedObjects` | Detected objects. | -| `debug/cyclic_time_ms` | `autoware_internal_debug_msgs::msg::Float64Stamped` | Cyclic time (ms). | -| `debug/pipeline_latency_ms` | `autoware_internal_debug_msgs::msg::Float64Stamped` | Pipeline latency time (ms). | -| `debug/processing_time/preprocess_ms` | `autoware_internal_debug_msgs::msg::Float64Stamped` | Preprocess (ms). | -| `debug/processing_time/inference_ms` | `autoware_internal_debug_msgs::msg::Float64Stamped` | Inference time (ms). | -| `debug/processing_time/postprocess_ms` | `autoware_internal_debug_msgs::msg::Float64Stamped` | Postprocess time (ms). | -| `debug/processing_time/total_ms` | `autoware_internal_debug_msgs::msg::Float64Stamped` | Total processing time (ms). | +| Name | Type | Description | +| -------------------------------------- | --------------------------------------------------- | --------------------------- | +| `~/output/objects` | `autoware_perception_msgs::msg::DetectedObjects` | Detected objects. | +| `debug/cyclic_time_ms` | `autoware_internal_debug_msgs::msg::Float64Stamped` | Cyclic time (ms). | +| `debug/pipeline_latency_ms` | `autoware_internal_debug_msgs::msg::Float64Stamped` | Pipeline latency time (ms). | +| `debug/processing_time/preprocess_ms` | `autoware_internal_debug_msgs::msg::Float64Stamped` | Preprocess (ms). | +| `debug/processing_time/inference_ms` | `autoware_internal_debug_msgs::msg::Float64Stamped` | Inference time (ms). | +| `debug/processing_time/postprocess_ms` | `autoware_internal_debug_msgs::msg::Float64Stamped` | Postprocess time (ms). | +| `debug/processing_time/total_ms` | `autoware_internal_debug_msgs::msg::Float64Stamped` | Total processing time (ms). | ## Parameters diff --git a/perception/autoware_lidar_transfusion/src/lidar_transfusion_node.cpp b/perception/autoware_lidar_transfusion/src/lidar_transfusion_node.cpp index e51a18423901e..2c77e01901cb5 100644 --- a/perception/autoware_lidar_transfusion/src/lidar_transfusion_node.cpp +++ b/perception/autoware_lidar_transfusion/src/lidar_transfusion_node.cpp @@ -172,7 +172,8 @@ void LidarTransfusionNode::cloudCallback(const sensor_msgs::msg::PointCloud2::Co debug_publisher_ptr_->publish( "debug/processing_time/total_ms", processing_time_ms); for (const auto & [topic, time_ms] : proc_timing) { - debug_publisher_ptr_->publish(topic, time_ms); + debug_publisher_ptr_->publish( + topic, time_ms); } } } diff --git a/perception/autoware_map_based_prediction/include/map_based_prediction/map_based_prediction_node.hpp b/perception/autoware_map_based_prediction/include/map_based_prediction/map_based_prediction_node.hpp index bdcf6dd0c68dc..b047cd28114ba 100644 --- a/perception/autoware_map_based_prediction/include/map_based_prediction/map_based_prediction_node.hpp +++ b/perception/autoware_map_based_prediction/include/map_based_prediction/map_based_prediction_node.hpp @@ -71,8 +71,8 @@ struct hash } // namespace std namespace autoware::map_based_prediction { -using autoware_planning_msgs::msg::TrajectoryPoint; using autoware_internal_debug_msgs::msg::StringStamped; +using autoware_planning_msgs::msg::TrajectoryPoint; using TrajectoryPoints = std::vector; class MapBasedPredictionNode : public rclcpp::Node diff --git a/perception/autoware_map_based_prediction/package.xml b/perception/autoware_map_based_prediction/package.xml index 418c87c938cbe..58dfcb17c7631 100644 --- a/perception/autoware_map_based_prediction/package.xml +++ b/perception/autoware_map_based_prediction/package.xml @@ -16,6 +16,7 @@ ament_cmake autoware_cmake + autoware_internal_debug_msgs autoware_interpolation autoware_lanelet2_extension autoware_motion_utils @@ -27,7 +28,6 @@ tf2 tf2_geometry_msgs tf2_ros - autoware_internal_debug_msgs unique_identifier_msgs visualization_msgs diff --git a/perception/autoware_traffic_light_fine_detector/README.md b/perception/autoware_traffic_light_fine_detector/README.md index 5c1c2d34425eb..8b35b2b5250e4 100644 --- a/perception/autoware_traffic_light_fine_detector/README.md +++ b/perception/autoware_traffic_light_fine_detector/README.md @@ -35,10 +35,10 @@ Based on the camera image and the global ROI array detected by `map_based_detect ### Output -| Name | Type | Description | -| --------------------- | -------------------------------------------------- | ---------------------------- | -| `~/output/rois` | `tier4_perception_msgs::msg::TrafficLightRoiArray` | The detected accurate rois | -| `~/debug/exe_time_ms` | `autoware_internal_debug_msgs::msg::Float32Stamped` | The time taken for inference | +| Name | Type | Description | +| --------------------- | --------------------------------------------------- | ---------------------------- | +| `~/output/rois` | `tier4_perception_msgs::msg::TrafficLightRoiArray` | The detected accurate rois | +| `~/debug/exe_time_ms` | `autoware_internal_debug_msgs::msg::Float32Stamped` | The time taken for inference | ## Parameters diff --git a/perception/autoware_traffic_light_fine_detector/package.xml b/perception/autoware_traffic_light_fine_detector/package.xml index 6bd4510b05221..2b639fb98bebf 100644 --- a/perception/autoware_traffic_light_fine_detector/package.xml +++ b/perception/autoware_traffic_light_fine_detector/package.xml @@ -14,6 +14,7 @@ autoware_cmake + autoware_internal_debug_msgs autoware_tensorrt_yolox cv_bridge image_transport @@ -21,7 +22,6 @@ rclcpp rclcpp_components sensor_msgs - autoware_internal_debug_msgs tier4_perception_msgs autoware_lint_common diff --git a/perception/autoware_traffic_light_fine_detector/src/traffic_light_fine_detector_node.cpp b/perception/autoware_traffic_light_fine_detector/src/traffic_light_fine_detector_node.cpp index 2e941364f04e0..9cfeef1ca2de5 100644 --- a/perception/autoware_traffic_light_fine_detector/src/traffic_light_fine_detector_node.cpp +++ b/perception/autoware_traffic_light_fine_detector/src/traffic_light_fine_detector_node.cpp @@ -104,8 +104,8 @@ TrafficLightFineDetectorNode::TrafficLightFineDetectorNode(const rclcpp::NodeOpt std::lock_guard lock(connect_mutex_); output_roi_pub_ = this->create_publisher("~/output/rois", 1); - exe_time_pub_ = - this->create_publisher("~/debug/exe_time_ms", 1); + exe_time_pub_ = this->create_publisher( + "~/debug/exe_time_ms", 1); if (is_approximate_sync_) { approximate_sync_.reset( new ApproximateSync(ApproximateSyncPolicy(10), image_sub_, rough_roi_sub_, expect_roi_sub_)); diff --git a/perception/autoware_traffic_light_fine_detector/src/traffic_light_fine_detector_node.hpp b/perception/autoware_traffic_light_fine_detector/src/traffic_light_fine_detector_node.hpp index 3721203b461b8..a1450c0c5230a 100644 --- a/perception/autoware_traffic_light_fine_detector/src/traffic_light_fine_detector_node.hpp +++ b/perception/autoware_traffic_light_fine_detector/src/traffic_light_fine_detector_node.hpp @@ -22,9 +22,9 @@ #include #include +#include #include #include -#include #include #if __has_include() diff --git a/planning/autoware_costmap_generator/include/autoware/costmap_generator/costmap_generator.hpp b/planning/autoware_costmap_generator/include/autoware/costmap_generator/costmap_generator.hpp index 384f67cbf17f7..b6749117a6177 100644 --- a/planning/autoware_costmap_generator/include/autoware/costmap_generator/costmap_generator.hpp +++ b/planning/autoware_costmap_generator/include/autoware/costmap_generator/costmap_generator.hpp @@ -58,10 +58,10 @@ #include #include +#include #include #include #include -#include #include #include @@ -99,7 +99,8 @@ class CostmapGenerator : public rclcpp::Node rclcpp::Publisher::SharedPtr pub_costmap_; rclcpp::Publisher::SharedPtr pub_occupancy_grid_; rclcpp::Publisher::SharedPtr pub_processing_time_; - rclcpp::Publisher::SharedPtr pub_processing_time_ms_; + rclcpp::Publisher::SharedPtr + pub_processing_time_ms_; rclcpp::Subscription::SharedPtr sub_lanelet_bin_map_; autoware::universe_utils::InterProcessPollingSubscriber diff --git a/planning/autoware_costmap_generator/src/costmap_generator.cpp b/planning/autoware_costmap_generator/src/costmap_generator.cpp index 9a38a916bde7d..70b8051bcdc12 100644 --- a/planning/autoware_costmap_generator/src/costmap_generator.cpp +++ b/planning/autoware_costmap_generator/src/costmap_generator.cpp @@ -176,7 +176,8 @@ CostmapGenerator::CostmapGenerator(const rclcpp::NodeOptions & node_options) create_publisher("processing_time", 1); time_keeper_ = std::make_shared(pub_processing_time_); pub_processing_time_ms_ = - this->create_publisher("~/debug/processing_time_ms", 1); + this->create_publisher( + "~/debug/processing_time_ms", 1); // Timer const auto period_ns = rclcpp::Rate(param_->update_rate).period(); diff --git a/planning/autoware_external_velocity_limit_selector/package.xml b/planning/autoware_external_velocity_limit_selector/package.xml index f32539c669e17..afaf3399abfc4 100644 --- a/planning/autoware_external_velocity_limit_selector/package.xml +++ b/planning/autoware_external_velocity_limit_selector/package.xml @@ -17,10 +17,10 @@ ament_cmake_auto autoware_cmake + autoware_internal_debug_msgs generate_parameter_library rclcpp rclcpp_components - autoware_internal_debug_msgs tier4_planning_msgs ros2cli diff --git a/planning/autoware_freespace_planner/include/autoware/freespace_planner/freespace_planner_node.hpp b/planning/autoware_freespace_planner/include/autoware/freespace_planner/freespace_planner_node.hpp index d5ac15d6448f6..bd431372b70dc 100644 --- a/planning/autoware_freespace_planner/include/autoware/freespace_planner/freespace_planner_node.hpp +++ b/planning/autoware_freespace_planner/include/autoware/freespace_planner/freespace_planner_node.hpp @@ -39,13 +39,13 @@ #include #include +#include #include #include #include #include #include #include -#include #include #ifdef ROS_DISTRO_GALACTIC @@ -112,7 +112,8 @@ class FreespacePlannerNode : public rclcpp::Node rclcpp::Publisher::SharedPtr debug_pose_array_pub_; rclcpp::Publisher::SharedPtr debug_partial_pose_array_pub_; rclcpp::Publisher::SharedPtr parking_state_pub_; - rclcpp::Publisher::SharedPtr processing_time_pub_; + rclcpp::Publisher::SharedPtr + processing_time_pub_; rclcpp::Subscription::SharedPtr route_sub_; diff --git a/planning/autoware_freespace_planner/src/autoware_freespace_planner/freespace_planner_node.cpp b/planning/autoware_freespace_planner/src/autoware_freespace_planner/freespace_planner_node.cpp index aeb207d254f29..2749408bedb7b 100644 --- a/planning/autoware_freespace_planner/src/autoware_freespace_planner/freespace_planner_node.cpp +++ b/planning/autoware_freespace_planner/src/autoware_freespace_planner/freespace_planner_node.cpp @@ -95,8 +95,8 @@ FreespacePlannerNode::FreespacePlannerNode(const rclcpp::NodeOptions & node_opti debug_pose_array_pub_ = create_publisher("~/debug/pose_array", qos); debug_partial_pose_array_pub_ = create_publisher("~/debug/partial_pose_array", qos); parking_state_pub_ = create_publisher("is_completed", qos); - processing_time_pub_ = - create_publisher("~/debug/processing_time_ms", 1); + processing_time_pub_ = create_publisher( + "~/debug/processing_time_ms", 1); } // TF diff --git a/planning/autoware_mission_planner/src/mission_planner/mission_planner.cpp b/planning/autoware_mission_planner/src/mission_planner/mission_planner.cpp index 9df6d30dbeeda..b806feded9802 100644 --- a/planning/autoware_mission_planner/src/mission_planner/mission_planner.cpp +++ b/planning/autoware_mission_planner/src/mission_planner/mission_planner.cpp @@ -87,8 +87,8 @@ MissionPlanner::MissionPlanner(const rclcpp::NodeOptions & options) is_mission_planner_ready_ = false; logger_configure_ = std::make_unique(this); - pub_processing_time_ = - this->create_publisher("~/debug/processing_time_ms", 1); + pub_processing_time_ = this->create_publisher( + "~/debug/processing_time_ms", 1); } void MissionPlanner::publish_processing_time( diff --git a/planning/autoware_mission_planner/src/mission_planner/mission_planner.hpp b/planning/autoware_mission_planner/src/mission_planner/mission_planner.hpp index 64c61a1f820d8..18f0d3a9c259d 100644 --- a/planning/autoware_mission_planner/src/mission_planner/mission_planner.hpp +++ b/planning/autoware_mission_planner/src/mission_planner/mission_planner.hpp @@ -28,9 +28,9 @@ #include #include #include +#include #include #include -#include #include #include #include @@ -146,7 +146,8 @@ class MissionPlanner : public rclcpp::Node bool check_reroute_safety(const LaneletRoute & original_route, const LaneletRoute & target_route); std::unique_ptr logger_configure_; - rclcpp::Publisher::SharedPtr pub_processing_time_; + rclcpp::Publisher::SharedPtr + pub_processing_time_; }; } // namespace autoware::mission_planner diff --git a/planning/autoware_mission_planner/src/mission_planner/route_selector.cpp b/planning/autoware_mission_planner/src/mission_planner/route_selector.cpp index c28339fc8afe9..ad7daba18dece 100644 --- a/planning/autoware_mission_planner/src/mission_planner/route_selector.cpp +++ b/planning/autoware_mission_planner/src/mission_planner/route_selector.cpp @@ -138,8 +138,8 @@ RouteSelector::RouteSelector(const rclcpp::NodeOptions & options) main_request_ = std::monostate{}; // Processing time - pub_processing_time_ = - this->create_publisher("~/debug/processing_time_ms", 1); + pub_processing_time_ = this->create_publisher( + "~/debug/processing_time_ms", 1); } void RouteSelector::publish_processing_time( diff --git a/planning/autoware_mission_planner/src/mission_planner/route_selector.hpp b/planning/autoware_mission_planner/src/mission_planner/route_selector.hpp index 7db6d37ea0640..3e52f6962c47e 100644 --- a/planning/autoware_mission_planner/src/mission_planner/route_selector.hpp +++ b/planning/autoware_mission_planner/src/mission_planner/route_selector.hpp @@ -18,8 +18,8 @@ #include #include -#include #include +#include #include #include #include @@ -82,7 +82,8 @@ class RouteSelector : public rclcpp::Node rclcpp::Client::SharedPtr cli_set_lanelet_route_; rclcpp::Subscription::SharedPtr sub_state_; rclcpp::Subscription::SharedPtr sub_route_; - rclcpp::Publisher::SharedPtr pub_processing_time_; + rclcpp::Publisher::SharedPtr + pub_processing_time_; bool initialized_; bool mrm_operating_; diff --git a/planning/autoware_obstacle_cruise_planner/include/autoware/obstacle_cruise_planner/type_alias.hpp b/planning/autoware_obstacle_cruise_planner/include/autoware/obstacle_cruise_planner/type_alias.hpp index 46990c9daa2aa..e19ebd5d5f92f 100644 --- a/planning/autoware_obstacle_cruise_planner/include/autoware/obstacle_cruise_planner/type_alias.hpp +++ b/planning/autoware_obstacle_cruise_planner/include/autoware/obstacle_cruise_planner/type_alias.hpp @@ -19,6 +19,8 @@ #include "autoware_adapi_v1_msgs/msg/planning_behavior.hpp" #include "autoware_adapi_v1_msgs/msg/velocity_factor_array.hpp" +#include "autoware_internal_debug_msgs/msg/float32_stamped.hpp" +#include "autoware_internal_debug_msgs/msg/float64_stamped.hpp" #include "autoware_perception_msgs/msg/predicted_object.hpp" #include "autoware_perception_msgs/msg/predicted_objects.hpp" #include "autoware_planning_msgs/msg/trajectory.hpp" @@ -28,8 +30,6 @@ #include "geometry_msgs/msg/twist_stamped.hpp" #include "nav_msgs/msg/odometry.hpp" #include "sensor_msgs/msg/point_cloud2.hpp" -#include "autoware_internal_debug_msgs/msg/float32_stamped.hpp" -#include "autoware_internal_debug_msgs/msg/float64_stamped.hpp" #include "tier4_planning_msgs/msg/stop_speed_exceeded.hpp" #include "tier4_planning_msgs/msg/velocity_limit.hpp" #include "tier4_planning_msgs/msg/velocity_limit_clear_command.hpp" @@ -42,6 +42,8 @@ using autoware::vehicle_info_utils::VehicleInfo; using autoware_adapi_v1_msgs::msg::PlanningBehavior; using autoware_adapi_v1_msgs::msg::VelocityFactor; using autoware_adapi_v1_msgs::msg::VelocityFactorArray; +using autoware_internal_debug_msgs::msg::Float32Stamped; +using autoware_internal_debug_msgs::msg::Float64Stamped; using autoware_perception_msgs::msg::ObjectClassification; using autoware_perception_msgs::msg::PredictedObject; using autoware_perception_msgs::msg::PredictedObjects; @@ -54,8 +56,6 @@ using geometry_msgs::msg::AccelWithCovarianceStamped; using geometry_msgs::msg::Twist; using nav_msgs::msg::Odometry; using sensor_msgs::msg::PointCloud2; -using autoware_internal_debug_msgs::msg::Float32Stamped; -using autoware_internal_debug_msgs::msg::Float64Stamped; using tier4_planning_msgs::msg::StopSpeedExceeded; using tier4_planning_msgs::msg::VelocityLimit; using tier4_planning_msgs::msg::VelocityLimitClearCommand; diff --git a/planning/autoware_obstacle_cruise_planner/package.xml b/planning/autoware_obstacle_cruise_planner/package.xml index 3299286374f53..98ffcecdb11fb 100644 --- a/planning/autoware_obstacle_cruise_planner/package.xml +++ b/planning/autoware_obstacle_cruise_planner/package.xml @@ -19,6 +19,7 @@ autoware_cmake autoware_adapi_v1_msgs + autoware_internal_debug_msgs autoware_interpolation autoware_lanelet2_extension autoware_motion_utils @@ -38,7 +39,6 @@ std_msgs tf2 tf2_ros - autoware_internal_debug_msgs tier4_metric_msgs tier4_planning_msgs visualization_msgs diff --git a/planning/autoware_obstacle_stop_planner/package.xml b/planning/autoware_obstacle_stop_planner/package.xml index 5fbe92e9b956c..1eb5dbe55e07b 100644 --- a/planning/autoware_obstacle_stop_planner/package.xml +++ b/planning/autoware_obstacle_stop_planner/package.xml @@ -21,6 +21,7 @@ autoware_cmake autoware_adapi_v1_msgs + autoware_internal_debug_msgs autoware_motion_utils autoware_perception_msgs autoware_planning_msgs @@ -40,7 +41,6 @@ tf2_eigen tf2_geometry_msgs tf2_ros - autoware_internal_debug_msgs tier4_planning_msgs visualization_msgs diff --git a/planning/autoware_obstacle_stop_planner/src/adaptive_cruise_control.hpp b/planning/autoware_obstacle_stop_planner/src/adaptive_cruise_control.hpp index 56ed02a9b61ed..f4a11bc4314bd 100644 --- a/planning/autoware_obstacle_stop_planner/src/adaptive_cruise_control.hpp +++ b/planning/autoware_obstacle_stop_planner/src/adaptive_cruise_control.hpp @@ -17,10 +17,10 @@ #include +#include #include #include #include -#include #include #include @@ -58,7 +58,8 @@ class AdaptiveCruiseController const PredictedObject & target_object); private: - rclcpp::Publisher::SharedPtr pub_debug_; + rclcpp::Publisher::SharedPtr + pub_debug_; rclcpp::Node * node_; /* diff --git a/planning/autoware_obstacle_stop_planner/src/debug_marker.hpp b/planning/autoware_obstacle_stop_planner/src/debug_marker.hpp index 6d5f13b985406..646370e3cc182 100644 --- a/planning/autoware_obstacle_stop_planner/src/debug_marker.hpp +++ b/planning/autoware_obstacle_stop_planner/src/debug_marker.hpp @@ -18,9 +18,9 @@ #include #include +#include #include #include -#include #include #include diff --git a/planning/autoware_obstacle_stop_planner/src/node.hpp b/planning/autoware_obstacle_stop_planner/src/node.hpp index 1c1cd6c8bb7de..ea8aed19bdcfd 100644 --- a/planning/autoware_obstacle_stop_planner/src/node.hpp +++ b/planning/autoware_obstacle_stop_planner/src/node.hpp @@ -29,6 +29,10 @@ #include #include +#include +#include +#include +#include #include #include #include @@ -36,10 +40,6 @@ #include #include #include -#include -#include -#include -#include #include #include #include @@ -81,13 +81,13 @@ using autoware::universe_utils::Point2d; using autoware::universe_utils::Polygon2d; using autoware::universe_utils::StopWatch; using autoware::vehicle_info_utils::VehicleInfo; -using autoware_perception_msgs::msg::PredictedObjects; -using autoware_planning_msgs::msg::Trajectory; -using autoware_planning_msgs::msg::TrajectoryPoint; using autoware_internal_debug_msgs::msg::BoolStamped; using autoware_internal_debug_msgs::msg::Float32MultiArrayStamped; using autoware_internal_debug_msgs::msg::Float32Stamped; using autoware_internal_debug_msgs::msg::Float64Stamped; +using autoware_perception_msgs::msg::PredictedObjects; +using autoware_planning_msgs::msg::Trajectory; +using autoware_planning_msgs::msg::TrajectoryPoint; using tier4_planning_msgs::msg::ExpandStopRange; using tier4_planning_msgs::msg::VelocityLimit; using tier4_planning_msgs::msg::VelocityLimitClearCommand; diff --git a/planning/autoware_path_optimizer/include/autoware/path_optimizer/type_alias.hpp b/planning/autoware_path_optimizer/include/autoware/path_optimizer/type_alias.hpp index b5928d9645de9..7f343c5a2a60f 100644 --- a/planning/autoware_path_optimizer/include/autoware/path_optimizer/type_alias.hpp +++ b/planning/autoware_path_optimizer/include/autoware/path_optimizer/type_alias.hpp @@ -15,6 +15,7 @@ #ifndef AUTOWARE__PATH_OPTIMIZER__TYPE_ALIAS_HPP_ #define AUTOWARE__PATH_OPTIMIZER__TYPE_ALIAS_HPP_ +#include "autoware_internal_debug_msgs/msg/float64_stamped.hpp" #include "autoware_internal_debug_msgs/msg/string_stamped.hpp" #include "autoware_planning_msgs/msg/path.hpp" #include "autoware_planning_msgs/msg/path_point.hpp" @@ -25,7 +26,6 @@ #include "geometry_msgs/msg/twist.hpp" #include "nav_msgs/msg/odometry.hpp" #include "std_msgs/msg/header.hpp" -#include "autoware_internal_debug_msgs/msg/float64_stamped.hpp" #include "visualization_msgs/msg/marker_array.hpp" namespace autoware::path_optimizer @@ -43,8 +43,8 @@ using nav_msgs::msg::Odometry; using visualization_msgs::msg::Marker; using visualization_msgs::msg::MarkerArray; // debug -using autoware_internal_debug_msgs::msg::StringStamped; using autoware_internal_debug_msgs::msg::Float64Stamped; +using autoware_internal_debug_msgs::msg::StringStamped; } // namespace autoware::path_optimizer #endif // AUTOWARE__PATH_OPTIMIZER__TYPE_ALIAS_HPP_ diff --git a/planning/autoware_path_optimizer/package.xml b/planning/autoware_path_optimizer/package.xml index ad1678271375c..de89442fb8eee 100644 --- a/planning/autoware_path_optimizer/package.xml +++ b/planning/autoware_path_optimizer/package.xml @@ -14,6 +14,7 @@ ament_cmake_auto autoware_cmake + autoware_internal_debug_msgs autoware_internal_debug_msgs autoware_interpolation autoware_motion_utils @@ -28,7 +29,6 @@ rclcpp_components std_msgs tf2_ros - autoware_internal_debug_msgs tier4_planning_msgs visualization_msgs diff --git a/planning/autoware_path_optimizer/scripts/calculation_time_plotter.py b/planning/autoware_path_optimizer/scripts/calculation_time_plotter.py index d6463057897ea..604aa1afeed18 100755 --- a/planning/autoware_path_optimizer/scripts/calculation_time_plotter.py +++ b/planning/autoware_path_optimizer/scripts/calculation_time_plotter.py @@ -17,10 +17,10 @@ import argparse from collections import deque +from autoware_internal_debug_msgs.msg import StringStamped import matplotlib.pyplot as plt import rclpy from rclpy.node import Node -from autoware_internal_debug_msgs.msg import StringStamped class CalculationCostAnalyzer(Node): diff --git a/planning/autoware_path_smoother/include/autoware/path_smoother/type_alias.hpp b/planning/autoware_path_smoother/include/autoware/path_smoother/type_alias.hpp index 4621356c22368..5f14ebec8975e 100644 --- a/planning/autoware_path_smoother/include/autoware/path_smoother/type_alias.hpp +++ b/planning/autoware_path_smoother/include/autoware/path_smoother/type_alias.hpp @@ -15,6 +15,7 @@ #ifndef AUTOWARE__PATH_SMOOTHER__TYPE_ALIAS_HPP_ #define AUTOWARE__PATH_SMOOTHER__TYPE_ALIAS_HPP_ +#include "autoware_internal_debug_msgs/msg/float64_stamped.hpp" #include "autoware_internal_debug_msgs/msg/string_stamped.hpp" #include "autoware_planning_msgs/msg/path.hpp" #include "autoware_planning_msgs/msg/path_point.hpp" @@ -23,7 +24,6 @@ #include "geometry_msgs/msg/point.hpp" #include "nav_msgs/msg/odometry.hpp" #include "std_msgs/msg/header.hpp" -#include "autoware_internal_debug_msgs/msg/float64_stamped.hpp" namespace autoware::path_smoother { @@ -37,8 +37,8 @@ using autoware_planning_msgs::msg::TrajectoryPoint; // navigation using nav_msgs::msg::Odometry; // debug -using autoware_internal_debug_msgs::msg::StringStamped; using autoware_internal_debug_msgs::msg::Float64Stamped; +using autoware_internal_debug_msgs::msg::StringStamped; } // namespace autoware::path_smoother #endif // AUTOWARE__PATH_SMOOTHER__TYPE_ALIAS_HPP_ diff --git a/planning/autoware_path_smoother/package.xml b/planning/autoware_path_smoother/package.xml index db1d0abb5d91c..8e91fc1861bb4 100644 --- a/planning/autoware_path_smoother/package.xml +++ b/planning/autoware_path_smoother/package.xml @@ -14,6 +14,7 @@ ament_cmake_auto autoware_cmake + autoware_internal_debug_msgs autoware_internal_debug_msgs autoware_interpolation autoware_motion_utils @@ -27,7 +28,6 @@ rclcpp_components std_msgs tf2_ros - autoware_internal_debug_msgs ament_cmake_ros ament_index_python diff --git a/planning/autoware_path_smoother/scripts/calculation_time_plotter.py b/planning/autoware_path_smoother/scripts/calculation_time_plotter.py index 05a7931d68d08..5450f919e5f9c 100755 --- a/planning/autoware_path_smoother/scripts/calculation_time_plotter.py +++ b/planning/autoware_path_smoother/scripts/calculation_time_plotter.py @@ -17,10 +17,10 @@ import argparse from collections import deque +from autoware_internal_debug_msgs.msg import StringStamped import matplotlib.pyplot as plt import rclpy from rclpy.node import Node -from autoware_internal_debug_msgs.msg import StringStamped class CalculationCostAnalyzer(Node): diff --git a/planning/autoware_planning_validator/include/autoware/planning_validator/planning_validator.hpp b/planning/autoware_planning_validator/include/autoware/planning_validator/planning_validator.hpp index 53f248a64a602..298e7f74c289b 100644 --- a/planning/autoware_planning_validator/include/autoware/planning_validator/planning_validator.hpp +++ b/planning/autoware_planning_validator/include/autoware/planning_validator/planning_validator.hpp @@ -26,10 +26,10 @@ #include #include +#include #include #include #include -#include #include #include @@ -37,13 +37,13 @@ namespace autoware::planning_validator { using autoware::universe_utils::StopWatch; +using autoware_internal_debug_msgs::msg::Float64Stamped; using autoware_planning_msgs::msg::Trajectory; using autoware_planning_msgs::msg::TrajectoryPoint; using autoware_planning_validator::msg::PlanningValidatorStatus; using diagnostic_updater::DiagnosticStatusWrapper; using diagnostic_updater::Updater; using nav_msgs::msg::Odometry; -using autoware_internal_debug_msgs::msg::Float64Stamped; struct ValidationParams { diff --git a/planning/autoware_scenario_selector/include/autoware/scenario_selector/node.hpp b/planning/autoware_scenario_selector/include/autoware/scenario_selector/node.hpp index fc6218c633335..7e215fcfef8dd 100644 --- a/planning/autoware_scenario_selector/include/autoware/scenario_selector/node.hpp +++ b/planning/autoware_scenario_selector/include/autoware/scenario_selector/node.hpp @@ -19,13 +19,13 @@ #include #include +#include #include #include #include #include #include #include -#include #include #include @@ -97,7 +97,8 @@ class ScenarioSelectorNode : public rclcpp::Node rclcpp::Subscription::SharedPtr sub_parking_trajectory_; rclcpp::Publisher::SharedPtr pub_trajectory_; rclcpp::Publisher::SharedPtr pub_scenario_; - rclcpp::Publisher::SharedPtr pub_processing_time_; + rclcpp::Publisher::SharedPtr + pub_processing_time_; // polling subscribers universe_utils::InterProcessPollingSubscriber< diff --git a/planning/autoware_scenario_selector/src/node.cpp b/planning/autoware_scenario_selector/src/node.cpp index f831631772902..f419e30a088fc 100644 --- a/planning/autoware_scenario_selector/src/node.cpp +++ b/planning/autoware_scenario_selector/src/node.cpp @@ -491,8 +491,8 @@ ScenarioSelectorNode::ScenarioSelectorNode(const rclcpp::NodeOptions & node_opti this, get_clock(), period_ns, std::bind(&ScenarioSelectorNode::onTimer, this)); published_time_publisher_ = std::make_unique(this); - pub_processing_time_ = - this->create_publisher("~/debug/processing_time_ms", 1); + pub_processing_time_ = this->create_publisher( + "~/debug/processing_time_ms", 1); } } // namespace autoware::scenario_selector diff --git a/planning/autoware_surround_obstacle_checker/src/node.cpp b/planning/autoware_surround_obstacle_checker/src/node.cpp index 608df82ca90ec..b3881a8f4fbd9 100644 --- a/planning/autoware_surround_obstacle_checker/src/node.cpp +++ b/planning/autoware_surround_obstacle_checker/src/node.cpp @@ -81,8 +81,8 @@ SurroundObstacleCheckerNode::SurroundObstacleCheckerNode(const rclcpp::NodeOptio "~/output/velocity_limit_clear_command", rclcpp::QoS{1}.transient_local()); pub_velocity_limit_ = this->create_publisher( "~/output/max_velocity", rclcpp::QoS{1}.transient_local()); - pub_processing_time_ = - this->create_publisher("~/debug/processing_time_ms", 1); + pub_processing_time_ = this->create_publisher( + "~/debug/processing_time_ms", 1); using std::chrono_literals::operator""ms; timer_ = rclcpp::create_timer( diff --git a/planning/autoware_surround_obstacle_checker/src/node.hpp b/planning/autoware_surround_obstacle_checker/src/node.hpp index 950aa26df162d..b6d6bffefed1a 100644 --- a/planning/autoware_surround_obstacle_checker/src/node.hpp +++ b/planning/autoware_surround_obstacle_checker/src/node.hpp @@ -24,12 +24,12 @@ #include #include +#include #include #include #include #include #include -#include #include #include #include @@ -106,7 +106,8 @@ class SurroundObstacleCheckerNode : public rclcpp::Node this, "~/input/objects"}; rclcpp::Publisher::SharedPtr pub_clear_velocity_limit_; rclcpp::Publisher::SharedPtr pub_velocity_limit_; - rclcpp::Publisher::SharedPtr pub_processing_time_; + rclcpp::Publisher::SharedPtr + pub_processing_time_; // parameter callback result OnSetParametersCallbackHandle::SharedPtr set_param_res_; diff --git a/planning/sampling_based_planner/autoware_path_sampler/package.xml b/planning/sampling_based_planner/autoware_path_sampler/package.xml index 6d655a044f6d0..24e1896b2c826 100644 --- a/planning/sampling_based_planner/autoware_path_sampler/package.xml +++ b/planning/sampling_based_planner/autoware_path_sampler/package.xml @@ -16,6 +16,7 @@ autoware_bezier_sampler autoware_frenet_planner autoware_internal_debug_msgs + autoware_internal_debug_msgs autoware_interpolation autoware_motion_utils autoware_perception_msgs @@ -28,7 +29,6 @@ rclcpp_components std_msgs tf2_ros - autoware_internal_debug_msgs tier4_planning_msgs visualization_msgs diff --git a/sensing/autoware_gnss_poser/README.md b/sensing/autoware_gnss_poser/README.md index a015bbe87e5ff..0108cd850f59f 100644 --- a/sensing/autoware_gnss_poser/README.md +++ b/sensing/autoware_gnss_poser/README.md @@ -23,11 +23,11 @@ If the transformation from `base_link` to the antenna cannot be obtained, it out ### Output -| Name | Type | Description | -| ------------------------ | ----------------------------------------------- | -------------------------------------------------------------- | -| `~/output/pose` | `geometry_msgs::msg::PoseStamped` | vehicle pose calculated from gnss sensing data | -| `~/output/gnss_pose_cov` | `geometry_msgs::msg::PoseWithCovarianceStamped` | vehicle pose with covariance calculated from gnss sensing data | -| `~/output/gnss_fixed` | `autoware_internal_debug_msgs::msg::BoolStamped` | gnss fix status | +| Name | Type | Description | +| ------------------------ | ------------------------------------------------ | -------------------------------------------------------------- | +| `~/output/pose` | `geometry_msgs::msg::PoseStamped` | vehicle pose calculated from gnss sensing data | +| `~/output/gnss_pose_cov` | `geometry_msgs::msg::PoseWithCovarianceStamped` | vehicle pose with covariance calculated from gnss sensing data | +| `~/output/gnss_fixed` | `autoware_internal_debug_msgs::msg::BoolStamped` | gnss fix status | ## Parameters diff --git a/sensing/autoware_gnss_poser/include/autoware/gnss_poser/gnss_poser_node.hpp b/sensing/autoware_gnss_poser/include/autoware/gnss_poser/gnss_poser_node.hpp index f817a11292e82..cd32f9915b454 100644 --- a/sensing/autoware_gnss_poser/include/autoware/gnss_poser/gnss_poser_node.hpp +++ b/sensing/autoware_gnss_poser/include/autoware/gnss_poser/gnss_poser_node.hpp @@ -18,11 +18,11 @@ #include #include +#include #include #include #include #include -#include #include diff --git a/sensing/autoware_gnss_poser/package.xml b/sensing/autoware_gnss_poser/package.xml index 7210b7b9c18f5..bc1d259029740 100644 --- a/sensing/autoware_gnss_poser/package.xml +++ b/sensing/autoware_gnss_poser/package.xml @@ -22,6 +22,7 @@ autoware_component_interface_specs autoware_component_interface_utils autoware_geography_utils + autoware_internal_debug_msgs autoware_sensing_msgs geographic_msgs geographiclib @@ -32,7 +33,6 @@ tf2 tf2_geometry_msgs tf2_ros - autoware_internal_debug_msgs ament_lint_auto autoware_lint_common diff --git a/sensing/autoware_gnss_poser/src/gnss_poser_node.cpp b/sensing/autoware_gnss_poser/src/gnss_poser_node.cpp index 52e1764135882..e8b1c18b3db6f 100644 --- a/sensing/autoware_gnss_poser/src/gnss_poser_node.cpp +++ b/sensing/autoware_gnss_poser/src/gnss_poser_node.cpp @@ -61,7 +61,8 @@ GNSSPoser::GNSSPoser(const rclcpp::NodeOptions & node_options) pose_pub_ = create_publisher("gnss_pose", rclcpp::QoS{1}); pose_cov_pub_ = create_publisher( "gnss_pose_cov", rclcpp::QoS{1}); - fixed_pub_ = create_publisher("gnss_fixed", rclcpp::QoS{1}); + fixed_pub_ = + create_publisher("gnss_fixed", rclcpp::QoS{1}); // Set msg_gnss_ins_orientation_stamped_ with temporary values (not to publish zero value // covariances) diff --git a/sensing/autoware_image_diagnostics/README.md b/sensing/autoware_image_diagnostics/README.md index 9ab6a45aa68d5..42fcbdc8dc612 100644 --- a/sensing/autoware_image_diagnostics/README.md +++ b/sensing/autoware_image_diagnostics/README.md @@ -28,13 +28,13 @@ After all image's blocks state are evaluated, the whole image status is summariz ### Output -| Name | Type | Description | -| ----------------------------------- | --------------------------------------- | ------------------------------------- | -| `image_diag/debug/gray_image` | `sensor_msgs::msg::Image` | gray image | -| `image_diag/debug/dft_image` | `sensor_msgs::msg::Image` | discrete Fourier transformation image | -| `image_diag/debug/diag_block_image` | `sensor_msgs::msg::Image` | each block state colorization | -| `image_diag/image_state_diag` | `autoware_internal_debug_msgs::msg::Int32Stamped` | image diagnostics status value | -| `/diagnostics` | `diagnostic_msgs::msg::DiagnosticArray` | diagnostics | +| Name | Type | Description | +| ----------------------------------- | ------------------------------------------------- | ------------------------------------- | +| `image_diag/debug/gray_image` | `sensor_msgs::msg::Image` | gray image | +| `image_diag/debug/dft_image` | `sensor_msgs::msg::Image` | discrete Fourier transformation image | +| `image_diag/debug/diag_block_image` | `sensor_msgs::msg::Image` | each block state colorization | +| `image_diag/image_state_diag` | `autoware_internal_debug_msgs::msg::Int32Stamped` | image diagnostics status value | +| `/diagnostics` | `diagnostic_msgs::msg::DiagnosticArray` | diagnostics | ## Parameters diff --git a/sensing/autoware_image_diagnostics/package.xml b/sensing/autoware_image_diagnostics/package.xml index 2431169b46705..3140b87e1f1b9 100644 --- a/sensing/autoware_image_diagnostics/package.xml +++ b/sensing/autoware_image_diagnostics/package.xml @@ -12,6 +12,7 @@ ament_cmake_auto + autoware_internal_debug_msgs autoware_universe_utils cv_bridge diagnostic_updater @@ -19,7 +20,6 @@ rclcpp rclcpp_components sensor_msgs - autoware_internal_debug_msgs ament_lint_auto autoware_lint_common diff --git a/sensing/autoware_image_diagnostics/src/image_diagnostics_node.hpp b/sensing/autoware_image_diagnostics/src/image_diagnostics_node.hpp index 1b6cebf3a0a29..9383da33160f9 100644 --- a/sensing/autoware_image_diagnostics/src/image_diagnostics_node.hpp +++ b/sensing/autoware_image_diagnostics/src/image_diagnostics_node.hpp @@ -21,10 +21,10 @@ #include #include -#include #include #include #include +#include #if __has_include() #include @@ -95,7 +95,8 @@ class ImageDiagNode : public rclcpp::Node image_transport::Publisher block_diag_image_pub_; image_transport::Publisher dft_image_pub_; image_transport::Publisher gray_image_pub_; - rclcpp::Publisher::SharedPtr average_pub_; + rclcpp::Publisher::SharedPtr + average_pub_; rclcpp::Publisher::SharedPtr image_state_pub_; }; diff --git a/sensing/autoware_pointcloud_preprocessor/docs/blockage-diag.md b/sensing/autoware_pointcloud_preprocessor/docs/blockage-diag.md index 9ebccf914bb4b..a9dcb8437ec67 100644 --- a/sensing/autoware_pointcloud_preprocessor/docs/blockage-diag.md +++ b/sensing/autoware_pointcloud_preprocessor/docs/blockage-diag.md @@ -38,15 +38,15 @@ This implementation inherits `autoware::pointcloud_preprocessor::Filter` class, ### Output -| Name | Type | Description | -| :-------------------------------------------------------- | :-------------------------------------- | ------------------------------------------------------------------------------------------------ | -| `~/output/blockage_diag/debug/blockage_mask_image` | `sensor_msgs::msg::Image` | The mask image of detected blockage | +| Name | Type | Description | +| :-------------------------------------------------------- | :-------------------------------------------------- | ------------------------------------------------------------------------------------------------ | +| `~/output/blockage_diag/debug/blockage_mask_image` | `sensor_msgs::msg::Image` | The mask image of detected blockage | | `~/output/blockage_diag/debug/ground_blockage_ratio` | `autoware_internal_debug_msgs::msg::Float32Stamped` | The area ratio of blockage region in ground region | | `~/output/blockage_diag/debug/sky_blockage_ratio` | `autoware_internal_debug_msgs::msg::Float32Stamped` | The area ratio of blockage region in sky region | -| `~/output/blockage_diag/debug/lidar_depth_map` | `sensor_msgs::msg::Image` | The depth map image of input point cloud | -| `~/output/blockage_diag/debug/single_frame_dust_mask` | `sensor_msgs::msg::Image` | The mask image of detected dusty area in latest single frame | -| `~/output/blockage_diag/debug/multi_frame_dust_mask` | `sensor_msgs::msg::Image` | The mask image of continuous detected dusty area | -| `~/output/blockage_diag/debug/blockage_dust_merged_image` | `sensor_msgs::msg::Image` | The merged image of blockage detection(red) and multi frame dusty area detection(yellow) results | +| `~/output/blockage_diag/debug/lidar_depth_map` | `sensor_msgs::msg::Image` | The depth map image of input point cloud | +| `~/output/blockage_diag/debug/single_frame_dust_mask` | `sensor_msgs::msg::Image` | The mask image of detected dusty area in latest single frame | +| `~/output/blockage_diag/debug/multi_frame_dust_mask` | `sensor_msgs::msg::Image` | The mask image of continuous detected dusty area | +| `~/output/blockage_diag/debug/blockage_dust_merged_image` | `sensor_msgs::msg::Image` | The merged image of blockage detection(red) and multi frame dusty area detection(yellow) results | | `~/output/blockage_diag/debug/ground_dust_ratio` | `autoware_internal_debug_msgs::msg::Float32Stamped` | The ratio of dusty area divided by area where ray usually returns from the ground. | ## Parameters diff --git a/sensing/autoware_pointcloud_preprocessor/include/autoware/pointcloud_preprocessor/blockage_diag/blockage_diag_node.hpp b/sensing/autoware_pointcloud_preprocessor/include/autoware/pointcloud_preprocessor/blockage_diag/blockage_diag_node.hpp index c65dfb98873cb..2dbda770f6cec 100644 --- a/sensing/autoware_pointcloud_preprocessor/include/autoware/pointcloud_preprocessor/blockage_diag/blockage_diag_node.hpp +++ b/sensing/autoware_pointcloud_preprocessor/include/autoware/pointcloud_preprocessor/blockage_diag/blockage_diag_node.hpp @@ -22,10 +22,10 @@ #include #include +#include #include #include #include -#include #if __has_include() #include @@ -58,9 +58,12 @@ class BlockageDiagComponent : public autoware::pointcloud_preprocessor::Filter image_transport::Publisher single_frame_dust_mask_pub; image_transport::Publisher multi_frame_dust_mask_pub; image_transport::Publisher blockage_dust_merged_pub; - rclcpp::Publisher::SharedPtr ground_blockage_ratio_pub_; - rclcpp::Publisher::SharedPtr sky_blockage_ratio_pub_; - rclcpp::Publisher::SharedPtr ground_dust_ratio_pub_; + rclcpp::Publisher::SharedPtr + ground_blockage_ratio_pub_; + rclcpp::Publisher::SharedPtr + sky_blockage_ratio_pub_; + rclcpp::Publisher::SharedPtr + ground_dust_ratio_pub_; rclcpp::Publisher::SharedPtr blockage_type_pub_; private: diff --git a/sensing/autoware_pointcloud_preprocessor/include/autoware/pointcloud_preprocessor/concatenate_data/concatenate_and_time_sync_nodelet.hpp b/sensing/autoware_pointcloud_preprocessor/include/autoware/pointcloud_preprocessor/concatenate_data/concatenate_and_time_sync_nodelet.hpp index 1f06660e597be..6164e85c35717 100644 --- a/sensing/autoware_pointcloud_preprocessor/include/autoware/pointcloud_preprocessor/concatenate_data/concatenate_and_time_sync_nodelet.hpp +++ b/sensing/autoware_pointcloud_preprocessor/include/autoware/pointcloud_preprocessor/concatenate_data/concatenate_and_time_sync_nodelet.hpp @@ -69,14 +69,14 @@ #include #include +#include +#include #include #include #include #include #include #include -#include -#include #include #include diff --git a/sensing/autoware_pointcloud_preprocessor/include/autoware/pointcloud_preprocessor/concatenate_data/concatenate_pointclouds.hpp b/sensing/autoware_pointcloud_preprocessor/include/autoware/pointcloud_preprocessor/concatenate_data/concatenate_pointclouds.hpp index b4fcfe273b70b..d57e44431a8d2 100644 --- a/sensing/autoware_pointcloud_preprocessor/include/autoware/pointcloud_preprocessor/concatenate_data/concatenate_pointclouds.hpp +++ b/sensing/autoware_pointcloud_preprocessor/include/autoware/pointcloud_preprocessor/concatenate_data/concatenate_pointclouds.hpp @@ -68,13 +68,13 @@ #include #include +#include +#include #include #include #include #include #include -#include -#include #include #include diff --git a/sensing/autoware_pointcloud_preprocessor/include/autoware/pointcloud_preprocessor/outlier_filter/dual_return_outlier_filter_node.hpp b/sensing/autoware_pointcloud_preprocessor/include/autoware/pointcloud_preprocessor/outlier_filter/dual_return_outlier_filter_node.hpp index 257e19de94e59..fa55222fb6530 100644 --- a/sensing/autoware_pointcloud_preprocessor/include/autoware/pointcloud_preprocessor/outlier_filter/dual_return_outlier_filter_node.hpp +++ b/sensing/autoware_pointcloud_preprocessor/include/autoware/pointcloud_preprocessor/outlier_filter/dual_return_outlier_filter_node.hpp @@ -22,9 +22,9 @@ #include #include +#include #include #include -#include #if __has_include() #include diff --git a/sensing/autoware_pointcloud_preprocessor/include/autoware/pointcloud_preprocessor/time_synchronizer/time_synchronizer_node.hpp b/sensing/autoware_pointcloud_preprocessor/include/autoware/pointcloud_preprocessor/time_synchronizer/time_synchronizer_node.hpp index 06c01883e751e..f4921be66a7e2 100644 --- a/sensing/autoware_pointcloud_preprocessor/include/autoware/pointcloud_preprocessor/time_synchronizer/time_synchronizer_node.hpp +++ b/sensing/autoware_pointcloud_preprocessor/include/autoware/pointcloud_preprocessor/time_synchronizer/time_synchronizer_node.hpp @@ -68,14 +68,14 @@ #include #include +#include +#include #include #include #include #include #include #include -#include -#include #include #include diff --git a/sensing/autoware_pointcloud_preprocessor/package.xml b/sensing/autoware_pointcloud_preprocessor/package.xml index 38dffb044dbb9..525b1f3eb0699 100644 --- a/sensing/autoware_pointcloud_preprocessor/package.xml +++ b/sensing/autoware_pointcloud_preprocessor/package.xml @@ -26,6 +26,7 @@ ament_cmake_auto autoware_cmake + autoware_internal_debug_msgs autoware_lanelet2_extension autoware_pcl_extensions autoware_point_types @@ -51,7 +52,6 @@ tf2_eigen tf2_geometry_msgs tf2_ros - autoware_internal_debug_msgs ament_lint_auto autoware_lint_common diff --git a/system/autoware_processing_time_checker/README.md b/system/autoware_processing_time_checker/README.md index 270376acaae61..e7d70f9378f10 100644 --- a/system/autoware_processing_time_checker/README.md +++ b/system/autoware_processing_time_checker/README.md @@ -17,8 +17,8 @@ ros2 launch autoware_processing_time_checker processing_time_checker.launch.xml ### Input -| Name | Type | Description | -| ------------------------- | --------------------------------- | ------------------------------ | +| Name | Type | Description | +| ------------------------- | --------------------------------------------- | ------------------------------ | | `/.../processing_time_ms` | `autoware_internal_debug_msgs/Float64Stamped` | processing time of each module | ### Output diff --git a/system/autoware_processing_time_checker/package.xml b/system/autoware_processing_time_checker/package.xml index fea83267a7639..37f53c94de0d1 100644 --- a/system/autoware_processing_time_checker/package.xml +++ b/system/autoware_processing_time_checker/package.xml @@ -12,11 +12,11 @@ ament_cmake autoware_cmake + autoware_internal_debug_msgs autoware_universe_utils nlohmann-json-dev rclcpp rclcpp_components - autoware_internal_debug_msgs tier4_metric_msgs ament_lint_auto diff --git a/system/diagnostic_graph_utils/package.xml b/system/diagnostic_graph_utils/package.xml index 1a2b7ddc613c9..4d4eada3ec6fc 100644 --- a/system/diagnostic_graph_utils/package.xml +++ b/system/diagnostic_graph_utils/package.xml @@ -10,11 +10,11 @@ ament_cmake_auto autoware_cmake + autoware_internal_debug_msgs autoware_internal_debug_msgs diagnostic_msgs rclcpp rclcpp_components - autoware_internal_debug_msgs tier4_system_msgs ament_lint_auto diff --git a/vehicle/autoware_accel_brake_map_calibrator/include/autoware_accel_brake_map_calibrator/accel_brake_map_calibrator_node.hpp b/vehicle/autoware_accel_brake_map_calibrator/include/autoware_accel_brake_map_calibrator/accel_brake_map_calibrator_node.hpp index a35b2ed6ac704..cd05bed5ce476 100644 --- a/vehicle/autoware_accel_brake_map_calibrator/include/autoware_accel_brake_map_calibrator/accel_brake_map_calibrator_node.hpp +++ b/vehicle/autoware_accel_brake_map_calibrator/include/autoware_accel_brake_map_calibrator/accel_brake_map_calibrator_node.hpp @@ -28,6 +28,8 @@ #include +#include "autoware_internal_debug_msgs/msg/float32_multi_array_stamped.hpp" +#include "autoware_internal_debug_msgs/msg/float32_stamped.hpp" #include "autoware_vehicle_msgs/msg/steering_report.hpp" #include "autoware_vehicle_msgs/msg/velocity_report.hpp" #include "geometry_msgs/msg/twist_stamped.hpp" @@ -37,8 +39,6 @@ #include "std_msgs/msg/multi_array_dimension.hpp" #include "std_msgs/msg/string.hpp" #include "tf2_geometry_msgs/tf2_geometry_msgs.hpp" -#include "autoware_internal_debug_msgs/msg/float32_multi_array_stamped.hpp" -#include "autoware_internal_debug_msgs/msg/float32_stamped.hpp" #include "tier4_external_api_msgs/msg/calibration_status.hpp" #include "tier4_external_api_msgs/msg/calibration_status_array.hpp" #include "tier4_external_api_msgs/srv/get_accel_brake_map_calibration_data.hpp" @@ -57,6 +57,8 @@ namespace autoware::accel_brake_map_calibrator { +using autoware_internal_debug_msgs::msg::Float32MultiArrayStamped; +using autoware_internal_debug_msgs::msg::Float32Stamped; using autoware_vehicle_msgs::msg::SteeringReport; using autoware_vehicle_msgs::msg::VelocityReport; using geometry_msgs::msg::TwistStamped; @@ -64,8 +66,6 @@ using nav_msgs::msg::OccupancyGrid; using raw_vehicle_cmd_converter::AccelMap; using raw_vehicle_cmd_converter::BrakeMap; using std_msgs::msg::Float32MultiArray; -using autoware_internal_debug_msgs::msg::Float32MultiArrayStamped; -using autoware_internal_debug_msgs::msg::Float32Stamped; using tier4_external_api_msgs::msg::CalibrationStatus; using tier4_vehicle_msgs::msg::ActuationCommandStamped; using tier4_vehicle_msgs::msg::ActuationStatusStamped; diff --git a/vehicle/autoware_accel_brake_map_calibrator/package.xml b/vehicle/autoware_accel_brake_map_calibrator/package.xml index dff853c45ffc4..f166bd119ed6a 100644 --- a/vehicle/autoware_accel_brake_map_calibrator/package.xml +++ b/vehicle/autoware_accel_brake_map_calibrator/package.xml @@ -14,6 +14,7 @@ ament_cmake_auto autoware_cmake + autoware_internal_debug_msgs autoware_motion_utils autoware_raw_vehicle_cmd_converter autoware_universe_utils @@ -25,7 +26,6 @@ std_srvs tf2_geometry_msgs tf2_ros - autoware_internal_debug_msgs tier4_external_api_msgs tier4_vehicle_msgs visualization_msgs diff --git a/vehicle/autoware_accel_brake_map_calibrator/scripts/accel_tester.py b/vehicle/autoware_accel_brake_map_calibrator/scripts/accel_tester.py index f8f8af446b6b9..8aef30f9ee251 100755 --- a/vehicle/autoware_accel_brake_map_calibrator/scripts/accel_tester.py +++ b/vehicle/autoware_accel_brake_map_calibrator/scripts/accel_tester.py @@ -15,9 +15,9 @@ # See the License for the specific language governing permissions and # limitations under the License. +from autoware_internal_debug_msgs.msg import Float32Stamped import rclpy from rclpy.node import Node -from autoware_internal_debug_msgs.msg import Float32Stamped MAX_ACCEL = 1.0 # [-] MIN_ACCEL = 0.0 # [-] diff --git a/vehicle/autoware_accel_brake_map_calibrator/scripts/actuation_cmd_publisher.py b/vehicle/autoware_accel_brake_map_calibrator/scripts/actuation_cmd_publisher.py index 08abb3dc7e9a3..334b5652dc8b6 100755 --- a/vehicle/autoware_accel_brake_map_calibrator/scripts/actuation_cmd_publisher.py +++ b/vehicle/autoware_accel_brake_map_calibrator/scripts/actuation_cmd_publisher.py @@ -15,10 +15,10 @@ # See the License for the specific language governing permissions and # limitations under the License. +from autoware_internal_debug_msgs.msg import Float32Stamped from autoware_vehicle_msgs.msg import GearCommand import rclpy from rclpy.node import Node -from autoware_internal_debug_msgs.msg import Float32Stamped from tier4_vehicle_msgs.msg import ActuationCommandStamped diff --git a/vehicle/autoware_accel_brake_map_calibrator/scripts/brake_tester.py b/vehicle/autoware_accel_brake_map_calibrator/scripts/brake_tester.py index 5d0acbffd1ae6..fe067494a0c39 100755 --- a/vehicle/autoware_accel_brake_map_calibrator/scripts/brake_tester.py +++ b/vehicle/autoware_accel_brake_map_calibrator/scripts/brake_tester.py @@ -16,9 +16,9 @@ # limitations under the License. +from autoware_internal_debug_msgs.msg import Float32Stamped import rclpy from rclpy.node import Node -from autoware_internal_debug_msgs.msg import Float32Stamped MAX_BRAKE = 1.0 # [-] MIN_BRAKE = 0.0 # [-] diff --git a/vehicle/autoware_raw_vehicle_cmd_converter/include/autoware_raw_vehicle_cmd_converter/node.hpp b/vehicle/autoware_raw_vehicle_cmd_converter/include/autoware_raw_vehicle_cmd_converter/node.hpp index a39d44a0106c9..eaf39cf729971 100644 --- a/vehicle/autoware_raw_vehicle_cmd_converter/include/autoware_raw_vehicle_cmd_converter/node.hpp +++ b/vehicle/autoware_raw_vehicle_cmd_converter/include/autoware_raw_vehicle_cmd_converter/node.hpp @@ -28,10 +28,10 @@ #include #include +#include #include #include #include -#include #include #include diff --git a/vehicle/autoware_raw_vehicle_cmd_converter/package.xml b/vehicle/autoware_raw_vehicle_cmd_converter/package.xml index a9345c1f886ad..0abb77644920a 100644 --- a/vehicle/autoware_raw_vehicle_cmd_converter/package.xml +++ b/vehicle/autoware_raw_vehicle_cmd_converter/package.xml @@ -23,13 +23,13 @@ autoware_adapi_v1_msgs autoware_control_msgs + autoware_internal_debug_msgs autoware_interpolation autoware_vehicle_msgs geometry_msgs nav_msgs rclcpp rclcpp_components - autoware_internal_debug_msgs tier4_vehicle_msgs rclpy diff --git a/vehicle/autoware_steer_offset_estimator/Readme.md b/vehicle/autoware_steer_offset_estimator/Readme.md index bceecaa761e1d..a7e9b6722a648 100644 --- a/vehicle/autoware_steer_offset_estimator/Readme.md +++ b/vehicle/autoware_steer_offset_estimator/Readme.md @@ -24,8 +24,8 @@ Calculate yaw rate error and then calculate steering error recursively by least ### Output -| Name | Type | Description | -| ------------------------------------- | --------------------------------------- | ----------------------------- | +| Name | Type | Description | +| ------------------------------------- | --------------------------------------------------- | ----------------------------- | | `~/output/steering_offset` | `autoware_internal_debug_msgs::msg::Float32Stamped` | steering offset | | `~/output/steering_offset_covariance` | `autoware_internal_debug_msgs::msg::Float32Stamped` | covariance of steering offset | diff --git a/vehicle/autoware_steer_offset_estimator/include/autoware_steer_offset_estimator/steer_offset_estimator_node.hpp b/vehicle/autoware_steer_offset_estimator/include/autoware_steer_offset_estimator/steer_offset_estimator_node.hpp index bb84f0d194416..0d7896d53a705 100644 --- a/vehicle/autoware_steer_offset_estimator/include/autoware_steer_offset_estimator/steer_offset_estimator_node.hpp +++ b/vehicle/autoware_steer_offset_estimator/include/autoware_steer_offset_estimator/steer_offset_estimator_node.hpp @@ -18,16 +18,16 @@ #include "diagnostic_updater/diagnostic_updater.hpp" #include "rclcpp/rclcpp.hpp" +#include "autoware_internal_debug_msgs/msg/float32_stamped.hpp" #include "autoware_vehicle_msgs/msg/steering_report.hpp" #include "geometry_msgs/msg/twist_stamped.hpp" -#include "autoware_internal_debug_msgs/msg/float32_stamped.hpp" #include namespace autoware::steer_offset_estimator { -using geometry_msgs::msg::TwistStamped; using autoware_internal_debug_msgs::msg::Float32Stamped; +using geometry_msgs::msg::TwistStamped; using Steering = autoware_vehicle_msgs::msg::SteeringReport; using diagnostic_updater::DiagnosticStatusWrapper; using diagnostic_updater::Updater; diff --git a/vehicle/autoware_steer_offset_estimator/package.xml b/vehicle/autoware_steer_offset_estimator/package.xml index bbd62da6f386a..e098fbdee6f28 100644 --- a/vehicle/autoware_steer_offset_estimator/package.xml +++ b/vehicle/autoware_steer_offset_estimator/package.xml @@ -9,6 +9,7 @@ ament_cmake_auto autoware_cmake + autoware_internal_debug_msgs autoware_universe_utils autoware_vehicle_info_utils autoware_vehicle_msgs @@ -17,7 +18,6 @@ rclcpp rclcpp_components std_msgs - autoware_internal_debug_msgs autoware_global_parameter_loader autoware_pose2twist