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Expand Up @@ -263,19 +263,19 @@ initial_pose_offset_model_x & initial_pose_offset_model_y must have the same num
<img src="./media/diagnostic_sensor_points_callback.png" alt="drawing" width="600"/>

| Name | Description | Transition condition to Warning | Transition condition to Error | Whether to reject the estimation result (affects `skipping_publish_num`) |
| ----------------------------------------- | -------------------------------------------------------------------------------------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------ | ---------------------------------------- | ------------------------------------------------------------------------ |
| ----------------------------------------- | -------------------------------------------------------------------------------------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------ | ---------------------------------------- | ------------------------------------------------------------------------ | --- |
| `topic_time_stamp` | the time stamp of input topic | none | none | no |
| `is_activated` | whether the node is in the "activate" state or not | not "activate" state | none | no |
| `is_set_sensor_points` | whether the sensor points is set or not | not set | none | yes |
| `is_set_map_points` | whether the map points is set or not | not set | none | yes |
| `sensor_points_size` | the size of sensor points | the size is 0 | none | yes |
| `sensor_points_delay_time_sec` | the delay time of sensor points | the time is **longer** than `validation.lidar_topic_timeout_sec` | none | no |
| `sensor_points_delay_time_sec` | the delay time of sensor points | the time is **longer** than `validation.lidar_topic_timeout_sec` | none | no |
| `sensor_points_max_distance` | the max distance of sensor points | the max distance is **shorter** than `sensor_points.required_distance` | none | yes |
| `is_succeed_interpolate_initial_pose` | whether the interpolate of initial pose is succeed or not | failed. <br> (1) the size of `initial_pose_buffer_` is **smaller** than 2. <br> (2) the timestamp difference between initial_pose and sensor pointcloud is **longer** than `validation.initial_pose_timeout_sec`. <br> (3) distance difference between two initial poses used for linear interpolation is **longer** than `validation.initial_pose_distance_tolerance_m` | none | yes |
| `iteration_num` | the number of times calculate alignment | the number of times is **larger** than `ndt.max_iterations` | none | yes |
| `local_optimal_solution_oscillation_num` | the number of times the solution is judged to be oscillating | the number of times is **larger** than 10 | none | yes |
| `transform_probability` | the score of how well the map aligns with the sensor points | the score is **smaller** than`score_estimation.converged_param_transform_probability` (only in the case of `score_estimation.converged_param_type` is 0=TRANSFORM_PROBABILITY) | none | yes |
| `nearest_voxel_transformation_likelihood` | the score of how well the map aligns with the sensor points | the score is **smaller** than `score_estimation.converged_param_nearest_voxel_transformation_likelihood` (only in the case of `score_estimation.converged_param_type` is 1=NEAREST_VOXEL_TRANSFORMATION_LIKELIHOOD) | | no | yes |
| `local_optimal_solution_oscillation_num` | the number of times the solution is judged to be oscillating | the number of times is **larger** than 10 | none | yes |
| `transform_probability` | the score of how well the map aligns with the sensor points | the score is **smaller** than`score_estimation.converged_param_transform_probability` (only in the case of `score_estimation.converged_param_type` is 0=TRANSFORM_PROBABILITY) | none | yes |
| `nearest_voxel_transformation_likelihood` | the score of how well the map aligns with the sensor points | the score is **smaller** than `score_estimation.converged_param_nearest_voxel_transformation_likelihood` (only in the case of `score_estimation.converged_param_type` is 1=NEAREST_VOXEL_TRANSFORMATION_LIKELIHOOD) | | no | yes |
| `distance_initial_to_result` | the distance between the position before convergence processing and the position after | the distance is **longer** than 3 | none | no |
| `execution_time` | the time for convergence processing | the time is **longer** than `validation.critical_upper_bound_exe_time_ms` | none | no |
| `skipping_publish_num` | the number of times rejected estimation results consecutively | the number of times is **larger** than 0 and **smaller** than 5 | the number of times is **larger** than 5 | - |
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