From dc3baaa8b56870bd736ae33750f45b2e1c267663 Mon Sep 17 00:00:00 2001 From: Berkay Karaman Date: Tue, 27 Feb 2024 18:46:44 +0300 Subject: [PATCH 01/14] feat(reaction_analyzer): add reaction anaylzer tool to measure end-to-end delay in sudden obstacle braking response Signed-off-by: Berkay Karaman --- tools/reaction_analyzer/CMakeLists.txt | 39 + tools/reaction_analyzer/README.md | 137 ++ .../include/reaction_analyzer_node.hpp | 380 +++++ .../include/topic_publisher.hpp | 225 +++ .../launch/reaction_analyzer.launch.xml | 44 + .../media/PointcloudPublisherType.png | Bin 0 -> 53237 bytes .../media/ReactionAnalyzerDesign.png | Bin 0 -> 99444 bytes tools/reaction_analyzer/package.xml | 49 + .../param/reaction_analyzer.param.yaml | 111 ++ .../src/reaction_analyzer_node.cpp | 1369 +++++++++++++++++ .../reaction_analyzer/src/topic_publisher.cpp | 892 +++++++++++ 11 files changed, 3246 insertions(+) create mode 100644 tools/reaction_analyzer/CMakeLists.txt create mode 100644 tools/reaction_analyzer/README.md create mode 100644 tools/reaction_analyzer/include/reaction_analyzer_node.hpp create mode 100644 tools/reaction_analyzer/include/topic_publisher.hpp create mode 100644 tools/reaction_analyzer/launch/reaction_analyzer.launch.xml create mode 100644 tools/reaction_analyzer/media/PointcloudPublisherType.png create mode 100644 tools/reaction_analyzer/media/ReactionAnalyzerDesign.png create mode 100644 tools/reaction_analyzer/package.xml create mode 100644 tools/reaction_analyzer/param/reaction_analyzer.param.yaml create mode 100644 tools/reaction_analyzer/src/reaction_analyzer_node.cpp create mode 100644 tools/reaction_analyzer/src/topic_publisher.cpp diff --git a/tools/reaction_analyzer/CMakeLists.txt b/tools/reaction_analyzer/CMakeLists.txt new file mode 100644 index 0000000000000..e05dbf0c3b55d --- /dev/null +++ b/tools/reaction_analyzer/CMakeLists.txt @@ -0,0 +1,39 @@ +cmake_minimum_required(VERSION 3.14) +project(reaction_analyzer) + +find_package(autoware_cmake REQUIRED) +autoware_package() + +find_package(PCL REQUIRED) +find_package(Eigen3 REQUIRED) + +ament_auto_add_library(reaction_analyzer SHARED + include/reaction_analyzer_node.hpp + src/reaction_analyzer_node.cpp + include/topic_publisher.hpp + src/topic_publisher.cpp +) + +target_include_directories(reaction_analyzer + SYSTEM PUBLIC + ${PCL_INCLUDE_DIRS} + ${EIGEN3_INCLUDE_DIR} +) + +target_link_libraries(reaction_analyzer + ${PCL_LIBRARIES} +) + +rclcpp_components_register_node(reaction_analyzer + PLUGIN "reaction_analyzer::ReactionAnalyzerNode" + EXECUTABLE reaction_analyzer_exe +) + +if (BUILD_TESTING) +endif () + +ament_auto_package( + INSTALL_TO_SHARE + param + launch +) diff --git a/tools/reaction_analyzer/README.md b/tools/reaction_analyzer/README.md new file mode 100644 index 0000000000000..3a2257c38bfc7 --- /dev/null +++ b/tools/reaction_analyzer/README.md @@ -0,0 +1,137 @@ +# Reaction Analyzer + +## Description + +The main purpose of the reaction analyzer package is measuring reaction times of the nodes by listening the +pre-determined topics. It can be used for measuring the reaction time of the perception pipeline, planning pipeline, and +control pipeline. To be able to measure both control outputs and perception outputs, it was necessary to divide the node +into two running_mode: `planning_control` and `perception_planning`. + +![ReactionAnalyzerDesign.png](media%2FReactionAnalyzerDesign.png) + +### Planning Control Mode + +In this mode, the reaction analyzer creates a dummy publisher for the PredictedObjects and PointCloud2 topics. In the +beginning of the test, it publishes the initial position of the ego vehicle and the goal position to set the test +environment. Then, it spawns a sudden obstacle in front of the ego vehicle. After the obstacle is spawned, it starts to +search reacted messages of the planning and control nodes in the pre-determined topics. When all the topics are reacted, +it calculates the reaction time of the nodes and statistics by comparing `reacted_times` of each of the nodes +with `spawn_cmd_time`, and it creates a csv file to store the results. + +### Perception Planning Mode + +In this mode, the reaction analyzer reads the rosbag files which are recorded from AWSIM, and it creates a topic +publisher for each topic inside the rosbag to replay the rosbag. It reads two rosbag files: `path_bag_without_object` +and `path_bag_with_object`. Firstly, it replays the `path_bag_without_object` to set the initial position of the ego +vehicle and the goal position. After `spawn_time_after_init` seconds , it replays the `path_bag_with_object` to spawn a +sudden obstacle in front of the ego vehicle. After the obstacle is spawned, it starts to search the reacted messages of +the perception and planning nodes in the pre-determined topics. When all the topics are reacted, it calculates the +reaction time of the nodes and statistics by comparing `reacted_times` of each of the nodes with `spawn_cmd_time`, and +it creates a csv file to store the results. + +#### Point Cloud Publisher Type + +To get better analyze for Perception & Sensing pipeline, the reaction analyzer can publish the point cloud messages in 3 +different ways: `async_header_sync_publish`, `sync_header_sync_publish` or `async_publish`. (`T` is the period of the +lidar's output) + +![PointcloudPublisherType.png](media%2FPointcloudPublisherType.png) + +- `async_header_sync_publish`: It publishes the point cloud messages synchronously with asynchronous header times. It + means that each of the lidar's output will be published at the same time, but the headers of the point cloud messages + includes different timestamps because of the phase difference. +- `sync_header_sync_publish`: It publishes the point cloud messages synchronously with synchronous header times. It + means that each of the lidar's output will be published at the same time, and the headers of the point cloud messages + includes the same timestamps. +- `async_publish`: It publishes the point cloud messages asynchronously. It means that each of the lidar's output will + be published at different times. + +## Usage + +The common parameters you need to define for both running modes are `output_file_path`, `test_iteration`, +and `reaction_chain` list. `output_file_path` is the output file path is the path where the results and statistics +will be stored. `test_iteration` defines how many tests will be performed. The `reaction_chain` list is the list of the +pre-defined topics you want to measure their reaction times. + +### Prepared Test Environment + +Firstly, you need to download the demonstration test map from the +link [here](https://github.com/tier4/AWSIM/releases/download/v1.1.0/nishishinjuku_autoware_map.zip). After downloading, +extract the zip file and use its path as `[MAP_PATH]` in the following commands. + +#### Planning Control Mode + +Firstly, you need to define only Planning and Control nodes in the `reaction_chain` list. With the default parameters, +you can start to test with the following command: + +```bash +ros2 launch reaction_analyzer reaction_analyzer.launch.xml running_mode:=planning_control vehicle_model:=sample_vehicle sensor_model:=sample_sensor_kit map_path:=[MAP_PATH] +``` + +After the command, the simple_planning_simulator and the reaction_analyzer will be launched. It will automatically start +to test. After the test is completed, the results will be stored in the `output_file_path` you defined. + +#### Perception Planning Mode + +Firstly, you need to download the rosbag files from the +link [here](https://drive.google.com/file/d/1_P-3oy_M6eJ7fk8h5CP8V6s6da6pPrBu/view?usp=sharing). After downloading, +extract the zip file and set the path of the `.db3` files to parameters `path_bag_without_object` +and `path_bag_with_object`. Because custom sensor setup, you need to checkout the following branches before launch the +reaction analyzer: For the `autoware_individual_params` repository, checkout the +branch [here](https://github.com/brkay54/autoware_individual_params/tree/bk/reaction-analyzer-config). For +the `awsim_sensor_kit_launch` repository, checkout the +branch [here](https://github.com/brkay54/awsim_sensor_kit_launch/tree/bk/reaction-analyzer-config). +After you checkouted the branches, you can start to test with the following command: + +```bash +ros2 launch reaction_analyzer reaction_analyzer.launch.xml running_mode:=perception_planning vehicle_model:=sample_vehicle sensor_model:=awsim_sensor_kit map_path:=[MAP_PATH] +``` + +After the command, the e2e_simulator and the reaction_analyzer will be launched. It will automatically start +to test. After the test is completed, the results will be stored in the `output_file_path` you defined. + +### Custom Test Environment + +If you want to run the reaction analyzer with your custom test environment, you need to redefine some of the parameters. +The parameters you need to redefine are `initialization_pose`, `entity_params`, `goal_pose`, and `topic_publisher` +parameters. +For `initialization_pose`, `entity_params`, `goal_pose`, you can upload your `.osm` map file into +the [scenario editor](https://scenario.ci.tier4.jp/scenario_editor/) to define the position of the position parameters. +You can define the positions with respect to you desired root. Firstly, add EGO vehicle from edit/add entity/Ego to map. +Set destination to EGO vehicle and add another dummy object in same way. The dummy object represents the object spawn +suddenly in the reaction analyzer test. After you set up the positions in the map, we should get the positions of these +entities in the map frame. To achieve this, you should convert the positions to map frame by changing Map/Coordinate to +World and Map/Orientation to Euler. After these steps, you can see the positions in map frame and euler angles. You can +change the `initialization_pose`, `entity_params`, `goal_pose` parameters with the values you get from the website. + +For the `topic_publisher` parameters, you need to record the rosbags from the AWSIM. After opened your AWSIM +environment, you should record two different rosbags. However, the environment should be static and the position of the +vehicle should be same. Firstly, record a rosbag in empty environment. After that, record another rosbag in the same +environment except add an object in front of the vehicle. After you record the rosbags, you can set +the `path_bag_without_object` and `path_bag_with_object` parameters with the paths of the recorded rosbags. + +## Parameters + +| Name | Type | Description | +| ------------------------------------------------------------------ | ------ | --------------------------------------------------------------------------------------------------------------------------------------------- | +| `timer_period` | double | [s] Period for the main processing timer. | +| `published_time_expire_duration` | double | [s] Time horizon of the PublishedTime message vector. | +| `test_iteration` | int | Number of iterations for the test. | +| `output_file_path` | string | Directory path where test results and statictics will be stored. | +| `object_search_radius_offset` | double | [m] Additional radius added to the search area when looking for objects. | +| `spawn_time_after_init` | double | [s] Time delay after initialization before spawning objects. Only valid `perception_planning` mode. | +| `spawn_distance_threshold` | double | [m] Distance threshold for spawning objects. Only valid `planning_control` mode. | +| `spawned_pointcloud_sampling_distance` | double | [m] Sampling distance for point clouds of spawned objects. Only valid `planning_control` mode. | +| `dummy_perception_publisher_period` | double | [s] Publishing period for the dummy perception data. Only valid `planning_control` mode. | +| `first_brake_params.debug_control_commands` | bool | Debug publish flag. | +| `first_brake_params.control_cmd_buffer_time_interval` | double | [s] Time interval for buffering control commands. | +| `first_brake_params.min_number_descending_order_control_cmd` | int | Minimum number of control commands in descending order for triggering brake. | +| `first_brake_params.min_jerk_for_brake_cmd` | double | [m/s³] Minimum jerk value for issuing a brake command. | +| `initialization_pose` | struct | Initial pose of the vehicle, containing `x`, `y`, `z`, `roll`, `pitch`, and `yaw` fields. Only valid `planning_control` mode. | +| `entity_params` | struct | Parameters for entities (e.g., obstacles), containing `x`, `y`, `z`, `roll`, `pitch`, `yaw`, `x_dimension`, `y_dimension`, and `z_dimension`. | +| `goal_pose` | struct | Goal pose of the vehicle, containing `x`, `y`, `z`, `roll`, `pitch`, and `yaw` fields. | +| `topic_publisher.path_bag_without_object` | string | Path to the ROS bag file without objects. Only valid `perception_planning` mode. | +| `topic_publisher.path_bag_with_object` | string | Path to the ROS bag file with objects. Only valid `perception_planning` mode. | +| `topic_publisher.pointcloud_publisher.pointcloud_publisher_type` | string | Defines how the PointCloud2 messages are going to be published. Modes explained above. | +| `topic_publisher.pointcloud_publisher.pointcloud_publisher_period` | double | [s] Publishing period of the PointCloud2 messages. | +| `reaction_chain` | struct | List of the nodes with their topics and topic's message types. | diff --git a/tools/reaction_analyzer/include/reaction_analyzer_node.hpp b/tools/reaction_analyzer/include/reaction_analyzer_node.hpp new file mode 100644 index 0000000000000..1ab03e8bd8dab --- /dev/null +++ b/tools/reaction_analyzer/include/reaction_analyzer_node.hpp @@ -0,0 +1,380 @@ +// Copyright 2024 The Autoware Contributors +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#ifndef REACTION_ANALYZER_NODE_HPP_ +#define REACTION_ANALYZER_NODE_HPP_ + +#include +#include +#include +#include +#include +#include + +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +#include +#include +#include +#include +#include +#include +#include +#include +#include + +#include +#include +#include +#include + +namespace reaction_analyzer +{ +using autoware_adapi_v1_msgs::msg::LocalizationInitializationState; +using autoware_adapi_v1_msgs::msg::OperationModeState; +using autoware_adapi_v1_msgs::msg::RouteState; +using autoware_adapi_v1_msgs::srv::ChangeOperationMode; +using autoware_auto_control_msgs::msg::AckermannControlCommand; +using autoware_auto_perception_msgs::msg::DetectedObject; +using autoware_auto_perception_msgs::msg::DetectedObjects; +using autoware_auto_perception_msgs::msg::PredictedObject; +using autoware_auto_perception_msgs::msg::PredictedObjects; +using autoware_auto_perception_msgs::msg::TrackedObject; +using autoware_auto_perception_msgs::msg::TrackedObjects; +using autoware_auto_planning_msgs::msg::Trajectory; +using autoware_internal_msgs::msg::PublishedTime; +using geometry_msgs::msg::Pose; +using nav_msgs::msg::Odometry; +using sensor_msgs::msg::PointCloud2; + +// Buffers to be used to store subscribed messages +using ControlCommandBuffer = + std::pair, std::optional>; +using TrajectoryBuffer = std::optional; +using PointCloud2Buffer = std::optional; +using PredictedObjectsBuffer = std::optional; +using DetectedObjectsBuffer = std::optional; +using TrackedObjectsBuffer = std::optional; + +// Variant to store different types of buffers +using BufferVariant = std::variant< + ControlCommandBuffer, TrajectoryBuffer, PointCloud2Buffer, PredictedObjectsBuffer, + DetectedObjectsBuffer, TrackedObjectsBuffer>; + +// The supported message types +enum class SubscriberMessageType { + Unknown = 0, + AckermannControlCommand = 1, + Trajectory = 2, + PointCloud2 = 3, + DetectedObjects = 4, + PredictedObjects = 5, + TrackedObjects = 6, +}; + +// The running mode of the node +enum class RunningMode { + PerceptionPlanning = 0, + PlanningControl = 1, +}; + +// The configuration of the topic to be subscribed which are defined in reaction_chain +struct TopicConfig +{ + std::string node_name; + std::string topic_address; + std::string time_debug_topic_address; + SubscriberMessageType message_type; +}; + +using ChainModules = std::vector; + +struct PoseParams +{ + double x; + double y; + double z; + double roll; + double pitch; + double yaw; +}; + +struct EntityParams +{ + double x; + double y; + double z; + double roll; + double pitch; + double yaw; + double x_l; + double y_l; + double z_l; +}; + +struct NodeParams +{ + std::string running_mode; + double timer_period; + double published_time_expire_duration; + std::string output_file_path; + size_t test_iteration; + double object_search_radius_offset; + double spawn_time_after_init; + double spawn_distance_threshold; + double spawned_pointcloud_sampling_distance; + double dummy_perception_publisher_period; + bool debug_control_commands; + double control_cmd_buffer_time_interval; + double min_jerk_for_brake_cmd; + size_t min_number_descending_order_control_cmd; + PoseParams initial_pose; + PoseParams goal_pose; + EntityParams entity_params; +}; + +// class PublishedTimeSubscriber +//{ +// public: +// PublishedTimeSubscriber(const std::string & topic_name, rclcpp::Node * node) : node_(node) +// { +// // Initialize subscriber with cache +// message_subscriber_ = +// std::make_shared>(node, topic_name); +// cache_ = std::make_shared>( +// *message_subscriber_, 10); // Cache size of 100 messages +// } +// +// std::optional getPublishedTime(const std_msgs::msg::Header & header) +// { +// for (const auto & msg : cache_->getInterval(rclcpp::Time(0), node_->now())) { +// if (msg->header.stamp == header.stamp && msg->header.frame_id == header.frame_id) { +// return *msg; +// } +// } +// return std::nullopt; // Return an empty optional if no match is found +// } +// +// std::optional getPublishedTime(const rclcpp::Time & stamp) +// { +// for (const auto & msg : cache_->getInterval(rclcpp::Time(0), node_->now())) { +// if (msg->header.stamp == stamp) { +// return *msg; +// } +// } +// return std::nullopt; // Return an empty optional if no match is found +// } +// +// private: +// std::shared_ptr> message_subscriber_; +// std::shared_ptr> cache_; +// rclcpp::Node * node_; +// }; + +class ReactionAnalyzerNode : public rclcpp::Node +{ +public: + explicit ReactionAnalyzerNode(rclcpp::NodeOptions options); + + ~ReactionAnalyzerNode() = default; + +private: + std::mutex mutex_; + RunningMode node_running_mode_; + + // Parameters + NodeParams node_params_; + + // Initialization Variables + geometry_msgs::msg::Pose entity_pose_; + geometry_msgs::msg::PoseWithCovarianceStamped init_pose_; + geometry_msgs::msg::PoseStamped goal_pose_; + double entity_search_radius_; + + // Subscribers + rclcpp::Subscription::SharedPtr sub_kinematics_; + rclcpp::Subscription::SharedPtr sub_route_state_; + rclcpp::Subscription::SharedPtr sub_localization_init_state_; + rclcpp::Subscription::SharedPtr sub_operation_mode_; + + // Publishers + rclcpp::Publisher::SharedPtr pub_pointcloud_; + rclcpp::Publisher::SharedPtr pub_predicted_objects_; + rclcpp::Publisher::SharedPtr pub_initial_pose_; + rclcpp::Publisher::SharedPtr pub_goal_pose_; + + // tf + tf2_ros::Buffer tf_buffer_{get_clock()}; + tf2_ros::TransformListener tf_listener_{tf_buffer_}; + + // Variables + std::vector subscribers_; + std::unordered_map message_buffers_; + std::unique_ptr> time_debug_sub_; + std::unordered_map> published_time_vector_map_; + // std::unordered_map published_time_subscriber_map_; + + std::unordered_map> test_results_; + + std::optional last_test_environment_init_request_time_; + std::optional test_environment_init_time_; + std::optional spawn_cmd_time_; + std::atomic spawn_object_cmd_{false}; + std::atomic is_object_spawned_message_published_{false}; + bool is_output_printed_{false}; + bool is_vehicle_initialized_{false}; + bool is_route_set_{false}; + size_t test_iteration_count_{0}; + + // Functions + rclcpp::SubscriptionOptions createSubscriptionOptions(); + + bool searchPointcloudNearEntity(const pcl::PointCloud & pcl_pointcloud); + + bool searchPredictedObjectsNearEntity(const PredictedObjects & predicted_objects); + + bool searchDetectedObjectsNearEntity(const DetectedObjects & detected_objects); + + bool searchTrackedObjectsNearEntity(const TrackedObjects & tracked_objects); + + bool loadChainModules(); + + bool initSubscribers(const reaction_analyzer::ChainModules & modules); + + void initAnalyzerVariables(); + + void initPointcloud(); + + void initPredictedObjects(); + + void initEgoForTest( + const LocalizationInitializationState::ConstSharedPtr & initialization_state_ptr, + const RouteState::ConstSharedPtr & route_state_ptr, + const OperationModeState::ConstSharedPtr & operation_mode_ptr); + + void pushPublishedTime( + std::vector & published_time_vec, const PublishedTime & published_time); + + void setControlCommandToBuffer( + std::vector & buffer, const AckermannControlCommand & cmd); + + std::optional findFirstBrakeIdx( + const std::vector & cmd_array, + const std::optional & spawn_cmd_time); + + void spawnObstacle(const geometry_msgs::msg::Point & ego_pose); + + void calculateResults( + const std::unordered_map & message_buffers, + const std::unordered_map> & published_time_vector_map, + const rclcpp::Time & spawn_cmd_time); + + void onTimer(); + + bool allReacted(const std::unordered_map & message_buffers); + + void dummyPerceptionPublisher(); + + void reset(); + + void writeResultsToFile(); + + // Callbacks + void vehiclePoseCallback(Odometry::ConstSharedPtr msg_ptr); + + void initializationStateCallback(LocalizationInitializationState::ConstSharedPtr msg_ptr); + + void routeStateCallback(RouteState::ConstSharedPtr msg); + + void operationModeCallback(OperationModeState::ConstSharedPtr msg_ptr); + + // Callbacks for modules are subscribed + void controlCommandOutputCallback( + const std::string & node_name, const AckermannControlCommand::ConstSharedPtr & msg_ptr); + + // void controlCommandOutputCallback( + // const std::string & node_name, const AckermannControlCommand::ConstSharedPtr & msg_ptr, + // const PublishedTime::ConstSharedPtr & published_time_ptr); + + void trajectoryOutputCallback( + const std::string & node_name, const Trajectory::ConstSharedPtr & msg_ptr); + + // void trajectoryOutputCallback( + // const std::string & node_name, const Trajectory::ConstSharedPtr & msg_ptr, + // const PublishedTime::ConstSharedPtr & published_time_ptr); + + void pointcloud2OutputCallback( + const std::string & node_name, const PointCloud2::ConstSharedPtr & msg_ptr); + + // void pointcloud2OutputCallback( + // const std::string & node_name, const PointCloud2::ConstSharedPtr & msg_ptr, + // const PublishedTime::ConstSharedPtr & published_time_ptr); + + void predictedObjectsOutputCallback( + const std::string & node_name, const PredictedObjects::ConstSharedPtr & msg_ptr); + + // void predictedObjectsOutputCallback( + // const std::string & node_name, const PredictedObjects::ConstSharedPtr & msg_ptr, + // const PublishedTime::ConstSharedPtr & published_time_ptr); + + void detectedObjectsOutputCallback( + const std::string & node_name, const DetectedObjects::ConstSharedPtr & msg_ptr); + + // void detectedObjectsOutputCallback( + // const std::string & node_name, const DetectedObjects::ConstSharedPtr & msg_ptr, + // const PublishedTime::ConstSharedPtr & published_time_ptr); + + void trackedObjectsOutputCallback( + const std::string & node_name, const TrackedObjects::ConstSharedPtr & msg_ptr); + + // void trackedObjectsOutputCallback( + // const std::string & node_name, const TrackedObjects::ConstSharedPtr & msg_ptr, + // const PublishedTime::ConstSharedPtr & published_time_ptr); + + void publishedTimeOutputCallback( + const std::string & node_name, const PublishedTime::ConstSharedPtr & msg_ptr); + + // Timer + rclcpp::TimerBase::SharedPtr timer_; + rclcpp::TimerBase::SharedPtr dummy_perception_timer_; + + // Client + rclcpp::Client::SharedPtr client_change_to_autonomous_; + + void callOperationModeServiceWithoutResponse(); + + // Pointers + std::shared_ptr topic_publisher_ptr_; + PointCloud2::SharedPtr entity_pointcloud_ptr_; + PredictedObjects::SharedPtr predicted_objects_ptr_; + Odometry::ConstSharedPtr odometry_; + LocalizationInitializationState::ConstSharedPtr initialization_state_ptr_; + RouteState::ConstSharedPtr current_route_state_ptr_; + OperationModeState::ConstSharedPtr operation_mode_ptr_; +}; + +} // namespace reaction_analyzer + +#endif // REACTION_ANALYZER_NODE_HPP_ diff --git a/tools/reaction_analyzer/include/topic_publisher.hpp b/tools/reaction_analyzer/include/topic_publisher.hpp new file mode 100644 index 0000000000000..19f0f6ce74d85 --- /dev/null +++ b/tools/reaction_analyzer/include/topic_publisher.hpp @@ -0,0 +1,225 @@ +// Copyright 2024 The Autoware Contributors +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#ifndef TOPIC_PUBLISHER_HPP_ +#define TOPIC_PUBLISHER_HPP_ + +#include +#include + +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +#include +#include +#include +#include + +namespace reaction_analyzer::topic_publisher +{ +using autoware_auto_control_msgs::msg::AckermannControlCommand; +using autoware_auto_perception_msgs::msg::DetectedObject; +using autoware_auto_perception_msgs::msg::DetectedObjects; +using autoware_auto_perception_msgs::msg::PredictedObject; +using autoware_auto_perception_msgs::msg::PredictedObjects; +using autoware_auto_planning_msgs::msg::Trajectory; +using geometry_msgs::msg::Pose; +using nav_msgs::msg::Odometry; +using sensor_msgs::msg::PointCloud2; + +enum class PublisherMessageType { + Unknown = 0, + CameraInfo = 1, + Image = 2, + PointCloud2 = 3, + PoseWithCovarianceStamped = 4, + Imu = 5, + ControlModeReport = 6, + GearReport = 7, + HazardLightsReport = 8, + SteeringReport = 9, + TurnIndicatorsReport = 10, + VelocityReport = 11, +}; + +struct TopicPublisherParams +{ + std::string path_bag_without_object; + std::string path_bag_with_object; + std::string pointcloud_publisher_type; + double pointcloud_publisher_period; +}; + +enum class PointcloudPublisherType { + AsyncPublisher = 0, + SyncHeaderSyncPublisher = 1, + AsyncHeaderSyncPublisher = 2, +}; + +template +struct PublisherVariables +{ + double period_ns{0.0}; + typename MessageType::SharedPtr empty_area_message; + typename MessageType::SharedPtr object_spawned_message; + typename rclcpp::Publisher::SharedPtr publisher; + rclcpp::TimerBase::SharedPtr timer; +}; + +struct PublisherVarAccessor +{ + template > + struct has_header : std::false_type + { + }; + + template + struct has_header> : std::true_type + { + }; + + template > + struct has_stamp : std::false_type + { + }; + + template + struct has_stamp> : std::true_type + { + }; + + template + void publishWithCurrentTime( + const PublisherVariables & publisherVar, const rclcpp::Time & current_time, + const bool is_object_spawned) const + { + std::unique_ptr msg_to_be_published = std::make_unique(); + + if (is_object_spawned) { + *msg_to_be_published = *publisherVar.object_spawned_message; + } else { + *msg_to_be_published = *publisherVar.empty_area_message; + } + if constexpr (has_header::value) { + msg_to_be_published->header.stamp = current_time; + } else if constexpr (has_stamp::value) { + msg_to_be_published->stamp = current_time; + } + publisherVar.publisher->publish(std::move(msg_to_be_published)); + } + + // Set Period + template + void setPeriod(T & publisherVar, double newPeriod) + { + publisherVar.period_ns = newPeriod; + } + + // Get Period + template + double getPeriod(const T & publisherVar) const + { + return publisherVar.period_ns; + } + + // Get Empty Area Message + template + std::shared_ptr getEmptyAreaMessage(const T & publisherVar) const + { + return std::static_pointer_cast(publisherVar.empty_area_message); + } + + // Get Object Spawned Message + template + std::shared_ptr getObjectSpawnedMessage(const T & publisherVar) const + { + return std::static_pointer_cast(publisherVar.object_spawned_message); + } +}; + +using PublisherVariablesVariant = std::variant< + PublisherVariables, PublisherVariables, + PublisherVariables, + PublisherVariables, + PublisherVariables, + PublisherVariables, + PublisherVariables, + PublisherVariables, + PublisherVariables, + PublisherVariables, + PublisherVariables>; + +class TopicPublisher +{ +public: + explicit TopicPublisher( + rclcpp::Node * node, std::atomic & spawn_object_cmd, + std::optional & spawn_cmd_time); + + ~TopicPublisher() = default; + void reset(); + +private: + std::mutex mutex_; + + // Initialize + rclcpp::Node * node_; + std::atomic & spawn_object_cmd_; + std::optional & spawn_cmd_time_; + + // Parameters + TopicPublisherParams topic_publisher_params_; + + // Functions + void initRosbagPublishers(); + void pointcloudMessagesSyncPublisher(const PointcloudPublisherType type); + void genericMessagePublisher(const std::string & topic_name); + void pointcloudMessagesAsyncPublisher( + const std::pair< + std::shared_ptr>, + std::shared_ptr>> & lidar_output_pair_); + + // Variables + PointcloudPublisherType pointcloud_publisher_type_; + std::unordered_map topic_publisher_map_; + std::unordered_map< + std::string, std::pair< + std::shared_ptr>, + std::shared_ptr>>> + lidar_pub_variable_pair_map_; // used to publish pointcloud_raw and pointcloud_raw_ex + bool is_object_spawned_message_published{false}; + std::shared_ptr one_shot_timer_shared_ptr_; + + // Timers + std::unordered_map pointcloud_publish_timers_map_; + rclcpp::TimerBase::SharedPtr pointcloud_sync_publish_timer_; +}; + +} // namespace reaction_analyzer::topic_publisher + +#endif // TOPIC_PUBLISHER_HPP_ diff --git a/tools/reaction_analyzer/launch/reaction_analyzer.launch.xml b/tools/reaction_analyzer/launch/reaction_analyzer.launch.xml new file mode 100644 index 0000000000000..44acfdd6b6b42 --- /dev/null +++ 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2.0 + + Berkay Karaman + + ament_cmake_auto + autoware_cmake + + autoware_adapi_v1_msgs + autoware_auto_control_msgs + autoware_auto_perception_msgs + autoware_auto_planning_msgs + autoware_auto_system_msgs + autoware_auto_vehicle_msgs + autoware_internal_msgs + eigen + libpcl-all-dev + message_filters + motion_utils + pcl_conversions + pcl_ros + rclcpp + rclcpp_components + rosbag2_cpp + sensor_msgs + tf2 + tf2_eigen + tf2_geometry_msgs + tf2_ros + tier4_autoware_utils + + ament_cmake_ros + ament_index_python + ament_lint_auto + autoware_lint_common + autoware_testing + + + ament_cmake + + diff --git a/tools/reaction_analyzer/param/reaction_analyzer.param.yaml b/tools/reaction_analyzer/param/reaction_analyzer.param.yaml new file mode 100644 index 0000000000000..37ef3bba86e38 --- /dev/null +++ b/tools/reaction_analyzer/param/reaction_analyzer.param.yaml @@ -0,0 +1,111 @@ +/**: + ros__parameters: + timer_period: 0.033 # s + published_time_expire_duration: 5.0 # s + test_iteration: 15 + output_file_path: /home/berkay/projects/reaction_analyzer_results/ + object_search_radius_offset: 0.1 # m + spawn_time_after_init: 5.0 # s + spawn_distance_threshold: 15.0 # m + spawned_pointcloud_sampling_distance: 0.1 + dummy_perception_publisher_period: 0.1 # s + first_brake_params: + debug_control_commands: false + control_cmd_buffer_time_interval: 1.0 # s + min_number_descending_order_control_cmd: 3 + min_jerk_for_brake_cmd: 0.3 # m/s^3 + initialization_pose: + x: 81247.9609375 + y: 49828.87890625 + z: 0.0 + roll: 0.0 + pitch: 0.0 + yaw: 35.5 + entity_params: + x: 81392.97671487389 + y: 49927.361443601316 + z: 42.13605499267578 + roll: 0.2731273 + pitch: -0.6873504 + yaw: 33.7664809 + x_dimension: 4.118675972722859 + y_dimension: 1.7809072588403219 + z_dimension: 0.8328610206872963 + goal_pose: + x: 81462.78125 + y: 49978.484375 + z: 0.0 + roll: 0.0 + pitch: 0.0 + yaw: 35.0 + topic_publisher: + path_bag_without_object: /home/berkay/projects/bags/awsim-bag/bag/lexus_bag_without_car/rosbag2_2024_01_30-13_50_45_0.db3 + path_bag_with_object: /home/berkay/projects/bags/awsim-bag/bag/lexus_bag_with_car/rosbag2_2024_01_30-13_50_17_0.db3 + pointcloud_publisher: + pointcloud_publisher_type: "sync_header_sync_publish" # "async_header_sync_publish", "sync_header_sync_publish" or "async_publish" + pointcloud_publisher_period: 0.1 # s + reaction_chain: +# common_ground_filter: +# topic_name: /perception/obstacle_segmentation/single_frame/pointcloud_raw +# time_debug_topic_name: /perception/obstacle_segmentation/single_frame/pointcloud_raw/debug/published_time +# message_type: sensor_msgs::msg::PointCloud2 +# occupancy_grid_map_outlier: +# topic_name: /perception/obstacle_segmentation/pointcloud +# time_debug_topic_name: /perception/obstacle_segmentation/pointcloud/debug/published_time +# message_type: sensor_msgs::msg::PointCloud2 +# multi_object_tracker: +# topic_name: /perception/object_recognition/tracking/near_objects +# time_debug_topic_name: /perception/object_recognition/tracking/near_objects/debug/published_time +# message_type: autoware_auto_perception_msgs::msg::TrackedObjects +# lidar_centerpoint: +# topic_name: /perception/object_recognition/detection/centerpoint/objects +# time_debug_topic_name: /perception/object_recognition/detection/centerpoint/objects/debug/published_time +# message_type: autoware_auto_perception_msgs::msg::DetectedObjects +# obstacle_pointcloud_based_validator: +# topic_name: /perception/object_recognition/detection/centerpoint/validation/objects +# time_debug_topic_name: /perception/object_recognition/detection/centerpoint/validation/objects/debug/published_time +# message_type: autoware_auto_perception_msgs::msg::DetectedObjects +# decorative_tracker_merger: +# topic_name: /perception/object_recognition/tracking/objects +# time_debug_topic_name: /perception/object_recognition/tracking/objects/debug/published_time +# message_type: autoware_auto_perception_msgs::msg::TrackedObjects +# detected_object_feature_remover: +# topic_name: /perception/object_recognition/detection/clustering/objects +# time_debug_topic_name: /perception/object_recognition/detection/clustering/objects/debug/published_time +# message_type: autoware_auto_perception_msgs::msg::DetectedObjects +# detection_by_tracker: +# topic_name: /perception/object_recognition/detection/detection_by_tracker/objects +# time_debug_topic_name: /perception/object_recognition/detection/detection_by_tracker/objects/debug/published_time +# message_type: autoware_auto_perception_msgs::msg::DetectedObjects +# object_lanelet_filter: +# topic_name: /perception/object_recognition/detection/objects +# time_debug_topic_name: /perception/object_recognition/detection/objects/debug/published_time +# message_type: autoware_auto_perception_msgs::msg::DetectedObjects +# map_based_prediction: +# topic_name: /perception/object_recognition/objects +# time_debug_topic_name: /perception/object_recognition/objects/debug/published_time +# message_type: autoware_auto_perception_msgs::msg::PredictedObjects + obstacle_stop_planner: + topic_name: /planning/scenario_planning/lane_driving/trajectory + time_debug_topic_name: /planning/scenario_planning/lane_driving/trajectory/debug/published_time + message_type: autoware_auto_planning_msgs::msg::Trajectory + scenario_selector: + topic_name: /planning/scenario_planning/scenario_selector/trajectory + time_debug_topic_name: /planning/scenario_planning/scenario_selector/trajectory/debug/published_time + message_type: autoware_auto_planning_msgs::msg::Trajectory + motion_velocity_smoother: + topic_name: /planning/scenario_planning/motion_velocity_smoother/trajectory + time_debug_topic_name: /planning/scenario_planning/motion_velocity_smoother/trajectory/debug/published_time + message_type: autoware_auto_planning_msgs::msg::Trajectory + planning_validator: + topic_name: /planning/scenario_planning/trajectory + time_debug_topic_name: /planning/scenario_planning/trajectory/debug/published_time + message_type: autoware_auto_planning_msgs::msg::Trajectory + trajectory_follower: + topic_name: /control/trajectory_follower/control_cmd + time_debug_topic_name: /control/trajectory_follower/control_cmd/debug/published_time + message_type: autoware_auto_control_msgs::msg::AckermannControlCommand + vehicle_cmd_gate: + topic_name: /control/command/control_cmd + time_debug_topic_name: /control/command/control_cmd/debug/published_time + message_type: autoware_auto_control_msgs::msg::AckermannControlCommand diff --git a/tools/reaction_analyzer/src/reaction_analyzer_node.cpp b/tools/reaction_analyzer/src/reaction_analyzer_node.cpp new file mode 100644 index 0000000000000..aa6cad7ee7623 --- /dev/null +++ b/tools/reaction_analyzer/src/reaction_analyzer_node.cpp @@ -0,0 +1,1369 @@ +// Copyright 2024 The Autoware Contributors +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#include "reaction_analyzer_node.hpp" + +#include "tf2/transform_datatypes.h" + +#include +#include +#include + +#include +#include +#include +#include + +#include + +#include +#include + +namespace reaction_analyzer +{ + +// Callbacks + +void ReactionAnalyzerNode::publishedTimeOutputCallback( + const std::string & node_name, const PublishedTime::ConstSharedPtr & msg_ptr) +{ + std::lock_guard lock(mutex_); + auto & published_time_vector = published_time_vector_map_[node_name]; + pushPublishedTime(published_time_vector, *msg_ptr); +} + +void ReactionAnalyzerNode::controlCommandOutputCallback( + const std::string & node_name, const AckermannControlCommand::ConstSharedPtr & msg_ptr) +{ + std::lock_guard lock(mutex_); + auto & variant = message_buffers_[node_name]; + const auto is_spawned = spawn_cmd_time_; + if (!std::holds_alternative(variant)) { + ControlCommandBuffer buffer(std::vector{*msg_ptr}, std::nullopt); + variant = buffer; + } + + if (std::get(variant).second) { + // reacted + return; + } + setControlCommandToBuffer(std::get(variant).first, *msg_ptr); + const auto brake_idx = + findFirstBrakeIdx(std::get(variant).first, is_spawned); + if (brake_idx) { + std::get(variant).second = + std::get(variant).first.at(brake_idx.value()); + RCLCPP_INFO(this->get_logger(), "Reacted %s", node_name.c_str()); + } +} + +void ReactionAnalyzerNode::trajectoryOutputCallback( + const std::string & node_name, const Trajectory::ConstSharedPtr & msg_ptr) +{ + mutex_.lock(); + auto variant = message_buffers_[node_name]; + const auto current_odometry_ptr = odometry_; + const auto is_spawned = spawn_cmd_time_; + if (!std::holds_alternative(variant)) { + TrajectoryBuffer buffer(std::nullopt); + variant = buffer; + message_buffers_[node_name] = variant; + } + mutex_.unlock(); + + if (!current_odometry_ptr || !is_spawned || std::get(variant).has_value()) { + return; + } + + const auto nearest_seg_idx = motion_utils::findNearestSegmentIndex( + msg_ptr->points, current_odometry_ptr->pose.pose.position); + + const auto nearest_objects_seg_idx = + motion_utils::findNearestIndex(msg_ptr->points, entity_pose_.position); + + const auto zero_vel_idx = motion_utils::searchZeroVelocityIndex( + msg_ptr->points, nearest_seg_idx, nearest_objects_seg_idx); + + if (zero_vel_idx) { + std::get(variant) = *msg_ptr; + RCLCPP_INFO(this->get_logger(), "Reacted %s", node_name.c_str()); + mutex_.lock(); + message_buffers_[node_name] = variant; + mutex_.unlock(); + } +} + +void ReactionAnalyzerNode::pointcloud2OutputCallback( + const std::string & node_name, const PointCloud2::ConstSharedPtr & msg_ptr) +{ + mutex_.lock(); + auto variant = message_buffers_[node_name]; + const auto is_spawned = spawn_cmd_time_; + if (!std::holds_alternative(variant)) { + PointCloud2Buffer buffer(std::nullopt); + variant = buffer; + message_buffers_[node_name] = variant; + } + mutex_.unlock(); + + if (!is_spawned || std::get(variant).has_value()) { + return; + } + + // transform pointcloud + geometry_msgs::msg::TransformStamped transform_stamped{}; + try { + transform_stamped = tf_buffer_.lookupTransform( + "map", msg_ptr->header.frame_id, this->now(), rclcpp::Duration::from_seconds(0.5)); + } catch (tf2::TransformException & ex) { + RCLCPP_ERROR_STREAM( + get_logger(), "Failed to look up transform from " << msg_ptr->header.frame_id << " to map"); + return; + } + + // transform by using eigen matrix + PointCloud2 transformed_points{}; + const Eigen::Matrix4f affine_matrix = + tf2::transformToEigen(transform_stamped.transform).matrix().cast(); + pcl_ros::transformPointCloud(affine_matrix, *msg_ptr, transformed_points); + + pcl::PointCloud pcl_pointcloud; + pcl::fromROSMsg(transformed_points, pcl_pointcloud); + + if (searchPointcloudNearEntity(pcl_pointcloud)) { + std::get(variant) = *msg_ptr; + RCLCPP_INFO(this->get_logger(), "Reacted %s", node_name.c_str()); + mutex_.lock(); + message_buffers_[node_name] = variant; + mutex_.unlock(); + } +} + +void ReactionAnalyzerNode::predictedObjectsOutputCallback( + const std::string & node_name, const PredictedObjects::ConstSharedPtr & msg_ptr) +{ + mutex_.lock(); + auto variant = message_buffers_[node_name]; + const auto is_spawned = spawn_cmd_time_; + if (!std::holds_alternative(variant)) { + PredictedObjectsBuffer buffer(std::nullopt); + variant = buffer; + message_buffers_[node_name] = variant; + } + mutex_.unlock(); + + if ( + !is_spawned || msg_ptr->objects.empty() || + std::get(variant).has_value()) { + return; + } + + if (searchPredictedObjectsNearEntity(*msg_ptr)) { + std::get(variant) = *msg_ptr; + RCLCPP_INFO(this->get_logger(), "Reacted %s", node_name.c_str()); + + mutex_.lock(); + message_buffers_[node_name] = variant; + mutex_.unlock(); + } +} + +void ReactionAnalyzerNode::detectedObjectsOutputCallback( + const std::string & node_name, const DetectedObjects::ConstSharedPtr & msg_ptr) +{ + mutex_.lock(); + auto variant = message_buffers_[node_name]; + const auto is_spawned = spawn_cmd_time_; + if (!std::holds_alternative(variant)) { + DetectedObjectsBuffer buffer(std::nullopt); + variant = buffer; + message_buffers_[node_name] = variant; + } + mutex_.unlock(); + if ( + !is_spawned || msg_ptr->objects.empty() || + std::get(variant).has_value()) { + return; + } + + // transform objects + geometry_msgs::msg::TransformStamped transform_stamped{}; + try { + transform_stamped = tf_buffer_.lookupTransform( + "map", msg_ptr->header.frame_id, this->now(), rclcpp::Duration::from_seconds(0.5)); + } catch (tf2::TransformException & ex) { + RCLCPP_ERROR_STREAM( + get_logger(), "Failed to look up transform from " << msg_ptr->header.frame_id << " to map"); + return; + } + + DetectedObjects output_objs; + output_objs = *msg_ptr; + for (auto & obj : output_objs.objects) { + geometry_msgs::msg::PoseStamped output_stamped, input_stamped; + input_stamped.pose = obj.kinematics.pose_with_covariance.pose; + tf2::doTransform(input_stamped, output_stamped, transform_stamped); + obj.kinematics.pose_with_covariance.pose = output_stamped.pose; + } + if (searchDetectedObjectsNearEntity(output_objs)) { + std::get(variant) = *msg_ptr; + RCLCPP_INFO(this->get_logger(), "Reacted %s", node_name.c_str()); + mutex_.lock(); + message_buffers_[node_name] = variant; + mutex_.unlock(); + } +} + +void ReactionAnalyzerNode::trackedObjectsOutputCallback( + const std::string & node_name, const TrackedObjects::ConstSharedPtr & msg_ptr) +{ + mutex_.lock(); + auto variant = message_buffers_[node_name]; + const auto is_spawned = spawn_cmd_time_; + if (!std::holds_alternative(variant)) { + TrackedObjectsBuffer buffer(std::nullopt); + variant = buffer; + message_buffers_[node_name] = variant; + } + mutex_.unlock(); + if ( + !is_spawned || msg_ptr->objects.empty() || + std::get(variant).has_value()) { + return; + } + + if (searchTrackedObjectsNearEntity(*msg_ptr)) { + std::get(variant) = *msg_ptr; + RCLCPP_INFO(this->get_logger(), "Reacted %s", node_name.c_str()); + mutex_.lock(); + message_buffers_[node_name] = variant; + mutex_.unlock(); + } +} + +void ReactionAnalyzerNode::operationModeCallback(OperationModeState::ConstSharedPtr msg_ptr) +{ + std::lock_guard lock(mutex_); + operation_mode_ptr_ = std::move(msg_ptr); +} + +void ReactionAnalyzerNode::routeStateCallback(RouteState::ConstSharedPtr msg_ptr) +{ + std::lock_guard lock(mutex_); + current_route_state_ptr_ = std::move(msg_ptr); +} + +void ReactionAnalyzerNode::vehiclePoseCallback(Odometry::ConstSharedPtr msg_ptr) +{ + std::lock_guard lock(mutex_); + odometry_ = std::move(msg_ptr); +} + +void ReactionAnalyzerNode::initializationStateCallback( + LocalizationInitializationState::ConstSharedPtr msg_ptr) +{ + std::lock_guard lock(mutex_); + initialization_state_ptr_ = std::move(msg_ptr); +} + +ReactionAnalyzerNode::ReactionAnalyzerNode(rclcpp::NodeOptions options) +: Node("reaction_analyzer_node", options.automatically_declare_parameters_from_overrides(true)) +{ + using std::placeholders::_1; + + node_params_.running_mode = get_parameter("running_mode").as_string(); + + // set running mode + if (node_params_.running_mode == "planning_control") { + node_running_mode_ = RunningMode::PlanningControl; + } else if (node_params_.running_mode == "perception_planning") { + node_running_mode_ = RunningMode::PerceptionPlanning; + } else { + RCLCPP_ERROR(get_logger(), "Invalid running mode. Node couldn't be initialized. Failed."); + return; + } + + node_params_.timer_period = get_parameter("timer_period").as_double(); + node_params_.test_iteration = get_parameter("test_iteration").as_int(); + node_params_.published_time_expire_duration = + get_parameter("published_time_expire_duration").as_double(); + node_params_.output_file_path = get_parameter("output_file_path").as_string(); + node_params_.object_search_radius_offset = + get_parameter("object_search_radius_offset").as_double(); + node_params_.spawn_time_after_init = get_parameter("spawn_time_after_init").as_double(); + node_params_.spawn_distance_threshold = get_parameter("spawn_distance_threshold").as_double(); + node_params_.spawned_pointcloud_sampling_distance = + get_parameter("spawned_pointcloud_sampling_distance").as_double(); + node_params_.dummy_perception_publisher_period = + get_parameter("dummy_perception_publisher_period").as_double(); + node_params_.debug_control_commands = + get_parameter("first_brake_params.debug_control_commands").as_bool(); + node_params_.control_cmd_buffer_time_interval = + get_parameter("first_brake_params.control_cmd_buffer_time_interval").as_double(); + node_params_.min_number_descending_order_control_cmd = + get_parameter("first_brake_params.min_number_descending_order_control_cmd").as_int(); + node_params_.min_jerk_for_brake_cmd = + get_parameter("first_brake_params.min_jerk_for_brake_cmd").as_double(); + + // Position parameters + node_params_.initial_pose.x = get_parameter("initialization_pose.x").as_double(); + node_params_.initial_pose.y = get_parameter("initialization_pose.y").as_double(); + node_params_.initial_pose.z = get_parameter("initialization_pose.z").as_double(); + node_params_.initial_pose.roll = get_parameter("initialization_pose.roll").as_double(); + node_params_.initial_pose.pitch = get_parameter("initialization_pose.pitch").as_double(); + node_params_.initial_pose.yaw = get_parameter("initialization_pose.yaw").as_double(); + + node_params_.goal_pose.x = get_parameter("goal_pose.x").as_double(); + node_params_.goal_pose.y = get_parameter("goal_pose.y").as_double(); + node_params_.goal_pose.z = get_parameter("goal_pose.z").as_double(); + node_params_.goal_pose.roll = get_parameter("goal_pose.roll").as_double(); + node_params_.goal_pose.pitch = get_parameter("goal_pose.pitch").as_double(); + node_params_.goal_pose.yaw = get_parameter("goal_pose.yaw").as_double(); + + node_params_.entity_params.x = get_parameter("entity_params.x").as_double(); + node_params_.entity_params.y = get_parameter("entity_params.y").as_double(); + node_params_.entity_params.z = get_parameter("entity_params.z").as_double(); + node_params_.entity_params.roll = get_parameter("entity_params.roll").as_double(); + node_params_.entity_params.pitch = get_parameter("entity_params.pitch").as_double(); + node_params_.entity_params.yaw = get_parameter("entity_params.yaw").as_double(); + node_params_.entity_params.x_l = get_parameter("entity_params.x_dimension").as_double(); + node_params_.entity_params.y_l = get_parameter("entity_params.y_dimension").as_double(); + node_params_.entity_params.z_l = get_parameter("entity_params.z_dimension").as_double(); + + // initialize the reaction chain + if (!loadChainModules()) { + RCLCPP_ERROR( + get_logger(), "Modules in chain are invalid. Node couldn't be initialized. Failed."); + return; + } + + initAnalyzerVariables(); + + sub_kinematics_ = create_subscription( + "input/kinematics", 1, std::bind(&ReactionAnalyzerNode::vehiclePoseCallback, this, _1), + createSubscriptionOptions()); + sub_localization_init_state_ = create_subscription( + "input/localization_initialization_state", rclcpp::QoS(1).transient_local(), + std::bind(&ReactionAnalyzerNode::initializationStateCallback, this, _1), + createSubscriptionOptions()); + sub_route_state_ = create_subscription( + "input/routing_state", rclcpp::QoS{1}.transient_local(), + std::bind(&ReactionAnalyzerNode::routeStateCallback, this, _1), createSubscriptionOptions()); + sub_operation_mode_ = create_subscription( + "input/operation_mode_state", rclcpp::QoS{1}.transient_local(), + std::bind(&ReactionAnalyzerNode::operationModeCallback, this, _1), createSubscriptionOptions()); + + pub_goal_pose_ = create_publisher("output/goal", rclcpp::QoS(1)); + + if (node_running_mode_ == RunningMode::PlanningControl) { + pub_initial_pose_ = create_publisher( + "output/initialpose", rclcpp::QoS(1)); + pub_pointcloud_ = create_publisher("output/pointcloud", rclcpp::SensorDataQoS()); + pub_predicted_objects_ = create_publisher("output/objects", rclcpp::QoS(1)); + + client_change_to_autonomous_ = + create_client("service/change_to_autonomous"); + + // init dummy perception publisher + const auto period_ns = std::chrono::duration_cast( + std::chrono::duration(node_params_.dummy_perception_publisher_period)); + dummy_perception_timer_ = rclcpp::create_timer( + this, get_clock(), period_ns, + std::bind(&ReactionAnalyzerNode::dummyPerceptionPublisher, this)); + + } else if (node_running_mode_ == RunningMode::PerceptionPlanning) { + // Create topic publishers + topic_publisher_ptr_ = + std::make_shared(this, spawn_object_cmd_, spawn_cmd_time_); + } + + const auto period_ns = std::chrono::duration_cast( + std::chrono::duration(node_params_.timer_period)); + timer_ = rclcpp::create_timer( + this, get_clock(), period_ns, std::bind(&ReactionAnalyzerNode::onTimer, this)); +} + +void ReactionAnalyzerNode::onTimer() +{ + mutex_.lock(); + const auto current_odometry_ptr = odometry_; + const auto initialization_state_ptr = initialization_state_ptr_; + const auto route_state_ptr = current_route_state_ptr_; + const auto operation_mode_ptr = operation_mode_ptr_; + const auto message_buffers = message_buffers_; + const auto spawn_cmd_time = spawn_cmd_time_; + const auto published_time_vector_map = published_time_vector_map_; + mutex_.unlock(); + + // Init the test environment + + if (!test_environment_init_time_) { + initEgoForTest(initialization_state_ptr, route_state_ptr, operation_mode_ptr); + return; + } + + spawnObstacle(current_odometry_ptr->pose.pose.position); + + if (!spawn_cmd_time) return; + + if (!allReacted(message_buffers)) return; + + if (!is_output_printed_) { + calculateResults(message_buffers, published_time_vector_map, spawn_cmd_time.value()); + } else { + reset(); + } +} + +void ReactionAnalyzerNode::dummyPerceptionPublisher() +{ + if (!spawn_object_cmd_) { + // do not spawn it, send empty pointcloud + pcl::PointCloud pcl_empty; + PointCloud2 empty_pointcloud; + PredictedObjects empty_predicted_objects; + pcl::toROSMsg(pcl_empty, empty_pointcloud); + + const auto current_time = this->now(); + empty_pointcloud.header.frame_id = "base_link"; + empty_pointcloud.header.stamp = current_time; + + empty_predicted_objects.header.frame_id = "map"; + empty_predicted_objects.header.stamp = current_time; + + pub_pointcloud_->publish(empty_pointcloud); + pub_predicted_objects_->publish(empty_predicted_objects); + } else { + // transform pointcloud + geometry_msgs::msg::TransformStamped transform_stamped{}; + try { + transform_stamped = tf_buffer_.lookupTransform( + "base_link", "map", this->now(), rclcpp::Duration::from_seconds(0.5)); + } catch (tf2::TransformException & ex) { + RCLCPP_ERROR_STREAM(get_logger(), "Failed to look up transform from map to base_link"); + return; + } + + // transform by using eigen matrix + PointCloud2 transformed_points{}; + const Eigen::Matrix4f affine_matrix = + tf2::transformToEigen(transform_stamped.transform).matrix().cast(); + pcl_ros::transformPointCloud(affine_matrix, *entity_pointcloud_ptr_, transformed_points); + const auto current_time = this->now(); + + transformed_points.header.frame_id = "base_link"; + transformed_points.header.stamp = current_time; + + predicted_objects_ptr_->header.frame_id = "map"; + predicted_objects_ptr_->header.stamp = current_time; + + pub_pointcloud_->publish(transformed_points); + pub_predicted_objects_->publish(*predicted_objects_ptr_); + if (!is_object_spawned_message_published_) { + mutex_.lock(); + spawn_cmd_time_ = this->now(); + mutex_.unlock(); + is_object_spawned_message_published_ = true; + } + } +} + +void ReactionAnalyzerNode::spawnObstacle(const geometry_msgs::msg::Point & ego_pose) +{ + if (node_running_mode_ == RunningMode::PerceptionPlanning) { + rclcpp::Duration time_diff = this->now() - test_environment_init_time_.value(); + if (time_diff > rclcpp::Duration::from_seconds(node_params_.spawn_time_after_init)) { + if (!spawn_object_cmd_) { + spawn_object_cmd_ = true; + RCLCPP_INFO(this->get_logger(), "Spawn command is sent."); + } + } + } else { + if ( + tier4_autoware_utils::calcDistance3d(ego_pose, entity_pose_.position) < + node_params_.spawn_distance_threshold) { + if (!spawn_object_cmd_) { + spawn_object_cmd_ = true; + RCLCPP_INFO(this->get_logger(), "Spawn command is sent."); + } + } + } +} + +bool ReactionAnalyzerNode::allReacted( + const std::unordered_map & message_buffers) +{ + bool all_reacted = true; + for (const auto & [key, variant] : message_buffers) { + if (auto * control_message = std::get_if(&variant)) { + if (!control_message->second) { + all_reacted = false; + } + } else if (auto * planning_message = std::get_if(&variant)) { + if (!planning_message->has_value()) { + all_reacted = false; + } + } else if (auto * pointcloud_message = std::get_if(&variant)) { + if (!pointcloud_message->has_value()) { + all_reacted = false; + } + } else if (auto * predicted_objects_message = std::get_if(&variant)) { + if (!predicted_objects_message->has_value()) { + all_reacted = false; + } + } else if (auto * detected_objects_message = std::get_if(&variant)) { + if (!detected_objects_message->has_value()) { + all_reacted = false; + } + } else if (auto * tracked_objects_message = std::get_if(&variant)) { + if (!tracked_objects_message->has_value()) { + all_reacted = false; + } + } + } + return all_reacted; +} + +std::optional findConjugatePublishedTimeIdx( + const std::vector & published_time_vector, const rclcpp::Time & time) +{ + auto it = std::find_if( + published_time_vector.begin(), published_time_vector.end(), + [&time](const PublishedTime & timeInVector) { return timeInVector.header.stamp == time; }); + + if (it != published_time_vector.end()) { + return std::optional( + std::distance(published_time_vector.begin(), it)); // Return the index of the found time + } else { + return std::nullopt; + } +} + +void ReactionAnalyzerNode::calculateResults( + const std::unordered_map & message_buffers, + const std::unordered_map> & published_time_vector_map, + const rclcpp::Time & spawn_cmd_time) +{ + auto createDurationMs = [](const rclcpp::Time & start_time, const rclcpp::Time & end_time) { + return static_cast((end_time - start_time).nanoseconds()) / 1e6; + }; + std::vector> reaction_times; + for (const auto & [key, variant] : message_buffers) { + rclcpp::Time reaction_time; + + if (auto * control_message = std::get_if(&variant)) { + if (control_message->second) { + auto it = published_time_vector_map.find(key); + if (it != published_time_vector_map.end()) { + const auto & published_time_vec = it->second; + const auto idx = + findConjugatePublishedTimeIdx(published_time_vec, control_message->second->stamp); + if (idx) { + reaction_time = rclcpp::Time(published_time_vec.at(idx.value()).published_stamp); + } else { + RCLCPP_ERROR( + this->get_logger(), "Published time for %s node is not found", key.c_str()); + + reaction_time = control_message->second->stamp; + } + } else { + // It might do not have a published time debug topic + reaction_time = control_message->second->stamp; + } + } + } else if (auto * planning_message = std::get_if(&variant)) { + if (planning_message->has_value()) { + auto it = published_time_vector_map.find(key); + if (it != published_time_vector_map.end()) { + const auto & published_time_vec = it->second; + const auto idx = findConjugatePublishedTimeIdx( + published_time_vec, planning_message->value().header.stamp); + if (idx) { + reaction_time = rclcpp::Time(published_time_vec.at(idx.value()).published_stamp); + } else { + RCLCPP_ERROR( + this->get_logger(), "Published time for %s node is not found", key.c_str()); + + reaction_time = planning_message->value().header.stamp; + } + } else { + reaction_time = planning_message->value().header.stamp; + } + } + } else if (auto * pointcloud_message = std::get_if(&variant)) { + if (pointcloud_message->has_value()) { + auto it = published_time_vector_map.find(key); + if (it != published_time_vector_map.end()) { + const auto & published_time_vec = it->second; + const auto idx = findConjugatePublishedTimeIdx( + published_time_vec, pointcloud_message->value().header.stamp); + if (idx) { + reaction_time = rclcpp::Time(published_time_vec.at(idx.value()).published_stamp); + } else { + RCLCPP_ERROR( + this->get_logger(), "Published time for %s node is not found", key.c_str()); + + reaction_time = pointcloud_message->value().header.stamp; + } + } else { + reaction_time = pointcloud_message->value().header.stamp; + } + } + } else if (auto * predicted_objects_message = std::get_if(&variant)) { + if (predicted_objects_message->has_value()) { + auto it = published_time_vector_map.find(key); + if (it != published_time_vector_map.end()) { + const auto & published_time_vec = it->second; + const auto idx = findConjugatePublishedTimeIdx( + published_time_vec, predicted_objects_message->value().header.stamp); + if (idx) { + reaction_time = rclcpp::Time(published_time_vec.at(idx.value()).published_stamp); + } else { + RCLCPP_ERROR( + this->get_logger(), "Published time for %s node is not found", key.c_str()); + + reaction_time = predicted_objects_message->value().header.stamp; + } + } else { + reaction_time = predicted_objects_message->value().header.stamp; + } + } + } else if (auto * detected_objects_message = std::get_if(&variant)) { + if (detected_objects_message->has_value()) { + auto it = published_time_vector_map.find(key); + if (it != published_time_vector_map.end()) { + const auto & published_time_vec = it->second; + const auto idx = findConjugatePublishedTimeIdx( + published_time_vec, detected_objects_message->value().header.stamp); + if (idx) { + reaction_time = rclcpp::Time(published_time_vec.at(idx.value()).published_stamp); + } else { + RCLCPP_ERROR( + this->get_logger(), "Published time for %s node is not found", key.c_str()); + + reaction_time = detected_objects_message->value().header.stamp; + } + } else { + reaction_time = detected_objects_message->value().header.stamp; + } + } + } else if (auto * tracked_objects_message = std::get_if(&variant)) { + if (tracked_objects_message->has_value()) { + auto it = published_time_vector_map.find(key); + if (it != published_time_vector_map.end()) { + const auto & published_time_vec = it->second; + const auto idx = findConjugatePublishedTimeIdx( + published_time_vec, tracked_objects_message->value().header.stamp); + if (idx) { + reaction_time = rclcpp::Time(published_time_vec.at(idx.value()).published_stamp); + } else { + RCLCPP_ERROR( + this->get_logger(), "Published time for %s node is not found", key.c_str()); + + reaction_time = tracked_objects_message->value().header.stamp; + } + } else { + reaction_time = tracked_objects_message->value().header.stamp; + } + } + } + + const auto duration = createDurationMs(spawn_cmd_time, reaction_time); + + RCLCPP_INFO( + this->get_logger(), "Spawn time to %s node reaction: %lf ms", key.c_str(), duration); + test_results_[key].emplace_back(duration); + } + test_iteration_count_++; + is_output_printed_ = true; +} + +bool ReactionAnalyzerNode::loadChainModules() +{ + auto split = [](const std::string & str, const char delim) { + std::vector elems; + std::stringstream ss(str); + std::string item; + while (std::getline(ss, item, delim)) { + elems.push_back(item); + } + return elems; + }; + + auto stringToMessageType = [](const std::string & input) { + if (input == "autoware_auto_control_msgs::msg::AckermannControlCommand") { + return SubscriberMessageType::AckermannControlCommand; + } else if (input == "autoware_auto_planning_msgs::msg::Trajectory") { + return SubscriberMessageType::Trajectory; + } else if (input == "sensor_msgs::msg::PointCloud2") { + return SubscriberMessageType::PointCloud2; + } else if (input == "autoware_auto_perception_msgs::msg::PredictedObjects") { + return SubscriberMessageType::PredictedObjects; + } else if (input == "autoware_auto_perception_msgs::msg::DetectedObjects") { + return SubscriberMessageType::DetectedObjects; + } else if (input == "autoware_auto_perception_msgs::msg::TrackedObjects") { + return SubscriberMessageType::TrackedObjects; + } else { + return SubscriberMessageType::Unknown; + } + }; + + // get the topic addresses and message types of the modules in chain + const auto param_key = std::string("reaction_chain"); + const auto module_names = this->list_parameters({param_key}, 3).prefixes; + ChainModules chain_modules; + for (const auto & module_name : module_names) { + const auto splitted_name = split(module_name, '.'); + TopicConfig tmp; + tmp.node_name = splitted_name.back(); + tmp.topic_address = this->get_parameter(module_name + ".topic_name").as_string(); + tmp.time_debug_topic_address = + this->get_parameter_or(module_name + ".time_debug_topic_name", std::string("")); + tmp.message_type = + stringToMessageType(this->get_parameter(module_name + ".message_type").as_string()); + if (tmp.message_type != SubscriberMessageType::Unknown) { + chain_modules.emplace_back(tmp); + } else { + RCLCPP_WARN( + this->get_logger(), "Unknown message type for module name: %s, skipping..", + tmp.node_name.c_str()); + } + } + return (initSubscribers(chain_modules)); +} + +void ReactionAnalyzerNode::initAnalyzerVariables() +{ + tf2::Quaternion entity_q_orientation; + entity_q_orientation.setRPY( + tier4_autoware_utils::deg2rad(node_params_.entity_params.roll), + tier4_autoware_utils::deg2rad(node_params_.entity_params.pitch), + tier4_autoware_utils::deg2rad(node_params_.entity_params.yaw)); + entity_pose_.position.set__x(node_params_.entity_params.x); + entity_pose_.position.set__y(node_params_.entity_params.y); + entity_pose_.position.set__z(node_params_.entity_params.z); + entity_pose_.orientation.set__x(entity_q_orientation.x()); + entity_pose_.orientation.set__y(entity_q_orientation.y()); + entity_pose_.orientation.set__z(entity_q_orientation.z()); + entity_pose_.orientation.set__w(entity_q_orientation.w()); + + // find minimum radius of sphere that encloses the entity + + entity_search_radius_ = + std::sqrt( + std::pow(node_params_.entity_params.x_l, 2) + std::pow(node_params_.entity_params.y_l, 2) + + std::pow(node_params_.entity_params.z_l, 2)) / + 2.0 + + node_params_.object_search_radius_offset; + + tf2::Quaternion goal_pose_q_orientation; + goal_pose_q_orientation.setRPY( + tier4_autoware_utils::deg2rad(node_params_.goal_pose.roll), + tier4_autoware_utils::deg2rad(node_params_.goal_pose.pitch), + tier4_autoware_utils::deg2rad(node_params_.goal_pose.yaw)); + + goal_pose_.pose.position.set__x(node_params_.goal_pose.x); + goal_pose_.pose.position.set__y(node_params_.goal_pose.y); + goal_pose_.pose.position.set__z(node_params_.goal_pose.z); + goal_pose_.pose.orientation.set__x(goal_pose_q_orientation.x()); + goal_pose_.pose.orientation.set__y(goal_pose_q_orientation.y()); + goal_pose_.pose.orientation.set__z(goal_pose_q_orientation.z()); + goal_pose_.pose.orientation.set__w(goal_pose_q_orientation.w()); + + if (node_running_mode_ == RunningMode::PlanningControl) { + tf2::Quaternion initial_pose_q_orientation; + initial_pose_q_orientation.setRPY( + tier4_autoware_utils::deg2rad(node_params_.initial_pose.roll), + tier4_autoware_utils::deg2rad(node_params_.initial_pose.pitch), + tier4_autoware_utils::deg2rad(node_params_.initial_pose.yaw)); + + init_pose_.pose.pose.position.set__x(node_params_.initial_pose.x); + init_pose_.pose.pose.position.set__y(node_params_.initial_pose.y); + init_pose_.pose.pose.position.set__z(node_params_.initial_pose.z); + init_pose_.pose.pose.orientation.set__x(initial_pose_q_orientation.x()); + init_pose_.pose.pose.orientation.set__y(initial_pose_q_orientation.y()); + init_pose_.pose.pose.orientation.set__z(initial_pose_q_orientation.z()); + init_pose_.pose.pose.orientation.set__w(initial_pose_q_orientation.w()); + + initPointcloud(); + initPredictedObjects(); + } +} + +void ReactionAnalyzerNode::initPointcloud() +{ + pcl::PointCloud point_cloud; + // prepare transform matrix + tf2::Quaternion entity_q_orientation; + entity_q_orientation.setX(entity_pose_.orientation.x); + entity_q_orientation.setY(entity_pose_.orientation.y); + entity_q_orientation.setZ(entity_pose_.orientation.z); + entity_q_orientation.setW(entity_pose_.orientation.w); + + tf2::Transform tf(entity_q_orientation); + const auto origin = + tf2::Vector3(entity_pose_.position.x, entity_pose_.position.y, entity_pose_.position.z); + tf.setOrigin(origin); + + const double it_x = + node_params_.entity_params.x_l / node_params_.spawned_pointcloud_sampling_distance; + const double it_y = + node_params_.entity_params.y_l / node_params_.spawned_pointcloud_sampling_distance; + const double it_z = + node_params_.entity_params.z_l / node_params_.spawned_pointcloud_sampling_distance; + + // Sample the box and rotate + for (int i = 0; i <= it_z; ++i) { + for (int j = 0; j <= it_y; ++j) { + for (int k = 0; k <= it_x; ++k) { + const double p_x = -node_params_.entity_params.x_l / 2 + + k * node_params_.spawned_pointcloud_sampling_distance; + const double p_y = -node_params_.entity_params.y_l / 2 + + j * node_params_.spawned_pointcloud_sampling_distance; + const double p_z = -node_params_.entity_params.z_l / 2 + + i * node_params_.spawned_pointcloud_sampling_distance; + const auto tmp = tf2::Vector3(p_x, p_y, p_z); + tf2::Vector3 data_out = tf * tmp; + point_cloud.emplace_back(pcl::PointXYZ(data_out.x(), data_out.y(), data_out.z())); + } + } + } + entity_pointcloud_ptr_ = std::make_shared(); + pcl::toROSMsg(point_cloud, *entity_pointcloud_ptr_); +} + +bool ReactionAnalyzerNode::initSubscribers(const reaction_analyzer::ChainModules & modules) +{ + if (modules.empty()) { + RCLCPP_ERROR(get_logger(), "No module to initialize, failed."); + return false; + } + for (const auto & module : modules) { + if (!module.time_debug_topic_address.empty()) { + auto callback = [this, module](const PublishedTime::ConstSharedPtr & msg) { + this->publishedTimeOutputCallback(module.node_name, msg); + }; + auto subscriber = this->create_subscription( + module.time_debug_topic_address, rclcpp::QoS(1), callback, createSubscriptionOptions()); + subscribers_.push_back(subscriber); + published_time_vector_map_[module.node_name] = std::vector(); + } else { + RCLCPP_WARN( + this->get_logger(), "Time debug topic is not provided for module name: %s, skipping..", + module.node_name.c_str()); + } + switch (module.message_type) { + case SubscriberMessageType::AckermannControlCommand: { + auto callback = [this, module](const AckermannControlCommand::ConstSharedPtr & msg) { + this->controlCommandOutputCallback(module.node_name, msg); + }; + auto subscriber = this->create_subscription( + module.topic_address, rclcpp::QoS(1), callback, createSubscriptionOptions()); + subscribers_.push_back(subscriber); + break; + } + case SubscriberMessageType::Trajectory: { + auto callback = [this, module](const Trajectory::ConstSharedPtr & msg) { + this->trajectoryOutputCallback(module.node_name, msg); + }; + auto subscriber = this->create_subscription( + module.topic_address, rclcpp::QoS(1), callback, createSubscriptionOptions()); + subscribers_.push_back(subscriber); + break; + } + case SubscriberMessageType::PointCloud2: { + auto callback = [this, module](const PointCloud2::ConstSharedPtr & msg) { + this->pointcloud2OutputCallback(module.node_name, msg); + }; + auto subscriber = this->create_subscription( + module.topic_address, rclcpp::SensorDataQoS(), callback, createSubscriptionOptions()); + subscribers_.push_back(subscriber); + break; + } + case SubscriberMessageType::PredictedObjects: { + auto callback = [this, module](const PredictedObjects::ConstSharedPtr & msg) { + this->predictedObjectsOutputCallback(module.node_name, msg); + }; + auto subscriber = this->create_subscription( + module.topic_address, rclcpp::QoS(1), callback, createSubscriptionOptions()); + subscribers_.push_back(subscriber); + break; + } + case SubscriberMessageType::DetectedObjects: { + auto callback = [this, module](const DetectedObjects::ConstSharedPtr & msg) { + this->detectedObjectsOutputCallback(module.node_name, msg); + }; + auto subscriber = this->create_subscription( + module.topic_address, rclcpp::QoS(1), callback, createSubscriptionOptions()); + subscribers_.push_back(subscriber); + break; + } + case SubscriberMessageType::TrackedObjects: { + auto callback = [this, module](const TrackedObjects::ConstSharedPtr & msg) { + this->trackedObjectsOutputCallback(module.node_name, msg); + }; + auto subscriber = this->create_subscription( + module.topic_address, rclcpp::QoS(1), callback, createSubscriptionOptions()); + subscribers_.push_back(subscriber); + break; + } + case SubscriberMessageType::Unknown: + RCLCPP_WARN( + this->get_logger(), "Unknown message type for module name: %s, skipping..", + module.node_name.c_str()); + break; + default: + RCLCPP_WARN( + this->get_logger(), "Unknown message type for module name: %s, skipping..", + module.node_name.c_str()); + break; + } + } + if (subscribers_.empty()) { + RCLCPP_ERROR( + get_logger(), "Subscribers for modules are empty. Node couldn't be initialized. Failed"); + return false; + } + return true; +} + +void ReactionAnalyzerNode::initPredictedObjects() +{ + auto generateUUIDMsg = [](const std::string & input) { + static auto generate_uuid = boost::uuids::name_generator(boost::uuids::random_generator()()); + const auto uuid = generate_uuid(input); + + unique_identifier_msgs::msg::UUID uuid_msg; + std::copy(uuid.begin(), uuid.end(), uuid_msg.uuid.begin()); + return uuid_msg; + }; + + PredictedObject obj; + + geometry_msgs::msg::Vector3 dimension; + dimension.set__x(node_params_.entity_params.x_l); + dimension.set__y(node_params_.entity_params.y_l); + dimension.set__z(node_params_.entity_params.z_l); + obj.shape.set__dimensions(dimension); + + obj.shape.type = autoware_auto_perception_msgs::msg::Shape::BOUNDING_BOX; + obj.existence_probability = 1.0; + obj.kinematics.initial_pose_with_covariance.pose = entity_pose_; + autoware_auto_perception_msgs::msg::ObjectClassification classification; + classification.label = autoware_auto_perception_msgs::msg::ObjectClassification::CAR; + classification.probability = 1.0; + obj.classification.emplace_back(classification); + obj.set__object_id(generateUUIDMsg("test_obstacle")); + PredictedObjects pred_objects; + pred_objects.objects.emplace_back(obj); + predicted_objects_ptr_ = std::make_shared(pred_objects); +} + +void ReactionAnalyzerNode::setControlCommandToBuffer( + std::vector & buffer, const AckermannControlCommand & cmd) +{ + const auto last_cmd_time = cmd.stamp; + if (!buffer.empty()) { + for (auto itr = buffer.begin(); itr != buffer.end();) { + const auto expired = (rclcpp::Time(last_cmd_time) - rclcpp::Time(itr->stamp)).seconds() > + node_params_.control_cmd_buffer_time_interval; + + if (expired) { + itr = buffer.erase(itr); + continue; + } + + itr++; + } + } + buffer.emplace_back(cmd); +} + +void ReactionAnalyzerNode::pushPublishedTime( + std::vector & published_time_vec, const PublishedTime & published_time) +{ + published_time_vec.emplace_back(published_time); + if (published_time_vec.size() > 1) { + for (auto itr = published_time_vec.begin(); itr != published_time_vec.end();) { + const auto expired = + (rclcpp::Time(published_time.header.stamp) - rclcpp::Time(itr->header.stamp)).seconds() > + node_params_.published_time_expire_duration; + + if (expired) { + itr = published_time_vec.erase(itr); + continue; + } + + itr++; + } + } +} + +std::optional ReactionAnalyzerNode::findFirstBrakeIdx( + const std::vector & cmd_array, + const std::optional & spawn_cmd_time) +{ + if ( + cmd_array.size() < static_cast(node_params_.min_number_descending_order_control_cmd) || + !spawn_cmd_time) + return {}; + + // wait for enough data after spawn_cmd_time + if ( + rclcpp::Time( + cmd_array.at(cmd_array.size() - node_params_.min_number_descending_order_control_cmd).stamp) < + spawn_cmd_time) + return {}; + + for (size_t i = 0; + i < cmd_array.size() - node_params_.min_number_descending_order_control_cmd + 1; ++i) { + size_t decreased_cmd_counter = 1; // because # of the decreased cmd = iteration + 1 + for (size_t j = i; j < cmd_array.size() - 1; ++j) { + const auto & cmd_first = cmd_array.at(j).longitudinal; + const auto & cmd_second = cmd_array.at(j + 1).longitudinal; + constexpr double jerk_time_epsilon = 0.001; + const auto jerk = + abs(cmd_second.acceleration - cmd_first.acceleration) / + std::max( + (rclcpp::Time(cmd_second.stamp) - rclcpp::Time(cmd_first.stamp)).seconds(), + jerk_time_epsilon); + + if ( + (cmd_second.acceleration < cmd_first.acceleration) && + (jerk > node_params_.min_jerk_for_brake_cmd)) { + decreased_cmd_counter++; + } else { + break; + } + } + if ( + decreased_cmd_counter < + static_cast(node_params_.min_number_descending_order_control_cmd)) + continue; + if (node_params_.debug_control_commands) { + std::stringstream ss; + + // debug print to show the first brake command in the all control commands + for (size_t k = 0; k < cmd_array.size(); ++k) { + if (k == i + 1) { + ss << "First Brake(" << cmd_array.at(k).longitudinal.acceleration << ") "; + } else { + ss << cmd_array.at(k).longitudinal.acceleration << " "; + } + } + + RCLCPP_INFO(this->get_logger(), "%s", ss.str().c_str()); + } + return i + 1; + } + return {}; +} + +void ReactionAnalyzerNode::initEgoForTest( + const LocalizationInitializationState::ConstSharedPtr & initialization_state_ptr, + const RouteState::ConstSharedPtr & route_state_ptr, + const OperationModeState::ConstSharedPtr & operation_mode_ptr) +{ + const auto current_time = this->now(); + + // Initialize the vehicle + constexpr double initialize_call_period = 1.0; // sec + + if ( + !last_test_environment_init_request_time_ || + (current_time - last_test_environment_init_request_time_.value()).seconds() >= + initialize_call_period) { + last_test_environment_init_request_time_ = current_time; + + if ( + initialization_state_ptr && + (initialization_state_ptr->state != LocalizationInitializationState::INITIALIZED || + !is_vehicle_initialized_)) { + if (initialization_state_ptr->state == LocalizationInitializationState::INITIALIZED) { + is_vehicle_initialized_ = true; + } + if (node_running_mode_ == RunningMode::PlanningControl) { + // publish initial pose + init_pose_.header.stamp = current_time; + init_pose_.header.frame_id = "map"; + pub_initial_pose_->publish(init_pose_); + } + return; + } + + if (route_state_ptr && (route_state_ptr->state != RouteState::SET || !is_route_set_)) { + if (route_state_ptr->state == RouteState::SET) { + is_route_set_ = true; + } + // publish goal pose + goal_pose_.header.stamp = current_time; + goal_pose_.header.frame_id = "map"; + pub_goal_pose_->publish(goal_pose_); + return; + } + + if (node_running_mode_ == RunningMode::PlanningControl) { + // change to autonomous + if (operation_mode_ptr && operation_mode_ptr->mode != OperationModeState::AUTONOMOUS) { + callOperationModeServiceWithoutResponse(); + return; + } + } + const bool is_ready = + (is_vehicle_initialized_ && is_route_set_ && + (operation_mode_ptr->mode == OperationModeState::AUTONOMOUS || + node_running_mode_ == RunningMode::PerceptionPlanning)); + if (is_ready) { + test_environment_init_time_ = this->now(); + } + } +} + +rclcpp::SubscriptionOptions ReactionAnalyzerNode::createSubscriptionOptions() +{ + rclcpp::CallbackGroup::SharedPtr callback_group = + this->create_callback_group(rclcpp::CallbackGroupType::MutuallyExclusive); + + auto sub_opt = rclcpp::SubscriptionOptions(); + sub_opt.callback_group = callback_group; + + return sub_opt; +} + +void ReactionAnalyzerNode::callOperationModeServiceWithoutResponse() +{ + auto req = std::make_shared(); + + RCLCPP_INFO(this->get_logger(), "client request"); + + if (!client_change_to_autonomous_->service_is_ready()) { + RCLCPP_INFO(this->get_logger(), "client is unavailable"); + return; + } + + client_change_to_autonomous_->async_send_request( + req, [this](typename rclcpp::Client::SharedFuture result) { + RCLCPP_INFO( + this->get_logger(), "Status: %d, %s", result.get()->status.code, + result.get()->status.message.c_str()); + }); +} + +bool ReactionAnalyzerNode::searchPointcloudNearEntity( + const pcl::PointCloud & pcl_pointcloud) +{ + bool isAnyPointWithinRadius = std::any_of( + pcl_pointcloud.points.begin(), pcl_pointcloud.points.end(), [this](const auto & point) { + return tier4_autoware_utils::calcDistance3d(entity_pose_.position, point) <= + entity_search_radius_; + }); + + if (isAnyPointWithinRadius) { + return true; + } + return false; +} + +bool ReactionAnalyzerNode::searchPredictedObjectsNearEntity( + const PredictedObjects & predicted_objects) +{ + bool isAnyObjectWithinRadius = std::any_of( + predicted_objects.objects.begin(), predicted_objects.objects.end(), + [this](const PredictedObject & object) { + return tier4_autoware_utils::calcDistance3d( + entity_pose_.position, + object.kinematics.initial_pose_with_covariance.pose.position) <= + entity_search_radius_; + }); + + if (isAnyObjectWithinRadius) { + return true; + } + return false; +} + +bool ReactionAnalyzerNode::searchDetectedObjectsNearEntity(const DetectedObjects & detected_objects) +{ + bool isAnyObjectWithinRadius = std::any_of( + detected_objects.objects.begin(), detected_objects.objects.end(), + [this](const DetectedObject & object) { + return tier4_autoware_utils::calcDistance3d( + entity_pose_.position, object.kinematics.pose_with_covariance.pose.position) <= + entity_search_radius_; + }); + + if (isAnyObjectWithinRadius) { + return true; + } + return false; +} + +bool ReactionAnalyzerNode::searchTrackedObjectsNearEntity(const TrackedObjects & tracked_objects) +{ + bool isAnyObjectWithinRadius = std::any_of( + tracked_objects.objects.begin(), tracked_objects.objects.end(), + [this](const TrackedObject & object) { + return tier4_autoware_utils::calcDistance3d( + entity_pose_.position, object.kinematics.pose_with_covariance.pose.position) <= + entity_search_radius_; + }); + + if (isAnyObjectWithinRadius) { + return true; + } + return false; +} + +void ReactionAnalyzerNode::reset() +{ + if (test_iteration_count_ >= node_params_.test_iteration) { + writeResultsToFile(); + RCLCPP_INFO(get_logger(), "%zu Tests are finished. Node shutting down.", test_iteration_count_); + rclcpp::shutdown(); + return; + } + is_vehicle_initialized_ = false; + is_route_set_ = false; + test_environment_init_time_ = std::nullopt; + last_test_environment_init_request_time_ = std::nullopt; + spawn_object_cmd_ = false; + is_output_printed_ = false; + is_object_spawned_message_published_ = false; + if (topic_publisher_ptr_) { + topic_publisher_ptr_->reset(); + } + std::lock_guard lock(mutex_); + message_buffers_.clear(); + spawn_cmd_time_ = std::nullopt; + for (auto & [key, value] : published_time_vector_map_) { + value.clear(); + } + RCLCPP_INFO(this->get_logger(), "Test - %zu is done, resetting..", test_iteration_count_); +} + +void ReactionAnalyzerNode::writeResultsToFile() +{ + // sort the results w.r.t the median value + + const auto sort_by_median = + [this]() -> std::vector, double>> { + std::vector, double>> sorted_data; + + for (const auto & pair : test_results_) { + auto vec = pair.second; + + // Calculate the median + std::sort(vec.begin(), vec.end()); + double median = 0.0; + size_t size = vec.size(); + if (size % 2 == 0) { + median = (vec[size / 2 - 1] + vec[size / 2]) / 2.0; + } else { + median = vec[size / 2]; + } + + sorted_data.emplace_back(pair.first, pair.second, median); + } + + // Sort based on the computed median + std::sort(sorted_data.begin(), sorted_data.end(), [](const auto & a, const auto & b) { + return std::get<2>(a) < std::get<2>(b); // Change to > for descending order + }); + + return sorted_data; + }; + + const auto sorted_data_by_median = sort_by_median(); + + // create csv file + auto now = std::chrono::system_clock::now(); + auto in_time_t = std::chrono::system_clock::to_time_t(now); + + std::stringstream ss; + ss << node_params_.output_file_path; + if (!node_params_.output_file_path.empty() && node_params_.output_file_path.back() != '/') { + ss << "/"; // Ensure the path ends with a slash + } + if (node_running_mode_ == RunningMode::PlanningControl) { + ss << "planning_control-"; + } else { + ss << "perception_planning-"; + } + + ss << std::put_time(std::localtime(&in_time_t), "%Y-%m-%d-%H-%M-%S"); + ss << "-reaction-results.csv"; + + // parse the results + std::ofstream file(ss.str()); + // Check if the file was opened successfully + if (!file.is_open()) { + std::cerr << "Failed to open file: " << ss.str() << std::endl; + return; + } + + bool is_header_written = false; + + for (const auto & data : sorted_data_by_median) { + // Unpack the tuple + const auto & node = std::get<0>(data); + const auto & durations = std::get<1>(data); + + if (!is_header_written) { + file << "Node,"; + const size_t num_durations = durations.size(); + for (size_t i = 0; i < num_durations; ++i) { + file << "Test - " << i + 1 << ","; + } + file << "Min,Max,Mean,Median,StdDev\n"; + is_header_written = true; + } + + // parse test results + file << node << ","; + for (double duration : durations) { + file << duration << ","; + } + + // calculate stats + const double min = *std::min_element(durations.begin(), durations.end()); + const double max = *std::max_element(durations.begin(), durations.end()); + + std::vector sorted_data = durations; + std::sort(sorted_data.begin(), sorted_data.end()); + const double median = + sorted_data.size() % 2 == 0 + ? (sorted_data[sorted_data.size() / 2 - 1] + sorted_data[sorted_data.size() / 2]) / 2 + : sorted_data[sorted_data.size() / 2]; + + const double mean = + std::accumulate(sorted_data.begin(), sorted_data.end(), 0.0) / sorted_data.size(); + const double sq_sum = std::inner_product( + sorted_data.begin(), sorted_data.end(), sorted_data.begin(), 0.0, std::plus<>(), + [&](double a, double b) { return (a - mean) * (b - mean); }); + double std_dev = std::sqrt(sq_sum / sorted_data.size()); + + // parse stats + file << min << "," << max << "," << mean << "," << median << "," << std_dev << "\n"; + } + file.close(); + RCLCPP_INFO(this->get_logger(), "Results written to: %s", ss.str().c_str()); +} + +} // namespace reaction_analyzer + +#include + +#include + +RCLCPP_COMPONENTS_REGISTER_NODE(reaction_analyzer::ReactionAnalyzerNode) diff --git a/tools/reaction_analyzer/src/topic_publisher.cpp b/tools/reaction_analyzer/src/topic_publisher.cpp new file mode 100644 index 0000000000000..6f2d27beb3e5d --- /dev/null +++ b/tools/reaction_analyzer/src/topic_publisher.cpp @@ -0,0 +1,892 @@ +// Copyright 2024 The Autoware Contributors +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#include "topic_publisher.hpp" + +#include +#include + +namespace reaction_analyzer::topic_publisher +{ + +TopicPublisher::TopicPublisher( + rclcpp::Node * node, std::atomic & spawn_object_cmd, + std::optional & spawn_cmd_time) +: node_(node), spawn_object_cmd_(spawn_object_cmd), spawn_cmd_time_(spawn_cmd_time) + +{ + // get perception_planning mode parameters + topic_publisher_params_.path_bag_with_object = + node_->get_parameter("topic_publisher.path_bag_with_object").as_string(); + topic_publisher_params_.path_bag_without_object = + node_->get_parameter("topic_publisher.path_bag_without_object").as_string(); + topic_publisher_params_.pointcloud_publisher_type = + node_->get_parameter("topic_publisher.pointcloud_publisher.pointcloud_publisher_type") + .as_string(); + topic_publisher_params_.pointcloud_publisher_period = + node_->get_parameter("topic_publisher.pointcloud_publisher.pointcloud_publisher_period") + .as_double(); + + // set pointcloud publisher type + if (topic_publisher_params_.pointcloud_publisher_type == "sync_header_sync_publish") { + pointcloud_publisher_type_ = PointcloudPublisherType::SyncHeaderSyncPublisher; + } else if (topic_publisher_params_.pointcloud_publisher_type == "async_header_sync_publish") { + pointcloud_publisher_type_ = PointcloudPublisherType::AsyncHeaderSyncPublisher; + } else if (topic_publisher_params_.pointcloud_publisher_type == "async_publish") { + pointcloud_publisher_type_ = PointcloudPublisherType::AsyncPublisher; + } else { + RCLCPP_ERROR(node_->get_logger(), "Invalid pointcloud_publisher_type"); + rclcpp::shutdown(); + return; + } + + initRosbagPublishers(); +} + +void TopicPublisher::pointcloudMessagesSyncPublisher(const PointcloudPublisherType type) +{ + const auto current_time = node_->now(); + const bool is_object_spawned = spawn_object_cmd_; + + switch (type) { + case PointcloudPublisherType::SyncHeaderSyncPublisher: { + PublisherVarAccessor accessor; + for (const auto & publisher_var_pair : lidar_pub_variable_pair_map_) { + accessor.publishWithCurrentTime( + *publisher_var_pair.second.first, current_time, is_object_spawned); + accessor.publishWithCurrentTime( + *publisher_var_pair.second.second, current_time, is_object_spawned); + } + if (is_object_spawned && !is_object_spawned_message_published) { + is_object_spawned_message_published = true; + mutex_.lock(); + spawn_cmd_time_ = node_->now(); + mutex_.unlock(); + } + break; + } + case PointcloudPublisherType::AsyncHeaderSyncPublisher: { + PublisherVarAccessor accessor; + const auto period_pointcloud_ns = std::chrono::duration_cast( + std::chrono::duration(topic_publisher_params_.pointcloud_publisher_period)); + const auto phase_dif = period_pointcloud_ns / lidar_pub_variable_pair_map_.size(); + + size_t counter = 0; + for (const auto & publisher_var_pair : lidar_pub_variable_pair_map_) { + const auto header_time = + current_time - std::chrono::nanoseconds(counter * phase_dif.count()); + accessor.publishWithCurrentTime( + *publisher_var_pair.second.first, header_time, is_object_spawned); + accessor.publishWithCurrentTime( + *publisher_var_pair.second.second, header_time, is_object_spawned); + counter++; + } + if (is_object_spawned && !is_object_spawned_message_published) { + is_object_spawned_message_published = true; + mutex_.lock(); + spawn_cmd_time_ = node_->now(); + mutex_.unlock(); + } + break; + } + default: + break; + } +} + +void TopicPublisher::pointcloudMessagesAsyncPublisher( + const std::pair< + std::shared_ptr>, + std::shared_ptr>> & lidar_output_pair_) +{ + PublisherVarAccessor accessor; + const auto current_time = node_->now(); + const bool is_object_spawned = spawn_object_cmd_; + accessor.publishWithCurrentTime(*lidar_output_pair_.first, current_time, is_object_spawned); + accessor.publishWithCurrentTime(*lidar_output_pair_.second, current_time, is_object_spawned); + + if (is_object_spawned && !is_object_spawned_message_published) { + is_object_spawned_message_published = true; + mutex_.lock(); + spawn_cmd_time_ = node_->now(); + mutex_.unlock(); + } +} + +void TopicPublisher::genericMessagePublisher(const std::string & topic_name) +{ + PublisherVarAccessor accessor; + const bool is_object_spawned = spawn_object_cmd_; + const auto current_time = node_->now(); + const auto & publisher_variant = topic_publisher_map_[topic_name]; + + std::visit( + [&](const auto & var) { + accessor.publishWithCurrentTime(var, current_time, is_object_spawned); + }, + publisher_variant); +} + +void TopicPublisher::reset() +{ + is_object_spawned_message_published = false; +} + +void TopicPublisher::initRosbagPublishers() +{ + // Necessary lambda functions for string manipulation and message type conversion + auto split = [](const std::string & str, const char delim) { + std::vector elems; + std::stringstream ss(str); + std::string item; + while (std::getline(ss, item, delim)) { + elems.push_back(item); + } + return elems; + }; + + auto string_to_publisher_message_type = [](const std::string & input) { + if (input == "sensor_msgs/msg/PointCloud2") { + return PublisherMessageType::PointCloud2; + } else if (input == "sensor_msgs/msg/CameraInfo") { + return PublisherMessageType::CameraInfo; + } else if (input == "sensor_msgs/msg/Image") { + return PublisherMessageType::Image; + } else if (input == "geometry_msgs/msg/PoseWithCovarianceStamped") { + return PublisherMessageType::PoseWithCovarianceStamped; + } else if (input == "sensor_msgs/msg/Imu") { + return PublisherMessageType::Imu; + } else if (input == "autoware_auto_vehicle_msgs/msg/ControlModeReport") { + return PublisherMessageType::ControlModeReport; + } else if (input == "autoware_auto_vehicle_msgs/msg/GearReport") { + return PublisherMessageType::GearReport; + } else if (input == "autoware_auto_vehicle_msgs/msg/HazardLightsReport") { + return PublisherMessageType::HazardLightsReport; + } else if (input == "autoware_auto_vehicle_msgs/msg/SteeringReport") { + return PublisherMessageType::SteeringReport; + } else if (input == "autoware_auto_vehicle_msgs/msg/TurnIndicatorsReport") { + return PublisherMessageType::TurnIndicatorsReport; + } else if (input == "autoware_auto_vehicle_msgs/msg/VelocityReport") { + return PublisherMessageType::VelocityReport; + } else { + return PublisherMessageType::Unknown; + } + }; + + rosbag2_cpp::Reader reader; + + // read the messages without object + { + try { + reader.open(topic_publisher_params_.path_bag_without_object); + } catch (const std::exception & e) { + RCLCPP_ERROR_STREAM(node_->get_logger(), "Error opening bag file: " << e.what()); + rclcpp::shutdown(); + return; + } + + const auto & topics = reader.get_metadata().topics_with_message_count; + auto getMessageTypeForTopic = [&topics, &string_to_publisher_message_type]( + const std::string & topicName) -> PublisherMessageType { + auto it = std::find_if(topics.begin(), topics.end(), [&topicName](const auto & topic) { + return topic.topic_metadata.name == topicName; + }); + + if (it != topics.end()) { + return string_to_publisher_message_type( + it->topic_metadata.type); // Return the message type if found + } else { + return PublisherMessageType::Unknown; // + } + }; + std::unordered_map> timestamps_per_topic; + while (reader.has_next()) { + auto bag_message = reader.read_next(); + + const auto current_topic = bag_message->topic_name; + + const auto message_type = getMessageTypeForTopic(current_topic); + if (message_type == PublisherMessageType::Unknown) { + RCLCPP_WARN( + node_->get_logger(), "Unknown message type for topic name: %s, skipping..", + current_topic.c_str()); + continue; + } + // Record timestamp + timestamps_per_topic[current_topic].emplace_back(bag_message->time_stamp); + // Deserialize and store the first message as a sample + if (timestamps_per_topic[current_topic].size() == 1) { + switch (message_type) { + case PublisherMessageType::PointCloud2: { + rclcpp::Serialization serialization; + auto & publisher_var = topic_publisher_map_[current_topic]; + if (!std::holds_alternative>(publisher_var)) { + publisher_var = PublisherVariables(); + } + std::get>(publisher_var).empty_area_message = + std::make_shared(); + rclcpp::SerializedMessage extracted_serialized_msg(*bag_message->serialized_data); + serialization.deserialize_message( + &extracted_serialized_msg, + &(*std::get>(publisher_var).empty_area_message)); + break; + } + case PublisherMessageType::CameraInfo: { + rclcpp::Serialization serialization; + + auto & publisher_var = topic_publisher_map_[current_topic]; + if (!std::holds_alternative>( + publisher_var)) { + publisher_var = PublisherVariables(); + } + std::get>(publisher_var) + .empty_area_message = std::make_shared(); + rclcpp::SerializedMessage extracted_serialized_msg(*bag_message->serialized_data); + serialization.deserialize_message( + &extracted_serialized_msg, + &(*std::get>(publisher_var) + .empty_area_message)); + break; + } + case PublisherMessageType::Image: { + rclcpp::Serialization serialization; + + auto & publisher_var = topic_publisher_map_[current_topic]; + if (!std::holds_alternative>( + publisher_var)) { + publisher_var = PublisherVariables(); + } + std::get>(publisher_var) + .empty_area_message = std::make_shared(); + rclcpp::SerializedMessage extracted_serialized_msg(*bag_message->serialized_data); + serialization.deserialize_message( + &extracted_serialized_msg, + &(*std::get>(publisher_var) + .empty_area_message)); + break; + } + case PublisherMessageType::PoseWithCovarianceStamped: { + rclcpp::Serialization serialization; + auto & publisher_var = topic_publisher_map_[current_topic]; + if (!std::holds_alternative< + PublisherVariables>( + publisher_var)) { + publisher_var = PublisherVariables(); + } + std::get>( + publisher_var) + .empty_area_message = + std::make_shared(); + rclcpp::SerializedMessage extracted_serialized_msg(*bag_message->serialized_data); + serialization.deserialize_message( + &extracted_serialized_msg, + &(*std::get>( + publisher_var) + .empty_area_message)); + break; + } + case PublisherMessageType::Imu: { + rclcpp::Serialization serialization; + + auto & publisher_var = topic_publisher_map_[current_topic]; + if (!std::holds_alternative>(publisher_var)) { + publisher_var = PublisherVariables(); + } + std::get>(publisher_var).empty_area_message = + std::make_shared(); + rclcpp::SerializedMessage extracted_serialized_msg(*bag_message->serialized_data); + serialization.deserialize_message( + &extracted_serialized_msg, + &(*std::get>(publisher_var) + .empty_area_message)); + break; + } + case PublisherMessageType::ControlModeReport: { + rclcpp::Serialization serialization; + + auto & publisher_var = topic_publisher_map_[current_topic]; + if (!std::holds_alternative< + PublisherVariables>( + publisher_var)) { + publisher_var = + PublisherVariables(); + } + std::get>( + publisher_var) + .empty_area_message = + std::make_shared(); + rclcpp::SerializedMessage extracted_serialized_msg(*bag_message->serialized_data); + serialization.deserialize_message( + &extracted_serialized_msg, + &(*std::get>( + publisher_var) + .empty_area_message)); + break; + } + case PublisherMessageType::GearReport: { + rclcpp::Serialization serialization; + auto & publisher_var = topic_publisher_map_[current_topic]; + if (!std::holds_alternative< + PublisherVariables>(publisher_var)) { + publisher_var = PublisherVariables(); + } + std::get>(publisher_var) + .empty_area_message = std::make_shared(); + rclcpp::SerializedMessage extracted_serialized_msg(*bag_message->serialized_data); + serialization.deserialize_message( + &extracted_serialized_msg, + &(*std::get>( + publisher_var) + .empty_area_message)); + break; + } + case PublisherMessageType::HazardLightsReport: { + rclcpp::Serialization + serialization; + auto & publisher_var = topic_publisher_map_[current_topic]; + if (!std::holds_alternative< + PublisherVariables>( + publisher_var)) { + publisher_var = + PublisherVariables(); + } + std::get>( + publisher_var) + .empty_area_message = + std::make_shared(); + rclcpp::SerializedMessage extracted_serialized_msg(*bag_message->serialized_data); + serialization.deserialize_message( + &extracted_serialized_msg, + &(*std::get>( + publisher_var) + .empty_area_message)); + break; + } + case PublisherMessageType::SteeringReport: { + rclcpp::Serialization serialization; + auto & publisher_var = topic_publisher_map_[current_topic]; + if (!std::holds_alternative< + PublisherVariables>( + publisher_var)) { + publisher_var = PublisherVariables(); + } + std::get>( + publisher_var) + .empty_area_message = + std::make_shared(); + rclcpp::SerializedMessage extracted_serialized_msg(*bag_message->serialized_data); + serialization.deserialize_message( + &extracted_serialized_msg, + &(*std::get>( + publisher_var) + .empty_area_message)); + break; + } + case PublisherMessageType::TurnIndicatorsReport: { + rclcpp::Serialization + serialization; + auto & publisher_var = topic_publisher_map_[current_topic]; + if (!std::holds_alternative< + PublisherVariables>( + publisher_var)) { + publisher_var = + PublisherVariables(); + } + std::get>( + publisher_var) + .empty_area_message = + std::make_shared(); + rclcpp::SerializedMessage extracted_serialized_msg(*bag_message->serialized_data); + serialization.deserialize_message( + &extracted_serialized_msg, + &(*std::get< + PublisherVariables>( + publisher_var) + .empty_area_message)); + break; + } + case PublisherMessageType::VelocityReport: { + rclcpp::Serialization serialization; + auto & publisher_var = topic_publisher_map_[current_topic]; + if (!std::holds_alternative< + PublisherVariables>( + publisher_var)) { + publisher_var = PublisherVariables(); + } + std::get>( + publisher_var) + .empty_area_message = + std::make_shared(); + rclcpp::SerializedMessage extracted_serialized_msg(*bag_message->serialized_data); + serialization.deserialize_message( + &extracted_serialized_msg, + &(*std::get>( + publisher_var) + .empty_area_message)); + break; + } + default: + RCLCPP_WARN( + node_->get_logger(), "Unknown message type for topic name: %s, skipping..", + current_topic.c_str()); + break; + } + } + } + + // set frequencies of the publishers + // After collecting all timestamps for each topic + for (auto & topic_pair : timestamps_per_topic) { + auto & timestamps = topic_pair.second; + + // Sort the timestamps + std::sort(timestamps.begin(), timestamps.end()); + + // Then proceed with the frequency calculation + std::string topic_name = topic_pair.first; + if (timestamps.size() > 1) { + int64_t total_time_diff_ns = 0; + + // Accumulate the differences in nanoseconds + for (size_t i = 1; i < timestamps.size(); ++i) { + total_time_diff_ns += (timestamps[i] - timestamps[i - 1]).nanoseconds(); + } + + // Convert to double for the division to get the average period in nanoseconds + double period_ns = + static_cast(total_time_diff_ns) / static_cast(timestamps.size() - 1); + + PublisherVariablesVariant & publisherVar = topic_publisher_map_[topic_name]; + PublisherVarAccessor accessor; + + std::visit([&](auto & var) { accessor.setPeriod(var, period_ns); }, publisherVar); + } + } + reader.close(); + } + + // read messages with object + { + try { + reader.open(topic_publisher_params_.path_bag_with_object); + } catch (const std::exception & e) { + RCLCPP_ERROR_STREAM(node_->get_logger(), "Error opening bag file: " << e.what()); + rclcpp::shutdown(); + return; + } + + const auto & topics = reader.get_metadata().topics_with_message_count; + + auto getMessageTypeForTopic = [&topics, &string_to_publisher_message_type]( + const std::string & topicName) -> PublisherMessageType { + auto it = std::find_if(topics.begin(), topics.end(), [&topicName](const auto & topic) { + return topic.topic_metadata.name == topicName; + }); + + if (it != topics.end()) { + return string_to_publisher_message_type( + it->topic_metadata.type); // Return the message type if found + } else { + return PublisherMessageType::Unknown; // + } + }; + + while (reader.has_next()) { + auto bag_message = reader.read_next(); + const auto current_topic = bag_message->topic_name; + + const auto message_type = getMessageTypeForTopic(current_topic); + if (message_type == PublisherMessageType::Unknown) { + RCLCPP_WARN( + node_->get_logger(), "Unknown message type for topic name: %s, skipping..", + current_topic.c_str()); + continue; + } + switch (message_type) { + case PublisherMessageType::PointCloud2: { + rclcpp::Serialization serialization; + auto & publisher_var = topic_publisher_map_[current_topic]; + if (!std::holds_alternative>(publisher_var)) { + RCLCPP_ERROR_STREAM( + node_->get_logger(), "Variant couldn't found in the topic named: " << current_topic); + rclcpp::shutdown(); + } + auto & object_spawned_message = + std::get>(publisher_var).object_spawned_message; + if (!object_spawned_message) { + object_spawned_message = std::make_shared(); + rclcpp::SerializedMessage extracted_serialized_msg(*bag_message->serialized_data); + serialization.deserialize_message( + &extracted_serialized_msg, &(*object_spawned_message)); + } + break; + } + case PublisherMessageType::CameraInfo: { + rclcpp::Serialization serialization; + auto & publisher_var = topic_publisher_map_[current_topic]; + if (!std::holds_alternative>( + publisher_var)) { + RCLCPP_ERROR_STREAM( + node_->get_logger(), "Variant couldn't found in the topic named: " << current_topic); + rclcpp::shutdown(); + } + auto & object_spawned_message = + std::get>(publisher_var) + .object_spawned_message; + if (!object_spawned_message) { + object_spawned_message = std::make_shared(); + rclcpp::SerializedMessage extracted_serialized_msg(*bag_message->serialized_data); + serialization.deserialize_message( + &extracted_serialized_msg, &(*object_spawned_message)); + } + break; + } + case PublisherMessageType::Image: { + rclcpp::Serialization serialization; + auto & publisher_var = topic_publisher_map_[current_topic]; + if (!std::holds_alternative>(publisher_var)) { + RCLCPP_ERROR_STREAM( + node_->get_logger(), "Variant couldn't found in the topic named: " << current_topic); + rclcpp::shutdown(); + } + auto & object_spawned_message = + std::get>(publisher_var) + .object_spawned_message; + if (!object_spawned_message) { + object_spawned_message = std::make_shared(); + rclcpp::SerializedMessage extracted_serialized_msg(*bag_message->serialized_data); + serialization.deserialize_message( + &extracted_serialized_msg, &(*object_spawned_message)); + } + break; + } + case PublisherMessageType::PoseWithCovarianceStamped: { + rclcpp::Serialization serialization; + auto & publisher_var = topic_publisher_map_[current_topic]; + if (!std::holds_alternative< + PublisherVariables>(publisher_var)) { + RCLCPP_ERROR_STREAM( + node_->get_logger(), "Variant couldn't found in the topic named: " << current_topic); + rclcpp::shutdown(); + } + auto & object_spawned_message = + std::get>( + publisher_var) + .object_spawned_message; + if (!object_spawned_message) { + object_spawned_message = + std::make_shared(); + rclcpp::SerializedMessage extracted_serialized_msg(*bag_message->serialized_data); + serialization.deserialize_message( + &extracted_serialized_msg, &(*object_spawned_message)); + } + break; + } + case PublisherMessageType::Imu: { + rclcpp::Serialization serialization; + auto & publisher_var = topic_publisher_map_[current_topic]; + if (!std::holds_alternative>(publisher_var)) { + RCLCPP_ERROR_STREAM( + node_->get_logger(), "Variant couldn't found in the topic named: " << current_topic); + rclcpp::shutdown(); + } + auto & object_spawned_message = + std::get>(publisher_var) + .object_spawned_message; + if (!object_spawned_message) { + object_spawned_message = std::make_shared(); + rclcpp::SerializedMessage extracted_serialized_msg(*bag_message->serialized_data); + serialization.deserialize_message( + &extracted_serialized_msg, &(*object_spawned_message)); + } + break; + } + case PublisherMessageType::ControlModeReport: { + rclcpp::Serialization serialization; + auto & publisher_var = topic_publisher_map_[current_topic]; + if (!std::holds_alternative< + PublisherVariables>( + publisher_var)) { + RCLCPP_ERROR_STREAM( + node_->get_logger(), "Variant couldn't found in the topic named: " << current_topic); + rclcpp::shutdown(); + } + auto & object_spawned_message = + std::get>( + publisher_var) + .object_spawned_message; + if (!object_spawned_message) { + object_spawned_message = + std::make_shared(); + rclcpp::SerializedMessage extracted_serialized_msg(*bag_message->serialized_data); + serialization.deserialize_message( + &extracted_serialized_msg, &(*object_spawned_message)); + } + break; + } + case PublisherMessageType::GearReport: { + rclcpp::Serialization serialization; + auto & publisher_var = topic_publisher_map_[current_topic]; + if (!std::holds_alternative< + PublisherVariables>(publisher_var)) { + RCLCPP_ERROR_STREAM( + node_->get_logger(), "Variant couldn't found in the topic named: " << current_topic); + rclcpp::shutdown(); + } + auto & object_spawned_message = + std::get>(publisher_var) + .object_spawned_message; + if (!object_spawned_message) { + object_spawned_message = + std::make_shared(); + rclcpp::SerializedMessage extracted_serialized_msg(*bag_message->serialized_data); + serialization.deserialize_message( + &extracted_serialized_msg, &(*object_spawned_message)); + } + break; + } + case PublisherMessageType::HazardLightsReport: { + rclcpp::Serialization serialization; + auto & publisher_var = topic_publisher_map_[current_topic]; + if (!std::holds_alternative< + PublisherVariables>( + publisher_var)) { + RCLCPP_ERROR_STREAM( + node_->get_logger(), "Variant couldn't found in the topic named: " << current_topic); + rclcpp::shutdown(); + } + auto & object_spawned_message = + std::get>( + publisher_var) + .object_spawned_message; + if (!object_spawned_message) { + object_spawned_message = + std::make_shared(); + rclcpp::SerializedMessage extracted_serialized_msg(*bag_message->serialized_data); + serialization.deserialize_message( + &extracted_serialized_msg, &(*object_spawned_message)); + } + break; + } + case PublisherMessageType::SteeringReport: { + rclcpp::Serialization serialization; + auto & publisher_var = topic_publisher_map_[current_topic]; + if (!std::holds_alternative< + PublisherVariables>( + publisher_var)) { + RCLCPP_ERROR_STREAM( + node_->get_logger(), "Variant couldn't found in the topic named: " << current_topic); + rclcpp::shutdown(); + } + auto & object_spawned_message = + std::get>( + publisher_var) + .object_spawned_message; + if (!object_spawned_message) { + object_spawned_message = + std::make_shared(); + rclcpp::SerializedMessage extracted_serialized_msg(*bag_message->serialized_data); + serialization.deserialize_message( + &extracted_serialized_msg, &(*object_spawned_message)); + } + break; + } + case PublisherMessageType::TurnIndicatorsReport: { + rclcpp::Serialization + serialization; + auto & publisher_var = topic_publisher_map_[current_topic]; + if (!std::holds_alternative< + PublisherVariables>( + publisher_var)) { + RCLCPP_ERROR_STREAM( + node_->get_logger(), "Variant couldn't found in the topic named: " << current_topic); + rclcpp::shutdown(); + } + auto & object_spawned_message = + std::get>( + publisher_var) + .object_spawned_message; + if (!object_spawned_message) { + object_spawned_message = + std::make_shared(); + rclcpp::SerializedMessage extracted_serialized_msg(*bag_message->serialized_data); + serialization.deserialize_message( + &extracted_serialized_msg, &(*object_spawned_message)); + } + break; + } + case PublisherMessageType::VelocityReport: { + rclcpp::Serialization serialization; + auto & publisher_var = topic_publisher_map_[current_topic]; + if (!std::holds_alternative< + PublisherVariables>( + publisher_var)) { + RCLCPP_ERROR_STREAM( + node_->get_logger(), "Variant couldn't found in the topic named: " << current_topic); + rclcpp::shutdown(); + } + auto & object_spawned_message = + std::get>( + publisher_var) + .object_spawned_message; + if (!object_spawned_message) { + object_spawned_message = + std::make_shared(); + rclcpp::SerializedMessage extracted_serialized_msg(*bag_message->serialized_data); + serialization.deserialize_message( + &extracted_serialized_msg, &(*object_spawned_message)); + } + break; + } + default: + RCLCPP_WARN( + node_->get_logger(), "Unknown message type for topic name: %s, skipping..", + current_topic.c_str()); + break; + } + } + reader.close(); + } + + // check messages are correctly initialized or not from rosbags + for (const auto & [topic_name, variant] : topic_publisher_map_) { + PublisherVarAccessor accessor; + auto empty_area_message = + std::visit([&](const auto & var) { return accessor.getEmptyAreaMessage(var); }, variant); + auto object_spawned_message = + std::visit([&](const auto & var) { return accessor.getObjectSpawnedMessage(var); }, variant); + + if (!empty_area_message) { + RCLCPP_ERROR_STREAM( + node_->get_logger(), + "Empty area message couldn't found in the topic named: " << topic_name); + rclcpp::shutdown(); + } else if (!object_spawned_message) { + RCLCPP_ERROR_STREAM( + node_->get_logger(), + "Object spawned message couldn't found in the topic named: " << topic_name); + rclcpp::shutdown(); + } + } + + // initialize timers and message publishers + + std::unordered_map> + pointcloud_variables_map; // temp map for pointcloud publishers + + for (auto & [topic_name, variant] : topic_publisher_map_) { + PublisherVarAccessor accessor; + const auto & topic_ref = topic_name; // Create a reference to topic_name for capture + const auto period_ns = std::chrono::duration( + std::visit([&](const auto & var) { return accessor.getPeriod(var); }, variant)); + + // Dynamically create the correct publisher type based on the topic + std::visit( + [&](auto & var) { + using MessageType = typename decltype(var.empty_area_message)::element_type; + + // Check if the MessageType is PointCloud2 + if constexpr ( + std::is_same_v || + std::is_same_v) { + // For PointCloud2, use rclcpp::SensorDataQoS + var.publisher = node_->create_publisher(topic_ref, rclcpp::SensorDataQoS()); + } else { + // For other message types, use the QoS setting depth of 1 + var.publisher = node_->create_publisher(topic_ref, rclcpp::QoS(1)); + } + }, + variant); + + // Conditionally create the timer based on the message type, if message type is not PointCloud2 + std::visit( + [&](auto & var) { + using MessageType = typename decltype(var.empty_area_message)::element_type; + + if constexpr (!std::is_same_v) { + var.timer = node_->create_wall_timer( + period_ns, [this, topic_ref]() { this->genericMessagePublisher(topic_ref); }); + } else { + // For PointCloud2, Store the variables in a temporary map + pointcloud_variables_map[topic_ref] = var; + } + }, + variant); + } + + // Set the pointcloud publisher + + const auto period_pointcloud_ns = std::chrono::duration_cast( + std::chrono::duration(topic_publisher_params_.pointcloud_publisher_period)); + + if (pointcloud_variables_map.empty()) { + RCLCPP_ERROR(node_->get_logger(), "No pointcloud publishers found!"); + rclcpp::shutdown(); + return; + } + + // Arrange the PointCloud2 variables w.r.t. the lidars' name + for (auto & [topic_name, pointcloud_variant] : pointcloud_variables_map) { + const auto lidar_name = split(topic_name, '/').at(3); + + if (lidar_pub_variable_pair_map_.find(lidar_name) == lidar_pub_variable_pair_map_.end()) { + lidar_pub_variable_pair_map_[lidar_name] = std::make_pair( + std::make_shared>(pointcloud_variant), nullptr); + } else { + if (lidar_pub_variable_pair_map_[lidar_name].second) { + RCLCPP_ERROR_STREAM( + node_->get_logger(), + "Lidar name: " << lidar_name << " is already used by another pointcloud publisher"); + rclcpp::shutdown(); + } + lidar_pub_variable_pair_map_[lidar_name].second = + std::make_shared>(pointcloud_variant); + } + } + + // Create the timer(s) to publish PointCloud2 Messages + if (pointcloud_publisher_type_ != PointcloudPublisherType::AsyncPublisher) { + // Create 1 timer to publish all PointCloud2 messages + pointcloud_sync_publish_timer_ = node_->create_wall_timer(period_pointcloud_ns, [this]() { + this->pointcloudMessagesSyncPublisher(this->pointcloud_publisher_type_); + }); + + } else { + // Create multiple timers which will run with a phase difference + const auto phase_dif = period_pointcloud_ns / lidar_pub_variable_pair_map_.size(); + + // Create a timer to delay the timer which will be created for each lidar topics + auto one_shot_timer = node_->create_wall_timer(phase_dif, [this, period_pointcloud_ns]() { + for (const auto & [lidar_name, publisher_var_pair] : lidar_pub_variable_pair_map_) { + if ( + pointcloud_publish_timers_map_.find(lidar_name) == pointcloud_publish_timers_map_.end()) { + // Create the periodic timer + auto periodic_timer = + node_->create_wall_timer(period_pointcloud_ns, [this, publisher_var_pair]() { + this->pointcloudMessagesAsyncPublisher(publisher_var_pair); + }); + // Store the periodic timer to keep it alive + pointcloud_publish_timers_map_[lidar_name] = periodic_timer; + return; + } + } + // close the timer + one_shot_timer_shared_ptr_->cancel(); + }); + + one_shot_timer_shared_ptr_ = one_shot_timer; // Store a weak pointer to the timer + } +} + +} // namespace reaction_analyzer::topic_publisher From a822d17359f79d4dd3586cfc27a2bee1052373a1 Mon Sep 17 00:00:00 2001 From: Berkay Karaman Date: Mon, 4 Mar 2024 09:35:06 +0300 Subject: [PATCH 02/14] feat: implement message_filters package, clean up Signed-off-by: Berkay Karaman --- tools/reaction_analyzer/CMakeLists.txt | 4 + tools/reaction_analyzer/README.md | 47 +- .../include/reaction_analyzer_node.hpp | 203 +-- .../reaction_analyzer/include/subscriber.hpp | 248 ++++ .../include/topic_publisher.hpp | 39 +- tools/reaction_analyzer/include/utils.hpp | 75 ++ tools/reaction_analyzer/package.xml | 2 +- .../param/reaction_analyzer.param.yaml | 151 +-- .../src/reaction_analyzer_node.cpp | 832 +------------ tools/reaction_analyzer/src/subscriber.cpp | 1088 +++++++++++++++++ .../reaction_analyzer/src/topic_publisher.cpp | 29 +- tools/reaction_analyzer/src/utils.cpp | 85 ++ 12 files changed, 1691 insertions(+), 1112 deletions(-) create mode 100644 tools/reaction_analyzer/include/subscriber.hpp create mode 100644 tools/reaction_analyzer/include/utils.hpp create mode 100644 tools/reaction_analyzer/src/subscriber.cpp create mode 100644 tools/reaction_analyzer/src/utils.cpp diff --git a/tools/reaction_analyzer/CMakeLists.txt b/tools/reaction_analyzer/CMakeLists.txt index e05dbf0c3b55d..b5b5be4d4ad0c 100644 --- a/tools/reaction_analyzer/CMakeLists.txt +++ b/tools/reaction_analyzer/CMakeLists.txt @@ -10,8 +10,12 @@ find_package(Eigen3 REQUIRED) ament_auto_add_library(reaction_analyzer SHARED include/reaction_analyzer_node.hpp src/reaction_analyzer_node.cpp + include/subscriber.hpp + src/subscriber.cpp include/topic_publisher.hpp src/topic_publisher.cpp + include/utils.hpp + src/utils.cpp ) target_include_directories(reaction_analyzer diff --git a/tools/reaction_analyzer/README.md b/tools/reaction_analyzer/README.md index 3a2257c38bfc7..8ada7254e5021 100644 --- a/tools/reaction_analyzer/README.md +++ b/tools/reaction_analyzer/README.md @@ -112,26 +112,27 @@ the `path_bag_without_object` and `path_bag_with_object` parameters with the pat ## Parameters -| Name | Type | Description | -| ------------------------------------------------------------------ | ------ | --------------------------------------------------------------------------------------------------------------------------------------------- | -| `timer_period` | double | [s] Period for the main processing timer. | -| `published_time_expire_duration` | double | [s] Time horizon of the PublishedTime message vector. | -| `test_iteration` | int | Number of iterations for the test. | -| `output_file_path` | string | Directory path where test results and statictics will be stored. | -| `object_search_radius_offset` | double | [m] Additional radius added to the search area when looking for objects. | -| `spawn_time_after_init` | double | [s] Time delay after initialization before spawning objects. Only valid `perception_planning` mode. | -| `spawn_distance_threshold` | double | [m] Distance threshold for spawning objects. Only valid `planning_control` mode. | -| `spawned_pointcloud_sampling_distance` | double | [m] Sampling distance for point clouds of spawned objects. Only valid `planning_control` mode. | -| `dummy_perception_publisher_period` | double | [s] Publishing period for the dummy perception data. Only valid `planning_control` mode. | -| `first_brake_params.debug_control_commands` | bool | Debug publish flag. | -| `first_brake_params.control_cmd_buffer_time_interval` | double | [s] Time interval for buffering control commands. | -| `first_brake_params.min_number_descending_order_control_cmd` | int | Minimum number of control commands in descending order for triggering brake. | -| `first_brake_params.min_jerk_for_brake_cmd` | double | [m/s³] Minimum jerk value for issuing a brake command. | -| `initialization_pose` | struct | Initial pose of the vehicle, containing `x`, `y`, `z`, `roll`, `pitch`, and `yaw` fields. Only valid `planning_control` mode. | -| `entity_params` | struct | Parameters for entities (e.g., obstacles), containing `x`, `y`, `z`, `roll`, `pitch`, `yaw`, `x_dimension`, `y_dimension`, and `z_dimension`. | -| `goal_pose` | struct | Goal pose of the vehicle, containing `x`, `y`, `z`, `roll`, `pitch`, and `yaw` fields. | -| `topic_publisher.path_bag_without_object` | string | Path to the ROS bag file without objects. Only valid `perception_planning` mode. | -| `topic_publisher.path_bag_with_object` | string | Path to the ROS bag file with objects. Only valid `perception_planning` mode. | -| `topic_publisher.pointcloud_publisher.pointcloud_publisher_type` | string | Defines how the PointCloud2 messages are going to be published. Modes explained above. | -| `topic_publisher.pointcloud_publisher.pointcloud_publisher_period` | double | [s] Publishing period of the PointCloud2 messages. | -| `reaction_chain` | struct | List of the nodes with their topics and topic's message types. | +| Name | Type | Description | +| ---------------------------------------------------------------------------- | ------ | --------------------------------------------------------------------------------------------------------------------------------------------- | +| `timer_period` | double | [s] Period for the main processing timer. | +| `test_iteration` | int | Number of iterations for the test. | +| `output_file_path` | string | Directory path where test results and statictics will be stored. | +| `object_search_radius_offset` | double | [m] Additional radius added to the search area when looking for objects. | +| `spawn_time_after_init` | double | [s] Time delay after initialization before spawning objects. Only valid `perception_planning` mode. | +| `spawn_distance_threshold` | double | [m] Distance threshold for spawning objects. Only valid `planning_control` mode. | +| `spawned_pointcloud_sampling_distance` | double | [m] Sampling distance for point clouds of spawned objects. Only valid `planning_control` mode. | +| `dummy_perception_publisher_period` | double | [s] Publishing period for the dummy perception data. Only valid `planning_control` mode. | +| `initialization_pose` | struct | Initial pose of the vehicle, containing `x`, `y`, `z`, `roll`, `pitch`, and `yaw` fields. Only valid `planning_control` mode. | +| `entity_params` | struct | Parameters for entities (e.g., obstacles), containing `x`, `y`, `z`, `roll`, `pitch`, `yaw`, `x_dimension`, `y_dimension`, and `z_dimension`. | +| `goal_pose` | struct | Goal pose of the vehicle, containing `x`, `y`, `z`, `roll`, `pitch`, and `yaw` fields. | +| `topic_publisher.path_bag_without_object` | string | Path to the ROS bag file without objects. Only valid `perception_planning` mode. | +| `topic_publisher.path_bag_with_object` | string | Path to the ROS bag file with objects. Only valid `perception_planning` mode. | +| `topic_publisher.pointcloud_publisher.pointcloud_publisher_type` | string | Defines how the PointCloud2 messages are going to be published. Modes explained above. | +| `topic_publisher.pointcloud_publisher.pointcloud_publisher_period` | double | [s] Publishing period of the PointCloud2 messages. | +| `reaction_params.first_brake_params.debug_control_commands` | bool | Debug publish flag. | +| `reaction_params.first_brake_params.control_cmd_buffer_time_interval` | double | [s] Time interval for buffering control commands. | +| `reaction_params.first_brake_params.min_number_descending_order_control_cmd` | int | Minimum number of control commands in descending order for triggering brake. | +| `reaction_params.first_brake_params.min_jerk_for_brake_cmd` | double | [m/s³] Minimum jerk value for issuing a brake command. | +| `reaction_params.search_zero_vel_params.max_looking_distance` | double | [m] Maximum looking distance for zero velocity on trajectory | +| `reaction_params.search_entity_params.search_radius` | double | [m] Searching radius for spawned entity. Distance between ego pose and entity pose. | +| `reaction_chain` | struct | List of the nodes with their topics and topic's message types. | diff --git a/tools/reaction_analyzer/include/reaction_analyzer_node.hpp b/tools/reaction_analyzer/include/reaction_analyzer_node.hpp index 1ab03e8bd8dab..81c6f75abaa92 100644 --- a/tools/reaction_analyzer/include/reaction_analyzer_node.hpp +++ b/tools/reaction_analyzer/include/reaction_analyzer_node.hpp @@ -15,30 +15,30 @@ #ifndef REACTION_ANALYZER_NODE_HPP_ #define REACTION_ANALYZER_NODE_HPP_ -#include +#include "tf2/transform_datatypes.h" + +#include +#include #include -#include +#include +#include #include #include #include +#include #include #include #include #include -#include -#include -#include -#include -#include -#include #include #include -#include -#include -#include -#include +#include +#include +#include +#include + #include #include #include @@ -56,61 +56,18 @@ using autoware_adapi_v1_msgs::msg::LocalizationInitializationState; using autoware_adapi_v1_msgs::msg::OperationModeState; using autoware_adapi_v1_msgs::msg::RouteState; using autoware_adapi_v1_msgs::srv::ChangeOperationMode; -using autoware_auto_control_msgs::msg::AckermannControlCommand; -using autoware_auto_perception_msgs::msg::DetectedObject; -using autoware_auto_perception_msgs::msg::DetectedObjects; using autoware_auto_perception_msgs::msg::PredictedObject; using autoware_auto_perception_msgs::msg::PredictedObjects; -using autoware_auto_perception_msgs::msg::TrackedObject; -using autoware_auto_perception_msgs::msg::TrackedObjects; -using autoware_auto_planning_msgs::msg::Trajectory; -using autoware_internal_msgs::msg::PublishedTime; using geometry_msgs::msg::Pose; using nav_msgs::msg::Odometry; using sensor_msgs::msg::PointCloud2; -// Buffers to be used to store subscribed messages -using ControlCommandBuffer = - std::pair, std::optional>; -using TrajectoryBuffer = std::optional; -using PointCloud2Buffer = std::optional; -using PredictedObjectsBuffer = std::optional; -using DetectedObjectsBuffer = std::optional; -using TrackedObjectsBuffer = std::optional; - -// Variant to store different types of buffers -using BufferVariant = std::variant< - ControlCommandBuffer, TrajectoryBuffer, PointCloud2Buffer, PredictedObjectsBuffer, - DetectedObjectsBuffer, TrackedObjectsBuffer>; - -// The supported message types -enum class SubscriberMessageType { - Unknown = 0, - AckermannControlCommand = 1, - Trajectory = 2, - PointCloud2 = 3, - DetectedObjects = 4, - PredictedObjects = 5, - TrackedObjects = 6, -}; - // The running mode of the node enum class RunningMode { PerceptionPlanning = 0, PlanningControl = 1, }; -// The configuration of the topic to be subscribed which are defined in reaction_chain -struct TopicConfig -{ - std::string node_name; - std::string topic_address; - std::string time_debug_topic_address; - SubscriberMessageType message_type; -}; - -using ChainModules = std::vector; - struct PoseParams { double x; @@ -138,68 +95,25 @@ struct NodeParams { std::string running_mode; double timer_period; - double published_time_expire_duration; std::string output_file_path; size_t test_iteration; - double object_search_radius_offset; double spawn_time_after_init; double spawn_distance_threshold; double spawned_pointcloud_sampling_distance; double dummy_perception_publisher_period; - bool debug_control_commands; - double control_cmd_buffer_time_interval; - double min_jerk_for_brake_cmd; - size_t min_number_descending_order_control_cmd; PoseParams initial_pose; PoseParams goal_pose; EntityParams entity_params; }; -// class PublishedTimeSubscriber -//{ -// public: -// PublishedTimeSubscriber(const std::string & topic_name, rclcpp::Node * node) : node_(node) -// { -// // Initialize subscriber with cache -// message_subscriber_ = -// std::make_shared>(node, topic_name); -// cache_ = std::make_shared>( -// *message_subscriber_, 10); // Cache size of 100 messages -// } -// -// std::optional getPublishedTime(const std_msgs::msg::Header & header) -// { -// for (const auto & msg : cache_->getInterval(rclcpp::Time(0), node_->now())) { -// if (msg->header.stamp == header.stamp && msg->header.frame_id == header.frame_id) { -// return *msg; -// } -// } -// return std::nullopt; // Return an empty optional if no match is found -// } -// -// std::optional getPublishedTime(const rclcpp::Time & stamp) -// { -// for (const auto & msg : cache_->getInterval(rclcpp::Time(0), node_->now())) { -// if (msg->header.stamp == stamp) { -// return *msg; -// } -// } -// return std::nullopt; // Return an empty optional if no match is found -// } -// -// private: -// std::shared_ptr> message_subscriber_; -// std::shared_ptr> cache_; -// rclcpp::Node * node_; -// }; - class ReactionAnalyzerNode : public rclcpp::Node { public: explicit ReactionAnalyzerNode(rclcpp::NodeOptions options); - ~ReactionAnalyzerNode() = default; + Odometry::ConstSharedPtr odometry_; + private: std::mutex mutex_; RunningMode node_running_mode_; @@ -211,7 +125,6 @@ class ReactionAnalyzerNode : public rclcpp::Node geometry_msgs::msg::Pose entity_pose_; geometry_msgs::msg::PoseWithCovarianceStamped init_pose_; geometry_msgs::msg::PoseStamped goal_pose_; - double entity_search_radius_; // Subscribers rclcpp::Subscription::SharedPtr sub_kinematics_; @@ -230,39 +143,17 @@ class ReactionAnalyzerNode : public rclcpp::Node tf2_ros::TransformListener tf_listener_{tf_buffer_}; // Variables - std::vector subscribers_; - std::unordered_map message_buffers_; - std::unique_ptr> time_debug_sub_; - std::unordered_map> published_time_vector_map_; - // std::unordered_map published_time_subscriber_map_; - std::unordered_map> test_results_; - std::optional last_test_environment_init_request_time_; std::optional test_environment_init_time_; std::optional spawn_cmd_time_; std::atomic spawn_object_cmd_{false}; std::atomic is_object_spawned_message_published_{false}; - bool is_output_printed_{false}; bool is_vehicle_initialized_{false}; bool is_route_set_{false}; size_t test_iteration_count_{0}; // Functions - rclcpp::SubscriptionOptions createSubscriptionOptions(); - - bool searchPointcloudNearEntity(const pcl::PointCloud & pcl_pointcloud); - - bool searchPredictedObjectsNearEntity(const PredictedObjects & predicted_objects); - - bool searchDetectedObjectsNearEntity(const DetectedObjects & detected_objects); - - bool searchTrackedObjectsNearEntity(const TrackedObjects & tracked_objects); - - bool loadChainModules(); - - bool initSubscribers(const reaction_analyzer::ChainModules & modules); - void initAnalyzerVariables(); void initPointcloud(); @@ -274,27 +165,16 @@ class ReactionAnalyzerNode : public rclcpp::Node const RouteState::ConstSharedPtr & route_state_ptr, const OperationModeState::ConstSharedPtr & operation_mode_ptr); - void pushPublishedTime( - std::vector & published_time_vec, const PublishedTime & published_time); - - void setControlCommandToBuffer( - std::vector & buffer, const AckermannControlCommand & cmd); - - std::optional findFirstBrakeIdx( - const std::vector & cmd_array, - const std::optional & spawn_cmd_time); + void callOperationModeServiceWithoutResponse(); void spawnObstacle(const geometry_msgs::msg::Point & ego_pose); void calculateResults( - const std::unordered_map & message_buffers, - const std::unordered_map> & published_time_vector_map, + const std::unordered_map & message_buffers, const rclcpp::Time & spawn_cmd_time); void onTimer(); - bool allReacted(const std::unordered_map & message_buffers); - void dummyPerceptionPublisher(); void reset(); @@ -310,52 +190,6 @@ class ReactionAnalyzerNode : public rclcpp::Node void operationModeCallback(OperationModeState::ConstSharedPtr msg_ptr); - // Callbacks for modules are subscribed - void controlCommandOutputCallback( - const std::string & node_name, const AckermannControlCommand::ConstSharedPtr & msg_ptr); - - // void controlCommandOutputCallback( - // const std::string & node_name, const AckermannControlCommand::ConstSharedPtr & msg_ptr, - // const PublishedTime::ConstSharedPtr & published_time_ptr); - - void trajectoryOutputCallback( - const std::string & node_name, const Trajectory::ConstSharedPtr & msg_ptr); - - // void trajectoryOutputCallback( - // const std::string & node_name, const Trajectory::ConstSharedPtr & msg_ptr, - // const PublishedTime::ConstSharedPtr & published_time_ptr); - - void pointcloud2OutputCallback( - const std::string & node_name, const PointCloud2::ConstSharedPtr & msg_ptr); - - // void pointcloud2OutputCallback( - // const std::string & node_name, const PointCloud2::ConstSharedPtr & msg_ptr, - // const PublishedTime::ConstSharedPtr & published_time_ptr); - - void predictedObjectsOutputCallback( - const std::string & node_name, const PredictedObjects::ConstSharedPtr & msg_ptr); - - // void predictedObjectsOutputCallback( - // const std::string & node_name, const PredictedObjects::ConstSharedPtr & msg_ptr, - // const PublishedTime::ConstSharedPtr & published_time_ptr); - - void detectedObjectsOutputCallback( - const std::string & node_name, const DetectedObjects::ConstSharedPtr & msg_ptr); - - // void detectedObjectsOutputCallback( - // const std::string & node_name, const DetectedObjects::ConstSharedPtr & msg_ptr, - // const PublishedTime::ConstSharedPtr & published_time_ptr); - - void trackedObjectsOutputCallback( - const std::string & node_name, const TrackedObjects::ConstSharedPtr & msg_ptr); - - // void trackedObjectsOutputCallback( - // const std::string & node_name, const TrackedObjects::ConstSharedPtr & msg_ptr, - // const PublishedTime::ConstSharedPtr & published_time_ptr); - - void publishedTimeOutputCallback( - const std::string & node_name, const PublishedTime::ConstSharedPtr & msg_ptr); - // Timer rclcpp::TimerBase::SharedPtr timer_; rclcpp::TimerBase::SharedPtr dummy_perception_timer_; @@ -363,18 +197,15 @@ class ReactionAnalyzerNode : public rclcpp::Node // Client rclcpp::Client::SharedPtr client_change_to_autonomous_; - void callOperationModeServiceWithoutResponse(); - // Pointers std::shared_ptr topic_publisher_ptr_; + std::unique_ptr subscriber_ptr_; PointCloud2::SharedPtr entity_pointcloud_ptr_; PredictedObjects::SharedPtr predicted_objects_ptr_; - Odometry::ConstSharedPtr odometry_; LocalizationInitializationState::ConstSharedPtr initialization_state_ptr_; RouteState::ConstSharedPtr current_route_state_ptr_; OperationModeState::ConstSharedPtr operation_mode_ptr_; }; - } // namespace reaction_analyzer #endif // REACTION_ANALYZER_NODE_HPP_ diff --git a/tools/reaction_analyzer/include/subscriber.hpp b/tools/reaction_analyzer/include/subscriber.hpp new file mode 100644 index 0000000000000..5d9eba0643e1d --- /dev/null +++ b/tools/reaction_analyzer/include/subscriber.hpp @@ -0,0 +1,248 @@ +// Copyright 2024 The Autoware Contributors +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#ifndef SUBSCRIBER_HPP_ +#define SUBSCRIBER_HPP_ +#include +#include +#include +#include +#include +#include +#include +#include + +#include +#include +#include +#include +#include +#include +#include +#include +#include + +#include +#include +#include +#include +#include +#include +#include +#include +#include + +#include +#include +#include +#include + +namespace reaction_analyzer::subscriber +{ +using autoware_auto_control_msgs::msg::AckermannControlCommand; +using autoware_auto_perception_msgs::msg::DetectedObject; +using autoware_auto_perception_msgs::msg::DetectedObjects; +using autoware_auto_perception_msgs::msg::PredictedObject; +using autoware_auto_perception_msgs::msg::PredictedObjects; +using autoware_auto_perception_msgs::msg::TrackedObject; +using autoware_auto_perception_msgs::msg::TrackedObjects; +using autoware_auto_planning_msgs::msg::Trajectory; +using autoware_internal_msgs::msg::PublishedTime; +using geometry_msgs::msg::Pose; +using nav_msgs::msg::Odometry; +using sensor_msgs::msg::PointCloud2; + +// Buffers to be used to store subscribed messages +using ControlCommandBuffer = + std::pair, std::optional>; +using TrajectoryBuffer = std::optional; +using PointCloud2Buffer = std::optional; +using PredictedObjectsBuffer = std::optional; +using DetectedObjectsBuffer = std::optional; +using TrackedObjectsBuffer = std::optional; + +// Variant to store different types of buffers +using BufferVariant = std::variant< + ControlCommandBuffer, TrajectoryBuffer, PointCloud2Buffer, PredictedObjectsBuffer, + DetectedObjectsBuffer, TrackedObjectsBuffer>; + +template +struct SubscriberVariables +{ + using ExactTimePolicy = message_filters::sync_policies::ExactTime; + + std::unique_ptr> sub1_; + std::unique_ptr> sub2_; + std::unique_ptr> synchronizer_; + // tmp: only for the messages who don't have header e.g. AckermannControlCommand + std::unique_ptr> cache_; +}; + +// Variant to create subscribers for different message types +using SubscriberVariablesVariant = std::variant< + SubscriberVariables, SubscriberVariables, + SubscriberVariables, SubscriberVariables, + SubscriberVariables, SubscriberVariables>; + +// The supported message types +enum class SubscriberMessageType { + UNKNOWN = 0, + ACKERMANN_CONTROL_COMMAND = 1, + TRAJECTORY = 2, + POINTCLOUD2 = 3, + DETECTED_OBJECTS = 4, + PREDICTED_OBJECTS = 5, + TRACKED_OBJECTS = 6, +}; + +// Reaction Types +// TODO: For the future work, we can add more reaction types e.g. first shifted trajectory. +enum class ReactionType { + UNKNOWN = 0, + FIRST_BRAKE = 1, + SEARCH_ZERO_VEL = 2, + SEARCH_ENTITY = 3, +}; + +// The configuration of the topic to be subscribed which are defined in reaction_chain +struct TopicConfig +{ + std::string node_name; + std::string topic_address; + std::string time_debug_topic_address; + SubscriberMessageType message_type; +}; + +// Place for the reaction functions' parameter configuration +struct FirstBrakeParams +{ + bool debug_control_commands; + double control_cmd_buffer_time_interval; + size_t min_number_descending_order_control_cmd; + double min_jerk_for_brake_cmd; +}; + +struct SearchZeroVelParams +{ + double max_looking_distance; +}; + +struct SearchEntityParams +{ + double search_radius; +}; + +// Place for the store the reaction parameter configuration (currently only for first brake) +struct ReactionParams +{ + FirstBrakeParams first_brake_params; + SearchZeroVelParams search_zero_vel_params; + SearchEntityParams search_entity_params; +}; + +using ChainModules = std::vector; + +class SubscriberBase +{ +public: + explicit SubscriberBase( + rclcpp::Node * node, Odometry::ConstSharedPtr & odometry, geometry_msgs::msg::Pose entity_pose, + std::atomic & spawn_object_cmd); + + ~SubscriberBase() = default; + + std::optional> getMessageBuffersMap(); + void reset(); + +private: + std::mutex mutex_; + + rclcpp::Node * node_; + Odometry::ConstSharedPtr odometry_; + geometry_msgs::msg::Pose entity_pose_; + std::atomic & spawn_object_cmd_; + + // Variables to be initialized in constructor + ChainModules chain_modules_; + ReactionParams reaction_params_{}; + + // Variants + std::unordered_map subscriber_variables_map_; + std::unordered_map message_buffers_; + + // tf + std::shared_ptr tf_buffer_; + std::shared_ptr tf_listener_; + + // Functions + void initReactionChainsAndParams(); + + bool initSubscribers(); + + bool searchPointcloudNearEntity(const pcl::PointCloud & pcl_pointcloud); + + bool searchPredictedObjectsNearEntity(const PredictedObjects & predicted_objects); + + bool searchDetectedObjectsNearEntity(const DetectedObjects & detected_objects); + + bool searchTrackedObjectsNearEntity(const TrackedObjects & tracked_objects); + + void setControlCommandToBuffer( + std::vector & buffer, const AckermannControlCommand & cmd); + + std::optional findFirstBrakeIdx(const std::vector & cmd_array); + + // Callbacks for modules are subscribed + void controlCommandOutputCallback( + const std::string & node_name, const AckermannControlCommand::ConstSharedPtr & msg_ptr); + + void trajectoryOutputCallback( + const std::string & node_name, const Trajectory::ConstSharedPtr & msg_ptr); + + void trajectoryOutputCallback( + const std::string & node_name, const Trajectory::ConstSharedPtr & msg_ptr, + const PublishedTime::ConstSharedPtr & published_time_ptr); + + void pointcloud2OutputCallback( + const std::string & node_name, const PointCloud2::ConstSharedPtr & msg_ptr); + + void pointcloud2OutputCallback( + const std::string & node_name, const PointCloud2::ConstSharedPtr & msg_ptr, + const PublishedTime::ConstSharedPtr & published_time_ptr); + + void predictedObjectsOutputCallback( + const std::string & node_name, const PredictedObjects::ConstSharedPtr & msg_ptr); + + void predictedObjectsOutputCallback( + const std::string & node_name, const PredictedObjects::ConstSharedPtr & msg_ptr, + const PublishedTime::ConstSharedPtr & published_time_ptr); + + void detectedObjectsOutputCallback( + const std::string & node_name, const DetectedObjects::ConstSharedPtr & msg_ptr); + + void detectedObjectsOutputCallback( + const std::string & node_name, const DetectedObjects::ConstSharedPtr & msg_ptr, + const PublishedTime::ConstSharedPtr & published_time_ptr); + + void trackedObjectsOutputCallback( + const std::string & node_name, const TrackedObjects::ConstSharedPtr & msg_ptr); + + void trackedObjectsOutputCallback( + const std::string & node_name, const TrackedObjects::ConstSharedPtr & msg_ptr, + const PublishedTime::ConstSharedPtr & published_time_ptr); +}; + +} // namespace reaction_analyzer::subscriber + +#endif // SUBSCRIBER_HPP_ diff --git a/tools/reaction_analyzer/include/topic_publisher.hpp b/tools/reaction_analyzer/include/topic_publisher.hpp index 19f0f6ce74d85..939abab591d84 100644 --- a/tools/reaction_analyzer/include/topic_publisher.hpp +++ b/tools/reaction_analyzer/include/topic_publisher.hpp @@ -17,6 +17,7 @@ #include #include +#include #include #include @@ -69,18 +70,21 @@ enum class PublisherMessageType { struct TopicPublisherParams { - std::string path_bag_without_object; - std::string path_bag_with_object; - std::string pointcloud_publisher_type; - double pointcloud_publisher_period; + std::string path_bag_without_object; // Path to the bag file without object + std::string path_bag_with_object; // Path to the bag file with object + std::string pointcloud_publisher_type; // Type of the pointcloud publisher + double pointcloud_publisher_period; // Period of the pointcloud publisher }; enum class PointcloudPublisherType { - AsyncPublisher = 0, - SyncHeaderSyncPublisher = 1, - AsyncHeaderSyncPublisher = 2, + AsyncPublisher = 0, // Asynchronous publisher + SyncHeaderSyncPublisher = 1, // Synchronous publisher with header synchronization + AsyncHeaderSyncPublisher = 2, // Asynchronous publisher with header synchronization }; +/** + * @brief Message type template struct for the variables of the Publisher. + */ template struct PublisherVariables { @@ -91,8 +95,12 @@ struct PublisherVariables rclcpp::TimerBase::SharedPtr timer; }; +/** + * @brief Struct for accessing the variables of the Publisher. + */ struct PublisherVarAccessor { + // Template struct to check if a type has a header member. template > struct has_header : std::false_type { @@ -103,6 +111,7 @@ struct PublisherVarAccessor { }; + // Template struct to check if a type has a stamp member. template > struct has_stamp : std::false_type { @@ -133,28 +142,24 @@ struct PublisherVarAccessor publisherVar.publisher->publish(std::move(msg_to_be_published)); } - // Set Period template void setPeriod(T & publisherVar, double newPeriod) { publisherVar.period_ns = newPeriod; } - // Get Period template double getPeriod(const T & publisherVar) const { return publisherVar.period_ns; } - // Get Empty Area Message template std::shared_ptr getEmptyAreaMessage(const T & publisherVar) const { return std::static_pointer_cast(publisherVar.empty_area_message); } - // Get Object Spawned Message template std::shared_ptr getObjectSpawnedMessage(const T & publisherVar) const { @@ -174,6 +179,10 @@ using PublisherVariablesVariant = std::variant< PublisherVariables, PublisherVariables>; +using LidarOutputPair = std::pair< + std::shared_ptr>, + std::shared_ptr>>; + class TopicPublisher { public: @@ -187,7 +196,7 @@ class TopicPublisher private: std::mutex mutex_; - // Initialize + // Initialized variables rclcpp::Node * node_; std::atomic & spawn_object_cmd_; std::optional & spawn_cmd_time_; @@ -207,10 +216,7 @@ class TopicPublisher // Variables PointcloudPublisherType pointcloud_publisher_type_; std::unordered_map topic_publisher_map_; - std::unordered_map< - std::string, std::pair< - std::shared_ptr>, - std::shared_ptr>>> + std::unordered_map lidar_pub_variable_pair_map_; // used to publish pointcloud_raw and pointcloud_raw_ex bool is_object_spawned_message_published{false}; std::shared_ptr one_shot_timer_shared_ptr_; @@ -219,7 +225,6 @@ class TopicPublisher std::unordered_map pointcloud_publish_timers_map_; rclcpp::TimerBase::SharedPtr pointcloud_sync_publish_timer_; }; - } // namespace reaction_analyzer::topic_publisher #endif // TOPIC_PUBLISHER_HPP_ diff --git a/tools/reaction_analyzer/include/utils.hpp b/tools/reaction_analyzer/include/utils.hpp new file mode 100644 index 0000000000000..70fc39c73906d --- /dev/null +++ b/tools/reaction_analyzer/include/utils.hpp @@ -0,0 +1,75 @@ +// Copyright 2024 The Autoware Contributors +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#ifndef UTILS_HPP_ +#define UTILS_HPP_ + +#include +#include + +#include + +#include + +// The reaction_analyzer namespace contains utility functions for the Reaction Analyzer tool. +namespace reaction_analyzer +{ +using autoware_auto_planning_msgs::msg::Trajectory; +using autoware_auto_planning_msgs::msg::TrajectoryPoint; + +/** + * @brief Sorts the test results by their median value. + * + * @param test_results An unordered map containing the test results. + * @return A vector of tuples. Each tuple contains a string (the test name), a vector of doubles + * (the test results), and a double (the median value). + */ +std::vector, double>> sortResultsByMedian( + const std::unordered_map> test_results); + +/** + * @brief Creates a subscription option with a new callback group. + * + * @param node A pointer to the node for which the subscription options are being created. + * @return The created SubscriptionOptions. + */ +rclcpp::SubscriptionOptions createSubscriptionOptions(rclcpp::Node * node); + +/** + * @brief Splits a string by a given delimiter. + * + * @param str The string to be split. + * @param delimiter The delimiter to split the string by. + * @return A vector of strings, each of which is a segment of the original string split by the + * delimiter. + */ +std::vector split(const std::string & str, char delimiter); + +/** + * @brief Get the index of the trajectory point that is a certain distance away from the current + * point. + * + * This function iterates over the trajectory from the current point and returns the index of the + * first point that is at least the specified distance away. + * + * @param traj The trajectory to search. + * @param curr_id The index of the current point in the trajectory. + * @param distance The distance to search for a point. + * @return The index of the point in the trajectory that is at least the specified distance away + * from the current point. + */ +size_t getIndexAfterDistance(const Trajectory & traj, const size_t curr_id, const double distance); +} // namespace reaction_analyzer + +#endif // UTILS_HPP_ diff --git a/tools/reaction_analyzer/package.xml b/tools/reaction_analyzer/package.xml index faf5797d00433..05081eac01751 100644 --- a/tools/reaction_analyzer/package.xml +++ b/tools/reaction_analyzer/package.xml @@ -3,7 +3,7 @@ reaction_analyzer 1.0.0 - Nodes to measure reaction times of the nodes + Analyzer that measures reaction times of the nodes Berkay Karaman diff --git a/tools/reaction_analyzer/param/reaction_analyzer.param.yaml b/tools/reaction_analyzer/param/reaction_analyzer.param.yaml index 37ef3bba86e38..082cdaf864265 100644 --- a/tools/reaction_analyzer/param/reaction_analyzer.param.yaml +++ b/tools/reaction_analyzer/param/reaction_analyzer.param.yaml @@ -1,19 +1,13 @@ /**: ros__parameters: timer_period: 0.033 # s - published_time_expire_duration: 5.0 # s test_iteration: 15 output_file_path: /home/berkay/projects/reaction_analyzer_results/ object_search_radius_offset: 0.1 # m - spawn_time_after_init: 5.0 # s - spawn_distance_threshold: 15.0 # m + spawn_time_after_init: 5.0 # s for perception_planning mode + spawn_distance_threshold: 15.0 # m # for planning_control mode spawned_pointcloud_sampling_distance: 0.1 dummy_perception_publisher_period: 0.1 # s - first_brake_params: - debug_control_commands: false - control_cmd_buffer_time_interval: 1.0 # s - min_number_descending_order_control_cmd: 3 - min_jerk_for_brake_cmd: 0.3 # m/s^3 initialization_pose: x: 81247.9609375 y: 49828.87890625 @@ -44,68 +38,79 @@ pointcloud_publisher: pointcloud_publisher_type: "sync_header_sync_publish" # "async_header_sync_publish", "sync_header_sync_publish" or "async_publish" pointcloud_publisher_period: 0.1 # s - reaction_chain: -# common_ground_filter: -# topic_name: /perception/obstacle_segmentation/single_frame/pointcloud_raw -# time_debug_topic_name: /perception/obstacle_segmentation/single_frame/pointcloud_raw/debug/published_time -# message_type: sensor_msgs::msg::PointCloud2 -# occupancy_grid_map_outlier: -# topic_name: /perception/obstacle_segmentation/pointcloud -# time_debug_topic_name: /perception/obstacle_segmentation/pointcloud/debug/published_time -# message_type: sensor_msgs::msg::PointCloud2 -# multi_object_tracker: -# topic_name: /perception/object_recognition/tracking/near_objects -# time_debug_topic_name: /perception/object_recognition/tracking/near_objects/debug/published_time -# message_type: autoware_auto_perception_msgs::msg::TrackedObjects -# lidar_centerpoint: -# topic_name: /perception/object_recognition/detection/centerpoint/objects -# time_debug_topic_name: /perception/object_recognition/detection/centerpoint/objects/debug/published_time -# message_type: autoware_auto_perception_msgs::msg::DetectedObjects -# obstacle_pointcloud_based_validator: -# topic_name: /perception/object_recognition/detection/centerpoint/validation/objects -# time_debug_topic_name: /perception/object_recognition/detection/centerpoint/validation/objects/debug/published_time -# message_type: autoware_auto_perception_msgs::msg::DetectedObjects -# decorative_tracker_merger: -# topic_name: /perception/object_recognition/tracking/objects -# time_debug_topic_name: /perception/object_recognition/tracking/objects/debug/published_time -# message_type: autoware_auto_perception_msgs::msg::TrackedObjects -# detected_object_feature_remover: -# topic_name: /perception/object_recognition/detection/clustering/objects -# time_debug_topic_name: /perception/object_recognition/detection/clustering/objects/debug/published_time -# message_type: autoware_auto_perception_msgs::msg::DetectedObjects -# detection_by_tracker: -# topic_name: /perception/object_recognition/detection/detection_by_tracker/objects -# time_debug_topic_name: /perception/object_recognition/detection/detection_by_tracker/objects/debug/published_time -# message_type: autoware_auto_perception_msgs::msg::DetectedObjects -# object_lanelet_filter: -# topic_name: /perception/object_recognition/detection/objects -# time_debug_topic_name: /perception/object_recognition/detection/objects/debug/published_time -# message_type: autoware_auto_perception_msgs::msg::DetectedObjects -# map_based_prediction: -# topic_name: /perception/object_recognition/objects -# time_debug_topic_name: /perception/object_recognition/objects/debug/published_time -# message_type: autoware_auto_perception_msgs::msg::PredictedObjects - obstacle_stop_planner: - topic_name: /planning/scenario_planning/lane_driving/trajectory - time_debug_topic_name: /planning/scenario_planning/lane_driving/trajectory/debug/published_time - message_type: autoware_auto_planning_msgs::msg::Trajectory - scenario_selector: - topic_name: /planning/scenario_planning/scenario_selector/trajectory - time_debug_topic_name: /planning/scenario_planning/scenario_selector/trajectory/debug/published_time - message_type: autoware_auto_planning_msgs::msg::Trajectory - motion_velocity_smoother: - topic_name: /planning/scenario_planning/motion_velocity_smoother/trajectory - time_debug_topic_name: /planning/scenario_planning/motion_velocity_smoother/trajectory/debug/published_time - message_type: autoware_auto_planning_msgs::msg::Trajectory - planning_validator: - topic_name: /planning/scenario_planning/trajectory - time_debug_topic_name: /planning/scenario_planning/trajectory/debug/published_time - message_type: autoware_auto_planning_msgs::msg::Trajectory - trajectory_follower: - topic_name: /control/trajectory_follower/control_cmd - time_debug_topic_name: /control/trajectory_follower/control_cmd/debug/published_time - message_type: autoware_auto_control_msgs::msg::AckermannControlCommand - vehicle_cmd_gate: - topic_name: /control/command/control_cmd - time_debug_topic_name: /control/command/control_cmd/debug/published_time - message_type: autoware_auto_control_msgs::msg::AckermannControlCommand + subscriber: + reaction_params: + first_brake_params: + debug_control_commands: false + control_cmd_buffer_time_interval: 1.0 # s + min_number_descending_order_control_cmd: 3 + min_jerk_for_brake_cmd: 0.3 # m/s^3 + search_zero_vel_params: + max_looking_distance: 15.0 # m + search_entity_params: + search_radius: 5.0 # m + reaction_chain: + obstacle_stop_planner: + topic_name: /planning/scenario_planning/lane_driving/trajectory + time_debug_topic_name: /planning/scenario_planning/lane_driving/trajectory/debug/published_time + message_type: autoware_auto_planning_msgs::msg::Trajectory + scenario_selector: + topic_name: /planning/scenario_planning/scenario_selector/trajectory + time_debug_topic_name: /planning/scenario_planning/scenario_selector/trajectory/debug/published_time + message_type: autoware_auto_planning_msgs::msg::Trajectory + motion_velocity_smoother: + topic_name: /planning/scenario_planning/motion_velocity_smoother/trajectory + time_debug_topic_name: /planning/scenario_planning/motion_velocity_smoother/trajectory/debug/published_time + message_type: autoware_auto_planning_msgs::msg::Trajectory + planning_validator: + topic_name: /planning/scenario_planning/trajectory + time_debug_topic_name: /planning/scenario_planning/trajectory/debug/published_time + message_type: autoware_auto_planning_msgs::msg::Trajectory +# trajectory_follower: +# topic_name: /control/trajectory_follower/control_cmd +# time_debug_topic_name: /control/trajectory_follower/control_cmd/debug/published_time +# message_type: autoware_auto_control_msgs::msg::AckermannControlCommand +# vehicle_cmd_gate: +# topic_name: /control/command/control_cmd +# time_debug_topic_name: /control/command/control_cmd/debug/published_time +# message_type: autoware_auto_control_msgs::msg::AckermannControlCommand + common_ground_filter: + topic_name: /perception/obstacle_segmentation/single_frame/pointcloud_raw + time_debug_topic_name: /perception/obstacle_segmentation/single_frame/pointcloud_raw/debug/published_time + message_type: sensor_msgs::msg::PointCloud2 + occupancy_grid_map_outlier: + topic_name: /perception/obstacle_segmentation/pointcloud + time_debug_topic_name: /perception/obstacle_segmentation/pointcloud/debug/published_time + message_type: sensor_msgs::msg::PointCloud2 + multi_object_tracker: + topic_name: /perception/object_recognition/tracking/near_objects + time_debug_topic_name: /perception/object_recognition/tracking/near_objects/debug/published_time + message_type: autoware_auto_perception_msgs::msg::TrackedObjects + lidar_centerpoint: + topic_name: /perception/object_recognition/detection/centerpoint/objects + time_debug_topic_name: /perception/object_recognition/detection/centerpoint/objects/debug/published_time + message_type: autoware_auto_perception_msgs::msg::DetectedObjects + obstacle_pointcloud_based_validator: + topic_name: /perception/object_recognition/detection/centerpoint/validation/objects + time_debug_topic_name: /perception/object_recognition/detection/centerpoint/validation/objects/debug/published_time + message_type: autoware_auto_perception_msgs::msg::DetectedObjects + decorative_tracker_merger: + topic_name: /perception/object_recognition/tracking/objects + time_debug_topic_name: /perception/object_recognition/tracking/objects/debug/published_time + message_type: autoware_auto_perception_msgs::msg::TrackedObjects + detected_object_feature_remover: + topic_name: /perception/object_recognition/detection/clustering/objects + time_debug_topic_name: /perception/object_recognition/detection/clustering/objects/debug/published_time + message_type: autoware_auto_perception_msgs::msg::DetectedObjects + detection_by_tracker: + topic_name: /perception/object_recognition/detection/detection_by_tracker/objects + time_debug_topic_name: /perception/object_recognition/detection/detection_by_tracker/objects/debug/published_time + message_type: autoware_auto_perception_msgs::msg::DetectedObjects + object_lanelet_filter: + topic_name: /perception/object_recognition/detection/objects + time_debug_topic_name: /perception/object_recognition/detection/objects/debug/published_time + message_type: autoware_auto_perception_msgs::msg::DetectedObjects + map_based_prediction: + topic_name: /perception/object_recognition/objects + time_debug_topic_name: /perception/object_recognition/objects/debug/published_time + message_type: autoware_auto_perception_msgs::msg::PredictedObjects diff --git a/tools/reaction_analyzer/src/reaction_analyzer_node.cpp b/tools/reaction_analyzer/src/reaction_analyzer_node.cpp index aa6cad7ee7623..95ac106375897 100644 --- a/tools/reaction_analyzer/src/reaction_analyzer_node.cpp +++ b/tools/reaction_analyzer/src/reaction_analyzer_node.cpp @@ -14,244 +14,12 @@ #include "reaction_analyzer_node.hpp" -#include "tf2/transform_datatypes.h" - -#include -#include -#include - -#include -#include -#include -#include - -#include - -#include +#include #include namespace reaction_analyzer { -// Callbacks - -void ReactionAnalyzerNode::publishedTimeOutputCallback( - const std::string & node_name, const PublishedTime::ConstSharedPtr & msg_ptr) -{ - std::lock_guard lock(mutex_); - auto & published_time_vector = published_time_vector_map_[node_name]; - pushPublishedTime(published_time_vector, *msg_ptr); -} - -void ReactionAnalyzerNode::controlCommandOutputCallback( - const std::string & node_name, const AckermannControlCommand::ConstSharedPtr & msg_ptr) -{ - std::lock_guard lock(mutex_); - auto & variant = message_buffers_[node_name]; - const auto is_spawned = spawn_cmd_time_; - if (!std::holds_alternative(variant)) { - ControlCommandBuffer buffer(std::vector{*msg_ptr}, std::nullopt); - variant = buffer; - } - - if (std::get(variant).second) { - // reacted - return; - } - setControlCommandToBuffer(std::get(variant).first, *msg_ptr); - const auto brake_idx = - findFirstBrakeIdx(std::get(variant).first, is_spawned); - if (brake_idx) { - std::get(variant).second = - std::get(variant).first.at(brake_idx.value()); - RCLCPP_INFO(this->get_logger(), "Reacted %s", node_name.c_str()); - } -} - -void ReactionAnalyzerNode::trajectoryOutputCallback( - const std::string & node_name, const Trajectory::ConstSharedPtr & msg_ptr) -{ - mutex_.lock(); - auto variant = message_buffers_[node_name]; - const auto current_odometry_ptr = odometry_; - const auto is_spawned = spawn_cmd_time_; - if (!std::holds_alternative(variant)) { - TrajectoryBuffer buffer(std::nullopt); - variant = buffer; - message_buffers_[node_name] = variant; - } - mutex_.unlock(); - - if (!current_odometry_ptr || !is_spawned || std::get(variant).has_value()) { - return; - } - - const auto nearest_seg_idx = motion_utils::findNearestSegmentIndex( - msg_ptr->points, current_odometry_ptr->pose.pose.position); - - const auto nearest_objects_seg_idx = - motion_utils::findNearestIndex(msg_ptr->points, entity_pose_.position); - - const auto zero_vel_idx = motion_utils::searchZeroVelocityIndex( - msg_ptr->points, nearest_seg_idx, nearest_objects_seg_idx); - - if (zero_vel_idx) { - std::get(variant) = *msg_ptr; - RCLCPP_INFO(this->get_logger(), "Reacted %s", node_name.c_str()); - mutex_.lock(); - message_buffers_[node_name] = variant; - mutex_.unlock(); - } -} - -void ReactionAnalyzerNode::pointcloud2OutputCallback( - const std::string & node_name, const PointCloud2::ConstSharedPtr & msg_ptr) -{ - mutex_.lock(); - auto variant = message_buffers_[node_name]; - const auto is_spawned = spawn_cmd_time_; - if (!std::holds_alternative(variant)) { - PointCloud2Buffer buffer(std::nullopt); - variant = buffer; - message_buffers_[node_name] = variant; - } - mutex_.unlock(); - - if (!is_spawned || std::get(variant).has_value()) { - return; - } - - // transform pointcloud - geometry_msgs::msg::TransformStamped transform_stamped{}; - try { - transform_stamped = tf_buffer_.lookupTransform( - "map", msg_ptr->header.frame_id, this->now(), rclcpp::Duration::from_seconds(0.5)); - } catch (tf2::TransformException & ex) { - RCLCPP_ERROR_STREAM( - get_logger(), "Failed to look up transform from " << msg_ptr->header.frame_id << " to map"); - return; - } - - // transform by using eigen matrix - PointCloud2 transformed_points{}; - const Eigen::Matrix4f affine_matrix = - tf2::transformToEigen(transform_stamped.transform).matrix().cast(); - pcl_ros::transformPointCloud(affine_matrix, *msg_ptr, transformed_points); - - pcl::PointCloud pcl_pointcloud; - pcl::fromROSMsg(transformed_points, pcl_pointcloud); - - if (searchPointcloudNearEntity(pcl_pointcloud)) { - std::get(variant) = *msg_ptr; - RCLCPP_INFO(this->get_logger(), "Reacted %s", node_name.c_str()); - mutex_.lock(); - message_buffers_[node_name] = variant; - mutex_.unlock(); - } -} - -void ReactionAnalyzerNode::predictedObjectsOutputCallback( - const std::string & node_name, const PredictedObjects::ConstSharedPtr & msg_ptr) -{ - mutex_.lock(); - auto variant = message_buffers_[node_name]; - const auto is_spawned = spawn_cmd_time_; - if (!std::holds_alternative(variant)) { - PredictedObjectsBuffer buffer(std::nullopt); - variant = buffer; - message_buffers_[node_name] = variant; - } - mutex_.unlock(); - - if ( - !is_spawned || msg_ptr->objects.empty() || - std::get(variant).has_value()) { - return; - } - - if (searchPredictedObjectsNearEntity(*msg_ptr)) { - std::get(variant) = *msg_ptr; - RCLCPP_INFO(this->get_logger(), "Reacted %s", node_name.c_str()); - - mutex_.lock(); - message_buffers_[node_name] = variant; - mutex_.unlock(); - } -} - -void ReactionAnalyzerNode::detectedObjectsOutputCallback( - const std::string & node_name, const DetectedObjects::ConstSharedPtr & msg_ptr) -{ - mutex_.lock(); - auto variant = message_buffers_[node_name]; - const auto is_spawned = spawn_cmd_time_; - if (!std::holds_alternative(variant)) { - DetectedObjectsBuffer buffer(std::nullopt); - variant = buffer; - message_buffers_[node_name] = variant; - } - mutex_.unlock(); - if ( - !is_spawned || msg_ptr->objects.empty() || - std::get(variant).has_value()) { - return; - } - - // transform objects - geometry_msgs::msg::TransformStamped transform_stamped{}; - try { - transform_stamped = tf_buffer_.lookupTransform( - "map", msg_ptr->header.frame_id, this->now(), rclcpp::Duration::from_seconds(0.5)); - } catch (tf2::TransformException & ex) { - RCLCPP_ERROR_STREAM( - get_logger(), "Failed to look up transform from " << msg_ptr->header.frame_id << " to map"); - return; - } - - DetectedObjects output_objs; - output_objs = *msg_ptr; - for (auto & obj : output_objs.objects) { - geometry_msgs::msg::PoseStamped output_stamped, input_stamped; - input_stamped.pose = obj.kinematics.pose_with_covariance.pose; - tf2::doTransform(input_stamped, output_stamped, transform_stamped); - obj.kinematics.pose_with_covariance.pose = output_stamped.pose; - } - if (searchDetectedObjectsNearEntity(output_objs)) { - std::get(variant) = *msg_ptr; - RCLCPP_INFO(this->get_logger(), "Reacted %s", node_name.c_str()); - mutex_.lock(); - message_buffers_[node_name] = variant; - mutex_.unlock(); - } -} - -void ReactionAnalyzerNode::trackedObjectsOutputCallback( - const std::string & node_name, const TrackedObjects::ConstSharedPtr & msg_ptr) -{ - mutex_.lock(); - auto variant = message_buffers_[node_name]; - const auto is_spawned = spawn_cmd_time_; - if (!std::holds_alternative(variant)) { - TrackedObjectsBuffer buffer(std::nullopt); - variant = buffer; - message_buffers_[node_name] = variant; - } - mutex_.unlock(); - if ( - !is_spawned || msg_ptr->objects.empty() || - std::get(variant).has_value()) { - return; - } - - if (searchTrackedObjectsNearEntity(*msg_ptr)) { - std::get(variant) = *msg_ptr; - RCLCPP_INFO(this->get_logger(), "Reacted %s", node_name.c_str()); - mutex_.lock(); - message_buffers_[node_name] = variant; - mutex_.unlock(); - } -} - void ReactionAnalyzerNode::operationModeCallback(OperationModeState::ConstSharedPtr msg_ptr) { std::lock_guard lock(mutex_); @@ -267,7 +35,7 @@ void ReactionAnalyzerNode::routeStateCallback(RouteState::ConstSharedPtr msg_ptr void ReactionAnalyzerNode::vehiclePoseCallback(Odometry::ConstSharedPtr msg_ptr) { std::lock_guard lock(mutex_); - odometry_ = std::move(msg_ptr); + odometry_ = msg_ptr; } void ReactionAnalyzerNode::initializationStateCallback( @@ -296,25 +64,14 @@ ReactionAnalyzerNode::ReactionAnalyzerNode(rclcpp::NodeOptions options) node_params_.timer_period = get_parameter("timer_period").as_double(); node_params_.test_iteration = get_parameter("test_iteration").as_int(); - node_params_.published_time_expire_duration = - get_parameter("published_time_expire_duration").as_double(); node_params_.output_file_path = get_parameter("output_file_path").as_string(); - node_params_.object_search_radius_offset = - get_parameter("object_search_radius_offset").as_double(); + node_params_.spawn_time_after_init = get_parameter("spawn_time_after_init").as_double(); node_params_.spawn_distance_threshold = get_parameter("spawn_distance_threshold").as_double(); node_params_.spawned_pointcloud_sampling_distance = get_parameter("spawned_pointcloud_sampling_distance").as_double(); node_params_.dummy_perception_publisher_period = get_parameter("dummy_perception_publisher_period").as_double(); - node_params_.debug_control_commands = - get_parameter("first_brake_params.debug_control_commands").as_bool(); - node_params_.control_cmd_buffer_time_interval = - get_parameter("first_brake_params.control_cmd_buffer_time_interval").as_double(); - node_params_.min_number_descending_order_control_cmd = - get_parameter("first_brake_params.min_number_descending_order_control_cmd").as_int(); - node_params_.min_jerk_for_brake_cmd = - get_parameter("first_brake_params.min_jerk_for_brake_cmd").as_double(); // Position parameters node_params_.initial_pose.x = get_parameter("initialization_pose.x").as_double(); @@ -341,31 +98,26 @@ ReactionAnalyzerNode::ReactionAnalyzerNode(rclcpp::NodeOptions options) node_params_.entity_params.y_l = get_parameter("entity_params.y_dimension").as_double(); node_params_.entity_params.z_l = get_parameter("entity_params.z_dimension").as_double(); - // initialize the reaction chain - if (!loadChainModules()) { - RCLCPP_ERROR( - get_logger(), "Modules in chain are invalid. Node couldn't be initialized. Failed."); - return; - } - - initAnalyzerVariables(); - sub_kinematics_ = create_subscription( "input/kinematics", 1, std::bind(&ReactionAnalyzerNode::vehiclePoseCallback, this, _1), - createSubscriptionOptions()); + createSubscriptionOptions(this)); sub_localization_init_state_ = create_subscription( "input/localization_initialization_state", rclcpp::QoS(1).transient_local(), std::bind(&ReactionAnalyzerNode::initializationStateCallback, this, _1), - createSubscriptionOptions()); + createSubscriptionOptions(this)); sub_route_state_ = create_subscription( "input/routing_state", rclcpp::QoS{1}.transient_local(), - std::bind(&ReactionAnalyzerNode::routeStateCallback, this, _1), createSubscriptionOptions()); + std::bind(&ReactionAnalyzerNode::routeStateCallback, this, _1), + createSubscriptionOptions(this)); sub_operation_mode_ = create_subscription( "input/operation_mode_state", rclcpp::QoS{1}.transient_local(), - std::bind(&ReactionAnalyzerNode::operationModeCallback, this, _1), createSubscriptionOptions()); + std::bind(&ReactionAnalyzerNode::operationModeCallback, this, _1), + createSubscriptionOptions(this)); pub_goal_pose_ = create_publisher("output/goal", rclcpp::QoS(1)); + initAnalyzerVariables(); + if (node_running_mode_ == RunningMode::PlanningControl) { pub_initial_pose_ = create_publisher( "output/initialpose", rclcpp::QoS(1)); @@ -388,6 +140,11 @@ ReactionAnalyzerNode::ReactionAnalyzerNode(rclcpp::NodeOptions options) std::make_shared(this, spawn_object_cmd_, spawn_cmd_time_); } + // Load the subscriber to listen the topics for reactions + odometry_ = std::make_shared(); // initialize the odometry before init the subscriber + subscriber_ptr_ = + std::make_unique(this, odometry_, entity_pose_, spawn_object_cmd_); + const auto period_ns = std::chrono::duration_cast( std::chrono::duration(node_params_.timer_period)); timer_ = rclcpp::create_timer( @@ -401,9 +158,7 @@ void ReactionAnalyzerNode::onTimer() const auto initialization_state_ptr = initialization_state_ptr_; const auto route_state_ptr = current_route_state_ptr_; const auto operation_mode_ptr = operation_mode_ptr_; - const auto message_buffers = message_buffers_; const auto spawn_cmd_time = spawn_cmd_time_; - const auto published_time_vector_map = published_time_vector_map_; mutex_.unlock(); // Init the test environment @@ -417,11 +172,12 @@ void ReactionAnalyzerNode::onTimer() if (!spawn_cmd_time) return; - if (!allReacted(message_buffers)) return; + const auto message_buffers = subscriber_ptr_->getMessageBuffersMap(); - if (!is_output_printed_) { - calculateResults(message_buffers, published_time_vector_map, spawn_cmd_time.value()); - } else { + if (message_buffers) { + // if reacted, calculate the results + + calculateResults(message_buffers.value(), spawn_cmd_time.value()); reset(); } } @@ -449,7 +205,7 @@ void ReactionAnalyzerNode::dummyPerceptionPublisher() geometry_msgs::msg::TransformStamped transform_stamped{}; try { transform_stamped = tf_buffer_.lookupTransform( - "base_link", "map", this->now(), rclcpp::Duration::from_seconds(0.5)); + "base_link", "map", this->now(), rclcpp::Duration::from_seconds(0.1)); } catch (tf2::TransformException & ex) { RCLCPP_ERROR_STREAM(get_logger(), "Failed to look up transform from map to base_link"); return; @@ -501,58 +257,8 @@ void ReactionAnalyzerNode::spawnObstacle(const geometry_msgs::msg::Point & ego_p } } -bool ReactionAnalyzerNode::allReacted( - const std::unordered_map & message_buffers) -{ - bool all_reacted = true; - for (const auto & [key, variant] : message_buffers) { - if (auto * control_message = std::get_if(&variant)) { - if (!control_message->second) { - all_reacted = false; - } - } else if (auto * planning_message = std::get_if(&variant)) { - if (!planning_message->has_value()) { - all_reacted = false; - } - } else if (auto * pointcloud_message = std::get_if(&variant)) { - if (!pointcloud_message->has_value()) { - all_reacted = false; - } - } else if (auto * predicted_objects_message = std::get_if(&variant)) { - if (!predicted_objects_message->has_value()) { - all_reacted = false; - } - } else if (auto * detected_objects_message = std::get_if(&variant)) { - if (!detected_objects_message->has_value()) { - all_reacted = false; - } - } else if (auto * tracked_objects_message = std::get_if(&variant)) { - if (!tracked_objects_message->has_value()) { - all_reacted = false; - } - } - } - return all_reacted; -} - -std::optional findConjugatePublishedTimeIdx( - const std::vector & published_time_vector, const rclcpp::Time & time) -{ - auto it = std::find_if( - published_time_vector.begin(), published_time_vector.end(), - [&time](const PublishedTime & timeInVector) { return timeInVector.header.stamp == time; }); - - if (it != published_time_vector.end()) { - return std::optional( - std::distance(published_time_vector.begin(), it)); // Return the index of the found time - } else { - return std::nullopt; - } -} - void ReactionAnalyzerNode::calculateResults( - const std::unordered_map & message_buffers, - const std::unordered_map> & published_time_vector_map, + const std::unordered_map & message_buffers, const rclcpp::Time & spawn_cmd_time) { auto createDurationMs = [](const rclcpp::Time & start_time, const rclcpp::Time & end_time) { @@ -562,123 +268,35 @@ void ReactionAnalyzerNode::calculateResults( for (const auto & [key, variant] : message_buffers) { rclcpp::Time reaction_time; - if (auto * control_message = std::get_if(&variant)) { + if (auto * control_message = std::get_if(&variant)) { if (control_message->second) { - auto it = published_time_vector_map.find(key); - if (it != published_time_vector_map.end()) { - const auto & published_time_vec = it->second; - const auto idx = - findConjugatePublishedTimeIdx(published_time_vec, control_message->second->stamp); - if (idx) { - reaction_time = rclcpp::Time(published_time_vec.at(idx.value()).published_stamp); - } else { - RCLCPP_ERROR( - this->get_logger(), "Published time for %s node is not found", key.c_str()); - - reaction_time = control_message->second->stamp; - } - } else { - // It might do not have a published time debug topic - reaction_time = control_message->second->stamp; - } + reaction_time = control_message->second->stamp; } - } else if (auto * planning_message = std::get_if(&variant)) { + } else if (auto * planning_message = std::get_if(&variant)) { if (planning_message->has_value()) { - auto it = published_time_vector_map.find(key); - if (it != published_time_vector_map.end()) { - const auto & published_time_vec = it->second; - const auto idx = findConjugatePublishedTimeIdx( - published_time_vec, planning_message->value().header.stamp); - if (idx) { - reaction_time = rclcpp::Time(published_time_vec.at(idx.value()).published_stamp); - } else { - RCLCPP_ERROR( - this->get_logger(), "Published time for %s node is not found", key.c_str()); - - reaction_time = planning_message->value().header.stamp; - } - } else { - reaction_time = planning_message->value().header.stamp; - } + reaction_time = planning_message->value().header.stamp; } - } else if (auto * pointcloud_message = std::get_if(&variant)) { + } else if (auto * pointcloud_message = std::get_if(&variant)) { if (pointcloud_message->has_value()) { - auto it = published_time_vector_map.find(key); - if (it != published_time_vector_map.end()) { - const auto & published_time_vec = it->second; - const auto idx = findConjugatePublishedTimeIdx( - published_time_vec, pointcloud_message->value().header.stamp); - if (idx) { - reaction_time = rclcpp::Time(published_time_vec.at(idx.value()).published_stamp); - } else { - RCLCPP_ERROR( - this->get_logger(), "Published time for %s node is not found", key.c_str()); - - reaction_time = pointcloud_message->value().header.stamp; - } - } else { - reaction_time = pointcloud_message->value().header.stamp; - } + reaction_time = pointcloud_message->value().header.stamp; } - } else if (auto * predicted_objects_message = std::get_if(&variant)) { + } else if ( + auto * predicted_objects_message = + std::get_if(&variant)) { if (predicted_objects_message->has_value()) { - auto it = published_time_vector_map.find(key); - if (it != published_time_vector_map.end()) { - const auto & published_time_vec = it->second; - const auto idx = findConjugatePublishedTimeIdx( - published_time_vec, predicted_objects_message->value().header.stamp); - if (idx) { - reaction_time = rclcpp::Time(published_time_vec.at(idx.value()).published_stamp); - } else { - RCLCPP_ERROR( - this->get_logger(), "Published time for %s node is not found", key.c_str()); - - reaction_time = predicted_objects_message->value().header.stamp; - } - } else { - reaction_time = predicted_objects_message->value().header.stamp; - } + reaction_time = predicted_objects_message->value().header.stamp; } - } else if (auto * detected_objects_message = std::get_if(&variant)) { + } else if ( + auto * detected_objects_message = std::get_if(&variant)) { if (detected_objects_message->has_value()) { - auto it = published_time_vector_map.find(key); - if (it != published_time_vector_map.end()) { - const auto & published_time_vec = it->second; - const auto idx = findConjugatePublishedTimeIdx( - published_time_vec, detected_objects_message->value().header.stamp); - if (idx) { - reaction_time = rclcpp::Time(published_time_vec.at(idx.value()).published_stamp); - } else { - RCLCPP_ERROR( - this->get_logger(), "Published time for %s node is not found", key.c_str()); - - reaction_time = detected_objects_message->value().header.stamp; - } - } else { - reaction_time = detected_objects_message->value().header.stamp; - } + reaction_time = detected_objects_message->value().header.stamp; } - } else if (auto * tracked_objects_message = std::get_if(&variant)) { + } else if ( + auto * tracked_objects_message = std::get_if(&variant)) { if (tracked_objects_message->has_value()) { - auto it = published_time_vector_map.find(key); - if (it != published_time_vector_map.end()) { - const auto & published_time_vec = it->second; - const auto idx = findConjugatePublishedTimeIdx( - published_time_vec, tracked_objects_message->value().header.stamp); - if (idx) { - reaction_time = rclcpp::Time(published_time_vec.at(idx.value()).published_stamp); - } else { - RCLCPP_ERROR( - this->get_logger(), "Published time for %s node is not found", key.c_str()); - - reaction_time = tracked_objects_message->value().header.stamp; - } - } else { - reaction_time = tracked_objects_message->value().header.stamp; - } + reaction_time = tracked_objects_message->value().header.stamp; } } - const auto duration = createDurationMs(spawn_cmd_time, reaction_time); RCLCPP_INFO( @@ -686,61 +304,6 @@ void ReactionAnalyzerNode::calculateResults( test_results_[key].emplace_back(duration); } test_iteration_count_++; - is_output_printed_ = true; -} - -bool ReactionAnalyzerNode::loadChainModules() -{ - auto split = [](const std::string & str, const char delim) { - std::vector elems; - std::stringstream ss(str); - std::string item; - while (std::getline(ss, item, delim)) { - elems.push_back(item); - } - return elems; - }; - - auto stringToMessageType = [](const std::string & input) { - if (input == "autoware_auto_control_msgs::msg::AckermannControlCommand") { - return SubscriberMessageType::AckermannControlCommand; - } else if (input == "autoware_auto_planning_msgs::msg::Trajectory") { - return SubscriberMessageType::Trajectory; - } else if (input == "sensor_msgs::msg::PointCloud2") { - return SubscriberMessageType::PointCloud2; - } else if (input == "autoware_auto_perception_msgs::msg::PredictedObjects") { - return SubscriberMessageType::PredictedObjects; - } else if (input == "autoware_auto_perception_msgs::msg::DetectedObjects") { - return SubscriberMessageType::DetectedObjects; - } else if (input == "autoware_auto_perception_msgs::msg::TrackedObjects") { - return SubscriberMessageType::TrackedObjects; - } else { - return SubscriberMessageType::Unknown; - } - }; - - // get the topic addresses and message types of the modules in chain - const auto param_key = std::string("reaction_chain"); - const auto module_names = this->list_parameters({param_key}, 3).prefixes; - ChainModules chain_modules; - for (const auto & module_name : module_names) { - const auto splitted_name = split(module_name, '.'); - TopicConfig tmp; - tmp.node_name = splitted_name.back(); - tmp.topic_address = this->get_parameter(module_name + ".topic_name").as_string(); - tmp.time_debug_topic_address = - this->get_parameter_or(module_name + ".time_debug_topic_name", std::string("")); - tmp.message_type = - stringToMessageType(this->get_parameter(module_name + ".message_type").as_string()); - if (tmp.message_type != SubscriberMessageType::Unknown) { - chain_modules.emplace_back(tmp); - } else { - RCLCPP_WARN( - this->get_logger(), "Unknown message type for module name: %s, skipping..", - tmp.node_name.c_str()); - } - } - return (initSubscribers(chain_modules)); } void ReactionAnalyzerNode::initAnalyzerVariables() @@ -758,15 +321,6 @@ void ReactionAnalyzerNode::initAnalyzerVariables() entity_pose_.orientation.set__z(entity_q_orientation.z()); entity_pose_.orientation.set__w(entity_q_orientation.w()); - // find minimum radius of sphere that encloses the entity - - entity_search_radius_ = - std::sqrt( - std::pow(node_params_.entity_params.x_l, 2) + std::pow(node_params_.entity_params.y_l, 2) + - std::pow(node_params_.entity_params.z_l, 2)) / - 2.0 + - node_params_.object_search_radius_offset; - tf2::Quaternion goal_pose_q_orientation; goal_pose_q_orientation.setRPY( tier4_autoware_utils::deg2rad(node_params_.goal_pose.roll), @@ -843,101 +397,6 @@ void ReactionAnalyzerNode::initPointcloud() pcl::toROSMsg(point_cloud, *entity_pointcloud_ptr_); } -bool ReactionAnalyzerNode::initSubscribers(const reaction_analyzer::ChainModules & modules) -{ - if (modules.empty()) { - RCLCPP_ERROR(get_logger(), "No module to initialize, failed."); - return false; - } - for (const auto & module : modules) { - if (!module.time_debug_topic_address.empty()) { - auto callback = [this, module](const PublishedTime::ConstSharedPtr & msg) { - this->publishedTimeOutputCallback(module.node_name, msg); - }; - auto subscriber = this->create_subscription( - module.time_debug_topic_address, rclcpp::QoS(1), callback, createSubscriptionOptions()); - subscribers_.push_back(subscriber); - published_time_vector_map_[module.node_name] = std::vector(); - } else { - RCLCPP_WARN( - this->get_logger(), "Time debug topic is not provided for module name: %s, skipping..", - module.node_name.c_str()); - } - switch (module.message_type) { - case SubscriberMessageType::AckermannControlCommand: { - auto callback = [this, module](const AckermannControlCommand::ConstSharedPtr & msg) { - this->controlCommandOutputCallback(module.node_name, msg); - }; - auto subscriber = this->create_subscription( - module.topic_address, rclcpp::QoS(1), callback, createSubscriptionOptions()); - subscribers_.push_back(subscriber); - break; - } - case SubscriberMessageType::Trajectory: { - auto callback = [this, module](const Trajectory::ConstSharedPtr & msg) { - this->trajectoryOutputCallback(module.node_name, msg); - }; - auto subscriber = this->create_subscription( - module.topic_address, rclcpp::QoS(1), callback, createSubscriptionOptions()); - subscribers_.push_back(subscriber); - break; - } - case SubscriberMessageType::PointCloud2: { - auto callback = [this, module](const PointCloud2::ConstSharedPtr & msg) { - this->pointcloud2OutputCallback(module.node_name, msg); - }; - auto subscriber = this->create_subscription( - module.topic_address, rclcpp::SensorDataQoS(), callback, createSubscriptionOptions()); - subscribers_.push_back(subscriber); - break; - } - case SubscriberMessageType::PredictedObjects: { - auto callback = [this, module](const PredictedObjects::ConstSharedPtr & msg) { - this->predictedObjectsOutputCallback(module.node_name, msg); - }; - auto subscriber = this->create_subscription( - module.topic_address, rclcpp::QoS(1), callback, createSubscriptionOptions()); - subscribers_.push_back(subscriber); - break; - } - case SubscriberMessageType::DetectedObjects: { - auto callback = [this, module](const DetectedObjects::ConstSharedPtr & msg) { - this->detectedObjectsOutputCallback(module.node_name, msg); - }; - auto subscriber = this->create_subscription( - module.topic_address, rclcpp::QoS(1), callback, createSubscriptionOptions()); - subscribers_.push_back(subscriber); - break; - } - case SubscriberMessageType::TrackedObjects: { - auto callback = [this, module](const TrackedObjects::ConstSharedPtr & msg) { - this->trackedObjectsOutputCallback(module.node_name, msg); - }; - auto subscriber = this->create_subscription( - module.topic_address, rclcpp::QoS(1), callback, createSubscriptionOptions()); - subscribers_.push_back(subscriber); - break; - } - case SubscriberMessageType::Unknown: - RCLCPP_WARN( - this->get_logger(), "Unknown message type for module name: %s, skipping..", - module.node_name.c_str()); - break; - default: - RCLCPP_WARN( - this->get_logger(), "Unknown message type for module name: %s, skipping..", - module.node_name.c_str()); - break; - } - } - if (subscribers_.empty()) { - RCLCPP_ERROR( - get_logger(), "Subscribers for modules are empty. Node couldn't be initialized. Failed"); - return false; - } - return true; -} - void ReactionAnalyzerNode::initPredictedObjects() { auto generateUUIDMsg = [](const std::string & input) { @@ -970,106 +429,6 @@ void ReactionAnalyzerNode::initPredictedObjects() predicted_objects_ptr_ = std::make_shared(pred_objects); } -void ReactionAnalyzerNode::setControlCommandToBuffer( - std::vector & buffer, const AckermannControlCommand & cmd) -{ - const auto last_cmd_time = cmd.stamp; - if (!buffer.empty()) { - for (auto itr = buffer.begin(); itr != buffer.end();) { - const auto expired = (rclcpp::Time(last_cmd_time) - rclcpp::Time(itr->stamp)).seconds() > - node_params_.control_cmd_buffer_time_interval; - - if (expired) { - itr = buffer.erase(itr); - continue; - } - - itr++; - } - } - buffer.emplace_back(cmd); -} - -void ReactionAnalyzerNode::pushPublishedTime( - std::vector & published_time_vec, const PublishedTime & published_time) -{ - published_time_vec.emplace_back(published_time); - if (published_time_vec.size() > 1) { - for (auto itr = published_time_vec.begin(); itr != published_time_vec.end();) { - const auto expired = - (rclcpp::Time(published_time.header.stamp) - rclcpp::Time(itr->header.stamp)).seconds() > - node_params_.published_time_expire_duration; - - if (expired) { - itr = published_time_vec.erase(itr); - continue; - } - - itr++; - } - } -} - -std::optional ReactionAnalyzerNode::findFirstBrakeIdx( - const std::vector & cmd_array, - const std::optional & spawn_cmd_time) -{ - if ( - cmd_array.size() < static_cast(node_params_.min_number_descending_order_control_cmd) || - !spawn_cmd_time) - return {}; - - // wait for enough data after spawn_cmd_time - if ( - rclcpp::Time( - cmd_array.at(cmd_array.size() - node_params_.min_number_descending_order_control_cmd).stamp) < - spawn_cmd_time) - return {}; - - for (size_t i = 0; - i < cmd_array.size() - node_params_.min_number_descending_order_control_cmd + 1; ++i) { - size_t decreased_cmd_counter = 1; // because # of the decreased cmd = iteration + 1 - for (size_t j = i; j < cmd_array.size() - 1; ++j) { - const auto & cmd_first = cmd_array.at(j).longitudinal; - const auto & cmd_second = cmd_array.at(j + 1).longitudinal; - constexpr double jerk_time_epsilon = 0.001; - const auto jerk = - abs(cmd_second.acceleration - cmd_first.acceleration) / - std::max( - (rclcpp::Time(cmd_second.stamp) - rclcpp::Time(cmd_first.stamp)).seconds(), - jerk_time_epsilon); - - if ( - (cmd_second.acceleration < cmd_first.acceleration) && - (jerk > node_params_.min_jerk_for_brake_cmd)) { - decreased_cmd_counter++; - } else { - break; - } - } - if ( - decreased_cmd_counter < - static_cast(node_params_.min_number_descending_order_control_cmd)) - continue; - if (node_params_.debug_control_commands) { - std::stringstream ss; - - // debug print to show the first brake command in the all control commands - for (size_t k = 0; k < cmd_array.size(); ++k) { - if (k == i + 1) { - ss << "First Brake(" << cmd_array.at(k).longitudinal.acceleration << ") "; - } else { - ss << cmd_array.at(k).longitudinal.acceleration << " "; - } - } - - RCLCPP_INFO(this->get_logger(), "%s", ss.str().c_str()); - } - return i + 1; - } - return {}; -} - void ReactionAnalyzerNode::initEgoForTest( const LocalizationInitializationState::ConstSharedPtr & initialization_state_ptr, const RouteState::ConstSharedPtr & route_state_ptr, @@ -1130,17 +489,6 @@ void ReactionAnalyzerNode::initEgoForTest( } } -rclcpp::SubscriptionOptions ReactionAnalyzerNode::createSubscriptionOptions() -{ - rclcpp::CallbackGroup::SharedPtr callback_group = - this->create_callback_group(rclcpp::CallbackGroupType::MutuallyExclusive); - - auto sub_opt = rclcpp::SubscriptionOptions(); - sub_opt.callback_group = callback_group; - - return sub_opt; -} - void ReactionAnalyzerNode::callOperationModeServiceWithoutResponse() { auto req = std::make_shared(); @@ -1160,71 +508,6 @@ void ReactionAnalyzerNode::callOperationModeServiceWithoutResponse() }); } -bool ReactionAnalyzerNode::searchPointcloudNearEntity( - const pcl::PointCloud & pcl_pointcloud) -{ - bool isAnyPointWithinRadius = std::any_of( - pcl_pointcloud.points.begin(), pcl_pointcloud.points.end(), [this](const auto & point) { - return tier4_autoware_utils::calcDistance3d(entity_pose_.position, point) <= - entity_search_radius_; - }); - - if (isAnyPointWithinRadius) { - return true; - } - return false; -} - -bool ReactionAnalyzerNode::searchPredictedObjectsNearEntity( - const PredictedObjects & predicted_objects) -{ - bool isAnyObjectWithinRadius = std::any_of( - predicted_objects.objects.begin(), predicted_objects.objects.end(), - [this](const PredictedObject & object) { - return tier4_autoware_utils::calcDistance3d( - entity_pose_.position, - object.kinematics.initial_pose_with_covariance.pose.position) <= - entity_search_radius_; - }); - - if (isAnyObjectWithinRadius) { - return true; - } - return false; -} - -bool ReactionAnalyzerNode::searchDetectedObjectsNearEntity(const DetectedObjects & detected_objects) -{ - bool isAnyObjectWithinRadius = std::any_of( - detected_objects.objects.begin(), detected_objects.objects.end(), - [this](const DetectedObject & object) { - return tier4_autoware_utils::calcDistance3d( - entity_pose_.position, object.kinematics.pose_with_covariance.pose.position) <= - entity_search_radius_; - }); - - if (isAnyObjectWithinRadius) { - return true; - } - return false; -} - -bool ReactionAnalyzerNode::searchTrackedObjectsNearEntity(const TrackedObjects & tracked_objects) -{ - bool isAnyObjectWithinRadius = std::any_of( - tracked_objects.objects.begin(), tracked_objects.objects.end(), - [this](const TrackedObject & object) { - return tier4_autoware_utils::calcDistance3d( - entity_pose_.position, object.kinematics.pose_with_covariance.pose.position) <= - entity_search_radius_; - }); - - if (isAnyObjectWithinRadius) { - return true; - } - return false; -} - void ReactionAnalyzerNode::reset() { if (test_iteration_count_ >= node_params_.test_iteration) { @@ -1238,53 +521,20 @@ void ReactionAnalyzerNode::reset() test_environment_init_time_ = std::nullopt; last_test_environment_init_request_time_ = std::nullopt; spawn_object_cmd_ = false; - is_output_printed_ = false; is_object_spawned_message_published_ = false; if (topic_publisher_ptr_) { topic_publisher_ptr_->reset(); } std::lock_guard lock(mutex_); - message_buffers_.clear(); spawn_cmd_time_ = std::nullopt; - for (auto & [key, value] : published_time_vector_map_) { - value.clear(); - } + subscriber_ptr_->reset(); RCLCPP_INFO(this->get_logger(), "Test - %zu is done, resetting..", test_iteration_count_); } void ReactionAnalyzerNode::writeResultsToFile() { // sort the results w.r.t the median value - - const auto sort_by_median = - [this]() -> std::vector, double>> { - std::vector, double>> sorted_data; - - for (const auto & pair : test_results_) { - auto vec = pair.second; - - // Calculate the median - std::sort(vec.begin(), vec.end()); - double median = 0.0; - size_t size = vec.size(); - if (size % 2 == 0) { - median = (vec[size / 2 - 1] + vec[size / 2]) / 2.0; - } else { - median = vec[size / 2]; - } - - sorted_data.emplace_back(pair.first, pair.second, median); - } - - // Sort based on the computed median - std::sort(sorted_data.begin(), sorted_data.end(), [](const auto & a, const auto & b) { - return std::get<2>(a) < std::get<2>(b); // Change to > for descending order - }); - - return sorted_data; - }; - - const auto sorted_data_by_median = sort_by_median(); + const auto sorted_data_by_median = sortResultsByMedian(test_results_); // create csv file auto now = std::chrono::system_clock::now(); diff --git a/tools/reaction_analyzer/src/subscriber.cpp b/tools/reaction_analyzer/src/subscriber.cpp new file mode 100644 index 0000000000000..43fd05515fa0a --- /dev/null +++ b/tools/reaction_analyzer/src/subscriber.cpp @@ -0,0 +1,1088 @@ +// Copyright 2024 The Autoware Contributors +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#include "subscriber.hpp" + +#include +#include +#include + +namespace reaction_analyzer::subscriber +{ + +SubscriberBase::SubscriberBase( + rclcpp::Node * node, Odometry::ConstSharedPtr & odometry, + const geometry_msgs::msg::Pose entity_pose, std::atomic & spawn_object_cmd) +: node_(node), odometry_(odometry), entity_pose_(entity_pose), spawn_object_cmd_(spawn_object_cmd) +{ + // init tf + tf_buffer_ = std::make_shared(node_->get_clock()); + tf_listener_ = std::make_shared(*tf_buffer_); + + // init reaction parameters and chain configuration + initReactionChainsAndParams(); + initSubscribers(); +} + +void SubscriberBase::initReactionChainsAndParams() +{ + auto stringToMessageType = [](const std::string & input) { + if (input == "autoware_auto_control_msgs::msg::AckermannControlCommand") { + return SubscriberMessageType::ACKERMANN_CONTROL_COMMAND; + } else if (input == "autoware_auto_planning_msgs::msg::Trajectory") { + return SubscriberMessageType::TRAJECTORY; + } else if (input == "sensor_msgs::msg::PointCloud2") { + return SubscriberMessageType::POINTCLOUD2; + } else if (input == "autoware_auto_perception_msgs::msg::PredictedObjects") { + return SubscriberMessageType::PREDICTED_OBJECTS; + } else if (input == "autoware_auto_perception_msgs::msg::DetectedObjects") { + return SubscriberMessageType::DETECTED_OBJECTS; + } else if (input == "autoware_auto_perception_msgs::msg::TrackedObjects") { + return SubscriberMessageType::TRACKED_OBJECTS; + } else { + return SubscriberMessageType::UNKNOWN; + } + }; + + auto stringToReactionType = [](const std::string & input) { + if (input == "first_brake_params") { + return ReactionType::FIRST_BRAKE; + } else if (input == "search_zero_vel_params") { + return ReactionType::SEARCH_ZERO_VEL; + } else if (input == "search_entity_params") { + return ReactionType::SEARCH_ENTITY; + } else { + return ReactionType::UNKNOWN; + } + }; + + // Init Chains: get the topic addresses and message types of the modules in chain + { + const auto param_key = std::string("subscriber.reaction_chain"); + const auto module_names = node_->list_parameters({param_key}, 3).prefixes; + for (const auto & module_name : module_names) { + const auto splitted_name = split(module_name, '.'); + TopicConfig tmp; + tmp.node_name = splitted_name.back(); + tmp.topic_address = node_->get_parameter(module_name + ".topic_name").as_string(); + tmp.time_debug_topic_address = + node_->get_parameter_or(module_name + ".time_debug_topic_name", std::string("")); + tmp.message_type = + stringToMessageType(node_->get_parameter(module_name + ".message_type").as_string()); + if (tmp.message_type != SubscriberMessageType::UNKNOWN) { + chain_modules_.emplace_back(tmp); + } else { + RCLCPP_WARN( + node_->get_logger(), "Unknown message type for module name: %s, skipping..", + tmp.node_name.c_str()); + } + } + } + + // Init Params: get the parameters for the reaction functions + { + const auto param_key = std::string("subscriber.reaction_params"); + const auto module_names = node_->list_parameters({param_key}, 3).prefixes; + for (const auto & module_name : module_names) { + const auto splitted_name = split(module_name, '.'); + const auto type = stringToReactionType(splitted_name.back()); + switch (type) { + case ReactionType::FIRST_BRAKE: { + reaction_params_.first_brake_params.debug_control_commands = + node_->get_parameter(module_name + ".debug_control_commands").as_bool(); + reaction_params_.first_brake_params.control_cmd_buffer_time_interval = + node_->get_parameter(module_name + ".control_cmd_buffer_time_interval").as_double(); + reaction_params_.first_brake_params.min_number_descending_order_control_cmd = + node_->get_parameter(module_name + ".min_number_descending_order_control_cmd").as_int(); + reaction_params_.first_brake_params.min_jerk_for_brake_cmd = + node_->get_parameter(module_name + ".min_jerk_for_brake_cmd").as_double(); + RCLCPP_INFO_ONCE( + node_->get_logger(), + "First brake parameters are set: debug_control_commands %s, " + "control_cmd_buffer_time_interval %f, min_number_descending_order_control_cmd %zu, " + "min_jerk_for_brake_cmd %f", + reaction_params_.first_brake_params.debug_control_commands ? "true" : "false", + reaction_params_.first_brake_params.control_cmd_buffer_time_interval, + reaction_params_.first_brake_params.min_number_descending_order_control_cmd, + reaction_params_.first_brake_params.min_jerk_for_brake_cmd); + break; + } + case ReactionType::SEARCH_ZERO_VEL: { + reaction_params_.search_zero_vel_params.max_looking_distance = + node_->get_parameter(module_name + ".max_looking_distance").as_double(); + RCLCPP_INFO_ONCE( + node_->get_logger(), "Search Zero Vel parameters are set: max_looking_distance %f", + reaction_params_.search_zero_vel_params.max_looking_distance); + break; + } + case ReactionType::SEARCH_ENTITY: { + reaction_params_.search_entity_params.search_radius = + node_->get_parameter(module_name + ".search_radius").as_double(); + RCLCPP_INFO_ONCE( + node_->get_logger(), "Search Entity parameters are set: search_radius %f", + reaction_params_.search_entity_params.search_radius); + break; + } + default: + RCLCPP_WARN( + node_->get_logger(), "Unknown reaction type for module name: %s, skipping..", + splitted_name.back().c_str()); + break; + } + } + } +} + +bool SubscriberBase::initSubscribers() +{ + if (chain_modules_.empty()) { + RCLCPP_ERROR(node_->get_logger(), "No module to initialize subscribers, failed."); + return false; + } + + for (const auto & module : chain_modules_) { + switch (module.message_type) { + case SubscriberMessageType::ACKERMANN_CONTROL_COMMAND: { + SubscriberVariables subscriber_variable; + + if (!module.time_debug_topic_address.empty()) { + // If not empty, user should define a time debug topic + // NOTE: Because message_filters package does not support the messages without headers, we + // can not use the synchronizer. After we reacted, we are going to use the cache + // of the both PublishedTime and AckermannControlCommand subscribers to find the messages + // which have same header time. + + std::function callback = + [this, module](const AckermannControlCommand::ConstSharedPtr & ptr) { + this->controlCommandOutputCallback(module.node_name, ptr); + }; + subscriber_variable.sub1_ = + std::make_unique>( + node_, module.topic_address, rclcpp::QoS(1).get_rmw_qos_profile(), + createSubscriptionOptions(node_)); + + subscriber_variable.sub1_->registerCallback(std::bind(callback, std::placeholders::_1)); + + subscriber_variable.sub2_ = std::make_unique>( + node_, module.time_debug_topic_address, rclcpp::QoS(1).get_rmw_qos_profile(), + createSubscriptionOptions(node_)); + constexpr int cache_size = 5; + subscriber_variable.cache_ = std::make_unique>( + *subscriber_variable.sub2_, cache_size); + + } else { + std::function callback = + [this, module](const AckermannControlCommand::ConstSharedPtr & ptr) { + this->controlCommandOutputCallback(module.node_name, ptr); + }; + + subscriber_variable.sub1_ = + std::make_unique>( + node_, module.topic_address, rclcpp::QoS(1).get_rmw_qos_profile(), + createSubscriptionOptions(node_)); + + subscriber_variable.sub1_->registerCallback(std::bind(callback, std::placeholders::_1)); + RCLCPP_WARN( + node_->get_logger(), + "PublishedTime will not be used for node name: %s. Header timestamp will be used for " + "calculations", + module.node_name.c_str()); + } + // set the variable to map with the topic address + subscriber_variables_map_[module.node_name] = std::move(subscriber_variable); + break; + } + case SubscriberMessageType::TRAJECTORY: { + SubscriberVariables subscriber_variable; + + if (!module.time_debug_topic_address.empty()) { + std::function + callback = [this, module]( + const Trajectory::ConstSharedPtr & ptr, + const PublishedTime::ConstSharedPtr & published_time_ptr) { + this->trajectoryOutputCallback(module.node_name, ptr, published_time_ptr); + }; + + subscriber_variable.sub1_ = std::make_unique>( + node_, module.topic_address, rclcpp::QoS(1).get_rmw_qos_profile(), + createSubscriptionOptions(node_)); + subscriber_variable.sub2_ = std::make_unique>( + node_, module.time_debug_topic_address, rclcpp::QoS(1).get_rmw_qos_profile(), + createSubscriptionOptions(node_)); + + subscriber_variable.synchronizer_ = std::make_unique< + message_filters::Synchronizer::ExactTimePolicy>>( + SubscriberVariables::ExactTimePolicy(10), *subscriber_variable.sub1_, + *subscriber_variable.sub2_); + + subscriber_variable.synchronizer_->registerCallback( + std::bind(callback, std::placeholders::_1, std::placeholders::_2)); + + } else { + std::function callback = + [this, module](const Trajectory::ConstSharedPtr & msg) { + this->trajectoryOutputCallback(module.node_name, msg); + }; + subscriber_variable.sub1_ = std::make_unique>( + node_, module.topic_address, rclcpp::QoS(1).get_rmw_qos_profile(), + createSubscriptionOptions(node_)); + + subscriber_variable.sub1_->registerCallback(std::bind(callback, std::placeholders::_1)); + RCLCPP_WARN( + node_->get_logger(), + "PublishedTime will not be used for node name: %s. Header timestamp will be used for " + "calculations", + module.node_name.c_str()); + } + subscriber_variables_map_[module.node_name] = std::move(subscriber_variable); + break; + } + case SubscriberMessageType::POINTCLOUD2: { + SubscriberVariables subscriber_variable; + + if (!module.time_debug_topic_address.empty()) { + std::function + callback = [this, module]( + const PointCloud2::ConstSharedPtr & ptr, + const PublishedTime::ConstSharedPtr & published_time_ptr) { + this->pointcloud2OutputCallback(module.node_name, ptr, published_time_ptr); + }; + + subscriber_variable.sub1_ = std::make_unique>( + node_, module.topic_address, rclcpp::QoS(1).get_rmw_qos_profile(), + createSubscriptionOptions(node_)); + subscriber_variable.sub2_ = std::make_unique>( + node_, module.time_debug_topic_address, rclcpp::QoS(1).get_rmw_qos_profile(), + createSubscriptionOptions(node_)); + + subscriber_variable.synchronizer_ = std::make_unique< + message_filters::Synchronizer::ExactTimePolicy>>( + SubscriberVariables::ExactTimePolicy(10), *subscriber_variable.sub1_, + *subscriber_variable.sub2_); + + subscriber_variable.synchronizer_->registerCallback( + std::bind(callback, std::placeholders::_1, std::placeholders::_2)); + + } else { + std::function callback = + [this, module](const PointCloud2::ConstSharedPtr & msg) { + this->pointcloud2OutputCallback(module.node_name, msg); + }; + subscriber_variable.sub1_ = std::make_unique>( + node_, module.topic_address, rclcpp::QoS(1).get_rmw_qos_profile(), + createSubscriptionOptions(node_)); + + subscriber_variable.sub1_->registerCallback(std::bind(callback, std::placeholders::_1)); + RCLCPP_WARN( + node_->get_logger(), + "PublishedTime will not be used for node name: %s. Header timestamp will be used for " + "calculations", + module.node_name.c_str()); + } + subscriber_variables_map_[module.node_name] = std::move(subscriber_variable); + break; + } + case SubscriberMessageType::PREDICTED_OBJECTS: { + SubscriberVariables subscriber_variable; + + if (!module.time_debug_topic_address.empty()) { + std::function + callback = [this, module]( + const PredictedObjects::ConstSharedPtr & ptr, + const PublishedTime::ConstSharedPtr & published_time_ptr) { + this->predictedObjectsOutputCallback(module.node_name, ptr, published_time_ptr); + }; + subscriber_variable.sub1_ = + std::make_unique>( + node_, module.topic_address, rclcpp::QoS(1).get_rmw_qos_profile(), + createSubscriptionOptions(node_)); + subscriber_variable.sub2_ = std::make_unique>( + node_, module.time_debug_topic_address, rclcpp::QoS(1).get_rmw_qos_profile(), + createSubscriptionOptions(node_)); + + subscriber_variable.synchronizer_ = std::make_unique< + message_filters::Synchronizer::ExactTimePolicy>>( + SubscriberVariables::ExactTimePolicy(10), *subscriber_variable.sub1_, + *subscriber_variable.sub2_); + + subscriber_variable.synchronizer_->registerCallback( + std::bind(callback, std::placeholders::_1, std::placeholders::_2)); + + } else { + std::function callback = + [this, module](const PredictedObjects::ConstSharedPtr & msg) { + this->predictedObjectsOutputCallback(module.node_name, msg); + }; + subscriber_variable.sub1_ = + std::make_unique>( + node_, module.topic_address, rclcpp::QoS(1).get_rmw_qos_profile(), + createSubscriptionOptions(node_)); + + subscriber_variable.sub1_->registerCallback(std::bind(callback, std::placeholders::_1)); + RCLCPP_WARN( + node_->get_logger(), + "PublishedTime will not be used for node name: %s. Header timestamp will be used for " + "calculations", + module.node_name.c_str()); + } + subscriber_variables_map_[module.node_name] = std::move(subscriber_variable); + break; + } + case SubscriberMessageType::DETECTED_OBJECTS: { + SubscriberVariables subscriber_variable; + + if (!module.time_debug_topic_address.empty()) { + std::function + callback = [this, module]( + const DetectedObjects::ConstSharedPtr & ptr, + const PublishedTime::ConstSharedPtr & published_time_ptr) { + this->detectedObjectsOutputCallback(module.node_name, ptr, published_time_ptr); + }; + + subscriber_variable.sub1_ = + std::make_unique>( + node_, module.topic_address, rclcpp::QoS(1).get_rmw_qos_profile(), + createSubscriptionOptions(node_)); + subscriber_variable.sub2_ = std::make_unique>( + node_, module.time_debug_topic_address, rclcpp::QoS(1).get_rmw_qos_profile(), + createSubscriptionOptions(node_)); + + subscriber_variable.synchronizer_ = std::make_unique< + message_filters::Synchronizer::ExactTimePolicy>>( + SubscriberVariables::ExactTimePolicy(10), *subscriber_variable.sub1_, + *subscriber_variable.sub2_); + + subscriber_variable.synchronizer_->registerCallback( + std::bind(callback, std::placeholders::_1, std::placeholders::_2)); + + } else { + std::function callback = + [this, module](const DetectedObjects::ConstSharedPtr & msg) { + this->detectedObjectsOutputCallback(module.node_name, msg); + }; + subscriber_variable.sub1_ = + std::make_unique>( + node_, module.topic_address, rclcpp::QoS(1).get_rmw_qos_profile(), + createSubscriptionOptions(node_)); + + subscriber_variable.sub1_->registerCallback(std::bind(callback, std::placeholders::_1)); + RCLCPP_WARN( + node_->get_logger(), + "PublishedTime will not be used for node name: %s. Header timestamp will be used for " + "calculations", + module.node_name.c_str()); + } + subscriber_variables_map_[module.node_name] = std::move(subscriber_variable); + + break; + } + case SubscriberMessageType::TRACKED_OBJECTS: { + SubscriberVariables subscriber_variable; + if (!module.time_debug_topic_address.empty()) { + std::function + callback = [this, module]( + const TrackedObjects::ConstSharedPtr & ptr, + const PublishedTime::ConstSharedPtr & published_time_ptr) { + this->trackedObjectsOutputCallback(module.node_name, ptr, published_time_ptr); + }; + + subscriber_variable.sub1_ = std::make_unique>( + node_, module.topic_address, rclcpp::QoS(1).get_rmw_qos_profile(), + createSubscriptionOptions(node_)); + subscriber_variable.sub2_ = std::make_unique>( + node_, module.time_debug_topic_address, rclcpp::QoS(1).get_rmw_qos_profile(), + createSubscriptionOptions(node_)); + + subscriber_variable.synchronizer_ = std::make_unique< + message_filters::Synchronizer::ExactTimePolicy>>( + SubscriberVariables::ExactTimePolicy(10), *subscriber_variable.sub1_, + *subscriber_variable.sub2_); + + subscriber_variable.synchronizer_->registerCallback( + std::bind(callback, std::placeholders::_1, std::placeholders::_2)); + + } else { + std::function callback = + [this, module](const TrackedObjects::ConstSharedPtr & msg) { + this->trackedObjectsOutputCallback(module.node_name, msg); + }; + subscriber_variable.sub1_ = std::make_unique>( + node_, module.topic_address, rclcpp::QoS(1).get_rmw_qos_profile(), + createSubscriptionOptions(node_)); + + subscriber_variable.sub1_->registerCallback(std::bind(callback, std::placeholders::_1)); + RCLCPP_WARN( + node_->get_logger(), + "PublishedTime will not be used for node name: %s. Header timestamp will be used for " + "calculations", + module.node_name.c_str()); + } + subscriber_variables_map_[module.node_name] = std::move(subscriber_variable); + break; + } + case SubscriberMessageType::UNKNOWN: + RCLCPP_WARN( + node_->get_logger(), "Unknown message type for module name: %s, skipping..", + module.node_name.c_str()); + break; + default: + RCLCPP_WARN( + node_->get_logger(), "Unknown message type for module name: %s, skipping..", + module.node_name.c_str()); + break; + } + } + std::cout << "---------- size: " << subscriber_variables_map_.size() << std::endl; + return true; +} + +std::optional> SubscriberBase::getMessageBuffersMap() +{ + std::lock_guard lock(mutex_); + if (message_buffers_.empty()) { + RCLCPP_ERROR(node_->get_logger(), "No message buffers are initialized."); + return std::nullopt; + } + + // Check all reacted or not + bool all_reacted = true; + for (const auto & [key, variant] : message_buffers_) { + if (auto * control_message = std::get_if(&variant)) { + if (!control_message->second) { + all_reacted = false; + } + } else if (auto * planning_message = std::get_if(&variant)) { + if (!planning_message->has_value()) { + all_reacted = false; + } + } else if (auto * pointcloud_message = std::get_if(&variant)) { + if (!pointcloud_message->has_value()) { + all_reacted = false; + } + } else if (auto * predicted_objects_message = std::get_if(&variant)) { + if (!predicted_objects_message->has_value()) { + all_reacted = false; + } + } else if (auto * detected_objects_message = std::get_if(&variant)) { + if (!detected_objects_message->has_value()) { + all_reacted = false; + } + } else if (auto * tracked_objects_message = std::get_if(&variant)) { + if (!tracked_objects_message->has_value()) { + all_reacted = false; + } + } + } + if (!all_reacted) { + return std::nullopt; + } + return message_buffers_; +} + +void SubscriberBase::reset() +{ + std::lock_guard lock(mutex_); + message_buffers_.clear(); +} + +// Callbacks + +void SubscriberBase::controlCommandOutputCallback( + const std::string & node_name, const AckermannControlCommand::ConstSharedPtr & msg_ptr) +{ + std::lock_guard lock(mutex_); + auto & variant = message_buffers_[node_name]; + if (!std::holds_alternative(variant)) { + ControlCommandBuffer buffer(std::vector{*msg_ptr}, std::nullopt); + variant = buffer; + } + auto & cmd_buffer = std::get(variant); + if (cmd_buffer.second) { + // reacted + return; + } + setControlCommandToBuffer(cmd_buffer.first, *msg_ptr); + if (!spawn_object_cmd_) return; + + const auto brake_idx = findFirstBrakeIdx(cmd_buffer.first); + if (brake_idx) { + RCLCPP_INFO(node_->get_logger(), "%s reacted without published time", node_name.c_str()); + const auto brake_cmd = cmd_buffer.first.at(brake_idx.value()); + + // TODO(brkay54): update here if message_filters package add the support for the messages which + // does not have header + const auto & subscriber_variant = + std::get>(subscriber_variables_map_[node_name]); + + // check if the cache was initialized or not, if there is, use it to set the published time + if (subscriber_variant.cache_) { + // use cache to get the published time + const auto published_time_vec = + subscriber_variant.cache_->getSurroundingInterval(brake_cmd.stamp, node_->now()); + if (!published_time_vec.empty()) { + for (const auto & published_time : published_time_vec) { + if (published_time->header.stamp == brake_cmd.stamp) { + cmd_buffer.second = brake_cmd; + cmd_buffer.second->stamp = published_time->published_stamp; + RCLCPP_INFO(node_->get_logger(), "%s reacted with published time", node_name.c_str()); + return; + } + } + RCLCPP_ERROR( + node_->get_logger(), "Published time couldn't found for the node: %s", node_name.c_str()); + + } else { + RCLCPP_ERROR( + node_->get_logger(), "Published time vector is empty for the node: %s", + node_name.c_str()); + } + } else { + cmd_buffer.second = brake_cmd; + } + } +} + +void SubscriberBase::trajectoryOutputCallback( + const std::string & node_name, const Trajectory::ConstSharedPtr & msg_ptr) +{ + mutex_.lock(); + auto variant = message_buffers_[node_name]; + const auto current_odometry_ptr = odometry_; + if (!std::holds_alternative(variant)) { + TrajectoryBuffer buffer(std::nullopt); + variant = buffer; + message_buffers_[node_name] = variant; + } + mutex_.unlock(); + + if ( + !current_odometry_ptr || !spawn_object_cmd_ || + std::get(variant).has_value()) { + return; + } + + const auto nearest_seg_idx = motion_utils::findNearestSegmentIndex( + msg_ptr->points, current_odometry_ptr->pose.pose.position); + + const auto nearest_objects_seg_idx = + motion_utils::findNearestIndex(msg_ptr->points, entity_pose_.position); + + const auto zero_vel_idx = motion_utils::searchZeroVelocityIndex( + msg_ptr->points, nearest_seg_idx, nearest_objects_seg_idx); + + if (zero_vel_idx) { + std::get(variant) = *msg_ptr; + RCLCPP_INFO(node_->get_logger(), "%s reacted without published time", node_name.c_str()); + mutex_.lock(); + message_buffers_[node_name] = variant; + mutex_.unlock(); + } +} + +void SubscriberBase::trajectoryOutputCallback( + const std::string & node_name, const Trajectory::ConstSharedPtr & msg_ptr, + const PublishedTime::ConstSharedPtr & published_time_ptr) +{ + mutex_.lock(); + auto variant = message_buffers_[node_name]; + const auto current_odometry_ptr = odometry_; + if (!std::holds_alternative(variant)) { + TrajectoryBuffer buffer(std::nullopt); + variant = buffer; + message_buffers_[node_name] = variant; + } + mutex_.unlock(); + + if ( + !current_odometry_ptr || !spawn_object_cmd_ || + std::get(variant).has_value()) { + return; + } + + const auto nearest_seg_idx = motion_utils::findNearestSegmentIndex( + msg_ptr->points, current_odometry_ptr->pose.pose.position); + + // find the target index which we will search for zero velocity + auto tmp_target_idx = getIndexAfterDistance( + *msg_ptr, nearest_seg_idx, reaction_params_.search_zero_vel_params.max_looking_distance); + if (tmp_target_idx == msg_ptr->points.size() - 1) { + tmp_target_idx = msg_ptr->points.size() - 2; // Last trajectory points might be zero velocity + } + const auto target_idx = tmp_target_idx; + const auto zero_vel_idx = + motion_utils::searchZeroVelocityIndex(msg_ptr->points, nearest_seg_idx, target_idx); + + if (zero_vel_idx) { + std::get(variant) = *msg_ptr; + + // set published time + std::get(variant)->header.stamp = published_time_ptr->published_stamp; + RCLCPP_INFO(node_->get_logger(), "%s reacted with published time", node_name.c_str()); + mutex_.lock(); + message_buffers_[node_name] = variant; + mutex_.unlock(); + } +} + +void SubscriberBase::pointcloud2OutputCallback( + const std::string & node_name, const PointCloud2::ConstSharedPtr & msg_ptr) +{ + mutex_.lock(); + auto variant = message_buffers_[node_name]; + if (!std::holds_alternative(variant)) { + PointCloud2Buffer buffer(std::nullopt); + variant = buffer; + message_buffers_[node_name] = variant; + } + mutex_.unlock(); + + if (!spawn_object_cmd_ || std::get(variant).has_value()) { + return; + } + + // transform pointcloud + geometry_msgs::msg::TransformStamped transform_stamped{}; + try { + transform_stamped = tf_buffer_->lookupTransform( + "map", msg_ptr->header.frame_id, node_->now(), rclcpp::Duration::from_seconds(0.1)); + } catch (tf2::TransformException & ex) { + RCLCPP_ERROR_STREAM( + node_->get_logger(), + "Failed to look up transform from " << msg_ptr->header.frame_id << " to map"); + return; + } + + // transform by using eigen matrix + PointCloud2 transformed_points{}; + const Eigen::Matrix4f affine_matrix = + tf2::transformToEigen(transform_stamped.transform).matrix().cast(); + pcl_ros::transformPointCloud(affine_matrix, *msg_ptr, transformed_points); + + pcl::PointCloud pcl_pointcloud; + pcl::fromROSMsg(transformed_points, pcl_pointcloud); + + if (searchPointcloudNearEntity(pcl_pointcloud)) { + std::get(variant) = *msg_ptr; + RCLCPP_INFO(node_->get_logger(), "%s reacted without published time", node_name.c_str()); + mutex_.lock(); + message_buffers_[node_name] = variant; + mutex_.unlock(); + } +} +void SubscriberBase::pointcloud2OutputCallback( + const std::string & node_name, const PointCloud2::ConstSharedPtr & msg_ptr, + const PublishedTime::ConstSharedPtr & published_time_ptr) +{ + mutex_.lock(); + auto variant = message_buffers_[node_name]; + if (!std::holds_alternative(variant)) { + PointCloud2Buffer buffer(std::nullopt); + variant = buffer; + message_buffers_[node_name] = variant; + } + mutex_.unlock(); + + if (!spawn_object_cmd_ || std::get(variant).has_value()) { + return; + } + + // transform pointcloud + geometry_msgs::msg::TransformStamped transform_stamped{}; + try { + transform_stamped = tf_buffer_->lookupTransform( + "map", msg_ptr->header.frame_id, node_->now(), rclcpp::Duration::from_seconds(0.1)); + } catch (tf2::TransformException & ex) { + RCLCPP_ERROR_STREAM( + node_->get_logger(), + "Failed to look up transform from " << msg_ptr->header.frame_id << " to map"); + return; + } + + // transform by using eigen matrix + PointCloud2 transformed_points{}; + const Eigen::Matrix4f affine_matrix = + tf2::transformToEigen(transform_stamped.transform).matrix().cast(); + pcl_ros::transformPointCloud(affine_matrix, *msg_ptr, transformed_points); + + pcl::PointCloud pcl_pointcloud; + pcl::fromROSMsg(transformed_points, pcl_pointcloud); + + if (searchPointcloudNearEntity(pcl_pointcloud)) { + std::get(variant) = *msg_ptr; + // set published time + std::get(variant)->header.stamp = published_time_ptr->published_stamp; + RCLCPP_INFO(node_->get_logger(), "%s reacted with published time", node_name.c_str()); + mutex_.lock(); + message_buffers_[node_name] = variant; + mutex_.unlock(); + } +} +void SubscriberBase::predictedObjectsOutputCallback( + const std::string & node_name, const PredictedObjects::ConstSharedPtr & msg_ptr) +{ + mutex_.lock(); + auto variant = message_buffers_[node_name]; + if (!std::holds_alternative(variant)) { + PredictedObjectsBuffer buffer(std::nullopt); + variant = buffer; + message_buffers_[node_name] = variant; + } + mutex_.unlock(); + + if ( + !spawn_object_cmd_ || msg_ptr->objects.empty() || + std::get(variant).has_value()) { + return; + } + + if (searchPredictedObjectsNearEntity(*msg_ptr)) { + std::get(variant) = *msg_ptr; + RCLCPP_INFO(node_->get_logger(), "%s reacted without published time", node_name.c_str()); + + mutex_.lock(); + message_buffers_[node_name] = variant; + mutex_.unlock(); + } +} + +void SubscriberBase::predictedObjectsOutputCallback( + const std::string & node_name, const PredictedObjects::ConstSharedPtr & msg_ptr, + const PublishedTime::ConstSharedPtr & published_time_ptr) +{ + mutex_.lock(); + auto variant = message_buffers_[node_name]; + if (!std::holds_alternative(variant)) { + PredictedObjectsBuffer buffer(std::nullopt); + variant = buffer; + message_buffers_[node_name] = variant; + } + mutex_.unlock(); + + if ( + !spawn_object_cmd_ || msg_ptr->objects.empty() || + std::get(variant).has_value()) { + return; + } + + if (searchPredictedObjectsNearEntity(*msg_ptr)) { + std::get(variant) = *msg_ptr; + RCLCPP_INFO(node_->get_logger(), "%s reacted with published time", node_name.c_str()); + + // set published time + std::get(variant)->header.stamp = published_time_ptr->published_stamp; + mutex_.lock(); + message_buffers_[node_name] = variant; + mutex_.unlock(); + } +} + +void SubscriberBase::detectedObjectsOutputCallback( + const std::string & node_name, const DetectedObjects::ConstSharedPtr & msg_ptr) +{ + mutex_.lock(); + auto variant = message_buffers_[node_name]; + if (!std::holds_alternative(variant)) { + DetectedObjectsBuffer buffer(std::nullopt); + variant = buffer; + message_buffers_[node_name] = variant; + } + mutex_.unlock(); + if ( + !spawn_object_cmd_ || msg_ptr->objects.empty() || + std::get(variant).has_value()) { + return; + } + + // transform objects + geometry_msgs::msg::TransformStamped transform_stamped{}; + try { + transform_stamped = tf_buffer_->lookupTransform( + "map", msg_ptr->header.frame_id, node_->now(), rclcpp::Duration::from_seconds(0.1)); + } catch (tf2::TransformException & ex) { + RCLCPP_ERROR_STREAM( + node_->get_logger(), + "Failed to look up transform from " << msg_ptr->header.frame_id << " to map"); + return; + } + + DetectedObjects output_objs; + output_objs = *msg_ptr; + for (auto & obj : output_objs.objects) { + geometry_msgs::msg::PoseStamped output_stamped, input_stamped; + input_stamped.pose = obj.kinematics.pose_with_covariance.pose; + tf2::doTransform(input_stamped, output_stamped, transform_stamped); + obj.kinematics.pose_with_covariance.pose = output_stamped.pose; + } + if (searchDetectedObjectsNearEntity(output_objs)) { + std::get(variant) = *msg_ptr; + RCLCPP_INFO(node_->get_logger(), "%s reacted without published time", node_name.c_str()); + mutex_.lock(); + message_buffers_[node_name] = variant; + mutex_.unlock(); + } +} + +void SubscriberBase::detectedObjectsOutputCallback( + const std::string & node_name, const DetectedObjects::ConstSharedPtr & msg_ptr, + const PublishedTime::ConstSharedPtr & published_time_ptr) +{ + mutex_.lock(); + auto variant = message_buffers_[node_name]; + if (!std::holds_alternative(variant)) { + DetectedObjectsBuffer buffer(std::nullopt); + variant = buffer; + message_buffers_[node_name] = variant; + } + mutex_.unlock(); + if ( + !spawn_object_cmd_ || msg_ptr->objects.empty() || + std::get(variant).has_value()) { + return; + } + + // transform objects + geometry_msgs::msg::TransformStamped transform_stamped{}; + try { + transform_stamped = tf_buffer_->lookupTransform( + "map", msg_ptr->header.frame_id, node_->now(), rclcpp::Duration::from_seconds(0.1)); + } catch (tf2::TransformException & ex) { + RCLCPP_ERROR_STREAM( + node_->get_logger(), + "Failed to look up transform from " << msg_ptr->header.frame_id << " to map"); + return; + } + + DetectedObjects output_objs; + output_objs = *msg_ptr; + for (auto & obj : output_objs.objects) { + geometry_msgs::msg::PoseStamped output_stamped, input_stamped; + input_stamped.pose = obj.kinematics.pose_with_covariance.pose; + tf2::doTransform(input_stamped, output_stamped, transform_stamped); + obj.kinematics.pose_with_covariance.pose = output_stamped.pose; + } + if (searchDetectedObjectsNearEntity(output_objs)) { + std::get(variant) = *msg_ptr; + RCLCPP_INFO(node_->get_logger(), "%s reacted with published time", node_name.c_str()); + + // set published time + std::get(variant)->header.stamp = published_time_ptr->published_stamp; + mutex_.lock(); + message_buffers_[node_name] = variant; + mutex_.unlock(); + } +} + +void SubscriberBase::trackedObjectsOutputCallback( + const std::string & node_name, const TrackedObjects::ConstSharedPtr & msg_ptr) +{ + mutex_.lock(); + auto variant = message_buffers_[node_name]; + if (!std::holds_alternative(variant)) { + TrackedObjectsBuffer buffer(std::nullopt); + variant = buffer; + message_buffers_[node_name] = variant; + } + mutex_.unlock(); + if ( + !spawn_object_cmd_ || msg_ptr->objects.empty() || + std::get(variant).has_value()) { + return; + } + + if (searchTrackedObjectsNearEntity(*msg_ptr)) { + std::get(variant) = *msg_ptr; + RCLCPP_INFO(node_->get_logger(), "Reacted %s", node_name.c_str()); + mutex_.lock(); + message_buffers_[node_name] = variant; + mutex_.unlock(); + } +} + +void SubscriberBase::trackedObjectsOutputCallback( + const std::string & node_name, const TrackedObjects::ConstSharedPtr & msg_ptr, + const PublishedTime::ConstSharedPtr & published_time_ptr) +{ + mutex_.lock(); + auto variant = message_buffers_[node_name]; + if (!std::holds_alternative(variant)) { + TrackedObjectsBuffer buffer(std::nullopt); + variant = buffer; + message_buffers_[node_name] = variant; + } + mutex_.unlock(); + if ( + !spawn_object_cmd_ || msg_ptr->objects.empty() || + std::get(variant).has_value()) { + return; + } + + if (searchTrackedObjectsNearEntity(*msg_ptr)) { + std::get(variant) = *msg_ptr; + RCLCPP_INFO(node_->get_logger(), "%s reacted with published time", node_name.c_str()); + // set published time + std::get(variant)->header.stamp = published_time_ptr->published_stamp; + mutex_.lock(); + message_buffers_[node_name] = variant; + mutex_.unlock(); + } +} + +bool SubscriberBase::searchPointcloudNearEntity( + const pcl::PointCloud & pcl_pointcloud) +{ + bool isAnyPointWithinRadius = std::any_of( + pcl_pointcloud.points.begin(), pcl_pointcloud.points.end(), [this](const auto & point) { + return tier4_autoware_utils::calcDistance3d(entity_pose_.position, point) <= + reaction_params_.search_entity_params.search_radius; + }); + + if (isAnyPointWithinRadius) { + return true; + } + return false; +} + +bool SubscriberBase::searchPredictedObjectsNearEntity(const PredictedObjects & predicted_objects) +{ + bool isAnyObjectWithinRadius = std::any_of( + predicted_objects.objects.begin(), predicted_objects.objects.end(), + [this](const PredictedObject & object) { + return tier4_autoware_utils::calcDistance3d( + entity_pose_.position, + object.kinematics.initial_pose_with_covariance.pose.position) <= + reaction_params_.search_entity_params.search_radius; + }); + + if (isAnyObjectWithinRadius) { + return true; + } + return false; +} + +bool SubscriberBase::searchDetectedObjectsNearEntity(const DetectedObjects & detected_objects) +{ + bool isAnyObjectWithinRadius = std::any_of( + detected_objects.objects.begin(), detected_objects.objects.end(), + [this](const DetectedObject & object) { + return tier4_autoware_utils::calcDistance3d( + entity_pose_.position, object.kinematics.pose_with_covariance.pose.position) <= + reaction_params_.search_entity_params.search_radius; + }); + + if (isAnyObjectWithinRadius) { + return true; + } + return false; +} + +bool SubscriberBase::searchTrackedObjectsNearEntity(const TrackedObjects & tracked_objects) +{ + bool isAnyObjectWithinRadius = std::any_of( + tracked_objects.objects.begin(), tracked_objects.objects.end(), + [this](const TrackedObject & object) { + return tier4_autoware_utils::calcDistance3d( + entity_pose_.position, object.kinematics.pose_with_covariance.pose.position) <= + reaction_params_.search_entity_params.search_radius; + }); + + if (isAnyObjectWithinRadius) { + return true; + } + return false; +} + +std::optional SubscriberBase::findFirstBrakeIdx( + const std::vector & cmd_array) +{ + if ( + cmd_array.size() < + reaction_params_.first_brake_params.min_number_descending_order_control_cmd) { + RCLCPP_WARN_ONCE( + node_->get_logger(), + "Control command buffer size is less than the minimum required size for first brake check"); + return {}; + } + + for (size_t i = 0; + i < cmd_array.size() - + reaction_params_.first_brake_params.min_number_descending_order_control_cmd + 1; + ++i) { + size_t decreased_cmd_counter = 1; // because # of the decreased cmd = iteration + 1 + for (size_t j = i; j < cmd_array.size() - 1; ++j) { + const auto & cmd_first = cmd_array.at(j).longitudinal; + const auto & cmd_second = cmd_array.at(j + 1).longitudinal; + constexpr double jerk_time_epsilon = 0.001; + const auto jerk = + abs(cmd_second.acceleration - cmd_first.acceleration) / + std::max( + (rclcpp::Time(cmd_second.stamp) - rclcpp::Time(cmd_first.stamp)).seconds(), + jerk_time_epsilon); + + if ( + (cmd_second.acceleration < cmd_first.acceleration) && + (jerk > reaction_params_.first_brake_params.min_jerk_for_brake_cmd)) { + decreased_cmd_counter++; + } else { + break; + } + } + if ( + decreased_cmd_counter < + static_cast( + reaction_params_.first_brake_params.min_number_descending_order_control_cmd)) + continue; + if (reaction_params_.first_brake_params.debug_control_commands) { + std::stringstream ss; + + // debug print to show the first brake command in the all control commands + for (size_t k = 0; k < cmd_array.size(); ++k) { + if (k == i + 1) { + ss << "First Brake(" << cmd_array.at(k).longitudinal.acceleration << ") "; + } else { + ss << cmd_array.at(k).longitudinal.acceleration << " "; + } + } + + RCLCPP_INFO(node_->get_logger(), "%s", ss.str().c_str()); + } + return i + 1; + } + return {}; +} + +void SubscriberBase::setControlCommandToBuffer( + std::vector & buffer, const AckermannControlCommand & cmd) +{ + const auto last_cmd_time = cmd.stamp; + if (!buffer.empty()) { + for (auto itr = buffer.begin(); itr != buffer.end();) { + const auto expired = (rclcpp::Time(last_cmd_time) - rclcpp::Time(itr->stamp)).seconds() > + reaction_params_.first_brake_params.control_cmd_buffer_time_interval; + + if (expired) { + itr = buffer.erase(itr); + continue; + } + + itr++; + } + } + buffer.emplace_back(cmd); +} +} // namespace reaction_analyzer::subscriber diff --git a/tools/reaction_analyzer/src/topic_publisher.cpp b/tools/reaction_analyzer/src/topic_publisher.cpp index 6f2d27beb3e5d..079bc8fb057e5 100644 --- a/tools/reaction_analyzer/src/topic_publisher.cpp +++ b/tools/reaction_analyzer/src/topic_publisher.cpp @@ -145,17 +145,6 @@ void TopicPublisher::reset() void TopicPublisher::initRosbagPublishers() { - // Necessary lambda functions for string manipulation and message type conversion - auto split = [](const std::string & str, const char delim) { - std::vector elems; - std::stringstream ss(str); - std::string item; - while (std::getline(ss, item, delim)) { - elems.push_back(item); - } - return elems; - }; - auto string_to_publisher_message_type = [](const std::string & input) { if (input == "sensor_msgs/msg/PointCloud2") { return PublisherMessageType::PointCloud2; @@ -223,6 +212,7 @@ void TopicPublisher::initRosbagPublishers() current_topic.c_str()); continue; } + // Record timestamp timestamps_per_topic[current_topic].emplace_back(bag_message->time_stamp); // Deserialize and store the first message as a sample @@ -498,7 +488,7 @@ void TopicPublisher::initRosbagPublishers() return string_to_publisher_message_type( it->topic_metadata.type); // Return the message type if found } else { - return PublisherMessageType::Unknown; // + return PublisherMessageType::Unknown; } }; @@ -780,14 +770,13 @@ void TopicPublisher::initRosbagPublishers() } } - // initialize timers and message publishers - std::unordered_map> pointcloud_variables_map; // temp map for pointcloud publishers + // initialize timers and message publishers for (auto & [topic_name, variant] : topic_publisher_map_) { PublisherVarAccessor accessor; - const auto & topic_ref = topic_name; // Create a reference to topic_name for capture + const auto & topic_ref = topic_name; const auto period_ns = std::chrono::duration( std::visit([&](const auto & var) { return accessor.getPeriod(var); }, variant)); @@ -825,11 +814,7 @@ void TopicPublisher::initRosbagPublishers() variant); } - // Set the pointcloud publisher - - const auto period_pointcloud_ns = std::chrono::duration_cast( - std::chrono::duration(topic_publisher_params_.pointcloud_publisher_period)); - + // Set the point cloud publisher timers if (pointcloud_variables_map.empty()) { RCLCPP_ERROR(node_->get_logger(), "No pointcloud publishers found!"); rclcpp::shutdown(); @@ -856,6 +841,9 @@ void TopicPublisher::initRosbagPublishers() } // Create the timer(s) to publish PointCloud2 Messages + const auto period_pointcloud_ns = std::chrono::duration_cast( + std::chrono::duration(topic_publisher_params_.pointcloud_publisher_period)); + if (pointcloud_publisher_type_ != PointcloudPublisherType::AsyncPublisher) { // Create 1 timer to publish all PointCloud2 messages pointcloud_sync_publish_timer_ = node_->create_wall_timer(period_pointcloud_ns, [this]() { @@ -888,5 +876,4 @@ void TopicPublisher::initRosbagPublishers() one_shot_timer_shared_ptr_ = one_shot_timer; // Store a weak pointer to the timer } } - } // namespace reaction_analyzer::topic_publisher diff --git a/tools/reaction_analyzer/src/utils.cpp b/tools/reaction_analyzer/src/utils.cpp new file mode 100644 index 0000000000000..9b9775e479d14 --- /dev/null +++ b/tools/reaction_analyzer/src/utils.cpp @@ -0,0 +1,85 @@ +// Copyright 2024 The Autoware Contributors +// +// Licensed under the Apache License, Version 2.0 (the "License"); +// you may not use this file except in compliance with the License. +// You may obtain a copy of the License at +// +// http://www.apache.org/licenses/LICENSE-2.0 +// +// Unless required by applicable law or agreed to in writing, software +// distributed under the License is distributed on an "AS IS" BASIS, +// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. +// See the License for the specific language governing permissions and +// limitations under the License. + +#include "utils.hpp" + +namespace reaction_analyzer +{ +rclcpp::SubscriptionOptions createSubscriptionOptions(rclcpp::Node * node) +{ + rclcpp::CallbackGroup::SharedPtr callback_group = + node->create_callback_group(rclcpp::CallbackGroupType::MutuallyExclusive); + + auto sub_opt = rclcpp::SubscriptionOptions(); + sub_opt.callback_group = callback_group; + + return sub_opt; +} + +std::vector, double>> sortResultsByMedian( + const std::unordered_map> test_results) +{ + std::vector, double>> sorted_data; + for (const auto & pair : test_results) { + auto vec = pair.second; + + // Calculate the median + std::sort(vec.begin(), vec.end()); + double median = 0.0; + size_t size = vec.size(); + if (size % 2 == 0) { + median = (vec[size / 2 - 1] + vec[size / 2]) / 2.0; + } else { + median = vec[size / 2]; + } + + sorted_data.emplace_back(pair.first, pair.second, median); + } + + // Sort based on the computed median + std::sort(sorted_data.begin(), sorted_data.end(), [](const auto & a, const auto & b) { + return std::get<2>(a) < std::get<2>(b); // Change to > for descending order + }); + + return sorted_data; +} + +std::vector split(const std::string & str, char delimiter) +{ + std::vector elements; + std::stringstream ss(str); + std::string item; + while (std::getline(ss, item, delimiter)) { + elements.push_back(item); + } + return elements; +} + +size_t getIndexAfterDistance(const Trajectory & traj, const size_t curr_id, const double distance) +{ + // Get Current Trajectory Point + const TrajectoryPoint & curr_p = traj.points.at(curr_id); + + size_t target_id = curr_id; + double current_distance = 0.0; + for (size_t traj_id = curr_id + 1; traj_id < traj.points.size(); ++traj_id) { + current_distance = tier4_autoware_utils::calcDistance3d(traj.points.at(traj_id), curr_p); + if (current_distance >= distance) { + break; + } + target_id = traj_id; + } + return target_id; +} +} // namespace reaction_analyzer From ef971871bd1028057bea524c8e7c2887a4462dc3 Mon Sep 17 00:00:00 2001 From: Berkay Karaman Date: Tue, 5 Mar 2024 15:30:11 +0300 Subject: [PATCH 03/14] feat: update style and readme Signed-off-by: Berkay Karaman --- tools/reaction_analyzer/README.md | 117 +++++++++++++----- .../include/topic_publisher.hpp | 30 ++--- .../param/reaction_analyzer.param.yaml | 32 ++--- .../src/reaction_analyzer_node.cpp | 2 - tools/reaction_analyzer/src/subscriber.cpp | 15 ++- .../reaction_analyzer/src/topic_publisher.cpp | 88 ++++++------- 6 files changed, 165 insertions(+), 119 deletions(-) diff --git a/tools/reaction_analyzer/README.md b/tools/reaction_analyzer/README.md index 8ada7254e5021..78f3ae11361ea 100644 --- a/tools/reaction_analyzer/README.md +++ b/tools/reaction_analyzer/README.md @@ -55,60 +55,69 @@ pre-defined topics you want to measure their reaction times. ### Prepared Test Environment -Firstly, you need to download the demonstration test map from the -link [here](https://github.com/tier4/AWSIM/releases/download/v1.1.0/nishishinjuku_autoware_map.zip). After downloading, -extract the zip file and use its path as `[MAP_PATH]` in the following commands. +- Download the demonstration test map from the + link [here](https://github.com/tier4/AWSIM/releases/download/v1.1.0/nishishinjuku_autoware_map.zip). After + downloading, + extract the zip file and use its path as `[MAP_PATH]` in the following commands. #### Planning Control Mode -Firstly, you need to define only Planning and Control nodes in the `reaction_chain` list. With the default parameters, -you can start to test with the following command: +- You need to define only Planning and Control nodes in the `reaction_chain` list. With the default parameters, + you can start to test with the following command: ```bash ros2 launch reaction_analyzer reaction_analyzer.launch.xml running_mode:=planning_control vehicle_model:=sample_vehicle sensor_model:=sample_sensor_kit map_path:=[MAP_PATH] ``` -After the command, the simple_planning_simulator and the reaction_analyzer will be launched. It will automatically start -to test. After the test is completed, the results will be stored in the `output_file_path` you defined. +After the command, the `simple_planning_simulator` and the `reaction_analyzer` will be launched. It will automatically +start to test. After the test is completed, the results will be stored in the `output_file_path` you defined. #### Perception Planning Mode -Firstly, you need to download the rosbag files from the -link [here](https://drive.google.com/file/d/1_P-3oy_M6eJ7fk8h5CP8V6s6da6pPrBu/view?usp=sharing). After downloading, -extract the zip file and set the path of the `.db3` files to parameters `path_bag_without_object` -and `path_bag_with_object`. Because custom sensor setup, you need to checkout the following branches before launch the -reaction analyzer: For the `autoware_individual_params` repository, checkout the -branch [here](https://github.com/brkay54/autoware_individual_params/tree/bk/reaction-analyzer-config). For -the `awsim_sensor_kit_launch` repository, checkout the -branch [here](https://github.com/brkay54/awsim_sensor_kit_launch/tree/bk/reaction-analyzer-config). -After you checkouted the branches, you can start to test with the following command: +- Download the rosbag files from the Google Drive + link [here](https://drive.google.com/file/d/1_P-3oy_M6eJ7fk8h5CP8V6s6da6pPrBu/view?usp=sharing). +- Extract the zip file and set the path of the `.db3` files to parameters `path_bag_without_object` + and `path_bag_with_object`. +- Because custom sensor setup, you need to check out the following branches before launch the + reaction analyzer: For the `autoware_individual_params` repository, check out the + branch [here](https://github.com/brkay54/autoware_individual_params/tree/bk/reaction-analyzer-config). +- For the `awsim_sensor_kit_launch` repository, check out the + branch [here](https://github.com/brkay54/awsim_sensor_kit_launch/tree/bk/reaction-analyzer-config). +- After you check outed the branches, you can start to test with the following command: ```bash ros2 launch reaction_analyzer reaction_analyzer.launch.xml running_mode:=perception_planning vehicle_model:=sample_vehicle sensor_model:=awsim_sensor_kit map_path:=[MAP_PATH] ``` -After the command, the e2e_simulator and the reaction_analyzer will be launched. It will automatically start +After the command, the `e2e_simulator` and the `reaction_analyzer` will be launched. It will automatically start to test. After the test is completed, the results will be stored in the `output_file_path` you defined. ### Custom Test Environment -If you want to run the reaction analyzer with your custom test environment, you need to redefine some of the parameters. -The parameters you need to redefine are `initialization_pose`, `entity_params`, `goal_pose`, and `topic_publisher` -parameters. -For `initialization_pose`, `entity_params`, `goal_pose`, you can upload your `.osm` map file into -the [scenario editor](https://scenario.ci.tier4.jp/scenario_editor/) to define the position of the position parameters. -You can define the positions with respect to you desired root. Firstly, add EGO vehicle from edit/add entity/Ego to map. -Set destination to EGO vehicle and add another dummy object in same way. The dummy object represents the object spawn -suddenly in the reaction analyzer test. After you set up the positions in the map, we should get the positions of these -entities in the map frame. To achieve this, you should convert the positions to map frame by changing Map/Coordinate to -World and Map/Orientation to Euler. After these steps, you can see the positions in map frame and euler angles. You can -change the `initialization_pose`, `entity_params`, `goal_pose` parameters with the values you get from the website. - -For the `topic_publisher` parameters, you need to record the rosbags from the AWSIM. After opened your AWSIM +**If you want to run the reaction analyzer with your custom test environment, you need to redefine some of the parameters. +The parameters you need to redefine are `initialization_pose`, `entity_params`, `goal_pose`, and `topic_publisher` ( +for `perception_planning` mode) parameters.** + +- To set `initialization_pose`, `entity_params`, `goal_pose`: +- Upload your `.osm` map file into the [scenario editor](https://scenario.ci.tier4.jp/scenario_editor/) to define the position of the position parameters. +- Add EGO vehicle from edit/add entity/Ego to map. +- Set destination to EGO vehicle and add another dummy object in same way. The dummy object represents the object spawn + suddenly in the reaction analyzer test. + +**After you set up the positions in the map, we should get the positions of these entities in the map frame. To achieve this:** + +- Convert the positions to map frame by changing Map/Coordinate to World and Map/Orientation to Euler in Scenario Editor. + +- After these steps, you can see the positions in map frame and euler angles. You can change the `initialization_pose`, `entity_params`, `goal_pose` parameters with the values you get from the website. + +**For the `topic_publisher` parameters, you need to record the rosbags from the AWSIM. After opened your AWSIM environment, you should record two different rosbags. However, the environment should be static and the position of the -vehicle should be same. Firstly, record a rosbag in empty environment. After that, record another rosbag in the same -environment except add an object in front of the vehicle. After you record the rosbags, you can set -the `path_bag_without_object` and `path_bag_with_object` parameters with the paths of the recorded rosbags. +vehicle should be same.** + +- Record a rosbag in empty environment (without an obstacle in front of the vehicle). +- After that, record another rosbag in the same environment except add an object in front of the vehicle. + +**After you record the rosbags, you can set the `path_bag_without_object` and `path_bag_with_object` parameters with the paths of the recorded rosbags.** ## Parameters @@ -116,7 +125,7 @@ the `path_bag_without_object` and `path_bag_with_object` parameters with the pat | ---------------------------------------------------------------------------- | ------ | --------------------------------------------------------------------------------------------------------------------------------------------- | | `timer_period` | double | [s] Period for the main processing timer. | | `test_iteration` | int | Number of iterations for the test. | -| `output_file_path` | string | Directory path where test results and statictics will be stored. | +| `output_file_path` | string | Directory path where test results and statistics will be stored. | | `object_search_radius_offset` | double | [m] Additional radius added to the search area when looking for objects. | | `spawn_time_after_init` | double | [s] Time delay after initialization before spawning objects. Only valid `perception_planning` mode. | | `spawn_distance_threshold` | double | [m] Distance threshold for spawning objects. Only valid `planning_control` mode. | @@ -136,3 +145,43 @@ the `path_bag_without_object` and `path_bag_with_object` parameters with the pat | `reaction_params.search_zero_vel_params.max_looking_distance` | double | [m] Maximum looking distance for zero velocity on trajectory | | `reaction_params.search_entity_params.search_radius` | double | [m] Searching radius for spawned entity. Distance between ego pose and entity pose. | | `reaction_chain` | struct | List of the nodes with their topics and topic's message types. | + +## Limitations + +- Reaction analyzer has some limitation like `PublisherMessageType`, `SubscriberMessageType` and `ReactionType`. It is + currently supporting following list: + +- **Publisher Message Types:** + + - `sensor_msgs/msg/PointCloud2` + - `sensor_msgs/msg/CameraInfo` + - `sensor_msgs/msg/Image` + - `geometry_msgs/msg/PoseWithCovarianceStamped` + - `sensor_msgs/msg/Imu` + - `autoware_auto_vehicle_msgs/msg/ControlModeReport` + - `autoware_auto_vehicle_msgs/msg/GearReport` + - `autoware_auto_vehicle_msgs/msg/HazardLightsReport` + - `autoware_auto_vehicle_msgs/msg/SteeringReport` + - `autoware_auto_vehicle_msgs/msg/TurnIndicatorsReport` + - `autoware_auto_vehicle_msgs/msg/VelocityReport` + +- **Subscriber Message Types:** + + - `sensor_msgs/msg/PointCloud2` + - `autoware_auto_perception_msgs/msg/DetectedObjects` + - `autoware_auto_perception_msgs/msg/TrackedObjects` + - `autoware_auto_msgs/msg/PredictedObject` + - `autoware_auto_planning_msgs/msg/Trajectory` + - `autoware_auto_control_msgs/msg/AckermannControlCommand` + +- **Reaction Types:** + - `FIRST_BRAKE` + - `SEARCH_ZERO_VEL` + - `SEARCH_ENTITY` + +## Future improvements + +- The reaction analyzer can be improved by adding more reaction types. Currently, it is supporting only `FIRST_BRAKE`, + `SEARCH_ZERO_VEL`, and `SEARCH_ENTITY` reaction types. It can be extended by adding more reaction types for each of + the + message types. diff --git a/tools/reaction_analyzer/include/topic_publisher.hpp b/tools/reaction_analyzer/include/topic_publisher.hpp index 939abab591d84..dfab3c7f87e79 100644 --- a/tools/reaction_analyzer/include/topic_publisher.hpp +++ b/tools/reaction_analyzer/include/topic_publisher.hpp @@ -54,18 +54,18 @@ using nav_msgs::msg::Odometry; using sensor_msgs::msg::PointCloud2; enum class PublisherMessageType { - Unknown = 0, - CameraInfo = 1, - Image = 2, - PointCloud2 = 3, - PoseWithCovarianceStamped = 4, - Imu = 5, - ControlModeReport = 6, - GearReport = 7, - HazardLightsReport = 8, - SteeringReport = 9, - TurnIndicatorsReport = 10, - VelocityReport = 11, + UNKNOWN = 0, + CAMERA_INFO = 1, + IMAGE = 2, + POINTCLOUD2 = 3, + POSE_WITH_COVARIANCE_STAMPED = 4, + IMU = 5, + CONTROL_MODE_REPORT = 6, + GEAR_REPORT = 7, + HAZARD_LIGHTS_REPORT = 8, + STEERING_REPORT = 9, + TURN_INDICATORS_REPORT = 10, + VELOCITY_REPORT = 11, }; struct TopicPublisherParams @@ -77,9 +77,9 @@ struct TopicPublisherParams }; enum class PointcloudPublisherType { - AsyncPublisher = 0, // Asynchronous publisher - SyncHeaderSyncPublisher = 1, // Synchronous publisher with header synchronization - AsyncHeaderSyncPublisher = 2, // Asynchronous publisher with header synchronization + ASYNC_PUBLISHER = 0, // Asynchronous publisher + SYNC_HEADER_SYNC_PUBLISHER = 1, // Synchronous publisher with header synchronization + ASYNC_HEADER_SYNC_PUBLISHER = 2, // Asynchronous publisher with header synchronization }; /** diff --git a/tools/reaction_analyzer/param/reaction_analyzer.param.yaml b/tools/reaction_analyzer/param/reaction_analyzer.param.yaml index 082cdaf864265..70e6ae69eac57 100644 --- a/tools/reaction_analyzer/param/reaction_analyzer.param.yaml +++ b/tools/reaction_analyzer/param/reaction_analyzer.param.yaml @@ -53,64 +53,64 @@ obstacle_stop_planner: topic_name: /planning/scenario_planning/lane_driving/trajectory time_debug_topic_name: /planning/scenario_planning/lane_driving/trajectory/debug/published_time - message_type: autoware_auto_planning_msgs::msg::Trajectory + message_type: autoware_auto_planning_msgs/msg/Trajectory scenario_selector: topic_name: /planning/scenario_planning/scenario_selector/trajectory time_debug_topic_name: /planning/scenario_planning/scenario_selector/trajectory/debug/published_time - message_type: autoware_auto_planning_msgs::msg::Trajectory + message_type: autoware_auto_planning_msgs/msg/Trajectory motion_velocity_smoother: topic_name: /planning/scenario_planning/motion_velocity_smoother/trajectory time_debug_topic_name: /planning/scenario_planning/motion_velocity_smoother/trajectory/debug/published_time - message_type: autoware_auto_planning_msgs::msg::Trajectory + message_type: autoware_auto_planning_msgs/msg/Trajectory planning_validator: topic_name: /planning/scenario_planning/trajectory time_debug_topic_name: /planning/scenario_planning/trajectory/debug/published_time - message_type: autoware_auto_planning_msgs::msg::Trajectory + message_type: autoware_auto_planning_msgs/msg/Trajectory # trajectory_follower: # topic_name: /control/trajectory_follower/control_cmd # time_debug_topic_name: /control/trajectory_follower/control_cmd/debug/published_time -# message_type: autoware_auto_control_msgs::msg::AckermannControlCommand +# message_type: autoware_auto_control_msgs/msg/AckermannControlCommand # vehicle_cmd_gate: # topic_name: /control/command/control_cmd # time_debug_topic_name: /control/command/control_cmd/debug/published_time -# message_type: autoware_auto_control_msgs::msg::AckermannControlCommand +# message_type: autoware_auto_control_msgs/msg/AckermannControlCommand common_ground_filter: topic_name: /perception/obstacle_segmentation/single_frame/pointcloud_raw time_debug_topic_name: /perception/obstacle_segmentation/single_frame/pointcloud_raw/debug/published_time - message_type: sensor_msgs::msg::PointCloud2 + message_type: sensor_msgs/msg/PointCloud2 occupancy_grid_map_outlier: topic_name: /perception/obstacle_segmentation/pointcloud time_debug_topic_name: /perception/obstacle_segmentation/pointcloud/debug/published_time - message_type: sensor_msgs::msg::PointCloud2 + message_type: sensor_msgs/msg/PointCloud2 multi_object_tracker: topic_name: /perception/object_recognition/tracking/near_objects time_debug_topic_name: /perception/object_recognition/tracking/near_objects/debug/published_time - message_type: autoware_auto_perception_msgs::msg::TrackedObjects + message_type: autoware_auto_perception_msgs/msg/TrackedObjects lidar_centerpoint: topic_name: /perception/object_recognition/detection/centerpoint/objects time_debug_topic_name: /perception/object_recognition/detection/centerpoint/objects/debug/published_time - message_type: autoware_auto_perception_msgs::msg::DetectedObjects + message_type: autoware_auto_perception_msgs/msg/DetectedObjects obstacle_pointcloud_based_validator: topic_name: /perception/object_recognition/detection/centerpoint/validation/objects time_debug_topic_name: /perception/object_recognition/detection/centerpoint/validation/objects/debug/published_time - message_type: autoware_auto_perception_msgs::msg::DetectedObjects + message_type: autoware_auto_perception_msgs/msg/DetectedObjects decorative_tracker_merger: topic_name: /perception/object_recognition/tracking/objects time_debug_topic_name: /perception/object_recognition/tracking/objects/debug/published_time - message_type: autoware_auto_perception_msgs::msg::TrackedObjects + message_type: autoware_auto_perception_msgs/msg/TrackedObjects detected_object_feature_remover: topic_name: /perception/object_recognition/detection/clustering/objects time_debug_topic_name: /perception/object_recognition/detection/clustering/objects/debug/published_time - message_type: autoware_auto_perception_msgs::msg::DetectedObjects + message_type: autoware_auto_perception_msgs/msg/DetectedObjects detection_by_tracker: topic_name: /perception/object_recognition/detection/detection_by_tracker/objects time_debug_topic_name: /perception/object_recognition/detection/detection_by_tracker/objects/debug/published_time - message_type: autoware_auto_perception_msgs::msg::DetectedObjects + message_type: autoware_auto_perception_msgs/msg/DetectedObjects object_lanelet_filter: topic_name: /perception/object_recognition/detection/objects time_debug_topic_name: /perception/object_recognition/detection/objects/debug/published_time - message_type: autoware_auto_perception_msgs::msg::DetectedObjects + message_type: autoware_auto_perception_msgs/msg/DetectedObjects map_based_prediction: topic_name: /perception/object_recognition/objects time_debug_topic_name: /perception/object_recognition/objects/debug/published_time - message_type: autoware_auto_perception_msgs::msg::PredictedObjects + message_type: autoware_auto_perception_msgs/msg/PredictedObjects diff --git a/tools/reaction_analyzer/src/reaction_analyzer_node.cpp b/tools/reaction_analyzer/src/reaction_analyzer_node.cpp index 95ac106375897..a8fbf13606f25 100644 --- a/tools/reaction_analyzer/src/reaction_analyzer_node.cpp +++ b/tools/reaction_analyzer/src/reaction_analyzer_node.cpp @@ -162,7 +162,6 @@ void ReactionAnalyzerNode::onTimer() mutex_.unlock(); // Init the test environment - if (!test_environment_init_time_) { initEgoForTest(initialization_state_ptr, route_state_ptr, operation_mode_ptr); return; @@ -176,7 +175,6 @@ void ReactionAnalyzerNode::onTimer() if (message_buffers) { // if reacted, calculate the results - calculateResults(message_buffers.value(), spawn_cmd_time.value()); reset(); } diff --git a/tools/reaction_analyzer/src/subscriber.cpp b/tools/reaction_analyzer/src/subscriber.cpp index 43fd05515fa0a..c29243519f599 100644 --- a/tools/reaction_analyzer/src/subscriber.cpp +++ b/tools/reaction_analyzer/src/subscriber.cpp @@ -38,17 +38,17 @@ SubscriberBase::SubscriberBase( void SubscriberBase::initReactionChainsAndParams() { auto stringToMessageType = [](const std::string & input) { - if (input == "autoware_auto_control_msgs::msg::AckermannControlCommand") { + if (input == "autoware_auto_control_msgs/msg/AckermannControlCommand") { return SubscriberMessageType::ACKERMANN_CONTROL_COMMAND; - } else if (input == "autoware_auto_planning_msgs::msg::Trajectory") { + } else if (input == "autoware_auto_planning_msgs/msg/Trajectory") { return SubscriberMessageType::TRAJECTORY; - } else if (input == "sensor_msgs::msg::PointCloud2") { + } else if (input == "sensor_msgs/msg/PointCloud2") { return SubscriberMessageType::POINTCLOUD2; - } else if (input == "autoware_auto_perception_msgs::msg::PredictedObjects") { + } else if (input == "autoware_auto_perception_msgs/msg/PredictedObjects") { return SubscriberMessageType::PREDICTED_OBJECTS; - } else if (input == "autoware_auto_perception_msgs::msg::DetectedObjects") { + } else if (input == "autoware_auto_perception_msgs/msg/DetectedObjects") { return SubscriberMessageType::DETECTED_OBJECTS; - } else if (input == "autoware_auto_perception_msgs::msg::TrackedObjects") { + } else if (input == "autoware_auto_perception_msgs/msg/TrackedObjects") { return SubscriberMessageType::TRACKED_OBJECTS; } else { return SubscriberMessageType::UNKNOWN; @@ -448,7 +448,6 @@ bool SubscriberBase::initSubscribers() break; } } - std::cout << "---------- size: " << subscriber_variables_map_.size() << std::endl; return true; } @@ -522,7 +521,6 @@ void SubscriberBase::controlCommandOutputCallback( const auto brake_idx = findFirstBrakeIdx(cmd_buffer.first); if (brake_idx) { - RCLCPP_INFO(node_->get_logger(), "%s reacted without published time", node_name.c_str()); const auto brake_cmd = cmd_buffer.first.at(brake_idx.value()); // TODO(brkay54): update here if message_filters package add the support for the messages which @@ -554,6 +552,7 @@ void SubscriberBase::controlCommandOutputCallback( } } else { cmd_buffer.second = brake_cmd; + RCLCPP_INFO(node_->get_logger(), "%s reacted without published time", node_name.c_str()); } } } diff --git a/tools/reaction_analyzer/src/topic_publisher.cpp b/tools/reaction_analyzer/src/topic_publisher.cpp index 079bc8fb057e5..4ac1c11d6622b 100644 --- a/tools/reaction_analyzer/src/topic_publisher.cpp +++ b/tools/reaction_analyzer/src/topic_publisher.cpp @@ -40,11 +40,11 @@ TopicPublisher::TopicPublisher( // set pointcloud publisher type if (topic_publisher_params_.pointcloud_publisher_type == "sync_header_sync_publish") { - pointcloud_publisher_type_ = PointcloudPublisherType::SyncHeaderSyncPublisher; + pointcloud_publisher_type_ = PointcloudPublisherType::SYNC_HEADER_SYNC_PUBLISHER; } else if (topic_publisher_params_.pointcloud_publisher_type == "async_header_sync_publish") { - pointcloud_publisher_type_ = PointcloudPublisherType::AsyncHeaderSyncPublisher; + pointcloud_publisher_type_ = PointcloudPublisherType::ASYNC_HEADER_SYNC_PUBLISHER; } else if (topic_publisher_params_.pointcloud_publisher_type == "async_publish") { - pointcloud_publisher_type_ = PointcloudPublisherType::AsyncPublisher; + pointcloud_publisher_type_ = PointcloudPublisherType::ASYNC_PUBLISHER; } else { RCLCPP_ERROR(node_->get_logger(), "Invalid pointcloud_publisher_type"); rclcpp::shutdown(); @@ -60,7 +60,7 @@ void TopicPublisher::pointcloudMessagesSyncPublisher(const PointcloudPublisherTy const bool is_object_spawned = spawn_object_cmd_; switch (type) { - case PointcloudPublisherType::SyncHeaderSyncPublisher: { + case PointcloudPublisherType::SYNC_HEADER_SYNC_PUBLISHER: { PublisherVarAccessor accessor; for (const auto & publisher_var_pair : lidar_pub_variable_pair_map_) { accessor.publishWithCurrentTime( @@ -76,7 +76,7 @@ void TopicPublisher::pointcloudMessagesSyncPublisher(const PointcloudPublisherTy } break; } - case PointcloudPublisherType::AsyncHeaderSyncPublisher: { + case PointcloudPublisherType::ASYNC_HEADER_SYNC_PUBLISHER: { PublisherVarAccessor accessor; const auto period_pointcloud_ns = std::chrono::duration_cast( std::chrono::duration(topic_publisher_params_.pointcloud_publisher_period)); @@ -147,29 +147,29 @@ void TopicPublisher::initRosbagPublishers() { auto string_to_publisher_message_type = [](const std::string & input) { if (input == "sensor_msgs/msg/PointCloud2") { - return PublisherMessageType::PointCloud2; + return PublisherMessageType::POINTCLOUD2; } else if (input == "sensor_msgs/msg/CameraInfo") { - return PublisherMessageType::CameraInfo; + return PublisherMessageType::CAMERA_INFO; } else if (input == "sensor_msgs/msg/Image") { - return PublisherMessageType::Image; + return PublisherMessageType::IMAGE; } else if (input == "geometry_msgs/msg/PoseWithCovarianceStamped") { - return PublisherMessageType::PoseWithCovarianceStamped; + return PublisherMessageType::POSE_WITH_COVARIANCE_STAMPED; } else if (input == "sensor_msgs/msg/Imu") { - return PublisherMessageType::Imu; + return PublisherMessageType::IMU; } else if (input == "autoware_auto_vehicle_msgs/msg/ControlModeReport") { - return PublisherMessageType::ControlModeReport; + return PublisherMessageType::CONTROL_MODE_REPORT; } else if (input == "autoware_auto_vehicle_msgs/msg/GearReport") { - return PublisherMessageType::GearReport; + return PublisherMessageType::GEAR_REPORT; } else if (input == "autoware_auto_vehicle_msgs/msg/HazardLightsReport") { - return PublisherMessageType::HazardLightsReport; + return PublisherMessageType::HAZARD_LIGHTS_REPORT; } else if (input == "autoware_auto_vehicle_msgs/msg/SteeringReport") { - return PublisherMessageType::SteeringReport; + return PublisherMessageType::STEERING_REPORT; } else if (input == "autoware_auto_vehicle_msgs/msg/TurnIndicatorsReport") { - return PublisherMessageType::TurnIndicatorsReport; + return PublisherMessageType::TURN_INDICATORS_REPORT; } else if (input == "autoware_auto_vehicle_msgs/msg/VelocityReport") { - return PublisherMessageType::VelocityReport; + return PublisherMessageType::VELOCITY_REPORT; } else { - return PublisherMessageType::Unknown; + return PublisherMessageType::UNKNOWN; } }; @@ -196,7 +196,7 @@ void TopicPublisher::initRosbagPublishers() return string_to_publisher_message_type( it->topic_metadata.type); // Return the message type if found } else { - return PublisherMessageType::Unknown; // + return PublisherMessageType::UNKNOWN; // } }; std::unordered_map> timestamps_per_topic; @@ -206,7 +206,7 @@ void TopicPublisher::initRosbagPublishers() const auto current_topic = bag_message->topic_name; const auto message_type = getMessageTypeForTopic(current_topic); - if (message_type == PublisherMessageType::Unknown) { + if (message_type == PublisherMessageType::UNKNOWN) { RCLCPP_WARN( node_->get_logger(), "Unknown message type for topic name: %s, skipping..", current_topic.c_str()); @@ -218,7 +218,7 @@ void TopicPublisher::initRosbagPublishers() // Deserialize and store the first message as a sample if (timestamps_per_topic[current_topic].size() == 1) { switch (message_type) { - case PublisherMessageType::PointCloud2: { + case PublisherMessageType::POINTCLOUD2: { rclcpp::Serialization serialization; auto & publisher_var = topic_publisher_map_[current_topic]; if (!std::holds_alternative>(publisher_var)) { @@ -232,7 +232,7 @@ void TopicPublisher::initRosbagPublishers() &(*std::get>(publisher_var).empty_area_message)); break; } - case PublisherMessageType::CameraInfo: { + case PublisherMessageType::CAMERA_INFO: { rclcpp::Serialization serialization; auto & publisher_var = topic_publisher_map_[current_topic]; @@ -249,7 +249,7 @@ void TopicPublisher::initRosbagPublishers() .empty_area_message)); break; } - case PublisherMessageType::Image: { + case PublisherMessageType::IMAGE: { rclcpp::Serialization serialization; auto & publisher_var = topic_publisher_map_[current_topic]; @@ -266,7 +266,7 @@ void TopicPublisher::initRosbagPublishers() .empty_area_message)); break; } - case PublisherMessageType::PoseWithCovarianceStamped: { + case PublisherMessageType::POSE_WITH_COVARIANCE_STAMPED: { rclcpp::Serialization serialization; auto & publisher_var = topic_publisher_map_[current_topic]; if (!std::holds_alternative< @@ -286,7 +286,7 @@ void TopicPublisher::initRosbagPublishers() .empty_area_message)); break; } - case PublisherMessageType::Imu: { + case PublisherMessageType::IMU: { rclcpp::Serialization serialization; auto & publisher_var = topic_publisher_map_[current_topic]; @@ -302,7 +302,7 @@ void TopicPublisher::initRosbagPublishers() .empty_area_message)); break; } - case PublisherMessageType::ControlModeReport: { + case PublisherMessageType::CONTROL_MODE_REPORT: { rclcpp::Serialization serialization; auto & publisher_var = topic_publisher_map_[current_topic]; @@ -324,7 +324,7 @@ void TopicPublisher::initRosbagPublishers() .empty_area_message)); break; } - case PublisherMessageType::GearReport: { + case PublisherMessageType::GEAR_REPORT: { rclcpp::Serialization serialization; auto & publisher_var = topic_publisher_map_[current_topic]; if (!std::holds_alternative< @@ -341,7 +341,7 @@ void TopicPublisher::initRosbagPublishers() .empty_area_message)); break; } - case PublisherMessageType::HazardLightsReport: { + case PublisherMessageType::HAZARD_LIGHTS_REPORT: { rclcpp::Serialization serialization; auto & publisher_var = topic_publisher_map_[current_topic]; @@ -363,7 +363,7 @@ void TopicPublisher::initRosbagPublishers() .empty_area_message)); break; } - case PublisherMessageType::SteeringReport: { + case PublisherMessageType::STEERING_REPORT: { rclcpp::Serialization serialization; auto & publisher_var = topic_publisher_map_[current_topic]; if (!std::holds_alternative< @@ -383,7 +383,7 @@ void TopicPublisher::initRosbagPublishers() .empty_area_message)); break; } - case PublisherMessageType::TurnIndicatorsReport: { + case PublisherMessageType::TURN_INDICATORS_REPORT: { rclcpp::Serialization serialization; auto & publisher_var = topic_publisher_map_[current_topic]; @@ -406,7 +406,7 @@ void TopicPublisher::initRosbagPublishers() .empty_area_message)); break; } - case PublisherMessageType::VelocityReport: { + case PublisherMessageType::VELOCITY_REPORT: { rclcpp::Serialization serialization; auto & publisher_var = topic_publisher_map_[current_topic]; if (!std::holds_alternative< @@ -488,7 +488,7 @@ void TopicPublisher::initRosbagPublishers() return string_to_publisher_message_type( it->topic_metadata.type); // Return the message type if found } else { - return PublisherMessageType::Unknown; + return PublisherMessageType::UNKNOWN; } }; @@ -497,14 +497,14 @@ void TopicPublisher::initRosbagPublishers() const auto current_topic = bag_message->topic_name; const auto message_type = getMessageTypeForTopic(current_topic); - if (message_type == PublisherMessageType::Unknown) { + if (message_type == PublisherMessageType::UNKNOWN) { RCLCPP_WARN( node_->get_logger(), "Unknown message type for topic name: %s, skipping..", current_topic.c_str()); continue; } switch (message_type) { - case PublisherMessageType::PointCloud2: { + case PublisherMessageType::POINTCLOUD2: { rclcpp::Serialization serialization; auto & publisher_var = topic_publisher_map_[current_topic]; if (!std::holds_alternative>(publisher_var)) { @@ -522,7 +522,7 @@ void TopicPublisher::initRosbagPublishers() } break; } - case PublisherMessageType::CameraInfo: { + case PublisherMessageType::CAMERA_INFO: { rclcpp::Serialization serialization; auto & publisher_var = topic_publisher_map_[current_topic]; if (!std::holds_alternative>( @@ -542,7 +542,7 @@ void TopicPublisher::initRosbagPublishers() } break; } - case PublisherMessageType::Image: { + case PublisherMessageType::IMAGE: { rclcpp::Serialization serialization; auto & publisher_var = topic_publisher_map_[current_topic]; if (!std::holds_alternative>(publisher_var)) { @@ -561,7 +561,7 @@ void TopicPublisher::initRosbagPublishers() } break; } - case PublisherMessageType::PoseWithCovarianceStamped: { + case PublisherMessageType::POSE_WITH_COVARIANCE_STAMPED: { rclcpp::Serialization serialization; auto & publisher_var = topic_publisher_map_[current_topic]; if (!std::holds_alternative< @@ -583,7 +583,7 @@ void TopicPublisher::initRosbagPublishers() } break; } - case PublisherMessageType::Imu: { + case PublisherMessageType::IMU: { rclcpp::Serialization serialization; auto & publisher_var = topic_publisher_map_[current_topic]; if (!std::holds_alternative>(publisher_var)) { @@ -602,7 +602,7 @@ void TopicPublisher::initRosbagPublishers() } break; } - case PublisherMessageType::ControlModeReport: { + case PublisherMessageType::CONTROL_MODE_REPORT: { rclcpp::Serialization serialization; auto & publisher_var = topic_publisher_map_[current_topic]; if (!std::holds_alternative< @@ -625,7 +625,7 @@ void TopicPublisher::initRosbagPublishers() } break; } - case PublisherMessageType::GearReport: { + case PublisherMessageType::GEAR_REPORT: { rclcpp::Serialization serialization; auto & publisher_var = topic_publisher_map_[current_topic]; if (!std::holds_alternative< @@ -646,7 +646,7 @@ void TopicPublisher::initRosbagPublishers() } break; } - case PublisherMessageType::HazardLightsReport: { + case PublisherMessageType::HAZARD_LIGHTS_REPORT: { rclcpp::Serialization serialization; auto & publisher_var = topic_publisher_map_[current_topic]; if (!std::holds_alternative< @@ -669,7 +669,7 @@ void TopicPublisher::initRosbagPublishers() } break; } - case PublisherMessageType::SteeringReport: { + case PublisherMessageType::STEERING_REPORT: { rclcpp::Serialization serialization; auto & publisher_var = topic_publisher_map_[current_topic]; if (!std::holds_alternative< @@ -692,7 +692,7 @@ void TopicPublisher::initRosbagPublishers() } break; } - case PublisherMessageType::TurnIndicatorsReport: { + case PublisherMessageType::TURN_INDICATORS_REPORT: { rclcpp::Serialization serialization; auto & publisher_var = topic_publisher_map_[current_topic]; @@ -716,7 +716,7 @@ void TopicPublisher::initRosbagPublishers() } break; } - case PublisherMessageType::VelocityReport: { + case PublisherMessageType::VELOCITY_REPORT: { rclcpp::Serialization serialization; auto & publisher_var = topic_publisher_map_[current_topic]; if (!std::holds_alternative< @@ -844,7 +844,7 @@ void TopicPublisher::initRosbagPublishers() const auto period_pointcloud_ns = std::chrono::duration_cast( std::chrono::duration(topic_publisher_params_.pointcloud_publisher_period)); - if (pointcloud_publisher_type_ != PointcloudPublisherType::AsyncPublisher) { + if (pointcloud_publisher_type_ != PointcloudPublisherType::ASYNC_PUBLISHER) { // Create 1 timer to publish all PointCloud2 messages pointcloud_sync_publish_timer_ = node_->create_wall_timer(period_pointcloud_ns, [this]() { this->pointcloudMessagesSyncPublisher(this->pointcloud_publisher_type_); From 8e5ac230e3215376ce32f8647e5560ad3faf0849 Mon Sep 17 00:00:00 2001 From: Berkay Karaman Date: Mon, 11 Mar 2024 14:48:15 +0300 Subject: [PATCH 04/14] feat: add predicted path for the PredictedObject and add publish_only_pointcloud_with_object Signed-off-by: Berkay Karaman --- tools/reaction_analyzer/README.md | 1 + .../include/topic_publisher.hpp | 10 +++--- .../param/reaction_analyzer.param.yaml | 7 ++-- .../src/reaction_analyzer_node.cpp | 7 ++++ .../reaction_analyzer/src/topic_publisher.cpp | 35 +++++++++---------- 5 files changed, 35 insertions(+), 25 deletions(-) diff --git a/tools/reaction_analyzer/README.md b/tools/reaction_analyzer/README.md index 78f3ae11361ea..d637265e94488 100644 --- a/tools/reaction_analyzer/README.md +++ b/tools/reaction_analyzer/README.md @@ -138,6 +138,7 @@ vehicle should be same.** | `topic_publisher.path_bag_with_object` | string | Path to the ROS bag file with objects. Only valid `perception_planning` mode. | | `topic_publisher.pointcloud_publisher.pointcloud_publisher_type` | string | Defines how the PointCloud2 messages are going to be published. Modes explained above. | | `topic_publisher.pointcloud_publisher.pointcloud_publisher_period` | double | [s] Publishing period of the PointCloud2 messages. | +| `topic_publisher.pointcloud_publisher.publish_only_pointcloud_with_object` | bool | Default false. Publish only the point cloud messages with the object. | | `reaction_params.first_brake_params.debug_control_commands` | bool | Debug publish flag. | | `reaction_params.first_brake_params.control_cmd_buffer_time_interval` | double | [s] Time interval for buffering control commands. | | `reaction_params.first_brake_params.min_number_descending_order_control_cmd` | int | Minimum number of control commands in descending order for triggering brake. | diff --git a/tools/reaction_analyzer/include/topic_publisher.hpp b/tools/reaction_analyzer/include/topic_publisher.hpp index dfab3c7f87e79..45dfcd42bb4f3 100644 --- a/tools/reaction_analyzer/include/topic_publisher.hpp +++ b/tools/reaction_analyzer/include/topic_publisher.hpp @@ -70,10 +70,12 @@ enum class PublisherMessageType { struct TopicPublisherParams { - std::string path_bag_without_object; // Path to the bag file without object - std::string path_bag_with_object; // Path to the bag file with object - std::string pointcloud_publisher_type; // Type of the pointcloud publisher - double pointcloud_publisher_period; // Period of the pointcloud publisher + std::string path_bag_without_object; // Path to the bag file without object + std::string path_bag_with_object; // Path to the bag file with object + std::string pointcloud_publisher_type; // Type of the pointcloud publisher + double pointcloud_publisher_period; // Period of the pointcloud publisher + bool publish_only_pointcloud_with_object; // Publish only pointcloud with object for only + // perception pipeline debug purpose make it true. }; enum class PointcloudPublisherType { diff --git a/tools/reaction_analyzer/param/reaction_analyzer.param.yaml b/tools/reaction_analyzer/param/reaction_analyzer.param.yaml index 70e6ae69eac57..8028b0da6dd0b 100644 --- a/tools/reaction_analyzer/param/reaction_analyzer.param.yaml +++ b/tools/reaction_analyzer/param/reaction_analyzer.param.yaml @@ -26,18 +26,19 @@ y_dimension: 1.7809072588403219 z_dimension: 0.8328610206872963 goal_pose: - x: 81462.78125 - y: 49978.484375 + x: 81824.90625 + y: 50069.34375 z: 0.0 roll: 0.0 pitch: 0.0 - yaw: 35.0 + yaw: 8.9305903 topic_publisher: path_bag_without_object: /home/berkay/projects/bags/awsim-bag/bag/lexus_bag_without_car/rosbag2_2024_01_30-13_50_45_0.db3 path_bag_with_object: /home/berkay/projects/bags/awsim-bag/bag/lexus_bag_with_car/rosbag2_2024_01_30-13_50_17_0.db3 pointcloud_publisher: pointcloud_publisher_type: "sync_header_sync_publish" # "async_header_sync_publish", "sync_header_sync_publish" or "async_publish" pointcloud_publisher_period: 0.1 # s + publish_only_pointcloud_with_object: false # use it only for debug purposes. If true, only pointclouds with object will be published subscriber: reaction_params: first_brake_params: diff --git a/tools/reaction_analyzer/src/reaction_analyzer_node.cpp b/tools/reaction_analyzer/src/reaction_analyzer_node.cpp index a8fbf13606f25..4d7068956a1ee 100644 --- a/tools/reaction_analyzer/src/reaction_analyzer_node.cpp +++ b/tools/reaction_analyzer/src/reaction_analyzer_node.cpp @@ -417,11 +417,18 @@ void ReactionAnalyzerNode::initPredictedObjects() obj.shape.type = autoware_auto_perception_msgs::msg::Shape::BOUNDING_BOX; obj.existence_probability = 1.0; obj.kinematics.initial_pose_with_covariance.pose = entity_pose_; + + autoware_auto_perception_msgs::msg::PredictedPath path; + path.confidence = 1.0; + path.path.emplace_back(entity_pose_); + obj.kinematics.predicted_paths.emplace_back(path); + autoware_auto_perception_msgs::msg::ObjectClassification classification; classification.label = autoware_auto_perception_msgs::msg::ObjectClassification::CAR; classification.probability = 1.0; obj.classification.emplace_back(classification); obj.set__object_id(generateUUIDMsg("test_obstacle")); + PredictedObjects pred_objects; pred_objects.objects.emplace_back(obj); predicted_objects_ptr_ = std::make_shared(pred_objects); diff --git a/tools/reaction_analyzer/src/topic_publisher.cpp b/tools/reaction_analyzer/src/topic_publisher.cpp index 4ac1c11d6622b..a0798717d19f6 100644 --- a/tools/reaction_analyzer/src/topic_publisher.cpp +++ b/tools/reaction_analyzer/src/topic_publisher.cpp @@ -37,6 +37,9 @@ TopicPublisher::TopicPublisher( topic_publisher_params_.pointcloud_publisher_period = node_->get_parameter("topic_publisher.pointcloud_publisher.pointcloud_publisher_period") .as_double(); + topic_publisher_params_.publish_only_pointcloud_with_object = + node_->get_parameter("topic_publisher.pointcloud_publisher.publish_only_pointcloud_with_object") + .as_bool(); // set pointcloud publisher type if (topic_publisher_params_.pointcloud_publisher_type == "sync_header_sync_publish") { @@ -64,9 +67,11 @@ void TopicPublisher::pointcloudMessagesSyncPublisher(const PointcloudPublisherTy PublisherVarAccessor accessor; for (const auto & publisher_var_pair : lidar_pub_variable_pair_map_) { accessor.publishWithCurrentTime( - *publisher_var_pair.second.first, current_time, is_object_spawned); + *publisher_var_pair.second.first, current_time, + topic_publisher_params_.publish_only_pointcloud_with_object || is_object_spawned); accessor.publishWithCurrentTime( - *publisher_var_pair.second.second, current_time, is_object_spawned); + *publisher_var_pair.second.second, current_time, + topic_publisher_params_.publish_only_pointcloud_with_object || is_object_spawned); } if (is_object_spawned && !is_object_spawned_message_published) { is_object_spawned_message_published = true; @@ -87,9 +92,11 @@ void TopicPublisher::pointcloudMessagesSyncPublisher(const PointcloudPublisherTy const auto header_time = current_time - std::chrono::nanoseconds(counter * phase_dif.count()); accessor.publishWithCurrentTime( - *publisher_var_pair.second.first, header_time, is_object_spawned); + *publisher_var_pair.second.first, header_time, + topic_publisher_params_.publish_only_pointcloud_with_object || is_object_spawned); accessor.publishWithCurrentTime( - *publisher_var_pair.second.second, header_time, is_object_spawned); + *publisher_var_pair.second.second, header_time, + topic_publisher_params_.publish_only_pointcloud_with_object || is_object_spawned); counter++; } if (is_object_spawned && !is_object_spawned_message_published) { @@ -113,8 +120,12 @@ void TopicPublisher::pointcloudMessagesAsyncPublisher( PublisherVarAccessor accessor; const auto current_time = node_->now(); const bool is_object_spawned = spawn_object_cmd_; - accessor.publishWithCurrentTime(*lidar_output_pair_.first, current_time, is_object_spawned); - accessor.publishWithCurrentTime(*lidar_output_pair_.second, current_time, is_object_spawned); + accessor.publishWithCurrentTime( + *lidar_output_pair_.first, current_time, + topic_publisher_params_.publish_only_pointcloud_with_object || is_object_spawned); + accessor.publishWithCurrentTime( + *lidar_output_pair_.second, current_time, + topic_publisher_params_.publish_only_pointcloud_with_object || is_object_spawned); if (is_object_spawned && !is_object_spawned_message_published) { is_object_spawned_message_published = true; @@ -207,9 +218,6 @@ void TopicPublisher::initRosbagPublishers() const auto message_type = getMessageTypeForTopic(current_topic); if (message_type == PublisherMessageType::UNKNOWN) { - RCLCPP_WARN( - node_->get_logger(), "Unknown message type for topic name: %s, skipping..", - current_topic.c_str()); continue; } @@ -427,9 +435,6 @@ void TopicPublisher::initRosbagPublishers() break; } default: - RCLCPP_WARN( - node_->get_logger(), "Unknown message type for topic name: %s, skipping..", - current_topic.c_str()); break; } } @@ -498,9 +503,6 @@ void TopicPublisher::initRosbagPublishers() const auto message_type = getMessageTypeForTopic(current_topic); if (message_type == PublisherMessageType::UNKNOWN) { - RCLCPP_WARN( - node_->get_logger(), "Unknown message type for topic name: %s, skipping..", - current_topic.c_str()); continue; } switch (message_type) { @@ -740,9 +742,6 @@ void TopicPublisher::initRosbagPublishers() break; } default: - RCLCPP_WARN( - node_->get_logger(), "Unknown message type for topic name: %s, skipping..", - current_topic.c_str()); break; } } From dc2ce5be06dece2fd7bda6c47d677073f04c9646 Mon Sep 17 00:00:00 2001 From: Berkay Karaman Date: Tue, 12 Mar 2024 15:38:49 +0300 Subject: [PATCH 05/14] feat: add wrong initialize localization protection, improve code readability Signed-off-by: Berkay Karaman --- .../include/reaction_analyzer_node.hpp | 12 +- .../include/topic_publisher.hpp | 24 +- .../launch/reaction_analyzer.launch.xml | 1 + .../param/reaction_analyzer.param.yaml | 104 +- .../src/reaction_analyzer_node.cpp | 66 +- .../reaction_analyzer/src/topic_publisher.cpp | 1056 +++++++++-------- 6 files changed, 690 insertions(+), 573 deletions(-) diff --git a/tools/reaction_analyzer/include/reaction_analyzer_node.hpp b/tools/reaction_analyzer/include/reaction_analyzer_node.hpp index 81c6f75abaa92..921a9c9379ebf 100644 --- a/tools/reaction_analyzer/include/reaction_analyzer_node.hpp +++ b/tools/reaction_analyzer/include/reaction_analyzer_node.hpp @@ -59,6 +59,7 @@ using autoware_adapi_v1_msgs::srv::ChangeOperationMode; using autoware_auto_perception_msgs::msg::PredictedObject; using autoware_auto_perception_msgs::msg::PredictedObjects; using geometry_msgs::msg::Pose; +using geometry_msgs::msg::PoseStamped; using nav_msgs::msg::Odometry; using sensor_msgs::msg::PointCloud2; @@ -112,7 +113,7 @@ class ReactionAnalyzerNode : public rclcpp::Node explicit ReactionAnalyzerNode(rclcpp::NodeOptions options); ~ReactionAnalyzerNode() = default; - Odometry::ConstSharedPtr odometry_; + Odometry::ConstSharedPtr odometry_ptr_; private: std::mutex mutex_; @@ -131,6 +132,7 @@ class ReactionAnalyzerNode : public rclcpp::Node rclcpp::Subscription::SharedPtr sub_route_state_; rclcpp::Subscription::SharedPtr sub_localization_init_state_; rclcpp::Subscription::SharedPtr sub_operation_mode_; + rclcpp::Subscription::SharedPtr sub_ground_truth_pose_; // Publishers rclcpp::Publisher::SharedPtr pub_pointcloud_; @@ -163,7 +165,9 @@ class ReactionAnalyzerNode : public rclcpp::Node void initEgoForTest( const LocalizationInitializationState::ConstSharedPtr & initialization_state_ptr, const RouteState::ConstSharedPtr & route_state_ptr, - const OperationModeState::ConstSharedPtr & operation_mode_ptr); + const OperationModeState::ConstSharedPtr & operation_mode_ptr, + const PoseStamped::ConstSharedPtr & ground_truth_pose_ptr, + const Odometry::ConstSharedPtr & odometry_ptr); void callOperationModeServiceWithoutResponse(); @@ -186,10 +190,11 @@ class ReactionAnalyzerNode : public rclcpp::Node void initializationStateCallback(LocalizationInitializationState::ConstSharedPtr msg_ptr); - void routeStateCallback(RouteState::ConstSharedPtr msg); + void routeStateCallback(RouteState::ConstSharedPtr msg_ptr); void operationModeCallback(OperationModeState::ConstSharedPtr msg_ptr); + void groundTruthPoseCallback(PoseStamped::ConstSharedPtr msg_ptr); // Timer rclcpp::TimerBase::SharedPtr timer_; rclcpp::TimerBase::SharedPtr dummy_perception_timer_; @@ -205,6 +210,7 @@ class ReactionAnalyzerNode : public rclcpp::Node LocalizationInitializationState::ConstSharedPtr initialization_state_ptr_; RouteState::ConstSharedPtr current_route_state_ptr_; OperationModeState::ConstSharedPtr operation_mode_ptr_; + PoseStamped::ConstSharedPtr ground_truth_pose_ptr_; }; } // namespace reaction_analyzer diff --git a/tools/reaction_analyzer/include/topic_publisher.hpp b/tools/reaction_analyzer/include/topic_publisher.hpp index 45dfcd42bb4f3..c53d24595e952 100644 --- a/tools/reaction_analyzer/include/topic_publisher.hpp +++ b/tools/reaction_analyzer/include/topic_publisher.hpp @@ -59,13 +59,15 @@ enum class PublisherMessageType { IMAGE = 2, POINTCLOUD2 = 3, POSE_WITH_COVARIANCE_STAMPED = 4, - IMU = 5, - CONTROL_MODE_REPORT = 6, - GEAR_REPORT = 7, - HAZARD_LIGHTS_REPORT = 8, - STEERING_REPORT = 9, - TURN_INDICATORS_REPORT = 10, - VELOCITY_REPORT = 11, + POSE_STAMPED = 5, + ODOMETRY = 6, + IMU = 7, + CONTROL_MODE_REPORT = 8, + GEAR_REPORT = 9, + HAZARD_LIGHTS_REPORT = 10, + STEERING_REPORT = 11, + TURN_INDICATORS_REPORT = 12, + VELOCITY_REPORT = 13, }; struct TopicPublisherParams @@ -173,6 +175,7 @@ using PublisherVariablesVariant = std::variant< PublisherVariables, PublisherVariables, PublisherVariables, PublisherVariables, + PublisherVariables, PublisherVariables, PublisherVariables, PublisherVariables, PublisherVariables, @@ -207,6 +210,13 @@ class TopicPublisher TopicPublisherParams topic_publisher_params_; // Functions + void setMessageToVariableMap( + const PublisherMessageType & message_type, const std::string & topic_name, + rosbag2_storage::SerializedBagMessage & bag_message, const bool is_empty_area_message); + void setPeriodToVariableMap( + const std::unordered_map> & time_map); + bool setPublishersAndTimersToVariableMap(); + bool checkPublishersInitializedCorrectly(); void initRosbagPublishers(); void pointcloudMessagesSyncPublisher(const PointcloudPublisherType type); void genericMessagePublisher(const std::string & topic_name); diff --git a/tools/reaction_analyzer/launch/reaction_analyzer.launch.xml b/tools/reaction_analyzer/launch/reaction_analyzer.launch.xml index 44acfdd6b6b42..c7536b4941325 100644 --- a/tools/reaction_analyzer/launch/reaction_analyzer.launch.xml +++ b/tools/reaction_analyzer/launch/reaction_analyzer.launch.xml @@ -37,6 +37,7 @@ + diff --git a/tools/reaction_analyzer/param/reaction_analyzer.param.yaml b/tools/reaction_analyzer/param/reaction_analyzer.param.yaml index 8028b0da6dd0b..cd878584b2270 100644 --- a/tools/reaction_analyzer/param/reaction_analyzer.param.yaml +++ b/tools/reaction_analyzer/param/reaction_analyzer.param.yaml @@ -55,18 +55,18 @@ topic_name: /planning/scenario_planning/lane_driving/trajectory time_debug_topic_name: /planning/scenario_planning/lane_driving/trajectory/debug/published_time message_type: autoware_auto_planning_msgs/msg/Trajectory - scenario_selector: - topic_name: /planning/scenario_planning/scenario_selector/trajectory - time_debug_topic_name: /planning/scenario_planning/scenario_selector/trajectory/debug/published_time - message_type: autoware_auto_planning_msgs/msg/Trajectory - motion_velocity_smoother: - topic_name: /planning/scenario_planning/motion_velocity_smoother/trajectory - time_debug_topic_name: /planning/scenario_planning/motion_velocity_smoother/trajectory/debug/published_time - message_type: autoware_auto_planning_msgs/msg/Trajectory - planning_validator: - topic_name: /planning/scenario_planning/trajectory - time_debug_topic_name: /planning/scenario_planning/trajectory/debug/published_time - message_type: autoware_auto_planning_msgs/msg/Trajectory +# scenario_selector: +# topic_name: /planning/scenario_planning/scenario_selector/trajectory +# time_debug_topic_name: /planning/scenario_planning/scenario_selector/trajectory/debug/published_time +# message_type: autoware_auto_planning_msgs/msg/Trajectory +# motion_velocity_smoother: +# topic_name: /planning/scenario_planning/motion_velocity_smoother/trajectory +# time_debug_topic_name: /planning/scenario_planning/motion_velocity_smoother/trajectory/debug/published_time +# message_type: autoware_auto_planning_msgs/msg/Trajectory +# planning_validator: +# topic_name: /planning/scenario_planning/trajectory +# time_debug_topic_name: /planning/scenario_planning/trajectory/debug/published_time +# message_type: autoware_auto_planning_msgs/msg/Trajectory # trajectory_follower: # topic_name: /control/trajectory_follower/control_cmd # time_debug_topic_name: /control/trajectory_follower/control_cmd/debug/published_time @@ -75,43 +75,43 @@ # topic_name: /control/command/control_cmd # time_debug_topic_name: /control/command/control_cmd/debug/published_time # message_type: autoware_auto_control_msgs/msg/AckermannControlCommand - common_ground_filter: - topic_name: /perception/obstacle_segmentation/single_frame/pointcloud_raw - time_debug_topic_name: /perception/obstacle_segmentation/single_frame/pointcloud_raw/debug/published_time - message_type: sensor_msgs/msg/PointCloud2 - occupancy_grid_map_outlier: - topic_name: /perception/obstacle_segmentation/pointcloud - time_debug_topic_name: /perception/obstacle_segmentation/pointcloud/debug/published_time - message_type: sensor_msgs/msg/PointCloud2 - multi_object_tracker: - topic_name: /perception/object_recognition/tracking/near_objects - time_debug_topic_name: /perception/object_recognition/tracking/near_objects/debug/published_time - message_type: autoware_auto_perception_msgs/msg/TrackedObjects - lidar_centerpoint: - topic_name: /perception/object_recognition/detection/centerpoint/objects - time_debug_topic_name: /perception/object_recognition/detection/centerpoint/objects/debug/published_time - message_type: autoware_auto_perception_msgs/msg/DetectedObjects - obstacle_pointcloud_based_validator: - topic_name: /perception/object_recognition/detection/centerpoint/validation/objects - time_debug_topic_name: /perception/object_recognition/detection/centerpoint/validation/objects/debug/published_time - message_type: autoware_auto_perception_msgs/msg/DetectedObjects - decorative_tracker_merger: - topic_name: /perception/object_recognition/tracking/objects - time_debug_topic_name: /perception/object_recognition/tracking/objects/debug/published_time - message_type: autoware_auto_perception_msgs/msg/TrackedObjects - detected_object_feature_remover: - topic_name: /perception/object_recognition/detection/clustering/objects - time_debug_topic_name: /perception/object_recognition/detection/clustering/objects/debug/published_time - message_type: autoware_auto_perception_msgs/msg/DetectedObjects - detection_by_tracker: - topic_name: /perception/object_recognition/detection/detection_by_tracker/objects - time_debug_topic_name: /perception/object_recognition/detection/detection_by_tracker/objects/debug/published_time - message_type: autoware_auto_perception_msgs/msg/DetectedObjects - object_lanelet_filter: - topic_name: /perception/object_recognition/detection/objects - time_debug_topic_name: /perception/object_recognition/detection/objects/debug/published_time - message_type: autoware_auto_perception_msgs/msg/DetectedObjects - map_based_prediction: - topic_name: /perception/object_recognition/objects - time_debug_topic_name: /perception/object_recognition/objects/debug/published_time - message_type: autoware_auto_perception_msgs/msg/PredictedObjects +# common_ground_filter: +# topic_name: /perception/obstacle_segmentation/single_frame/pointcloud_raw +# time_debug_topic_name: /perception/obstacle_segmentation/single_frame/pointcloud_raw/debug/published_time +# message_type: sensor_msgs/msg/PointCloud2 +# occupancy_grid_map_outlier: +# topic_name: /perception/obstacle_segmentation/pointcloud +# time_debug_topic_name: /perception/obstacle_segmentation/pointcloud/debug/published_time +# message_type: sensor_msgs/msg/PointCloud2 +# multi_object_tracker: +# topic_name: /perception/object_recognition/tracking/near_objects +# time_debug_topic_name: /perception/object_recognition/tracking/near_objects/debug/published_time +# message_type: autoware_auto_perception_msgs/msg/TrackedObjects +# lidar_centerpoint: +# topic_name: /perception/object_recognition/detection/centerpoint/objects +# time_debug_topic_name: /perception/object_recognition/detection/centerpoint/objects/debug/published_time +# message_type: autoware_auto_perception_msgs/msg/DetectedObjects +# obstacle_pointcloud_based_validator: +# topic_name: /perception/object_recognition/detection/centerpoint/validation/objects +# time_debug_topic_name: /perception/object_recognition/detection/centerpoint/validation/objects/debug/published_time +# message_type: autoware_auto_perception_msgs/msg/DetectedObjects +# decorative_tracker_merger: +# topic_name: /perception/object_recognition/tracking/objects +# time_debug_topic_name: /perception/object_recognition/tracking/objects/debug/published_time +# message_type: autoware_auto_perception_msgs/msg/TrackedObjects +# detected_object_feature_remover: +# topic_name: /perception/object_recognition/detection/clustering/objects +# time_debug_topic_name: /perception/object_recognition/detection/clustering/objects/debug/published_time +# message_type: autoware_auto_perception_msgs/msg/DetectedObjects +# detection_by_tracker: +# topic_name: /perception/object_recognition/detection/detection_by_tracker/objects +# time_debug_topic_name: /perception/object_recognition/detection/detection_by_tracker/objects/debug/published_time +# message_type: autoware_auto_perception_msgs/msg/DetectedObjects +# object_lanelet_filter: +# topic_name: /perception/object_recognition/detection/objects +# time_debug_topic_name: /perception/object_recognition/detection/objects/debug/published_time +# message_type: autoware_auto_perception_msgs/msg/DetectedObjects +# map_based_prediction: +# topic_name: /perception/object_recognition/objects +# time_debug_topic_name: /perception/object_recognition/objects/debug/published_time +# message_type: autoware_auto_perception_msgs/msg/PredictedObjects diff --git a/tools/reaction_analyzer/src/reaction_analyzer_node.cpp b/tools/reaction_analyzer/src/reaction_analyzer_node.cpp index 4d7068956a1ee..b7a43ff307f9c 100644 --- a/tools/reaction_analyzer/src/reaction_analyzer_node.cpp +++ b/tools/reaction_analyzer/src/reaction_analyzer_node.cpp @@ -35,7 +35,7 @@ void ReactionAnalyzerNode::routeStateCallback(RouteState::ConstSharedPtr msg_ptr void ReactionAnalyzerNode::vehiclePoseCallback(Odometry::ConstSharedPtr msg_ptr) { std::lock_guard lock(mutex_); - odometry_ = msg_ptr; + odometry_ptr_ = msg_ptr; } void ReactionAnalyzerNode::initializationStateCallback( @@ -45,6 +45,12 @@ void ReactionAnalyzerNode::initializationStateCallback( initialization_state_ptr_ = std::move(msg_ptr); } +void ReactionAnalyzerNode::groundTruthPoseCallback(PoseStamped::ConstSharedPtr msg_ptr) +{ + std::lock_guard lock(mutex_); + ground_truth_pose_ptr_ = std::move(msg_ptr); +} + ReactionAnalyzerNode::ReactionAnalyzerNode(rclcpp::NodeOptions options) : Node("reaction_analyzer_node", options.automatically_declare_parameters_from_overrides(true)) { @@ -130,6 +136,7 @@ ReactionAnalyzerNode::ReactionAnalyzerNode(rclcpp::NodeOptions options) // init dummy perception publisher const auto period_ns = std::chrono::duration_cast( std::chrono::duration(node_params_.dummy_perception_publisher_period)); + dummy_perception_timer_ = rclcpp::create_timer( this, get_clock(), period_ns, std::bind(&ReactionAnalyzerNode::dummyPerceptionPublisher, this)); @@ -138,12 +145,19 @@ ReactionAnalyzerNode::ReactionAnalyzerNode(rclcpp::NodeOptions options) // Create topic publishers topic_publisher_ptr_ = std::make_shared(this, spawn_object_cmd_, spawn_cmd_time_); + + // Subscribe to the ground truth position + sub_ground_truth_pose_ = create_subscription( + "input/ground_truth_pose", rclcpp::QoS{1}, + std::bind(&ReactionAnalyzerNode::groundTruthPoseCallback, this, _1), + createSubscriptionOptions(this)); } // Load the subscriber to listen the topics for reactions - odometry_ = std::make_shared(); // initialize the odometry before init the subscriber - subscriber_ptr_ = - std::make_unique(this, odometry_, entity_pose_, spawn_object_cmd_); + odometry_ptr_ = + std::make_shared(); // initialize the odometry before init the subscriber + subscriber_ptr_ = std::make_unique( + this, odometry_ptr_, entity_pose_, spawn_object_cmd_); const auto period_ns = std::chrono::duration_cast( std::chrono::duration(node_params_.timer_period)); @@ -154,16 +168,19 @@ ReactionAnalyzerNode::ReactionAnalyzerNode(rclcpp::NodeOptions options) void ReactionAnalyzerNode::onTimer() { mutex_.lock(); - const auto current_odometry_ptr = odometry_; + const auto current_odometry_ptr = odometry_ptr_; const auto initialization_state_ptr = initialization_state_ptr_; const auto route_state_ptr = current_route_state_ptr_; const auto operation_mode_ptr = operation_mode_ptr_; + const auto ground_truth_pose_ptr = ground_truth_pose_ptr_; const auto spawn_cmd_time = spawn_cmd_time_; mutex_.unlock(); // Init the test environment if (!test_environment_init_time_) { - initEgoForTest(initialization_state_ptr, route_state_ptr, operation_mode_ptr); + initEgoForTest( + initialization_state_ptr, route_state_ptr, operation_mode_ptr, ground_truth_pose_ptr, + current_odometry_ptr); return; } @@ -437,11 +454,13 @@ void ReactionAnalyzerNode::initPredictedObjects() void ReactionAnalyzerNode::initEgoForTest( const LocalizationInitializationState::ConstSharedPtr & initialization_state_ptr, const RouteState::ConstSharedPtr & route_state_ptr, - const OperationModeState::ConstSharedPtr & operation_mode_ptr) + const OperationModeState::ConstSharedPtr & operation_mode_ptr, + const PoseStamped::ConstSharedPtr & ground_truth_pose_ptr, + const Odometry::ConstSharedPtr & odometry_ptr) { const auto current_time = this->now(); - // Initialize the vehicle + // Initialize the test environment constexpr double initialize_call_period = 1.0; // sec if ( @@ -450,6 +469,7 @@ void ReactionAnalyzerNode::initEgoForTest( initialize_call_period) { last_test_environment_init_request_time_ = current_time; + // Pose initialization of the ego if ( initialization_state_ptr && (initialization_state_ptr->state != LocalizationInitializationState::INITIALIZED || @@ -466,6 +486,35 @@ void ReactionAnalyzerNode::initEgoForTest( return; } + // Wait until odometry_ptr is initialized + if (!odometry_ptr) { + RCLCPP_WARN_ONCE(get_logger(), "Odometry is not received. Waiting for odometry..."); + return; + } + + // Check is position initialized accurately, if node is running PerceptionPlanning mode + if (node_running_mode_ == RunningMode::PerceptionPlanning) { + if (!ground_truth_pose_ptr) { + RCLCPP_WARN( + get_logger(), "Ground truth pose is not received. Waiting for Ground truth pose..."); + return; + } else { + constexpr double deviation_threshold = 0.1; + const auto deviation = tier4_autoware_utils::calcPoseDeviation( + ground_truth_pose_ptr->pose, odometry_ptr->pose.pose); + if ( + deviation.longitudinal > deviation_threshold || deviation.lateral > deviation_threshold || + deviation.yaw > deviation_threshold) { + RCLCPP_ERROR( + get_logger(), + "Deviation between ground truth position and ego position is high. Node is shutting " + "down. Longitudinal deviation: %f, Lateral deviation: %f, Yaw deviation: %f", + deviation.longitudinal, deviation.lateral, deviation.yaw); + rclcpp::shutdown(); + } + } + } + if (route_state_ptr && (route_state_ptr->state != RouteState::SET || !is_route_set_)) { if (route_state_ptr->state == RouteState::SET) { is_route_set_ = true; @@ -477,6 +526,7 @@ void ReactionAnalyzerNode::initEgoForTest( return; } + // if node is running PlanningControl mode, change ego to Autonomous mode. if (node_running_mode_ == RunningMode::PlanningControl) { // change to autonomous if (operation_mode_ptr && operation_mode_ptr->mode != OperationModeState::AUTONOMOUS) { diff --git a/tools/reaction_analyzer/src/topic_publisher.cpp b/tools/reaction_analyzer/src/topic_publisher.cpp index a0798717d19f6..12bb1981031d5 100644 --- a/tools/reaction_analyzer/src/topic_publisher.cpp +++ b/tools/reaction_analyzer/src/topic_publisher.cpp @@ -54,6 +54,7 @@ TopicPublisher::TopicPublisher( return; } + // Init the publishers which will read the messages from the rosbag initRosbagPublishers(); } @@ -165,6 +166,10 @@ void TopicPublisher::initRosbagPublishers() return PublisherMessageType::IMAGE; } else if (input == "geometry_msgs/msg/PoseWithCovarianceStamped") { return PublisherMessageType::POSE_WITH_COVARIANCE_STAMPED; + } else if (input == "geometry_msgs/msg/PoseStamped") { + return PublisherMessageType::POSE_STAMPED; + } else if (input == "nav_msgs/msg/Odometry") { + return PublisherMessageType::ODOMETRY; } else if (input == "sensor_msgs/msg/Imu") { return PublisherMessageType::IMU; } else if (input == "autoware_auto_vehicle_msgs/msg/ControlModeReport") { @@ -197,12 +202,12 @@ void TopicPublisher::initRosbagPublishers() } const auto & topics = reader.get_metadata().topics_with_message_count; + auto getMessageTypeForTopic = [&topics, &string_to_publisher_message_type]( const std::string & topicName) -> PublisherMessageType { auto it = std::find_if(topics.begin(), topics.end(), [&topicName](const auto & topic) { return topic.topic_metadata.name == topicName; }); - if (it != topics.end()) { return string_to_publisher_message_type( it->topic_metadata.type); // Return the message type if found @@ -210,9 +215,12 @@ void TopicPublisher::initRosbagPublishers() return PublisherMessageType::UNKNOWN; // } }; + + // Collect timestamps for each topic to set the frequency of the publishers std::unordered_map> timestamps_per_topic; + while (reader.has_next()) { - auto bag_message = reader.read_next(); + const auto bag_message = reader.read_next(); const auto current_topic = bag_message->topic_name; @@ -223,251 +231,16 @@ void TopicPublisher::initRosbagPublishers() // Record timestamp timestamps_per_topic[current_topic].emplace_back(bag_message->time_stamp); + // Deserialize and store the first message as a sample if (timestamps_per_topic[current_topic].size() == 1) { - switch (message_type) { - case PublisherMessageType::POINTCLOUD2: { - rclcpp::Serialization serialization; - auto & publisher_var = topic_publisher_map_[current_topic]; - if (!std::holds_alternative>(publisher_var)) { - publisher_var = PublisherVariables(); - } - std::get>(publisher_var).empty_area_message = - std::make_shared(); - rclcpp::SerializedMessage extracted_serialized_msg(*bag_message->serialized_data); - serialization.deserialize_message( - &extracted_serialized_msg, - &(*std::get>(publisher_var).empty_area_message)); - break; - } - case PublisherMessageType::CAMERA_INFO: { - rclcpp::Serialization serialization; - - auto & publisher_var = topic_publisher_map_[current_topic]; - if (!std::holds_alternative>( - publisher_var)) { - publisher_var = PublisherVariables(); - } - std::get>(publisher_var) - .empty_area_message = std::make_shared(); - rclcpp::SerializedMessage extracted_serialized_msg(*bag_message->serialized_data); - serialization.deserialize_message( - &extracted_serialized_msg, - &(*std::get>(publisher_var) - .empty_area_message)); - break; - } - case PublisherMessageType::IMAGE: { - rclcpp::Serialization serialization; - - auto & publisher_var = topic_publisher_map_[current_topic]; - if (!std::holds_alternative>( - publisher_var)) { - publisher_var = PublisherVariables(); - } - std::get>(publisher_var) - .empty_area_message = std::make_shared(); - rclcpp::SerializedMessage extracted_serialized_msg(*bag_message->serialized_data); - serialization.deserialize_message( - &extracted_serialized_msg, - &(*std::get>(publisher_var) - .empty_area_message)); - break; - } - case PublisherMessageType::POSE_WITH_COVARIANCE_STAMPED: { - rclcpp::Serialization serialization; - auto & publisher_var = topic_publisher_map_[current_topic]; - if (!std::holds_alternative< - PublisherVariables>( - publisher_var)) { - publisher_var = PublisherVariables(); - } - std::get>( - publisher_var) - .empty_area_message = - std::make_shared(); - rclcpp::SerializedMessage extracted_serialized_msg(*bag_message->serialized_data); - serialization.deserialize_message( - &extracted_serialized_msg, - &(*std::get>( - publisher_var) - .empty_area_message)); - break; - } - case PublisherMessageType::IMU: { - rclcpp::Serialization serialization; - - auto & publisher_var = topic_publisher_map_[current_topic]; - if (!std::holds_alternative>(publisher_var)) { - publisher_var = PublisherVariables(); - } - std::get>(publisher_var).empty_area_message = - std::make_shared(); - rclcpp::SerializedMessage extracted_serialized_msg(*bag_message->serialized_data); - serialization.deserialize_message( - &extracted_serialized_msg, - &(*std::get>(publisher_var) - .empty_area_message)); - break; - } - case PublisherMessageType::CONTROL_MODE_REPORT: { - rclcpp::Serialization serialization; - - auto & publisher_var = topic_publisher_map_[current_topic]; - if (!std::holds_alternative< - PublisherVariables>( - publisher_var)) { - publisher_var = - PublisherVariables(); - } - std::get>( - publisher_var) - .empty_area_message = - std::make_shared(); - rclcpp::SerializedMessage extracted_serialized_msg(*bag_message->serialized_data); - serialization.deserialize_message( - &extracted_serialized_msg, - &(*std::get>( - publisher_var) - .empty_area_message)); - break; - } - case PublisherMessageType::GEAR_REPORT: { - rclcpp::Serialization serialization; - auto & publisher_var = topic_publisher_map_[current_topic]; - if (!std::holds_alternative< - PublisherVariables>(publisher_var)) { - publisher_var = PublisherVariables(); - } - std::get>(publisher_var) - .empty_area_message = std::make_shared(); - rclcpp::SerializedMessage extracted_serialized_msg(*bag_message->serialized_data); - serialization.deserialize_message( - &extracted_serialized_msg, - &(*std::get>( - publisher_var) - .empty_area_message)); - break; - } - case PublisherMessageType::HAZARD_LIGHTS_REPORT: { - rclcpp::Serialization - serialization; - auto & publisher_var = topic_publisher_map_[current_topic]; - if (!std::holds_alternative< - PublisherVariables>( - publisher_var)) { - publisher_var = - PublisherVariables(); - } - std::get>( - publisher_var) - .empty_area_message = - std::make_shared(); - rclcpp::SerializedMessage extracted_serialized_msg(*bag_message->serialized_data); - serialization.deserialize_message( - &extracted_serialized_msg, - &(*std::get>( - publisher_var) - .empty_area_message)); - break; - } - case PublisherMessageType::STEERING_REPORT: { - rclcpp::Serialization serialization; - auto & publisher_var = topic_publisher_map_[current_topic]; - if (!std::holds_alternative< - PublisherVariables>( - publisher_var)) { - publisher_var = PublisherVariables(); - } - std::get>( - publisher_var) - .empty_area_message = - std::make_shared(); - rclcpp::SerializedMessage extracted_serialized_msg(*bag_message->serialized_data); - serialization.deserialize_message( - &extracted_serialized_msg, - &(*std::get>( - publisher_var) - .empty_area_message)); - break; - } - case PublisherMessageType::TURN_INDICATORS_REPORT: { - rclcpp::Serialization - serialization; - auto & publisher_var = topic_publisher_map_[current_topic]; - if (!std::holds_alternative< - PublisherVariables>( - publisher_var)) { - publisher_var = - PublisherVariables(); - } - std::get>( - publisher_var) - .empty_area_message = - std::make_shared(); - rclcpp::SerializedMessage extracted_serialized_msg(*bag_message->serialized_data); - serialization.deserialize_message( - &extracted_serialized_msg, - &(*std::get< - PublisherVariables>( - publisher_var) - .empty_area_message)); - break; - } - case PublisherMessageType::VELOCITY_REPORT: { - rclcpp::Serialization serialization; - auto & publisher_var = topic_publisher_map_[current_topic]; - if (!std::holds_alternative< - PublisherVariables>( - publisher_var)) { - publisher_var = PublisherVariables(); - } - std::get>( - publisher_var) - .empty_area_message = - std::make_shared(); - rclcpp::SerializedMessage extracted_serialized_msg(*bag_message->serialized_data); - serialization.deserialize_message( - &extracted_serialized_msg, - &(*std::get>( - publisher_var) - .empty_area_message)); - break; - } - default: - break; - } + setMessageToVariableMap(message_type, current_topic, *bag_message, true); } } - // set frequencies of the publishers - // After collecting all timestamps for each topic - for (auto & topic_pair : timestamps_per_topic) { - auto & timestamps = topic_pair.second; - - // Sort the timestamps - std::sort(timestamps.begin(), timestamps.end()); - - // Then proceed with the frequency calculation - std::string topic_name = topic_pair.first; - if (timestamps.size() > 1) { - int64_t total_time_diff_ns = 0; - - // Accumulate the differences in nanoseconds - for (size_t i = 1; i < timestamps.size(); ++i) { - total_time_diff_ns += (timestamps[i] - timestamps[i - 1]).nanoseconds(); - } - - // Convert to double for the division to get the average period in nanoseconds - double period_ns = - static_cast(total_time_diff_ns) / static_cast(timestamps.size() - 1); - - PublisherVariablesVariant & publisherVar = topic_publisher_map_[topic_name]; - PublisherVarAccessor accessor; + // After collecting all timestamps for each topic, set frequencies of the publishers + setPeriodToVariableMap(timestamps_per_topic); - std::visit([&](auto & var) { accessor.setPeriod(var, period_ns); }, publisherVar); - } - } reader.close(); } @@ -502,277 +275,529 @@ void TopicPublisher::initRosbagPublishers() const auto current_topic = bag_message->topic_name; const auto message_type = getMessageTypeForTopic(current_topic); + if (message_type == PublisherMessageType::UNKNOWN) { continue; } - switch (message_type) { - case PublisherMessageType::POINTCLOUD2: { - rclcpp::Serialization serialization; - auto & publisher_var = topic_publisher_map_[current_topic]; - if (!std::holds_alternative>(publisher_var)) { - RCLCPP_ERROR_STREAM( - node_->get_logger(), "Variant couldn't found in the topic named: " << current_topic); - rclcpp::shutdown(); - } - auto & object_spawned_message = - std::get>(publisher_var).object_spawned_message; - if (!object_spawned_message) { - object_spawned_message = std::make_shared(); - rclcpp::SerializedMessage extracted_serialized_msg(*bag_message->serialized_data); - serialization.deserialize_message( - &extracted_serialized_msg, &(*object_spawned_message)); - } - break; - } - case PublisherMessageType::CAMERA_INFO: { - rclcpp::Serialization serialization; - auto & publisher_var = topic_publisher_map_[current_topic]; - if (!std::holds_alternative>( - publisher_var)) { - RCLCPP_ERROR_STREAM( - node_->get_logger(), "Variant couldn't found in the topic named: " << current_topic); - rclcpp::shutdown(); - } - auto & object_spawned_message = - std::get>(publisher_var) - .object_spawned_message; - if (!object_spawned_message) { - object_spawned_message = std::make_shared(); - rclcpp::SerializedMessage extracted_serialized_msg(*bag_message->serialized_data); - serialization.deserialize_message( - &extracted_serialized_msg, &(*object_spawned_message)); - } - break; - } - case PublisherMessageType::IMAGE: { - rclcpp::Serialization serialization; - auto & publisher_var = topic_publisher_map_[current_topic]; - if (!std::holds_alternative>(publisher_var)) { - RCLCPP_ERROR_STREAM( - node_->get_logger(), "Variant couldn't found in the topic named: " << current_topic); - rclcpp::shutdown(); - } - auto & object_spawned_message = - std::get>(publisher_var) - .object_spawned_message; - if (!object_spawned_message) { - object_spawned_message = std::make_shared(); - rclcpp::SerializedMessage extracted_serialized_msg(*bag_message->serialized_data); - serialization.deserialize_message( - &extracted_serialized_msg, &(*object_spawned_message)); - } - break; - } - case PublisherMessageType::POSE_WITH_COVARIANCE_STAMPED: { - rclcpp::Serialization serialization; - auto & publisher_var = topic_publisher_map_[current_topic]; - if (!std::holds_alternative< - PublisherVariables>(publisher_var)) { - RCLCPP_ERROR_STREAM( - node_->get_logger(), "Variant couldn't found in the topic named: " << current_topic); - rclcpp::shutdown(); - } - auto & object_spawned_message = - std::get>( - publisher_var) - .object_spawned_message; - if (!object_spawned_message) { - object_spawned_message = - std::make_shared(); - rclcpp::SerializedMessage extracted_serialized_msg(*bag_message->serialized_data); - serialization.deserialize_message( - &extracted_serialized_msg, &(*object_spawned_message)); - } - break; - } - case PublisherMessageType::IMU: { - rclcpp::Serialization serialization; - auto & publisher_var = topic_publisher_map_[current_topic]; - if (!std::holds_alternative>(publisher_var)) { - RCLCPP_ERROR_STREAM( - node_->get_logger(), "Variant couldn't found in the topic named: " << current_topic); - rclcpp::shutdown(); - } - auto & object_spawned_message = - std::get>(publisher_var) - .object_spawned_message; - if (!object_spawned_message) { - object_spawned_message = std::make_shared(); - rclcpp::SerializedMessage extracted_serialized_msg(*bag_message->serialized_data); - serialization.deserialize_message( - &extracted_serialized_msg, &(*object_spawned_message)); - } - break; - } - case PublisherMessageType::CONTROL_MODE_REPORT: { - rclcpp::Serialization serialization; - auto & publisher_var = topic_publisher_map_[current_topic]; - if (!std::holds_alternative< - PublisherVariables>( - publisher_var)) { - RCLCPP_ERROR_STREAM( - node_->get_logger(), "Variant couldn't found in the topic named: " << current_topic); - rclcpp::shutdown(); - } - auto & object_spawned_message = - std::get>( - publisher_var) - .object_spawned_message; - if (!object_spawned_message) { - object_spawned_message = - std::make_shared(); - rclcpp::SerializedMessage extracted_serialized_msg(*bag_message->serialized_data); - serialization.deserialize_message( - &extracted_serialized_msg, &(*object_spawned_message)); - } - break; - } - case PublisherMessageType::GEAR_REPORT: { - rclcpp::Serialization serialization; - auto & publisher_var = topic_publisher_map_[current_topic]; - if (!std::holds_alternative< - PublisherVariables>(publisher_var)) { - RCLCPP_ERROR_STREAM( - node_->get_logger(), "Variant couldn't found in the topic named: " << current_topic); - rclcpp::shutdown(); - } - auto & object_spawned_message = - std::get>(publisher_var) - .object_spawned_message; - if (!object_spawned_message) { - object_spawned_message = - std::make_shared(); - rclcpp::SerializedMessage extracted_serialized_msg(*bag_message->serialized_data); - serialization.deserialize_message( - &extracted_serialized_msg, &(*object_spawned_message)); - } - break; - } - case PublisherMessageType::HAZARD_LIGHTS_REPORT: { - rclcpp::Serialization serialization; - auto & publisher_var = topic_publisher_map_[current_topic]; - if (!std::holds_alternative< - PublisherVariables>( - publisher_var)) { - RCLCPP_ERROR_STREAM( - node_->get_logger(), "Variant couldn't found in the topic named: " << current_topic); - rclcpp::shutdown(); - } - auto & object_spawned_message = - std::get>( - publisher_var) - .object_spawned_message; - if (!object_spawned_message) { - object_spawned_message = - std::make_shared(); - rclcpp::SerializedMessage extracted_serialized_msg(*bag_message->serialized_data); - serialization.deserialize_message( - &extracted_serialized_msg, &(*object_spawned_message)); - } - break; - } - case PublisherMessageType::STEERING_REPORT: { - rclcpp::Serialization serialization; - auto & publisher_var = topic_publisher_map_[current_topic]; - if (!std::holds_alternative< - PublisherVariables>( - publisher_var)) { - RCLCPP_ERROR_STREAM( - node_->get_logger(), "Variant couldn't found in the topic named: " << current_topic); - rclcpp::shutdown(); - } - auto & object_spawned_message = - std::get>( - publisher_var) - .object_spawned_message; - if (!object_spawned_message) { - object_spawned_message = - std::make_shared(); - rclcpp::SerializedMessage extracted_serialized_msg(*bag_message->serialized_data); - serialization.deserialize_message( - &extracted_serialized_msg, &(*object_spawned_message)); - } - break; - } - case PublisherMessageType::TURN_INDICATORS_REPORT: { - rclcpp::Serialization - serialization; - auto & publisher_var = topic_publisher_map_[current_topic]; - if (!std::holds_alternative< - PublisherVariables>( - publisher_var)) { - RCLCPP_ERROR_STREAM( - node_->get_logger(), "Variant couldn't found in the topic named: " << current_topic); - rclcpp::shutdown(); - } - auto & object_spawned_message = - std::get>( - publisher_var) - .object_spawned_message; - if (!object_spawned_message) { - object_spawned_message = - std::make_shared(); - rclcpp::SerializedMessage extracted_serialized_msg(*bag_message->serialized_data); - serialization.deserialize_message( - &extracted_serialized_msg, &(*object_spawned_message)); - } - break; - } - case PublisherMessageType::VELOCITY_REPORT: { - rclcpp::Serialization serialization; - auto & publisher_var = topic_publisher_map_[current_topic]; - if (!std::holds_alternative< - PublisherVariables>( - publisher_var)) { - RCLCPP_ERROR_STREAM( - node_->get_logger(), "Variant couldn't found in the topic named: " << current_topic); - rclcpp::shutdown(); - } - auto & object_spawned_message = - std::get>( - publisher_var) - .object_spawned_message; - if (!object_spawned_message) { - object_spawned_message = - std::make_shared(); - rclcpp::SerializedMessage extracted_serialized_msg(*bag_message->serialized_data); - serialization.deserialize_message( - &extracted_serialized_msg, &(*object_spawned_message)); - } - break; - } - default: - break; - } + setMessageToVariableMap(message_type, current_topic, *bag_message, false); } reader.close(); } - // check messages are correctly initialized or not from rosbags - for (const auto & [topic_name, variant] : topic_publisher_map_) { - PublisherVarAccessor accessor; - auto empty_area_message = - std::visit([&](const auto & var) { return accessor.getEmptyAreaMessage(var); }, variant); - auto object_spawned_message = - std::visit([&](const auto & var) { return accessor.getObjectSpawnedMessage(var); }, variant); + if (setPublishersAndTimersToVariableMap()) { + RCLCPP_INFO(node_->get_logger(), "Publishers and timers are set correctly"); + } else { + RCLCPP_ERROR(node_->get_logger(), "Publishers and timers are not set correctly"); + rclcpp::shutdown(); + } +} - if (!empty_area_message) { - RCLCPP_ERROR_STREAM( - node_->get_logger(), - "Empty area message couldn't found in the topic named: " << topic_name); - rclcpp::shutdown(); - } else if (!object_spawned_message) { - RCLCPP_ERROR_STREAM( - node_->get_logger(), - "Object spawned message couldn't found in the topic named: " << topic_name); - rclcpp::shutdown(); +void TopicPublisher::setMessageToVariableMap( + const PublisherMessageType & message_type, const std::string & topic_name, + rosbag2_storage::SerializedBagMessage & bag_message, const bool is_empty_area_message) +{ + // is_empty_area_message true for empty area messages, false for object spawned messages + switch (message_type) { + case PublisherMessageType::POINTCLOUD2: { + rclcpp::Serialization serialization; + rclcpp::SerializedMessage extracted_serialized_msg(*bag_message.serialized_data); + + auto & publisher_var = topic_publisher_map_[topic_name]; + if (is_empty_area_message) { + if (!std::holds_alternative>(publisher_var)) { + publisher_var = PublisherVariables(); + } + std::get>(publisher_var).empty_area_message = + std::make_shared(); + serialization.deserialize_message( + &extracted_serialized_msg, + &(*std::get>(publisher_var).empty_area_message)); + } else { + if (!std::holds_alternative>(publisher_var)) { + RCLCPP_ERROR_STREAM( + node_->get_logger(), "Variant couldn't found in the topic named: " << topic_name); + rclcpp::shutdown(); + } + auto & object_spawned_message = + std::get>(publisher_var).object_spawned_message; + if (!object_spawned_message) { + object_spawned_message = std::make_shared(); + serialization.deserialize_message(&extracted_serialized_msg, &(*object_spawned_message)); + } + } + break; + } + case PublisherMessageType::CAMERA_INFO: { + rclcpp::Serialization serialization; + rclcpp::SerializedMessage extracted_serialized_msg(*bag_message.serialized_data); + + auto & publisher_var = topic_publisher_map_[topic_name]; + if (is_empty_area_message) { + if (!std::holds_alternative>( + publisher_var)) { + publisher_var = PublisherVariables(); + } + std::get>(publisher_var) + .empty_area_message = std::make_shared(); + serialization.deserialize_message( + &extracted_serialized_msg, + &(*std::get>(publisher_var) + .empty_area_message)); + } else { + if (!std::holds_alternative>( + publisher_var)) { + RCLCPP_ERROR_STREAM( + node_->get_logger(), "Variant couldn't found in the topic named: " << topic_name); + rclcpp::shutdown(); + } + auto & object_spawned_message = + std::get>(publisher_var) + .object_spawned_message; + if (!object_spawned_message) { + object_spawned_message = std::make_shared(); + serialization.deserialize_message(&extracted_serialized_msg, &(*object_spawned_message)); + } + } + break; + } + case PublisherMessageType::IMAGE: { + rclcpp::Serialization serialization; + rclcpp::SerializedMessage extracted_serialized_msg(*bag_message.serialized_data); + + auto & publisher_var = topic_publisher_map_[topic_name]; + if (is_empty_area_message) { + if (!std::holds_alternative>(publisher_var)) { + publisher_var = PublisherVariables(); + } + std::get>(publisher_var).empty_area_message = + std::make_shared(); + serialization.deserialize_message( + &extracted_serialized_msg, + &(*std::get>(publisher_var) + .empty_area_message)); + } else { + if (!std::holds_alternative>(publisher_var)) { + RCLCPP_ERROR_STREAM( + node_->get_logger(), "Variant couldn't found in the topic named: " << topic_name); + rclcpp::shutdown(); + } + auto & object_spawned_message = + std::get>(publisher_var) + .object_spawned_message; + if (!object_spawned_message) { + object_spawned_message = std::make_shared(); + serialization.deserialize_message(&extracted_serialized_msg, &(*object_spawned_message)); + } + } + break; + } + case PublisherMessageType::POSE_WITH_COVARIANCE_STAMPED: { + rclcpp::Serialization serialization; + rclcpp::SerializedMessage extracted_serialized_msg(*bag_message.serialized_data); + + auto & publisher_var = topic_publisher_map_[topic_name]; + if (is_empty_area_message) { + if (!std::holds_alternative< + PublisherVariables>(publisher_var)) { + publisher_var = PublisherVariables(); + } + std::get>(publisher_var) + .empty_area_message = std::make_shared(); + serialization.deserialize_message( + &extracted_serialized_msg, + &(*std::get>( + publisher_var) + .empty_area_message)); + } else { + if (!std::holds_alternative< + PublisherVariables>(publisher_var)) { + RCLCPP_ERROR_STREAM( + node_->get_logger(), "Variant couldn't found in the topic named: " << topic_name); + rclcpp::shutdown(); + } + auto & object_spawned_message = + std::get>(publisher_var) + .object_spawned_message; + if (!object_spawned_message) { + object_spawned_message = + std::make_shared(); + serialization.deserialize_message(&extracted_serialized_msg, &(*object_spawned_message)); + } + } + break; + } + case PublisherMessageType::POSE_STAMPED: { + rclcpp::Serialization serialization; + rclcpp::SerializedMessage extracted_serialized_msg(*bag_message.serialized_data); + + auto & publisher_var = topic_publisher_map_[topic_name]; + if (is_empty_area_message) { + if (!std::holds_alternative>( + publisher_var)) { + publisher_var = PublisherVariables(); + } + std::get>(publisher_var) + .empty_area_message = std::make_shared(); + serialization.deserialize_message( + &extracted_serialized_msg, + &(*std::get>(publisher_var) + .empty_area_message)); + } else { + if (!std::holds_alternative>( + publisher_var)) { + RCLCPP_ERROR_STREAM( + node_->get_logger(), "Variant couldn't found in the topic named: " << topic_name); + rclcpp::shutdown(); + } + auto & object_spawned_message = + std::get>(publisher_var) + .object_spawned_message; + if (!object_spawned_message) { + object_spawned_message = std::make_shared(); + serialization.deserialize_message(&extracted_serialized_msg, &(*object_spawned_message)); + } + } + break; + } + case PublisherMessageType::ODOMETRY: { + rclcpp::Serialization serialization; + rclcpp::SerializedMessage extracted_serialized_msg(*bag_message.serialized_data); + + auto & publisher_var = topic_publisher_map_[topic_name]; + if (is_empty_area_message) { + if (!std::holds_alternative>(publisher_var)) { + publisher_var = PublisherVariables(); + } + std::get>(publisher_var).empty_area_message = + std::make_shared(); + serialization.deserialize_message( + &extracted_serialized_msg, + &(*std::get>(publisher_var) + .empty_area_message)); + } else { + if (!std::holds_alternative>(publisher_var)) { + RCLCPP_ERROR_STREAM( + node_->get_logger(), "Variant couldn't found in the topic named: " << topic_name); + rclcpp::shutdown(); + } + auto & object_spawned_message = + std::get>(publisher_var) + .object_spawned_message; + if (!object_spawned_message) { + object_spawned_message = std::make_shared(); + serialization.deserialize_message(&extracted_serialized_msg, &(*object_spawned_message)); + } + } + break; + } + case PublisherMessageType::IMU: { + rclcpp::Serialization serialization; + rclcpp::SerializedMessage extracted_serialized_msg(*bag_message.serialized_data); + + auto & publisher_var = topic_publisher_map_[topic_name]; + if (is_empty_area_message) { + if (!std::holds_alternative>(publisher_var)) { + publisher_var = PublisherVariables(); + } + std::get>(publisher_var).empty_area_message = + std::make_shared(); + serialization.deserialize_message( + &extracted_serialized_msg, + &(*std::get>(publisher_var) + .empty_area_message)); + } else { + if (!std::holds_alternative>(publisher_var)) { + RCLCPP_ERROR_STREAM( + node_->get_logger(), "Variant couldn't found in the topic named: " << topic_name); + rclcpp::shutdown(); + } + auto & object_spawned_message = + std::get>(publisher_var).object_spawned_message; + if (!object_spawned_message) { + object_spawned_message = std::make_shared(); + serialization.deserialize_message(&extracted_serialized_msg, &(*object_spawned_message)); + } + } + break; + } + case PublisherMessageType::CONTROL_MODE_REPORT: { + rclcpp::Serialization serialization; + rclcpp::SerializedMessage extracted_serialized_msg(*bag_message.serialized_data); + + auto & publisher_var = topic_publisher_map_[topic_name]; + if (is_empty_area_message) { + if (!std::holds_alternative< + PublisherVariables>( + publisher_var)) { + publisher_var = PublisherVariables(); + } + std::get>( + publisher_var) + .empty_area_message = + std::make_shared(); + serialization.deserialize_message( + &extracted_serialized_msg, + &(*std::get>( + publisher_var) + .empty_area_message)); + } else { + if (!std::holds_alternative< + PublisherVariables>( + publisher_var)) { + RCLCPP_ERROR_STREAM( + node_->get_logger(), "Variant couldn't found in the topic named: " << topic_name); + rclcpp::shutdown(); + } + auto & object_spawned_message = + std::get>( + publisher_var) + .object_spawned_message; + if (!object_spawned_message) { + object_spawned_message = + std::make_shared(); + serialization.deserialize_message(&extracted_serialized_msg, &(*object_spawned_message)); + } + } + break; + } + case PublisherMessageType::GEAR_REPORT: { + rclcpp::Serialization serialization; + rclcpp::SerializedMessage extracted_serialized_msg(*bag_message.serialized_data); + + auto & publisher_var = topic_publisher_map_[topic_name]; + if (is_empty_area_message) { + if (!std::holds_alternative< + PublisherVariables>(publisher_var)) { + publisher_var = PublisherVariables(); + } + std::get>(publisher_var) + .empty_area_message = std::make_shared(); + serialization.deserialize_message( + &extracted_serialized_msg, + &(*std::get>( + publisher_var) + .empty_area_message)); + } else { + if (!std::holds_alternative< + PublisherVariables>(publisher_var)) { + RCLCPP_ERROR_STREAM( + node_->get_logger(), "Variant couldn't found in the topic named: " << topic_name); + rclcpp::shutdown(); + } + auto & object_spawned_message = + std::get>(publisher_var) + .object_spawned_message; + if (!object_spawned_message) { + object_spawned_message = std::make_shared(); + serialization.deserialize_message(&extracted_serialized_msg, &(*object_spawned_message)); + } + } + break; + } + case PublisherMessageType::HAZARD_LIGHTS_REPORT: { + rclcpp::Serialization serialization; + rclcpp::SerializedMessage extracted_serialized_msg(*bag_message.serialized_data); + + auto & publisher_var = topic_publisher_map_[topic_name]; + if (is_empty_area_message) { + if (!std::holds_alternative< + PublisherVariables>( + publisher_var)) { + publisher_var = PublisherVariables(); + } + std::get>( + publisher_var) + .empty_area_message = + std::make_shared(); + serialization.deserialize_message( + &extracted_serialized_msg, + &(*std::get>( + publisher_var) + .empty_area_message)); + } else { + if (!std::holds_alternative< + PublisherVariables>( + publisher_var)) { + RCLCPP_ERROR_STREAM( + node_->get_logger(), "Variant couldn't found in the topic named: " << topic_name); + rclcpp::shutdown(); + } + auto & object_spawned_message = + std::get>( + publisher_var) + .object_spawned_message; + if (!object_spawned_message) { + object_spawned_message = + std::make_shared(); + serialization.deserialize_message(&extracted_serialized_msg, &(*object_spawned_message)); + } + } + break; + } + case PublisherMessageType::STEERING_REPORT: { + rclcpp::Serialization serialization; + rclcpp::SerializedMessage extracted_serialized_msg(*bag_message.serialized_data); + + auto & publisher_var = topic_publisher_map_[topic_name]; + if (is_empty_area_message) { + if (!std::holds_alternative< + PublisherVariables>(publisher_var)) { + publisher_var = PublisherVariables(); + } + std::get>(publisher_var) + .empty_area_message = std::make_shared(); + serialization.deserialize_message( + &extracted_serialized_msg, + &(*std::get>( + publisher_var) + .empty_area_message)); + } else { + if (!std::holds_alternative< + PublisherVariables>(publisher_var)) { + RCLCPP_ERROR_STREAM( + node_->get_logger(), "Variant couldn't found in the topic named: " << topic_name); + rclcpp::shutdown(); + } + auto & object_spawned_message = + std::get>( + publisher_var) + .object_spawned_message; + if (!object_spawned_message) { + object_spawned_message = + std::make_shared(); + serialization.deserialize_message(&extracted_serialized_msg, &(*object_spawned_message)); + } + } + break; + } + case PublisherMessageType::TURN_INDICATORS_REPORT: { + rclcpp::Serialization serialization; + rclcpp::SerializedMessage extracted_serialized_msg(*bag_message.serialized_data); + + auto & publisher_var = topic_publisher_map_[topic_name]; + if (is_empty_area_message) { + if (!std::holds_alternative< + PublisherVariables>( + publisher_var)) { + publisher_var = + PublisherVariables(); + } + std::get>( + publisher_var) + .empty_area_message = + std::make_shared(); + serialization.deserialize_message( + &extracted_serialized_msg, + &(*std::get>( + publisher_var) + .empty_area_message)); + } else { + if (!std::holds_alternative< + PublisherVariables>( + publisher_var)) { + RCLCPP_ERROR_STREAM( + node_->get_logger(), "Variant couldn't found in the topic named: " << topic_name); + rclcpp::shutdown(); + } + auto & object_spawned_message = + std::get>( + publisher_var) + .object_spawned_message; + if (!object_spawned_message) { + object_spawned_message = + std::make_shared(); + serialization.deserialize_message(&extracted_serialized_msg, &(*object_spawned_message)); + } + } + break; + } + case PublisherMessageType::VELOCITY_REPORT: { + rclcpp::Serialization serialization; + rclcpp::SerializedMessage extracted_serialized_msg(*bag_message.serialized_data); + + auto & publisher_var = topic_publisher_map_[topic_name]; + if (is_empty_area_message) { + if (!std::holds_alternative< + PublisherVariables>(publisher_var)) { + publisher_var = PublisherVariables(); + } + std::get>(publisher_var) + .empty_area_message = std::make_shared(); + serialization.deserialize_message( + &extracted_serialized_msg, + &(*std::get>( + publisher_var) + .empty_area_message)); + } else { + if (!std::holds_alternative< + PublisherVariables>(publisher_var)) { + RCLCPP_ERROR_STREAM( + node_->get_logger(), "Variant couldn't found in the topic named: " << topic_name); + rclcpp::shutdown(); + } + auto & object_spawned_message = + std::get>( + publisher_var) + .object_spawned_message; + if (!object_spawned_message) { + object_spawned_message = + std::make_shared(); + serialization.deserialize_message(&extracted_serialized_msg, &(*object_spawned_message)); + } + } + break; + } + default: + break; + } +} + +void TopicPublisher::setPeriodToVariableMap( + const std::unordered_map> & time_map) +{ + for (auto & topic_pair : time_map) { + auto timestamps_tmp = topic_pair.second; + + // Sort the timestamps + std::sort(timestamps_tmp.begin(), timestamps_tmp.end()); + + // Then proceed with the frequency calculation + std::string topic_name = topic_pair.first; + if (timestamps_tmp.size() > 1) { + int64_t total_time_diff_ns = 0; + + // Accumulate the differences in nanoseconds + for (size_t i = 1; i < timestamps_tmp.size(); ++i) { + total_time_diff_ns += (timestamps_tmp[i] - timestamps_tmp[i - 1]).nanoseconds(); + } + + // Convert to double for the division to get the average period in nanoseconds + double period_ns = + static_cast(total_time_diff_ns) / static_cast(timestamps_tmp.size() - 1); + + PublisherVariablesVariant & publisherVar = topic_publisher_map_[topic_name]; + PublisherVarAccessor accessor; + + std::visit([&](auto & var) { accessor.setPeriod(var, period_ns); }, publisherVar); } } +} + +bool TopicPublisher::setPublishersAndTimersToVariableMap() +{ + // before create publishers and timers, check all the messages are correctly initialized with + // their conjugate messages. + if (checkPublishersInitializedCorrectly()) { + RCLCPP_INFO(node_->get_logger(), "Messages are initialized correctly"); + } else { + RCLCPP_ERROR(node_->get_logger(), "Messages are not initialized correctly"); + return false; + } std::unordered_map> pointcloud_variables_map; // temp map for pointcloud publishers - // initialize timers and message publishers + // initialize timers and message publishers except pointcloud messages for (auto & [topic_name, variant] : topic_publisher_map_) { PublisherVarAccessor accessor; const auto & topic_ref = topic_name; @@ -816,8 +841,7 @@ void TopicPublisher::initRosbagPublishers() // Set the point cloud publisher timers if (pointcloud_variables_map.empty()) { RCLCPP_ERROR(node_->get_logger(), "No pointcloud publishers found!"); - rclcpp::shutdown(); - return; + return false; } // Arrange the PointCloud2 variables w.r.t. the lidars' name @@ -832,7 +856,7 @@ void TopicPublisher::initRosbagPublishers() RCLCPP_ERROR_STREAM( node_->get_logger(), "Lidar name: " << lidar_name << " is already used by another pointcloud publisher"); - rclcpp::shutdown(); + return false; } lidar_pub_variable_pair_map_[lidar_name].second = std::make_shared>(pointcloud_variant); @@ -848,12 +872,12 @@ void TopicPublisher::initRosbagPublishers() pointcloud_sync_publish_timer_ = node_->create_wall_timer(period_pointcloud_ns, [this]() { this->pointcloudMessagesSyncPublisher(this->pointcloud_publisher_type_); }); - } else { // Create multiple timers which will run with a phase difference const auto phase_dif = period_pointcloud_ns / lidar_pub_variable_pair_map_.size(); - // Create a timer to delay the timer which will be created for each lidar topics + // Create a timer to create phase difference bw timers which will be created for each lidar + // topics auto one_shot_timer = node_->create_wall_timer(phase_dif, [this, period_pointcloud_ns]() { for (const auto & [lidar_name, publisher_var_pair] : lidar_pub_variable_pair_map_) { if ( @@ -874,5 +898,31 @@ void TopicPublisher::initRosbagPublishers() one_shot_timer_shared_ptr_ = one_shot_timer; // Store a weak pointer to the timer } + return true; +} + +bool TopicPublisher::checkPublishersInitializedCorrectly() +{ + // check messages are correctly initialized or not from rosbags + for (const auto & [topic_name, variant] : topic_publisher_map_) { + PublisherVarAccessor accessor; + auto empty_area_message = + std::visit([&](const auto & var) { return accessor.getEmptyAreaMessage(var); }, variant); + auto object_spawned_message = + std::visit([&](const auto & var) { return accessor.getObjectSpawnedMessage(var); }, variant); + + if (!empty_area_message) { + RCLCPP_ERROR_STREAM( + node_->get_logger(), + "Empty area message couldn't found in the topic named: " << topic_name); + return false; + } else if (!object_spawned_message) { + RCLCPP_ERROR_STREAM( + node_->get_logger(), + "Object spawned message couldn't found in the topic named: " << topic_name); + return false; + } + } + return true; } } // namespace reaction_analyzer::topic_publisher From 84b8dfe436951f9c5f31541f5237008fbf0b5031 Mon Sep 17 00:00:00 2001 From: Berkay Karaman Date: Wed, 13 Mar 2024 17:04:24 +0300 Subject: [PATCH 06/14] feat: launch occupancy_grid_map from reaction analyzer's own launch file Signed-off-by: Berkay Karaman --- .../launch/reaction_analyzer.launch.xml | 27 +++++++++++++++++-- 1 file changed, 25 insertions(+), 2 deletions(-) diff --git a/tools/reaction_analyzer/launch/reaction_analyzer.launch.xml b/tools/reaction_analyzer/launch/reaction_analyzer.launch.xml index c7536b4941325..1b0aed0c2a92f 100644 --- a/tools/reaction_analyzer/launch/reaction_analyzer.launch.xml +++ b/tools/reaction_analyzer/launch/reaction_analyzer.launch.xml @@ -1,7 +1,17 @@ + + + + + + + + + + - + @@ -21,7 +31,20 @@ - + + + + + + + + + + + + + + From f3edc59a209b46b08f99dfd1fd99ece7e2cb2733 Mon Sep 17 00:00:00 2001 From: Berkay Karaman Date: Fri, 15 Mar 2024 12:42:02 +0300 Subject: [PATCH 07/14] feat: update Signed-off-by: Berkay Karaman --- .../include/reaction_analyzer_node.hpp | 3 + .../reaction_analyzer/include/subscriber.hpp | 4 +- .../include/topic_publisher.hpp | 3 + tools/reaction_analyzer/include/utils.hpp | 3 + .../param/reaction_analyzer.param.yaml | 128 +++++++++--------- 5 files changed, 76 insertions(+), 65 deletions(-) diff --git a/tools/reaction_analyzer/include/reaction_analyzer_node.hpp b/tools/reaction_analyzer/include/reaction_analyzer_node.hpp index 921a9c9379ebf..4972a36469540 100644 --- a/tools/reaction_analyzer/include/reaction_analyzer_node.hpp +++ b/tools/reaction_analyzer/include/reaction_analyzer_node.hpp @@ -47,8 +47,11 @@ #include #include +#include +#include #include #include +#include namespace reaction_analyzer { diff --git a/tools/reaction_analyzer/include/subscriber.hpp b/tools/reaction_analyzer/include/subscriber.hpp index 5d9eba0643e1d..c2188f6c42013 100644 --- a/tools/reaction_analyzer/include/subscriber.hpp +++ b/tools/reaction_analyzer/include/subscriber.hpp @@ -45,8 +45,11 @@ #include #include +#include +#include #include #include +#include namespace reaction_analyzer::subscriber { @@ -107,7 +110,6 @@ enum class SubscriberMessageType { }; // Reaction Types -// TODO: For the future work, we can add more reaction types e.g. first shifted trajectory. enum class ReactionType { UNKNOWN = 0, FIRST_BRAKE = 1, diff --git a/tools/reaction_analyzer/include/topic_publisher.hpp b/tools/reaction_analyzer/include/topic_publisher.hpp index c53d24595e952..a7e90e51d3d1e 100644 --- a/tools/reaction_analyzer/include/topic_publisher.hpp +++ b/tools/reaction_analyzer/include/topic_publisher.hpp @@ -38,8 +38,11 @@ #include #include +#include +#include #include #include +#include namespace reaction_analyzer::topic_publisher { diff --git a/tools/reaction_analyzer/include/utils.hpp b/tools/reaction_analyzer/include/utils.hpp index 70fc39c73906d..94b62537490ca 100644 --- a/tools/reaction_analyzer/include/utils.hpp +++ b/tools/reaction_analyzer/include/utils.hpp @@ -21,6 +21,9 @@ #include #include +#include +#include +#include // The reaction_analyzer namespace contains utility functions for the Reaction Analyzer tool. namespace reaction_analyzer diff --git a/tools/reaction_analyzer/param/reaction_analyzer.param.yaml b/tools/reaction_analyzer/param/reaction_analyzer.param.yaml index cd878584b2270..e430e9fc3b43c 100644 --- a/tools/reaction_analyzer/param/reaction_analyzer.param.yaml +++ b/tools/reaction_analyzer/param/reaction_analyzer.param.yaml @@ -2,7 +2,7 @@ ros__parameters: timer_period: 0.033 # s test_iteration: 15 - output_file_path: /home/berkay/projects/reaction_analyzer_results/ + output_file_path: /reaction_analyzer_results/ object_search_radius_offset: 0.1 # m spawn_time_after_init: 5.0 # s for perception_planning mode spawn_distance_threshold: 15.0 # m # for planning_control mode @@ -33,8 +33,8 @@ pitch: 0.0 yaw: 8.9305903 topic_publisher: - path_bag_without_object: /home/berkay/projects/bags/awsim-bag/bag/lexus_bag_without_car/rosbag2_2024_01_30-13_50_45_0.db3 - path_bag_with_object: /home/berkay/projects/bags/awsim-bag/bag/lexus_bag_with_car/rosbag2_2024_01_30-13_50_17_0.db3 + path_bag_without_object: /lexus_bag_without_car/rosbag2_2024_01_30-13_50_45_0.db3 + path_bag_with_object: /lexus_bag_with_car/rosbag2_2024_01_30-13_50_17_0.db3 pointcloud_publisher: pointcloud_publisher_type: "sync_header_sync_publish" # "async_header_sync_publish", "sync_header_sync_publish" or "async_publish" pointcloud_publisher_period: 0.1 # s @@ -51,67 +51,67 @@ search_entity_params: search_radius: 5.0 # m reaction_chain: - obstacle_stop_planner: + obstacle_cruise_planner: topic_name: /planning/scenario_planning/lane_driving/trajectory time_debug_topic_name: /planning/scenario_planning/lane_driving/trajectory/debug/published_time message_type: autoware_auto_planning_msgs/msg/Trajectory -# scenario_selector: -# topic_name: /planning/scenario_planning/scenario_selector/trajectory -# time_debug_topic_name: /planning/scenario_planning/scenario_selector/trajectory/debug/published_time -# message_type: autoware_auto_planning_msgs/msg/Trajectory -# motion_velocity_smoother: -# topic_name: /planning/scenario_planning/motion_velocity_smoother/trajectory -# time_debug_topic_name: /planning/scenario_planning/motion_velocity_smoother/trajectory/debug/published_time -# message_type: autoware_auto_planning_msgs/msg/Trajectory -# planning_validator: -# topic_name: /planning/scenario_planning/trajectory -# time_debug_topic_name: /planning/scenario_planning/trajectory/debug/published_time -# message_type: autoware_auto_planning_msgs/msg/Trajectory -# trajectory_follower: -# topic_name: /control/trajectory_follower/control_cmd -# time_debug_topic_name: /control/trajectory_follower/control_cmd/debug/published_time -# message_type: autoware_auto_control_msgs/msg/AckermannControlCommand -# vehicle_cmd_gate: -# topic_name: /control/command/control_cmd -# time_debug_topic_name: /control/command/control_cmd/debug/published_time -# message_type: autoware_auto_control_msgs/msg/AckermannControlCommand -# common_ground_filter: -# topic_name: /perception/obstacle_segmentation/single_frame/pointcloud_raw -# time_debug_topic_name: /perception/obstacle_segmentation/single_frame/pointcloud_raw/debug/published_time -# message_type: sensor_msgs/msg/PointCloud2 -# occupancy_grid_map_outlier: -# topic_name: /perception/obstacle_segmentation/pointcloud -# time_debug_topic_name: /perception/obstacle_segmentation/pointcloud/debug/published_time -# message_type: sensor_msgs/msg/PointCloud2 -# multi_object_tracker: -# topic_name: /perception/object_recognition/tracking/near_objects -# time_debug_topic_name: /perception/object_recognition/tracking/near_objects/debug/published_time -# message_type: autoware_auto_perception_msgs/msg/TrackedObjects -# lidar_centerpoint: -# topic_name: /perception/object_recognition/detection/centerpoint/objects -# time_debug_topic_name: /perception/object_recognition/detection/centerpoint/objects/debug/published_time -# message_type: autoware_auto_perception_msgs/msg/DetectedObjects -# obstacle_pointcloud_based_validator: -# topic_name: /perception/object_recognition/detection/centerpoint/validation/objects -# time_debug_topic_name: /perception/object_recognition/detection/centerpoint/validation/objects/debug/published_time -# message_type: autoware_auto_perception_msgs/msg/DetectedObjects -# decorative_tracker_merger: -# topic_name: /perception/object_recognition/tracking/objects -# time_debug_topic_name: /perception/object_recognition/tracking/objects/debug/published_time -# message_type: autoware_auto_perception_msgs/msg/TrackedObjects -# detected_object_feature_remover: -# topic_name: /perception/object_recognition/detection/clustering/objects -# time_debug_topic_name: /perception/object_recognition/detection/clustering/objects/debug/published_time -# message_type: autoware_auto_perception_msgs/msg/DetectedObjects -# detection_by_tracker: -# topic_name: /perception/object_recognition/detection/detection_by_tracker/objects -# time_debug_topic_name: /perception/object_recognition/detection/detection_by_tracker/objects/debug/published_time -# message_type: autoware_auto_perception_msgs/msg/DetectedObjects -# object_lanelet_filter: -# topic_name: /perception/object_recognition/detection/objects -# time_debug_topic_name: /perception/object_recognition/detection/objects/debug/published_time -# message_type: autoware_auto_perception_msgs/msg/DetectedObjects -# map_based_prediction: -# topic_name: /perception/object_recognition/objects -# time_debug_topic_name: /perception/object_recognition/objects/debug/published_time -# message_type: autoware_auto_perception_msgs/msg/PredictedObjects + scenario_selector: + topic_name: /planning/scenario_planning/scenario_selector/trajectory + time_debug_topic_name: /planning/scenario_planning/scenario_selector/trajectory/debug/published_time + message_type: autoware_auto_planning_msgs/msg/Trajectory + motion_velocity_smoother: + topic_name: /planning/scenario_planning/motion_velocity_smoother/trajectory + time_debug_topic_name: /planning/scenario_planning/motion_velocity_smoother/trajectory/debug/published_time + message_type: autoware_auto_planning_msgs/msg/Trajectory + planning_validator: + topic_name: /planning/scenario_planning/trajectory + time_debug_topic_name: /planning/scenario_planning/trajectory/debug/published_time + message_type: autoware_auto_planning_msgs/msg/Trajectory + trajectory_follower: + topic_name: /control/trajectory_follower/control_cmd + time_debug_topic_name: /control/trajectory_follower/control_cmd/debug/published_time + message_type: autoware_auto_control_msgs/msg/AckermannControlCommand + vehicle_cmd_gate: + topic_name: /control/command/control_cmd + time_debug_topic_name: /control/command/control_cmd/debug/published_time + message_type: autoware_auto_control_msgs/msg/AckermannControlCommand + common_ground_filter: + topic_name: /perception/obstacle_segmentation/single_frame/pointcloud_raw + time_debug_topic_name: /perception/obstacle_segmentation/single_frame/pointcloud_raw/debug/published_time + message_type: sensor_msgs/msg/PointCloud2 + occupancy_grid_map_outlier: + topic_name: /perception/obstacle_segmentation/pointcloud + time_debug_topic_name: /perception/obstacle_segmentation/pointcloud/debug/published_time + message_type: sensor_msgs/msg/PointCloud2 + multi_object_tracker: + topic_name: /perception/object_recognition/tracking/near_objects + time_debug_topic_name: /perception/object_recognition/tracking/near_objects/debug/published_time + message_type: autoware_auto_perception_msgs/msg/TrackedObjects + lidar_centerpoint: + topic_name: /perception/object_recognition/detection/centerpoint/objects + time_debug_topic_name: /perception/object_recognition/detection/centerpoint/objects/debug/published_time + message_type: autoware_auto_perception_msgs/msg/DetectedObjects + obstacle_pointcloud_based_validator: + topic_name: /perception/object_recognition/detection/centerpoint/validation/objects + time_debug_topic_name: /perception/object_recognition/detection/centerpoint/validation/objects/debug/published_time + message_type: autoware_auto_perception_msgs/msg/DetectedObjects + decorative_tracker_merger: + topic_name: /perception/object_recognition/tracking/objects + time_debug_topic_name: /perception/object_recognition/tracking/objects/debug/published_time + message_type: autoware_auto_perception_msgs/msg/TrackedObjects + detected_object_feature_remover: + topic_name: /perception/object_recognition/detection/clustering/objects + time_debug_topic_name: /perception/object_recognition/detection/clustering/objects/debug/published_time + message_type: autoware_auto_perception_msgs/msg/DetectedObjects + detection_by_tracker: + topic_name: /perception/object_recognition/detection/detection_by_tracker/objects + time_debug_topic_name: /perception/object_recognition/detection/detection_by_tracker/objects/debug/published_time + message_type: autoware_auto_perception_msgs/msg/DetectedObjects + object_lanelet_filter: + topic_name: /perception/object_recognition/detection/objects + time_debug_topic_name: /perception/object_recognition/detection/objects/debug/published_time + message_type: autoware_auto_perception_msgs/msg/DetectedObjects + map_based_prediction: + topic_name: /perception/object_recognition/objects + time_debug_topic_name: /perception/object_recognition/objects/debug/published_time + message_type: autoware_auto_perception_msgs/msg/PredictedObjects From d89f76bae21acaaf42fff9da546af072b4ad366e Mon Sep 17 00:00:00 2001 From: Berkay Karaman Date: Fri, 15 Mar 2024 14:06:15 +0300 Subject: [PATCH 08/14] feat: change function names Signed-off-by: Berkay Karaman --- .../include/reaction_analyzer_node.hpp | 44 +++--- .../reaction_analyzer/include/subscriber.hpp | 58 +++----- .../include/topic_publisher.hpp | 26 ++-- tools/reaction_analyzer/include/utils.hpp | 7 +- .../src/reaction_analyzer_node.cpp | 71 +++++----- tools/reaction_analyzer/src/subscriber.cpp | 125 +++++++++--------- .../reaction_analyzer/src/topic_publisher.cpp | 58 ++++---- tools/reaction_analyzer/src/utils.cpp | 7 +- 8 files changed, 184 insertions(+), 212 deletions(-) diff --git a/tools/reaction_analyzer/include/reaction_analyzer_node.hpp b/tools/reaction_analyzer/include/reaction_analyzer_node.hpp index 4972a36469540..ea088ca0ac69f 100644 --- a/tools/reaction_analyzer/include/reaction_analyzer_node.hpp +++ b/tools/reaction_analyzer/include/reaction_analyzer_node.hpp @@ -159,45 +159,33 @@ class ReactionAnalyzerNode : public rclcpp::Node size_t test_iteration_count_{0}; // Functions - void initAnalyzerVariables(); - - void initPointcloud(); - - void initPredictedObjects(); - - void initEgoForTest( + void init_analyzer_variables(); + void init_pointcloud(); + void init_predicted_objects(); + void init_ego( const LocalizationInitializationState::ConstSharedPtr & initialization_state_ptr, const RouteState::ConstSharedPtr & route_state_ptr, const OperationModeState::ConstSharedPtr & operation_mode_ptr, const PoseStamped::ConstSharedPtr & ground_truth_pose_ptr, const Odometry::ConstSharedPtr & odometry_ptr); - - void callOperationModeServiceWithoutResponse(); - - void spawnObstacle(const geometry_msgs::msg::Point & ego_pose); - - void calculateResults( + void call_operation_mode_service_without_response(); + void spawn_obstacle(const geometry_msgs::msg::Point & ego_pose); + void calculate_results( const std::unordered_map & message_buffers, const rclcpp::Time & spawn_cmd_time); - - void onTimer(); - - void dummyPerceptionPublisher(); - + void on_timer(); + void dummy_perception_publisher(); void reset(); - - void writeResultsToFile(); + void write_results(); // Callbacks - void vehiclePoseCallback(Odometry::ConstSharedPtr msg_ptr); - - void initializationStateCallback(LocalizationInitializationState::ConstSharedPtr msg_ptr); - - void routeStateCallback(RouteState::ConstSharedPtr msg_ptr); - - void operationModeCallback(OperationModeState::ConstSharedPtr msg_ptr); + void on_vehicle_pose(Odometry::ConstSharedPtr msg_ptr); + void on_localization_initialization_state( + LocalizationInitializationState::ConstSharedPtr msg_ptr); + void on_route_state(RouteState::ConstSharedPtr msg_ptr); + void on_operation_mode_state(OperationModeState::ConstSharedPtr msg_ptr); + void on_ground_truth_pose(PoseStamped::ConstSharedPtr msg_ptr); - void groundTruthPoseCallback(PoseStamped::ConstSharedPtr msg_ptr); // Timer rclcpp::TimerBase::SharedPtr timer_; rclcpp::TimerBase::SharedPtr dummy_perception_timer_; diff --git a/tools/reaction_analyzer/include/subscriber.hpp b/tools/reaction_analyzer/include/subscriber.hpp index c2188f6c42013..79a8cb60f1297 100644 --- a/tools/reaction_analyzer/include/subscriber.hpp +++ b/tools/reaction_analyzer/include/subscriber.hpp @@ -188,59 +188,41 @@ class SubscriberBase std::shared_ptr tf_listener_; // Functions - void initReactionChainsAndParams(); - - bool initSubscribers(); - - bool searchPointcloudNearEntity(const pcl::PointCloud & pcl_pointcloud); - - bool searchPredictedObjectsNearEntity(const PredictedObjects & predicted_objects); - - bool searchDetectedObjectsNearEntity(const DetectedObjects & detected_objects); - - bool searchTrackedObjectsNearEntity(const TrackedObjects & tracked_objects); - - void setControlCommandToBuffer( + void init_reaction_chains_and_params(); + bool init_subscribers(); + bool search_pointcloud_near_entity(const pcl::PointCloud & pcl_pointcloud); + bool search_predicted_objects_near_entity(const PredictedObjects & predicted_objects); + bool search_detected_objects_near_entity(const DetectedObjects & detected_objects); + bool search_tracked_objects_near_entity(const TrackedObjects & tracked_objects); + void set_control_command_to_buffer( std::vector & buffer, const AckermannControlCommand & cmd); - - std::optional findFirstBrakeIdx(const std::vector & cmd_array); + std::optional find_first_brake_idx( + const std::vector & cmd_array); // Callbacks for modules are subscribed - void controlCommandOutputCallback( + void on_control_command( const std::string & node_name, const AckermannControlCommand::ConstSharedPtr & msg_ptr); - - void trajectoryOutputCallback( - const std::string & node_name, const Trajectory::ConstSharedPtr & msg_ptr); - - void trajectoryOutputCallback( + void on_trajectory(const std::string & node_name, const Trajectory::ConstSharedPtr & msg_ptr); + void on_trajectory( const std::string & node_name, const Trajectory::ConstSharedPtr & msg_ptr, const PublishedTime::ConstSharedPtr & published_time_ptr); - - void pointcloud2OutputCallback( - const std::string & node_name, const PointCloud2::ConstSharedPtr & msg_ptr); - - void pointcloud2OutputCallback( + void on_pointcloud(const std::string & node_name, const PointCloud2::ConstSharedPtr & msg_ptr); + void on_pointcloud( const std::string & node_name, const PointCloud2::ConstSharedPtr & msg_ptr, const PublishedTime::ConstSharedPtr & published_time_ptr); - - void predictedObjectsOutputCallback( + void on_predicted_objects( const std::string & node_name, const PredictedObjects::ConstSharedPtr & msg_ptr); - - void predictedObjectsOutputCallback( + void on_predicted_objects( const std::string & node_name, const PredictedObjects::ConstSharedPtr & msg_ptr, const PublishedTime::ConstSharedPtr & published_time_ptr); - - void detectedObjectsOutputCallback( + void on_detected_objects( const std::string & node_name, const DetectedObjects::ConstSharedPtr & msg_ptr); - - void detectedObjectsOutputCallback( + void on_detected_objects( const std::string & node_name, const DetectedObjects::ConstSharedPtr & msg_ptr, const PublishedTime::ConstSharedPtr & published_time_ptr); - - void trackedObjectsOutputCallback( + void on_tracked_objects( const std::string & node_name, const TrackedObjects::ConstSharedPtr & msg_ptr); - - void trackedObjectsOutputCallback( + void on_tracked_objects( const std::string & node_name, const TrackedObjects::ConstSharedPtr & msg_ptr, const PublishedTime::ConstSharedPtr & published_time_ptr); }; diff --git a/tools/reaction_analyzer/include/topic_publisher.hpp b/tools/reaction_analyzer/include/topic_publisher.hpp index a7e90e51d3d1e..b0f8ea8a4d562 100644 --- a/tools/reaction_analyzer/include/topic_publisher.hpp +++ b/tools/reaction_analyzer/include/topic_publisher.hpp @@ -130,7 +130,7 @@ struct PublisherVarAccessor }; template - void publishWithCurrentTime( + void publish_with_current_time( const PublisherVariables & publisherVar, const rclcpp::Time & current_time, const bool is_object_spawned) const { @@ -150,25 +150,25 @@ struct PublisherVarAccessor } template - void setPeriod(T & publisherVar, double newPeriod) + void set_period(T & publisherVar, double newPeriod) { publisherVar.period_ns = newPeriod; } template - double getPeriod(const T & publisherVar) const + double get_period(const T & publisherVar) const { return publisherVar.period_ns; } template - std::shared_ptr getEmptyAreaMessage(const T & publisherVar) const + std::shared_ptr get_empty_area_message(const T & publisherVar) const { return std::static_pointer_cast(publisherVar.empty_area_message); } template - std::shared_ptr getObjectSpawnedMessage(const T & publisherVar) const + std::shared_ptr get_object_spawned_message(const T & publisherVar) const { return std::static_pointer_cast(publisherVar.object_spawned_message); } @@ -213,20 +213,20 @@ class TopicPublisher TopicPublisherParams topic_publisher_params_; // Functions - void setMessageToVariableMap( + void set_message_to_variable_map( const PublisherMessageType & message_type, const std::string & topic_name, rosbag2_storage::SerializedBagMessage & bag_message, const bool is_empty_area_message); - void setPeriodToVariableMap( + void set_period_to_variable_map( const std::unordered_map> & time_map); - bool setPublishersAndTimersToVariableMap(); - bool checkPublishersInitializedCorrectly(); - void initRosbagPublishers(); - void pointcloudMessagesSyncPublisher(const PointcloudPublisherType type); - void genericMessagePublisher(const std::string & topic_name); - void pointcloudMessagesAsyncPublisher( + bool set_publishers_and_timers_to_variable_map(); + bool check_publishers_initialized_correctly(); + void init_rosbag_publishers(); + void pointcloud_messages_sync_publisher(const PointcloudPublisherType type); + void pointcloud_messages_async_publisher( const std::pair< std::shared_ptr>, std::shared_ptr>> & lidar_output_pair_); + void generic_message_publisher(const std::string & topic_name); // Variables PointcloudPublisherType pointcloud_publisher_type_; diff --git a/tools/reaction_analyzer/include/utils.hpp b/tools/reaction_analyzer/include/utils.hpp index 94b62537490ca..7f5445613e815 100644 --- a/tools/reaction_analyzer/include/utils.hpp +++ b/tools/reaction_analyzer/include/utils.hpp @@ -38,7 +38,7 @@ using autoware_auto_planning_msgs::msg::TrajectoryPoint; * @return A vector of tuples. Each tuple contains a string (the test name), a vector of doubles * (the test results), and a double (the median value). */ -std::vector, double>> sortResultsByMedian( +std::vector, double>> sort_results_by_median( const std::unordered_map> test_results); /** @@ -47,7 +47,7 @@ std::vector, double>> sortResultsByM * @param node A pointer to the node for which the subscription options are being created. * @return The created SubscriptionOptions. */ -rclcpp::SubscriptionOptions createSubscriptionOptions(rclcpp::Node * node); +rclcpp::SubscriptionOptions create_subscription_options(rclcpp::Node * node); /** * @brief Splits a string by a given delimiter. @@ -72,7 +72,8 @@ std::vector split(const std::string & str, char delimiter); * @return The index of the point in the trajectory that is at least the specified distance away * from the current point. */ -size_t getIndexAfterDistance(const Trajectory & traj, const size_t curr_id, const double distance); +size_t get_index_after_distance( + const Trajectory & traj, const size_t curr_id, const double distance); } // namespace reaction_analyzer #endif // UTILS_HPP_ diff --git a/tools/reaction_analyzer/src/reaction_analyzer_node.cpp b/tools/reaction_analyzer/src/reaction_analyzer_node.cpp index b7a43ff307f9c..8ca237150f820 100644 --- a/tools/reaction_analyzer/src/reaction_analyzer_node.cpp +++ b/tools/reaction_analyzer/src/reaction_analyzer_node.cpp @@ -20,32 +20,32 @@ namespace reaction_analyzer { -void ReactionAnalyzerNode::operationModeCallback(OperationModeState::ConstSharedPtr msg_ptr) +void ReactionAnalyzerNode::on_operation_mode_state(OperationModeState::ConstSharedPtr msg_ptr) { std::lock_guard lock(mutex_); operation_mode_ptr_ = std::move(msg_ptr); } -void ReactionAnalyzerNode::routeStateCallback(RouteState::ConstSharedPtr msg_ptr) +void ReactionAnalyzerNode::on_route_state(RouteState::ConstSharedPtr msg_ptr) { std::lock_guard lock(mutex_); current_route_state_ptr_ = std::move(msg_ptr); } -void ReactionAnalyzerNode::vehiclePoseCallback(Odometry::ConstSharedPtr msg_ptr) +void ReactionAnalyzerNode::on_vehicle_pose(Odometry::ConstSharedPtr msg_ptr) { std::lock_guard lock(mutex_); odometry_ptr_ = msg_ptr; } -void ReactionAnalyzerNode::initializationStateCallback( +void ReactionAnalyzerNode::on_localization_initialization_state( LocalizationInitializationState::ConstSharedPtr msg_ptr) { std::lock_guard lock(mutex_); initialization_state_ptr_ = std::move(msg_ptr); } -void ReactionAnalyzerNode::groundTruthPoseCallback(PoseStamped::ConstSharedPtr msg_ptr) +void ReactionAnalyzerNode::on_ground_truth_pose(PoseStamped::ConstSharedPtr msg_ptr) { std::lock_guard lock(mutex_); ground_truth_pose_ptr_ = std::move(msg_ptr); @@ -105,24 +105,23 @@ ReactionAnalyzerNode::ReactionAnalyzerNode(rclcpp::NodeOptions options) node_params_.entity_params.z_l = get_parameter("entity_params.z_dimension").as_double(); sub_kinematics_ = create_subscription( - "input/kinematics", 1, std::bind(&ReactionAnalyzerNode::vehiclePoseCallback, this, _1), - createSubscriptionOptions(this)); + "input/kinematics", 1, std::bind(&ReactionAnalyzerNode::on_vehicle_pose, this, _1), + create_subscription_options(this)); sub_localization_init_state_ = create_subscription( "input/localization_initialization_state", rclcpp::QoS(1).transient_local(), - std::bind(&ReactionAnalyzerNode::initializationStateCallback, this, _1), - createSubscriptionOptions(this)); + std::bind(&ReactionAnalyzerNode::on_localization_initialization_state, this, _1), + create_subscription_options(this)); sub_route_state_ = create_subscription( "input/routing_state", rclcpp::QoS{1}.transient_local(), - std::bind(&ReactionAnalyzerNode::routeStateCallback, this, _1), - createSubscriptionOptions(this)); + std::bind(&ReactionAnalyzerNode::on_route_state, this, _1), create_subscription_options(this)); sub_operation_mode_ = create_subscription( "input/operation_mode_state", rclcpp::QoS{1}.transient_local(), - std::bind(&ReactionAnalyzerNode::operationModeCallback, this, _1), - createSubscriptionOptions(this)); + std::bind(&ReactionAnalyzerNode::on_operation_mode_state, this, _1), + create_subscription_options(this)); pub_goal_pose_ = create_publisher("output/goal", rclcpp::QoS(1)); - initAnalyzerVariables(); + init_analyzer_variables(); if (node_running_mode_ == RunningMode::PlanningControl) { pub_initial_pose_ = create_publisher( @@ -139,7 +138,7 @@ ReactionAnalyzerNode::ReactionAnalyzerNode(rclcpp::NodeOptions options) dummy_perception_timer_ = rclcpp::create_timer( this, get_clock(), period_ns, - std::bind(&ReactionAnalyzerNode::dummyPerceptionPublisher, this)); + std::bind(&ReactionAnalyzerNode::dummy_perception_publisher, this)); } else if (node_running_mode_ == RunningMode::PerceptionPlanning) { // Create topic publishers @@ -149,8 +148,8 @@ ReactionAnalyzerNode::ReactionAnalyzerNode(rclcpp::NodeOptions options) // Subscribe to the ground truth position sub_ground_truth_pose_ = create_subscription( "input/ground_truth_pose", rclcpp::QoS{1}, - std::bind(&ReactionAnalyzerNode::groundTruthPoseCallback, this, _1), - createSubscriptionOptions(this)); + std::bind(&ReactionAnalyzerNode::on_ground_truth_pose, this, _1), + create_subscription_options(this)); } // Load the subscriber to listen the topics for reactions @@ -162,10 +161,10 @@ ReactionAnalyzerNode::ReactionAnalyzerNode(rclcpp::NodeOptions options) const auto period_ns = std::chrono::duration_cast( std::chrono::duration(node_params_.timer_period)); timer_ = rclcpp::create_timer( - this, get_clock(), period_ns, std::bind(&ReactionAnalyzerNode::onTimer, this)); + this, get_clock(), period_ns, std::bind(&ReactionAnalyzerNode::on_timer, this)); } -void ReactionAnalyzerNode::onTimer() +void ReactionAnalyzerNode::on_timer() { mutex_.lock(); const auto current_odometry_ptr = odometry_ptr_; @@ -178,13 +177,13 @@ void ReactionAnalyzerNode::onTimer() // Init the test environment if (!test_environment_init_time_) { - initEgoForTest( + init_ego( initialization_state_ptr, route_state_ptr, operation_mode_ptr, ground_truth_pose_ptr, current_odometry_ptr); return; } - spawnObstacle(current_odometry_ptr->pose.pose.position); + spawn_obstacle(current_odometry_ptr->pose.pose.position); if (!spawn_cmd_time) return; @@ -192,12 +191,12 @@ void ReactionAnalyzerNode::onTimer() if (message_buffers) { // if reacted, calculate the results - calculateResults(message_buffers.value(), spawn_cmd_time.value()); + calculate_results(message_buffers.value(), spawn_cmd_time.value()); reset(); } } -void ReactionAnalyzerNode::dummyPerceptionPublisher() +void ReactionAnalyzerNode::dummy_perception_publisher() { if (!spawn_object_cmd_) { // do not spawn it, send empty pointcloud @@ -250,7 +249,7 @@ void ReactionAnalyzerNode::dummyPerceptionPublisher() } } -void ReactionAnalyzerNode::spawnObstacle(const geometry_msgs::msg::Point & ego_pose) +void ReactionAnalyzerNode::spawn_obstacle(const geometry_msgs::msg::Point & ego_pose) { if (node_running_mode_ == RunningMode::PerceptionPlanning) { rclcpp::Duration time_diff = this->now() - test_environment_init_time_.value(); @@ -272,7 +271,7 @@ void ReactionAnalyzerNode::spawnObstacle(const geometry_msgs::msg::Point & ego_p } } -void ReactionAnalyzerNode::calculateResults( +void ReactionAnalyzerNode::calculate_results( const std::unordered_map & message_buffers, const rclcpp::Time & spawn_cmd_time) { @@ -321,7 +320,7 @@ void ReactionAnalyzerNode::calculateResults( test_iteration_count_++; } -void ReactionAnalyzerNode::initAnalyzerVariables() +void ReactionAnalyzerNode::init_analyzer_variables() { tf2::Quaternion entity_q_orientation; entity_q_orientation.setRPY( @@ -365,12 +364,12 @@ void ReactionAnalyzerNode::initAnalyzerVariables() init_pose_.pose.pose.orientation.set__z(initial_pose_q_orientation.z()); init_pose_.pose.pose.orientation.set__w(initial_pose_q_orientation.w()); - initPointcloud(); - initPredictedObjects(); + init_pointcloud(); + init_predicted_objects(); } } -void ReactionAnalyzerNode::initPointcloud() +void ReactionAnalyzerNode::init_pointcloud() { pcl::PointCloud point_cloud; // prepare transform matrix @@ -412,7 +411,7 @@ void ReactionAnalyzerNode::initPointcloud() pcl::toROSMsg(point_cloud, *entity_pointcloud_ptr_); } -void ReactionAnalyzerNode::initPredictedObjects() +void ReactionAnalyzerNode::init_predicted_objects() { auto generateUUIDMsg = [](const std::string & input) { static auto generate_uuid = boost::uuids::name_generator(boost::uuids::random_generator()()); @@ -451,7 +450,7 @@ void ReactionAnalyzerNode::initPredictedObjects() predicted_objects_ptr_ = std::make_shared(pred_objects); } -void ReactionAnalyzerNode::initEgoForTest( +void ReactionAnalyzerNode::init_ego( const LocalizationInitializationState::ConstSharedPtr & initialization_state_ptr, const RouteState::ConstSharedPtr & route_state_ptr, const OperationModeState::ConstSharedPtr & operation_mode_ptr, @@ -530,7 +529,7 @@ void ReactionAnalyzerNode::initEgoForTest( if (node_running_mode_ == RunningMode::PlanningControl) { // change to autonomous if (operation_mode_ptr && operation_mode_ptr->mode != OperationModeState::AUTONOMOUS) { - callOperationModeServiceWithoutResponse(); + call_operation_mode_service_without_response(); return; } } @@ -544,7 +543,7 @@ void ReactionAnalyzerNode::initEgoForTest( } } -void ReactionAnalyzerNode::callOperationModeServiceWithoutResponse() +void ReactionAnalyzerNode::call_operation_mode_service_without_response() { auto req = std::make_shared(); @@ -566,7 +565,7 @@ void ReactionAnalyzerNode::callOperationModeServiceWithoutResponse() void ReactionAnalyzerNode::reset() { if (test_iteration_count_ >= node_params_.test_iteration) { - writeResultsToFile(); + write_results(); RCLCPP_INFO(get_logger(), "%zu Tests are finished. Node shutting down.", test_iteration_count_); rclcpp::shutdown(); return; @@ -586,10 +585,10 @@ void ReactionAnalyzerNode::reset() RCLCPP_INFO(this->get_logger(), "Test - %zu is done, resetting..", test_iteration_count_); } -void ReactionAnalyzerNode::writeResultsToFile() +void ReactionAnalyzerNode::write_results() { // sort the results w.r.t the median value - const auto sorted_data_by_median = sortResultsByMedian(test_results_); + const auto sorted_data_by_median = sort_results_by_median(test_results_); // create csv file auto now = std::chrono::system_clock::now(); diff --git a/tools/reaction_analyzer/src/subscriber.cpp b/tools/reaction_analyzer/src/subscriber.cpp index c29243519f599..ead54651b9393 100644 --- a/tools/reaction_analyzer/src/subscriber.cpp +++ b/tools/reaction_analyzer/src/subscriber.cpp @@ -31,11 +31,11 @@ SubscriberBase::SubscriberBase( tf_listener_ = std::make_shared(*tf_buffer_); // init reaction parameters and chain configuration - initReactionChainsAndParams(); - initSubscribers(); + init_reaction_chains_and_params(); + init_subscribers(); } -void SubscriberBase::initReactionChainsAndParams() +void SubscriberBase::init_reaction_chains_and_params() { auto stringToMessageType = [](const std::string & input) { if (input == "autoware_auto_control_msgs/msg/AckermannControlCommand") { @@ -144,7 +144,7 @@ void SubscriberBase::initReactionChainsAndParams() } } -bool SubscriberBase::initSubscribers() +bool SubscriberBase::init_subscribers() { if (chain_modules_.empty()) { RCLCPP_ERROR(node_->get_logger(), "No module to initialize subscribers, failed."); @@ -165,18 +165,18 @@ bool SubscriberBase::initSubscribers() std::function callback = [this, module](const AckermannControlCommand::ConstSharedPtr & ptr) { - this->controlCommandOutputCallback(module.node_name, ptr); + this->on_control_command(module.node_name, ptr); }; subscriber_variable.sub1_ = std::make_unique>( node_, module.topic_address, rclcpp::QoS(1).get_rmw_qos_profile(), - createSubscriptionOptions(node_)); + create_subscription_options(node_)); subscriber_variable.sub1_->registerCallback(std::bind(callback, std::placeholders::_1)); subscriber_variable.sub2_ = std::make_unique>( node_, module.time_debug_topic_address, rclcpp::QoS(1).get_rmw_qos_profile(), - createSubscriptionOptions(node_)); + create_subscription_options(node_)); constexpr int cache_size = 5; subscriber_variable.cache_ = std::make_unique>( *subscriber_variable.sub2_, cache_size); @@ -184,13 +184,13 @@ bool SubscriberBase::initSubscribers() } else { std::function callback = [this, module](const AckermannControlCommand::ConstSharedPtr & ptr) { - this->controlCommandOutputCallback(module.node_name, ptr); + this->on_control_command(module.node_name, ptr); }; subscriber_variable.sub1_ = std::make_unique>( node_, module.topic_address, rclcpp::QoS(1).get_rmw_qos_profile(), - createSubscriptionOptions(node_)); + create_subscription_options(node_)); subscriber_variable.sub1_->registerCallback(std::bind(callback, std::placeholders::_1)); RCLCPP_WARN( @@ -212,15 +212,15 @@ bool SubscriberBase::initSubscribers() callback = [this, module]( const Trajectory::ConstSharedPtr & ptr, const PublishedTime::ConstSharedPtr & published_time_ptr) { - this->trajectoryOutputCallback(module.node_name, ptr, published_time_ptr); + this->on_trajectory(module.node_name, ptr, published_time_ptr); }; subscriber_variable.sub1_ = std::make_unique>( node_, module.topic_address, rclcpp::QoS(1).get_rmw_qos_profile(), - createSubscriptionOptions(node_)); + create_subscription_options(node_)); subscriber_variable.sub2_ = std::make_unique>( node_, module.time_debug_topic_address, rclcpp::QoS(1).get_rmw_qos_profile(), - createSubscriptionOptions(node_)); + create_subscription_options(node_)); subscriber_variable.synchronizer_ = std::make_unique< message_filters::Synchronizer::ExactTimePolicy>>( @@ -233,11 +233,11 @@ bool SubscriberBase::initSubscribers() } else { std::function callback = [this, module](const Trajectory::ConstSharedPtr & msg) { - this->trajectoryOutputCallback(module.node_name, msg); + this->on_trajectory(module.node_name, msg); }; subscriber_variable.sub1_ = std::make_unique>( node_, module.topic_address, rclcpp::QoS(1).get_rmw_qos_profile(), - createSubscriptionOptions(node_)); + create_subscription_options(node_)); subscriber_variable.sub1_->registerCallback(std::bind(callback, std::placeholders::_1)); RCLCPP_WARN( @@ -258,15 +258,15 @@ bool SubscriberBase::initSubscribers() callback = [this, module]( const PointCloud2::ConstSharedPtr & ptr, const PublishedTime::ConstSharedPtr & published_time_ptr) { - this->pointcloud2OutputCallback(module.node_name, ptr, published_time_ptr); + this->on_pointcloud(module.node_name, ptr, published_time_ptr); }; subscriber_variable.sub1_ = std::make_unique>( node_, module.topic_address, rclcpp::QoS(1).get_rmw_qos_profile(), - createSubscriptionOptions(node_)); + create_subscription_options(node_)); subscriber_variable.sub2_ = std::make_unique>( node_, module.time_debug_topic_address, rclcpp::QoS(1).get_rmw_qos_profile(), - createSubscriptionOptions(node_)); + create_subscription_options(node_)); subscriber_variable.synchronizer_ = std::make_unique< message_filters::Synchronizer::ExactTimePolicy>>( @@ -279,11 +279,11 @@ bool SubscriberBase::initSubscribers() } else { std::function callback = [this, module](const PointCloud2::ConstSharedPtr & msg) { - this->pointcloud2OutputCallback(module.node_name, msg); + this->on_pointcloud(module.node_name, msg); }; subscriber_variable.sub1_ = std::make_unique>( node_, module.topic_address, rclcpp::QoS(1).get_rmw_qos_profile(), - createSubscriptionOptions(node_)); + create_subscription_options(node_)); subscriber_variable.sub1_->registerCallback(std::bind(callback, std::placeholders::_1)); RCLCPP_WARN( @@ -304,15 +304,15 @@ bool SubscriberBase::initSubscribers() callback = [this, module]( const PredictedObjects::ConstSharedPtr & ptr, const PublishedTime::ConstSharedPtr & published_time_ptr) { - this->predictedObjectsOutputCallback(module.node_name, ptr, published_time_ptr); + this->on_predicted_objects(module.node_name, ptr, published_time_ptr); }; subscriber_variable.sub1_ = std::make_unique>( node_, module.topic_address, rclcpp::QoS(1).get_rmw_qos_profile(), - createSubscriptionOptions(node_)); + create_subscription_options(node_)); subscriber_variable.sub2_ = std::make_unique>( node_, module.time_debug_topic_address, rclcpp::QoS(1).get_rmw_qos_profile(), - createSubscriptionOptions(node_)); + create_subscription_options(node_)); subscriber_variable.synchronizer_ = std::make_unique< message_filters::Synchronizer::ExactTimePolicy>>( @@ -325,12 +325,12 @@ bool SubscriberBase::initSubscribers() } else { std::function callback = [this, module](const PredictedObjects::ConstSharedPtr & msg) { - this->predictedObjectsOutputCallback(module.node_name, msg); + this->on_predicted_objects(module.node_name, msg); }; subscriber_variable.sub1_ = std::make_unique>( node_, module.topic_address, rclcpp::QoS(1).get_rmw_qos_profile(), - createSubscriptionOptions(node_)); + create_subscription_options(node_)); subscriber_variable.sub1_->registerCallback(std::bind(callback, std::placeholders::_1)); RCLCPP_WARN( @@ -351,16 +351,16 @@ bool SubscriberBase::initSubscribers() callback = [this, module]( const DetectedObjects::ConstSharedPtr & ptr, const PublishedTime::ConstSharedPtr & published_time_ptr) { - this->detectedObjectsOutputCallback(module.node_name, ptr, published_time_ptr); + this->on_detected_objects(module.node_name, ptr, published_time_ptr); }; subscriber_variable.sub1_ = std::make_unique>( node_, module.topic_address, rclcpp::QoS(1).get_rmw_qos_profile(), - createSubscriptionOptions(node_)); + create_subscription_options(node_)); subscriber_variable.sub2_ = std::make_unique>( node_, module.time_debug_topic_address, rclcpp::QoS(1).get_rmw_qos_profile(), - createSubscriptionOptions(node_)); + create_subscription_options(node_)); subscriber_variable.synchronizer_ = std::make_unique< message_filters::Synchronizer::ExactTimePolicy>>( @@ -373,12 +373,12 @@ bool SubscriberBase::initSubscribers() } else { std::function callback = [this, module](const DetectedObjects::ConstSharedPtr & msg) { - this->detectedObjectsOutputCallback(module.node_name, msg); + this->on_detected_objects(module.node_name, msg); }; subscriber_variable.sub1_ = std::make_unique>( node_, module.topic_address, rclcpp::QoS(1).get_rmw_qos_profile(), - createSubscriptionOptions(node_)); + create_subscription_options(node_)); subscriber_variable.sub1_->registerCallback(std::bind(callback, std::placeholders::_1)); RCLCPP_WARN( @@ -399,15 +399,15 @@ bool SubscriberBase::initSubscribers() callback = [this, module]( const TrackedObjects::ConstSharedPtr & ptr, const PublishedTime::ConstSharedPtr & published_time_ptr) { - this->trackedObjectsOutputCallback(module.node_name, ptr, published_time_ptr); + this->on_tracked_objects(module.node_name, ptr, published_time_ptr); }; subscriber_variable.sub1_ = std::make_unique>( node_, module.topic_address, rclcpp::QoS(1).get_rmw_qos_profile(), - createSubscriptionOptions(node_)); + create_subscription_options(node_)); subscriber_variable.sub2_ = std::make_unique>( node_, module.time_debug_topic_address, rclcpp::QoS(1).get_rmw_qos_profile(), - createSubscriptionOptions(node_)); + create_subscription_options(node_)); subscriber_variable.synchronizer_ = std::make_unique< message_filters::Synchronizer::ExactTimePolicy>>( @@ -420,11 +420,11 @@ bool SubscriberBase::initSubscribers() } else { std::function callback = [this, module](const TrackedObjects::ConstSharedPtr & msg) { - this->trackedObjectsOutputCallback(module.node_name, msg); + this->on_tracked_objects(module.node_name, msg); }; subscriber_variable.sub1_ = std::make_unique>( node_, module.topic_address, rclcpp::QoS(1).get_rmw_qos_profile(), - createSubscriptionOptions(node_)); + create_subscription_options(node_)); subscriber_variable.sub1_->registerCallback(std::bind(callback, std::placeholders::_1)); RCLCPP_WARN( @@ -502,7 +502,7 @@ void SubscriberBase::reset() // Callbacks -void SubscriberBase::controlCommandOutputCallback( +void SubscriberBase::on_control_command( const std::string & node_name, const AckermannControlCommand::ConstSharedPtr & msg_ptr) { std::lock_guard lock(mutex_); @@ -516,10 +516,10 @@ void SubscriberBase::controlCommandOutputCallback( // reacted return; } - setControlCommandToBuffer(cmd_buffer.first, *msg_ptr); + set_control_command_to_buffer(cmd_buffer.first, *msg_ptr); if (!spawn_object_cmd_) return; - const auto brake_idx = findFirstBrakeIdx(cmd_buffer.first); + const auto brake_idx = find_first_brake_idx(cmd_buffer.first); if (brake_idx) { const auto brake_cmd = cmd_buffer.first.at(brake_idx.value()); @@ -557,7 +557,7 @@ void SubscriberBase::controlCommandOutputCallback( } } -void SubscriberBase::trajectoryOutputCallback( +void SubscriberBase::on_trajectory( const std::string & node_name, const Trajectory::ConstSharedPtr & msg_ptr) { mutex_.lock(); @@ -594,7 +594,7 @@ void SubscriberBase::trajectoryOutputCallback( } } -void SubscriberBase::trajectoryOutputCallback( +void SubscriberBase::on_trajectory( const std::string & node_name, const Trajectory::ConstSharedPtr & msg_ptr, const PublishedTime::ConstSharedPtr & published_time_ptr) { @@ -618,7 +618,7 @@ void SubscriberBase::trajectoryOutputCallback( msg_ptr->points, current_odometry_ptr->pose.pose.position); // find the target index which we will search for zero velocity - auto tmp_target_idx = getIndexAfterDistance( + auto tmp_target_idx = get_index_after_distance( *msg_ptr, nearest_seg_idx, reaction_params_.search_zero_vel_params.max_looking_distance); if (tmp_target_idx == msg_ptr->points.size() - 1) { tmp_target_idx = msg_ptr->points.size() - 2; // Last trajectory points might be zero velocity @@ -639,7 +639,7 @@ void SubscriberBase::trajectoryOutputCallback( } } -void SubscriberBase::pointcloud2OutputCallback( +void SubscriberBase::on_pointcloud( const std::string & node_name, const PointCloud2::ConstSharedPtr & msg_ptr) { mutex_.lock(); @@ -676,7 +676,7 @@ void SubscriberBase::pointcloud2OutputCallback( pcl::PointCloud pcl_pointcloud; pcl::fromROSMsg(transformed_points, pcl_pointcloud); - if (searchPointcloudNearEntity(pcl_pointcloud)) { + if (search_pointcloud_near_entity(pcl_pointcloud)) { std::get(variant) = *msg_ptr; RCLCPP_INFO(node_->get_logger(), "%s reacted without published time", node_name.c_str()); mutex_.lock(); @@ -684,7 +684,7 @@ void SubscriberBase::pointcloud2OutputCallback( mutex_.unlock(); } } -void SubscriberBase::pointcloud2OutputCallback( +void SubscriberBase::on_pointcloud( const std::string & node_name, const PointCloud2::ConstSharedPtr & msg_ptr, const PublishedTime::ConstSharedPtr & published_time_ptr) { @@ -722,7 +722,7 @@ void SubscriberBase::pointcloud2OutputCallback( pcl::PointCloud pcl_pointcloud; pcl::fromROSMsg(transformed_points, pcl_pointcloud); - if (searchPointcloudNearEntity(pcl_pointcloud)) { + if (search_pointcloud_near_entity(pcl_pointcloud)) { std::get(variant) = *msg_ptr; // set published time std::get(variant)->header.stamp = published_time_ptr->published_stamp; @@ -732,7 +732,7 @@ void SubscriberBase::pointcloud2OutputCallback( mutex_.unlock(); } } -void SubscriberBase::predictedObjectsOutputCallback( +void SubscriberBase::on_predicted_objects( const std::string & node_name, const PredictedObjects::ConstSharedPtr & msg_ptr) { mutex_.lock(); @@ -750,7 +750,7 @@ void SubscriberBase::predictedObjectsOutputCallback( return; } - if (searchPredictedObjectsNearEntity(*msg_ptr)) { + if (search_predicted_objects_near_entity(*msg_ptr)) { std::get(variant) = *msg_ptr; RCLCPP_INFO(node_->get_logger(), "%s reacted without published time", node_name.c_str()); @@ -760,7 +760,7 @@ void SubscriberBase::predictedObjectsOutputCallback( } } -void SubscriberBase::predictedObjectsOutputCallback( +void SubscriberBase::on_predicted_objects( const std::string & node_name, const PredictedObjects::ConstSharedPtr & msg_ptr, const PublishedTime::ConstSharedPtr & published_time_ptr) { @@ -779,7 +779,7 @@ void SubscriberBase::predictedObjectsOutputCallback( return; } - if (searchPredictedObjectsNearEntity(*msg_ptr)) { + if (search_predicted_objects_near_entity(*msg_ptr)) { std::get(variant) = *msg_ptr; RCLCPP_INFO(node_->get_logger(), "%s reacted with published time", node_name.c_str()); @@ -791,7 +791,7 @@ void SubscriberBase::predictedObjectsOutputCallback( } } -void SubscriberBase::detectedObjectsOutputCallback( +void SubscriberBase::on_detected_objects( const std::string & node_name, const DetectedObjects::ConstSharedPtr & msg_ptr) { mutex_.lock(); @@ -828,7 +828,7 @@ void SubscriberBase::detectedObjectsOutputCallback( tf2::doTransform(input_stamped, output_stamped, transform_stamped); obj.kinematics.pose_with_covariance.pose = output_stamped.pose; } - if (searchDetectedObjectsNearEntity(output_objs)) { + if (search_detected_objects_near_entity(output_objs)) { std::get(variant) = *msg_ptr; RCLCPP_INFO(node_->get_logger(), "%s reacted without published time", node_name.c_str()); mutex_.lock(); @@ -837,7 +837,7 @@ void SubscriberBase::detectedObjectsOutputCallback( } } -void SubscriberBase::detectedObjectsOutputCallback( +void SubscriberBase::on_detected_objects( const std::string & node_name, const DetectedObjects::ConstSharedPtr & msg_ptr, const PublishedTime::ConstSharedPtr & published_time_ptr) { @@ -875,7 +875,7 @@ void SubscriberBase::detectedObjectsOutputCallback( tf2::doTransform(input_stamped, output_stamped, transform_stamped); obj.kinematics.pose_with_covariance.pose = output_stamped.pose; } - if (searchDetectedObjectsNearEntity(output_objs)) { + if (search_detected_objects_near_entity(output_objs)) { std::get(variant) = *msg_ptr; RCLCPP_INFO(node_->get_logger(), "%s reacted with published time", node_name.c_str()); @@ -887,7 +887,7 @@ void SubscriberBase::detectedObjectsOutputCallback( } } -void SubscriberBase::trackedObjectsOutputCallback( +void SubscriberBase::on_tracked_objects( const std::string & node_name, const TrackedObjects::ConstSharedPtr & msg_ptr) { mutex_.lock(); @@ -904,7 +904,7 @@ void SubscriberBase::trackedObjectsOutputCallback( return; } - if (searchTrackedObjectsNearEntity(*msg_ptr)) { + if (search_tracked_objects_near_entity(*msg_ptr)) { std::get(variant) = *msg_ptr; RCLCPP_INFO(node_->get_logger(), "Reacted %s", node_name.c_str()); mutex_.lock(); @@ -913,7 +913,7 @@ void SubscriberBase::trackedObjectsOutputCallback( } } -void SubscriberBase::trackedObjectsOutputCallback( +void SubscriberBase::on_tracked_objects( const std::string & node_name, const TrackedObjects::ConstSharedPtr & msg_ptr, const PublishedTime::ConstSharedPtr & published_time_ptr) { @@ -931,7 +931,7 @@ void SubscriberBase::trackedObjectsOutputCallback( return; } - if (searchTrackedObjectsNearEntity(*msg_ptr)) { + if (search_tracked_objects_near_entity(*msg_ptr)) { std::get(variant) = *msg_ptr; RCLCPP_INFO(node_->get_logger(), "%s reacted with published time", node_name.c_str()); // set published time @@ -942,7 +942,7 @@ void SubscriberBase::trackedObjectsOutputCallback( } } -bool SubscriberBase::searchPointcloudNearEntity( +bool SubscriberBase::search_pointcloud_near_entity( const pcl::PointCloud & pcl_pointcloud) { bool isAnyPointWithinRadius = std::any_of( @@ -957,7 +957,8 @@ bool SubscriberBase::searchPointcloudNearEntity( return false; } -bool SubscriberBase::searchPredictedObjectsNearEntity(const PredictedObjects & predicted_objects) +bool SubscriberBase::search_predicted_objects_near_entity( + const PredictedObjects & predicted_objects) { bool isAnyObjectWithinRadius = std::any_of( predicted_objects.objects.begin(), predicted_objects.objects.end(), @@ -974,7 +975,7 @@ bool SubscriberBase::searchPredictedObjectsNearEntity(const PredictedObjects & p return false; } -bool SubscriberBase::searchDetectedObjectsNearEntity(const DetectedObjects & detected_objects) +bool SubscriberBase::search_detected_objects_near_entity(const DetectedObjects & detected_objects) { bool isAnyObjectWithinRadius = std::any_of( detected_objects.objects.begin(), detected_objects.objects.end(), @@ -990,7 +991,7 @@ bool SubscriberBase::searchDetectedObjectsNearEntity(const DetectedObjects & det return false; } -bool SubscriberBase::searchTrackedObjectsNearEntity(const TrackedObjects & tracked_objects) +bool SubscriberBase::search_tracked_objects_near_entity(const TrackedObjects & tracked_objects) { bool isAnyObjectWithinRadius = std::any_of( tracked_objects.objects.begin(), tracked_objects.objects.end(), @@ -1006,7 +1007,7 @@ bool SubscriberBase::searchTrackedObjectsNearEntity(const TrackedObjects & track return false; } -std::optional SubscriberBase::findFirstBrakeIdx( +std::optional SubscriberBase::find_first_brake_idx( const std::vector & cmd_array) { if ( @@ -1065,7 +1066,7 @@ std::optional SubscriberBase::findFirstBrakeIdx( return {}; } -void SubscriberBase::setControlCommandToBuffer( +void SubscriberBase::set_control_command_to_buffer( std::vector & buffer, const AckermannControlCommand & cmd) { const auto last_cmd_time = cmd.stamp; diff --git a/tools/reaction_analyzer/src/topic_publisher.cpp b/tools/reaction_analyzer/src/topic_publisher.cpp index 12bb1981031d5..a7d278034c6d4 100644 --- a/tools/reaction_analyzer/src/topic_publisher.cpp +++ b/tools/reaction_analyzer/src/topic_publisher.cpp @@ -55,10 +55,10 @@ TopicPublisher::TopicPublisher( } // Init the publishers which will read the messages from the rosbag - initRosbagPublishers(); + init_rosbag_publishers(); } -void TopicPublisher::pointcloudMessagesSyncPublisher(const PointcloudPublisherType type) +void TopicPublisher::pointcloud_messages_sync_publisher(const PointcloudPublisherType type) { const auto current_time = node_->now(); const bool is_object_spawned = spawn_object_cmd_; @@ -67,10 +67,10 @@ void TopicPublisher::pointcloudMessagesSyncPublisher(const PointcloudPublisherTy case PointcloudPublisherType::SYNC_HEADER_SYNC_PUBLISHER: { PublisherVarAccessor accessor; for (const auto & publisher_var_pair : lidar_pub_variable_pair_map_) { - accessor.publishWithCurrentTime( + accessor.publish_with_current_time( *publisher_var_pair.second.first, current_time, topic_publisher_params_.publish_only_pointcloud_with_object || is_object_spawned); - accessor.publishWithCurrentTime( + accessor.publish_with_current_time( *publisher_var_pair.second.second, current_time, topic_publisher_params_.publish_only_pointcloud_with_object || is_object_spawned); } @@ -92,10 +92,10 @@ void TopicPublisher::pointcloudMessagesSyncPublisher(const PointcloudPublisherTy for (const auto & publisher_var_pair : lidar_pub_variable_pair_map_) { const auto header_time = current_time - std::chrono::nanoseconds(counter * phase_dif.count()); - accessor.publishWithCurrentTime( + accessor.publish_with_current_time( *publisher_var_pair.second.first, header_time, topic_publisher_params_.publish_only_pointcloud_with_object || is_object_spawned); - accessor.publishWithCurrentTime( + accessor.publish_with_current_time( *publisher_var_pair.second.second, header_time, topic_publisher_params_.publish_only_pointcloud_with_object || is_object_spawned); counter++; @@ -113,7 +113,7 @@ void TopicPublisher::pointcloudMessagesSyncPublisher(const PointcloudPublisherTy } } -void TopicPublisher::pointcloudMessagesAsyncPublisher( +void TopicPublisher::pointcloud_messages_async_publisher( const std::pair< std::shared_ptr>, std::shared_ptr>> & lidar_output_pair_) @@ -121,10 +121,10 @@ void TopicPublisher::pointcloudMessagesAsyncPublisher( PublisherVarAccessor accessor; const auto current_time = node_->now(); const bool is_object_spawned = spawn_object_cmd_; - accessor.publishWithCurrentTime( + accessor.publish_with_current_time( *lidar_output_pair_.first, current_time, topic_publisher_params_.publish_only_pointcloud_with_object || is_object_spawned); - accessor.publishWithCurrentTime( + accessor.publish_with_current_time( *lidar_output_pair_.second, current_time, topic_publisher_params_.publish_only_pointcloud_with_object || is_object_spawned); @@ -136,7 +136,7 @@ void TopicPublisher::pointcloudMessagesAsyncPublisher( } } -void TopicPublisher::genericMessagePublisher(const std::string & topic_name) +void TopicPublisher::generic_message_publisher(const std::string & topic_name) { PublisherVarAccessor accessor; const bool is_object_spawned = spawn_object_cmd_; @@ -145,7 +145,7 @@ void TopicPublisher::genericMessagePublisher(const std::string & topic_name) std::visit( [&](const auto & var) { - accessor.publishWithCurrentTime(var, current_time, is_object_spawned); + accessor.publish_with_current_time(var, current_time, is_object_spawned); }, publisher_variant); } @@ -155,7 +155,7 @@ void TopicPublisher::reset() is_object_spawned_message_published = false; } -void TopicPublisher::initRosbagPublishers() +void TopicPublisher::init_rosbag_publishers() { auto string_to_publisher_message_type = [](const std::string & input) { if (input == "sensor_msgs/msg/PointCloud2") { @@ -234,12 +234,12 @@ void TopicPublisher::initRosbagPublishers() // Deserialize and store the first message as a sample if (timestamps_per_topic[current_topic].size() == 1) { - setMessageToVariableMap(message_type, current_topic, *bag_message, true); + set_message_to_variable_map(message_type, current_topic, *bag_message, true); } } // After collecting all timestamps for each topic, set frequencies of the publishers - setPeriodToVariableMap(timestamps_per_topic); + set_period_to_variable_map(timestamps_per_topic); reader.close(); } @@ -279,12 +279,12 @@ void TopicPublisher::initRosbagPublishers() if (message_type == PublisherMessageType::UNKNOWN) { continue; } - setMessageToVariableMap(message_type, current_topic, *bag_message, false); + set_message_to_variable_map(message_type, current_topic, *bag_message, false); } reader.close(); } - if (setPublishersAndTimersToVariableMap()) { + if (set_publishers_and_timers_to_variable_map()) { RCLCPP_INFO(node_->get_logger(), "Publishers and timers are set correctly"); } else { RCLCPP_ERROR(node_->get_logger(), "Publishers and timers are not set correctly"); @@ -292,7 +292,7 @@ void TopicPublisher::initRosbagPublishers() } } -void TopicPublisher::setMessageToVariableMap( +void TopicPublisher::set_message_to_variable_map( const PublisherMessageType & message_type, const std::string & topic_name, rosbag2_storage::SerializedBagMessage & bag_message, const bool is_empty_area_message) { @@ -752,7 +752,7 @@ void TopicPublisher::setMessageToVariableMap( } } -void TopicPublisher::setPeriodToVariableMap( +void TopicPublisher::set_period_to_variable_map( const std::unordered_map> & time_map) { for (auto & topic_pair : time_map) { @@ -778,16 +778,16 @@ void TopicPublisher::setPeriodToVariableMap( PublisherVariablesVariant & publisherVar = topic_publisher_map_[topic_name]; PublisherVarAccessor accessor; - std::visit([&](auto & var) { accessor.setPeriod(var, period_ns); }, publisherVar); + std::visit([&](auto & var) { accessor.set_period(var, period_ns); }, publisherVar); } } } -bool TopicPublisher::setPublishersAndTimersToVariableMap() +bool TopicPublisher::set_publishers_and_timers_to_variable_map() { // before create publishers and timers, check all the messages are correctly initialized with // their conjugate messages. - if (checkPublishersInitializedCorrectly()) { + if (check_publishers_initialized_correctly()) { RCLCPP_INFO(node_->get_logger(), "Messages are initialized correctly"); } else { RCLCPP_ERROR(node_->get_logger(), "Messages are not initialized correctly"); @@ -802,7 +802,7 @@ bool TopicPublisher::setPublishersAndTimersToVariableMap() PublisherVarAccessor accessor; const auto & topic_ref = topic_name; const auto period_ns = std::chrono::duration( - std::visit([&](const auto & var) { return accessor.getPeriod(var); }, variant)); + std::visit([&](const auto & var) { return accessor.get_period(var); }, variant)); // Dynamically create the correct publisher type based on the topic std::visit( @@ -829,7 +829,7 @@ bool TopicPublisher::setPublishersAndTimersToVariableMap() if constexpr (!std::is_same_v) { var.timer = node_->create_wall_timer( - period_ns, [this, topic_ref]() { this->genericMessagePublisher(topic_ref); }); + period_ns, [this, topic_ref]() { this->generic_message_publisher(topic_ref); }); } else { // For PointCloud2, Store the variables in a temporary map pointcloud_variables_map[topic_ref] = var; @@ -870,7 +870,7 @@ bool TopicPublisher::setPublishersAndTimersToVariableMap() if (pointcloud_publisher_type_ != PointcloudPublisherType::ASYNC_PUBLISHER) { // Create 1 timer to publish all PointCloud2 messages pointcloud_sync_publish_timer_ = node_->create_wall_timer(period_pointcloud_ns, [this]() { - this->pointcloudMessagesSyncPublisher(this->pointcloud_publisher_type_); + this->pointcloud_messages_sync_publisher(this->pointcloud_publisher_type_); }); } else { // Create multiple timers which will run with a phase difference @@ -885,7 +885,7 @@ bool TopicPublisher::setPublishersAndTimersToVariableMap() // Create the periodic timer auto periodic_timer = node_->create_wall_timer(period_pointcloud_ns, [this, publisher_var_pair]() { - this->pointcloudMessagesAsyncPublisher(publisher_var_pair); + this->pointcloud_messages_async_publisher(publisher_var_pair); }); // Store the periodic timer to keep it alive pointcloud_publish_timers_map_[lidar_name] = periodic_timer; @@ -901,15 +901,15 @@ bool TopicPublisher::setPublishersAndTimersToVariableMap() return true; } -bool TopicPublisher::checkPublishersInitializedCorrectly() +bool TopicPublisher::check_publishers_initialized_correctly() { // check messages are correctly initialized or not from rosbags for (const auto & [topic_name, variant] : topic_publisher_map_) { PublisherVarAccessor accessor; auto empty_area_message = - std::visit([&](const auto & var) { return accessor.getEmptyAreaMessage(var); }, variant); - auto object_spawned_message = - std::visit([&](const auto & var) { return accessor.getObjectSpawnedMessage(var); }, variant); + std::visit([&](const auto & var) { return accessor.get_empty_area_message(var); }, variant); + auto object_spawned_message = std::visit( + [&](const auto & var) { return accessor.get_object_spawned_message(var); }, variant); if (!empty_area_message) { RCLCPP_ERROR_STREAM( diff --git a/tools/reaction_analyzer/src/utils.cpp b/tools/reaction_analyzer/src/utils.cpp index 9b9775e479d14..c3a711dd020e3 100644 --- a/tools/reaction_analyzer/src/utils.cpp +++ b/tools/reaction_analyzer/src/utils.cpp @@ -16,7 +16,7 @@ namespace reaction_analyzer { -rclcpp::SubscriptionOptions createSubscriptionOptions(rclcpp::Node * node) +rclcpp::SubscriptionOptions create_subscription_options(rclcpp::Node * node) { rclcpp::CallbackGroup::SharedPtr callback_group = node->create_callback_group(rclcpp::CallbackGroupType::MutuallyExclusive); @@ -27,7 +27,7 @@ rclcpp::SubscriptionOptions createSubscriptionOptions(rclcpp::Node * node) return sub_opt; } -std::vector, double>> sortResultsByMedian( +std::vector, double>> sort_results_by_median( const std::unordered_map> test_results) { std::vector, double>> sorted_data; @@ -66,7 +66,8 @@ std::vector split(const std::string & str, char delimiter) return elements; } -size_t getIndexAfterDistance(const Trajectory & traj, const size_t curr_id, const double distance) +size_t get_index_after_distance( + const Trajectory & traj, const size_t curr_id, const double distance) { // Get Current Trajectory Point const TrajectoryPoint & curr_p = traj.points.at(curr_id); From 1d4754e4bfbc5ff3ff61462c6d2481fe8233f873 Mon Sep 17 00:00:00 2001 From: Berkay Karaman Date: Sat, 16 Mar 2024 15:46:08 +0300 Subject: [PATCH 09/14] feat: update Signed-off-by: Berkay Karaman --- tools/reaction_analyzer/README.md | 33 +++++++----- .../include/reaction_analyzer_node.hpp | 25 +-------- .../reaction_analyzer/include/subscriber.hpp | 4 ++ .../include/topic_publisher.hpp | 13 ++--- tools/reaction_analyzer/include/utils.hpp | 26 ++++++++++ .../param/reaction_analyzer.param.yaml | 49 ++++++++--------- .../src/reaction_analyzer_node.cpp | 52 ++++++++++--------- .../reaction_analyzer/src/topic_publisher.cpp | 9 ++-- tools/reaction_analyzer/src/utils.cpp | 11 ++-- 9 files changed, 119 insertions(+), 103 deletions(-) diff --git a/tools/reaction_analyzer/README.md b/tools/reaction_analyzer/README.md index d637265e94488..1c69f7074189f 100644 --- a/tools/reaction_analyzer/README.md +++ b/tools/reaction_analyzer/README.md @@ -2,10 +2,11 @@ ## Description -The main purpose of the reaction analyzer package is measuring reaction times of the nodes by listening the -pre-determined topics. It can be used for measuring the reaction time of the perception pipeline, planning pipeline, and -control pipeline. To be able to measure both control outputs and perception outputs, it was necessary to divide the node -into two running_mode: `planning_control` and `perception_planning`. +The main purpose of the reaction analyzer package is to measure the reaction times of various nodes within a ROS-based +autonomous driving simulation environment by subscribing to pre-determined topics. This tool is particularly useful for +evaluating the performance of perception, planning, and control pipelines in response to dynamic changes in the +environment, such as sudden obstacles. To be able to measure both control outputs and perception outputs, it was +necessary to divide the node into two running_mode: `planning_control` and `perception_planning`. ![ReactionAnalyzerDesign.png](media%2FReactionAnalyzerDesign.png) @@ -94,21 +95,26 @@ to test. After the test is completed, the results will be stored in the `output_ ### Custom Test Environment -**If you want to run the reaction analyzer with your custom test environment, you need to redefine some of the parameters. +**If you want to run the reaction analyzer with your custom test environment, you need to redefine some of the +parameters. The parameters you need to redefine are `initialization_pose`, `entity_params`, `goal_pose`, and `topic_publisher` ( for `perception_planning` mode) parameters.** - To set `initialization_pose`, `entity_params`, `goal_pose`: -- Upload your `.osm` map file into the [scenario editor](https://scenario.ci.tier4.jp/scenario_editor/) to define the position of the position parameters. +- Upload your `.osm` map file into the [scenario editor](https://scenario.ci.tier4.jp/scenario_editor/) to define the + position of the position parameters. - Add EGO vehicle from edit/add entity/Ego to map. - Set destination to EGO vehicle and add another dummy object in same way. The dummy object represents the object spawn suddenly in the reaction analyzer test. -**After you set up the positions in the map, we should get the positions of these entities in the map frame. To achieve this:** +**After you set up the positions in the map, we should get the positions of these entities in the map frame. To achieve +this:** -- Convert the positions to map frame by changing Map/Coordinate to World and Map/Orientation to Euler in Scenario Editor. +- Convert the positions to map frame by changing Map/Coordinate to World and Map/Orientation to Euler in Scenario + Editor. -- After these steps, you can see the positions in map frame and euler angles. You can change the `initialization_pose`, `entity_params`, `goal_pose` parameters with the values you get from the website. +- After these steps, you can see the positions in map frame and euler angles. You can change + the `initialization_pose`, `entity_params`, `goal_pose` parameters with the values you get from the website. **For the `topic_publisher` parameters, you need to record the rosbags from the AWSIM. After opened your AWSIM environment, you should record two different rosbags. However, the environment should be static and the position of the @@ -117,7 +123,8 @@ vehicle should be same.** - Record a rosbag in empty environment (without an obstacle in front of the vehicle). - After that, record another rosbag in the same environment except add an object in front of the vehicle. -**After you record the rosbags, you can set the `path_bag_without_object` and `path_bag_with_object` parameters with the paths of the recorded rosbags.** +**After you record the rosbags, you can set the `path_bag_without_object` and `path_bag_with_object` parameters with the +paths of the recorded rosbags.** ## Parameters @@ -131,9 +138,9 @@ vehicle should be same.** | `spawn_distance_threshold` | double | [m] Distance threshold for spawning objects. Only valid `planning_control` mode. | | `spawned_pointcloud_sampling_distance` | double | [m] Sampling distance for point clouds of spawned objects. Only valid `planning_control` mode. | | `dummy_perception_publisher_period` | double | [s] Publishing period for the dummy perception data. Only valid `planning_control` mode. | -| `initialization_pose` | struct | Initial pose of the vehicle, containing `x`, `y`, `z`, `roll`, `pitch`, and `yaw` fields. Only valid `planning_control` mode. | -| `entity_params` | struct | Parameters for entities (e.g., obstacles), containing `x`, `y`, `z`, `roll`, `pitch`, `yaw`, `x_dimension`, `y_dimension`, and `z_dimension`. | -| `goal_pose` | struct | Goal pose of the vehicle, containing `x`, `y`, `z`, `roll`, `pitch`, and `yaw` fields. | +| `poses.initialization_pose` | struct | Initial pose of the vehicle, containing `x`, `y`, `z`, `roll`, `pitch`, and `yaw` fields. Only valid `planning_control` mode. | +| `poses.entity_params` | struct | Parameters for entities (e.g., obstacles), containing `x`, `y`, `z`, `roll`, `pitch`, `yaw`, `x_dimension`, `y_dimension`, and `z_dimension`. | +| `poses.goal_pose` | struct | Goal pose of the vehicle, containing `x`, `y`, `z`, `roll`, `pitch`, and `yaw` fields. | | `topic_publisher.path_bag_without_object` | string | Path to the ROS bag file without objects. Only valid `perception_planning` mode. | | `topic_publisher.path_bag_with_object` | string | Path to the ROS bag file with objects. Only valid `perception_planning` mode. | | `topic_publisher.pointcloud_publisher.pointcloud_publisher_type` | string | Defines how the PointCloud2 messages are going to be published. Modes explained above. | diff --git a/tools/reaction_analyzer/include/reaction_analyzer_node.hpp b/tools/reaction_analyzer/include/reaction_analyzer_node.hpp index ea088ca0ac69f..8d44c032f2b69 100644 --- a/tools/reaction_analyzer/include/reaction_analyzer_node.hpp +++ b/tools/reaction_analyzer/include/reaction_analyzer_node.hpp @@ -72,29 +72,6 @@ enum class RunningMode { PlanningControl = 1, }; -struct PoseParams -{ - double x; - double y; - double z; - double roll; - double pitch; - double yaw; -}; - -struct EntityParams -{ - double x; - double y; - double z; - double roll; - double pitch; - double yaw; - double x_l; - double y_l; - double z_l; -}; - struct NodeParams { std::string running_mode; @@ -194,7 +171,7 @@ class ReactionAnalyzerNode : public rclcpp::Node rclcpp::Client::SharedPtr client_change_to_autonomous_; // Pointers - std::shared_ptr topic_publisher_ptr_; + std::unique_ptr topic_publisher_ptr_; std::unique_ptr subscriber_ptr_; PointCloud2::SharedPtr entity_pointcloud_ptr_; PredictedObjects::SharedPtr predicted_objects_ptr_; diff --git a/tools/reaction_analyzer/include/subscriber.hpp b/tools/reaction_analyzer/include/subscriber.hpp index 79a8cb60f1297..520dbe66cdb38 100644 --- a/tools/reaction_analyzer/include/subscriber.hpp +++ b/tools/reaction_analyzer/include/subscriber.hpp @@ -162,6 +162,10 @@ class SubscriberBase rclcpp::Node * node, Odometry::ConstSharedPtr & odometry, geometry_msgs::msg::Pose entity_pose, std::atomic & spawn_object_cmd); + // Instances of SubscriberBase cannot be copied + SubscriberBase(const SubscriberBase &) = delete; + SubscriberBase & operator=(const SubscriberBase &) = delete; + ~SubscriberBase() = default; std::optional> getMessageBuffersMap(); diff --git a/tools/reaction_analyzer/include/topic_publisher.hpp b/tools/reaction_analyzer/include/topic_publisher.hpp index b0f8ea8a4d562..e7a79ea767a4f 100644 --- a/tools/reaction_analyzer/include/topic_publisher.hpp +++ b/tools/reaction_analyzer/include/topic_publisher.hpp @@ -95,7 +95,7 @@ enum class PointcloudPublisherType { template struct PublisherVariables { - double period_ns{0.0}; + std::chrono::milliseconds period_ms{0}; typename MessageType::SharedPtr empty_area_message; typename MessageType::SharedPtr object_spawned_message; typename rclcpp::Publisher::SharedPtr publisher; @@ -150,15 +150,15 @@ struct PublisherVarAccessor } template - void set_period(T & publisherVar, double newPeriod) + void set_period(T & publisherVar, std::chrono::milliseconds new_period) { - publisherVar.period_ns = newPeriod; + publisherVar.period_ms = new_period; } template - double get_period(const T & publisherVar) const + std::chrono::milliseconds get_period(const T & publisherVar) const { - return publisherVar.period_ns; + return publisherVar.period_ms; } template @@ -207,7 +207,8 @@ class TopicPublisher // Initialized variables rclcpp::Node * node_; std::atomic & spawn_object_cmd_; - std::optional & spawn_cmd_time_; + std::optional & spawn_cmd_time_; // Set by a publisher function when the + // spawn_object_cmd_ is true // Parameters TopicPublisherParams topic_publisher_params_; diff --git a/tools/reaction_analyzer/include/utils.hpp b/tools/reaction_analyzer/include/utils.hpp index 7f5445613e815..51dc37e6ce1e0 100644 --- a/tools/reaction_analyzer/include/utils.hpp +++ b/tools/reaction_analyzer/include/utils.hpp @@ -31,6 +31,32 @@ namespace reaction_analyzer using autoware_auto_planning_msgs::msg::Trajectory; using autoware_auto_planning_msgs::msg::TrajectoryPoint; +/** + * @brief A struct containing the parameters of a pose. + */ +struct PoseParams +{ + double x; + double y; + double z; + double roll; + double pitch; + double yaw; +}; + +struct EntityParams +{ + double x; + double y; + double z; + double roll; + double pitch; + double yaw; + double x_l; + double y_l; + double z_l; +}; + /** * @brief Sorts the test results by their median value. * diff --git a/tools/reaction_analyzer/param/reaction_analyzer.param.yaml b/tools/reaction_analyzer/param/reaction_analyzer.param.yaml index e430e9fc3b43c..13233c57d8cea 100644 --- a/tools/reaction_analyzer/param/reaction_analyzer.param.yaml +++ b/tools/reaction_analyzer/param/reaction_analyzer.param.yaml @@ -8,30 +8,31 @@ spawn_distance_threshold: 15.0 # m # for planning_control mode spawned_pointcloud_sampling_distance: 0.1 dummy_perception_publisher_period: 0.1 # s - initialization_pose: - x: 81247.9609375 - y: 49828.87890625 - z: 0.0 - roll: 0.0 - pitch: 0.0 - yaw: 35.5 - entity_params: - x: 81392.97671487389 - y: 49927.361443601316 - z: 42.13605499267578 - roll: 0.2731273 - pitch: -0.6873504 - yaw: 33.7664809 - x_dimension: 4.118675972722859 - y_dimension: 1.7809072588403219 - z_dimension: 0.8328610206872963 - goal_pose: - x: 81824.90625 - y: 50069.34375 - z: 0.0 - roll: 0.0 - pitch: 0.0 - yaw: 8.9305903 + poses: + initialization_pose: + x: 81247.9609375 + y: 49828.87890625 + z: 0.0 + roll: 0.0 + pitch: 0.0 + yaw: 35.5 + entity_params: + x: 81392.97671487389 + y: 49927.361443601316 + z: 42.13605499267578 + roll: 0.2731273 + pitch: -0.6873504 + yaw: 33.7664809 + x_dimension: 4.118675972722859 + y_dimension: 1.7809072588403219 + z_dimension: 0.8328610206872963 + goal_pose: + x: 81824.90625 + y: 50069.34375 + z: 0.0 + roll: 0.0 + pitch: 0.0 + yaw: 8.9305903 topic_publisher: path_bag_without_object: /lexus_bag_without_car/rosbag2_2024_01_30-13_50_45_0.db3 path_bag_with_object: /lexus_bag_with_car/rosbag2_2024_01_30-13_50_17_0.db3 diff --git a/tools/reaction_analyzer/src/reaction_analyzer_node.cpp b/tools/reaction_analyzer/src/reaction_analyzer_node.cpp index 8ca237150f820..f676700568603 100644 --- a/tools/reaction_analyzer/src/reaction_analyzer_node.cpp +++ b/tools/reaction_analyzer/src/reaction_analyzer_node.cpp @@ -80,29 +80,29 @@ ReactionAnalyzerNode::ReactionAnalyzerNode(rclcpp::NodeOptions options) get_parameter("dummy_perception_publisher_period").as_double(); // Position parameters - node_params_.initial_pose.x = get_parameter("initialization_pose.x").as_double(); - node_params_.initial_pose.y = get_parameter("initialization_pose.y").as_double(); - node_params_.initial_pose.z = get_parameter("initialization_pose.z").as_double(); - node_params_.initial_pose.roll = get_parameter("initialization_pose.roll").as_double(); - node_params_.initial_pose.pitch = get_parameter("initialization_pose.pitch").as_double(); - node_params_.initial_pose.yaw = get_parameter("initialization_pose.yaw").as_double(); - - node_params_.goal_pose.x = get_parameter("goal_pose.x").as_double(); - node_params_.goal_pose.y = get_parameter("goal_pose.y").as_double(); - node_params_.goal_pose.z = get_parameter("goal_pose.z").as_double(); - node_params_.goal_pose.roll = get_parameter("goal_pose.roll").as_double(); - node_params_.goal_pose.pitch = get_parameter("goal_pose.pitch").as_double(); - node_params_.goal_pose.yaw = get_parameter("goal_pose.yaw").as_double(); - - node_params_.entity_params.x = get_parameter("entity_params.x").as_double(); - node_params_.entity_params.y = get_parameter("entity_params.y").as_double(); - node_params_.entity_params.z = get_parameter("entity_params.z").as_double(); - node_params_.entity_params.roll = get_parameter("entity_params.roll").as_double(); - node_params_.entity_params.pitch = get_parameter("entity_params.pitch").as_double(); - node_params_.entity_params.yaw = get_parameter("entity_params.yaw").as_double(); - node_params_.entity_params.x_l = get_parameter("entity_params.x_dimension").as_double(); - node_params_.entity_params.y_l = get_parameter("entity_params.y_dimension").as_double(); - node_params_.entity_params.z_l = get_parameter("entity_params.z_dimension").as_double(); + node_params_.initial_pose.x = get_parameter("poses.initialization_pose.x").as_double(); + node_params_.initial_pose.y = get_parameter("poses.initialization_pose.y").as_double(); + node_params_.initial_pose.z = get_parameter("poses.initialization_pose.z").as_double(); + node_params_.initial_pose.roll = get_parameter("poses.initialization_pose.roll").as_double(); + node_params_.initial_pose.pitch = get_parameter("poses.initialization_pose.pitch").as_double(); + node_params_.initial_pose.yaw = get_parameter("poses.initialization_pose.yaw").as_double(); + + node_params_.goal_pose.x = get_parameter("poses.goal_pose.x").as_double(); + node_params_.goal_pose.y = get_parameter("poses.goal_pose.y").as_double(); + node_params_.goal_pose.z = get_parameter("poses.goal_pose.z").as_double(); + node_params_.goal_pose.roll = get_parameter("poses.goal_pose.roll").as_double(); + node_params_.goal_pose.pitch = get_parameter("poses.goal_pose.pitch").as_double(); + node_params_.goal_pose.yaw = get_parameter("poses.goal_pose.yaw").as_double(); + + node_params_.entity_params.x = get_parameter("poses.entity_params.x").as_double(); + node_params_.entity_params.y = get_parameter("poses.entity_params.y").as_double(); + node_params_.entity_params.z = get_parameter("poses.entity_params.z").as_double(); + node_params_.entity_params.roll = get_parameter("poses.entity_params.roll").as_double(); + node_params_.entity_params.pitch = get_parameter("poses.entity_params.pitch").as_double(); + node_params_.entity_params.yaw = get_parameter("poses.entity_params.yaw").as_double(); + node_params_.entity_params.x_l = get_parameter("poses.entity_params.x_dimension").as_double(); + node_params_.entity_params.y_l = get_parameter("poses.entity_params.y_dimension").as_double(); + node_params_.entity_params.z_l = get_parameter("poses.entity_params.z_dimension").as_double(); sub_kinematics_ = create_subscription( "input/kinematics", 1, std::bind(&ReactionAnalyzerNode::on_vehicle_pose, this, _1), @@ -143,7 +143,7 @@ ReactionAnalyzerNode::ReactionAnalyzerNode(rclcpp::NodeOptions options) } else if (node_running_mode_ == RunningMode::PerceptionPlanning) { // Create topic publishers topic_publisher_ptr_ = - std::make_shared(this, spawn_object_cmd_, spawn_cmd_time_); + std::make_unique(this, spawn_object_cmd_, spawn_cmd_time_); // Subscribe to the ground truth position sub_ground_truth_pose_ = create_subscription( @@ -183,15 +183,19 @@ void ReactionAnalyzerNode::on_timer() return; } + // Spawn the obstacle if the conditions are met spawn_obstacle(current_odometry_ptr->pose.pose.position); + // If the spawn_cmd_time is not set by pointcloud publishers, don't do anything if (!spawn_cmd_time) return; + // Get the reacted messages, if all of the modules reacted const auto message_buffers = subscriber_ptr_->getMessageBuffersMap(); if (message_buffers) { // if reacted, calculate the results calculate_results(message_buffers.value(), spawn_cmd_time.value()); + // reset the variables if the iteration is not finished, otherwise write the results reset(); } } diff --git a/tools/reaction_analyzer/src/topic_publisher.cpp b/tools/reaction_analyzer/src/topic_publisher.cpp index a7d278034c6d4..71d7ce67d3a4a 100644 --- a/tools/reaction_analyzer/src/topic_publisher.cpp +++ b/tools/reaction_analyzer/src/topic_publisher.cpp @@ -771,14 +771,15 @@ void TopicPublisher::set_period_to_variable_map( total_time_diff_ns += (timestamps_tmp[i] - timestamps_tmp[i - 1]).nanoseconds(); } - // Convert to double for the division to get the average period in nanoseconds - double period_ns = - static_cast(total_time_diff_ns) / static_cast(timestamps_tmp.size() - 1); + // Conversion to std::chrono::milliseconds + auto total_duration_ns = std::chrono::nanoseconds(total_time_diff_ns); + auto period_ms = std::chrono::duration_cast(total_duration_ns) / + (timestamps_tmp.size() - 1); PublisherVariablesVariant & publisherVar = topic_publisher_map_[topic_name]; PublisherVarAccessor accessor; - std::visit([&](auto & var) { accessor.set_period(var, period_ns); }, publisherVar); + std::visit([&](auto & var) { accessor.set_period(var, period_ms); }, publisherVar); } } } diff --git a/tools/reaction_analyzer/src/utils.cpp b/tools/reaction_analyzer/src/utils.cpp index c3a711dd020e3..5c320dfc76a75 100644 --- a/tools/reaction_analyzer/src/utils.cpp +++ b/tools/reaction_analyzer/src/utils.cpp @@ -35,14 +35,9 @@ std::vector, double>> sort_results_b auto vec = pair.second; // Calculate the median - std::sort(vec.begin(), vec.end()); - double median = 0.0; - size_t size = vec.size(); - if (size % 2 == 0) { - median = (vec[size / 2 - 1] + vec[size / 2]) / 2.0; - } else { - median = vec[size / 2]; - } + const size_t mid_index = vec.size() / 2; + std::nth_element(vec.begin(), vec.begin() + mid_index, vec.end()); + const double median = vec[mid_index]; sorted_data.emplace_back(pair.first, pair.second, median); } From bb9d6685a94112a7e15e9495cdf53e62ed2d9024 Mon Sep 17 00:00:00 2001 From: Berkay Karaman Date: Mon, 18 Mar 2024 12:39:19 +0300 Subject: [PATCH 10/14] feat: improve style, change csv output stringstream Signed-off-by: Berkay Karaman --- tools/reaction_analyzer/README.md | 17 +- .../include/reaction_analyzer_node.hpp | 49 +-- .../reaction_analyzer/include/subscriber.hpp | 54 +-- .../include/topic_publisher.hpp | 44 +- tools/reaction_analyzer/include/utils.hpp | 199 ++++++++- .../param/reaction_analyzer.param.yaml | 31 +- .../src/reaction_analyzer_node.cpp | 355 ++-------------- tools/reaction_analyzer/src/subscriber.cpp | 250 ++++-------- .../reaction_analyzer/src/topic_publisher.cpp | 171 ++++++-- tools/reaction_analyzer/src/utils.cpp | 383 ++++++++++++++++-- 10 files changed, 882 insertions(+), 671 deletions(-) diff --git a/tools/reaction_analyzer/README.md b/tools/reaction_analyzer/README.md index 1c69f7074189f..1719fc87e0ddf 100644 --- a/tools/reaction_analyzer/README.md +++ b/tools/reaction_analyzer/README.md @@ -126,6 +126,15 @@ vehicle should be same.** **After you record the rosbags, you can set the `path_bag_without_object` and `path_bag_with_object` parameters with the paths of the recorded rosbags.** +## Results + +The results will be stored in the `csv` file format and written to the `output_file_path` you defined. It shows each +pipeline of the Autoware by using header timestamp of the messages, and it reports `Node Latency`, and `Total Latency` +for each of the nodes. + +- `Node Latency`: The time difference between previous and current node's reaction timestamps. +- `Total Latency`: The time difference between the message's published timestamp and the spawn obstacle command sent timestamp. + ## Parameters | Name | Type | Description | @@ -133,16 +142,15 @@ paths of the recorded rosbags.** | `timer_period` | double | [s] Period for the main processing timer. | | `test_iteration` | int | Number of iterations for the test. | | `output_file_path` | string | Directory path where test results and statistics will be stored. | -| `object_search_radius_offset` | double | [m] Additional radius added to the search area when looking for objects. | | `spawn_time_after_init` | double | [s] Time delay after initialization before spawning objects. Only valid `perception_planning` mode. | | `spawn_distance_threshold` | double | [m] Distance threshold for spawning objects. Only valid `planning_control` mode. | -| `spawned_pointcloud_sampling_distance` | double | [m] Sampling distance for point clouds of spawned objects. Only valid `planning_control` mode. | -| `dummy_perception_publisher_period` | double | [s] Publishing period for the dummy perception data. Only valid `planning_control` mode. | | `poses.initialization_pose` | struct | Initial pose of the vehicle, containing `x`, `y`, `z`, `roll`, `pitch`, and `yaw` fields. Only valid `planning_control` mode. | | `poses.entity_params` | struct | Parameters for entities (e.g., obstacles), containing `x`, `y`, `z`, `roll`, `pitch`, `yaw`, `x_dimension`, `y_dimension`, and `z_dimension`. | | `poses.goal_pose` | struct | Goal pose of the vehicle, containing `x`, `y`, `z`, `roll`, `pitch`, and `yaw` fields. | | `topic_publisher.path_bag_without_object` | string | Path to the ROS bag file without objects. Only valid `perception_planning` mode. | | `topic_publisher.path_bag_with_object` | string | Path to the ROS bag file with objects. Only valid `perception_planning` mode. | +| `topic_publisher.spawned_pointcloud_sampling_distance` | double | [m] Sampling distance for point clouds of spawned objects. Only valid `planning_control` mode. | +| `topic_publisher.dummy_perception_publisher_period` | double | [s] Publishing period for the dummy perception data. Only valid `planning_control` mode. | | `topic_publisher.pointcloud_publisher.pointcloud_publisher_type` | string | Defines how the PointCloud2 messages are going to be published. Modes explained above. | | `topic_publisher.pointcloud_publisher.pointcloud_publisher_period` | double | [s] Publishing period of the PointCloud2 messages. | | `topic_publisher.pointcloud_publisher.publish_only_pointcloud_with_object` | bool | Default false. Publish only the point cloud messages with the object. | @@ -191,5 +199,4 @@ paths of the recorded rosbags.** - The reaction analyzer can be improved by adding more reaction types. Currently, it is supporting only `FIRST_BRAKE`, `SEARCH_ZERO_VEL`, and `SEARCH_ENTITY` reaction types. It can be extended by adding more reaction types for each of - the - message types. + the message types. diff --git a/tools/reaction_analyzer/include/reaction_analyzer_node.hpp b/tools/reaction_analyzer/include/reaction_analyzer_node.hpp index 8d44c032f2b69..5b2b961d3ed47 100644 --- a/tools/reaction_analyzer/include/reaction_analyzer_node.hpp +++ b/tools/reaction_analyzer/include/reaction_analyzer_node.hpp @@ -15,15 +15,8 @@ #ifndef REACTION_ANALYZER_NODE_HPP_ #define REACTION_ANALYZER_NODE_HPP_ -#include "tf2/transform_datatypes.h" - -#include -#include #include #include -#include -#include -#include #include #include @@ -34,17 +27,7 @@ #include #include -#include -#include -#include -#include - -#include -#include -#include -#include -#include - +#include #include #include #include @@ -61,17 +44,12 @@ using autoware_adapi_v1_msgs::msg::RouteState; using autoware_adapi_v1_msgs::srv::ChangeOperationMode; using autoware_auto_perception_msgs::msg::PredictedObject; using autoware_auto_perception_msgs::msg::PredictedObjects; +using autoware_internal_msgs::msg::PublishedTime; using geometry_msgs::msg::Pose; using geometry_msgs::msg::PoseStamped; using nav_msgs::msg::Odometry; using sensor_msgs::msg::PointCloud2; -// The running mode of the node -enum class RunningMode { - PerceptionPlanning = 0, - PlanningControl = 1, -}; - struct NodeParams { std::string running_mode; @@ -80,8 +58,6 @@ struct NodeParams size_t test_iteration; double spawn_time_after_init; double spawn_distance_threshold; - double spawned_pointcloud_sampling_distance; - double dummy_perception_publisher_period; PoseParams initial_pose; PoseParams goal_pose; EntityParams entity_params; @@ -112,33 +88,25 @@ class ReactionAnalyzerNode : public rclcpp::Node rclcpp::Subscription::SharedPtr sub_route_state_; rclcpp::Subscription::SharedPtr sub_localization_init_state_; rclcpp::Subscription::SharedPtr sub_operation_mode_; - rclcpp::Subscription::SharedPtr sub_ground_truth_pose_; + rclcpp::Subscription::SharedPtr + sub_ground_truth_pose_; // Only for perception_planning mode // Publishers - rclcpp::Publisher::SharedPtr pub_pointcloud_; - rclcpp::Publisher::SharedPtr pub_predicted_objects_; rclcpp::Publisher::SharedPtr pub_initial_pose_; rclcpp::Publisher::SharedPtr pub_goal_pose_; - // tf - tf2_ros::Buffer tf_buffer_{get_clock()}; - tf2_ros::TransformListener tf_listener_{tf_buffer_}; - // Variables - std::unordered_map> test_results_; + std::vector pipeline_map_vector_; std::optional last_test_environment_init_request_time_; std::optional test_environment_init_time_; std::optional spawn_cmd_time_; std::atomic spawn_object_cmd_{false}; - std::atomic is_object_spawned_message_published_{false}; bool is_vehicle_initialized_{false}; bool is_route_set_{false}; size_t test_iteration_count_{0}; // Functions void init_analyzer_variables(); - void init_pointcloud(); - void init_predicted_objects(); void init_ego( const LocalizationInitializationState::ConstSharedPtr & initialization_state_ptr, const RouteState::ConstSharedPtr & route_state_ptr, @@ -148,12 +116,10 @@ class ReactionAnalyzerNode : public rclcpp::Node void call_operation_mode_service_without_response(); void spawn_obstacle(const geometry_msgs::msg::Point & ego_pose); void calculate_results( - const std::unordered_map & message_buffers, + const std::unordered_map & message_buffers, const rclcpp::Time & spawn_cmd_time); void on_timer(); - void dummy_perception_publisher(); void reset(); - void write_results(); // Callbacks void on_vehicle_pose(Odometry::ConstSharedPtr msg_ptr); @@ -165,7 +131,6 @@ class ReactionAnalyzerNode : public rclcpp::Node // Timer rclcpp::TimerBase::SharedPtr timer_; - rclcpp::TimerBase::SharedPtr dummy_perception_timer_; // Client rclcpp::Client::SharedPtr client_change_to_autonomous_; @@ -173,8 +138,6 @@ class ReactionAnalyzerNode : public rclcpp::Node // Pointers std::unique_ptr topic_publisher_ptr_; std::unique_ptr subscriber_ptr_; - PointCloud2::SharedPtr entity_pointcloud_ptr_; - PredictedObjects::SharedPtr predicted_objects_ptr_; LocalizationInitializationState::ConstSharedPtr initialization_state_ptr_; RouteState::ConstSharedPtr current_route_state_ptr_; OperationModeState::ConstSharedPtr operation_mode_ptr_; diff --git a/tools/reaction_analyzer/include/subscriber.hpp b/tools/reaction_analyzer/include/subscriber.hpp index 520dbe66cdb38..9cae7629372bb 100644 --- a/tools/reaction_analyzer/include/subscriber.hpp +++ b/tools/reaction_analyzer/include/subscriber.hpp @@ -15,31 +15,17 @@ #ifndef SUBSCRIBER_HPP_ #define SUBSCRIBER_HPP_ #include -#include -#include #include #include -#include -#include #include -#include -#include -#include -#include -#include -#include #include #include -#include #include #include #include #include -#include -#include -#include #include #include @@ -66,19 +52,12 @@ using geometry_msgs::msg::Pose; using nav_msgs::msg::Odometry; using sensor_msgs::msg::PointCloud2; -// Buffers to be used to store subscribed messages -using ControlCommandBuffer = - std::pair, std::optional>; -using TrajectoryBuffer = std::optional; -using PointCloud2Buffer = std::optional; -using PredictedObjectsBuffer = std::optional; -using DetectedObjectsBuffer = std::optional; -using TrackedObjectsBuffer = std::optional; - +// Buffers to be used to store subscribed messages' data, pipeline Header, and PublishedTime +using MessageBuffer = std::optional; +// We need to store the past AckermannControlCommands to analyze the first brake +using ControlCommandBuffer = std::pair, MessageBuffer>; // Variant to store different types of buffers -using BufferVariant = std::variant< - ControlCommandBuffer, TrajectoryBuffer, PointCloud2Buffer, PredictedObjectsBuffer, - DetectedObjectsBuffer, TrackedObjectsBuffer>; +using MessageBufferVariant = std::variant; template struct SubscriberVariables @@ -142,7 +121,7 @@ struct SearchZeroVelParams struct SearchEntityParams { - double search_radius; + double search_radius_offset; }; // Place for the store the reaction parameter configuration (currently only for first brake) @@ -159,8 +138,8 @@ class SubscriberBase { public: explicit SubscriberBase( - rclcpp::Node * node, Odometry::ConstSharedPtr & odometry, geometry_msgs::msg::Pose entity_pose, - std::atomic & spawn_object_cmd); + rclcpp::Node * node, Odometry::ConstSharedPtr & odometry, std::atomic & spawn_object_cmd, + const EntityParams & entity_params); // Instances of SubscriberBase cannot be copied SubscriberBase(const SubscriberBase &) = delete; @@ -168,24 +147,27 @@ class SubscriberBase ~SubscriberBase() = default; - std::optional> getMessageBuffersMap(); + std::optional> getMessageBuffersMap(); void reset(); private: std::mutex mutex_; + // Init rclcpp::Node * node_; Odometry::ConstSharedPtr odometry_; - geometry_msgs::msg::Pose entity_pose_; std::atomic & spawn_object_cmd_; + EntityParams entity_params_; // Variables to be initialized in constructor ChainModules chain_modules_; ReactionParams reaction_params_{}; + geometry_msgs::msg::Pose entity_pose_; + double entity_search_radius_; // Variants std::unordered_map subscriber_variables_map_; - std::unordered_map message_buffers_; + std::unordered_map message_buffers_; // tf std::shared_ptr tf_buffer_; @@ -194,14 +176,10 @@ class SubscriberBase // Functions void init_reaction_chains_and_params(); bool init_subscribers(); - bool search_pointcloud_near_entity(const pcl::PointCloud & pcl_pointcloud); - bool search_predicted_objects_near_entity(const PredictedObjects & predicted_objects); - bool search_detected_objects_near_entity(const DetectedObjects & detected_objects); - bool search_tracked_objects_near_entity(const TrackedObjects & tracked_objects); - void set_control_command_to_buffer( - std::vector & buffer, const AckermannControlCommand & cmd); std::optional find_first_brake_idx( const std::vector & cmd_array); + void set_control_command_to_buffer( + std::vector & buffer, const AckermannControlCommand & cmd); // Callbacks for modules are subscribed void on_control_command( diff --git a/tools/reaction_analyzer/include/topic_publisher.hpp b/tools/reaction_analyzer/include/topic_publisher.hpp index e7a79ea767a4f..ac2dc9de71e46 100644 --- a/tools/reaction_analyzer/include/topic_publisher.hpp +++ b/tools/reaction_analyzer/include/topic_publisher.hpp @@ -17,12 +17,9 @@ #include #include +#include #include -#include -#include -#include -#include #include #include #include @@ -34,7 +31,9 @@ #include #include #include -#include + +#include +#include #include #include @@ -75,6 +74,8 @@ enum class PublisherMessageType { struct TopicPublisherParams { + double dummy_perception_publisher_period; // Only for planning_control mode + double spawned_pointcloud_sampling_distance; std::string path_bag_without_object; // Path to the bag file without object std::string path_bag_with_object; // Path to the bag file with object std::string pointcloud_publisher_type; // Type of the pointcloud publisher @@ -196,7 +197,8 @@ class TopicPublisher public: explicit TopicPublisher( rclcpp::Node * node, std::atomic & spawn_object_cmd, - std::optional & spawn_cmd_time); + std::optional & spawn_cmd_time, const RunningMode & node_running_mode, + const EntityParams & entity_params); ~TopicPublisher() = default; void reset(); @@ -206,13 +208,33 @@ class TopicPublisher // Initialized variables rclcpp::Node * node_; + RunningMode node_running_mode_; std::atomic & spawn_object_cmd_; + EntityParams entity_params_; std::optional & spawn_cmd_time_; // Set by a publisher function when the // spawn_object_cmd_ is true + // tf + std::shared_ptr tf_buffer_; + std::shared_ptr tf_listener_; + // Parameters TopicPublisherParams topic_publisher_params_; + // Variables planning_control mode + rclcpp::Publisher::SharedPtr pub_pointcloud_; + rclcpp::Publisher::SharedPtr pub_predicted_objects_; + PointCloud2::SharedPtr entity_pointcloud_ptr_; + PredictedObjects::SharedPtr predicted_objects_ptr_; + + // Variables perception_planning mode + PointcloudPublisherType pointcloud_publisher_type_; + std::unordered_map topic_publisher_map_; + std::unordered_map + lidar_pub_variable_pair_map_; // used to publish pointcloud_raw and pointcloud_raw_ex + bool is_object_spawned_message_published_{false}; + std::shared_ptr one_shot_timer_shared_ptr_; + // Functions void set_message_to_variable_map( const PublisherMessageType & message_type, const std::string & topic_name, @@ -228,18 +250,12 @@ class TopicPublisher std::shared_ptr>, std::shared_ptr>> & lidar_output_pair_); void generic_message_publisher(const std::string & topic_name); - - // Variables - PointcloudPublisherType pointcloud_publisher_type_; - std::unordered_map topic_publisher_map_; - std::unordered_map - lidar_pub_variable_pair_map_; // used to publish pointcloud_raw and pointcloud_raw_ex - bool is_object_spawned_message_published{false}; - std::shared_ptr one_shot_timer_shared_ptr_; + void dummy_perception_publisher(); // Only for planning_control mode // Timers std::unordered_map pointcloud_publish_timers_map_; rclcpp::TimerBase::SharedPtr pointcloud_sync_publish_timer_; + rclcpp::TimerBase::SharedPtr dummy_perception_timer_; }; } // namespace reaction_analyzer::topic_publisher diff --git a/tools/reaction_analyzer/include/utils.hpp b/tools/reaction_analyzer/include/utils.hpp index 51dc37e6ce1e0..a47601ef915b5 100644 --- a/tools/reaction_analyzer/include/utils.hpp +++ b/tools/reaction_analyzer/include/utils.hpp @@ -15,11 +15,31 @@ #ifndef UTILS_HPP_ #define UTILS_HPP_ +#include +#include #include #include +#include +#include +#include +#include +#include #include +#include +#include +#include +#include +#include +#include +#include + +#include +#include +#include + +#include #include #include #include @@ -28,11 +48,50 @@ // The reaction_analyzer namespace contains utility functions for the Reaction Analyzer tool. namespace reaction_analyzer { +using autoware_auto_control_msgs::msg::AckermannControlCommand; +using autoware_auto_perception_msgs::msg::DetectedObject; +using autoware_auto_perception_msgs::msg::DetectedObjects; +using autoware_auto_perception_msgs::msg::PredictedObject; +using autoware_auto_perception_msgs::msg::PredictedObjects; +using autoware_auto_perception_msgs::msg::TrackedObject; +using autoware_auto_perception_msgs::msg::TrackedObjects; using autoware_auto_planning_msgs::msg::Trajectory; using autoware_auto_planning_msgs::msg::TrajectoryPoint; +using autoware_internal_msgs::msg::PublishedTime; +using sensor_msgs::msg::PointCloud2; + +/** + * @brief A pair containing the ReactionPair. + * The first element is name of the node that published the PublishedTime msg. + * The second element is the PublishedTime msg itself + */ +using ReactionPair = std::pair; + +/** + * @brief A map containing the pipeline and the reaction pairs. + * The key is the time at which the pipeline was executed. + * The value is a vector of ReactionPair. + */ +using PipelineMap = std::map>; /** - * @brief A struct containing the parameters of a pose. + * @brief A vector containing the pipeline and the reaction pairs. + * The first element is the time at which the pipeline was executed. + * The second element is a vector of ReactionPair. + */ +using TimestampedReactionPairsVector = + std::vector>>; + +/** + * @brief Enum for the different running modes of the Reaction Analyzer. + */ +enum class RunningMode { + PerceptionPlanning = 0, + PlanningControl = 1, +}; + +/** + * @brief Structs containing the parameters of a pose. */ struct PoseParams { @@ -58,14 +117,67 @@ struct EntityParams }; /** - * @brief Sorts the test results by their median value. - * - * @param test_results An unordered map containing the test results. - * @return A vector of tuples. Each tuple contains a string (the test name), a vector of doubles - * (the test results), and a double (the median value). + * @brief Struct containing statistics of the latencies. */ -std::vector, double>> sort_results_by_median( - const std::unordered_map> test_results); +struct LatencyStats +{ + double min; + double max; + double mean; + double median; + double std_dev; +}; + +/** + * @brief Calculates the statistics of a vector of latencies. + * @param latency_vec The vector of latencies. + * @return The statistics of the latencies. + */ +LatencyStats calculate_statistics(const std::vector & latency_vec); + +/** + * @brief Generates a UUID message from a string. + * @param input The string to generate the UUID from. + * @return The generated UUID message. + */ +unique_identifier_msgs::msg::UUID generate_uuid_msg(const std::string & input); + +/** + * @brief Generate pose from PoseParams. + * @param pose_params + * @return Pose + */ +geometry_msgs::msg::Pose pose_params_to_pose(const PoseParams & pose_params); + +/** + * @brief Generate entity pose from entity params. + * @param entity_params + * @return Pose + */ +geometry_msgs::msg::Pose create_entity_pose(const EntityParams & entity_params); + +/** + * @brief Generate entity pose from entity params. + * @param entity_params + * @return Pose + */ +double calculate_entity_search_radius(const EntityParams & entity_params); + +/** + * @brief Create a pointcloud from entity params. + * @param entity_params + * @param pointcloud_sampling_distance + * @return PointCloud2::SharedPtr + */ +PointCloud2::SharedPtr create_entity_pointcloud_ptr( + const EntityParams & entity_params, const double pointcloud_sampling_distance); + +/** + * @brief Create a predicted objects message from entity params. + * @param entity_params + * @return PredictedObjects::SharedPtr + */ +PredictedObjects::SharedPtr create_entity_predicted_objects_ptr(const EntityParams & entity_params); /** * @brief Creates a subscription option with a new callback group. @@ -89,17 +201,78 @@ std::vector split(const std::string & str, char delimiter); * @brief Get the index of the trajectory point that is a certain distance away from the current * point. * - * This function iterates over the trajectory from the current point and returns the index of the - * first point that is at least the specified distance away. - * * @param traj The trajectory to search. * @param curr_id The index of the current point in the trajectory. * @param distance The distance to search for a point. - * @return The index of the point in the trajectory that is at least the specified distance away - * from the current point. + * @return The index of the point that is at least the specified distance away from the current + * point. */ size_t get_index_after_distance( const Trajectory & traj, const size_t curr_id, const double distance); + +/** + * @brief Search for a pointcloud near the pose. + * @param pcl_pointcloud, pose, search_radius + * @return bool + */ +bool search_pointcloud_near_pose( + const pcl::PointCloud & pcl_pointcloud, const geometry_msgs::msg::Pose & pose, + const double search_radius); +/** + * + * @brief Search for a predicted object near the pose. + * @param predicted_objects, pose, search_radius + * @return bool + */ +bool search_predicted_objects_near_pose( + const PredictedObjects & predicted_objects, const geometry_msgs::msg::Pose & pose, + const double search_radius); +/** + * @brief Search for a detected object near the pose. + * @param detected_objects, pose, search_radius + * @return bool + */ +bool search_detected_objects_near_pose( + const DetectedObjects & detected_objects, const geometry_msgs::msg::Pose & pose, + const double search_radius); +/** + * @brief Search for a tracked object near the pose. + * @param tracked_objects, pose, search_radius + * @return bool + */ +bool search_tracked_objects_near_pose( + const TrackedObjects & tracked_objects, const geometry_msgs::msg::Pose & pose, + const double search_radius); + +/** + * Calculates the time difference in milliseconds between two rclcpp::Time instances. + * + * @param start The start time. + * @param end The end time. + * @return The time difference in milliseconds as a double. + */ +double calculate_time_diff_ms(const rclcpp::Time & start, const rclcpp::Time & end); + +/** + * @brief Converts a PipelineMap to a PipelineMapVector. + * + * @param pipelineMap The PipelineMap to be converted. + * @return The PipelineMapVector that is equivalent to the PipelineMap. + */ +TimestampedReactionPairsVector convert_pipeline_map_to_sorted_vector( + const PipelineMap & pipelineMap); + +/** + * @brief Writes the results to a file. + * + * @param node A pointer to the node for which the results are being written. + * @param output_file_path The path to the file where the results will be written. + * @param node_running_mode The running mode of the node. + * @param pipeline_map_vector The vector of PipelineMap containing the results to be written. + */ +void write_results( + rclcpp::Node * node, const std::string & output_file_path, const RunningMode & node_running_mode, + const std::vector & pipeline_map_vector); } // namespace reaction_analyzer #endif // UTILS_HPP_ diff --git a/tools/reaction_analyzer/param/reaction_analyzer.param.yaml b/tools/reaction_analyzer/param/reaction_analyzer.param.yaml index 13233c57d8cea..ef90428696dd8 100644 --- a/tools/reaction_analyzer/param/reaction_analyzer.param.yaml +++ b/tools/reaction_analyzer/param/reaction_analyzer.param.yaml @@ -1,13 +1,10 @@ /**: ros__parameters: timer_period: 0.033 # s - test_iteration: 15 - output_file_path: /reaction_analyzer_results/ - object_search_radius_offset: 0.1 # m - spawn_time_after_init: 5.0 # s for perception_planning mode + test_iteration: 10 + output_file_path: + spawn_time_after_init: 10.0 # s for perception_planning mode spawn_distance_threshold: 15.0 # m # for planning_control mode - spawned_pointcloud_sampling_distance: 0.1 - dummy_perception_publisher_period: 0.1 # s poses: initialization_pose: x: 81247.9609375 @@ -16,6 +13,13 @@ roll: 0.0 pitch: 0.0 yaw: 35.5 + goal_pose: + x: 81824.90625 + y: 50069.34375 + z: 0.0 + roll: 0.0 + pitch: 0.0 + yaw: 8.9305903 entity_params: x: 81392.97671487389 y: 49927.361443601316 @@ -26,13 +30,6 @@ x_dimension: 4.118675972722859 y_dimension: 1.7809072588403219 z_dimension: 0.8328610206872963 - goal_pose: - x: 81824.90625 - y: 50069.34375 - z: 0.0 - roll: 0.0 - pitch: 0.0 - yaw: 8.9305903 topic_publisher: path_bag_without_object: /lexus_bag_without_car/rosbag2_2024_01_30-13_50_45_0.db3 path_bag_with_object: /lexus_bag_with_car/rosbag2_2024_01_30-13_50_17_0.db3 @@ -40,6 +37,8 @@ pointcloud_publisher_type: "sync_header_sync_publish" # "async_header_sync_publish", "sync_header_sync_publish" or "async_publish" pointcloud_publisher_period: 0.1 # s publish_only_pointcloud_with_object: false # use it only for debug purposes. If true, only pointclouds with object will be published + spawned_pointcloud_sampling_distance: 0.1 # m for planning_control mode + dummy_perception_publisher_period: 0.1 # s for planning_control mode subscriber: reaction_params: first_brake_params: @@ -50,7 +49,7 @@ search_zero_vel_params: max_looking_distance: 15.0 # m search_entity_params: - search_radius: 5.0 # m + search_radius_offset: 0.0 # m reaction_chain: obstacle_cruise_planner: topic_name: /planning/scenario_planning/lane_driving/trajectory @@ -77,8 +76,8 @@ time_debug_topic_name: /control/command/control_cmd/debug/published_time message_type: autoware_auto_control_msgs/msg/AckermannControlCommand common_ground_filter: - topic_name: /perception/obstacle_segmentation/single_frame/pointcloud_raw - time_debug_topic_name: /perception/obstacle_segmentation/single_frame/pointcloud_raw/debug/published_time + topic_name: /perception/obstacle_segmentation/single_frame/pointcloud + time_debug_topic_name: /perception/obstacle_segmentation/single_frame/pointcloud/debug/published_time message_type: sensor_msgs/msg/PointCloud2 occupancy_grid_map_outlier: topic_name: /perception/obstacle_segmentation/pointcloud diff --git a/tools/reaction_analyzer/src/reaction_analyzer_node.cpp b/tools/reaction_analyzer/src/reaction_analyzer_node.cpp index f676700568603..56348844ec6f3 100644 --- a/tools/reaction_analyzer/src/reaction_analyzer_node.cpp +++ b/tools/reaction_analyzer/src/reaction_analyzer_node.cpp @@ -71,13 +71,8 @@ ReactionAnalyzerNode::ReactionAnalyzerNode(rclcpp::NodeOptions options) node_params_.timer_period = get_parameter("timer_period").as_double(); node_params_.test_iteration = get_parameter("test_iteration").as_int(); node_params_.output_file_path = get_parameter("output_file_path").as_string(); - node_params_.spawn_time_after_init = get_parameter("spawn_time_after_init").as_double(); node_params_.spawn_distance_threshold = get_parameter("spawn_distance_threshold").as_double(); - node_params_.spawned_pointcloud_sampling_distance = - get_parameter("spawned_pointcloud_sampling_distance").as_double(); - node_params_.dummy_perception_publisher_period = - get_parameter("dummy_perception_publisher_period").as_double(); // Position parameters node_params_.initial_pose.x = get_parameter("poses.initialization_pose.x").as_double(); @@ -126,37 +121,25 @@ ReactionAnalyzerNode::ReactionAnalyzerNode(rclcpp::NodeOptions options) if (node_running_mode_ == RunningMode::PlanningControl) { pub_initial_pose_ = create_publisher( "output/initialpose", rclcpp::QoS(1)); - pub_pointcloud_ = create_publisher("output/pointcloud", rclcpp::SensorDataQoS()); - pub_predicted_objects_ = create_publisher("output/objects", rclcpp::QoS(1)); client_change_to_autonomous_ = create_client("service/change_to_autonomous"); - // init dummy perception publisher - const auto period_ns = std::chrono::duration_cast( - std::chrono::duration(node_params_.dummy_perception_publisher_period)); - - dummy_perception_timer_ = rclcpp::create_timer( - this, get_clock(), period_ns, - std::bind(&ReactionAnalyzerNode::dummy_perception_publisher, this)); - } else if (node_running_mode_ == RunningMode::PerceptionPlanning) { - // Create topic publishers - topic_publisher_ptr_ = - std::make_unique(this, spawn_object_cmd_, spawn_cmd_time_); - - // Subscribe to the ground truth position sub_ground_truth_pose_ = create_subscription( "input/ground_truth_pose", rclcpp::QoS{1}, std::bind(&ReactionAnalyzerNode::on_ground_truth_pose, this, _1), create_subscription_options(this)); } + topic_publisher_ptr_ = std::make_unique( + this, spawn_object_cmd_, spawn_cmd_time_, node_running_mode_, node_params_.entity_params); + + // initialize the odometry before init the subscriber + odometry_ptr_ = std::make_shared(); // Load the subscriber to listen the topics for reactions - odometry_ptr_ = - std::make_shared(); // initialize the odometry before init the subscriber subscriber_ptr_ = std::make_unique( - this, odometry_ptr_, entity_pose_, spawn_object_cmd_); + this, odometry_ptr_, spawn_object_cmd_, node_params_.entity_params); const auto period_ns = std::chrono::duration_cast( std::chrono::duration(node_params_.timer_period)); @@ -189,7 +172,7 @@ void ReactionAnalyzerNode::on_timer() // If the spawn_cmd_time is not set by pointcloud publishers, don't do anything if (!spawn_cmd_time) return; - // Get the reacted messages, if all of the modules reacted + // Get the reacted messages, if all modules reacted const auto message_buffers = subscriber_ptr_->getMessageBuffersMap(); if (message_buffers) { @@ -200,59 +183,6 @@ void ReactionAnalyzerNode::on_timer() } } -void ReactionAnalyzerNode::dummy_perception_publisher() -{ - if (!spawn_object_cmd_) { - // do not spawn it, send empty pointcloud - pcl::PointCloud pcl_empty; - PointCloud2 empty_pointcloud; - PredictedObjects empty_predicted_objects; - pcl::toROSMsg(pcl_empty, empty_pointcloud); - - const auto current_time = this->now(); - empty_pointcloud.header.frame_id = "base_link"; - empty_pointcloud.header.stamp = current_time; - - empty_predicted_objects.header.frame_id = "map"; - empty_predicted_objects.header.stamp = current_time; - - pub_pointcloud_->publish(empty_pointcloud); - pub_predicted_objects_->publish(empty_predicted_objects); - } else { - // transform pointcloud - geometry_msgs::msg::TransformStamped transform_stamped{}; - try { - transform_stamped = tf_buffer_.lookupTransform( - "base_link", "map", this->now(), rclcpp::Duration::from_seconds(0.1)); - } catch (tf2::TransformException & ex) { - RCLCPP_ERROR_STREAM(get_logger(), "Failed to look up transform from map to base_link"); - return; - } - - // transform by using eigen matrix - PointCloud2 transformed_points{}; - const Eigen::Matrix4f affine_matrix = - tf2::transformToEigen(transform_stamped.transform).matrix().cast(); - pcl_ros::transformPointCloud(affine_matrix, *entity_pointcloud_ptr_, transformed_points); - const auto current_time = this->now(); - - transformed_points.header.frame_id = "base_link"; - transformed_points.header.stamp = current_time; - - predicted_objects_ptr_->header.frame_id = "map"; - predicted_objects_ptr_->header.stamp = current_time; - - pub_pointcloud_->publish(transformed_points); - pub_predicted_objects_->publish(*predicted_objects_ptr_); - if (!is_object_spawned_message_published_) { - mutex_.lock(); - spawn_cmd_time_ = this->now(); - mutex_.unlock(); - is_object_spawned_message_published_ = true; - } - } -} - void ReactionAnalyzerNode::spawn_obstacle(const geometry_msgs::msg::Point & ego_pose) { if (node_running_mode_ == RunningMode::PerceptionPlanning) { @@ -276,182 +206,49 @@ void ReactionAnalyzerNode::spawn_obstacle(const geometry_msgs::msg::Point & ego_ } void ReactionAnalyzerNode::calculate_results( - const std::unordered_map & message_buffers, + const std::unordered_map & message_buffers, const rclcpp::Time & spawn_cmd_time) { - auto createDurationMs = [](const rclcpp::Time & start_time, const rclcpp::Time & end_time) { - return static_cast((end_time - start_time).nanoseconds()) / 1e6; - }; - std::vector> reaction_times; - for (const auto & [key, variant] : message_buffers) { - rclcpp::Time reaction_time; + // Map the reaction times w.r.t its header time to categorize it + PipelineMap pipeline_map; + + { + // set the spawn_cmd_time as the first reaction pair + ReactionPair reaction_pair; + reaction_pair.first = "spawn_cmd_time"; + reaction_pair.second.header.stamp = spawn_cmd_time; + reaction_pair.second.published_stamp = spawn_cmd_time; + pipeline_map[reaction_pair.second.header.stamp].emplace_back(reaction_pair); + } + for (const auto & [key, variant] : message_buffers) { + ReactionPair reaction_pair; if (auto * control_message = std::get_if(&variant)) { if (control_message->second) { - reaction_time = control_message->second->stamp; - } - } else if (auto * planning_message = std::get_if(&variant)) { - if (planning_message->has_value()) { - reaction_time = planning_message->value().header.stamp; - } - } else if (auto * pointcloud_message = std::get_if(&variant)) { - if (pointcloud_message->has_value()) { - reaction_time = pointcloud_message->value().header.stamp; - } - } else if ( - auto * predicted_objects_message = - std::get_if(&variant)) { - if (predicted_objects_message->has_value()) { - reaction_time = predicted_objects_message->value().header.stamp; - } - } else if ( - auto * detected_objects_message = std::get_if(&variant)) { - if (detected_objects_message->has_value()) { - reaction_time = detected_objects_message->value().header.stamp; + reaction_pair.first = key; + reaction_pair.second = control_message->second.value(); } - } else if ( - auto * tracked_objects_message = std::get_if(&variant)) { - if (tracked_objects_message->has_value()) { - reaction_time = tracked_objects_message->value().header.stamp; + } else if (auto * general_message = std::get_if(&variant)) { + if (general_message->has_value()) { + reaction_pair.first = key; + reaction_pair.second = general_message->value(); } } - const auto duration = createDurationMs(spawn_cmd_time, reaction_time); - - RCLCPP_INFO( - this->get_logger(), "Spawn time to %s node reaction: %lf ms", key.c_str(), duration); - test_results_[key].emplace_back(duration); + pipeline_map[reaction_pair.second.header.stamp].emplace_back(reaction_pair); } + pipeline_map_vector_.emplace_back(pipeline_map); test_iteration_count_++; } void ReactionAnalyzerNode::init_analyzer_variables() { - tf2::Quaternion entity_q_orientation; - entity_q_orientation.setRPY( - tier4_autoware_utils::deg2rad(node_params_.entity_params.roll), - tier4_autoware_utils::deg2rad(node_params_.entity_params.pitch), - tier4_autoware_utils::deg2rad(node_params_.entity_params.yaw)); - entity_pose_.position.set__x(node_params_.entity_params.x); - entity_pose_.position.set__y(node_params_.entity_params.y); - entity_pose_.position.set__z(node_params_.entity_params.z); - entity_pose_.orientation.set__x(entity_q_orientation.x()); - entity_pose_.orientation.set__y(entity_q_orientation.y()); - entity_pose_.orientation.set__z(entity_q_orientation.z()); - entity_pose_.orientation.set__w(entity_q_orientation.w()); - - tf2::Quaternion goal_pose_q_orientation; - goal_pose_q_orientation.setRPY( - tier4_autoware_utils::deg2rad(node_params_.goal_pose.roll), - tier4_autoware_utils::deg2rad(node_params_.goal_pose.pitch), - tier4_autoware_utils::deg2rad(node_params_.goal_pose.yaw)); - - goal_pose_.pose.position.set__x(node_params_.goal_pose.x); - goal_pose_.pose.position.set__y(node_params_.goal_pose.y); - goal_pose_.pose.position.set__z(node_params_.goal_pose.z); - goal_pose_.pose.orientation.set__x(goal_pose_q_orientation.x()); - goal_pose_.pose.orientation.set__y(goal_pose_q_orientation.y()); - goal_pose_.pose.orientation.set__z(goal_pose_q_orientation.z()); - goal_pose_.pose.orientation.set__w(goal_pose_q_orientation.w()); + entity_pose_ = create_entity_pose(node_params_.entity_params); - if (node_running_mode_ == RunningMode::PlanningControl) { - tf2::Quaternion initial_pose_q_orientation; - initial_pose_q_orientation.setRPY( - tier4_autoware_utils::deg2rad(node_params_.initial_pose.roll), - tier4_autoware_utils::deg2rad(node_params_.initial_pose.pitch), - tier4_autoware_utils::deg2rad(node_params_.initial_pose.yaw)); - - init_pose_.pose.pose.position.set__x(node_params_.initial_pose.x); - init_pose_.pose.pose.position.set__y(node_params_.initial_pose.y); - init_pose_.pose.pose.position.set__z(node_params_.initial_pose.z); - init_pose_.pose.pose.orientation.set__x(initial_pose_q_orientation.x()); - init_pose_.pose.pose.orientation.set__y(initial_pose_q_orientation.y()); - init_pose_.pose.pose.orientation.set__z(initial_pose_q_orientation.z()); - init_pose_.pose.pose.orientation.set__w(initial_pose_q_orientation.w()); - - init_pointcloud(); - init_predicted_objects(); - } -} + goal_pose_.pose = pose_params_to_pose(node_params_.goal_pose); -void ReactionAnalyzerNode::init_pointcloud() -{ - pcl::PointCloud point_cloud; - // prepare transform matrix - tf2::Quaternion entity_q_orientation; - entity_q_orientation.setX(entity_pose_.orientation.x); - entity_q_orientation.setY(entity_pose_.orientation.y); - entity_q_orientation.setZ(entity_pose_.orientation.z); - entity_q_orientation.setW(entity_pose_.orientation.w); - - tf2::Transform tf(entity_q_orientation); - const auto origin = - tf2::Vector3(entity_pose_.position.x, entity_pose_.position.y, entity_pose_.position.z); - tf.setOrigin(origin); - - const double it_x = - node_params_.entity_params.x_l / node_params_.spawned_pointcloud_sampling_distance; - const double it_y = - node_params_.entity_params.y_l / node_params_.spawned_pointcloud_sampling_distance; - const double it_z = - node_params_.entity_params.z_l / node_params_.spawned_pointcloud_sampling_distance; - - // Sample the box and rotate - for (int i = 0; i <= it_z; ++i) { - for (int j = 0; j <= it_y; ++j) { - for (int k = 0; k <= it_x; ++k) { - const double p_x = -node_params_.entity_params.x_l / 2 + - k * node_params_.spawned_pointcloud_sampling_distance; - const double p_y = -node_params_.entity_params.y_l / 2 + - j * node_params_.spawned_pointcloud_sampling_distance; - const double p_z = -node_params_.entity_params.z_l / 2 + - i * node_params_.spawned_pointcloud_sampling_distance; - const auto tmp = tf2::Vector3(p_x, p_y, p_z); - tf2::Vector3 data_out = tf * tmp; - point_cloud.emplace_back(pcl::PointXYZ(data_out.x(), data_out.y(), data_out.z())); - } - } + if (node_running_mode_ == RunningMode::PlanningControl) { + init_pose_.pose.pose = pose_params_to_pose(node_params_.initial_pose); } - entity_pointcloud_ptr_ = std::make_shared(); - pcl::toROSMsg(point_cloud, *entity_pointcloud_ptr_); -} - -void ReactionAnalyzerNode::init_predicted_objects() -{ - auto generateUUIDMsg = [](const std::string & input) { - static auto generate_uuid = boost::uuids::name_generator(boost::uuids::random_generator()()); - const auto uuid = generate_uuid(input); - - unique_identifier_msgs::msg::UUID uuid_msg; - std::copy(uuid.begin(), uuid.end(), uuid_msg.uuid.begin()); - return uuid_msg; - }; - - PredictedObject obj; - - geometry_msgs::msg::Vector3 dimension; - dimension.set__x(node_params_.entity_params.x_l); - dimension.set__y(node_params_.entity_params.y_l); - dimension.set__z(node_params_.entity_params.z_l); - obj.shape.set__dimensions(dimension); - - obj.shape.type = autoware_auto_perception_msgs::msg::Shape::BOUNDING_BOX; - obj.existence_probability = 1.0; - obj.kinematics.initial_pose_with_covariance.pose = entity_pose_; - - autoware_auto_perception_msgs::msg::PredictedPath path; - path.confidence = 1.0; - path.path.emplace_back(entity_pose_); - obj.kinematics.predicted_paths.emplace_back(path); - - autoware_auto_perception_msgs::msg::ObjectClassification classification; - classification.label = autoware_auto_perception_msgs::msg::ObjectClassification::CAR; - classification.probability = 1.0; - obj.classification.emplace_back(classification); - obj.set__object_id(generateUUIDMsg("test_obstacle")); - - PredictedObjects pred_objects; - pred_objects.objects.emplace_back(obj); - predicted_objects_ptr_ = std::make_shared(pred_objects); } void ReactionAnalyzerNode::init_ego( @@ -495,7 +292,7 @@ void ReactionAnalyzerNode::init_ego( return; } - // Check is position initialized accurately, if node is running PerceptionPlanning mode + // Check is position initialized accurately, if node is running in perception_planning mode if (node_running_mode_ == RunningMode::PerceptionPlanning) { if (!ground_truth_pose_ptr) { RCLCPP_WARN( @@ -569,17 +366,17 @@ void ReactionAnalyzerNode::call_operation_mode_service_without_response() void ReactionAnalyzerNode::reset() { if (test_iteration_count_ >= node_params_.test_iteration) { - write_results(); + write_results(this, node_params_.output_file_path, node_running_mode_, pipeline_map_vector_); RCLCPP_INFO(get_logger(), "%zu Tests are finished. Node shutting down.", test_iteration_count_); rclcpp::shutdown(); return; } + // reset the variables is_vehicle_initialized_ = false; is_route_set_ = false; test_environment_init_time_ = std::nullopt; last_test_environment_init_request_time_ = std::nullopt; spawn_object_cmd_ = false; - is_object_spawned_message_published_ = false; if (topic_publisher_ptr_) { topic_publisher_ptr_->reset(); } @@ -588,86 +385,6 @@ void ReactionAnalyzerNode::reset() subscriber_ptr_->reset(); RCLCPP_INFO(this->get_logger(), "Test - %zu is done, resetting..", test_iteration_count_); } - -void ReactionAnalyzerNode::write_results() -{ - // sort the results w.r.t the median value - const auto sorted_data_by_median = sort_results_by_median(test_results_); - - // create csv file - auto now = std::chrono::system_clock::now(); - auto in_time_t = std::chrono::system_clock::to_time_t(now); - - std::stringstream ss; - ss << node_params_.output_file_path; - if (!node_params_.output_file_path.empty() && node_params_.output_file_path.back() != '/') { - ss << "/"; // Ensure the path ends with a slash - } - if (node_running_mode_ == RunningMode::PlanningControl) { - ss << "planning_control-"; - } else { - ss << "perception_planning-"; - } - - ss << std::put_time(std::localtime(&in_time_t), "%Y-%m-%d-%H-%M-%S"); - ss << "-reaction-results.csv"; - - // parse the results - std::ofstream file(ss.str()); - // Check if the file was opened successfully - if (!file.is_open()) { - std::cerr << "Failed to open file: " << ss.str() << std::endl; - return; - } - - bool is_header_written = false; - - for (const auto & data : sorted_data_by_median) { - // Unpack the tuple - const auto & node = std::get<0>(data); - const auto & durations = std::get<1>(data); - - if (!is_header_written) { - file << "Node,"; - const size_t num_durations = durations.size(); - for (size_t i = 0; i < num_durations; ++i) { - file << "Test - " << i + 1 << ","; - } - file << "Min,Max,Mean,Median,StdDev\n"; - is_header_written = true; - } - - // parse test results - file << node << ","; - for (double duration : durations) { - file << duration << ","; - } - - // calculate stats - const double min = *std::min_element(durations.begin(), durations.end()); - const double max = *std::max_element(durations.begin(), durations.end()); - - std::vector sorted_data = durations; - std::sort(sorted_data.begin(), sorted_data.end()); - const double median = - sorted_data.size() % 2 == 0 - ? (sorted_data[sorted_data.size() / 2 - 1] + sorted_data[sorted_data.size() / 2]) / 2 - : sorted_data[sorted_data.size() / 2]; - - const double mean = - std::accumulate(sorted_data.begin(), sorted_data.end(), 0.0) / sorted_data.size(); - const double sq_sum = std::inner_product( - sorted_data.begin(), sorted_data.end(), sorted_data.begin(), 0.0, std::plus<>(), - [&](double a, double b) { return (a - mean) * (b - mean); }); - double std_dev = std::sqrt(sq_sum / sorted_data.size()); - - // parse stats - file << min << "," << max << "," << mean << "," << median << "," << std_dev << "\n"; - } - file.close(); - RCLCPP_INFO(this->get_logger(), "Results written to: %s", ss.str().c_str()); -} - } // namespace reaction_analyzer #include diff --git a/tools/reaction_analyzer/src/subscriber.cpp b/tools/reaction_analyzer/src/subscriber.cpp index ead54651b9393..20b9c3e1c3d75 100644 --- a/tools/reaction_analyzer/src/subscriber.cpp +++ b/tools/reaction_analyzer/src/subscriber.cpp @@ -22,9 +22,12 @@ namespace reaction_analyzer::subscriber { SubscriberBase::SubscriberBase( - rclcpp::Node * node, Odometry::ConstSharedPtr & odometry, - const geometry_msgs::msg::Pose entity_pose, std::atomic & spawn_object_cmd) -: node_(node), odometry_(odometry), entity_pose_(entity_pose), spawn_object_cmd_(spawn_object_cmd) + rclcpp::Node * node, Odometry::ConstSharedPtr & odometry, std::atomic & spawn_object_cmd, + const EntityParams & entity_params) +: node_(node), + odometry_(odometry), + spawn_object_cmd_(spawn_object_cmd), + entity_params_(entity_params) { // init tf tf_buffer_ = std::make_shared(node_->get_clock()); @@ -127,11 +130,11 @@ void SubscriberBase::init_reaction_chains_and_params() break; } case ReactionType::SEARCH_ENTITY: { - reaction_params_.search_entity_params.search_radius = - node_->get_parameter(module_name + ".search_radius").as_double(); + reaction_params_.search_entity_params.search_radius_offset = + node_->get_parameter(module_name + ".search_radius_offset").as_double(); RCLCPP_INFO_ONCE( - node_->get_logger(), "Search Entity parameters are set: search_radius %f", - reaction_params_.search_entity_params.search_radius); + node_->get_logger(), "Search Entity parameters are set: search_radius_offset %f", + reaction_params_.search_entity_params.search_radius_offset); break; } default: @@ -142,6 +145,11 @@ void SubscriberBase::init_reaction_chains_and_params() } } } + // init variables + + entity_pose_ = create_entity_pose(entity_params_); + entity_search_radius_ = calculate_entity_search_radius(entity_params_) + + reaction_params_.search_entity_params.search_radius_offset; } bool SubscriberBase::init_subscribers() @@ -262,7 +270,7 @@ bool SubscriberBase::init_subscribers() }; subscriber_variable.sub1_ = std::make_unique>( - node_, module.topic_address, rclcpp::QoS(1).get_rmw_qos_profile(), + node_, module.topic_address, rclcpp::SensorDataQoS().get_rmw_qos_profile(), create_subscription_options(node_)); subscriber_variable.sub2_ = std::make_unique>( node_, module.time_debug_topic_address, rclcpp::QoS(1).get_rmw_qos_profile(), @@ -451,7 +459,8 @@ bool SubscriberBase::init_subscribers() return true; } -std::optional> SubscriberBase::getMessageBuffersMap() +std::optional> +SubscriberBase::getMessageBuffersMap() { std::lock_guard lock(mutex_); if (message_buffers_.empty()) { @@ -466,24 +475,8 @@ std::optional> SubscriberBase::ge if (!control_message->second) { all_reacted = false; } - } else if (auto * planning_message = std::get_if(&variant)) { - if (!planning_message->has_value()) { - all_reacted = false; - } - } else if (auto * pointcloud_message = std::get_if(&variant)) { - if (!pointcloud_message->has_value()) { - all_reacted = false; - } - } else if (auto * predicted_objects_message = std::get_if(&variant)) { - if (!predicted_objects_message->has_value()) { - all_reacted = false; - } - } else if (auto * detected_objects_message = std::get_if(&variant)) { - if (!detected_objects_message->has_value()) { - all_reacted = false; - } - } else if (auto * tracked_objects_message = std::get_if(&variant)) { - if (!tracked_objects_message->has_value()) { + } else if (auto * general_message = std::get_if(&variant)) { + if (!general_message->has_value()) { all_reacted = false; } } @@ -523,7 +516,7 @@ void SubscriberBase::on_control_command( if (brake_idx) { const auto brake_cmd = cmd_buffer.first.at(brake_idx.value()); - // TODO(brkay54): update here if message_filters package add the support for the messages which + // TODO(brkay54): update here if message_filters package add support for the messages which // does not have header const auto & subscriber_variant = std::get>(subscriber_variables_map_[node_name]); @@ -536,8 +529,7 @@ void SubscriberBase::on_control_command( if (!published_time_vec.empty()) { for (const auto & published_time : published_time_vec) { if (published_time->header.stamp == brake_cmd.stamp) { - cmd_buffer.second = brake_cmd; - cmd_buffer.second->stamp = published_time->published_stamp; + cmd_buffer.second = *published_time; RCLCPP_INFO(node_->get_logger(), "%s reacted with published time", node_name.c_str()); return; } @@ -551,7 +543,8 @@ void SubscriberBase::on_control_command( node_name.c_str()); } } else { - cmd_buffer.second = brake_cmd; + cmd_buffer.second->header.stamp = brake_cmd.stamp; + cmd_buffer.second->published_stamp = brake_cmd.stamp; RCLCPP_INFO(node_->get_logger(), "%s reacted without published time", node_name.c_str()); } } @@ -563,16 +556,14 @@ void SubscriberBase::on_trajectory( mutex_.lock(); auto variant = message_buffers_[node_name]; const auto current_odometry_ptr = odometry_; - if (!std::holds_alternative(variant)) { - TrajectoryBuffer buffer(std::nullopt); + if (!std::holds_alternative(variant)) { + MessageBuffer buffer(std::nullopt); variant = buffer; message_buffers_[node_name] = variant; } mutex_.unlock(); - if ( - !current_odometry_ptr || !spawn_object_cmd_ || - std::get(variant).has_value()) { + if (!current_odometry_ptr || !spawn_object_cmd_ || std::get(variant).has_value()) { return; } @@ -586,8 +577,11 @@ void SubscriberBase::on_trajectory( msg_ptr->points, nearest_seg_idx, nearest_objects_seg_idx); if (zero_vel_idx) { - std::get(variant) = *msg_ptr; RCLCPP_INFO(node_->get_logger(), "%s reacted without published time", node_name.c_str()); + // set header time + auto & buffer = std::get(variant); + buffer->header.stamp = msg_ptr->header.stamp; + buffer->published_stamp = msg_ptr->header.stamp; mutex_.lock(); message_buffers_[node_name] = variant; mutex_.unlock(); @@ -601,16 +595,14 @@ void SubscriberBase::on_trajectory( mutex_.lock(); auto variant = message_buffers_[node_name]; const auto current_odometry_ptr = odometry_; - if (!std::holds_alternative(variant)) { - TrajectoryBuffer buffer(std::nullopt); + if (!std::holds_alternative(variant)) { + MessageBuffer buffer(std::nullopt); variant = buffer; message_buffers_[node_name] = variant; } mutex_.unlock(); - if ( - !current_odometry_ptr || !spawn_object_cmd_ || - std::get(variant).has_value()) { + if (!current_odometry_ptr || !spawn_object_cmd_ || std::get(variant).has_value()) { return; } @@ -628,11 +620,10 @@ void SubscriberBase::on_trajectory( motion_utils::searchZeroVelocityIndex(msg_ptr->points, nearest_seg_idx, target_idx); if (zero_vel_idx) { - std::get(variant) = *msg_ptr; - - // set published time - std::get(variant)->header.stamp = published_time_ptr->published_stamp; RCLCPP_INFO(node_->get_logger(), "%s reacted with published time", node_name.c_str()); + // set published time + auto & buffer = std::get(variant); + buffer = *published_time_ptr; mutex_.lock(); message_buffers_[node_name] = variant; mutex_.unlock(); @@ -644,14 +635,14 @@ void SubscriberBase::on_pointcloud( { mutex_.lock(); auto variant = message_buffers_[node_name]; - if (!std::holds_alternative(variant)) { - PointCloud2Buffer buffer(std::nullopt); + if (!std::holds_alternative(variant)) { + MessageBuffer buffer(std::nullopt); variant = buffer; message_buffers_[node_name] = variant; } mutex_.unlock(); - if (!spawn_object_cmd_ || std::get(variant).has_value()) { + if (!spawn_object_cmd_ || std::get(variant).has_value()) { return; } @@ -676,9 +667,12 @@ void SubscriberBase::on_pointcloud( pcl::PointCloud pcl_pointcloud; pcl::fromROSMsg(transformed_points, pcl_pointcloud); - if (search_pointcloud_near_entity(pcl_pointcloud)) { - std::get(variant) = *msg_ptr; + if (search_pointcloud_near_pose(pcl_pointcloud, entity_pose_, entity_search_radius_)) { RCLCPP_INFO(node_->get_logger(), "%s reacted without published time", node_name.c_str()); + // set header time + auto & buffer = std::get(variant); + buffer->header.stamp = msg_ptr->header.stamp; + buffer->published_stamp = msg_ptr->header.stamp; mutex_.lock(); message_buffers_[node_name] = variant; mutex_.unlock(); @@ -690,14 +684,14 @@ void SubscriberBase::on_pointcloud( { mutex_.lock(); auto variant = message_buffers_[node_name]; - if (!std::holds_alternative(variant)) { - PointCloud2Buffer buffer(std::nullopt); + if (!std::holds_alternative(variant)) { + MessageBuffer buffer(std::nullopt); variant = buffer; message_buffers_[node_name] = variant; } mutex_.unlock(); - if (!spawn_object_cmd_ || std::get(variant).has_value()) { + if (!spawn_object_cmd_ || std::get(variant).has_value()) { return; } @@ -722,11 +716,11 @@ void SubscriberBase::on_pointcloud( pcl::PointCloud pcl_pointcloud; pcl::fromROSMsg(transformed_points, pcl_pointcloud); - if (search_pointcloud_near_entity(pcl_pointcloud)) { - std::get(variant) = *msg_ptr; - // set published time - std::get(variant)->header.stamp = published_time_ptr->published_stamp; + if (search_pointcloud_near_pose(pcl_pointcloud, entity_pose_, entity_search_radius_)) { RCLCPP_INFO(node_->get_logger(), "%s reacted with published time", node_name.c_str()); + // set published time + auto & buffer = std::get(variant); + buffer = *published_time_ptr; mutex_.lock(); message_buffers_[node_name] = variant; mutex_.unlock(); @@ -737,8 +731,8 @@ void SubscriberBase::on_predicted_objects( { mutex_.lock(); auto variant = message_buffers_[node_name]; - if (!std::holds_alternative(variant)) { - PredictedObjectsBuffer buffer(std::nullopt); + if (!std::holds_alternative(variant)) { + MessageBuffer buffer(std::nullopt); variant = buffer; message_buffers_[node_name] = variant; } @@ -746,14 +740,16 @@ void SubscriberBase::on_predicted_objects( if ( !spawn_object_cmd_ || msg_ptr->objects.empty() || - std::get(variant).has_value()) { + std::get(variant).has_value()) { return; } - if (search_predicted_objects_near_entity(*msg_ptr)) { - std::get(variant) = *msg_ptr; + if (search_predicted_objects_near_pose(*msg_ptr, entity_pose_, entity_search_radius_)) { RCLCPP_INFO(node_->get_logger(), "%s reacted without published time", node_name.c_str()); - + // set header time + auto & buffer = std::get(variant); + buffer->header.stamp = msg_ptr->header.stamp; + buffer->published_stamp = msg_ptr->header.stamp; mutex_.lock(); message_buffers_[node_name] = variant; mutex_.unlock(); @@ -766,8 +762,8 @@ void SubscriberBase::on_predicted_objects( { mutex_.lock(); auto variant = message_buffers_[node_name]; - if (!std::holds_alternative(variant)) { - PredictedObjectsBuffer buffer(std::nullopt); + if (!std::holds_alternative(variant)) { + MessageBuffer buffer(std::nullopt); variant = buffer; message_buffers_[node_name] = variant; } @@ -775,16 +771,15 @@ void SubscriberBase::on_predicted_objects( if ( !spawn_object_cmd_ || msg_ptr->objects.empty() || - std::get(variant).has_value()) { + std::get(variant).has_value()) { return; } - if (search_predicted_objects_near_entity(*msg_ptr)) { - std::get(variant) = *msg_ptr; + if (search_predicted_objects_near_pose(*msg_ptr, entity_pose_, entity_search_radius_)) { RCLCPP_INFO(node_->get_logger(), "%s reacted with published time", node_name.c_str()); - // set published time - std::get(variant)->header.stamp = published_time_ptr->published_stamp; + auto & buffer = std::get(variant); + buffer = *published_time_ptr; mutex_.lock(); message_buffers_[node_name] = variant; mutex_.unlock(); @@ -796,15 +791,15 @@ void SubscriberBase::on_detected_objects( { mutex_.lock(); auto variant = message_buffers_[node_name]; - if (!std::holds_alternative(variant)) { - DetectedObjectsBuffer buffer(std::nullopt); + if (!std::holds_alternative(variant)) { + MessageBuffer buffer(std::nullopt); variant = buffer; message_buffers_[node_name] = variant; } mutex_.unlock(); if ( !spawn_object_cmd_ || msg_ptr->objects.empty() || - std::get(variant).has_value()) { + std::get(variant).has_value()) { return; } @@ -828,9 +823,12 @@ void SubscriberBase::on_detected_objects( tf2::doTransform(input_stamped, output_stamped, transform_stamped); obj.kinematics.pose_with_covariance.pose = output_stamped.pose; } - if (search_detected_objects_near_entity(output_objs)) { - std::get(variant) = *msg_ptr; + if (search_detected_objects_near_pose(output_objs, entity_pose_, entity_search_radius_)) { RCLCPP_INFO(node_->get_logger(), "%s reacted without published time", node_name.c_str()); + // set header time + auto & buffer = std::get(variant); + buffer->header.stamp = msg_ptr->header.stamp; + buffer->published_stamp = msg_ptr->header.stamp; mutex_.lock(); message_buffers_[node_name] = variant; mutex_.unlock(); @@ -843,15 +841,15 @@ void SubscriberBase::on_detected_objects( { mutex_.lock(); auto variant = message_buffers_[node_name]; - if (!std::holds_alternative(variant)) { - DetectedObjectsBuffer buffer(std::nullopt); + if (!std::holds_alternative(variant)) { + MessageBuffer buffer(std::nullopt); variant = buffer; message_buffers_[node_name] = variant; } mutex_.unlock(); if ( !spawn_object_cmd_ || msg_ptr->objects.empty() || - std::get(variant).has_value()) { + std::get(variant).has_value()) { return; } @@ -875,12 +873,11 @@ void SubscriberBase::on_detected_objects( tf2::doTransform(input_stamped, output_stamped, transform_stamped); obj.kinematics.pose_with_covariance.pose = output_stamped.pose; } - if (search_detected_objects_near_entity(output_objs)) { - std::get(variant) = *msg_ptr; + if (search_detected_objects_near_pose(output_objs, entity_pose_, entity_search_radius_)) { RCLCPP_INFO(node_->get_logger(), "%s reacted with published time", node_name.c_str()); - // set published time - std::get(variant)->header.stamp = published_time_ptr->published_stamp; + auto & buffer = std::get(variant); + buffer = *published_time_ptr; mutex_.lock(); message_buffers_[node_name] = variant; mutex_.unlock(); @@ -892,21 +889,19 @@ void SubscriberBase::on_tracked_objects( { mutex_.lock(); auto variant = message_buffers_[node_name]; - if (!std::holds_alternative(variant)) { - TrackedObjectsBuffer buffer(std::nullopt); + if (!std::holds_alternative(variant)) { + MessageBuffer buffer(std::nullopt); variant = buffer; message_buffers_[node_name] = variant; } mutex_.unlock(); if ( !spawn_object_cmd_ || msg_ptr->objects.empty() || - std::get(variant).has_value()) { + std::get(variant).has_value()) { return; } - if (search_tracked_objects_near_entity(*msg_ptr)) { - std::get(variant) = *msg_ptr; - RCLCPP_INFO(node_->get_logger(), "Reacted %s", node_name.c_str()); + if (search_tracked_objects_near_pose(*msg_ptr, entity_pose_, entity_search_radius_)) { mutex_.lock(); message_buffers_[node_name] = variant; mutex_.unlock(); @@ -919,94 +914,29 @@ void SubscriberBase::on_tracked_objects( { mutex_.lock(); auto variant = message_buffers_[node_name]; - if (!std::holds_alternative(variant)) { - TrackedObjectsBuffer buffer(std::nullopt); + if (!std::holds_alternative(variant)) { + MessageBuffer buffer(std::nullopt); variant = buffer; message_buffers_[node_name] = variant; } mutex_.unlock(); if ( !spawn_object_cmd_ || msg_ptr->objects.empty() || - std::get(variant).has_value()) { + std::get(variant).has_value()) { return; } - if (search_tracked_objects_near_entity(*msg_ptr)) { - std::get(variant) = *msg_ptr; + if (search_tracked_objects_near_pose(*msg_ptr, entity_pose_, entity_search_radius_)) { RCLCPP_INFO(node_->get_logger(), "%s reacted with published time", node_name.c_str()); // set published time - std::get(variant)->header.stamp = published_time_ptr->published_stamp; + auto & buffer = std::get(variant); + buffer = *published_time_ptr; mutex_.lock(); message_buffers_[node_name] = variant; mutex_.unlock(); } } -bool SubscriberBase::search_pointcloud_near_entity( - const pcl::PointCloud & pcl_pointcloud) -{ - bool isAnyPointWithinRadius = std::any_of( - pcl_pointcloud.points.begin(), pcl_pointcloud.points.end(), [this](const auto & point) { - return tier4_autoware_utils::calcDistance3d(entity_pose_.position, point) <= - reaction_params_.search_entity_params.search_radius; - }); - - if (isAnyPointWithinRadius) { - return true; - } - return false; -} - -bool SubscriberBase::search_predicted_objects_near_entity( - const PredictedObjects & predicted_objects) -{ - bool isAnyObjectWithinRadius = std::any_of( - predicted_objects.objects.begin(), predicted_objects.objects.end(), - [this](const PredictedObject & object) { - return tier4_autoware_utils::calcDistance3d( - entity_pose_.position, - object.kinematics.initial_pose_with_covariance.pose.position) <= - reaction_params_.search_entity_params.search_radius; - }); - - if (isAnyObjectWithinRadius) { - return true; - } - return false; -} - -bool SubscriberBase::search_detected_objects_near_entity(const DetectedObjects & detected_objects) -{ - bool isAnyObjectWithinRadius = std::any_of( - detected_objects.objects.begin(), detected_objects.objects.end(), - [this](const DetectedObject & object) { - return tier4_autoware_utils::calcDistance3d( - entity_pose_.position, object.kinematics.pose_with_covariance.pose.position) <= - reaction_params_.search_entity_params.search_radius; - }); - - if (isAnyObjectWithinRadius) { - return true; - } - return false; -} - -bool SubscriberBase::search_tracked_objects_near_entity(const TrackedObjects & tracked_objects) -{ - bool isAnyObjectWithinRadius = std::any_of( - tracked_objects.objects.begin(), tracked_objects.objects.end(), - [this](const TrackedObject & object) { - return tier4_autoware_utils::calcDistance3d( - entity_pose_.position, object.kinematics.pose_with_covariance.pose.position) <= - reaction_params_.search_entity_params.search_radius; - }); - - if (isAnyObjectWithinRadius) { - return true; - } - return false; -} - std::optional SubscriberBase::find_first_brake_idx( const std::vector & cmd_array) { diff --git a/tools/reaction_analyzer/src/topic_publisher.cpp b/tools/reaction_analyzer/src/topic_publisher.cpp index 71d7ce67d3a4a..a97b9d53377cf 100644 --- a/tools/reaction_analyzer/src/topic_publisher.cpp +++ b/tools/reaction_analyzer/src/topic_publisher.cpp @@ -22,40 +22,80 @@ namespace reaction_analyzer::topic_publisher TopicPublisher::TopicPublisher( rclcpp::Node * node, std::atomic & spawn_object_cmd, - std::optional & spawn_cmd_time) -: node_(node), spawn_object_cmd_(spawn_object_cmd), spawn_cmd_time_(spawn_cmd_time) - + std::optional & spawn_cmd_time, const RunningMode & node_running_mode, + const EntityParams & entity_params) +: node_(node), + node_running_mode_(node_running_mode), + spawn_object_cmd_(spawn_object_cmd), + entity_params_(entity_params), + spawn_cmd_time_(spawn_cmd_time) { - // get perception_planning mode parameters - topic_publisher_params_.path_bag_with_object = - node_->get_parameter("topic_publisher.path_bag_with_object").as_string(); - topic_publisher_params_.path_bag_without_object = - node_->get_parameter("topic_publisher.path_bag_without_object").as_string(); - topic_publisher_params_.pointcloud_publisher_type = - node_->get_parameter("topic_publisher.pointcloud_publisher.pointcloud_publisher_type") - .as_string(); - topic_publisher_params_.pointcloud_publisher_period = - node_->get_parameter("topic_publisher.pointcloud_publisher.pointcloud_publisher_period") - .as_double(); - topic_publisher_params_.publish_only_pointcloud_with_object = - node_->get_parameter("topic_publisher.pointcloud_publisher.publish_only_pointcloud_with_object") - .as_bool(); - - // set pointcloud publisher type - if (topic_publisher_params_.pointcloud_publisher_type == "sync_header_sync_publish") { - pointcloud_publisher_type_ = PointcloudPublisherType::SYNC_HEADER_SYNC_PUBLISHER; - } else if (topic_publisher_params_.pointcloud_publisher_type == "async_header_sync_publish") { - pointcloud_publisher_type_ = PointcloudPublisherType::ASYNC_HEADER_SYNC_PUBLISHER; - } else if (topic_publisher_params_.pointcloud_publisher_type == "async_publish") { - pointcloud_publisher_type_ = PointcloudPublisherType::ASYNC_PUBLISHER; + if (node_running_mode_ == RunningMode::PerceptionPlanning) { + // get perception_planning mode parameters + topic_publisher_params_.path_bag_with_object = + node_->get_parameter("topic_publisher.path_bag_with_object").as_string(); + topic_publisher_params_.path_bag_without_object = + node_->get_parameter("topic_publisher.path_bag_without_object").as_string(); + topic_publisher_params_.pointcloud_publisher_type = + node_->get_parameter("topic_publisher.pointcloud_publisher.pointcloud_publisher_type") + .as_string(); + topic_publisher_params_.pointcloud_publisher_period = + node_->get_parameter("topic_publisher.pointcloud_publisher.pointcloud_publisher_period") + .as_double(); + topic_publisher_params_.publish_only_pointcloud_with_object = + node_ + ->get_parameter("topic_publisher.pointcloud_publisher.publish_only_pointcloud_with_object") + .as_bool(); + + // set pointcloud publisher type + if (topic_publisher_params_.pointcloud_publisher_type == "sync_header_sync_publish") { + pointcloud_publisher_type_ = PointcloudPublisherType::SYNC_HEADER_SYNC_PUBLISHER; + } else if (topic_publisher_params_.pointcloud_publisher_type == "async_header_sync_publish") { + pointcloud_publisher_type_ = PointcloudPublisherType::ASYNC_HEADER_SYNC_PUBLISHER; + } else if (topic_publisher_params_.pointcloud_publisher_type == "async_publish") { + pointcloud_publisher_type_ = PointcloudPublisherType::ASYNC_PUBLISHER; + } else { + RCLCPP_ERROR(node_->get_logger(), "Invalid pointcloud_publisher_type"); + rclcpp::shutdown(); + return; + } + + // Init the publishers which will read the messages from the rosbag + init_rosbag_publishers(); + } else if (node_running_mode_ == RunningMode::PlanningControl) { + // init tf + tf_buffer_ = std::make_shared(node_->get_clock()); + tf_listener_ = std::make_shared(*tf_buffer_); + + // get parameters + topic_publisher_params_.dummy_perception_publisher_period = + node_->get_parameter("topic_publisher.dummy_perception_publisher_period").as_double(); + topic_publisher_params_.spawned_pointcloud_sampling_distance = + node_->get_parameter("topic_publisher.spawned_pointcloud_sampling_distance").as_double(); + + // init the messages that will be published to spawn the object + entity_pointcloud_ptr_ = create_entity_pointcloud_ptr( + entity_params_, topic_publisher_params_.spawned_pointcloud_sampling_distance); + predicted_objects_ptr_ = create_entity_predicted_objects_ptr(entity_params_); + + // init the publishers + pub_pointcloud_ = + node_->create_publisher("output/pointcloud", rclcpp::SensorDataQoS()); + pub_predicted_objects_ = + node_->create_publisher("output/objects", rclcpp::QoS(1)); + + // init dummy perception publisher + const auto period_ns = std::chrono::duration_cast( + std::chrono::duration(topic_publisher_params_.dummy_perception_publisher_period)); + + dummy_perception_timer_ = rclcpp::create_timer( + node_, node_->get_clock(), period_ns, + std::bind(&TopicPublisher::dummy_perception_publisher, this)); } else { - RCLCPP_ERROR(node_->get_logger(), "Invalid pointcloud_publisher_type"); + RCLCPP_ERROR(node_->get_logger(), "Invalid running mode"); rclcpp::shutdown(); return; } - - // Init the publishers which will read the messages from the rosbag - init_rosbag_publishers(); } void TopicPublisher::pointcloud_messages_sync_publisher(const PointcloudPublisherType type) @@ -74,10 +114,10 @@ void TopicPublisher::pointcloud_messages_sync_publisher(const PointcloudPublishe *publisher_var_pair.second.second, current_time, topic_publisher_params_.publish_only_pointcloud_with_object || is_object_spawned); } - if (is_object_spawned && !is_object_spawned_message_published) { - is_object_spawned_message_published = true; + if (is_object_spawned && !is_object_spawned_message_published_) { + is_object_spawned_message_published_ = true; mutex_.lock(); - spawn_cmd_time_ = node_->now(); + spawn_cmd_time_ = current_time; mutex_.unlock(); } break; @@ -100,10 +140,10 @@ void TopicPublisher::pointcloud_messages_sync_publisher(const PointcloudPublishe topic_publisher_params_.publish_only_pointcloud_with_object || is_object_spawned); counter++; } - if (is_object_spawned && !is_object_spawned_message_published) { - is_object_spawned_message_published = true; + if (is_object_spawned && !is_object_spawned_message_published_) { + is_object_spawned_message_published_ = true; mutex_.lock(); - spawn_cmd_time_ = node_->now(); + spawn_cmd_time_ = current_time; mutex_.unlock(); } break; @@ -128,10 +168,10 @@ void TopicPublisher::pointcloud_messages_async_publisher( *lidar_output_pair_.second, current_time, topic_publisher_params_.publish_only_pointcloud_with_object || is_object_spawned); - if (is_object_spawned && !is_object_spawned_message_published) { - is_object_spawned_message_published = true; + if (is_object_spawned && !is_object_spawned_message_published_) { + is_object_spawned_message_published_ = true; mutex_.lock(); - spawn_cmd_time_ = node_->now(); + spawn_cmd_time_ = current_time; mutex_.unlock(); } } @@ -150,9 +190,62 @@ void TopicPublisher::generic_message_publisher(const std::string & topic_name) publisher_variant); } +void TopicPublisher::dummy_perception_publisher() +{ + if (!spawn_object_cmd_) { + // do not spawn it, send empty pointcloud + pcl::PointCloud pcl_empty; + PointCloud2 empty_pointcloud; + PredictedObjects empty_predicted_objects; + pcl::toROSMsg(pcl_empty, empty_pointcloud); + + const auto current_time = node_->now(); + empty_pointcloud.header.frame_id = "base_link"; + empty_pointcloud.header.stamp = current_time; + + empty_predicted_objects.header.frame_id = "map"; + empty_predicted_objects.header.stamp = current_time; + + pub_pointcloud_->publish(empty_pointcloud); + pub_predicted_objects_->publish(empty_predicted_objects); + } else { + // transform pointcloud + geometry_msgs::msg::TransformStamped transform_stamped{}; + try { + transform_stamped = tf_buffer_->lookupTransform( + "base_link", "map", node_->now(), rclcpp::Duration::from_seconds(0.1)); + } catch (tf2::TransformException & ex) { + RCLCPP_ERROR_STREAM(node_->get_logger(), "Failed to look up transform from map to base_link"); + return; + } + + // transform by using eigen matrix + PointCloud2 transformed_points{}; + const Eigen::Matrix4f affine_matrix = + tf2::transformToEigen(transform_stamped.transform).matrix().cast(); + pcl_ros::transformPointCloud(affine_matrix, *entity_pointcloud_ptr_, transformed_points); + const auto current_time = node_->now(); + + transformed_points.header.frame_id = "base_link"; + transformed_points.header.stamp = current_time; + + predicted_objects_ptr_->header.frame_id = "map"; + predicted_objects_ptr_->header.stamp = current_time; + + pub_pointcloud_->publish(transformed_points); + pub_predicted_objects_->publish(*predicted_objects_ptr_); + if (!is_object_spawned_message_published_) { + mutex_.lock(); + spawn_cmd_time_ = current_time; + mutex_.unlock(); + is_object_spawned_message_published_ = true; + } + } +} + void TopicPublisher::reset() { - is_object_spawned_message_published = false; + is_object_spawned_message_published_ = false; } void TopicPublisher::init_rosbag_publishers() diff --git a/tools/reaction_analyzer/src/utils.cpp b/tools/reaction_analyzer/src/utils.cpp index 5c320dfc76a75..7fa55204f9b8d 100644 --- a/tools/reaction_analyzer/src/utils.cpp +++ b/tools/reaction_analyzer/src/utils.cpp @@ -27,29 +27,6 @@ rclcpp::SubscriptionOptions create_subscription_options(rclcpp::Node * node) return sub_opt; } -std::vector, double>> sort_results_by_median( - const std::unordered_map> test_results) -{ - std::vector, double>> sorted_data; - for (const auto & pair : test_results) { - auto vec = pair.second; - - // Calculate the median - const size_t mid_index = vec.size() / 2; - std::nth_element(vec.begin(), vec.begin() + mid_index, vec.end()); - const double median = vec[mid_index]; - - sorted_data.emplace_back(pair.first, pair.second, median); - } - - // Sort based on the computed median - std::sort(sorted_data.begin(), sorted_data.end(), [](const auto & a, const auto & b) { - return std::get<2>(a) < std::get<2>(b); // Change to > for descending order - }); - - return sorted_data; -} - std::vector split(const std::string & str, char delimiter) { std::vector elements; @@ -64,7 +41,6 @@ std::vector split(const std::string & str, char delimiter) size_t get_index_after_distance( const Trajectory & traj, const size_t curr_id, const double distance) { - // Get Current Trajectory Point const TrajectoryPoint & curr_p = traj.points.at(curr_id); size_t target_id = curr_id; @@ -78,4 +54,363 @@ size_t get_index_after_distance( } return target_id; } + +double calculate_time_diff_ms(const rclcpp::Time & start, const rclcpp::Time & end) +{ + const auto duration = end - start; + + const auto duration_ns = duration.to_chrono(); + return static_cast(duration_ns.count()) / 1e6; +} + +TimestampedReactionPairsVector convert_pipeline_map_to_sorted_vector( + const PipelineMap & pipelineMap) +{ + std::vector>> sortedVector; + + for (const auto & entry : pipelineMap) { + auto sortedReactions = entry.second; + // Sort the vector of ReactionPair based on the published stamp + std::sort( + sortedReactions.begin(), sortedReactions.end(), + [](const ReactionPair & a, const ReactionPair & b) { + return rclcpp::Time(a.second.published_stamp) < rclcpp::Time(b.second.published_stamp); + }); + + // Add to the vector as a tuple + sortedVector.push_back(std::make_tuple(entry.first, sortedReactions)); + } + + // Sort the vector of tuples by rclcpp::Time + std::sort(sortedVector.begin(), sortedVector.end(), [](const auto & a, const auto & b) { + return std::get<0>(a) < std::get<0>(b); + }); + + return sortedVector; +} + +unique_identifier_msgs::msg::UUID generate_uuid_msg(const std::string & input) +{ + static auto generate_uuid = boost::uuids::name_generator(boost::uuids::random_generator()()); + const auto uuid = generate_uuid(input); + + unique_identifier_msgs::msg::UUID uuid_msg; + std::copy(uuid.begin(), uuid.end(), uuid_msg.uuid.begin()); + return uuid_msg; +} + +geometry_msgs::msg::Pose create_entity_pose(const EntityParams & entity_params) +{ + geometry_msgs::msg::Pose entity_pose; + entity_pose.position.x = entity_params.x; + entity_pose.position.y = entity_params.y; + entity_pose.position.z = entity_params.z; + + tf2::Quaternion entity_q_orientation; + entity_q_orientation.setRPY( + tier4_autoware_utils::deg2rad(entity_params.roll), + tier4_autoware_utils::deg2rad(entity_params.pitch), + tier4_autoware_utils::deg2rad(entity_params.yaw)); + entity_pose.orientation = tf2::toMsg(entity_q_orientation); + return entity_pose; +} + +geometry_msgs::msg::Pose pose_params_to_pose(const PoseParams & pose_params) +{ + geometry_msgs::msg::Pose pose; + pose.position.x = pose_params.x; + pose.position.y = pose_params.y; + pose.position.z = pose_params.z; + + tf2::Quaternion pose_q_orientation; + pose_q_orientation.setRPY( + tier4_autoware_utils::deg2rad(pose_params.roll), + tier4_autoware_utils::deg2rad(pose_params.pitch), + tier4_autoware_utils::deg2rad(pose_params.yaw)); + pose.orientation = tf2::toMsg(pose_q_orientation); + return pose; +} + +PointCloud2::SharedPtr create_entity_pointcloud_ptr( + const EntityParams & entity_params, const double pointcloud_sampling_distance) +{ + pcl::PointCloud point_cloud; + tf2::Quaternion entity_q_orientation; + + entity_q_orientation.setRPY( + tier4_autoware_utils::deg2rad(entity_params.roll), + tier4_autoware_utils::deg2rad(entity_params.pitch), + tier4_autoware_utils::deg2rad(entity_params.yaw)); + tf2::Transform tf(entity_q_orientation); + const auto origin = tf2::Vector3(entity_params.x, entity_params.y, entity_params.z); + tf.setOrigin(origin); + + const double it_x = entity_params.x_l / pointcloud_sampling_distance; + const double it_y = entity_params.y_l / pointcloud_sampling_distance; + const double it_z = entity_params.z_l / pointcloud_sampling_distance; + + // Sample the box and rotate + for (int i = 0; i <= it_z; ++i) { + for (int j = 0; j <= it_y; ++j) { + for (int k = 0; k <= it_x; ++k) { + const double p_x = -entity_params.x_l / 2 + k * pointcloud_sampling_distance; + const double p_y = -entity_params.y_l / 2 + j * pointcloud_sampling_distance; + const double p_z = -entity_params.z_l / 2 + i * pointcloud_sampling_distance; + const auto tmp = tf2::Vector3(p_x, p_y, p_z); + tf2::Vector3 data_out = tf * tmp; + point_cloud.emplace_back(pcl::PointXYZ(data_out.x(), data_out.y(), data_out.z())); + } + } + } + PointCloud2::SharedPtr entity_pointcloud_ptr; + entity_pointcloud_ptr = std::make_shared(); + pcl::toROSMsg(point_cloud, *entity_pointcloud_ptr); + return entity_pointcloud_ptr; +} + +PredictedObjects::SharedPtr create_entity_predicted_objects_ptr(const EntityParams & entity_params) +{ + unique_identifier_msgs::msg::UUID uuid_msg; + + PredictedObject obj; + const auto entity_pose = create_entity_pose(entity_params); + geometry_msgs::msg::Vector3 dimension; + dimension.set__x(entity_params.x_l); + dimension.set__y(entity_params.y_l); + dimension.set__z(entity_params.z_l); + obj.shape.set__dimensions(dimension); + + obj.shape.type = autoware_auto_perception_msgs::msg::Shape::BOUNDING_BOX; + obj.existence_probability = 1.0; + obj.kinematics.initial_pose_with_covariance.pose = entity_pose; + + autoware_auto_perception_msgs::msg::PredictedPath path; + path.confidence = 1.0; + path.path.emplace_back(entity_pose); + obj.kinematics.predicted_paths.emplace_back(path); + + autoware_auto_perception_msgs::msg::ObjectClassification classification; + classification.label = autoware_auto_perception_msgs::msg::ObjectClassification::CAR; + classification.probability = 1.0; + obj.classification.emplace_back(classification); + obj.set__object_id(generate_uuid_msg("test_obstacle")); + + PredictedObjects pred_objects; + pred_objects.objects.emplace_back(obj); + return std::make_shared(pred_objects); +} + +double calculate_entity_search_radius(const EntityParams & entity_params) +{ + return std::sqrt( + std::pow(entity_params.x_l, 2) + std::pow(entity_params.y_l, 2) + + std::pow(entity_params.z_l, 2)) / + 2.0; +} + +bool search_pointcloud_near_pose( + const pcl::PointCloud & pcl_pointcloud, const geometry_msgs::msg::Pose & pose, + const double search_radius) +{ + bool isAnyPointWithinRadius = std::any_of( + pcl_pointcloud.points.begin(), pcl_pointcloud.points.end(), + [pose, search_radius](const auto & point) { + return tier4_autoware_utils::calcDistance3d(pose.position, point) <= search_radius; + }); + + if (isAnyPointWithinRadius) { + return true; + } + return false; +} + +bool search_predicted_objects_near_pose( + const PredictedObjects & predicted_objects, const geometry_msgs::msg::Pose & pose, + const double search_radius) +{ + bool isAnyObjectWithinRadius = std::any_of( + predicted_objects.objects.begin(), predicted_objects.objects.end(), + [pose, search_radius](const PredictedObject & object) { + return tier4_autoware_utils::calcDistance3d( + pose.position, object.kinematics.initial_pose_with_covariance.pose.position) <= + search_radius; + }); + + if (isAnyObjectWithinRadius) { + return true; + } + return false; +} + +bool search_detected_objects_near_pose( + const DetectedObjects & detected_objects, const geometry_msgs::msg::Pose & pose, + const double search_radius) +{ + bool isAnyObjectWithinRadius = std::any_of( + detected_objects.objects.begin(), detected_objects.objects.end(), + [pose, search_radius](const DetectedObject & object) { + return tier4_autoware_utils::calcDistance3d( + pose.position, object.kinematics.pose_with_covariance.pose.position) <= + search_radius; + }); + + if (isAnyObjectWithinRadius) { + return true; + } + return false; +} + +bool search_tracked_objects_near_pose( + const TrackedObjects & tracked_objects, const geometry_msgs::msg::Pose & pose, + const double search_radius) +{ + bool isAnyObjectWithinRadius = std::any_of( + tracked_objects.objects.begin(), tracked_objects.objects.end(), + [pose, search_radius](const TrackedObject & object) { + return tier4_autoware_utils::calcDistance3d( + pose.position, object.kinematics.pose_with_covariance.pose.position) <= + search_radius; + }); + + if (isAnyObjectWithinRadius) { + return true; + } + return false; +} + +LatencyStats calculate_statistics(const std::vector & latency_vec) +{ + LatencyStats stats; + stats.max = *max_element(latency_vec.begin(), latency_vec.end()); + stats.min = *min_element(latency_vec.begin(), latency_vec.end()); + + const double sum = std::accumulate(latency_vec.begin(), latency_vec.end(), 0.0); + stats.mean = sum / latency_vec.size(); + + std::vector sorted_latencies = latency_vec; + std::sort(sorted_latencies.begin(), sorted_latencies.end()); + stats.median = sorted_latencies.size() % 2 == 0 + ? (sorted_latencies[sorted_latencies.size() / 2 - 1] + + sorted_latencies[sorted_latencies.size() / 2]) / + 2 + : sorted_latencies[sorted_latencies.size() / 2]; + + const double sq_sum = + std::inner_product(latency_vec.begin(), latency_vec.end(), latency_vec.begin(), 0.0); + stats.std_dev = std::sqrt(sq_sum / latency_vec.size() - stats.mean * stats.mean); + return stats; +} + +void write_results( + rclcpp::Node * node, const std::string & output_file_path, const RunningMode & node_running_mode, + const std::vector & pipeline_map_vector) +{ + // create csv file + auto now = std::chrono::system_clock::now(); + auto in_time_t = std::chrono::system_clock::to_time_t(now); + + std::stringstream ss; + ss << output_file_path; + if (!output_file_path.empty() && output_file_path.back() != '/') { + ss << "/"; // Ensure the path ends with a slash + } + if (node_running_mode == RunningMode::PlanningControl) { + ss << "planning_control-"; + } else { + ss << "perception_planning-"; + } + + ss << std::put_time(std::localtime(&in_time_t), "%Y-%m-%d-%H-%M-%S"); + ss << "-reaction-results.csv"; + + // open file + std::ofstream file(ss.str()); + + // Check if the file was opened successfully + if (!file.is_open()) { + RCLCPP_ERROR_ONCE(node->get_logger(), "Failed to open file: %s", ss.str().c_str()); + return; + } + + // tmp map to store latency results for statistics + std::map>> tmp_latency_map; + + size_t test_count = 0; + for (const auto & pipeline_map : pipeline_map_vector) { + test_count++; + // convert pipeline_map to vector of tuples + const auto sorted_results_vector = convert_pipeline_map_to_sorted_vector(pipeline_map); + file << "Test " << test_count << "\n"; + + rclcpp::Time spawn_cmd_time; // init it to parse total latency + for (size_t i = 0; i < sorted_results_vector.size(); ++i) { + const auto & [pipeline_header_time, pipeline_reactions] = sorted_results_vector[i]; + + if (i == 0) { + spawn_cmd_time = pipeline_reactions[0].second.header.stamp; + } + + // total time pipeline lasts + file << "Pipeline - " << i + 1 << ","; + + // pipeline nodes + for (const auto & [node_name, reaction] : pipeline_reactions) { + file << node_name << ","; + } + + file << "\nNode Latency - Total Latency [ms],"; + + for (size_t j = 0; j < pipeline_reactions.size(); ++j) { + const auto & reaction = pipeline_reactions[j].second; + const auto & node_name = pipeline_reactions[j].first; + if (j == 0) { + const auto node_latency = + calculate_time_diff_ms(reaction.header.stamp, reaction.published_stamp); + const auto total_latency = + calculate_time_diff_ms(spawn_cmd_time, reaction.published_stamp); + file << node_latency << " - " << total_latency << ","; + tmp_latency_map[node_name].emplace_back(node_latency, total_latency); + } else { + const auto & prev_reaction = pipeline_reactions[j - 1].second; + const auto node_latency = + calculate_time_diff_ms(prev_reaction.published_stamp, reaction.published_stamp); + const auto total_latency = + calculate_time_diff_ms(spawn_cmd_time, reaction.published_stamp); + file << node_latency << " - " << total_latency << ","; + tmp_latency_map[node_name].emplace_back(node_latency, total_latency); + } + } + file << "\n"; + } + } + + // write statistics + + file << "\nStatistics\n"; + file << "Node " + "Name,Min-NL,Max-NL,Mean-NL,Median-NL,Std-Dev-NL,Min-TL,Max-TL,Mean-TL,Median-TL,Std-Dev-" + "TL\n"; + for (const auto & [node_name, latency_vec] : tmp_latency_map) { + file << node_name << ","; + std::vector node_latencies; + std::vector total_latencies; + + // Extract latencies + for (const auto & latencies : latency_vec) { + node_latencies.push_back(latencies.first); + total_latencies.push_back(latencies.second); + } + + const auto stats_node_latency = calculate_statistics(node_latencies); + const auto stats_total_latency = calculate_statistics(total_latencies); + + file << stats_node_latency.min << "," << stats_node_latency.max << "," + << stats_node_latency.mean << "," << stats_node_latency.median << "," + << stats_node_latency.std_dev << "," << stats_total_latency.min << "," + << stats_total_latency.max << "," << stats_total_latency.mean << "," + << stats_total_latency.median << "," << stats_total_latency.std_dev << "\n"; + } + file.close(); + RCLCPP_INFO(node->get_logger(), "Results written to: %s", ss.str().c_str()); +} } // namespace reaction_analyzer From 4af034ce83f22d14aa0280d07b610386d6fcaf56 Mon Sep 17 00:00:00 2001 From: Berkay Karaman Date: Tue, 19 Mar 2024 19:03:45 +0300 Subject: [PATCH 11/14] fix: ci/cd Signed-off-by: Berkay Karaman --- tools/reaction_analyzer/CMakeLists.txt | 3 - .../include/reaction_analyzer_node.hpp | 17 +- .../reaction_analyzer/include/subscriber.hpp | 43 +- .../include/topic_publisher.hpp | 82 +- tools/reaction_analyzer/include/utils.hpp | 68 +- .../src/reaction_analyzer_node.cpp | 141 +-- tools/reaction_analyzer/src/subscriber.cpp | 646 +++++++------- .../reaction_analyzer/src/topic_publisher.cpp | 809 +++++------------- tools/reaction_analyzer/src/utils.cpp | 145 +++- 9 files changed, 831 insertions(+), 1123 deletions(-) diff --git a/tools/reaction_analyzer/CMakeLists.txt b/tools/reaction_analyzer/CMakeLists.txt index b5b5be4d4ad0c..d94a5bd7a794e 100644 --- a/tools/reaction_analyzer/CMakeLists.txt +++ b/tools/reaction_analyzer/CMakeLists.txt @@ -33,9 +33,6 @@ rclcpp_components_register_node(reaction_analyzer EXECUTABLE reaction_analyzer_exe ) -if (BUILD_TESTING) -endif () - ament_auto_package( INSTALL_TO_SHARE param diff --git a/tools/reaction_analyzer/include/reaction_analyzer_node.hpp b/tools/reaction_analyzer/include/reaction_analyzer_node.hpp index 5b2b961d3ed47..7de1b06a145b3 100644 --- a/tools/reaction_analyzer/include/reaction_analyzer_node.hpp +++ b/tools/reaction_analyzer/include/reaction_analyzer_node.hpp @@ -28,10 +28,10 @@ #include #include +#include #include #include #include -#include #include #include #include @@ -66,8 +66,7 @@ struct NodeParams class ReactionAnalyzerNode : public rclcpp::Node { public: - explicit ReactionAnalyzerNode(rclcpp::NodeOptions options); - ~ReactionAnalyzerNode() = default; + explicit ReactionAnalyzerNode(rclcpp::NodeOptions node_options); Odometry::ConstSharedPtr odometry_ptr_; @@ -107,16 +106,24 @@ class ReactionAnalyzerNode : public rclcpp::Node // Functions void init_analyzer_variables(); - void init_ego( + void init_test_env( const LocalizationInitializationState::ConstSharedPtr & initialization_state_ptr, const RouteState::ConstSharedPtr & route_state_ptr, const OperationModeState::ConstSharedPtr & operation_mode_ptr, const PoseStamped::ConstSharedPtr & ground_truth_pose_ptr, const Odometry::ConstSharedPtr & odometry_ptr); + bool init_ego( + const LocalizationInitializationState::ConstSharedPtr & initialization_state_ptr, + const Odometry::ConstSharedPtr & odometry_ptr, const rclcpp::Time & current_time); + bool set_route( + const RouteState::ConstSharedPtr & route_state_ptr, const rclcpp::Time & current_time); + bool check_ego_init_correctly( + const PoseStamped::ConstSharedPtr & ground_truth_pose_ptr, + const Odometry::ConstSharedPtr & odometry_ptr); void call_operation_mode_service_without_response(); void spawn_obstacle(const geometry_msgs::msg::Point & ego_pose); void calculate_results( - const std::unordered_map & message_buffers, + const std::map & message_buffers, const rclcpp::Time & spawn_cmd_time); void on_timer(); void reset(); diff --git a/tools/reaction_analyzer/include/subscriber.hpp b/tools/reaction_analyzer/include/subscriber.hpp index 9cae7629372bb..d14d41da545f7 100644 --- a/tools/reaction_analyzer/include/subscriber.hpp +++ b/tools/reaction_analyzer/include/subscriber.hpp @@ -29,10 +29,10 @@ #include #include +#include #include #include #include -#include #include #include #include @@ -77,25 +77,6 @@ using SubscriberVariablesVariant = std::variant< SubscriberVariables, SubscriberVariables, SubscriberVariables, SubscriberVariables>; -// The supported message types -enum class SubscriberMessageType { - UNKNOWN = 0, - ACKERMANN_CONTROL_COMMAND = 1, - TRAJECTORY = 2, - POINTCLOUD2 = 3, - DETECTED_OBJECTS = 4, - PREDICTED_OBJECTS = 5, - TRACKED_OBJECTS = 6, -}; - -// Reaction Types -enum class ReactionType { - UNKNOWN = 0, - FIRST_BRAKE = 1, - SEARCH_ZERO_VEL = 2, - SEARCH_ENTITY = 3, -}; - // The configuration of the topic to be subscribed which are defined in reaction_chain struct TopicConfig { @@ -141,13 +122,7 @@ class SubscriberBase rclcpp::Node * node, Odometry::ConstSharedPtr & odometry, std::atomic & spawn_object_cmd, const EntityParams & entity_params); - // Instances of SubscriberBase cannot be copied - SubscriberBase(const SubscriberBase &) = delete; - SubscriberBase & operator=(const SubscriberBase &) = delete; - - ~SubscriberBase() = default; - - std::optional> getMessageBuffersMap(); + std::optional> get_message_buffers_map(); void reset(); private: @@ -160,14 +135,14 @@ class SubscriberBase EntityParams entity_params_; // Variables to be initialized in constructor - ChainModules chain_modules_; + ChainModules chain_modules_{}; ReactionParams reaction_params_{}; - geometry_msgs::msg::Pose entity_pose_; - double entity_search_radius_; + geometry_msgs::msg::Pose entity_pose_{}; + double entity_search_radius_{0.0}; // Variants - std::unordered_map subscriber_variables_map_; - std::unordered_map message_buffers_; + std::map subscriber_variables_map_; + std::map message_buffers_; // tf std::shared_ptr tf_buffer_; @@ -176,10 +151,12 @@ class SubscriberBase // Functions void init_reaction_chains_and_params(); bool init_subscribers(); + std::optional get_subscriber_variable( + const TopicConfig & topic_config); std::optional find_first_brake_idx( const std::vector & cmd_array); void set_control_command_to_buffer( - std::vector & buffer, const AckermannControlCommand & cmd); + std::vector & buffer, const AckermannControlCommand & cmd) const; // Callbacks for modules are subscribed void on_control_command( diff --git a/tools/reaction_analyzer/include/topic_publisher.hpp b/tools/reaction_analyzer/include/topic_publisher.hpp index ac2dc9de71e46..6fe1e725892a1 100644 --- a/tools/reaction_analyzer/include/topic_publisher.hpp +++ b/tools/reaction_analyzer/include/topic_publisher.hpp @@ -35,10 +35,10 @@ #include #include +#include #include #include #include -#include #include #include #include @@ -55,23 +55,6 @@ using geometry_msgs::msg::Pose; using nav_msgs::msg::Odometry; using sensor_msgs::msg::PointCloud2; -enum class PublisherMessageType { - UNKNOWN = 0, - CAMERA_INFO = 1, - IMAGE = 2, - POINTCLOUD2 = 3, - POSE_WITH_COVARIANCE_STAMPED = 4, - POSE_STAMPED = 5, - ODOMETRY = 6, - IMU = 7, - CONTROL_MODE_REPORT = 8, - GEAR_REPORT = 9, - HAZARD_LIGHTS_REPORT = 10, - STEERING_REPORT = 11, - TURN_INDICATORS_REPORT = 12, - VELOCITY_REPORT = 13, -}; - struct TopicPublisherParams { double dummy_perception_publisher_period; // Only for planning_control mode @@ -110,68 +93,68 @@ struct PublisherVarAccessor { // Template struct to check if a type has a header member. template > - struct has_header : std::false_type + struct HasHeader : std::false_type { }; template - struct has_header> : std::true_type + struct HasHeader> : std::true_type { }; // Template struct to check if a type has a stamp member. template > - struct has_stamp : std::false_type + struct HasStamp : std::false_type { }; template - struct has_stamp> : std::true_type + struct HasStamp> : std::true_type { }; - template + template void publish_with_current_time( - const PublisherVariables & publisherVar, const rclcpp::Time & current_time, + const PublisherVariables & publisher_var, const rclcpp::Time & current_time, const bool is_object_spawned) const { - std::unique_ptr msg_to_be_published = std::make_unique(); + std::unique_ptr msg_to_be_published = std::make_unique(); if (is_object_spawned) { - *msg_to_be_published = *publisherVar.object_spawned_message; + *msg_to_be_published = *publisher_var.object_spawned_message; } else { - *msg_to_be_published = *publisherVar.empty_area_message; + *msg_to_be_published = *publisher_var.empty_area_message; } - if constexpr (has_header::value) { + if constexpr (HasHeader::value) { msg_to_be_published->header.stamp = current_time; - } else if constexpr (has_stamp::value) { + } else if constexpr (HasStamp::value) { msg_to_be_published->stamp = current_time; } - publisherVar.publisher->publish(std::move(msg_to_be_published)); + publisher_var.publisher->publish(std::move(msg_to_be_published)); } template - void set_period(T & publisherVar, std::chrono::milliseconds new_period) + void set_period(T & publisher_var, std::chrono::milliseconds new_period) { - publisherVar.period_ms = new_period; + publisher_var.period_ms = new_period; } template - std::chrono::milliseconds get_period(const T & publisherVar) const + std::chrono::milliseconds get_period(const T & publisher_var) const { - return publisherVar.period_ms; + return publisher_var.period_ms; } template - std::shared_ptr get_empty_area_message(const T & publisherVar) const + std::shared_ptr get_empty_area_message(const T & publisher_var) const { - return std::static_pointer_cast(publisherVar.empty_area_message); + return std::static_pointer_cast(publisher_var.empty_area_message); } template - std::shared_ptr get_object_spawned_message(const T & publisherVar) const + std::shared_ptr get_object_spawned_message(const T & publisher_var) const { - return std::static_pointer_cast(publisherVar.object_spawned_message); + return std::static_pointer_cast(publisher_var.object_spawned_message); } }; @@ -200,7 +183,6 @@ class TopicPublisher std::optional & spawn_cmd_time, const RunningMode & node_running_mode, const EntityParams & entity_params); - ~TopicPublisher() = default; void reset(); private: @@ -229,21 +211,25 @@ class TopicPublisher // Variables perception_planning mode PointcloudPublisherType pointcloud_publisher_type_; - std::unordered_map topic_publisher_map_; - std::unordered_map + std::map topic_publisher_map_; + std::map lidar_pub_variable_pair_map_; // used to publish pointcloud_raw and pointcloud_raw_ex bool is_object_spawned_message_published_{false}; std::shared_ptr one_shot_timer_shared_ptr_; // Functions - void set_message_to_variable_map( - const PublisherMessageType & message_type, const std::string & topic_name, - rosbag2_storage::SerializedBagMessage & bag_message, const bool is_empty_area_message); - void set_period_to_variable_map( - const std::unordered_map> & time_map); - bool set_publishers_and_timers_to_variable_map(); + template + void set_message( + const std::string & topic_name, const rosbag2_storage::SerializedBagMessage & bag_message, + const bool is_empty_area_message); + void set_period(const std::map> & time_map); + std::map> set_general_publishers_and_timers(); + void set_pointcloud_publishers_and_timers( + const std::map> & pointcloud_variables_map); bool check_publishers_initialized_correctly(); void init_rosbag_publishers(); + void init_rosbag_publishers_with_object(const std::string & path_bag_with_object); + void init_rosbag_publishers_without_object(const std::string & path_bag_without_object); void pointcloud_messages_sync_publisher(const PointcloudPublisherType type); void pointcloud_messages_async_publisher( const std::pair< @@ -253,7 +239,7 @@ class TopicPublisher void dummy_perception_publisher(); // Only for planning_control mode // Timers - std::unordered_map pointcloud_publish_timers_map_; + std::map pointcloud_publish_timers_map_; rclcpp::TimerBase::SharedPtr pointcloud_sync_publish_timer_; rclcpp::TimerBase::SharedPtr dummy_perception_timer_; }; diff --git a/tools/reaction_analyzer/include/utils.hpp b/tools/reaction_analyzer/include/utils.hpp index a47601ef915b5..150aa00fef1c1 100644 --- a/tools/reaction_analyzer/include/utils.hpp +++ b/tools/reaction_analyzer/include/utils.hpp @@ -18,6 +18,7 @@ #include #include #include +#include #include #include @@ -40,9 +41,10 @@ #include #include +#include #include #include -#include +#include #include // The reaction_analyzer namespace contains utility functions for the Reaction Analyzer tool. @@ -82,6 +84,49 @@ using PipelineMap = std::map>; using TimestampedReactionPairsVector = std::vector>>; +/** + * @brief Enum for the different types of messages that can be published. + */ +enum class PublisherMessageType { + UNKNOWN = 0, + CAMERA_INFO = 1, + IMAGE = 2, + POINTCLOUD2 = 3, + POSE_WITH_COVARIANCE_STAMPED = 4, + POSE_STAMPED = 5, + ODOMETRY = 6, + IMU = 7, + CONTROL_MODE_REPORT = 8, + GEAR_REPORT = 9, + HAZARD_LIGHTS_REPORT = 10, + STEERING_REPORT = 11, + TURN_INDICATORS_REPORT = 12, + VELOCITY_REPORT = 13, +}; + +/** + * @brief Enum for the different types of messages that can be subscribed to. + */ +enum class SubscriberMessageType { + UNKNOWN = 0, + ACKERMANN_CONTROL_COMMAND = 1, + TRAJECTORY = 2, + POINTCLOUD2 = 3, + DETECTED_OBJECTS = 4, + PREDICTED_OBJECTS = 5, + TRACKED_OBJECTS = 6, +}; + +/** + * @brief Enum for the different types of reactions that can be analyzed. + */ +enum class ReactionType { + UNKNOWN = 0, + FIRST_BRAKE = 1, + SEARCH_ZERO_VEL = 2, + SEARCH_ENTITY = 3, +}; + /** * @brief Enum for the different running modes of the Reaction Analyzer. */ @@ -128,6 +173,27 @@ struct LatencyStats double std_dev; }; +/** + * @brief Convert string to SubscriberMessageType. + */ +SubscriberMessageType get_subscriber_message_type(const std::string & message_type); + +/** + * @brief Convert string to PublisherMessageType. + */ +PublisherMessageType get_publisher_message_type(const std::string & message_type); + +/** + * @brief Get the PublisherMessageType for a given topic. + */ +PublisherMessageType get_publisher_message_type_for_topic( + const std::vector & topics, const std::string & topic_name); + +/** + * @brief Convert string to ReactionType. + */ +ReactionType get_reaction_type(const std::string & reaction_type); + /** * @brief Calculates the statistics of a vector of latencies. * @param latency_vec The vector of latencies. diff --git a/tools/reaction_analyzer/src/reaction_analyzer_node.cpp b/tools/reaction_analyzer/src/reaction_analyzer_node.cpp index 56348844ec6f3..db1d539e14e7b 100644 --- a/tools/reaction_analyzer/src/reaction_analyzer_node.cpp +++ b/tools/reaction_analyzer/src/reaction_analyzer_node.cpp @@ -51,8 +51,8 @@ void ReactionAnalyzerNode::on_ground_truth_pose(PoseStamped::ConstSharedPtr msg_ ground_truth_pose_ptr_ = std::move(msg_ptr); } -ReactionAnalyzerNode::ReactionAnalyzerNode(rclcpp::NodeOptions options) -: Node("reaction_analyzer_node", options.automatically_declare_parameters_from_overrides(true)) +ReactionAnalyzerNode::ReactionAnalyzerNode(rclcpp::NodeOptions node_options) +: Node("reaction_analyzer_node", node_options.automatically_declare_parameters_from_overrides(true)) { using std::placeholders::_1; @@ -160,7 +160,7 @@ void ReactionAnalyzerNode::on_timer() // Init the test environment if (!test_environment_init_time_) { - init_ego( + init_test_env( initialization_state_ptr, route_state_ptr, operation_mode_ptr, ground_truth_pose_ptr, current_odometry_ptr); return; @@ -173,7 +173,7 @@ void ReactionAnalyzerNode::on_timer() if (!spawn_cmd_time) return; // Get the reacted messages, if all modules reacted - const auto message_buffers = subscriber_ptr_->getMessageBuffersMap(); + const auto message_buffers = subscriber_ptr_->get_message_buffers_map(); if (message_buffers) { // if reacted, calculate the results @@ -206,7 +206,7 @@ void ReactionAnalyzerNode::spawn_obstacle(const geometry_msgs::msg::Point & ego_ } void ReactionAnalyzerNode::calculate_results( - const std::unordered_map & message_buffers, + const std::map & message_buffers, const rclcpp::Time & spawn_cmd_time) { // Map the reaction times w.r.t its header time to categorize it @@ -251,7 +251,7 @@ void ReactionAnalyzerNode::init_analyzer_variables() } } -void ReactionAnalyzerNode::init_ego( +void ReactionAnalyzerNode::init_test_env( const LocalizationInitializationState::ConstSharedPtr & initialization_state_ptr, const RouteState::ConstSharedPtr & route_state_ptr, const OperationModeState::ConstSharedPtr & operation_mode_ptr, @@ -262,7 +262,6 @@ void ReactionAnalyzerNode::init_ego( // Initialize the test environment constexpr double initialize_call_period = 1.0; // sec - if ( !last_test_environment_init_request_time_ || (current_time - last_test_environment_init_request_time_.value()).seconds() >= @@ -270,59 +269,23 @@ void ReactionAnalyzerNode::init_ego( last_test_environment_init_request_time_ = current_time; // Pose initialization of the ego - if ( - initialization_state_ptr && - (initialization_state_ptr->state != LocalizationInitializationState::INITIALIZED || - !is_vehicle_initialized_)) { - if (initialization_state_ptr->state == LocalizationInitializationState::INITIALIZED) { - is_vehicle_initialized_ = true; - } - if (node_running_mode_ == RunningMode::PlanningControl) { - // publish initial pose - init_pose_.header.stamp = current_time; - init_pose_.header.frame_id = "map"; - pub_initial_pose_->publish(init_pose_); - } - return; - } + is_vehicle_initialized_ = !is_vehicle_initialized_ + ? init_ego(initialization_state_ptr, odometry_ptr, current_time) + : is_vehicle_initialized_; - // Wait until odometry_ptr is initialized - if (!odometry_ptr) { - RCLCPP_WARN_ONCE(get_logger(), "Odometry is not received. Waiting for odometry..."); + if (!is_vehicle_initialized_) { return; } // Check is position initialized accurately, if node is running in perception_planning mode if (node_running_mode_ == RunningMode::PerceptionPlanning) { - if (!ground_truth_pose_ptr) { - RCLCPP_WARN( - get_logger(), "Ground truth pose is not received. Waiting for Ground truth pose..."); - return; - } else { - constexpr double deviation_threshold = 0.1; - const auto deviation = tier4_autoware_utils::calcPoseDeviation( - ground_truth_pose_ptr->pose, odometry_ptr->pose.pose); - if ( - deviation.longitudinal > deviation_threshold || deviation.lateral > deviation_threshold || - deviation.yaw > deviation_threshold) { - RCLCPP_ERROR( - get_logger(), - "Deviation between ground truth position and ego position is high. Node is shutting " - "down. Longitudinal deviation: %f, Lateral deviation: %f, Yaw deviation: %f", - deviation.longitudinal, deviation.lateral, deviation.yaw); - rclcpp::shutdown(); - } - } + if (!check_ego_init_correctly(ground_truth_pose_ptr, odometry_ptr)) return; } - if (route_state_ptr && (route_state_ptr->state != RouteState::SET || !is_route_set_)) { - if (route_state_ptr->state == RouteState::SET) { - is_route_set_ = true; - } - // publish goal pose - goal_pose_.header.stamp = current_time; - goal_pose_.header.frame_id = "map"; - pub_goal_pose_->publish(goal_pose_); + // Set route + is_route_set_ = !is_route_set_ ? set_route(route_state_ptr, current_time) : is_route_set_; + + if (!is_route_set_) { return; } @@ -331,9 +294,9 @@ void ReactionAnalyzerNode::init_ego( // change to autonomous if (operation_mode_ptr && operation_mode_ptr->mode != OperationModeState::AUTONOMOUS) { call_operation_mode_service_without_response(); - return; } } + const bool is_ready = (is_vehicle_initialized_ && is_route_set_ && (operation_mode_ptr->mode == OperationModeState::AUTONOMOUS || @@ -363,6 +326,78 @@ void ReactionAnalyzerNode::call_operation_mode_service_without_response() }); } +bool ReactionAnalyzerNode::init_ego( + const LocalizationInitializationState::ConstSharedPtr & initialization_state_ptr, + const Odometry::ConstSharedPtr & odometry_ptr, const rclcpp::Time & current_time) +{ + // Pose initialization of the ego + if (initialization_state_ptr) { + if (initialization_state_ptr->state != LocalizationInitializationState::INITIALIZED) { + if (node_running_mode_ == RunningMode::PlanningControl) { + // publish initial pose + init_pose_.header.stamp = current_time; + init_pose_.header.frame_id = "map"; + pub_initial_pose_->publish(init_pose_); + } + return false; + } + // Wait until odometry_ptr is initialized + if (!odometry_ptr) { + RCLCPP_WARN_ONCE(get_logger(), "Odometry is not received. Waiting for odometry..."); + return false; + } + return true; + } + return false; +} + +bool ReactionAnalyzerNode::set_route( + const RouteState::ConstSharedPtr & route_state_ptr, const rclcpp::Time & current_time) +{ + if (route_state_ptr) { + if (route_state_ptr->state != RouteState::SET) { + // publish goal pose + goal_pose_.header.stamp = current_time; + goal_pose_.header.frame_id = "map"; + pub_goal_pose_->publish(goal_pose_); + return false; + } + return true; + } + return false; +} + +bool ReactionAnalyzerNode::check_ego_init_correctly( + const PoseStamped::ConstSharedPtr & ground_truth_pose_ptr, + const Odometry::ConstSharedPtr & odometry_ptr) +{ + if (!ground_truth_pose_ptr) { + RCLCPP_WARN( + get_logger(), "Ground truth pose is not received. Waiting for Ground truth pose..."); + return false; + } + if (!odometry_ptr) { + RCLCPP_WARN(get_logger(), "Odometry is not received. Waiting for odometry..."); + return false; + } + + constexpr double deviation_threshold = 0.1; + const auto deviation = + tier4_autoware_utils::calcPoseDeviation(ground_truth_pose_ptr->pose, odometry_ptr->pose.pose); + const bool is_position_initialized_correctly = deviation.longitudinal < deviation_threshold && + deviation.lateral < deviation_threshold && + deviation.yaw < deviation_threshold; + if (!is_position_initialized_correctly) { + RCLCPP_ERROR( + get_logger(), + "Deviation between ground truth position and ego position is high. Node is shutting " + "down. Longitudinal deviation: %f, Lateral deviation: %f, Yaw deviation: %f", + deviation.longitudinal, deviation.lateral, deviation.yaw); + rclcpp::shutdown(); + } + return true; +} + void ReactionAnalyzerNode::reset() { if (test_iteration_count_ >= node_params_.test_iteration) { diff --git a/tools/reaction_analyzer/src/subscriber.cpp b/tools/reaction_analyzer/src/subscriber.cpp index 20b9c3e1c3d75..21811430da696 100644 --- a/tools/reaction_analyzer/src/subscriber.cpp +++ b/tools/reaction_analyzer/src/subscriber.cpp @@ -40,36 +40,6 @@ SubscriberBase::SubscriberBase( void SubscriberBase::init_reaction_chains_and_params() { - auto stringToMessageType = [](const std::string & input) { - if (input == "autoware_auto_control_msgs/msg/AckermannControlCommand") { - return SubscriberMessageType::ACKERMANN_CONTROL_COMMAND; - } else if (input == "autoware_auto_planning_msgs/msg/Trajectory") { - return SubscriberMessageType::TRAJECTORY; - } else if (input == "sensor_msgs/msg/PointCloud2") { - return SubscriberMessageType::POINTCLOUD2; - } else if (input == "autoware_auto_perception_msgs/msg/PredictedObjects") { - return SubscriberMessageType::PREDICTED_OBJECTS; - } else if (input == "autoware_auto_perception_msgs/msg/DetectedObjects") { - return SubscriberMessageType::DETECTED_OBJECTS; - } else if (input == "autoware_auto_perception_msgs/msg/TrackedObjects") { - return SubscriberMessageType::TRACKED_OBJECTS; - } else { - return SubscriberMessageType::UNKNOWN; - } - }; - - auto stringToReactionType = [](const std::string & input) { - if (input == "first_brake_params") { - return ReactionType::FIRST_BRAKE; - } else if (input == "search_zero_vel_params") { - return ReactionType::SEARCH_ZERO_VEL; - } else if (input == "search_entity_params") { - return ReactionType::SEARCH_ENTITY; - } else { - return ReactionType::UNKNOWN; - } - }; - // Init Chains: get the topic addresses and message types of the modules in chain { const auto param_key = std::string("subscriber.reaction_chain"); @@ -81,8 +51,8 @@ void SubscriberBase::init_reaction_chains_and_params() tmp.topic_address = node_->get_parameter(module_name + ".topic_name").as_string(); tmp.time_debug_topic_address = node_->get_parameter_or(module_name + ".time_debug_topic_name", std::string("")); - tmp.message_type = - stringToMessageType(node_->get_parameter(module_name + ".message_type").as_string()); + tmp.message_type = get_subscriber_message_type( + node_->get_parameter(module_name + ".message_type").as_string()); if (tmp.message_type != SubscriberMessageType::UNKNOWN) { chain_modules_.emplace_back(tmp); } else { @@ -99,7 +69,7 @@ void SubscriberBase::init_reaction_chains_and_params() const auto module_names = node_->list_parameters({param_key}, 3).prefixes; for (const auto & module_name : module_names) { const auto splitted_name = split(module_name, '.'); - const auto type = stringToReactionType(splitted_name.back()); + const auto type = get_reaction_type(splitted_name.back()); switch (type) { case ReactionType::FIRST_BRAKE: { reaction_params_.first_brake_params.debug_control_commands = @@ -145,11 +115,13 @@ void SubscriberBase::init_reaction_chains_and_params() } } } - // init variables - entity_pose_ = create_entity_pose(entity_params_); - entity_search_radius_ = calculate_entity_search_radius(entity_params_) + - reaction_params_.search_entity_params.search_radius_offset; + // Init variables + { + entity_pose_ = create_entity_pose(entity_params_); + entity_search_radius_ = calculate_entity_search_radius(entity_params_) + + reaction_params_.search_entity_params.search_radius_offset; + } } bool SubscriberBase::init_subscribers() @@ -160,307 +132,24 @@ bool SubscriberBase::init_subscribers() } for (const auto & module : chain_modules_) { - switch (module.message_type) { - case SubscriberMessageType::ACKERMANN_CONTROL_COMMAND: { - SubscriberVariables subscriber_variable; - - if (!module.time_debug_topic_address.empty()) { - // If not empty, user should define a time debug topic - // NOTE: Because message_filters package does not support the messages without headers, we - // can not use the synchronizer. After we reacted, we are going to use the cache - // of the both PublishedTime and AckermannControlCommand subscribers to find the messages - // which have same header time. - - std::function callback = - [this, module](const AckermannControlCommand::ConstSharedPtr & ptr) { - this->on_control_command(module.node_name, ptr); - }; - subscriber_variable.sub1_ = - std::make_unique>( - node_, module.topic_address, rclcpp::QoS(1).get_rmw_qos_profile(), - create_subscription_options(node_)); - - subscriber_variable.sub1_->registerCallback(std::bind(callback, std::placeholders::_1)); - - subscriber_variable.sub2_ = std::make_unique>( - node_, module.time_debug_topic_address, rclcpp::QoS(1).get_rmw_qos_profile(), - create_subscription_options(node_)); - constexpr int cache_size = 5; - subscriber_variable.cache_ = std::make_unique>( - *subscriber_variable.sub2_, cache_size); - - } else { - std::function callback = - [this, module](const AckermannControlCommand::ConstSharedPtr & ptr) { - this->on_control_command(module.node_name, ptr); - }; - - subscriber_variable.sub1_ = - std::make_unique>( - node_, module.topic_address, rclcpp::QoS(1).get_rmw_qos_profile(), - create_subscription_options(node_)); - - subscriber_variable.sub1_->registerCallback(std::bind(callback, std::placeholders::_1)); - RCLCPP_WARN( - node_->get_logger(), - "PublishedTime will not be used for node name: %s. Header timestamp will be used for " - "calculations", - module.node_name.c_str()); - } - // set the variable to map with the topic address - subscriber_variables_map_[module.node_name] = std::move(subscriber_variable); - break; - } - case SubscriberMessageType::TRAJECTORY: { - SubscriberVariables subscriber_variable; - - if (!module.time_debug_topic_address.empty()) { - std::function - callback = [this, module]( - const Trajectory::ConstSharedPtr & ptr, - const PublishedTime::ConstSharedPtr & published_time_ptr) { - this->on_trajectory(module.node_name, ptr, published_time_ptr); - }; - - subscriber_variable.sub1_ = std::make_unique>( - node_, module.topic_address, rclcpp::QoS(1).get_rmw_qos_profile(), - create_subscription_options(node_)); - subscriber_variable.sub2_ = std::make_unique>( - node_, module.time_debug_topic_address, rclcpp::QoS(1).get_rmw_qos_profile(), - create_subscription_options(node_)); - - subscriber_variable.synchronizer_ = std::make_unique< - message_filters::Synchronizer::ExactTimePolicy>>( - SubscriberVariables::ExactTimePolicy(10), *subscriber_variable.sub1_, - *subscriber_variable.sub2_); - - subscriber_variable.synchronizer_->registerCallback( - std::bind(callback, std::placeholders::_1, std::placeholders::_2)); - - } else { - std::function callback = - [this, module](const Trajectory::ConstSharedPtr & msg) { - this->on_trajectory(module.node_name, msg); - }; - subscriber_variable.sub1_ = std::make_unique>( - node_, module.topic_address, rclcpp::QoS(1).get_rmw_qos_profile(), - create_subscription_options(node_)); - - subscriber_variable.sub1_->registerCallback(std::bind(callback, std::placeholders::_1)); - RCLCPP_WARN( - node_->get_logger(), - "PublishedTime will not be used for node name: %s. Header timestamp will be used for " - "calculations", - module.node_name.c_str()); - } - subscriber_variables_map_[module.node_name] = std::move(subscriber_variable); - break; - } - case SubscriberMessageType::POINTCLOUD2: { - SubscriberVariables subscriber_variable; - - if (!module.time_debug_topic_address.empty()) { - std::function - callback = [this, module]( - const PointCloud2::ConstSharedPtr & ptr, - const PublishedTime::ConstSharedPtr & published_time_ptr) { - this->on_pointcloud(module.node_name, ptr, published_time_ptr); - }; - - subscriber_variable.sub1_ = std::make_unique>( - node_, module.topic_address, rclcpp::SensorDataQoS().get_rmw_qos_profile(), - create_subscription_options(node_)); - subscriber_variable.sub2_ = std::make_unique>( - node_, module.time_debug_topic_address, rclcpp::QoS(1).get_rmw_qos_profile(), - create_subscription_options(node_)); - - subscriber_variable.synchronizer_ = std::make_unique< - message_filters::Synchronizer::ExactTimePolicy>>( - SubscriberVariables::ExactTimePolicy(10), *subscriber_variable.sub1_, - *subscriber_variable.sub2_); - - subscriber_variable.synchronizer_->registerCallback( - std::bind(callback, std::placeholders::_1, std::placeholders::_2)); - - } else { - std::function callback = - [this, module](const PointCloud2::ConstSharedPtr & msg) { - this->on_pointcloud(module.node_name, msg); - }; - subscriber_variable.sub1_ = std::make_unique>( - node_, module.topic_address, rclcpp::QoS(1).get_rmw_qos_profile(), - create_subscription_options(node_)); - - subscriber_variable.sub1_->registerCallback(std::bind(callback, std::placeholders::_1)); - RCLCPP_WARN( - node_->get_logger(), - "PublishedTime will not be used for node name: %s. Header timestamp will be used for " - "calculations", - module.node_name.c_str()); - } - subscriber_variables_map_[module.node_name] = std::move(subscriber_variable); - break; - } - case SubscriberMessageType::PREDICTED_OBJECTS: { - SubscriberVariables subscriber_variable; - - if (!module.time_debug_topic_address.empty()) { - std::function - callback = [this, module]( - const PredictedObjects::ConstSharedPtr & ptr, - const PublishedTime::ConstSharedPtr & published_time_ptr) { - this->on_predicted_objects(module.node_name, ptr, published_time_ptr); - }; - subscriber_variable.sub1_ = - std::make_unique>( - node_, module.topic_address, rclcpp::QoS(1).get_rmw_qos_profile(), - create_subscription_options(node_)); - subscriber_variable.sub2_ = std::make_unique>( - node_, module.time_debug_topic_address, rclcpp::QoS(1).get_rmw_qos_profile(), - create_subscription_options(node_)); - - subscriber_variable.synchronizer_ = std::make_unique< - message_filters::Synchronizer::ExactTimePolicy>>( - SubscriberVariables::ExactTimePolicy(10), *subscriber_variable.sub1_, - *subscriber_variable.sub2_); - - subscriber_variable.synchronizer_->registerCallback( - std::bind(callback, std::placeholders::_1, std::placeholders::_2)); - - } else { - std::function callback = - [this, module](const PredictedObjects::ConstSharedPtr & msg) { - this->on_predicted_objects(module.node_name, msg); - }; - subscriber_variable.sub1_ = - std::make_unique>( - node_, module.topic_address, rclcpp::QoS(1).get_rmw_qos_profile(), - create_subscription_options(node_)); - - subscriber_variable.sub1_->registerCallback(std::bind(callback, std::placeholders::_1)); - RCLCPP_WARN( - node_->get_logger(), - "PublishedTime will not be used for node name: %s. Header timestamp will be used for " - "calculations", - module.node_name.c_str()); - } - subscriber_variables_map_[module.node_name] = std::move(subscriber_variable); - break; - } - case SubscriberMessageType::DETECTED_OBJECTS: { - SubscriberVariables subscriber_variable; - - if (!module.time_debug_topic_address.empty()) { - std::function - callback = [this, module]( - const DetectedObjects::ConstSharedPtr & ptr, - const PublishedTime::ConstSharedPtr & published_time_ptr) { - this->on_detected_objects(module.node_name, ptr, published_time_ptr); - }; - - subscriber_variable.sub1_ = - std::make_unique>( - node_, module.topic_address, rclcpp::QoS(1).get_rmw_qos_profile(), - create_subscription_options(node_)); - subscriber_variable.sub2_ = std::make_unique>( - node_, module.time_debug_topic_address, rclcpp::QoS(1).get_rmw_qos_profile(), - create_subscription_options(node_)); - - subscriber_variable.synchronizer_ = std::make_unique< - message_filters::Synchronizer::ExactTimePolicy>>( - SubscriberVariables::ExactTimePolicy(10), *subscriber_variable.sub1_, - *subscriber_variable.sub2_); - - subscriber_variable.synchronizer_->registerCallback( - std::bind(callback, std::placeholders::_1, std::placeholders::_2)); - - } else { - std::function callback = - [this, module](const DetectedObjects::ConstSharedPtr & msg) { - this->on_detected_objects(module.node_name, msg); - }; - subscriber_variable.sub1_ = - std::make_unique>( - node_, module.topic_address, rclcpp::QoS(1).get_rmw_qos_profile(), - create_subscription_options(node_)); - - subscriber_variable.sub1_->registerCallback(std::bind(callback, std::placeholders::_1)); - RCLCPP_WARN( - node_->get_logger(), - "PublishedTime will not be used for node name: %s. Header timestamp will be used for " - "calculations", - module.node_name.c_str()); - } - subscriber_variables_map_[module.node_name] = std::move(subscriber_variable); - - break; - } - case SubscriberMessageType::TRACKED_OBJECTS: { - SubscriberVariables subscriber_variable; - if (!module.time_debug_topic_address.empty()) { - std::function - callback = [this, module]( - const TrackedObjects::ConstSharedPtr & ptr, - const PublishedTime::ConstSharedPtr & published_time_ptr) { - this->on_tracked_objects(module.node_name, ptr, published_time_ptr); - }; - - subscriber_variable.sub1_ = std::make_unique>( - node_, module.topic_address, rclcpp::QoS(1).get_rmw_qos_profile(), - create_subscription_options(node_)); - subscriber_variable.sub2_ = std::make_unique>( - node_, module.time_debug_topic_address, rclcpp::QoS(1).get_rmw_qos_profile(), - create_subscription_options(node_)); - - subscriber_variable.synchronizer_ = std::make_unique< - message_filters::Synchronizer::ExactTimePolicy>>( - SubscriberVariables::ExactTimePolicy(10), *subscriber_variable.sub1_, - *subscriber_variable.sub2_); - - subscriber_variable.synchronizer_->registerCallback( - std::bind(callback, std::placeholders::_1, std::placeholders::_2)); - - } else { - std::function callback = - [this, module](const TrackedObjects::ConstSharedPtr & msg) { - this->on_tracked_objects(module.node_name, msg); - }; - subscriber_variable.sub1_ = std::make_unique>( - node_, module.topic_address, rclcpp::QoS(1).get_rmw_qos_profile(), - create_subscription_options(node_)); - - subscriber_variable.sub1_->registerCallback(std::bind(callback, std::placeholders::_1)); - RCLCPP_WARN( - node_->get_logger(), - "PublishedTime will not be used for node name: %s. Header timestamp will be used for " - "calculations", - module.node_name.c_str()); - } - subscriber_variables_map_[module.node_name] = std::move(subscriber_variable); - break; - } - case SubscriberMessageType::UNKNOWN: - RCLCPP_WARN( - node_->get_logger(), "Unknown message type for module name: %s, skipping..", - module.node_name.c_str()); - break; - default: - RCLCPP_WARN( - node_->get_logger(), "Unknown message type for module name: %s, skipping..", - module.node_name.c_str()); - break; + if (module.message_type == SubscriberMessageType::UNKNOWN) { + RCLCPP_WARN( + node_->get_logger(), "Unknown message type for topic_config name: %s, skipping..", + module.node_name.c_str()); + } + auto subscriber_var = get_subscriber_variable(module); + if (!subscriber_var) { + RCLCPP_ERROR( + node_->get_logger(), "Failed to initialize subscriber for module name: %s", + module.node_name.c_str()); + return false; } + subscriber_variables_map_[module.node_name] = std::move(subscriber_var.value()); } return true; } -std::optional> -SubscriberBase::getMessageBuffersMap() +std::optional> SubscriberBase::get_message_buffers_map() { std::lock_guard lock(mutex_); if (message_buffers_.empty()) { @@ -818,7 +507,8 @@ void SubscriberBase::on_detected_objects( DetectedObjects output_objs; output_objs = *msg_ptr; for (auto & obj : output_objs.objects) { - geometry_msgs::msg::PoseStamped output_stamped, input_stamped; + geometry_msgs::msg::PoseStamped output_stamped; + geometry_msgs::msg::PoseStamped input_stamped; input_stamped.pose = obj.kinematics.pose_with_covariance.pose; tf2::doTransform(input_stamped, output_stamped, transform_stamped); obj.kinematics.pose_with_covariance.pose = output_stamped.pose; @@ -868,7 +558,8 @@ void SubscriberBase::on_detected_objects( DetectedObjects output_objs; output_objs = *msg_ptr; for (auto & obj : output_objs.objects) { - geometry_msgs::msg::PoseStamped output_stamped, input_stamped; + geometry_msgs::msg::PoseStamped output_stamped; + geometry_msgs::msg::PoseStamped input_stamped; input_stamped.pose = obj.kinematics.pose_with_covariance.pose; tf2::doTransform(input_stamped, output_stamped, transform_stamped); obj.kinematics.pose_with_covariance.pose = output_stamped.pose; @@ -937,6 +628,289 @@ void SubscriberBase::on_tracked_objects( } } +std::optional SubscriberBase::get_subscriber_variable( + const TopicConfig & topic_config) +{ + switch (topic_config.message_type) { + case SubscriberMessageType::ACKERMANN_CONTROL_COMMAND: { + SubscriberVariables subscriber_variable; + + if (!topic_config.time_debug_topic_address.empty()) { + // If not empty, user should define a time debug topic + // NOTE: Because message_filters package does not support the messages without headers, we + // can not use the synchronizer. After we reacted, we are going to use the cache + // of the both PublishedTime and AckermannControlCommand subscribers to find the messages + // which have same header time. + + std::function callback = + [this, topic_config](const AckermannControlCommand::ConstSharedPtr & ptr) { + this->on_control_command(topic_config.node_name, ptr); + }; + subscriber_variable.sub1_ = + std::make_unique>( + node_, topic_config.topic_address, rclcpp::QoS(1).get_rmw_qos_profile(), + create_subscription_options(node_)); + + subscriber_variable.sub1_->registerCallback(std::bind(callback, std::placeholders::_1)); + + subscriber_variable.sub2_ = std::make_unique>( + node_, topic_config.time_debug_topic_address, rclcpp::QoS(1).get_rmw_qos_profile(), + create_subscription_options(node_)); + constexpr int cache_size = 5; + subscriber_variable.cache_ = std::make_unique>( + *subscriber_variable.sub2_, cache_size); + + } else { + std::function callback = + [this, topic_config](const AckermannControlCommand::ConstSharedPtr & ptr) { + this->on_control_command(topic_config.node_name, ptr); + }; + + subscriber_variable.sub1_ = + std::make_unique>( + node_, topic_config.topic_address, rclcpp::QoS(1).get_rmw_qos_profile(), + create_subscription_options(node_)); + + subscriber_variable.sub1_->registerCallback(std::bind(callback, std::placeholders::_1)); + RCLCPP_WARN( + node_->get_logger(), + "PublishedTime will not be used for node name: %s. Header timestamp will be used for " + "calculations", + topic_config.node_name.c_str()); + } + return subscriber_variable; + } + case SubscriberMessageType::TRAJECTORY: { + SubscriberVariables subscriber_variable; + + if (!topic_config.time_debug_topic_address.empty()) { + std::function + callback = [this, topic_config]( + const Trajectory::ConstSharedPtr & ptr, + const PublishedTime::ConstSharedPtr & published_time_ptr) { + this->on_trajectory(topic_config.node_name, ptr, published_time_ptr); + }; + + subscriber_variable.sub1_ = std::make_unique>( + node_, topic_config.topic_address, rclcpp::QoS(1).get_rmw_qos_profile(), + create_subscription_options(node_)); + subscriber_variable.sub2_ = std::make_unique>( + node_, topic_config.time_debug_topic_address, rclcpp::QoS(1).get_rmw_qos_profile(), + create_subscription_options(node_)); + + subscriber_variable.synchronizer_ = std::make_unique< + message_filters::Synchronizer::ExactTimePolicy>>( + SubscriberVariables::ExactTimePolicy(10), *subscriber_variable.sub1_, + *subscriber_variable.sub2_); + + subscriber_variable.synchronizer_->registerCallback( + std::bind(callback, std::placeholders::_1, std::placeholders::_2)); + + } else { + std::function callback = + [this, topic_config](const Trajectory::ConstSharedPtr & msg) { + this->on_trajectory(topic_config.node_name, msg); + }; + subscriber_variable.sub1_ = std::make_unique>( + node_, topic_config.topic_address, rclcpp::QoS(1).get_rmw_qos_profile(), + create_subscription_options(node_)); + + subscriber_variable.sub1_->registerCallback(std::bind(callback, std::placeholders::_1)); + RCLCPP_WARN( + node_->get_logger(), + "PublishedTime will not be used for node name: %s. Header timestamp will be used for " + "calculations", + topic_config.node_name.c_str()); + } + return subscriber_variable; + } + case SubscriberMessageType::POINTCLOUD2: { + SubscriberVariables subscriber_variable; + + if (!topic_config.time_debug_topic_address.empty()) { + std::function + callback = [this, topic_config]( + const PointCloud2::ConstSharedPtr & ptr, + const PublishedTime::ConstSharedPtr & published_time_ptr) { + this->on_pointcloud(topic_config.node_name, ptr, published_time_ptr); + }; + + subscriber_variable.sub1_ = std::make_unique>( + node_, topic_config.topic_address, rclcpp::SensorDataQoS().get_rmw_qos_profile(), + create_subscription_options(node_)); + subscriber_variable.sub2_ = std::make_unique>( + node_, topic_config.time_debug_topic_address, rclcpp::QoS(1).get_rmw_qos_profile(), + create_subscription_options(node_)); + + subscriber_variable.synchronizer_ = std::make_unique< + message_filters::Synchronizer::ExactTimePolicy>>( + SubscriberVariables::ExactTimePolicy(10), *subscriber_variable.sub1_, + *subscriber_variable.sub2_); + + subscriber_variable.synchronizer_->registerCallback( + std::bind(callback, std::placeholders::_1, std::placeholders::_2)); + + } else { + std::function callback = + [this, topic_config](const PointCloud2::ConstSharedPtr & msg) { + this->on_pointcloud(topic_config.node_name, msg); + }; + subscriber_variable.sub1_ = std::make_unique>( + node_, topic_config.topic_address, rclcpp::QoS(1).get_rmw_qos_profile(), + create_subscription_options(node_)); + + subscriber_variable.sub1_->registerCallback(std::bind(callback, std::placeholders::_1)); + RCLCPP_WARN( + node_->get_logger(), + "PublishedTime will not be used for node name: %s. Header timestamp will be used for " + "calculations", + topic_config.node_name.c_str()); + } + return subscriber_variable; + } + case SubscriberMessageType::PREDICTED_OBJECTS: { + SubscriberVariables subscriber_variable; + + if (!topic_config.time_debug_topic_address.empty()) { + std::function + callback = [this, topic_config]( + const PredictedObjects::ConstSharedPtr & ptr, + const PublishedTime::ConstSharedPtr & published_time_ptr) { + this->on_predicted_objects(topic_config.node_name, ptr, published_time_ptr); + }; + subscriber_variable.sub1_ = std::make_unique>( + node_, topic_config.topic_address, rclcpp::QoS(1).get_rmw_qos_profile(), + create_subscription_options(node_)); + subscriber_variable.sub2_ = std::make_unique>( + node_, topic_config.time_debug_topic_address, rclcpp::QoS(1).get_rmw_qos_profile(), + create_subscription_options(node_)); + + subscriber_variable.synchronizer_ = std::make_unique< + message_filters::Synchronizer::ExactTimePolicy>>( + SubscriberVariables::ExactTimePolicy(10), *subscriber_variable.sub1_, + *subscriber_variable.sub2_); + + subscriber_variable.synchronizer_->registerCallback( + std::bind(callback, std::placeholders::_1, std::placeholders::_2)); + + } else { + std::function callback = + [this, topic_config](const PredictedObjects::ConstSharedPtr & msg) { + this->on_predicted_objects(topic_config.node_name, msg); + }; + subscriber_variable.sub1_ = std::make_unique>( + node_, topic_config.topic_address, rclcpp::QoS(1).get_rmw_qos_profile(), + create_subscription_options(node_)); + + subscriber_variable.sub1_->registerCallback(std::bind(callback, std::placeholders::_1)); + RCLCPP_WARN( + node_->get_logger(), + "PublishedTime will not be used for node name: %s. Header timestamp will be used for " + "calculations", + topic_config.node_name.c_str()); + } + return subscriber_variable; + } + case SubscriberMessageType::DETECTED_OBJECTS: { + SubscriberVariables subscriber_variable; + + if (!topic_config.time_debug_topic_address.empty()) { + std::function + callback = [this, topic_config]( + const DetectedObjects::ConstSharedPtr & ptr, + const PublishedTime::ConstSharedPtr & published_time_ptr) { + this->on_detected_objects(topic_config.node_name, ptr, published_time_ptr); + }; + + subscriber_variable.sub1_ = std::make_unique>( + node_, topic_config.topic_address, rclcpp::QoS(1).get_rmw_qos_profile(), + create_subscription_options(node_)); + subscriber_variable.sub2_ = std::make_unique>( + node_, topic_config.time_debug_topic_address, rclcpp::QoS(1).get_rmw_qos_profile(), + create_subscription_options(node_)); + + subscriber_variable.synchronizer_ = std::make_unique< + message_filters::Synchronizer::ExactTimePolicy>>( + SubscriberVariables::ExactTimePolicy(10), *subscriber_variable.sub1_, + *subscriber_variable.sub2_); + + subscriber_variable.synchronizer_->registerCallback( + std::bind(callback, std::placeholders::_1, std::placeholders::_2)); + + } else { + std::function callback = + [this, topic_config](const DetectedObjects::ConstSharedPtr & msg) { + this->on_detected_objects(topic_config.node_name, msg); + }; + subscriber_variable.sub1_ = std::make_unique>( + node_, topic_config.topic_address, rclcpp::QoS(1).get_rmw_qos_profile(), + create_subscription_options(node_)); + + subscriber_variable.sub1_->registerCallback(std::bind(callback, std::placeholders::_1)); + RCLCPP_WARN( + node_->get_logger(), + "PublishedTime will not be used for node name: %s. Header timestamp will be used for " + "calculations", + topic_config.node_name.c_str()); + } + return subscriber_variable; + } + case SubscriberMessageType::TRACKED_OBJECTS: { + SubscriberVariables subscriber_variable; + if (!topic_config.time_debug_topic_address.empty()) { + std::function + callback = [this, topic_config]( + const TrackedObjects::ConstSharedPtr & ptr, + const PublishedTime::ConstSharedPtr & published_time_ptr) { + this->on_tracked_objects(topic_config.node_name, ptr, published_time_ptr); + }; + + subscriber_variable.sub1_ = std::make_unique>( + node_, topic_config.topic_address, rclcpp::QoS(1).get_rmw_qos_profile(), + create_subscription_options(node_)); + subscriber_variable.sub2_ = std::make_unique>( + node_, topic_config.time_debug_topic_address, rclcpp::QoS(1).get_rmw_qos_profile(), + create_subscription_options(node_)); + + subscriber_variable.synchronizer_ = std::make_unique< + message_filters::Synchronizer::ExactTimePolicy>>( + SubscriberVariables::ExactTimePolicy(10), *subscriber_variable.sub1_, + *subscriber_variable.sub2_); + + subscriber_variable.synchronizer_->registerCallback( + std::bind(callback, std::placeholders::_1, std::placeholders::_2)); + + } else { + std::function callback = + [this, topic_config](const TrackedObjects::ConstSharedPtr & msg) { + this->on_tracked_objects(topic_config.node_name, msg); + }; + subscriber_variable.sub1_ = std::make_unique>( + node_, topic_config.topic_address, rclcpp::QoS(1).get_rmw_qos_profile(), + create_subscription_options(node_)); + + subscriber_variable.sub1_->registerCallback(std::bind(callback, std::placeholders::_1)); + RCLCPP_WARN( + node_->get_logger(), + "PublishedTime will not be used for node name: %s. Header timestamp will be used for " + "calculations", + topic_config.node_name.c_str()); + } + return subscriber_variable; + } + default: + RCLCPP_WARN( + node_->get_logger(), "Unknown message type for topic_config name: %s, skipping..", + topic_config.node_name.c_str()); + return std::nullopt; + } +} + std::optional SubscriberBase::find_first_brake_idx( const std::vector & cmd_array) { @@ -997,7 +971,7 @@ std::optional SubscriberBase::find_first_brake_idx( } void SubscriberBase::set_control_command_to_buffer( - std::vector & buffer, const AckermannControlCommand & cmd) + std::vector & buffer, const AckermannControlCommand & cmd) const { const auto last_cmd_time = cmd.stamp; if (!buffer.empty()) { diff --git a/tools/reaction_analyzer/src/topic_publisher.cpp b/tools/reaction_analyzer/src/topic_publisher.cpp index a97b9d53377cf..31499de563f4b 100644 --- a/tools/reaction_analyzer/src/topic_publisher.cpp +++ b/tools/reaction_analyzer/src/topic_publisher.cpp @@ -250,603 +250,57 @@ void TopicPublisher::reset() void TopicPublisher::init_rosbag_publishers() { - auto string_to_publisher_message_type = [](const std::string & input) { - if (input == "sensor_msgs/msg/PointCloud2") { - return PublisherMessageType::POINTCLOUD2; - } else if (input == "sensor_msgs/msg/CameraInfo") { - return PublisherMessageType::CAMERA_INFO; - } else if (input == "sensor_msgs/msg/Image") { - return PublisherMessageType::IMAGE; - } else if (input == "geometry_msgs/msg/PoseWithCovarianceStamped") { - return PublisherMessageType::POSE_WITH_COVARIANCE_STAMPED; - } else if (input == "geometry_msgs/msg/PoseStamped") { - return PublisherMessageType::POSE_STAMPED; - } else if (input == "nav_msgs/msg/Odometry") { - return PublisherMessageType::ODOMETRY; - } else if (input == "sensor_msgs/msg/Imu") { - return PublisherMessageType::IMU; - } else if (input == "autoware_auto_vehicle_msgs/msg/ControlModeReport") { - return PublisherMessageType::CONTROL_MODE_REPORT; - } else if (input == "autoware_auto_vehicle_msgs/msg/GearReport") { - return PublisherMessageType::GEAR_REPORT; - } else if (input == "autoware_auto_vehicle_msgs/msg/HazardLightsReport") { - return PublisherMessageType::HAZARD_LIGHTS_REPORT; - } else if (input == "autoware_auto_vehicle_msgs/msg/SteeringReport") { - return PublisherMessageType::STEERING_REPORT; - } else if (input == "autoware_auto_vehicle_msgs/msg/TurnIndicatorsReport") { - return PublisherMessageType::TURN_INDICATORS_REPORT; - } else if (input == "autoware_auto_vehicle_msgs/msg/VelocityReport") { - return PublisherMessageType::VELOCITY_REPORT; - } else { - return PublisherMessageType::UNKNOWN; - } - }; - - rosbag2_cpp::Reader reader; - - // read the messages without object - { - try { - reader.open(topic_publisher_params_.path_bag_without_object); - } catch (const std::exception & e) { - RCLCPP_ERROR_STREAM(node_->get_logger(), "Error opening bag file: " << e.what()); - rclcpp::shutdown(); - return; - } - - const auto & topics = reader.get_metadata().topics_with_message_count; - - auto getMessageTypeForTopic = [&topics, &string_to_publisher_message_type]( - const std::string & topicName) -> PublisherMessageType { - auto it = std::find_if(topics.begin(), topics.end(), [&topicName](const auto & topic) { - return topic.topic_metadata.name == topicName; - }); - if (it != topics.end()) { - return string_to_publisher_message_type( - it->topic_metadata.type); // Return the message type if found - } else { - return PublisherMessageType::UNKNOWN; // - } - }; - - // Collect timestamps for each topic to set the frequency of the publishers - std::unordered_map> timestamps_per_topic; - - while (reader.has_next()) { - const auto bag_message = reader.read_next(); - - const auto current_topic = bag_message->topic_name; - - const auto message_type = getMessageTypeForTopic(current_topic); - if (message_type == PublisherMessageType::UNKNOWN) { - continue; - } - - // Record timestamp - timestamps_per_topic[current_topic].emplace_back(bag_message->time_stamp); - - // Deserialize and store the first message as a sample - if (timestamps_per_topic[current_topic].size() == 1) { - set_message_to_variable_map(message_type, current_topic, *bag_message, true); - } - } - - // After collecting all timestamps for each topic, set frequencies of the publishers - set_period_to_variable_map(timestamps_per_topic); - - reader.close(); - } + // read messages without object + init_rosbag_publishers_without_object(topic_publisher_params_.path_bag_without_object); // read messages with object - { - try { - reader.open(topic_publisher_params_.path_bag_with_object); - } catch (const std::exception & e) { - RCLCPP_ERROR_STREAM(node_->get_logger(), "Error opening bag file: " << e.what()); - rclcpp::shutdown(); - return; - } - - const auto & topics = reader.get_metadata().topics_with_message_count; + init_rosbag_publishers_with_object(topic_publisher_params_.path_bag_with_object); - auto getMessageTypeForTopic = [&topics, &string_to_publisher_message_type]( - const std::string & topicName) -> PublisherMessageType { - auto it = std::find_if(topics.begin(), topics.end(), [&topicName](const auto & topic) { - return topic.topic_metadata.name == topicName; - }); + // before create publishers and timers, check all the messages are correctly initialized with + // their conjugate messages. + if (check_publishers_initialized_correctly()) { + RCLCPP_INFO(node_->get_logger(), "Messages are initialized correctly"); + } else { + RCLCPP_ERROR(node_->get_logger(), "Messages are not initialized correctly"); + rclcpp::shutdown(); + } - if (it != topics.end()) { - return string_to_publisher_message_type( - it->topic_metadata.type); // Return the message type if found - } else { - return PublisherMessageType::UNKNOWN; - } - }; + // set publishers and timers except for the pointcloud message + const auto pointcloud_variables_map = set_general_publishers_and_timers(); // except pointcloud + set_pointcloud_publishers_and_timers(pointcloud_variables_map); +} - while (reader.has_next()) { - auto bag_message = reader.read_next(); - const auto current_topic = bag_message->topic_name; +template +void TopicPublisher::set_message( + const std::string & topic_name, const rosbag2_storage::SerializedBagMessage & bag_message, + const bool is_empty_area_message) +{ + rclcpp::Serialization serialization; + rclcpp::SerializedMessage extracted_serialized_msg(*bag_message.serialized_data); - const auto message_type = getMessageTypeForTopic(current_topic); + // Deserialize the message + auto deserialized_message = std::make_shared(); + serialization.deserialize_message(&extracted_serialized_msg, &*deserialized_message); + auto & publisher_variant = topic_publisher_map_[topic_name]; - if (message_type == PublisherMessageType::UNKNOWN) { - continue; - } - set_message_to_variable_map(message_type, current_topic, *bag_message, false); - } - reader.close(); + if (!std::holds_alternative>(publisher_variant)) { + publisher_variant = PublisherVariables{}; } - if (set_publishers_and_timers_to_variable_map()) { - RCLCPP_INFO(node_->get_logger(), "Publishers and timers are set correctly"); - } else { - RCLCPP_ERROR(node_->get_logger(), "Publishers and timers are not set correctly"); - rclcpp::shutdown(); - } -} + auto & publisher_variable = std::get>(publisher_variant); -void TopicPublisher::set_message_to_variable_map( - const PublisherMessageType & message_type, const std::string & topic_name, - rosbag2_storage::SerializedBagMessage & bag_message, const bool is_empty_area_message) -{ - // is_empty_area_message true for empty area messages, false for object spawned messages - switch (message_type) { - case PublisherMessageType::POINTCLOUD2: { - rclcpp::Serialization serialization; - rclcpp::SerializedMessage extracted_serialized_msg(*bag_message.serialized_data); - - auto & publisher_var = topic_publisher_map_[topic_name]; - if (is_empty_area_message) { - if (!std::holds_alternative>(publisher_var)) { - publisher_var = PublisherVariables(); - } - std::get>(publisher_var).empty_area_message = - std::make_shared(); - serialization.deserialize_message( - &extracted_serialized_msg, - &(*std::get>(publisher_var).empty_area_message)); - } else { - if (!std::holds_alternative>(publisher_var)) { - RCLCPP_ERROR_STREAM( - node_->get_logger(), "Variant couldn't found in the topic named: " << topic_name); - rclcpp::shutdown(); - } - auto & object_spawned_message = - std::get>(publisher_var).object_spawned_message; - if (!object_spawned_message) { - object_spawned_message = std::make_shared(); - serialization.deserialize_message(&extracted_serialized_msg, &(*object_spawned_message)); - } - } - break; - } - case PublisherMessageType::CAMERA_INFO: { - rclcpp::Serialization serialization; - rclcpp::SerializedMessage extracted_serialized_msg(*bag_message.serialized_data); - - auto & publisher_var = topic_publisher_map_[topic_name]; - if (is_empty_area_message) { - if (!std::holds_alternative>( - publisher_var)) { - publisher_var = PublisherVariables(); - } - std::get>(publisher_var) - .empty_area_message = std::make_shared(); - serialization.deserialize_message( - &extracted_serialized_msg, - &(*std::get>(publisher_var) - .empty_area_message)); - } else { - if (!std::holds_alternative>( - publisher_var)) { - RCLCPP_ERROR_STREAM( - node_->get_logger(), "Variant couldn't found in the topic named: " << topic_name); - rclcpp::shutdown(); - } - auto & object_spawned_message = - std::get>(publisher_var) - .object_spawned_message; - if (!object_spawned_message) { - object_spawned_message = std::make_shared(); - serialization.deserialize_message(&extracted_serialized_msg, &(*object_spawned_message)); - } - } - break; - } - case PublisherMessageType::IMAGE: { - rclcpp::Serialization serialization; - rclcpp::SerializedMessage extracted_serialized_msg(*bag_message.serialized_data); - - auto & publisher_var = topic_publisher_map_[topic_name]; - if (is_empty_area_message) { - if (!std::holds_alternative>(publisher_var)) { - publisher_var = PublisherVariables(); - } - std::get>(publisher_var).empty_area_message = - std::make_shared(); - serialization.deserialize_message( - &extracted_serialized_msg, - &(*std::get>(publisher_var) - .empty_area_message)); - } else { - if (!std::holds_alternative>(publisher_var)) { - RCLCPP_ERROR_STREAM( - node_->get_logger(), "Variant couldn't found in the topic named: " << topic_name); - rclcpp::shutdown(); - } - auto & object_spawned_message = - std::get>(publisher_var) - .object_spawned_message; - if (!object_spawned_message) { - object_spawned_message = std::make_shared(); - serialization.deserialize_message(&extracted_serialized_msg, &(*object_spawned_message)); - } - } - break; - } - case PublisherMessageType::POSE_WITH_COVARIANCE_STAMPED: { - rclcpp::Serialization serialization; - rclcpp::SerializedMessage extracted_serialized_msg(*bag_message.serialized_data); - - auto & publisher_var = topic_publisher_map_[topic_name]; - if (is_empty_area_message) { - if (!std::holds_alternative< - PublisherVariables>(publisher_var)) { - publisher_var = PublisherVariables(); - } - std::get>(publisher_var) - .empty_area_message = std::make_shared(); - serialization.deserialize_message( - &extracted_serialized_msg, - &(*std::get>( - publisher_var) - .empty_area_message)); - } else { - if (!std::holds_alternative< - PublisherVariables>(publisher_var)) { - RCLCPP_ERROR_STREAM( - node_->get_logger(), "Variant couldn't found in the topic named: " << topic_name); - rclcpp::shutdown(); - } - auto & object_spawned_message = - std::get>(publisher_var) - .object_spawned_message; - if (!object_spawned_message) { - object_spawned_message = - std::make_shared(); - serialization.deserialize_message(&extracted_serialized_msg, &(*object_spawned_message)); - } - } - break; - } - case PublisherMessageType::POSE_STAMPED: { - rclcpp::Serialization serialization; - rclcpp::SerializedMessage extracted_serialized_msg(*bag_message.serialized_data); - - auto & publisher_var = topic_publisher_map_[topic_name]; - if (is_empty_area_message) { - if (!std::holds_alternative>( - publisher_var)) { - publisher_var = PublisherVariables(); - } - std::get>(publisher_var) - .empty_area_message = std::make_shared(); - serialization.deserialize_message( - &extracted_serialized_msg, - &(*std::get>(publisher_var) - .empty_area_message)); - } else { - if (!std::holds_alternative>( - publisher_var)) { - RCLCPP_ERROR_STREAM( - node_->get_logger(), "Variant couldn't found in the topic named: " << topic_name); - rclcpp::shutdown(); - } - auto & object_spawned_message = - std::get>(publisher_var) - .object_spawned_message; - if (!object_spawned_message) { - object_spawned_message = std::make_shared(); - serialization.deserialize_message(&extracted_serialized_msg, &(*object_spawned_message)); - } - } - break; - } - case PublisherMessageType::ODOMETRY: { - rclcpp::Serialization serialization; - rclcpp::SerializedMessage extracted_serialized_msg(*bag_message.serialized_data); - - auto & publisher_var = topic_publisher_map_[topic_name]; - if (is_empty_area_message) { - if (!std::holds_alternative>(publisher_var)) { - publisher_var = PublisherVariables(); - } - std::get>(publisher_var).empty_area_message = - std::make_shared(); - serialization.deserialize_message( - &extracted_serialized_msg, - &(*std::get>(publisher_var) - .empty_area_message)); - } else { - if (!std::holds_alternative>(publisher_var)) { - RCLCPP_ERROR_STREAM( - node_->get_logger(), "Variant couldn't found in the topic named: " << topic_name); - rclcpp::shutdown(); - } - auto & object_spawned_message = - std::get>(publisher_var) - .object_spawned_message; - if (!object_spawned_message) { - object_spawned_message = std::make_shared(); - serialization.deserialize_message(&extracted_serialized_msg, &(*object_spawned_message)); - } - } - break; + if (is_empty_area_message) { + if (!publisher_variable.empty_area_message) { + publisher_variable.empty_area_message = deserialized_message; } - case PublisherMessageType::IMU: { - rclcpp::Serialization serialization; - rclcpp::SerializedMessage extracted_serialized_msg(*bag_message.serialized_data); - - auto & publisher_var = topic_publisher_map_[topic_name]; - if (is_empty_area_message) { - if (!std::holds_alternative>(publisher_var)) { - publisher_var = PublisherVariables(); - } - std::get>(publisher_var).empty_area_message = - std::make_shared(); - serialization.deserialize_message( - &extracted_serialized_msg, - &(*std::get>(publisher_var) - .empty_area_message)); - } else { - if (!std::holds_alternative>(publisher_var)) { - RCLCPP_ERROR_STREAM( - node_->get_logger(), "Variant couldn't found in the topic named: " << topic_name); - rclcpp::shutdown(); - } - auto & object_spawned_message = - std::get>(publisher_var).object_spawned_message; - if (!object_spawned_message) { - object_spawned_message = std::make_shared(); - serialization.deserialize_message(&extracted_serialized_msg, &(*object_spawned_message)); - } - } - break; - } - case PublisherMessageType::CONTROL_MODE_REPORT: { - rclcpp::Serialization serialization; - rclcpp::SerializedMessage extracted_serialized_msg(*bag_message.serialized_data); - - auto & publisher_var = topic_publisher_map_[topic_name]; - if (is_empty_area_message) { - if (!std::holds_alternative< - PublisherVariables>( - publisher_var)) { - publisher_var = PublisherVariables(); - } - std::get>( - publisher_var) - .empty_area_message = - std::make_shared(); - serialization.deserialize_message( - &extracted_serialized_msg, - &(*std::get>( - publisher_var) - .empty_area_message)); - } else { - if (!std::holds_alternative< - PublisherVariables>( - publisher_var)) { - RCLCPP_ERROR_STREAM( - node_->get_logger(), "Variant couldn't found in the topic named: " << topic_name); - rclcpp::shutdown(); - } - auto & object_spawned_message = - std::get>( - publisher_var) - .object_spawned_message; - if (!object_spawned_message) { - object_spawned_message = - std::make_shared(); - serialization.deserialize_message(&extracted_serialized_msg, &(*object_spawned_message)); - } - } - break; - } - case PublisherMessageType::GEAR_REPORT: { - rclcpp::Serialization serialization; - rclcpp::SerializedMessage extracted_serialized_msg(*bag_message.serialized_data); - - auto & publisher_var = topic_publisher_map_[topic_name]; - if (is_empty_area_message) { - if (!std::holds_alternative< - PublisherVariables>(publisher_var)) { - publisher_var = PublisherVariables(); - } - std::get>(publisher_var) - .empty_area_message = std::make_shared(); - serialization.deserialize_message( - &extracted_serialized_msg, - &(*std::get>( - publisher_var) - .empty_area_message)); - } else { - if (!std::holds_alternative< - PublisherVariables>(publisher_var)) { - RCLCPP_ERROR_STREAM( - node_->get_logger(), "Variant couldn't found in the topic named: " << topic_name); - rclcpp::shutdown(); - } - auto & object_spawned_message = - std::get>(publisher_var) - .object_spawned_message; - if (!object_spawned_message) { - object_spawned_message = std::make_shared(); - serialization.deserialize_message(&extracted_serialized_msg, &(*object_spawned_message)); - } - } - break; - } - case PublisherMessageType::HAZARD_LIGHTS_REPORT: { - rclcpp::Serialization serialization; - rclcpp::SerializedMessage extracted_serialized_msg(*bag_message.serialized_data); - - auto & publisher_var = topic_publisher_map_[topic_name]; - if (is_empty_area_message) { - if (!std::holds_alternative< - PublisherVariables>( - publisher_var)) { - publisher_var = PublisherVariables(); - } - std::get>( - publisher_var) - .empty_area_message = - std::make_shared(); - serialization.deserialize_message( - &extracted_serialized_msg, - &(*std::get>( - publisher_var) - .empty_area_message)); - } else { - if (!std::holds_alternative< - PublisherVariables>( - publisher_var)) { - RCLCPP_ERROR_STREAM( - node_->get_logger(), "Variant couldn't found in the topic named: " << topic_name); - rclcpp::shutdown(); - } - auto & object_spawned_message = - std::get>( - publisher_var) - .object_spawned_message; - if (!object_spawned_message) { - object_spawned_message = - std::make_shared(); - serialization.deserialize_message(&extracted_serialized_msg, &(*object_spawned_message)); - } - } - break; - } - case PublisherMessageType::STEERING_REPORT: { - rclcpp::Serialization serialization; - rclcpp::SerializedMessage extracted_serialized_msg(*bag_message.serialized_data); - - auto & publisher_var = topic_publisher_map_[topic_name]; - if (is_empty_area_message) { - if (!std::holds_alternative< - PublisherVariables>(publisher_var)) { - publisher_var = PublisherVariables(); - } - std::get>(publisher_var) - .empty_area_message = std::make_shared(); - serialization.deserialize_message( - &extracted_serialized_msg, - &(*std::get>( - publisher_var) - .empty_area_message)); - } else { - if (!std::holds_alternative< - PublisherVariables>(publisher_var)) { - RCLCPP_ERROR_STREAM( - node_->get_logger(), "Variant couldn't found in the topic named: " << topic_name); - rclcpp::shutdown(); - } - auto & object_spawned_message = - std::get>( - publisher_var) - .object_spawned_message; - if (!object_spawned_message) { - object_spawned_message = - std::make_shared(); - serialization.deserialize_message(&extracted_serialized_msg, &(*object_spawned_message)); - } - } - break; - } - case PublisherMessageType::TURN_INDICATORS_REPORT: { - rclcpp::Serialization serialization; - rclcpp::SerializedMessage extracted_serialized_msg(*bag_message.serialized_data); - - auto & publisher_var = topic_publisher_map_[topic_name]; - if (is_empty_area_message) { - if (!std::holds_alternative< - PublisherVariables>( - publisher_var)) { - publisher_var = - PublisherVariables(); - } - std::get>( - publisher_var) - .empty_area_message = - std::make_shared(); - serialization.deserialize_message( - &extracted_serialized_msg, - &(*std::get>( - publisher_var) - .empty_area_message)); - } else { - if (!std::holds_alternative< - PublisherVariables>( - publisher_var)) { - RCLCPP_ERROR_STREAM( - node_->get_logger(), "Variant couldn't found in the topic named: " << topic_name); - rclcpp::shutdown(); - } - auto & object_spawned_message = - std::get>( - publisher_var) - .object_spawned_message; - if (!object_spawned_message) { - object_spawned_message = - std::make_shared(); - serialization.deserialize_message(&extracted_serialized_msg, &(*object_spawned_message)); - } - } - break; - } - case PublisherMessageType::VELOCITY_REPORT: { - rclcpp::Serialization serialization; - rclcpp::SerializedMessage extracted_serialized_msg(*bag_message.serialized_data); - - auto & publisher_var = topic_publisher_map_[topic_name]; - if (is_empty_area_message) { - if (!std::holds_alternative< - PublisherVariables>(publisher_var)) { - publisher_var = PublisherVariables(); - } - std::get>(publisher_var) - .empty_area_message = std::make_shared(); - serialization.deserialize_message( - &extracted_serialized_msg, - &(*std::get>( - publisher_var) - .empty_area_message)); - } else { - if (!std::holds_alternative< - PublisherVariables>(publisher_var)) { - RCLCPP_ERROR_STREAM( - node_->get_logger(), "Variant couldn't found in the topic named: " << topic_name); - rclcpp::shutdown(); - } - auto & object_spawned_message = - std::get>( - publisher_var) - .object_spawned_message; - if (!object_spawned_message) { - object_spawned_message = - std::make_shared(); - serialization.deserialize_message(&extracted_serialized_msg, &(*object_spawned_message)); - } - } - break; + } else { + if (!publisher_variable.object_spawned_message) { + publisher_variable.object_spawned_message = deserialized_message; } - default: - break; } } -void TopicPublisher::set_period_to_variable_map( - const std::unordered_map> & time_map) +void TopicPublisher::set_period(const std::map> & time_map) { for (auto & topic_pair : time_map) { auto timestamps_tmp = topic_pair.second; @@ -869,26 +323,18 @@ void TopicPublisher::set_period_to_variable_map( auto period_ms = std::chrono::duration_cast(total_duration_ns) / (timestamps_tmp.size() - 1); - PublisherVariablesVariant & publisherVar = topic_publisher_map_[topic_name]; + PublisherVariablesVariant & publisher_variant = topic_publisher_map_[topic_name]; PublisherVarAccessor accessor; - std::visit([&](auto & var) { accessor.set_period(var, period_ms); }, publisherVar); + std::visit([&](auto & var) { accessor.set_period(var, period_ms); }, publisher_variant); } } } -bool TopicPublisher::set_publishers_and_timers_to_variable_map() +std::map> +TopicPublisher::set_general_publishers_and_timers() { - // before create publishers and timers, check all the messages are correctly initialized with - // their conjugate messages. - if (check_publishers_initialized_correctly()) { - RCLCPP_INFO(node_->get_logger(), "Messages are initialized correctly"); - } else { - RCLCPP_ERROR(node_->get_logger(), "Messages are not initialized correctly"); - return false; - } - - std::unordered_map> + std::map> pointcloud_variables_map; // temp map for pointcloud publishers // initialize timers and message publishers except pointcloud messages @@ -916,7 +362,8 @@ bool TopicPublisher::set_publishers_and_timers_to_variable_map() }, variant); - // Conditionally create the timer based on the message type, if message type is not PointCloud2 + // Conditionally create the timer based on the message type, if message type is not + // PointCloud2 std::visit( [&](auto & var) { using MessageType = typename decltype(var.empty_area_message)::element_type; @@ -932,10 +379,16 @@ bool TopicPublisher::set_publishers_and_timers_to_variable_map() variant); } + return pointcloud_variables_map; +} + +void TopicPublisher::set_pointcloud_publishers_and_timers( + const std::map> & pointcloud_variables_map) +{ // Set the point cloud publisher timers if (pointcloud_variables_map.empty()) { RCLCPP_ERROR(node_->get_logger(), "No pointcloud publishers found!"); - return false; + rclcpp::shutdown(); } // Arrange the PointCloud2 variables w.r.t. the lidars' name @@ -950,7 +403,7 @@ bool TopicPublisher::set_publishers_and_timers_to_variable_map() RCLCPP_ERROR_STREAM( node_->get_logger(), "Lidar name: " << lidar_name << " is already used by another pointcloud publisher"); - return false; + rclcpp::shutdown(); } lidar_pub_variable_pair_map_[lidar_name].second = std::make_shared>(pointcloud_variant); @@ -973,26 +426,22 @@ bool TopicPublisher::set_publishers_and_timers_to_variable_map() // Create a timer to create phase difference bw timers which will be created for each lidar // topics auto one_shot_timer = node_->create_wall_timer(phase_dif, [this, period_pointcloud_ns]() { - for (const auto & [lidar_name, publisher_var_pair] : lidar_pub_variable_pair_map_) { + for (const auto & publisher_var_pair : lidar_pub_variable_pair_map_) { + const auto & lidar_name = publisher_var_pair.first; + const auto & publisher_var = publisher_var_pair.second; if ( pointcloud_publish_timers_map_.find(lidar_name) == pointcloud_publish_timers_map_.end()) { - // Create the periodic timer - auto periodic_timer = - node_->create_wall_timer(period_pointcloud_ns, [this, publisher_var_pair]() { - this->pointcloud_messages_async_publisher(publisher_var_pair); - }); - // Store the periodic timer to keep it alive + auto periodic_timer = node_->create_wall_timer( + period_pointcloud_ns, + [this, publisher_var]() { this->pointcloud_messages_async_publisher(publisher_var); }); pointcloud_publish_timers_map_[lidar_name] = periodic_timer; return; } } - // close the timer one_shot_timer_shared_ptr_->cancel(); }); - - one_shot_timer_shared_ptr_ = one_shot_timer; // Store a weak pointer to the timer + one_shot_timer_shared_ptr_ = one_shot_timer; } - return true; } bool TopicPublisher::check_publishers_initialized_correctly() @@ -1010,7 +459,8 @@ bool TopicPublisher::check_publishers_initialized_correctly() node_->get_logger(), "Empty area message couldn't found in the topic named: " << topic_name); return false; - } else if (!object_spawned_message) { + } + if (!object_spawned_message) { RCLCPP_ERROR_STREAM( node_->get_logger(), "Object spawned message couldn't found in the topic named: " << topic_name); @@ -1019,4 +469,143 @@ bool TopicPublisher::check_publishers_initialized_correctly() } return true; } + +void TopicPublisher::init_rosbag_publishers_with_object(const std::string & path_bag_with_object) +{ + rosbag2_cpp::Reader reader; + + try { + reader.open(path_bag_with_object); + } catch (const std::exception & e) { + RCLCPP_ERROR_STREAM(node_->get_logger(), "Error opening bag file: " << e.what()); + rclcpp::shutdown(); + return; + } + + const auto & topics = reader.get_metadata().topics_with_message_count; + const bool is_empty_area_message = false; + + while (reader.has_next()) { + auto bag_message = reader.read_next(); + const auto current_topic = bag_message->topic_name; + + const auto message_type = get_publisher_message_type_for_topic(topics, current_topic); + + if (message_type == PublisherMessageType::UNKNOWN) { + continue; + } + if (message_type == PublisherMessageType::CAMERA_INFO) { + set_message(current_topic, *bag_message, is_empty_area_message); + } else if (message_type == PublisherMessageType::IMAGE) { + set_message(current_topic, *bag_message, is_empty_area_message); + } else if (message_type == PublisherMessageType::POINTCLOUD2) { + set_message(current_topic, *bag_message, is_empty_area_message); + } else if (message_type == PublisherMessageType::POSE_WITH_COVARIANCE_STAMPED) { + set_message( + current_topic, *bag_message, is_empty_area_message); + } else if (message_type == PublisherMessageType::POSE_STAMPED) { + set_message( + current_topic, *bag_message, is_empty_area_message); + } else if (message_type == PublisherMessageType::ODOMETRY) { + set_message(current_topic, *bag_message, is_empty_area_message); + } else if (message_type == PublisherMessageType::IMU) { + set_message(current_topic, *bag_message, is_empty_area_message); + } else if (message_type == PublisherMessageType::CONTROL_MODE_REPORT) { + set_message( + current_topic, *bag_message, is_empty_area_message); + } else if (message_type == PublisherMessageType::GEAR_REPORT) { + set_message( + current_topic, *bag_message, is_empty_area_message); + } else if (message_type == PublisherMessageType::HAZARD_LIGHTS_REPORT) { + set_message( + current_topic, *bag_message, is_empty_area_message); + } else if (message_type == PublisherMessageType::STEERING_REPORT) { + set_message( + current_topic, *bag_message, is_empty_area_message); + } else if (message_type == PublisherMessageType::TURN_INDICATORS_REPORT) { + set_message( + current_topic, *bag_message, is_empty_area_message); + } else if (message_type == PublisherMessageType::VELOCITY_REPORT) { + set_message( + current_topic, *bag_message, is_empty_area_message); + } + } + reader.close(); +} + +void TopicPublisher::init_rosbag_publishers_without_object( + const std::string & path_bag_without_object) +{ + rosbag2_cpp::Reader reader; + + try { + reader.open(path_bag_without_object); + } catch (const std::exception & e) { + RCLCPP_ERROR_STREAM(node_->get_logger(), "Error opening bag file: " << e.what()); + rclcpp::shutdown(); + return; + } + + const auto & topics = reader.get_metadata().topics_with_message_count; + const bool is_empty_area_message = true; + + // Collect timestamps for each topic to set the frequency of the publishers + std::map> timestamps_per_topic; + + while (reader.has_next()) { + const auto bag_message = reader.read_next(); + + const auto current_topic = bag_message->topic_name; + + const auto message_type = get_publisher_message_type_for_topic(topics, current_topic); + if (message_type == PublisherMessageType::UNKNOWN) { + continue; + } + + // Record timestamp + timestamps_per_topic[current_topic].emplace_back(bag_message->time_stamp); + + // Deserialize and store the first message as a sample + if (message_type == PublisherMessageType::CAMERA_INFO) { + set_message(current_topic, *bag_message, is_empty_area_message); + } else if (message_type == PublisherMessageType::IMAGE) { + set_message(current_topic, *bag_message, is_empty_area_message); + } else if (message_type == PublisherMessageType::POINTCLOUD2) { + set_message(current_topic, *bag_message, is_empty_area_message); + } else if (message_type == PublisherMessageType::POSE_WITH_COVARIANCE_STAMPED) { + set_message( + current_topic, *bag_message, is_empty_area_message); + } else if (message_type == PublisherMessageType::POSE_STAMPED) { + set_message( + current_topic, *bag_message, is_empty_area_message); + } else if (message_type == PublisherMessageType::ODOMETRY) { + set_message(current_topic, *bag_message, is_empty_area_message); + } else if (message_type == PublisherMessageType::IMU) { + set_message(current_topic, *bag_message, is_empty_area_message); + } else if (message_type == PublisherMessageType::CONTROL_MODE_REPORT) { + set_message( + current_topic, *bag_message, is_empty_area_message); + } else if (message_type == PublisherMessageType::GEAR_REPORT) { + set_message( + current_topic, *bag_message, is_empty_area_message); + } else if (message_type == PublisherMessageType::HAZARD_LIGHTS_REPORT) { + set_message( + current_topic, *bag_message, is_empty_area_message); + } else if (message_type == PublisherMessageType::STEERING_REPORT) { + set_message( + current_topic, *bag_message, is_empty_area_message); + } else if (message_type == PublisherMessageType::TURN_INDICATORS_REPORT) { + set_message( + current_topic, *bag_message, is_empty_area_message); + } else if (message_type == PublisherMessageType::VELOCITY_REPORT) { + set_message( + current_topic, *bag_message, is_empty_area_message); + } + } + + // After collecting all timestamps for each topic, set frequencies of the publishers + set_period(timestamps_per_topic); + + reader.close(); +} } // namespace reaction_analyzer::topic_publisher diff --git a/tools/reaction_analyzer/src/utils.cpp b/tools/reaction_analyzer/src/utils.cpp index 7fa55204f9b8d..e6f2156762dd8 100644 --- a/tools/reaction_analyzer/src/utils.cpp +++ b/tools/reaction_analyzer/src/utils.cpp @@ -16,6 +16,99 @@ namespace reaction_analyzer { +SubscriberMessageType get_subscriber_message_type(const std::string & message_type) +{ + if (message_type == "autoware_auto_control_msgs/msg/AckermannControlCommand") { + return SubscriberMessageType::ACKERMANN_CONTROL_COMMAND; + } + if (message_type == "autoware_auto_planning_msgs/msg/Trajectory") { + return SubscriberMessageType::TRAJECTORY; + } + if (message_type == "sensor_msgs/msg/PointCloud2") { + return SubscriberMessageType::POINTCLOUD2; + } + if (message_type == "autoware_auto_perception_msgs/msg/PredictedObjects") { + return SubscriberMessageType::PREDICTED_OBJECTS; + } + if (message_type == "autoware_auto_perception_msgs/msg/DetectedObjects") { + return SubscriberMessageType::DETECTED_OBJECTS; + } + if (message_type == "autoware_auto_perception_msgs/msg/TrackedObjects") { + return SubscriberMessageType::TRACKED_OBJECTS; + } + return SubscriberMessageType::UNKNOWN; +} + +PublisherMessageType get_publisher_message_type(const std::string & message_type) +{ + if (message_type == "sensor_msgs/msg/PointCloud2") { + return PublisherMessageType::POINTCLOUD2; + } + if (message_type == "sensor_msgs/msg/CameraInfo") { + return PublisherMessageType::CAMERA_INFO; + } + if (message_type == "sensor_msgs/msg/Image") { + return PublisherMessageType::IMAGE; + } + if (message_type == "geometry_msgs/msg/PoseWithCovarianceStamped") { + return PublisherMessageType::POSE_WITH_COVARIANCE_STAMPED; + } + if (message_type == "geometry_msgs/msg/PoseStamped") { + return PublisherMessageType::POSE_STAMPED; + } + if (message_type == "nav_msgs/msg/Odometry") { + return PublisherMessageType::ODOMETRY; + } + if (message_type == "sensor_msgs/msg/Imu") { + return PublisherMessageType::IMU; + } + if (message_type == "autoware_auto_vehicle_msgs/msg/ControlModeReport") { + return PublisherMessageType::CONTROL_MODE_REPORT; + } + if (message_type == "autoware_auto_vehicle_msgs/msg/GearReport") { + return PublisherMessageType::GEAR_REPORT; + } + if (message_type == "autoware_auto_vehicle_msgs/msg/HazardLightsReport") { + return PublisherMessageType::HAZARD_LIGHTS_REPORT; + } + if (message_type == "autoware_auto_vehicle_msgs/msg/SteeringReport") { + return PublisherMessageType::STEERING_REPORT; + } + if (message_type == "autoware_auto_vehicle_msgs/msg/TurnIndicatorsReport") { + return PublisherMessageType::TURN_INDICATORS_REPORT; + } + if (message_type == "autoware_auto_vehicle_msgs/msg/VelocityReport") { + return PublisherMessageType::VELOCITY_REPORT; + } + return PublisherMessageType::UNKNOWN; +} + +PublisherMessageType get_publisher_message_type_for_topic( + const std::vector & topics, const std::string & topic_name) +{ + auto it = std::find_if(topics.begin(), topics.end(), [&topic_name](const auto & topic) { + return topic.topic_metadata.name == topic_name; + }); + if (it != topics.end()) { + return get_publisher_message_type(it->topic_metadata.type); // Return the message type if found + } + return PublisherMessageType::UNKNOWN; +} + +ReactionType get_reaction_type(const std::string & reaction_type) +{ + if (reaction_type == "first_brake_params") { + return ReactionType::FIRST_BRAKE; + } + if (reaction_type == "search_zero_vel_params") { + return ReactionType::SEARCH_ZERO_VEL; + } + if (reaction_type == "search_entity_params") { + return ReactionType::SEARCH_ENTITY; + } + return ReactionType::UNKNOWN; +} + rclcpp::SubscriptionOptions create_subscription_options(rclcpp::Node * node) { rclcpp::CallbackGroup::SharedPtr callback_group = @@ -66,27 +159,27 @@ double calculate_time_diff_ms(const rclcpp::Time & start, const rclcpp::Time & e TimestampedReactionPairsVector convert_pipeline_map_to_sorted_vector( const PipelineMap & pipelineMap) { - std::vector>> sortedVector; + std::vector>> sorted_vector; for (const auto & entry : pipelineMap) { - auto sortedReactions = entry.second; + auto sorted_reactions = entry.second; // Sort the vector of ReactionPair based on the published stamp std::sort( - sortedReactions.begin(), sortedReactions.end(), + sorted_reactions.begin(), sorted_reactions.end(), [](const ReactionPair & a, const ReactionPair & b) { return rclcpp::Time(a.second.published_stamp) < rclcpp::Time(b.second.published_stamp); }); // Add to the vector as a tuple - sortedVector.push_back(std::make_tuple(entry.first, sortedReactions)); + sorted_vector.emplace_back(std::make_tuple(entry.first, sorted_reactions)); } // Sort the vector of tuples by rclcpp::Time - std::sort(sortedVector.begin(), sortedVector.end(), [](const auto & a, const auto & b) { + std::sort(sorted_vector.begin(), sorted_vector.end(), [](const auto & a, const auto & b) { return std::get<0>(a) < std::get<0>(b); }); - return sortedVector; + return sorted_vector; } unique_identifier_msgs::msg::UUID generate_uuid_msg(const std::string & input) @@ -158,7 +251,9 @@ PointCloud2::SharedPtr create_entity_pointcloud_ptr( const double p_z = -entity_params.z_l / 2 + i * pointcloud_sampling_distance; const auto tmp = tf2::Vector3(p_x, p_y, p_z); tf2::Vector3 data_out = tf * tmp; - point_cloud.emplace_back(pcl::PointXYZ(data_out.x(), data_out.y(), data_out.z())); + point_cloud.emplace_back(pcl::PointXYZ( + static_cast(data_out.x()), static_cast(data_out.y()), + static_cast(data_out.z()))); } } } @@ -212,80 +307,61 @@ bool search_pointcloud_near_pose( const pcl::PointCloud & pcl_pointcloud, const geometry_msgs::msg::Pose & pose, const double search_radius) { - bool isAnyPointWithinRadius = std::any_of( + return std::any_of( pcl_pointcloud.points.begin(), pcl_pointcloud.points.end(), [pose, search_radius](const auto & point) { return tier4_autoware_utils::calcDistance3d(pose.position, point) <= search_radius; }); - - if (isAnyPointWithinRadius) { - return true; - } - return false; } bool search_predicted_objects_near_pose( const PredictedObjects & predicted_objects, const geometry_msgs::msg::Pose & pose, const double search_radius) { - bool isAnyObjectWithinRadius = std::any_of( + return std::any_of( predicted_objects.objects.begin(), predicted_objects.objects.end(), [pose, search_radius](const PredictedObject & object) { return tier4_autoware_utils::calcDistance3d( pose.position, object.kinematics.initial_pose_with_covariance.pose.position) <= search_radius; }); - - if (isAnyObjectWithinRadius) { - return true; - } - return false; + ; } bool search_detected_objects_near_pose( const DetectedObjects & detected_objects, const geometry_msgs::msg::Pose & pose, const double search_radius) { - bool isAnyObjectWithinRadius = std::any_of( + return std::any_of( detected_objects.objects.begin(), detected_objects.objects.end(), [pose, search_radius](const DetectedObject & object) { return tier4_autoware_utils::calcDistance3d( pose.position, object.kinematics.pose_with_covariance.pose.position) <= search_radius; }); - - if (isAnyObjectWithinRadius) { - return true; - } - return false; } bool search_tracked_objects_near_pose( const TrackedObjects & tracked_objects, const geometry_msgs::msg::Pose & pose, const double search_radius) { - bool isAnyObjectWithinRadius = std::any_of( + return std::any_of( tracked_objects.objects.begin(), tracked_objects.objects.end(), [pose, search_radius](const TrackedObject & object) { return tier4_autoware_utils::calcDistance3d( pose.position, object.kinematics.pose_with_covariance.pose.position) <= search_radius; }); - - if (isAnyObjectWithinRadius) { - return true; - } - return false; } LatencyStats calculate_statistics(const std::vector & latency_vec) { - LatencyStats stats; + LatencyStats stats{0.0, 0.0, 0.0, 0.0, 0.0}; stats.max = *max_element(latency_vec.begin(), latency_vec.end()); stats.min = *min_element(latency_vec.begin(), latency_vec.end()); const double sum = std::accumulate(latency_vec.begin(), latency_vec.end(), 0.0); - stats.mean = sum / latency_vec.size(); + stats.mean = sum / static_cast(latency_vec.size()); std::vector sorted_latencies = latency_vec; std::sort(sorted_latencies.begin(), sorted_latencies.end()); @@ -297,7 +373,8 @@ LatencyStats calculate_statistics(const std::vector & latency_vec) const double sq_sum = std::inner_product(latency_vec.begin(), latency_vec.end(), latency_vec.begin(), 0.0); - stats.std_dev = std::sqrt(sq_sum / latency_vec.size() - stats.mean * stats.mean); + stats.std_dev = + std::sqrt(sq_sum / static_cast(latency_vec.size()) - stats.mean * stats.mean); return stats; } From d459e4ab3eddc55dd43453293a3d2ee235f45aef Mon Sep 17 00:00:00 2001 From: Berkay Karaman Date: Mon, 6 May 2024 12:35:45 +0300 Subject: [PATCH 12/14] feat: update for new sensor setup, fix bug, optimize code, show pipeline latency, update readme Signed-off-by: Berkay Karaman --- tools/reaction_analyzer/README.md | 75 ++++++++----- .../include/reaction_analyzer_node.hpp | 2 +- .../include/topic_publisher.hpp | 7 +- .../launch/reaction_analyzer.launch.xml | 5 +- tools/reaction_analyzer/media/sc1-awsim.png | Bin 0 -> 1162893 bytes tools/reaction_analyzer/media/sc1-rviz.png | Bin 0 -> 648831 bytes tools/reaction_analyzer/media/sc2-awsim.png | Bin 0 -> 1165055 bytes tools/reaction_analyzer/media/sc2-rviz.png | Bin 0 -> 501728 bytes .../param/reaction_analyzer.param.yaml | 36 +++--- .../src/reaction_analyzer_node.cpp | 29 ++--- .../reaction_analyzer/src/topic_publisher.cpp | 105 +++--------------- tools/reaction_analyzer/src/utils.cpp | 20 ++-- 12 files changed, 109 insertions(+), 170 deletions(-) create mode 100644 tools/reaction_analyzer/media/sc1-awsim.png create mode 100644 tools/reaction_analyzer/media/sc1-rviz.png create mode 100644 tools/reaction_analyzer/media/sc2-awsim.png create mode 100644 tools/reaction_analyzer/media/sc2-rviz.png diff --git a/tools/reaction_analyzer/README.md b/tools/reaction_analyzer/README.md index 1719fc87e0ddf..8c8510559c678 100644 --- a/tools/reaction_analyzer/README.md +++ b/tools/reaction_analyzer/README.md @@ -76,23 +76,28 @@ start to test. After the test is completed, the results will be stored in the `o #### Perception Planning Mode - Download the rosbag files from the Google Drive - link [here](https://drive.google.com/file/d/1_P-3oy_M6eJ7fk8h5CP8V6s6da6pPrBu/view?usp=sharing). + link [here](https://drive.google.com/file/d/1-Qcv7gYfR-usKOjUH8I997w8I4NMhXlX/view?usp=sharing). - Extract the zip file and set the path of the `.db3` files to parameters `path_bag_without_object` and `path_bag_with_object`. -- Because custom sensor setup, you need to check out the following branches before launch the - reaction analyzer: For the `autoware_individual_params` repository, check out the - branch [here](https://github.com/brkay54/autoware_individual_params/tree/bk/reaction-analyzer-config). -- For the `awsim_sensor_kit_launch` repository, check out the - branch [here](https://github.com/brkay54/awsim_sensor_kit_launch/tree/bk/reaction-analyzer-config). -- After you check outed the branches, you can start to test with the following command: +- You can start to test with the following command: ```bash -ros2 launch reaction_analyzer reaction_analyzer.launch.xml running_mode:=perception_planning vehicle_model:=sample_vehicle sensor_model:=awsim_sensor_kit map_path:=[MAP_PATH] +ros2 launch reaction_analyzer reaction_analyzer.launch.xml running_mode:=perception_planning vehicle_model:=sample_vehicle sensor_model:=awsim_labs_sensor_kit map_path:=[MAP_PATH] ``` After the command, the `e2e_simulator` and the `reaction_analyzer` will be launched. It will automatically start to test. After the test is completed, the results will be stored in the `output_file_path` you defined. +#### Prepared Test Environment + +**Scene without object:** +![sc1-awsim.png](media%2Fsc1-awsim.png) +![sc1-rviz.png](media%2Fsc1-rviz.png) + +**Scene object:** +![sc2-awsim.png](media%2Fsc2-awsim.png) +![sc2-rviz.png](media%2Fsc2-rviz.png) + ### Custom Test Environment **If you want to run the reaction analyzer with your custom test environment, you need to redefine some of the @@ -101,39 +106,53 @@ The parameters you need to redefine are `initialization_pose`, `entity_params`, for `perception_planning` mode) parameters.** - To set `initialization_pose`, `entity_params`, `goal_pose`: -- Upload your `.osm` map file into the [scenario editor](https://scenario.ci.tier4.jp/scenario_editor/) to define the - position of the position parameters. -- Add EGO vehicle from edit/add entity/Ego to map. -- Set destination to EGO vehicle and add another dummy object in same way. The dummy object represents the object spawn - suddenly in the reaction analyzer test. +- Run the AWSIM environment. Tutorial for AWSIM can be found + [here](https://autowarefoundation.github.io/AWSIM/main/GettingStarted/QuickStartDemo/). +- Run the e2e_simulator with the following command: + +```bash +ros2 launch autoware_launch e2e_simulator.launch.xml vehicle_model:=sample_vehicle sensor_model:=awsim_labs_sensor_kit map_path:=[MAP_PATH] +``` -**After you set up the positions in the map, we should get the positions of these entities in the map frame. To achieve -this:** +- After EGO is initialized, you can move the ego vehicle to the desired position by using the `SetGoal` button in the + RViz. +- After the EGO stopped in desired position, please localize the dummy obstacle by using the traffic controller. You can + control the traffic by pressing `ESC` button. -- Convert the positions to map frame by changing Map/Coordinate to World and Map/Orientation to Euler in Scenario - Editor. +**After localize EGO and dummy vehicle, we should write the positions of these entities in the map frame in `reaction_analyzer.param.yaml`. To achieve this:** -- After these steps, you can see the positions in map frame and euler angles. You can change - the `initialization_pose`, `entity_params`, `goal_pose` parameters with the values you get from the website. +- Get initialization pose from `/awsim/ground_truth/vehicle/pose` topic. +- Get entity params from `/perception/object_recognition/objects` topic. +- Get goal pose from `/planning/mission_planning/goal` topic. + +**PS: `initialization_pose` is only valid for `planning_control` mode.** + +- After the parameters were noted, we should record the rosbags for the test. To record the rosbags, you can use the + following command: + +```bash +ros2 bag record --all +``` -**For the `topic_publisher` parameters, you need to record the rosbags from the AWSIM. After opened your AWSIM -environment, you should record two different rosbags. However, the environment should be static and the position of the -vehicle should be same.** +- You should record two rosbags: one without the object and one with the object. You can use the traffic controller to + spawn the object in front of the EGO vehicle or remove it. -- Record a rosbag in empty environment (without an obstacle in front of the vehicle). -- After that, record another rosbag in the same environment except add an object in front of the vehicle. +**NOTE: You should record the rosbags in the same environment with the same position of the EGO vehicle. You don't need +to run Autoware while recording.** -**After you record the rosbags, you can set the `path_bag_without_object` and `path_bag_with_object` parameters with the -paths of the recorded rosbags.** +- After you record the rosbags, you can set the `path_bag_without_object` and `path_bag_with_object` parameters with the + paths of the recorded rosbags. ## Results The results will be stored in the `csv` file format and written to the `output_file_path` you defined. It shows each -pipeline of the Autoware by using header timestamp of the messages, and it reports `Node Latency`, and `Total Latency` +pipeline of the Autoware by using header timestamp of the messages, and it reports `Node Latency`, `Pipeline Latency`, and `Total Latency` for each of the nodes. - `Node Latency`: The time difference between previous and current node's reaction timestamps. -- `Total Latency`: The time difference between the message's published timestamp and the spawn obstacle command sent timestamp. +- `Pipeline Latency`: The time difference between published time of the message and pipeline header time. +- `Total Latency`: The time difference between the message's published timestamp and the spawn obstacle command sent + timestamp. ## Parameters diff --git a/tools/reaction_analyzer/include/reaction_analyzer_node.hpp b/tools/reaction_analyzer/include/reaction_analyzer_node.hpp index 7de1b06a145b3..631233cef8a7d 100644 --- a/tools/reaction_analyzer/include/reaction_analyzer_node.hpp +++ b/tools/reaction_analyzer/include/reaction_analyzer_node.hpp @@ -100,7 +100,7 @@ class ReactionAnalyzerNode : public rclcpp::Node std::optional test_environment_init_time_; std::optional spawn_cmd_time_; std::atomic spawn_object_cmd_{false}; - bool is_vehicle_initialized_{false}; + bool is_initialization_requested{false}; bool is_route_set_{false}; size_t test_iteration_count_{0}; diff --git a/tools/reaction_analyzer/include/topic_publisher.hpp b/tools/reaction_analyzer/include/topic_publisher.hpp index 6fe1e725892a1..e2e9ea072970e 100644 --- a/tools/reaction_analyzer/include/topic_publisher.hpp +++ b/tools/reaction_analyzer/include/topic_publisher.hpp @@ -223,13 +223,12 @@ class TopicPublisher const std::string & topic_name, const rosbag2_storage::SerializedBagMessage & bag_message, const bool is_empty_area_message); void set_period(const std::map> & time_map); - std::map> set_general_publishers_and_timers(); - void set_pointcloud_publishers_and_timers( + void set_publishers_and_timers_to_variable(); + void set_timers_for_pointcloud_msgs( const std::map> & pointcloud_variables_map); bool check_publishers_initialized_correctly(); void init_rosbag_publishers(); - void init_rosbag_publishers_with_object(const std::string & path_bag_with_object); - void init_rosbag_publishers_without_object(const std::string & path_bag_without_object); + void init_rosbag_publisher_buffer(const std::string & bag_path, const bool is_empty_area_message); void pointcloud_messages_sync_publisher(const PointcloudPublisherType type); void pointcloud_messages_async_publisher( const std::pair< diff --git a/tools/reaction_analyzer/launch/reaction_analyzer.launch.xml b/tools/reaction_analyzer/launch/reaction_analyzer.launch.xml index 1b0aed0c2a92f..b0b1d4fb9bf2e 100644 --- a/tools/reaction_analyzer/launch/reaction_analyzer.launch.xml +++ b/tools/reaction_analyzer/launch/reaction_analyzer.launch.xml @@ -1,7 +1,7 @@ - + @@ -23,7 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0.0 - yaw: 35.5 + yaw: 11.1130405 goal_pose: - x: 81824.90625 - y: 50069.34375 + x: 81643.0703125 + y: 50029.8828125 z: 0.0 roll: 0.0 pitch: 0.0 - yaw: 8.9305903 + yaw: 13.12 entity_params: - x: 81392.97671487389 - y: 49927.361443601316 - z: 42.13605499267578 - roll: 0.2731273 - pitch: -0.6873504 - yaw: 33.7664809 - x_dimension: 4.118675972722859 - y_dimension: 1.7809072588403219 - z_dimension: 0.8328610206872963 + x: 81633.86068376624 + y: 50028.383586673124 + z: 42.44818343779461 + roll: 0.0 + pitch: 0.0 + yaw: 11.8235848 + x_dimension: 3.95 + y_dimension: 1.77 + z_dimension: 1.43 topic_publisher: - path_bag_without_object: /lexus_bag_without_car/rosbag2_2024_01_30-13_50_45_0.db3 - path_bag_with_object: /lexus_bag_with_car/rosbag2_2024_01_30-13_50_17_0.db3 + path_bag_without_object: /rosbag2_awsim_labs/rosbag2_awsim_labs.db3 + path_bag_with_object: /rosbag2_awsim_labs_obstacle/rosbag2_awsim_labs_obstacle.db3 pointcloud_publisher: pointcloud_publisher_type: "sync_header_sync_publish" # "async_header_sync_publish", "sync_header_sync_publish" or "async_publish" pointcloud_publisher_period: 0.1 # s diff --git a/tools/reaction_analyzer/src/reaction_analyzer_node.cpp b/tools/reaction_analyzer/src/reaction_analyzer_node.cpp index db1d539e14e7b..e7d01ecef6842 100644 --- a/tools/reaction_analyzer/src/reaction_analyzer_node.cpp +++ b/tools/reaction_analyzer/src/reaction_analyzer_node.cpp @@ -269,11 +269,14 @@ void ReactionAnalyzerNode::init_test_env( last_test_environment_init_request_time_ = current_time; // Pose initialization of the ego - is_vehicle_initialized_ = !is_vehicle_initialized_ - ? init_ego(initialization_state_ptr, odometry_ptr, current_time) - : is_vehicle_initialized_; + is_initialization_requested = !is_initialization_requested + ? init_ego(initialization_state_ptr, odometry_ptr, current_time) + : is_initialization_requested; - if (!is_vehicle_initialized_) { + if ( + is_initialization_requested && + initialization_state_ptr->state != LocalizationInitializationState::INITIALIZED) { + is_initialization_requested = false; return; } @@ -298,7 +301,7 @@ void ReactionAnalyzerNode::init_test_env( } const bool is_ready = - (is_vehicle_initialized_ && is_route_set_ && + (is_initialization_requested && is_route_set_ && (operation_mode_ptr->mode == OperationModeState::AUTONOMOUS || node_running_mode_ == RunningMode::PerceptionPlanning)); if (is_ready) { @@ -332,14 +335,12 @@ bool ReactionAnalyzerNode::init_ego( { // Pose initialization of the ego if (initialization_state_ptr) { - if (initialization_state_ptr->state != LocalizationInitializationState::INITIALIZED) { - if (node_running_mode_ == RunningMode::PlanningControl) { - // publish initial pose - init_pose_.header.stamp = current_time; - init_pose_.header.frame_id = "map"; - pub_initial_pose_->publish(init_pose_); - } - return false; + if (node_running_mode_ == RunningMode::PlanningControl) { + // publish initial pose + init_pose_.header.stamp = current_time; + init_pose_.header.frame_id = "map"; + pub_initial_pose_->publish(init_pose_); + RCLCPP_WARN_ONCE(get_logger(), "Initialization position is published. Waiting for init..."); } // Wait until odometry_ptr is initialized if (!odometry_ptr) { @@ -407,7 +408,7 @@ void ReactionAnalyzerNode::reset() return; } // reset the variables - is_vehicle_initialized_ = false; + is_initialization_requested = false; is_route_set_ = false; test_environment_init_time_ = std::nullopt; last_test_environment_init_request_time_ = std::nullopt; diff --git a/tools/reaction_analyzer/src/topic_publisher.cpp b/tools/reaction_analyzer/src/topic_publisher.cpp index 31499de563f4b..9816f1970debd 100644 --- a/tools/reaction_analyzer/src/topic_publisher.cpp +++ b/tools/reaction_analyzer/src/topic_publisher.cpp @@ -251,10 +251,10 @@ void TopicPublisher::reset() void TopicPublisher::init_rosbag_publishers() { // read messages without object - init_rosbag_publishers_without_object(topic_publisher_params_.path_bag_without_object); + init_rosbag_publisher_buffer(topic_publisher_params_.path_bag_without_object, true); // read messages with object - init_rosbag_publishers_with_object(topic_publisher_params_.path_bag_with_object); + init_rosbag_publisher_buffer(topic_publisher_params_.path_bag_with_object, false); // before create publishers and timers, check all the messages are correctly initialized with // their conjugate messages. @@ -264,10 +264,7 @@ void TopicPublisher::init_rosbag_publishers() RCLCPP_ERROR(node_->get_logger(), "Messages are not initialized correctly"); rclcpp::shutdown(); } - - // set publishers and timers except for the pointcloud message - const auto pointcloud_variables_map = set_general_publishers_and_timers(); // except pointcloud - set_pointcloud_publishers_and_timers(pointcloud_variables_map); + set_publishers_and_timers_to_variable(); } template @@ -331,8 +328,7 @@ void TopicPublisher::set_period(const std::map> -TopicPublisher::set_general_publishers_and_timers() +void TopicPublisher::set_publishers_and_timers_to_variable() { std::map> pointcloud_variables_map; // temp map for pointcloud publishers @@ -349,11 +345,10 @@ TopicPublisher::set_general_publishers_and_timers() [&](auto & var) { using MessageType = typename decltype(var.empty_area_message)::element_type; - // Check if the MessageType is PointCloud2 if constexpr ( std::is_same_v || - std::is_same_v) { - // For PointCloud2, use rclcpp::SensorDataQoS + std::is_same_v || + std::is_same_v) { var.publisher = node_->create_publisher(topic_ref, rclcpp::SensorDataQoS()); } else { // For other message types, use the QoS setting depth of 1 @@ -379,10 +374,12 @@ TopicPublisher::set_general_publishers_and_timers() variant); } - return pointcloud_variables_map; + // To be able to publish pointcloud messages with async, I need to create a timer for each lidar + // output. So different operations are needed for pointcloud messages. + set_timers_for_pointcloud_msgs(pointcloud_variables_map); } -void TopicPublisher::set_pointcloud_publishers_and_timers( +void TopicPublisher::set_timers_for_pointcloud_msgs( const std::map> & pointcloud_variables_map) { // Set the point cloud publisher timers @@ -470,12 +467,13 @@ bool TopicPublisher::check_publishers_initialized_correctly() return true; } -void TopicPublisher::init_rosbag_publishers_with_object(const std::string & path_bag_with_object) +void TopicPublisher::init_rosbag_publisher_buffer( + const std::string & bag_path, const bool is_empty_area_message) { rosbag2_cpp::Reader reader; try { - reader.open(path_bag_with_object); + reader.open(bag_path); } catch (const std::exception & e) { RCLCPP_ERROR_STREAM(node_->get_logger(), "Error opening bag file: " << e.what()); rclcpp::shutdown(); @@ -483,7 +481,6 @@ void TopicPublisher::init_rosbag_publishers_with_object(const std::string & path } const auto & topics = reader.get_metadata().topics_with_message_count; - const bool is_empty_area_message = false; while (reader.has_next()) { auto bag_message = reader.read_next(); @@ -532,80 +529,4 @@ void TopicPublisher::init_rosbag_publishers_with_object(const std::string & path } reader.close(); } - -void TopicPublisher::init_rosbag_publishers_without_object( - const std::string & path_bag_without_object) -{ - rosbag2_cpp::Reader reader; - - try { - reader.open(path_bag_without_object); - } catch (const std::exception & e) { - RCLCPP_ERROR_STREAM(node_->get_logger(), "Error opening bag file: " << e.what()); - rclcpp::shutdown(); - return; - } - - const auto & topics = reader.get_metadata().topics_with_message_count; - const bool is_empty_area_message = true; - - // Collect timestamps for each topic to set the frequency of the publishers - std::map> timestamps_per_topic; - - while (reader.has_next()) { - const auto bag_message = reader.read_next(); - - const auto current_topic = bag_message->topic_name; - - const auto message_type = get_publisher_message_type_for_topic(topics, current_topic); - if (message_type == PublisherMessageType::UNKNOWN) { - continue; - } - - // Record timestamp - timestamps_per_topic[current_topic].emplace_back(bag_message->time_stamp); - - // Deserialize and store the first message as a sample - if (message_type == PublisherMessageType::CAMERA_INFO) { - set_message(current_topic, *bag_message, is_empty_area_message); - } else if (message_type == PublisherMessageType::IMAGE) { - set_message(current_topic, *bag_message, is_empty_area_message); - } else if (message_type == PublisherMessageType::POINTCLOUD2) { - set_message(current_topic, *bag_message, is_empty_area_message); - } else if (message_type == PublisherMessageType::POSE_WITH_COVARIANCE_STAMPED) { - set_message( - current_topic, *bag_message, is_empty_area_message); - } else if (message_type == PublisherMessageType::POSE_STAMPED) { - set_message( - current_topic, *bag_message, is_empty_area_message); - } else if (message_type == PublisherMessageType::ODOMETRY) { - set_message(current_topic, *bag_message, is_empty_area_message); - } else if (message_type == PublisherMessageType::IMU) { - set_message(current_topic, *bag_message, is_empty_area_message); - } else if (message_type == PublisherMessageType::CONTROL_MODE_REPORT) { - set_message( - current_topic, *bag_message, is_empty_area_message); - } else if (message_type == PublisherMessageType::GEAR_REPORT) { - set_message( - current_topic, *bag_message, is_empty_area_message); - } else if (message_type == PublisherMessageType::HAZARD_LIGHTS_REPORT) { - set_message( - current_topic, *bag_message, is_empty_area_message); - } else if (message_type == PublisherMessageType::STEERING_REPORT) { - set_message( - current_topic, *bag_message, is_empty_area_message); - } else if (message_type == PublisherMessageType::TURN_INDICATORS_REPORT) { - set_message( - current_topic, *bag_message, is_empty_area_message); - } else if (message_type == PublisherMessageType::VELOCITY_REPORT) { - set_message( - current_topic, *bag_message, is_empty_area_message); - } - } - - // After collecting all timestamps for each topic, set frequencies of the publishers - set_period(timestamps_per_topic); - - reader.close(); -} } // namespace reaction_analyzer::topic_publisher diff --git a/tools/reaction_analyzer/src/utils.cpp b/tools/reaction_analyzer/src/utils.cpp index e6f2156762dd8..792878e4b57fe 100644 --- a/tools/reaction_analyzer/src/utils.cpp +++ b/tools/reaction_analyzer/src/utils.cpp @@ -416,26 +416,22 @@ void write_results( for (const auto & pipeline_map : pipeline_map_vector) { test_count++; // convert pipeline_map to vector of tuples - const auto sorted_results_vector = convert_pipeline_map_to_sorted_vector(pipeline_map); file << "Test " << test_count << "\n"; + const auto sorted_results_vector = convert_pipeline_map_to_sorted_vector(pipeline_map); + const auto spawn_cmd_time = std::get<0>(*sorted_results_vector.begin()); - rclcpp::Time spawn_cmd_time; // init it to parse total latency for (size_t i = 0; i < sorted_results_vector.size(); ++i) { const auto & [pipeline_header_time, pipeline_reactions] = sorted_results_vector[i]; - if (i == 0) { - spawn_cmd_time = pipeline_reactions[0].second.header.stamp; - } - // total time pipeline lasts - file << "Pipeline - " << i + 1 << ","; + file << "Pipeline - " << i << ","; // pipeline nodes for (const auto & [node_name, reaction] : pipeline_reactions) { file << node_name << ","; } - file << "\nNode Latency - Total Latency [ms],"; + file << "\nNode - Pipeline - Total Latency [ms],"; for (size_t j = 0; j < pipeline_reactions.size(); ++j) { const auto & reaction = pipeline_reactions[j].second; @@ -443,17 +439,21 @@ void write_results( if (j == 0) { const auto node_latency = calculate_time_diff_ms(reaction.header.stamp, reaction.published_stamp); + const auto pipeline_latency = + calculate_time_diff_ms(pipeline_header_time, reaction.published_stamp); const auto total_latency = calculate_time_diff_ms(spawn_cmd_time, reaction.published_stamp); - file << node_latency << " - " << total_latency << ","; + file << node_latency << " - " << pipeline_latency << " - " << total_latency << ","; tmp_latency_map[node_name].emplace_back(node_latency, total_latency); } else { const auto & prev_reaction = pipeline_reactions[j - 1].second; const auto node_latency = calculate_time_diff_ms(prev_reaction.published_stamp, reaction.published_stamp); + const auto pipeline_latency = + calculate_time_diff_ms(pipeline_header_time, reaction.published_stamp); const auto total_latency = calculate_time_diff_ms(spawn_cmd_time, reaction.published_stamp); - file << node_latency << " - " << total_latency << ","; + file << node_latency << " - " << pipeline_latency << " - " << total_latency << ","; tmp_latency_map[node_name].emplace_back(node_latency, total_latency); } } From 08833c61848ffeaa4b7a5af463825d61f3b5e6d6 Mon Sep 17 00:00:00 2001 From: Berkay Karaman Date: Tue, 14 May 2024 15:48:18 +0300 Subject: [PATCH 13/14] fix: container die problem Signed-off-by: Berkay Karaman --- tools/reaction_analyzer/include/reaction_analyzer_node.hpp | 1 + tools/reaction_analyzer/include/topic_publisher.hpp | 4 +++- tools/reaction_analyzer/src/reaction_analyzer_node.cpp | 5 ++++- tools/reaction_analyzer/src/topic_publisher.cpp | 6 +++++- 4 files changed, 13 insertions(+), 3 deletions(-) diff --git a/tools/reaction_analyzer/include/reaction_analyzer_node.hpp b/tools/reaction_analyzer/include/reaction_analyzer_node.hpp index 631233cef8a7d..cce073a7f3367 100644 --- a/tools/reaction_analyzer/include/reaction_analyzer_node.hpp +++ b/tools/reaction_analyzer/include/reaction_analyzer_node.hpp @@ -100,6 +100,7 @@ class ReactionAnalyzerNode : public rclcpp::Node std::optional test_environment_init_time_; std::optional spawn_cmd_time_; std::atomic spawn_object_cmd_{false}; + std::atomic ego_initialized_{false}; bool is_initialization_requested{false}; bool is_route_set_{false}; size_t test_iteration_count_{0}; diff --git a/tools/reaction_analyzer/include/topic_publisher.hpp b/tools/reaction_analyzer/include/topic_publisher.hpp index e2e9ea072970e..c6d3a90650884 100644 --- a/tools/reaction_analyzer/include/topic_publisher.hpp +++ b/tools/reaction_analyzer/include/topic_publisher.hpp @@ -179,7 +179,7 @@ class TopicPublisher { public: explicit TopicPublisher( - rclcpp::Node * node, std::atomic & spawn_object_cmd, + rclcpp::Node * node, std::atomic & spawn_object_cmd, std::atomic & ego_initialized, std::optional & spawn_cmd_time, const RunningMode & node_running_mode, const EntityParams & entity_params); @@ -192,6 +192,8 @@ class TopicPublisher rclcpp::Node * node_; RunningMode node_running_mode_; std::atomic & spawn_object_cmd_; + std::atomic & ego_initialized_; // used for planning_control mode because if pointcloud is + // published before ego is initialized, it causes crash EntityParams entity_params_; std::optional & spawn_cmd_time_; // Set by a publisher function when the // spawn_object_cmd_ is true diff --git a/tools/reaction_analyzer/src/reaction_analyzer_node.cpp b/tools/reaction_analyzer/src/reaction_analyzer_node.cpp index e7d01ecef6842..2e47c19ae0ab2 100644 --- a/tools/reaction_analyzer/src/reaction_analyzer_node.cpp +++ b/tools/reaction_analyzer/src/reaction_analyzer_node.cpp @@ -133,7 +133,8 @@ ReactionAnalyzerNode::ReactionAnalyzerNode(rclcpp::NodeOptions node_options) } topic_publisher_ptr_ = std::make_unique( - this, spawn_object_cmd_, spawn_cmd_time_, node_running_mode_, node_params_.entity_params); + this, spawn_object_cmd_, ego_initialized_, spawn_cmd_time_, node_running_mode_, + node_params_.entity_params); // initialize the odometry before init the subscriber odometry_ptr_ = std::make_shared(); @@ -299,6 +300,7 @@ void ReactionAnalyzerNode::init_test_env( call_operation_mode_service_without_response(); } } + ego_initialized_ = true; const bool is_ready = (is_initialization_requested && is_route_set_ && @@ -419,6 +421,7 @@ void ReactionAnalyzerNode::reset() std::lock_guard lock(mutex_); spawn_cmd_time_ = std::nullopt; subscriber_ptr_->reset(); + ego_initialized_ = false; RCLCPP_INFO(this->get_logger(), "Test - %zu is done, resetting..", test_iteration_count_); } } // namespace reaction_analyzer diff --git a/tools/reaction_analyzer/src/topic_publisher.cpp b/tools/reaction_analyzer/src/topic_publisher.cpp index 9816f1970debd..8a66bf9e33911 100644 --- a/tools/reaction_analyzer/src/topic_publisher.cpp +++ b/tools/reaction_analyzer/src/topic_publisher.cpp @@ -21,12 +21,13 @@ namespace reaction_analyzer::topic_publisher { TopicPublisher::TopicPublisher( - rclcpp::Node * node, std::atomic & spawn_object_cmd, + rclcpp::Node * node, std::atomic & spawn_object_cmd, std::atomic & ego_initialized, std::optional & spawn_cmd_time, const RunningMode & node_running_mode, const EntityParams & entity_params) : node_(node), node_running_mode_(node_running_mode), spawn_object_cmd_(spawn_object_cmd), + ego_initialized_(ego_initialized), entity_params_(entity_params), spawn_cmd_time_(spawn_cmd_time) { @@ -192,6 +193,9 @@ void TopicPublisher::generic_message_publisher(const std::string & topic_name) void TopicPublisher::dummy_perception_publisher() { + if (!ego_initialized_) { + return; // do not publish anything if ego is not initialized + } if (!spawn_object_cmd_) { // do not spawn it, send empty pointcloud pcl::PointCloud pcl_empty; From f74c83f21afbb9a1e26405f68010939ff950c1b0 Mon Sep 17 00:00:00 2001 From: Berkay Karaman Date: Fri, 17 May 2024 05:18:22 +0300 Subject: [PATCH 14/14] feat: update stats, check path param, add marker, warn user for wrong reaction_chain Signed-off-by: Berkay Karaman --- tools/reaction_analyzer/README.md | 14 ++- .../include/reaction_analyzer_node.hpp | 2 + tools/reaction_analyzer/include/utils.hpp | 19 +++ .../src/reaction_analyzer_node.cpp | 13 +- tools/reaction_analyzer/src/subscriber.cpp | 4 + tools/reaction_analyzer/src/utils.cpp | 116 ++++++++++++++++-- 6 files changed, 153 insertions(+), 15 deletions(-) diff --git a/tools/reaction_analyzer/README.md b/tools/reaction_analyzer/README.md index 8c8510559c678..f5a22aaf20176 100644 --- a/tools/reaction_analyzer/README.md +++ b/tools/reaction_analyzer/README.md @@ -54,6 +54,11 @@ and `reaction_chain` list. `output_file_path` is the output file path is the pat will be stored. `test_iteration` defines how many tests will be performed. The `reaction_chain` list is the list of the pre-defined topics you want to measure their reaction times. +**IMPORTANT:** Ensure the `reaction_chain` list is correctly defined: + +- For `perception_planning` mode, **do not** define `Control` nodes. +- For `planning_control` mode, **do not** define `Perception` nodes. + ### Prepared Test Environment - Download the demonstration test map from the @@ -119,7 +124,8 @@ ros2 launch autoware_launch e2e_simulator.launch.xml vehicle_model:=sample_vehic - After the EGO stopped in desired position, please localize the dummy obstacle by using the traffic controller. You can control the traffic by pressing `ESC` button. -**After localize EGO and dummy vehicle, we should write the positions of these entities in the map frame in `reaction_analyzer.param.yaml`. To achieve this:** +**After localize EGO and dummy vehicle, we should write the positions of these entities in the map frame +in `reaction_analyzer.param.yaml`. To achieve this:** - Get initialization pose from `/awsim/ground_truth/vehicle/pose` topic. - Get entity params from `/perception/object_recognition/objects` topic. @@ -146,10 +152,12 @@ to run Autoware while recording.** ## Results The results will be stored in the `csv` file format and written to the `output_file_path` you defined. It shows each -pipeline of the Autoware by using header timestamp of the messages, and it reports `Node Latency`, `Pipeline Latency`, and `Total Latency` +pipeline of the Autoware by using header timestamp of the messages, and it reports `Node Latency`, `Pipeline Latency`, +and `Total Latency` for each of the nodes. -- `Node Latency`: The time difference between previous and current node's reaction timestamps. +- `Node Latency`: The time difference between previous and current node's reaction timestamps. If it is the first node + in the pipeline, it is same as `Pipeline Latency`. - `Pipeline Latency`: The time difference between published time of the message and pipeline header time. - `Total Latency`: The time difference between the message's published timestamp and the spawn obstacle command sent timestamp. diff --git a/tools/reaction_analyzer/include/reaction_analyzer_node.hpp b/tools/reaction_analyzer/include/reaction_analyzer_node.hpp index cce073a7f3367..6dc3dd896dc92 100644 --- a/tools/reaction_analyzer/include/reaction_analyzer_node.hpp +++ b/tools/reaction_analyzer/include/reaction_analyzer_node.hpp @@ -93,6 +93,7 @@ class ReactionAnalyzerNode : public rclcpp::Node // Publishers rclcpp::Publisher::SharedPtr pub_initial_pose_; rclcpp::Publisher::SharedPtr pub_goal_pose_; + rclcpp::Publisher::SharedPtr pub_marker_; // Variables std::vector pipeline_map_vector_; @@ -104,6 +105,7 @@ class ReactionAnalyzerNode : public rclcpp::Node bool is_initialization_requested{false}; bool is_route_set_{false}; size_t test_iteration_count_{0}; + visualization_msgs::msg::Marker entity_debug_marker_; // Functions void init_analyzer_variables(); diff --git a/tools/reaction_analyzer/include/utils.hpp b/tools/reaction_analyzer/include/utils.hpp index 150aa00fef1c1..da1defc03f34c 100644 --- a/tools/reaction_analyzer/include/utils.hpp +++ b/tools/reaction_analyzer/include/utils.hpp @@ -30,6 +30,7 @@ #include #include #include +#include #include #include @@ -40,6 +41,7 @@ #include #include +#include #include #include #include @@ -253,6 +255,15 @@ PredictedObjects::SharedPtr create_entity_predicted_objects_ptr(const EntityPara */ rclcpp::SubscriptionOptions create_subscription_options(rclcpp::Node * node); +/** + * @brief Creates a visualization marker for a polyhedron based on the provided entity parameters. + * + * @param params The parameters of the entity for which the marker is to be created. It includes the + * position, orientation, and dimensions of the entity. + * @return The created visualization marker for the polyhedron. + */ +visualization_msgs::msg::Marker create_polyhedron_marker(const EntityParams & params); + /** * @brief Splits a string by a given delimiter. * @@ -263,6 +274,14 @@ rclcpp::SubscriptionOptions create_subscription_options(rclcpp::Node * node); */ std::vector split(const std::string & str, char delimiter); +/** + * @brief Checks if a folder exists. + * + * @param path The path to the folder. + * @return True if the folder exists, false otherwise. + */ +bool does_folder_exist(const std::string & path); + /** * @brief Get the index of the trajectory point that is a certain distance away from the current * point. diff --git a/tools/reaction_analyzer/src/reaction_analyzer_node.cpp b/tools/reaction_analyzer/src/reaction_analyzer_node.cpp index 2e47c19ae0ab2..53313f28eb4d9 100644 --- a/tools/reaction_analyzer/src/reaction_analyzer_node.cpp +++ b/tools/reaction_analyzer/src/reaction_analyzer_node.cpp @@ -68,9 +68,15 @@ ReactionAnalyzerNode::ReactionAnalyzerNode(rclcpp::NodeOptions node_options) return; } + node_params_.output_file_path = get_parameter("output_file_path").as_string(); + // Check if the output file path is valid + if (!does_folder_exist(node_params_.output_file_path)) { + RCLCPP_ERROR(get_logger(), "Output file path is not valid. Node couldn't be initialized."); + return; + } + node_params_.timer_period = get_parameter("timer_period").as_double(); node_params_.test_iteration = get_parameter("test_iteration").as_int(); - node_params_.output_file_path = get_parameter("output_file_path").as_string(); node_params_.spawn_time_after_init = get_parameter("spawn_time_after_init").as_double(); node_params_.spawn_distance_threshold = get_parameter("spawn_distance_threshold").as_double(); @@ -115,6 +121,7 @@ ReactionAnalyzerNode::ReactionAnalyzerNode(rclcpp::NodeOptions node_options) create_subscription_options(this)); pub_goal_pose_ = create_publisher("output/goal", rclcpp::QoS(1)); + pub_marker_ = create_publisher("~/debug", 10); init_analyzer_variables(); @@ -167,6 +174,8 @@ void ReactionAnalyzerNode::on_timer() return; } + pub_marker_->publish(entity_debug_marker_); + // Spawn the obstacle if the conditions are met spawn_obstacle(current_odometry_ptr->pose.pose.position); @@ -244,7 +253,7 @@ void ReactionAnalyzerNode::calculate_results( void ReactionAnalyzerNode::init_analyzer_variables() { entity_pose_ = create_entity_pose(node_params_.entity_params); - + entity_debug_marker_ = create_polyhedron_marker(node_params_.entity_params); goal_pose_.pose = pose_params_to_pose(node_params_.goal_pose); if (node_running_mode_ == RunningMode::PlanningControl) { diff --git a/tools/reaction_analyzer/src/subscriber.cpp b/tools/reaction_analyzer/src/subscriber.cpp index 21811430da696..8c735c42b9cd5 100644 --- a/tools/reaction_analyzer/src/subscriber.cpp +++ b/tools/reaction_analyzer/src/subscriber.cpp @@ -162,10 +162,14 @@ std::optional> SubscriberBase::get_m for (const auto & [key, variant] : message_buffers_) { if (auto * control_message = std::get_if(&variant)) { if (!control_message->second) { + RCLCPP_WARN_THROTTLE( + node_->get_logger(), *node_->get_clock(), 1000, "Waiting for %s to react", key.c_str()); all_reacted = false; } } else if (auto * general_message = std::get_if(&variant)) { if (!general_message->has_value()) { + RCLCPP_WARN_THROTTLE( + node_->get_logger(), *node_->get_clock(), 1000, "Waiting for %s to react", key.c_str()); all_reacted = false; } } diff --git a/tools/reaction_analyzer/src/utils.cpp b/tools/reaction_analyzer/src/utils.cpp index 792878e4b57fe..4a6110322440e 100644 --- a/tools/reaction_analyzer/src/utils.cpp +++ b/tools/reaction_analyzer/src/utils.cpp @@ -120,6 +120,86 @@ rclcpp::SubscriptionOptions create_subscription_options(rclcpp::Node * node) return sub_opt; } +visualization_msgs::msg::Marker create_polyhedron_marker(const EntityParams & params) +{ + visualization_msgs::msg::Marker marker; + marker.header.frame_id = "map"; + marker.header.stamp = rclcpp::Time(0); + marker.ns = "entity"; + marker.id = 0; + marker.type = visualization_msgs::msg::Marker::LINE_STRIP; + marker.action = visualization_msgs::msg::Marker::ADD; + + marker.pose.position.x = params.x; + marker.pose.position.y = params.y; + marker.pose.position.z = params.z; + + tf2::Quaternion quaternion; + quaternion.setRPY( + tier4_autoware_utils::deg2rad(params.roll), tier4_autoware_utils::deg2rad(params.pitch), + tier4_autoware_utils::deg2rad(params.yaw)); + marker.pose.orientation = tf2::toMsg(quaternion); + + marker.scale.x = 0.1; // Line width + + marker.color.a = 1.0; // Alpha + marker.color.r = 1.0; + marker.color.g = 0.0; + marker.color.b = 0.0; + + // Define the 8 corners of the polyhedron + geometry_msgs::msg::Point p1, p2, p3, p4, p5, p6, p7, p8; + + p1.x = params.x_l / 2.0; + p1.y = params.y_l / 2.0; + p1.z = params.z_l / 2.0; + p2.x = -params.x_l / 2.0; + p2.y = params.y_l / 2.0; + p2.z = params.z_l / 2.0; + p3.x = -params.x_l / 2.0; + p3.y = -params.y_l / 2.0; + p3.z = params.z_l / 2.0; + p4.x = params.x_l / 2.0; + p4.y = -params.y_l / 2.0; + p4.z = params.z_l / 2.0; + p5.x = params.x_l / 2.0; + p5.y = params.y_l / 2.0; + p5.z = -params.z_l / 2.0; + p6.x = -params.x_l / 2.0; + p6.y = params.y_l / 2.0; + p6.z = -params.z_l / 2.0; + p7.x = -params.x_l / 2.0; + p7.y = -params.y_l / 2.0; + p7.z = -params.z_l / 2.0; + p8.x = params.x_l / 2.0; + p8.y = -params.y_l / 2.0; + p8.z = -params.z_l / 2.0; + + // Add points to the marker + marker.points.push_back(p1); + marker.points.push_back(p2); + marker.points.push_back(p3); + marker.points.push_back(p4); + marker.points.push_back(p1); + + marker.points.push_back(p5); + marker.points.push_back(p6); + marker.points.push_back(p7); + marker.points.push_back(p8); + marker.points.push_back(p5); + + marker.points.push_back(p1); + marker.points.push_back(p5); + marker.points.push_back(p6); + marker.points.push_back(p2); + marker.points.push_back(p3); + marker.points.push_back(p7); + marker.points.push_back(p4); + marker.points.push_back(p8); + + return marker; +} + std::vector split(const std::string & str, char delimiter) { std::vector elements; @@ -131,6 +211,11 @@ std::vector split(const std::string & str, char delimiter) return elements; } +bool does_folder_exist(const std::string & path) +{ + return std::filesystem::exists(path) && std::filesystem::is_directory(path); +} + size_t get_index_after_distance( const Trajectory & traj, const size_t curr_id, const double distance) { @@ -410,7 +495,7 @@ void write_results( } // tmp map to store latency results for statistics - std::map>> tmp_latency_map; + std::map>> tmp_latency_map; size_t test_count = 0; for (const auto & pipeline_map : pipeline_map_vector) { @@ -444,7 +529,8 @@ void write_results( const auto total_latency = calculate_time_diff_ms(spawn_cmd_time, reaction.published_stamp); file << node_latency << " - " << pipeline_latency << " - " << total_latency << ","; - tmp_latency_map[node_name].emplace_back(node_latency, total_latency); + tmp_latency_map[node_name].emplace_back( + std::make_tuple(node_latency, pipeline_latency, total_latency)); } else { const auto & prev_reaction = pipeline_reactions[j - 1].second; const auto node_latency = @@ -454,7 +540,8 @@ void write_results( const auto total_latency = calculate_time_diff_ms(spawn_cmd_time, reaction.published_stamp); file << node_latency << " - " << pipeline_latency << " - " << total_latency << ","; - tmp_latency_map[node_name].emplace_back(node_latency, total_latency); + tmp_latency_map[node_name].emplace_back( + std::make_tuple(node_latency, pipeline_latency, total_latency)); } } file << "\n"; @@ -465,27 +552,36 @@ void write_results( file << "\nStatistics\n"; file << "Node " - "Name,Min-NL,Max-NL,Mean-NL,Median-NL,Std-Dev-NL,Min-TL,Max-TL,Mean-TL,Median-TL,Std-Dev-" - "TL\n"; + "Name,Min-NL,Max-NL,Mean-NL,Median-NL,Std-Dev-NL,Min-PL,Max-PL,Mean-PL,Median-PL,Std-Dev-" + "PL,Min-TL,Max-TL,Mean-TL,Median-TL,Std-Dev-TL\n"; for (const auto & [node_name, latency_vec] : tmp_latency_map) { file << node_name << ","; + std::vector node_latencies; + std::vector pipeline_latencies; std::vector total_latencies; // Extract latencies for (const auto & latencies : latency_vec) { - node_latencies.push_back(latencies.first); - total_latencies.push_back(latencies.second); + double node_latency, pipeline_latency, total_latency; + std::tie(node_latency, pipeline_latency, total_latency) = latencies; + node_latencies.push_back(node_latency); + pipeline_latencies.push_back(pipeline_latency); + total_latencies.push_back(total_latency); } const auto stats_node_latency = calculate_statistics(node_latencies); + const auto stats_pipeline_latency = calculate_statistics(pipeline_latencies); const auto stats_total_latency = calculate_statistics(total_latencies); file << stats_node_latency.min << "," << stats_node_latency.max << "," << stats_node_latency.mean << "," << stats_node_latency.median << "," - << stats_node_latency.std_dev << "," << stats_total_latency.min << "," - << stats_total_latency.max << "," << stats_total_latency.mean << "," - << stats_total_latency.median << "," << stats_total_latency.std_dev << "\n"; + << stats_node_latency.std_dev << "," << stats_pipeline_latency.min << "," + << stats_pipeline_latency.max << "," << stats_pipeline_latency.mean << "," + << stats_pipeline_latency.median << "," << stats_pipeline_latency.std_dev << "," + << stats_total_latency.min << "," << stats_total_latency.max << "," + << stats_total_latency.mean << "," << stats_total_latency.median << "," + << stats_total_latency.std_dev << "\n"; } file.close(); RCLCPP_INFO(node->get_logger(), "Results written to: %s", ss.str().c_str());

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