feat: add IMU subscriber to control evaluator node

Signed-off-by: Kyoichi Sugahara <[email protected]>
tier4 · Sep 27, 2024 · a684360 · a684360
1 parent bbb984b
commit a684360
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Showing 2 changed files with 23 additions and 17 deletions.
diff --git a/.../autoware_control_evaluator/include/autoware/control_evaluator/control_evaluator_node.hpp b/.../autoware_control_evaluator/include/autoware/control_evaluator/control_evaluator_node.hpp
@@ -25,6 +25,7 @@
 #include <autoware_auto_planning_msgs/msg/route.hpp>
 #include <diagnostic_msgs/msg/diagnostic_array.hpp>
 #include <nav_msgs/msg/odometry.hpp>
+#include <sensor_msgs/msg/imu.hpp>
 
 #include <deque>
 #include <optional>
@@ -44,6 +45,8 @@ using nav_msgs::msg::Odometry;
 using LaneletMapBin = autoware_auto_mapping_msgs::msg::HADMapBin;
 using LaneletRoute = autoware_auto_planning_msgs::msg::HADMapRoute;
 using geometry_msgs::msg::AccelWithCovarianceStamped;
+using sensor_msgs::msg::Imu;
+
 
 /**
  * @brief Node for control evaluation
@@ -62,7 +65,7 @@ class ControlEvaluatorNode : public rclcpp::Node
   DiagnosticStatus generateAEBDiagnosticStatus(const DiagnosticStatus & diag);
   DiagnosticStatus generateLaneletDiagnosticStatus(const Pose & ego_pose) const;
   DiagnosticStatus generateKinematicStateDiagnosticStatus(
-    const Odometry & odom, const AccelWithCovarianceStamped & accel_stamped);
+    const Odometry & odom, const Imu & imu);
 
   void onDiagnostics(const DiagnosticArray::ConstSharedPtr diag_msg);
   void onTimer();
@@ -75,8 +78,10 @@ class ControlEvaluatorNode : public rclcpp::Node
 
   autoware::universe_utils::InterProcessPollingSubscriber<Odometry> odometry_sub_{
     this, "~/input/odometry"};
-  autoware::universe_utils::InterProcessPollingSubscriber<AccelWithCovarianceStamped> accel_sub_{
-    this, "~/input/acceleration"};
+  // autoware::universe_utils::InterProcessPollingSubscriber<AccelWithCovarianceStamped> accel_sub_{
+  //   this, "~/input/acceleration"};
+  autoware::universe_utils::InterProcessPollingSubscriber<Imu> imu_sub_{
+    this, "~/input/imu"};
   autoware::universe_utils::InterProcessPollingSubscriber<Trajectory> traj_sub_{
     this, "~/input/trajectory"};
   autoware::universe_utils::InterProcessPollingSubscriber<
@@ -101,7 +106,7 @@ class ControlEvaluatorNode : public rclcpp::Node
 
   route_handler::RouteHandler route_handler_;
   rclcpp::TimerBase::SharedPtr timer_;
-  std::optional<AccelWithCovarianceStamped> prev_acc_stamped_{std::nullopt};
+  std::optional<Imu> prev_imu_{std::nullopt};
 };
 }  // namespace control_diagnostics
 

diff --git a/control/autoware_control_evaluator/src/control_evaluator_node.cpp b/control/autoware_control_evaluator/src/control_evaluator_node.cpp
@@ -119,7 +119,7 @@ DiagnosticStatus ControlEvaluatorNode::generateLaneletDiagnosticStatus(const Pos
 }
 
 DiagnosticStatus ControlEvaluatorNode::generateKinematicStateDiagnosticStatus(
-  const Odometry & odom, const AccelWithCovarianceStamped & accel_stamped)
+  const Odometry & odom, const Imu & imu)
 {
   DiagnosticStatus status;
   status.name = "kinematic_state";
@@ -129,24 +129,24 @@ DiagnosticStatus ControlEvaluatorNode::generateKinematicStateDiagnosticStatus(
   key_value.value = std::to_string(odom.twist.twist.linear.x);
   status.values.push_back(key_value);
   key_value.key = "acc";
-  const auto & acc = accel_stamped.accel.accel.linear.x;
+  const auto & acc = imu.linear_acceleration.x;
   key_value.value = std::to_string(acc);
   status.values.push_back(key_value);
   key_value.key = "jerk";
   const auto jerk = [&]() {
-    if (!prev_acc_stamped_.has_value()) {
-      prev_acc_stamped_ = accel_stamped;
+    if (!prev_imu_.has_value()) {
+      prev_imu_ = imu;
       return 0.0;
     }
-    const auto t = static_cast<double>(accel_stamped.header.stamp.sec) +
-                   static_cast<double>(accel_stamped.header.stamp.nanosec) * 1e-9;
-    const auto prev_t = static_cast<double>(prev_acc_stamped_.value().header.stamp.sec) +
-                        static_cast<double>(prev_acc_stamped_.value().header.stamp.nanosec) * 1e-9;
+    const auto t = static_cast<double>(imu.header.stamp.sec) +
+                   static_cast<double>(imu.header.stamp.nanosec) * 1e-9;
+    const auto prev_t = static_cast<double>(prev_imu_.value().header.stamp.sec) +
+                        static_cast<double>(prev_imu_.value().header.stamp.nanosec) * 1e-9;
     const auto dt = t - prev_t;
     if (dt < std::numeric_limits<double>::epsilon()) return 0.0;
 
-    const auto prev_acc = prev_acc_stamped_.value().accel.accel.linear.x;
-    prev_acc_stamped_ = accel_stamped;
+    const auto prev_acc = prev_imu_.value().linear_acceleration.x;
+    prev_imu_ = imu;
     return (acc - prev_acc) / dt;
   }();
   key_value.value = std::to_string(jerk);
@@ -191,7 +191,8 @@ void ControlEvaluatorNode::onTimer()
   DiagnosticArray metrics_msg;
   const auto traj = traj_sub_.takeData();
   const auto odom = odometry_sub_.takeData();
-  const auto acc = accel_sub_.takeData();
+  // const auto acc = accel_sub_.takeData();
+  const auto imu = imu_sub_.takeData();
 
   // generate decision diagnostics from input diagnostics
   for (const auto & function : target_functions_) {
@@ -224,8 +225,8 @@ void ControlEvaluatorNode::onTimer()
     metrics_msg.status.push_back(generateLaneletDiagnosticStatus(ego_pose));
   }
 
-  if (odom && acc) {
-    metrics_msg.status.push_back(generateKinematicStateDiagnosticStatus(*odom, *acc));
+  if (odom && imu) {
+    metrics_msg.status.push_back(generateKinematicStateDiagnosticStatus(*odom, *imu));
   }
 
   metrics_msg.header.stamp = now();