feat(imu_corrector): cherry pick diagnostics modification in gyro_bias_estimatior from awf #1122
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…agnostics in gyro_bias_estimator (autowarefoundation#6139) * Let diagnostics be updated even if expections occur in timer_callback Signed-off-by: TaikiYamada4 <[email protected]> * Fixed the summary message to be "Not updated" when the gyro bias is not updated. Fixed typo. Signed-off-by: TaikiYamada4 <[email protected]> * Removed force_update() since updater_ originaly updates diagnostics automatically. Set the update peirod of diagnostics to be same to the timer_callback. Changed words of the diagnostics message a bit. Signed-off-by: TaikiYamada4 <[email protected]> * style(pre-commit): autofix * Let the period of diagnostics publication independent to timer. Let update_diagnostics to be simple. Signed-off-by: TaikiYamada4 <[email protected]> * style(pre-commit): autofix * Fixed typo Signed-off-by: TaikiYamada4 <[email protected]> * style(pre-commit): autofix * Added setPeriod after force_update to reset the timer of updater_. Then, there will be no duplicates of diagnostics. Signed-off-by: TaikiYamada4 <[email protected]> * style(pre-commit): autofix * Set diagnostics values to have the same precision Added gyro_bias_threshold_ to the diagnostics Signed-off-by: TaikiYamada4 <[email protected]> * Updated README.md to match the paramters in gyro_bias_estimator Signed-off-by: TaikiYamada4 <[email protected]> * style(pre-commit): autofix --------- Signed-off-by: TaikiYamada4 <[email protected]> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
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Description
Make the diagnostics publication from gyro_bias_estiamator constant.
The default period is 0.5 seconds.
You can change this in
gyro_bias_estimator.param.yamlbut note that the period will bemin(timer_callback_interval_sec, diagnostics_updater_interval_sec).Cherry-pick from the autowarefoundation/autoware.universe autowarefoundation#6139
Tests performed
I've test this code via rosbag replay simulation tutorial.
Effects on system behavior
/diagnosticsfrom gyro_bias_estimator should be more periodical than beforeThe content of the
/diagnosticswill be changed as mentioned in autowarefoundation#6139Pre-review checklist for the PR author
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