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fix(lareral_deviation_monitor): update metrics msgs #157

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fix(lareral_deviation_monitor): update metrics msgs #157

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a29ed38
fix(lareral_deviation_monitor): update metrics msgs
Kazunori-Nakajima Nov 20, 2024
b658a94
add: CODEOWNER
Kazunori-Nakajima Nov 20, 2024
9e62c7f
add CORDOWNER to package.xml
Kazunori-Nakajima Nov 21, 2024
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2 changes: 1 addition & 1 deletion .github/CODEOWNERS
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Original file line number Diff line number Diff line change
Expand Up @@ -15,7 +15,7 @@ common/tier4_screen_capture_rviz_plugin/** [email protected] satoshi.ota
common/tier4_simulated_clock_rviz_plugin/** [email protected]
common/tier4_string_viewer_rviz_plugin/** [email protected]
common/tier4_target_object_type_rviz_plugin/** [email protected]
control/control_debug_tools/** [email protected] [email protected]
control/control_debug_tools/** [email protected] [email protected] [email protected] [email protected]
control/stop_accel_evaluator/** [email protected]
control/vehicle_cmd_analyzer/** [email protected]
control_data_collecting_tool/** [email protected] [email protected] [email protected] [email protected] [email protected] [email protected]
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2 changes: 2 additions & 0 deletions control/control_debug_tools/package.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -6,6 +6,8 @@
<description>The control_debug_tools package</description>
<maintainer email="[email protected]">Zhe Shen</maintainer>
<maintainer email="[email protected]">Takayuki Murooka</maintainer>
<maintainer email="[email protected]">Kosuke Takeuchi</maintainer>
<maintainer email="[email protected]">Temkei Kem</maintainer>
<license>Apache License 2.0</license>

<author email="[email protected]">Zhe Shen</author>
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17 changes: 7 additions & 10 deletions control/control_debug_tools/scripts/lateral_deviation_monitor.py
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Original file line number Diff line number Diff line change
Expand Up @@ -18,11 +18,11 @@

from autoware_control_msgs.msg import Control
from autoware_vehicle_msgs.msg import SteeringReport
from diagnostic_msgs.msg import DiagnosticArray
import matplotlib.pyplot as plt
import rclpy
from rclpy.node import Node
from termcolor import colored
from tier4_metric_msgs.msg import MetricArray


class SteeringAndLateralDeviationMonitor(Node):
Expand All @@ -38,7 +38,7 @@ def __init__(self, plot=False):
)

self.create_subscription(
DiagnosticArray, "/control/control_evaluator/metrics", self.metrics_callback, 10
MetricArray, "/control/control_evaluator/metrics", self.metrics_callback, 10
)

self.control_steering_angle = None
Expand Down Expand Up @@ -77,14 +77,11 @@ def steering_status_callback(self, msg):
self.update_steering_diff()
self.update_max_values()

def metrics_callback(self, msg):
for status in msg.status:
if status.name == "lateral_deviation":
for value in status.values:
if value.key == "metric_value":
self.lateral_deviation = float(value.value)
self.update_max_values()
break
def metrics_callback(self, msgs):
for msg in msgs.metric_array:
if msg.name == "lateral_deviation":
self.lateral_deviation = float(msg.value)
self.update_max_values()

def update_steering_diff(self):
if self.control_steering_angle is not None and self.vehicle_steering_angle is not None:
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