use metric_msgs for autoware_processing_time_checker.

autowarefoundation · Oct 29, 2024 · 0e10eb5 · 0e10eb5
1 parent 54ea4e1
commit 0e10eb5
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Showing 4 changed files with 19 additions and 24 deletions.
diff --git a/system/autoware_processing_time_checker/README.md b/system/autoware_processing_time_checker/README.md
@@ -25,7 +25,7 @@ ros2 launch autoware_processing_time_checker processing_time_checker.launch.xml
 
 | Name                                      | Type                              | Description                        |
 | ----------------------------------------- | --------------------------------- | ---------------------------------- |
-| `/system/processing_time_checker/metrics` | `diagnostic_msgs/DiagnosticArray` | processing time of all the modules |
+| `/system/processing_time_checker/metrics` | `tier4_metric_msgs::msg::MetricArray` | processing time of all the modules |
 
 ## Parameters
 

diff --git a/system/autoware_processing_time_checker/package.xml b/system/autoware_processing_time_checker/package.xml
@@ -12,10 +12,10 @@
   <buildtool_depend>ament_cmake</buildtool_depend>
   <buildtool_depend>autoware_cmake</buildtool_depend>
 
-  <depend>diagnostic_updater</depend>
   <depend>rclcpp</depend>
   <depend>rclcpp_components</depend>
   <depend>tier4_debug_msgs</depend>
+  <depend>tier4_metric_msgs</depend>
 
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>ament_lint_common</test_depend>

diff --git a/system/autoware_processing_time_checker/src/processing_time_checker.cpp b/system/autoware_processing_time_checker/src/processing_time_checker.cpp
@@ -16,7 +16,6 @@
 
 #include <rclcpp/rclcpp.hpp>
 
-#include <chrono>
 #include <string>
 #include <vector>
 
@@ -84,7 +83,7 @@ ProcessingTimeChecker::ProcessingTimeChecker(const rclcpp::NodeOptions & node_op
     // clang-format on
   }
 
-  diag_pub_ = create_publisher<DiagnosticArray>("~/metrics", 1);
+  metrics_pub_ = create_publisher<MetricArrayMsg>("~/metrics", 1);
 
   const auto period_ns = rclcpp::Rate(update_rate).period();
   timer_ = rclcpp::create_timer(
@@ -93,28 +92,23 @@ ProcessingTimeChecker::ProcessingTimeChecker(const rclcpp::NodeOptions & node_op
 
 void ProcessingTimeChecker::on_timer()
 {
-  // create diagnostic status
-  DiagnosticStatus status;
-  status.level = status.OK;
-  status.name = "processing_time";
+  // create MetricArrayMsg
+  MetricArrayMsg metrics_msg;
   for (const auto & processing_time_iterator : processing_time_map_) {
     const auto processing_time_topic_name = processing_time_iterator.first;
     const double processing_time = processing_time_iterator.second;
 
-    // generate diagnostic status
-    diagnostic_msgs::msg::KeyValue key_value;
-    key_value.key = processing_time_topic_name;
-    key_value.value = std::to_string(processing_time);
-    status.values.push_back(key_value);
+    // generate MetricMsg
+    MetricMsg metric;
+    metric.name = processing_time_topic_name + "/processing_time";
+    metric.value = std::to_string(processing_time);
+    metric.unit = "millisecond";
+    metrics_msg.metric_array.push_back(metric);
   }
 
-  // create diagnostic array
-  DiagnosticArray diag_msg;
-  diag_msg.header.stamp = now();
-  diag_msg.status.push_back(status);
-
   // publish
-  diag_pub_->publish(diag_msg);
+  metrics_msg.stamp = now();
+  metrics_pub_->publish(metrics_msg);
 }
 }  // namespace autoware::processing_time_checker
 

diff --git a/system/autoware_processing_time_checker/src/processing_time_checker.hpp b/system/autoware_processing_time_checker/src/processing_time_checker.hpp
@@ -17,17 +17,18 @@
 
 #include <rclcpp/rclcpp.hpp>
 
-#include "diagnostic_msgs/msg/diagnostic_array.hpp"
-#include "tier4_debug_msgs/msg/float64_stamped.hpp"
+#include <tier4_debug_msgs/msg/float64_stamped.hpp>
+#include <tier4_metric_msgs/msg/metric.hpp>
+#include <tier4_metric_msgs/msg/metric_array.hpp>
 
 #include <string>
 #include <unordered_map>
 #include <vector>
 
 namespace autoware::processing_time_checker
 {
-using diagnostic_msgs::msg::DiagnosticArray;
-using diagnostic_msgs::msg::DiagnosticStatus;
+using MetricMsg = tier4_metric_msgs::msg::Metric;
+using MetricArrayMsg = tier4_metric_msgs::msg::MetricArray;
 using tier4_debug_msgs::msg::Float64Stamped;
 
 class ProcessingTimeChecker : public rclcpp::Node
@@ -40,7 +41,7 @@ class ProcessingTimeChecker : public rclcpp::Node
 
   rclcpp::TimerBase::SharedPtr timer_;
 
-  rclcpp::Publisher<DiagnosticArray>::SharedPtr diag_pub_;
+  rclcpp::Publisher<MetricArrayMsg>::SharedPtr metrics_pub_;
   std::vector<rclcpp::Subscription<Float64Stamped>::SharedPtr> processing_time_subscribers_;
 
   // topic name - module name