publish metrics even if there is no metric in the MetricArray.

Signed-off-by: xtk8532704 <1041084556@qq.com>
autowarefoundation · Nov 11, 2024 · 8852fa1 · 8852fa1
1 parent a6a0b16
commit 8852fa1
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Showing 5 changed files with 20 additions and 24 deletions.
diff --git a/control/autoware_autonomous_emergency_braking/src/node.cpp b/control/autoware_autonomous_emergency_braking/src/node.cpp
@@ -401,6 +401,7 @@ void AEB::onCheckCollision(DiagnosticStatusWrapper & stat)
 {
   MarkerArray debug_markers;
   MarkerArray virtual_wall_marker;
+  auto metrics = MetricArray();
   checkCollision(debug_markers);
 
   if (!collision_data_keeper_.checkCollisionExpired()) {
@@ -418,14 +419,12 @@ void AEB::onCheckCollision(DiagnosticStatusWrapper & stat)
     }
     addVirtualStopWallMarker(virtual_wall_marker);
 
-    // publish metrics
-    auto metric = Metric();
-    metric.name = "decision";
-    metric.value = "brake";
-    auto metrics = MetricArray();
-    metrics.stamp = get_clock()->now();
-    metrics.metric_array.push_back(metric);
-    metrics_pub_->publish(metrics);
+    {
+      auto metric = Metric();
+      metric.name = "decision";
+      metric.value = "brake";
+      metrics.metric_array.push_back(metric);
+    }
 
   } else {
     const std::string error_msg = "[AEB]: No Collision";
@@ -436,6 +435,9 @@ void AEB::onCheckCollision(DiagnosticStatusWrapper & stat)
   // publish debug markers
   debug_marker_publisher_->publish(debug_markers);
   virtual_wall_publisher_->publish(virtual_wall_marker);
+  // publish metrics
+  metrics.stamp = get_clock()->now();
+  metrics_pub_->publish(metrics);
 }
 
 bool AEB::checkCollision(MarkerArray & debug_markers)

diff --git a/evaluator/autoware_control_evaluator/src/control_evaluator_node.cpp b/evaluator/autoware_control_evaluator/src/control_evaluator_node.cpp
@@ -221,11 +221,10 @@ void ControlEvaluatorNode::onTimer()
     AddKinematicStateMetricMsg(*odom, *acc);
   }
 
-  if (!metrics_msg_.metric_array.empty()) {
-    metrics_msg_.stamp = now();
-    metrics_pub_->publish(metrics_msg_);
-    metrics_msg_ = MetricArrayMsg{};
-  }
+  // Publish metrics
+  metrics_msg_.stamp = now();
+  metrics_pub_->publish(metrics_msg_);
+  metrics_msg_ = MetricArrayMsg{};
 }
 }  // namespace control_diagnostics
 

diff --git a/evaluator/autoware_planning_evaluator/src/planning_evaluator_node.cpp b/evaluator/autoware_planning_evaluator/src/planning_evaluator_node.cpp
@@ -243,11 +243,10 @@ void PlanningEvaluatorNode::onTimer()
     onModifiedGoal(modified_goal_msg, ego_state_ptr);
   }
 
-  if (!metrics_msg_.metric_array.empty()) {
-    metrics_msg_.stamp = now();
-    metrics_pub_->publish(metrics_msg_);
-    metrics_msg_ = MetricArrayMsg{};
-  }
+  // Publish metrics
+  metrics_msg_.stamp = now();
+  metrics_pub_->publish(metrics_msg_);
+  metrics_msg_ = MetricArrayMsg{};
 }
 
 void PlanningEvaluatorNode::onTrajectory(

diff --git a/planning/autoware_obstacle_cruise_planner/src/planner_interface.cpp b/planning/autoware_obstacle_cruise_planner/src/planner_interface.cpp
@@ -912,9 +912,7 @@ void PlannerInterface::publishMetrics(const rclcpp::Time & current_time)
   addMetrics(debug_data_ptr_->stop_metrics);
   addMetrics(debug_data_ptr_->slow_down_metrics);
   addMetrics(debug_data_ptr_->cruise_metrics);
-  if (!metrics_msg.metric_array.empty()) {
-    metrics_pub_->publish(metrics_msg);
-  }
+  metrics_pub_->publish(metrics_msg);
   clearMetrics();
 }
 

diff --git a/planning/motion_velocity_planner/autoware_motion_velocity_planner_node/src/node.cpp b/planning/motion_velocity_planner/autoware_motion_velocity_planner_node/src/node.cpp
@@ -307,9 +307,7 @@ void MotionVelocityPlannerNode::on_trajectory(
   processing_time_publisher_->publish(processing_time_msg);
 
   std::shared_ptr<MetricArray> metrics = planner_manager_.get_metrics(get_clock()->now());
-  if (!metrics->metric_array.empty()) {
-    metrics_pub_->publish(*metrics);
-  }
+  metrics_pub_->publish(*metrics);
   planner_manager_.clear_metrics();
 }