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autoware_debug_tools -> tier4_debug_tools
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Signed-off-by: tomoya.kimura <tomoya.kimura@tier4.jp>
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tkimura4 committed Dec 14, 2021
1 parent 7b63b77 commit d8c0c4f
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15 changes: 0 additions & 15 deletions common/autoware_debug_tools/scripts/stop_reason2tf

This file was deleted.

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cmake_minimum_required(VERSION 3.5)
project(autoware_debug_tools)
project(tier4_debug_tools)

if(NOT CMAKE_CXX_STANDARD)
set(CMAKE_CXX_STANDARD 14)
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# autoware_debug_tools
# tier4_debug_tools

This package provides useful features for debugging Autoware.

Expand All @@ -10,13 +10,13 @@ This tool converts any `tf` to `pose` topic.
With this tool, for example, you can plot `x` values of `tf` in `rqt_multiplot`.

```sh
ros2 run autoware_debug_tools tf2pose {tf_from} {tf_to} {hz}
ros2 run tier4_debug_tools tf2pose {tf_from} {tf_to} {hz}
```

Example:

```sh
$ ros2 run autoware_debug_tools tf2pose base_link ndt_base_link 100
$ ros2 run tier4_debug_tools tf2pose base_link ndt_base_link 100

$ ros2 topic echo /tf2pose/pose -n1
header:
Expand All @@ -43,13 +43,13 @@ pose:
This tool converts any `pose` topic to `tf`.

```sh
ros2 run autoware_debug_tools pose2tf {pose_topic_name} {tf_name}
ros2 run tier4_debug_tools pose2tf {pose_topic_name} {tf_name}
```

Example:

```sh
$ ros2 run autoware_debug_tools pose2tf /localization/pose_estimator/pose ndt_pose
$ ros2 run tier4_debug_tools pose2tf /localization/pose_estimator/pose ndt_pose

$ ros2 run tf tf_echo ndt_pose ndt_base_link 100
At time 1605168365.449
Expand All @@ -65,13 +65,13 @@ This tool extracts `pose` from `stop_reasons`.
Topics without numbers such as `/stop_reason2pose/pose/detection_area` are the nearest stop_reasons, and topics with numbers are individual stop_reasons that are roughly matched with previous ones.

```sh
ros2 run autoware_debug_tools stop_reason2pose {stop_reason_topic_name}
ros2 run tier4_debug_tools stop_reason2pose {stop_reason_topic_name}
```

Example:

```sh
$ ros2 run autoware_debug_tools stop_reason2pose /planning/scenario_planning/status/stop_reasons
$ ros2 run tier4_debug_tools stop_reason2pose /planning/scenario_planning/status/stop_reasons

$ ros2 topic list | ag stop_reason2pose
/stop_reason2pose/pose/detection_area
Expand Down Expand Up @@ -105,13 +105,13 @@ This is an all-in-one script that uses `tf2pose`, `pose2tf`, and `stop_reason2po
With this tool, you can view the relative position from base_link to the nearest stop_reason.

```sh
ros2 run autoware_debug_tools stop_reason2tf {stop_reason_name}
ros2 run tier4_debug_tools stop_reason2tf {stop_reason_name}
```

Example:

```sh
$ ros2 run autoware_debug_tools stop_reason2tf obstacle_stop
$ ros2 run tier4_debug_tools stop_reason2tf obstacle_stop
At time 1605168359.501
- Translation: [0.291, -0.095, 0.266]
- Rotation: in Quaternion [0.007, 0.011, -0.005, 1.000]
Expand All @@ -128,5 +128,5 @@ This node calculate the control error and localization error in the trajectory n
Set the reference trajectory, vehicle pose and ground truth pose in the launch file.

```sh
ros2 launch autoware_debug_tools lateral_error_publisher.launch.xml
ros2 launch tier4_debug_tools lateral_error_publisher.launch.xml
```
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Expand Up @@ -12,8 +12,8 @@
// See the License for the specific language governing permissions and
// limitations under the License.

#ifndef AUTOWARE_DEBUG_TOOLS__LATERAL_ERROR_PUBLISHER_HPP_
#define AUTOWARE_DEBUG_TOOLS__LATERAL_ERROR_PUBLISHER_HPP_
#ifndef TIER4_DEBUG_TOOLS__LATERAL_ERROR_PUBLISHER_HPP_
#define TIER4_DEBUG_TOOLS__LATERAL_ERROR_PUBLISHER_HPP_

#define EIGEN_MPL2_ONLY

Expand Down Expand Up @@ -71,4 +71,4 @@ class LateralErrorPublisher : public rclcpp::Node
void onGroundTruthPose(const geometry_msgs::msg::PoseWithCovarianceStamped::SharedPtr msg);
};

#endif // AUTOWARE_DEBUG_TOOLS__LATERAL_ERROR_PUBLISHER_HPP_
#endif // TIER4_DEBUG_TOOLS__LATERAL_ERROR_PUBLISHER_HPP_
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<launch>

<arg name="lateral_error_publisher_param_path" default="$(find-pkg-share autoware_debug_tools)/config/lateral_error_publisher.param.yaml"/>
<arg name="lateral_error_publisher_param_path" default="$(find-pkg-share tier4_debug_tools)/config/lateral_error_publisher.param.yaml"/>

<!-- mpc for trajectory following -->
<node pkg="autoware_debug_tools" exec="lateral_error_publisher_node" name="lateral_error_publisher" output="screen">
<node pkg="tier4_debug_tools" exec="lateral_error_publisher_node" name="lateral_error_publisher" output="screen">
<param from="$(var lateral_error_publisher_param_path)"/>
<remap from="~/input/reference_trajectory" to="/planning/scenario_planning/trajectory"/>
<remap from="~/input/vehicle_pose_with_covariance" to="/localization/pose_with_covariance"/>
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<?xml version="1.0"?>
<package format="3">
<name>autoware_debug_tools</name>
<name>tier4_debug_tools</name>
<version>0.1.0</version>
<description>The autoware_debug_tools package</description>
<description>The tier4_debug_tools package</description>
<maintainer email="kenji.miyake@tier4.jp">Kenji Miyake</maintainer>
<license>Apache License 2.0</license>

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Expand Up @@ -66,7 +66,7 @@ def _on_stop_reasons(self, msg):
pose_id = self._register_pose(snake_case_stop_reason, pose.pose)

pose_topic_name = "{snake_case_stop_reason}_{pose_id}".format(**locals())
topic_ns = "/autoware_debug_tools/stop_reason2pose/"
topic_ns = "/tier4_debug_tools/stop_reason2pose/"
if pose_topic_name not in self._pub_pose_map:
self._pub_pose_map[pose_topic_name] = self.create_publisher(
PoseStamped, topic_ns + pose_topic_name, 1
Expand All @@ -82,7 +82,7 @@ def _on_stop_reasons(self, msg):

if nearest_pose.pose:
if snake_case_stop_reason not in self._pub_pose_map:
topic_ns = "/autoware_debug_tools/stop_reason2pose/"
topic_ns = "/tier4_debug_tools/stop_reason2pose/"
self._pub_pose_map[snake_case_stop_reason] = self.create_publisher(
PoseStamped, topic_ns + snake_case_stop_reason, 1
)
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15 changes: 15 additions & 0 deletions common/tier4_debug_tools/scripts/stop_reason2tf
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@@ -0,0 +1,15 @@
#!/usr/bin/env bash

stop_reason_name="$1"

if [ -z "${stop_reason_name}" ]; then
echo "Please input stop_reason_name as the 1st argument."
exit 1
fi

ros2 run tier4_debug_tools stop_reason2pose.py /planning/scenario_planning/status/stop_reasons >/dev/null 2>&1 &
ros2 run tier4_debug_tools pose2tf.py /tier4_debug_tools/stop_reason2pose/"${stop_reason_name}" "${stop_reason_name}" >/dev/null 2>&1 &
ros2 run tier4_debug_tools tf2pose.py "${stop_reason_name}" base_link 100 >/dev/null 2>&1 &
ros2 run tf2_ros tf2_echo "${stop_reason_name}" base_link 100 2>/dev/null

wait
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Expand Up @@ -32,7 +32,7 @@ def __init__(self, options):
self._options = options
self.tf_buffer = Buffer()
self.tf_listener = TransformListener(self.tf_buffer, self)
self._pub_pose = self.create_publisher(PoseStamped, "/autoware_debug_tools/tf2pose/pose", 1)
self._pub_pose = self.create_publisher(PoseStamped, "/tier4_debug_tools/tf2pose/pose", 1)
self.timer = self.create_timer((1.0 / self._options.hz), self._on_timer)

def _on_timer(self):
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Expand Up @@ -12,7 +12,7 @@
// See the License for the specific language governing permissions and
// limitations under the License.

#include "autoware_debug_tools/lateral_error_publisher.hpp"
#include "tier4_debug_tools/lateral_error_publisher.hpp"

#include <limits>

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