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refactor(ekf_localizer): add a function to generate a delay time warning message #2694

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merged 5 commits into from
Jan 24, 2023
Merged

refactor(ekf_localizer): add a function to generate a delay time warning message #2694

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1406692
Add a function to generate a delay time warning message
IshitaTakeshi Jan 19, 2023
615a387
ci(pre-commit): autofix
pre-commit-ci[bot] Jan 19, 2023
d83f293
Add a warning message function for each twist and pose
IshitaTakeshi Jan 24, 2023
5073cd6
Merge branch 'main' into refactor/ekf_localizer_delay_time_warning_me…
IshitaTakeshi Jan 24, 2023
2f98ca6
ci(pre-commit): autofix
pre-commit-ci[bot] Jan 24, 2023
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2 changes: 2 additions & 0 deletions localization/ekf_localizer/include/ekf_localizer/warning_message.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -17,6 +17,8 @@

#include <string>

std::string poseDelayTimeWarningMessage(const double delay_time);
std::string twistDelayTimeWarningMessage(const double delay_time);
std::string mahalanobisWarningMessage(const double distance, const double max_distance);

#endif // EKF_LOCALIZER__WARNING_MESSAGE_HPP_
22 changes: 7 additions & 15 deletions localization/ekf_localizer/src/ekf_localizer.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -377,15 +377,6 @@ void EKFLocalizer::initEKF()
ekf_.init(X, P, params_.extend_state_step);
}

void warnIfPoseDelayTimeLessThanZero(const Warning & warning, const double delay_time)
{
if (delay_time < 0.0) {
const auto s =
fmt::format("Pose time stamp is inappropriate, set delay to 0[s]. delay = {}", delay_time);
warning.warnThrottle(s, 1000);
}
}

/*
* measurementUpdatePose
*/
Expand All @@ -406,7 +397,10 @@ void EKFLocalizer::measurementUpdatePose(const geometry_msgs::msg::PoseWithCovar

/* Calculate delay step */
double delay_time = (t_curr - pose.header.stamp).seconds() + params_.pose_additional_delay;
warnIfPoseDelayTimeLessThanZero(warning_, delay_time);
if (delay_time < 0.0) {
warning_.warnThrottle(poseDelayTimeWarningMessage(delay_time), 1000);
}

delay_time = std::max(delay_time, 0.0);

int delay_step = std::roundf(delay_time / ekf_dt_);
Expand Down Expand Up @@ -488,12 +482,10 @@ void EKFLocalizer::measurementUpdateTwist(
/* Calculate delay step */
double delay_time = (t_curr - twist.header.stamp).seconds() + params_.twist_additional_delay;
if (delay_time < 0.0) {
warning_.warnThrottle(
fmt::format(
"Twist time stamp is inappropriate (delay = %f [s]), set delay to 0[s].", delay_time),
1000);
delay_time = 0.0;
warning_.warnThrottle(twistDelayTimeWarningMessage(delay_time), 1000);
}
delay_time = std::max(delay_time, 0.0);

int delay_step = std::roundf(delay_time / ekf_dt_);
if (delay_step > params_.extend_state_step - 1) {
warning_.warnThrottle(
Expand Down
15 changes: 14 additions & 1 deletion localization/ekf_localizer/src/warning_message.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -15,7 +15,20 @@
#include "ekf_localizer/warning_message.hpp"

#include <fmt/core.h>
#include <gtest/gtest.h>

#include <string>

std::string poseDelayTimeWarningMessage(const double delay_time)
{
const std::string s = "Pose time stamp is inappropriate, set delay to 0[s]. delay = {:.3f}";
return fmt::format(s, delay_time);
}

std::string twistDelayTimeWarningMessage(const double delay_time)
{
const std::string s = "Twist time stamp is inappropriate, set delay to 0[s]. delay = {:.3f}";
return fmt::format(s, delay_time);
}

std::string mahalanobisWarningMessage(const double distance, const double max_distance)
{
Expand Down
20 changes: 20 additions & 0 deletions localization/ekf_localizer/test/test_warning_message.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -16,6 +16,26 @@

#include <gtest/gtest.h>

TEST(PoseDelayTimeWarningMessage, SmokeTest)
{
EXPECT_STREQ(
poseDelayTimeWarningMessage(-1.0).c_str(),
"Pose time stamp is inappropriate, set delay to 0[s]. delay = -1.000");
EXPECT_STREQ(
poseDelayTimeWarningMessage(-0.4).c_str(),
"Pose time stamp is inappropriate, set delay to 0[s]. delay = -0.400");
}

TEST(TwistDelayTimeWarningMessage, SmokeTest)
{
EXPECT_STREQ(
twistDelayTimeWarningMessage(-1.0).c_str(),
"Twist time stamp is inappropriate, set delay to 0[s]. delay = -1.000");
EXPECT_STREQ(
twistDelayTimeWarningMessage(-0.4).c_str(),
"Twist time stamp is inappropriate, set delay to 0[s]. delay = -0.400");
}

TEST(MahalanobisWarningMessage, SmokeTest)
{
EXPECT_STREQ(
Expand Down