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feat(elevation_map_loader): add error handling for std::runtime_error #4187

Merged
merged 2 commits into from
Jul 6, 2023
Merged

feat(elevation_map_loader): add error handling for std::runtime_error #4187

merged 2 commits into from
Jul 6, 2023

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Shin-kyoto
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Description

  • The error occurs if there are appropriate .db3 files in directory for elevation map.
  • I want to add error-handling code for this. After this PR, if the appropriate .db3 files are not found in the directory, elevation_map_loader removes directory and creates elevation map.

Related links

TIER IV INTERNAL LINK
TIER IV INTERNAL LINK2

Tests performed

  • Normal situations
❯ ros2 launch elevation_map_loader elevation_map_loader.launch.xml
[INFO] [launch]: All log files can be found below /autoware/.ros/log/2023-07-06-10-18-10-560789-dpc2006001-398871
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [elevation_map_loader-1]: process started with pid [398872]
[elevation_map_loader-1] [INFO 1688606290.997290375] [elevation_map_loader]: subscribe map_hash
[elevation_map_loader-1] [INFO 1688606291.000977180] [elevation_map_loader]: subscribe vector_map
[elevation_map_loader-1] [INFO 1688606291.008255707] [elevation_map_loader]: subscribe pointcloud_map
[elevation_map_loader-1] [INFO 1688606291.012054258] [elevation_map_loader]: Create elevation map from pointcloud map 
[elevation_map_loader-1] [INFO 1688606291.441975551] [elevation_map_loader]: Finish creating elevation map. Total time: 0.425 sec
[elevation_map_loader-1] [INFO 1688606296.565674220] [rosbag2_storage]: Opened database '/autoware/install/elevation_map_loader/share/elevation_map_loader/data/elevation_maps/63cfc18d32c9a46db0b7546b75be522e307abef6af08e207f792f6c2a09d126a/63cfc18d32c9a46db0b7546b75be522e307abef6af08e207f792f6c2a09d126a_0.db3' for READ_WRITE.
[elevation_map_loader-1] [INFO 1688606296.574933011] [elevation_map_loader]: Saving elevation map successful: true
  • Error handling
    • Case1: Directory exists, but .db3 does not exist.
    • ❯ ros2 launch elevation_map_loader elevation_map_loader.launch.xml
[INFO] [launch]: All log files can be found below /autoware/.ros/log/2023-07-06-10-19-34-406132-dpc2006001-399009
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [elevation_map_loader-1]: process started with pid [399010]
[elevation_map_loader-1] [INFO 1688606374.818641867] [elevation_map_loader]: subscribe map_hash
[elevation_map_loader-1] [INFO 1688606374.832530801] [elevation_map_loader]: subscribe vector_map
[elevation_map_loader-1] [INFO 1688606374.840596968] [elevation_map_loader]: subscribe pointcloud_map
[elevation_map_loader-1] [INFO 1688606374.844793917] [elevation_map_loader]: Load elevation map from: /autoware/install/elevation_map_loader/share/elevation_map_loader/data/elevation_maps/63cfc18d32c9a46db0b7546b75be522e307abef6af08e207f792f6c2a09d126a
[elevation_map_loader-1] [ERROR 1688606374.844948582] [elevation_map_loader]: Try to load bag, but bag is broken. Remove /autoware/install/elevation_map_loader/share/elevation_map_loader/data/elevation_maps/63cfc18d32c9a46db0b7546b75be522e307abef6af08e207f792f6c2a09d126a
[elevation_map_loader-1] [INFO 1688606374.845057987] [elevation_map_loader]: Create elevation map from pointcloud map 
[elevation_map_loader-1] [INFO 1688606375.280030493] [elevation_map_loader]: Finish creating elevation map. Total time: 0.431 sec
[elevation_map_loader-1] [INFO 1688606380.401162748] [rosbag2_storage]: Opened database '/autoware/install/elevation_map_loader/share/elevation_map_loader/data/elevation_maps/63cfc18d32c9a46db0b7546b75be522e307abef6af08e207f792f6c2a09d126a/63cfc18d32c9a46db0b7546b75be522e307abef6af08e207f792f6c2a09d126a_0.db3' for READ_WRITE.
[elevation_map_loader-1] [INFO 1688606380.410786282] [elevation_map_loader]: Saving elevation map successful: true
    • Case2: .db3 file exists, but .db3 file is broken.
    • ❯ ros2 launch elevation_map_loader elevation_map_loader.launch.xml
[INFO] [launch]: All log files can be found below /autoware/.ros/log/2023-07-06-10-19-55-486981-dpc2006001-399122
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [elevation_map_loader-1]: process started with pid [399123]
[elevation_map_loader-1] [INFO 1688606395.925484773] [elevation_map_loader]: subscribe map_hash
[elevation_map_loader-1] [INFO 1688606395.928416679] [elevation_map_loader]: subscribe vector_map
[elevation_map_loader-1] [INFO 1688606395.935859834] [elevation_map_loader]: subscribe pointcloud_map
[elevation_map_loader-1] [INFO 1688606395.940428703] [elevation_map_loader]: Load elevation map from: /autoware/install/elevation_map_loader/share/elevation_map_loader/data/elevation_maps/63cfc18d32c9a46db0b7546b75be522e307abef6af08e207f792f6c2a09d126a
[elevation_map_loader-1] [ERROR 1688606395.940626094] [elevation_map_loader]: Try to load bag, but bag is broken. Remove /autoware/install/elevation_map_loader/share/elevation_map_loader/data/elevation_maps/63cfc18d32c9a46db0b7546b75be522e307abef6af08e207f792f6c2a09d126a
[elevation_map_loader-1] [INFO 1688606395.940764167] [elevation_map_loader]: Create elevation map from pointcloud map 
[elevation_map_loader-1] [INFO 1688606396.392422123] [elevation_map_loader]: Finish creating elevation map. Total time: 0.448 sec
[elevation_map_loader-1] [INFO 1688606401.662828475] [rosbag2_storage]: Opened database '/autoware/install/elevation_map_loader/share/elevation_map_loader/data/elevation_maps/63cfc18d32c9a46db0b7546b75be522e307abef6af08e207f792f6c2a09d126a/63cfc18d32c9a46db0b7546b75be522e307abef6af08e207f792f6c2a09d126a_0.db3' for READ_WRITE.
[elevation_map_loader-1] [INFO 1688606401.672855534] [elevation_map_loader]: Saving elevation map successful: true

Effects on system behavior

elevation_map_loader will be able to handle error for the case when the appropriate .db3 files are not found in the directory.

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@Shin-kyoto
feat(elevation_map_loader): Add error handling for std::runtime_error
15e5387 
Signed-off-by: Shin-kyoto <58775300+Shin-kyoto@users.noreply.github.com>
@Shin-kyoto Shin-kyoto requested a review from h-ohta July 6, 2023 05:53
@Shin-kyoto Shin-kyoto requested a review from kosuke55 as a code owner July 6, 2023 05:53
@github-actions github-actions bot added the component:perception Advanced sensor data processing and environment understanding. (auto-assigned) label Jul 6, 2023
@Shin-kyoto Shin-kyoto changed the title feat(elevation_map_loader): Add error handling for std::runtime_error feat(elevation_map_loader): add error handling for std::runtime_error Jul 6, 2023
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Codecov Report

Patch coverage has no change and project coverage change: -0.01 ⚠️

Comparison is base (d905e38) 15.23% compared to head (21507d3) 15.23%.

Additional details and impacted files 
@@            Coverage Diff             @@
##             main    #4187      +/-   ##
==========================================
- Coverage   15.23%   15.23%   -0.01%     
==========================================
  Files        1469     1469              
  Lines      101781   101782       +1     
  Branches    31396    31396              
==========================================
  Hits        15505    15505              
- Misses      69414    69415       +1     
  Partials    16862    16862
Flag Coverage Δ *Carryforward flag
differential 0.00% <0.00%> (?)
total 15.23% <ø> (+<0.01%) ⬆️ Carriedforward from 15e5387

*This pull request uses carry forward flags. Click here to find out more.

Impacted Files Coverage Δ
...ation_map_loader/src/elevation_map_loader_node.cpp 0.00% <0.00%> (ø)

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@Shin-kyoto
feat(elevation_map_loader): add error message output
21507d3 
Signed-off-by: Shin-kyoto <58775300+Shin-kyoto@users.noreply.github.com>
@Shin-kyoto Shin-kyoto requested a review from h-ohta July 6, 2023 06:42
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h-ohta approved these changes Jul 6, 2023
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LGTM

@miursh miursh merged commit cde4c92 into autowarefoundation:main Jul 6, 2023
@tier4-autoware-public-bot tier4-autoware-public-bot bot mentioned this pull request Jul 7, 2023
Merged
h-ohta pushed a commit to tier4/autoware.universe that referenced this pull request Jul 7, 2023
@Shin-kyoto @h-ohta
feat(elevation_map_loader): add error handling for std::runtime_error (…
85bd076 
…autowarefoundation#4187)

* feat(elevation_map_loader): Add error handling for std::runtime_error

Signed-off-by: Shin-kyoto <58775300+Shin-kyoto@users.noreply.github.com>

* feat(elevation_map_loader): add error message output

Signed-off-by: Shin-kyoto <58775300+Shin-kyoto@users.noreply.github.com>

---------

Signed-off-by: Shin-kyoto <58775300+Shin-kyoto@users.noreply.github.com>
@h-ohta h-ohta mentioned this pull request Jul 7, 2023
Merged
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h-ohta added a commit to tier4/autoware.universe that referenced this pull request Jul 14, 2023
@h-ohta @Shin-kyoto
feat(elevation_map_loader): add error handling for std::runtime_error…
93abafd 
… (backport autowarefoundation#4187) (#652)

feat(elevation_map_loader): add error handling for std::runtime_error (autowarefoundation#4187)

* feat(elevation_map_loader): Add error handling for std::runtime_error



* feat(elevation_map_loader): add error message output



---------

Signed-off-by: Shin-kyoto <58775300+Shin-kyoto@users.noreply.github.com>
Co-authored-by: Shintaro Tomie <58775300+Shin-kyoto@users.noreply.github.com>
asa-naki pushed a commit to tier4/autoware.universe that referenced this pull request Aug 14, 2024
@h-ohta @Shin-kyoto @asa-naki
feat(elevation_map_loader): add error handling for std::runtime_error…
c0abd89 
… (backport autowarefoundation#4187) (#652)

feat(elevation_map_loader): add error handling for std::runtime_error (autowarefoundation#4187)

* feat(elevation_map_loader): Add error handling for std::runtime_error



* feat(elevation_map_loader): add error message output



---------

Signed-off-by: Shin-kyoto <58775300+Shin-kyoto@users.noreply.github.com>
Co-authored-by: Shintaro Tomie <58775300+Shin-kyoto@users.noreply.github.com>
asa-naki added a commit to tier4/autoware.universe that referenced this pull request Aug 29, 2024
@asa-naki @TakaHoribe
@pre-commit-ci @sfukuta @h-ohta @ito-san @Shin-kyoto @Owen-Liuyuxuan @takeshi-iwanari @kminoda @esteve
feat: resource check (#1496)
a5b62af 
* feat(system_error_monitor): manual modules (#793)

* feat(rviz_plugin): console meter is too large on the Rviz with FHD display, isn't it? (#587)

* feat(tier4_planning/vehicle_plugin): make plugins size scalable

Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com>

* remove space

Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com>

* scaling

Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com>

* change diag message

Signed-off-by: asa-naki <akihisa.nagata@tier4.jp>

* fix module name

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* add manual module and ignoring modules

Signed-off-by: asa-naki <akihisa.nagata@tier4.jp>

* Revert "feat(rviz_plugin): console meter is too large on the Rviz with FHD display, isn't it? (#587)"

This reverts commit f96169c.

* Revert "change diag message"

This reverts commit dff01ce.

* ci(pre-commit): autofix

* fix spell check

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* Revert "fix spell check"

This reverts commit 208aa1e.

* Revert "fix module name"

This reverts commit cec7653.

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---------

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Signed-off-by: asa-naki <akihisa.nagata@tier4.jp>
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Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>

* feat(ad_service_state_monitor): change configs name (#876)

change configs name

Signed-off-by: asa-naki <akihisa.nagata@tier4.jp>

* feat(plannig_error_monitor): update error sharp angle threshold (#681)

* fix error_sharp_angle

Signed-off-by: Shigekazu Fukuta <shigekazu.fukuta@tier4.jp>

* update readme

Signed-off-by: Shigekazu Fukuta <shigekazu.fukuta@tier4.jp>

---------

Signed-off-by: Shigekazu Fukuta <shigekazu.fukuta@tier4.jp>

* fix: add error handling when path is invalid (#934)

* fix(behavior_path): delete duplicated

* add error handling

* fix: when path size is 1

* fix(detection_area): search collision index only in lanelet (#695)

* fix(detection_area): search collision index only in lanelet

* ci(pre-commit): autofix

---------

Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>

* fix(detection_area): fix overline function (#930)

* fix(detection_area): fix overline function

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---------

Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>

* fix(route_handler): fix threshold for removing overlapping points (#1015)

* fix(route_handler): fix threshold for removing overlapping points

* fix

* fix(ntp_monitor): move chronyc command execution to a timer (backport autowarefoundation#4634) (#880)

fix(ntp_monitor): move chronyc command execution to a timer (autowarefoundation#4634)

* fix(ntp_monitor): move chronyc command execution to a timer



* add newly added parameter timeout to config

---------

Signed-off-by: ito-san <fumihito.ito@tier4.jp>
Co-authored-by: ito-san <57388357+ito-san@users.noreply.github.com>

* feat(elevation_map_loader): add error handling for std::runtime_error (backport autowarefoundation#4187) (#652)

feat(elevation_map_loader): add error handling for std::runtime_error (autowarefoundation#4187)

* feat(elevation_map_loader): Add error handling for std::runtime_error



* feat(elevation_map_loader): add error message output



---------

Signed-off-by: Shin-kyoto <58775300+Shin-kyoto@users.noreply.github.com>
Co-authored-by: Shintaro Tomie <58775300+Shin-kyoto@users.noreply.github.com>

* fix(system_monitor): extend command line to display (backport autowarefoundation#4553) (#768)

fix(system_monitor): extend command line to display (autowarefoundation#4553)

Signed-off-by: ito-san <fumihito.ito@tier4.jp>
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* fix(system_monitor): high-memory process are not provided in MEM order (backport autowarefoundation#4654) (#769)

fix(system_monitor): high-memory process are not provided in MEM order (autowarefoundation#4654)

* fix(process_monitor): high-memory process are not being provided in %MEM order



* changed option from 'g' to 'n'



---------

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Co-authored-by: ito-san <57388357+ito-san@users.noreply.github.com>

* fix(system_monitor): fix program command line reading (backport autowarefoundation#5191, autowarefoundation#5430) (#995)

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* fix(system_monitor): output command line (autowarefoundation#5430)

* fix(system_monitor): output command line

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* style(pre-commit): autofix

---------

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Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>

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* feat(imu_corrector): add gyro_bias_validator (backport autowarefoundation#4729) (#856)

* feat(imu_corrector): add gyro_bias_validator (backport autowarefoundation#4729)
* feat(imu_corrector): add gyro_bias_validator
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* style(pre-commit): autofix
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* fix build
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* update default parameter
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---------
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Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>

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* build(imu_corrector): add missing diagnostic_updater dependency (autowarefoundation#4980)

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* add gyro_bias estimation in diag ( autowarefoundation#5054)

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* ci(pre-commit): autofix

---------

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* feat(imu_corrector): add gyro bias log (#918)

add gyro_bias log

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* feat(system_error_monitor): add ignore_until_waiting_for_route module (#888)

* add ignore_module

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* add description

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* update description

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* Update

---------

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Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
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* feat(system_error_monitor): add ignore hartbeat timeout in initializing state (#972)

* add ignore hartbeat timeout in initializing state

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* fix typo

* Update comment

* ci(pre-commit): autofix

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---------

Signed-off-by: asa-naki <akihisa.nagata@tier4.jp>
Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>

---------

Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com>
Signed-off-by: asa-naki <akihisa.nagata@tier4.jp>
Signed-off-by: Shigekazu Fukuta <shigekazu.fukuta@tier4.jp>
Signed-off-by: ito-san <fumihito.ito@tier4.jp>
Signed-off-by: Shin-kyoto <58775300+Shin-kyoto@users.noreply.github.com>
Signed-off-by: Owen-Liuyuxuan <uken.ryu@tier4.jp>
Signed-off-by: takeshi.iwanari <takeshi.iwanari@tier4.jp>
Signed-off-by: Esteve Fernandez <esteve.fernandez@tier4.jp>
Co-authored-by: Takamasa Horibe <horibe.takamasa@gmail.com>
Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
Co-authored-by: Shigekazu Fukuta <107168699+sfukuta@users.noreply.github.com>
Co-authored-by: Hiroki OTA <hiroki.ota@tier4.jp>
Co-authored-by: ito-san <57388357+ito-san@users.noreply.github.com>
Co-authored-by: Shintaro Tomie <58775300+Shin-kyoto@users.noreply.github.com>
Co-authored-by: Yuxuan Liu <619684051@qq.com>
Co-authored-by: Owen-Liuyuxuan <uken.ryu@tier4.jp>
Co-authored-by: takeshi-iwanari <takeshi.iwanari@tier4.jp>
Co-authored-by: kminoda <44218668+kminoda@users.noreply.github.com>
Co-authored-by: Esteve Fernandez <33620+esteve@users.noreply.github.com>
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@h-ohta h-ohta h-ohta approved these changes

@miursh miursh miursh approved these changes

@kosuke55 kosuke55 Awaiting requested review from kosuke55

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@Shin-kyoto @h-ohta @miursh