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feat: add process diag in resource monitoring #522

Merged
merged 1 commit into from
Mar 15, 2022
Merged

feat: add process diag in resource monitoring #522

merged 1 commit into from
Mar 15, 2022

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h-ohta
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@h-ohta h-ohta commented Mar 15, 2022 •
edited by ito-san
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Related Issue(required)

#521

Description(required)

This PR adds process diag in recouce monitoring.

Review Procedure(required)

In rqt_robot_monitor, please confirm process diags is classified correctly like the following image.
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@h-ohta h-ohta requested a review from ito-san March 15, 2022 11:27
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codecov bot commented Mar 15, 2022

Codecov Report

Merging #522 (c24cbac) into main (016fd47) will decrease coverage by 10.97%.
The diff coverage is n/a.

Impacted file tree graph

@@            Coverage Diff             @@
##             main    #522       +/-   ##
==========================================
- Coverage   10.97%   0.00%   -10.98%     
==========================================
  Files         705       3      -702     
  Lines       49807     267    -49540     
  Branches     7119       0     -7119     
==========================================
- Hits         5464       0     -5464     
+ Misses      39957     267    -39690     
+ Partials     4386       0     -4386
Impacted Files Coverage Δ
...occupancy_grid_map_binary_bayes_filter_updater.cpp
...lanner/src/scene_module/occlusion_spot/manager.cpp
...ng_simulator/vehicle_model/sim_model_interface.cpp
...ory_follower/qp_solver/qp_solver_unconstr_fast.hpp
...can_matcher/include/ndt_scan_matcher/util_func.hpp
...und_segmentation/src/ray_ground_filter_nodelet.cpp
...ject_tracker/data_association/data_association.hpp
...anner/src/scene_module/occlusion_spot/geometry.cpp
...city_planner/include/utilization/marker_helper.hpp
...rception_publisher/src/empty_objects_publisher.cpp
... and 692 more

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ito-san
ito-san approved these changes Mar 15, 2022
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LGTM

@h-ohta h-ohta merged commit 976712b into main Mar 15, 2022
@h-ohta h-ohta deleted the feat/add_process_diag branch March 15, 2022 11:56
mkuri pushed a commit to mkuri/autoware.universe that referenced this pull request Mar 15, 2022
@tkimura4 @mitsudome-r
@YamatoAndo @kenji-miyake @wep21 @KeisukeShima @kmiya @TakaHoribe @satoshi-ota @YoheiMishina @pre-commit-ci @1222-takeshi
feat: add autoware_web_controller packages (autowarefoundation#97)
e68bd81 
* release v0.4.0

* add control mode status (autowarefoundation#709)

Signed-off-by: Yamato Ando <yamato.ando@gmail.com>

* Change localization diag namespace (autowarefoundation#718)

* Change default value of output_diagnostics_topic

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>

* Remove localization_diagnostic.js from web_controller

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>

* Integrate localization diag to diagnostic_aggregator

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>

* Delete old and unused publisher

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>

* remove ROS1 packages temporarily

Signed-off-by: mitsudome-r <ryohsuke.mitsudome@tier4.jp>

* add sample ros2 packages

Signed-off-by: mitsudome-r <ryohsuke.mitsudome@tier4.jp>

* remove ROS1 packages

Signed-off-by: mitsudome-r <ryohsuke.mitsudome@tier4.jp>

* Revert "remove ROS1 packages temporarily"

This reverts commit 741214959ba02ec8650c62538581d9df9116eef8.

Signed-off-by: mitsudome-r <ryohsuke.mitsudome@tier4.jp>

* add COLCON_IGNORE to ros1 packages

Signed-off-by: mitsudome-r <ryohsuke.mitsudome@tier4.jp>

* Port web controller (autowarefoundation#235)

* [autoware_web_controller] intial port to ROS2

Signed-off-by: mitsudome-r <ryohsuke.mitsudome@tier4.jp>

* add missing dependencies

Signed-off-by: mitsudome-r <ryohsuke.mitsudome@tier4.jp>

* remove dependency to ament_cmake_auto and depend on ament_cmake

Signed-off-by: mitsudome-r <ryohsuke.mitsudome@tier4.jp>

* [autoware_web_controller] add messages to exec_depend

Signed-off-by: mitsudome-r <ryohsuke.mitsudome@tier4.jp>

* [autoware_web_controller] moved files in www into autoware_web_controller directory

Signed-off-by: mitsudome-r <ryohsuke.mitsudome@tier4.jp>

* Ros2 v0.8.0 engage (autowarefoundation#342)

* [autoware_vehicle_msgs]: Add engage message

Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp>

* [as]: Update message

Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp>

* [awapi_awiv_adapter]: Update message

Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp>

* [web_controller]: Update message

Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp>

* [vehicle_cmd_gate]: Update message

Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp>

* [autoware_state_monitor]: Update message

Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp>

* [autoware_control_msgs]: Remove EngageMode message

Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp>

* [simple_planning_simulator]: Update message

Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp>

* Fix autoware web controller (autowarefoundation#389)

* fix message types

Signed-off-by: mitsudome-r <ryohsuke.mitsudome@tier4.jp>

* fix subscriber for autoware_engage

Signed-off-by: mitsudome-r <ryohsuke.mitsudome@tier4.jp>

* fix vehicle_engage.js

Signed-off-by: mitsudome-r <ryohsuke.mitsudome@tier4.jp>

* fix function syntax for vehicle_engage.js

Signed-off-by: mitsudome-r <ryohsuke.mitsudome@tier4.jp>

* add use_sim-time option (autowarefoundation#454)

* Format launch files (autowarefoundation#1219)

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>

* Remove use_sim_time for set_parameter (autowarefoundation#1260)

Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp>

* Add pre-commit (autowarefoundation#1560)

* add pre-commit

* add pre-commit-config

* add additional settings for private repository

* use default pre-commit-config

* update pre-commit setting

* Ignore whitespace for line breaks in markdown

* Update .github/workflows/pre-commit.yml

Co-authored-by: Kazuki Miyahara <kmiya@outlook.com>

* exclude svg

* remove pretty-format-json

* add double-quote-string-fixer

* consider COLCON_IGNORE file when seaching modified package

* format file

* pre-commit fixes

* Update pre-commit.yml

* Update .pre-commit-config.yaml

Co-authored-by: Kazuki Miyahara <kmiya@outlook.com>
Co-authored-by: pre-commit <pre-commit@example.com>
Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com>

* Add markdownlint and prettier (autowarefoundation#1661)

* Add markdownlint and prettier

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>

* Ignore .param.yaml

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>

* Apply format

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>

* Improve avoidance algorithm in behavior_path_planner (autowarefoundation#2127)

* add debug comment

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

* use same clock and logger

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

* update

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

* remove Frenet struct

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

* update

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

* change param

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

* Correspond exactly to the modified and raw shift points.

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

* separate structure file

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

* update

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

* fix return shift calculation

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

* add index info on path marker

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

* update returnSHift func

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

* update param

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

* update findNewShiftPoiint logic by using linear shifter

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

* fix return distance calculation

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

* fix return shift for steep shape

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

* fix for return shift after approval

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

* re-fix for return shift after approval

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

* re-re-fix for return shift after approval

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

* add same object_id shift for parent_ids even if it is not overwrapped.

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

* fix clock for approval_handler

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

* fix bug: extra_return_shift is not registered

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

* update
 - update logic of unique check for registered shift
 - update addReturnShift func to support for opposite obstacle case
 - disable trimSmallShift

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

* use relative shift for avoid start point

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

* update path_shifter: use end_point shift for relative shift calculation so that the desired shift length is set at shift_point's end_idx (before, it was set at the end point of the path)

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

* update: select existing shift point that will be removed before adding a new one

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

* fix path_shifter: current_shift for linear shift

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

* update
 - add ignore over-jerk shift function
 - improve debug print

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

* update
 - add control flag for debug print
 - add control flag for debug marker

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

* TMP: add sparse resampling to reduce computational cost

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

* update parameter: min_nominal_avoidance_speed 3.0 -> 5.0

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

* cosmetic change
 - move some debug functions to debug.cpp
 - remove temporal debug comment
 - remove unused params
 - parametrize some values
 - align function decleration order

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

* add empty avoidance design

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

* applly format

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

* fix typo

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

* fix design.md directory

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

* change variable nale sudden, tight -> sharp

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

* remove unused param

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

* fix default value

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

* add design

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

* move some functions to util

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

* fix design typo

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

* remove temporal mutable & adjust function name

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

* parametrize some hard-coded params

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

* follow ament_uncrustify & cpplint

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

* fix parent_id inheritance bug

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

* back to experiment config

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

* update trim filter: trimSharpReturn

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

* add lost-detection compensator

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

* resolve todo for empty path

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

* change param: set false for debug publisher

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

* update debug comment

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

* remove unused debug print

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

* update default param

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

* use closest footpoint from ego for avoidance point

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

* cosmetic change

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

* fix format

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

* fix typo

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

* move lateral and longitudinal distance calculation to util

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

* simplify mergeShift function

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

* fix format

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

* fix typo

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

* fix readme style

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

* revert unexpected changes

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

* - remove unused comment
- translate to english

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

* apply format

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

* fix typo

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

* Fix/update velocity limit topic name (autowarefoundation#2223)

* Add COLCON_IGNORE (autowarefoundation#500)

Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp>

* autoware_web_controller port to .auto (autowarefoundation#522)

* Porting to .auto

* Modified web url

* [autowere_web_controller/autoware_state_monitor/emergency_handler]fix some packages (autowarefoundation#603)

* fix vehicle_engage.js

* fix autoware_state_monitor param

* fix emergency_handler

* oh

* update autoware_state.js

* [autoware_web_controller]add readme (autowarefoundation#611)

* add png

* add readme

* Update common/util/web_controller/autoware_web_controller/README.md

Co-authored-by: Kazuki Miyahara <kmiya@outlook.com>

* apply format

* fix type

Co-authored-by: Kazuki Miyahara <kmiya@outlook.com>

* fix depend

* ci(pre-commit): autofix

Co-authored-by: mitsudome-r <ryohsuke.mitsudome@tier4.jp>
Co-authored-by: YamatoAndo <yamato.ando@gmail.com>
Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com>
Co-authored-by: Ryohsuke Mitsudome <43976834+mitsudome-r@users.noreply.github.com>
Co-authored-by: Daisuke Nishimatsu <42202095+wep21@users.noreply.github.com>
Co-authored-by: Keisuke Shima <19993104+KeisukeShima@users.noreply.github.com>
Co-authored-by: Kazuki Miyahara <kmiya@outlook.com>
Co-authored-by: pre-commit <pre-commit@example.com>
Co-authored-by: Takamasa Horibe <horibe.takamasa@gmail.com>
Co-authored-by: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com>
Co-authored-by: Yohei Mishina <66298900+YoheiMishina@users.noreply.github.com>
Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
Co-authored-by: Takeshi Miura <57553950+1222-takeshi@users.noreply.github.com>
@tier4-autoware-public-bot tier4-autoware-public-bot bot mentioned this pull request Mar 16, 2022
Merged
boyali referenced this pull request in boyali/autoware.universe Sep 28, 2022
@h-ohta @boyali
feat: add process diag in resource monitoring (tier4#522)
621fd93
boyali referenced this pull request in boyali/autoware.universe Oct 3, 2022
@h-ohta @boyali
feat: add process diag in resource monitoring (tier4#522)
6f1470c
boyali referenced this pull request in boyali/autoware.universe Oct 19, 2022
@h-ohta @boyali
feat: add process diag in resource monitoring (tier4#522)
869d2af
kyoichi-sugahara pushed a commit that referenced this pull request Sep 16, 2023
@h-ohta
ci: fix token for auto-merge in update-beta-branch (#522)
e3647f4
YamatoAndo pushed a commit to YamatoAndo/autoware.universe that referenced this pull request Aug 8, 2024
@mergify @h-ohta
fix(autonomous_emergency_braking): fix imu tranform to base_link (aut…
ee0f0d2 
…owarefoundation#3812) (backport autowarefoundation#522) (autowarefoundation#524)

fix(autonomous_emergency_braking): fix imu tranform to base_link (autowarefoundation#3812) (autowarefoundation#522)

(cherry picked from commit 156d52f)

Co-authored-by: Hiroki OTA <hiroki.ota@tier4.jp>
iwatake2222 pushed a commit to iwatake2222/autoware.universe that referenced this pull request Jan 17, 2025
@maxime-clem
feat(behavior_path_planner): add path resampling interval param (auto…
7fde966 
…warefoundation#522)

Signed-off-by: Maxime CLEMENT <maxime.clement@tier4.jp>
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@h-ohta @ito-san