fix(ndt_scan_matcher): modify diagnostic #7112
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Signed-off-by: Shintaro Sakoda <shintaro.sakoda@tier4.jp>
YamatoAndo
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May 24, 2024
Signed-off-by: Shintaro Sakoda <shintaro.sakoda@tier4.jp>
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* Fixed diagnostic Signed-off-by: Shintaro Sakoda <shintaro.sakoda@tier4.jp> * Fixed README.md Signed-off-by: Shintaro Sakoda <shintaro.sakoda@tier4.jp> * style(pre-commit): autofix --------- Signed-off-by: Shintaro Sakoda <shintaro.sakoda@tier4.jp> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
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* Fixed diagnostic Signed-off-by: Shintaro Sakoda <shintaro.sakoda@tier4.jp> * Fixed README.md Signed-off-by: Shintaro Sakoda <shintaro.sakoda@tier4.jp> * style(pre-commit): autofix --------- Signed-off-by: Shintaro Sakoda <shintaro.sakoda@tier4.jp> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
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* Fixed diagnostic Signed-off-by: Shintaro Sakoda <shintaro.sakoda@tier4.jp> * Fixed README.md Signed-off-by: Shintaro Sakoda <shintaro.sakoda@tier4.jp> * style(pre-commit): autofix --------- Signed-off-by: Shintaro Sakoda <shintaro.sakoda@tier4.jp> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
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Description
This PR made 2 small changes.
(1) If not activated,
skipping_publish_numwill not be incremented.skipping_publish_numrecords the number of consecutive times that the NDT did not output a pose due to reasons such as NVTL degradation. Incrementing it even when it is not in the activate state does not match the purpose, so I fixed this.(2) Change the diagnostic level output when
skipping_publish_numreaches 5 from NG to WARN.In the current autoware, NDT diagnostics are not related to the decision to start MRM (Minimum Risk Maneuver), so there is essentially no impact, but we will correct the diagnostics level as a general diag-level design.
In general, a node should only output an NG diagnostic when a critical error occurs that would force the vehicle to immediately stop. However, in areas with low NVTL, NDT
skipping_publish_numcan easily reach 5. It is unclear whether stopping immediately in such cases is desirable. So I fixed this.Tests performed
logging_simulator works without any diagnostics ERROR.
Effects on system behavior
There are no effects on system behavior.
Interface changes
There are no interface changes.
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