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feat: apply autoware_ prefix for control_performance_analysis #9982

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merged 20 commits into from
Jan 24, 2025
Merged

feat: apply autoware_ prefix for control_performance_analysis #9982

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58c0925
feat(control_performance_analysis): apply `autoware_` prefix (see bel…
sasakisasaki Jan 20, 2025
fdbec48
rename(control_performance_analysis): move headers under `include/aut…
sasakisasaki Jan 20, 2025
a7c670a
fix(control_performance_analysis): fix include paths
sasakisasaki Jan 20, 2025
914ab58
rename: `control_performance_analysis` => `autoware_control_performan…
sasakisasaki Jan 20, 2025
dd68b5c
style(pre-commit): autofix
pre-commit-ci[bot] Jan 20, 2025
8617022
Merge branch 'main' into feat-apply-autoware-prefix-for-control-contr…
sasakisasaki Jan 20, 2025
99eed53
Merge branch 'main' into feat-apply-autoware-prefix-for-control-contr…
sasakisasaki Jan 22, 2025
3486a40
Merge branch 'feat-apply-autoware-prefix-for-control-control-performa…
sasakisasaki Jan 22, 2025
f31b17b
bug(autoware_control_performance_analysis): fix inconsistent namespacing
sasakisasaki Jan 22, 2025
3801993
style(pre-commit): autofix
pre-commit-ci[bot] Jan 22, 2025
648a771
update(autoware_control_performance_analysis): `README.md`
sasakisasaki Jan 22, 2025
1f763f4
bug(autoware_control_performance_analysis): fix critical bugs that co…
sasakisasaki Jan 23, 2025
37553cd
Merge branch 'feat-apply-autoware-prefix-for-control-control-performa…
sasakisasaki Jan 23, 2025
3813b10
style(pre-commit): autofix
pre-commit-ci[bot] Jan 23, 2025
46e3fd6
Merge branch 'main' into feat-apply-autoware-prefix-for-control-contr…
sasakisasaki Jan 23, 2025
a484b66
fix: update package name for error_rqt_multiplot.xml
mitsudome-r Jan 24, 2025
87ce593
fix: update package name for control_performance_plot.py
mitsudome-r Jan 24, 2025
1c7278b
docs(autoware_control_performance_analysis): update package name in R…
mitsudome-r Jan 24, 2025
e0153d9
style(pre-commit): autofix
pre-commit-ci[bot] Jan 24, 2025
52efbcf
Merge branch 'main' into feat-apply-autoware-prefix-for-control-contr…
SakodaShintaro Jan 24, 2025
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6 changes: 3 additions & 3 deletions ...ontrol_performance_analysis/CHANGELOG.rst → ...ontrol_performance_analysis/CHANGELOG.rst
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Original file line number Diff line number Diff line change
@@ -1,6 +1,6 @@
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
Changelog for package control_performance_analysis
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
Changelog for package autoware_control_performance_analysis
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^

0.40.0 (2024-12-12)
-------------------
Expand Down
14 changes: 7 additions & 7 deletions ...ntrol_performance_analysis/CMakeLists.txt → ...ntrol_performance_analysis/CMakeLists.txt
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@@ -1,5 +1,5 @@
cmake_minimum_required(VERSION 3.14)
project(control_performance_analysis)
project(autoware_control_performance_analysis)

find_package(autoware_cmake REQUIRED)
autoware_package()
Expand All @@ -19,7 +19,7 @@ find_package(rosidl_default_generators REQUIRED)
find_package(std_msgs REQUIRED)

rosidl_generate_interfaces(
control_performance_analysis
${PROJECT_NAME}
"msg/Error.msg"
"msg/ErrorStamped.msg"
"msg/DrivingMonitorStamped.msg"
Expand All @@ -40,12 +40,12 @@ ament_auto_add_library(

if(${rosidl_cmake_VERSION} VERSION_LESS 2.5.0)
rosidl_target_interfaces(control_performance_analysis_node
control_performance_analysis "rosidl_typesupport_cpp")
${PROJECT_NAME} "rosidl_typesupport_cpp")
rosidl_target_interfaces(control_performance_analysis_core
control_performance_analysis "rosidl_typesupport_cpp")
${PROJECT_NAME} "rosidl_typesupport_cpp")
else()
rosidl_get_typesupport_target(
cpp_typesupport_target control_performance_analysis "rosidl_typesupport_cpp")
cpp_typesupport_target ${PROJECT_NAME} "rosidl_typesupport_cpp")
target_link_libraries(control_performance_analysis_node "${cpp_typesupport_target}")
target_link_libraries(control_performance_analysis_core "${cpp_typesupport_target}")

Expand All @@ -58,8 +58,8 @@ target_link_libraries(

rclcpp_components_register_node(
control_performance_analysis_node
PLUGIN "control_performance_analysis::ControlPerformanceAnalysisNode"
EXECUTABLE control_performance_analysis_exe
PLUGIN "autoware::control_performance_analysis::ControlPerformanceAnalysisNode"
EXECUTABLE ${PROJECT_NAME}_node
)

ament_auto_package(
Expand Down
18 changes: 9 additions & 9 deletions ...ol/control_performance_analysis/README.md → ...re_control_performance_analysis/README.md
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@@ -1,13 +1,13 @@
# control_performance_analysis
# autoware_control_performance_analysis

## Purpose

`control_performance_analysis` is the package to analyze the tracking performance of a control module and monitor the driving status of the vehicle.
`autoware_control_performance_analysis` is the package to analyze the tracking performance of a control module and monitor the driving status of the vehicle.

This package is used as a tool to quantify the results of the control module.
That's why it doesn't interfere with the core logic of autonomous driving.

Based on the various input from planning, control, and vehicle, it publishes the result of analysis as `control_performance_analysis::msg::ErrorStamped` defined in this package.
Based on the various input from planning, control, and vehicle, it publishes the result of analysis as `autoware_control_performance_analysis::msg::ErrorStamped` defined in this package.

All results in `ErrorStamped` message are calculated in Frenet Frame of curve. Errors and velocity errors are calculated by using paper below.

Expand Down Expand Up @@ -35,14 +35,14 @@ Error acceleration calculations are made based on the velocity calculations abov

### Output topics

| Name | Type | Description |
| --------------------------------------- | -------------------------------------------------------- | --------------------------------------------------- |
| `/control_performance/performance_vars` | control_performance_analysis::msg::ErrorStamped | The result of the performance analysis. |
| `/control_performance/driving_status` | control_performance_analysis::msg::DrivingMonitorStamped | Driving status (acceleration, jerk etc.) monitoring |
| Name | Type | Description |
| --------------------------------------- | ----------------------------------------------------------------- | --------------------------------------------------- |
| `/control_performance/performance_vars` | autoware_control_performance_analysis::msg::ErrorStamped | The result of the performance analysis. |
| `/control_performance/driving_status` | autoware_control_performance_analysis::msg::DrivingMonitorStamped | Driving status (acceleration, jerk etc.) monitoring |

### Outputs

#### control_performance_analysis::msg::DrivingMonitorStamped
#### autoware_control_performance_analysis::msg::DrivingMonitorStamped

| Name | Type | Description |
| ---------------------------- | ----- | --------------------------------------------------------------------- |
Expand All @@ -53,7 +53,7 @@ Error acceleration calculations are made based on the velocity calculations abov
| `desired_steering_angle` | float | $[ \mathrm{rad} ]$ |
| `controller_processing_time` | float | Timestamp between last two control command messages $[ \mathrm{ms} ]$ |

#### control_performance_analysis::msg::ErrorStamped
#### autoware_control_performance_analysis::msg::ErrorStamped

| Name | Type | Description |
| ------------------------------------------ | ----- | ----------------------------------------------------------------------------------------------------------------------------------------- |
Expand Down
0 ...g/control_performance_analysis.param.yaml → ...g/control_performance_analysis.param.yaml
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File renamed without changes.
0 ...ce_analysis/config/controller_monitor.xml → ...ce_analysis/config/controller_monitor.xml
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File renamed without changes.
32 changes: 16 additions & 16 deletions ...e_analysis/config/error_rqt_multiplot.xml → ...e_analysis/config/error_rqt_multiplot.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -36,7 +36,7 @@
<type>0</type>
</scale>
<topic>/control_performance/performance_vars</topic>
<type>control_performance_analysis/ErrorStamped</type>
<type>autoware_control_performance_analysis/ErrorStamped</type>
</x_axis>
<y_axis>
<field>error/lateral_error</field>
Expand All @@ -49,7 +49,7 @@
<type>0</type>
</scale>
<topic>/control_performance/performance_vars</topic>
<type>control_performance_analysis/ErrorStamped</type>
<type>autoware_control_performance_analysis/ErrorStamped</type>
</y_axis>
</axes>
<color>
Expand Down Expand Up @@ -110,7 +110,7 @@
<type>0</type>
</scale>
<topic>/control_performance/performance_vars</topic>
<type>control_performance_analysis/ErrorStamped</type>
<type>autoware_control_performance_analysis/ErrorStamped</type>
</x_axis>
<y_axis>
<field>error/error_energy</field>
Expand All @@ -123,7 +123,7 @@
<type>0</type>
</scale>
<topic>/control_performance/performance_vars</topic>
<type>control_performance_analysis/ErrorStamped</type>
<type>autoware_control_performance_analysis/ErrorStamped</type>
</y_axis>
</axes>
<color>
Expand Down Expand Up @@ -184,7 +184,7 @@
<type>0</type>
</scale>
<topic>/control_performance/performance_vars</topic>
<type>control_performance_analysis/ErrorStamped</type>
<type>autoware_control_performance_analysis/ErrorStamped</type>
</x_axis>
<y_axis>
<field>error/lateral_error_velocity</field>
Expand All @@ -197,7 +197,7 @@
<type>0</type>
</scale>
<topic>/control_performance/performance_vars</topic>
<type>control_performance_analysis/ErrorStamped</type>
<type>autoware_control_performance_analysis/ErrorStamped</type>
</y_axis>
</axes>
<color>
Expand Down Expand Up @@ -260,7 +260,7 @@
<type>0</type>
</scale>
<topic>/control_performance/performance_vars</topic>
<type>control_performance_analysis/ErrorStamped</type>
<type>autoware_control_performance_analysis/ErrorStamped</type>
</x_axis>
<y_axis>
<field>error/heading_error</field>
Expand All @@ -273,7 +273,7 @@
<type>0</type>
</scale>
<topic>/control_performance/performance_vars</topic>
<type>control_performance_analysis/ErrorStamped</type>
<type>autoware_control_performance_analysis/ErrorStamped</type>
</y_axis>
</axes>
<color>
Expand Down Expand Up @@ -334,7 +334,7 @@
<type>0</type>
</scale>
<topic>/control_performance/performance_vars</topic>
<type>control_performance_analysis/ErrorStamped</type>
<type>autoware_control_performance_analysis/ErrorStamped</type>
</x_axis>
<y_axis>
<field>error/control_effort_energy</field>
Expand All @@ -347,7 +347,7 @@
<type>0</type>
</scale>
<topic>/control_performance/performance_vars</topic>
<type>control_performance_analysis/ErrorStamped</type>
<type>autoware_control_performance_analysis/ErrorStamped</type>
</y_axis>
</axes>
<color>
Expand Down Expand Up @@ -408,7 +408,7 @@
<type>0</type>
</scale>
<topic>/control_performance/performance_vars</topic>
<type>control_performance_analysis/ErrorStamped</type>
<type>autoware_control_performance_analysis/ErrorStamped</type>
</x_axis>
<y_axis>
<field>error/lateral_error_acceleration</field>
Expand All @@ -421,7 +421,7 @@
<type>0</type>
</scale>
<topic>/control_performance/performance_vars</topic>
<type>control_performance_analysis/ErrorStamped</type>
<type>autoware_control_performance_analysis/ErrorStamped</type>
</y_axis>
</axes>
<color>
Expand Down Expand Up @@ -484,7 +484,7 @@
<type>0</type>
</scale>
<topic>/control_performance/performance_vars</topic>
<type>control_performance_analysis/ErrorStamped</type>
<type>autoware_control_performance_analysis/ErrorStamped</type>
</x_axis>
<y_axis>
<field>error/value_approximation</field>
Expand All @@ -497,7 +497,7 @@
<type>0</type>
</scale>
<topic>/control_performance/performance_vars</topic>
<type>control_performance_analysis/ErrorStamped</type>
<type>autoware_control_performance_analysis/ErrorStamped</type>
</y_axis>
</axes>
<color>
Expand Down Expand Up @@ -558,7 +558,7 @@
<type>0</type>
</scale>
<topic>/control_performance/performance_vars</topic>
<type>control_performance_analysis/ErrorStamped</type>
<type>autoware_control_performance_analysis/ErrorStamped</type>
</x_axis>
<y_axis>
<field>error/curvature_estimate</field>
Expand All @@ -571,7 +571,7 @@
<type>0</type>
</scale>
<topic>/control_performance/performance_vars</topic>
<type>control_performance_analysis/ErrorStamped</type>
<type>autoware_control_performance_analysis/ErrorStamped</type>
</y_axis>
</axes>
<color>
Expand Down
28 changes: 14 additions & 14 deletions ...sis/control_performance_analysis_core.hpp → ...sis/control_performance_analysis_core.hpp
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Original file line number Diff line number Diff line change
@@ -1,4 +1,4 @@
// Copyright 2021 - 2022 Tier IV, Inc., Leo Drive Teknoloji A.Ş.
// Copyright 2021 - 2025 Tier IV, Inc., Leo Drive Teknoloji A.Ş.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
Expand All @@ -12,14 +12,14 @@
// See the License for the specific language governing permissions and
// limitations under the License.

#ifndef CONTROL_PERFORMANCE_ANALYSIS__CONTROL_PERFORMANCE_ANALYSIS_CORE_HPP_
#define CONTROL_PERFORMANCE_ANALYSIS__CONTROL_PERFORMANCE_ANALYSIS_CORE_HPP_
#ifndef AUTOWARE__CONTROL_PERFORMANCE_ANALYSIS__CONTROL_PERFORMANCE_ANALYSIS_CORE_HPP_
#define AUTOWARE__CONTROL_PERFORMANCE_ANALYSIS__CONTROL_PERFORMANCE_ANALYSIS_CORE_HPP_

#include "autoware/control_performance_analysis/control_performance_analysis_utils.hpp"
#include "autoware/motion_utils/trajectory/trajectory.hpp"
#include "control_performance_analysis/control_performance_analysis_utils.hpp"
#include "control_performance_analysis/msg/driving_monitor_stamped.hpp"
#include "control_performance_analysis/msg/error_stamped.hpp"
#include "control_performance_analysis/msg/float_stamped.hpp"
#include "autoware_control_performance_analysis/msg/driving_monitor_stamped.hpp"
#include "autoware_control_performance_analysis/msg/error_stamped.hpp"
#include "autoware_control_performance_analysis/msg/float_stamped.hpp"

#include <Eigen/Core>
#include <rclcpp/time.hpp>
Expand All @@ -37,15 +37,15 @@
#include <utility>
#include <vector>

namespace control_performance_analysis
namespace autoware::control_performance_analysis
{
using autoware_control_msgs::msg::Control;
using autoware_control_performance_analysis::msg::DrivingMonitorStamped;
using autoware_control_performance_analysis::msg::Error;
using autoware_control_performance_analysis::msg::ErrorStamped;
using autoware_control_performance_analysis::msg::FloatStamped;
using autoware_planning_msgs::msg::Trajectory;
using autoware_vehicle_msgs::msg::SteeringReport;
using control_performance_analysis::msg::DrivingMonitorStamped;
using control_performance_analysis::msg::Error;
using control_performance_analysis::msg::ErrorStamped;
using control_performance_analysis::msg::FloatStamped;
using geometry_msgs::msg::Pose;
using geometry_msgs::msg::PoseArray;
using geometry_msgs::msg::Twist;
Expand Down Expand Up @@ -129,6 +129,6 @@ class ControlPerformanceAnalysisCore
rclcpp::Logger logger_{rclcpp::get_logger("control_performance_analysis")};
rclcpp::Clock clock_{RCL_ROS_TIME};
};
} // namespace control_performance_analysis
} // namespace autoware::control_performance_analysis

#endif // CONTROL_PERFORMANCE_ANALYSIS__CONTROL_PERFORMANCE_ANALYSIS_CORE_HPP_
#endif // AUTOWARE__CONTROL_PERFORMANCE_ANALYSIS__CONTROL_PERFORMANCE_ANALYSIS_CORE_HPP_
22 changes: 11 additions & 11 deletions ...sis/control_performance_analysis_node.hpp → ...sis/control_performance_analysis_node.hpp
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Original file line number Diff line number Diff line change
@@ -1,4 +1,4 @@
// Copyright 2021 - 2022 Tier IV, Inc., Leo Drive Teknoloji A.Ş.
// Copyright 2021 - 2025 Tier IV, Inc., Leo Drive Teknoloji A.Ş.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
Expand All @@ -12,12 +12,12 @@
// See the License for the specific language governing permissions and
// limitations under the License.

#ifndef CONTROL_PERFORMANCE_ANALYSIS__CONTROL_PERFORMANCE_ANALYSIS_NODE_HPP_
#define CONTROL_PERFORMANCE_ANALYSIS__CONTROL_PERFORMANCE_ANALYSIS_NODE_HPP_
#ifndef AUTOWARE__CONTROL_PERFORMANCE_ANALYSIS__CONTROL_PERFORMANCE_ANALYSIS_NODE_HPP_
#define AUTOWARE__CONTROL_PERFORMANCE_ANALYSIS__CONTROL_PERFORMANCE_ANALYSIS_NODE_HPP_

#include "control_performance_analysis/control_performance_analysis_core.hpp"
#include "control_performance_analysis/msg/driving_monitor_stamped.hpp"
#include "control_performance_analysis/msg/error_stamped.hpp"
#include "autoware/control_performance_analysis/control_performance_analysis_core.hpp"
#include "autoware_control_performance_analysis/msg/driving_monitor_stamped.hpp"
#include "autoware_control_performance_analysis/msg/error_stamped.hpp"

#include <autoware/signal_processing/lowpass_filter_1d.hpp>
#include <autoware/universe_utils/ros/self_pose_listener.hpp>
Expand All @@ -34,13 +34,13 @@
#include <memory>
#include <utility>

namespace control_performance_analysis
namespace autoware::control_performance_analysis
{
using autoware_control_msgs::msg::Control;
using autoware_control_performance_analysis::msg::DrivingMonitorStamped;
using autoware_control_performance_analysis::msg::ErrorStamped;
using autoware_planning_msgs::msg::Trajectory;
using autoware_vehicle_msgs::msg::SteeringReport;
using control_performance_analysis::msg::DrivingMonitorStamped;
using control_performance_analysis::msg::ErrorStamped;
using geometry_msgs::msg::PoseStamped;
using nav_msgs::msg::Odometry;

Expand Down Expand Up @@ -92,6 +92,6 @@ class ControlPerformanceAnalysisNode : public rclcpp::Node
// Algorithm
std::unique_ptr<ControlPerformanceAnalysisCore> control_performance_core_ptr_;
};
} // namespace control_performance_analysis
} // namespace autoware::control_performance_analysis

#endif // CONTROL_PERFORMANCE_ANALYSIS__CONTROL_PERFORMANCE_ANALYSIS_NODE_HPP_
#endif // AUTOWARE__CONTROL_PERFORMANCE_ANALYSIS__CONTROL_PERFORMANCE_ANALYSIS_NODE_HPP_
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