feat(yabloc_monitor): add yabloc_monitor #4395

kminoda · 2023-07-26T08:38:11Z

Description

Add YabLoc monitor. The output diagnostics could be used for various purposes, incl. Driving Log Replayer.

Tests performed

Run logging_simulator with YabLoc sample rosbag, and confirmed that

Before the pose initialization, yabloc_monitor: yabloc_status is NG in /diagnostics`
After the pose initialization, yabloc_monitor: yabloc_status is OK in /diagnostics`

Notes for reviewers

N/A

Interface changes

N/A

Effects on system behavior

N/A

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Signed-off-by: kminoda <koji.minoda@tier4.jp>

kminoda · 2023-07-28T00:15:34Z

Moved to #4435 for testing ChatGPT reviewer

Signed-off-by: kminoda <koji.minoda@tier4.jp>

codecov · 2023-07-28T01:12:17Z

Codecov Report

Patch coverage has no change and project coverage change: +0.02% 🎉

Comparison is base (8f905a1) 14.89% compared to head (2b83eb2) 14.91%.
Report is 13 commits behind head on main.

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #4395      +/-   ##
==========================================
+ Coverage   14.89%   14.91%   +0.02%     
==========================================
  Files        1516     1519       +3     
  Lines      104652   104655       +3     
  Branches    31853    31831      -22     
==========================================
+ Hits        15587    15610      +23     
+ Misses      72042    72010      -32     
- Partials    17023    17035      +12

Flag	Coverage Δ		*Carryforward flag
differential	`0.00% <0.00%> (?)`
total	`14.92% <ø> (+0.02%)`	⬆️	Carriedforward from 4472179

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

Files Changed	Coverage Δ
.../yabloc/yabloc_monitor/src/availability_module.cpp	`0.00% <0.00%> (ø)`
.../yabloc/yabloc_monitor/src/yabloc_monitor_core.cpp	`0.00% <0.00%> (ø)`
.../yabloc/yabloc_monitor/src/yabloc_monitor_node.cpp	`0.00% <0.00%> (ø)`

... and 6 files with indirect coverage changes

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Signed-off-by: kminoda <koji.minoda@tier4.jp>

RyuYamamoto · 2023-07-28T03:19:51Z

localization/yabloc/yabloc_monitor/src/availability_module.cpp

+
+  const auto now = clock_->now();
+
+  const auto diff_pose = now - *latest_yabloc_pose_stamp_ptr_;


Since this is a comparison of timestamps, how about renaming it or the following?

const auto diff_pose_sec = (now - *latest_yabloc_pose_stamp_ptr_).seconds();

Thank you for the review 🙏
Resolved: ad063e9

Signed-off-by: kminoda <koji.minoda@tier4.jp>

localization/yabloc/yabloc_monitor/launch/yabloc_monitor.launch.xml

KYabuuchi · 2023-07-28T07:52:16Z

I have confirmed that yabloc_monitor informs the status 👍

yabloc_monitor_works_well.mp4

Signed-off-by: kminoda <koji.minoda@tier4.jp>

kminoda · 2023-07-28T07:53:40Z

BTW also confirmed that this works with new scenario proposed in driving log replayer 🎉
tier4/driving_log_replayer#201

KYabuuchi

I left some comments. Please check out them 😄

localization/yabloc/yabloc_monitor/src/availability_module.hpp

localization/yabloc/yabloc_monitor/README.md

Signed-off-by: kminoda <koji.minoda@tier4.jp>

KYabuuchi

lgtm 💯

kminoda · 2023-07-31T00:49:47Z

@RyuYamamoto @YamatoAndo Hi, could you review this PR? 🙏

localization/yabloc/yabloc_monitor/src/availability_module.cpp

Signed-off-by: kminoda <koji.minoda@tier4.jp>

* feat(yabloc_monitor): add yabloc_monitor Signed-off-by: kminoda <koji.minoda@tier4.jp> * style(pre-commit): autofix * add readme Signed-off-by: kminoda <koji.minoda@tier4.jp> * style(pre-commit): autofix * update config Signed-off-by: kminoda <koji.minoda@tier4.jp> * style(pre-commit): autofix * update Signed-off-by: kminoda <koji.minoda@tier4.jp> * style(pre-commit): autofix * update Signed-off-by: kminoda <koji.minoda@tier4.jp> * style(pre-commit): autofix * remove unnecessary part Signed-off-by: kminoda <koji.minoda@tier4.jp> * remove todo Signed-off-by: kminoda <koji.minoda@tier4.jp> * fix typo Signed-off-by: kminoda <koji.minoda@tier4.jp> * remove unnecessary part Signed-off-by: kminoda <koji.minoda@tier4.jp> * update readme Signed-off-by: kminoda <koji.minoda@tier4.jp> * shorten function Signed-off-by: kminoda <koji.minoda@tier4.jp> * reflect chatgpt Signed-off-by: kminoda <koji.minoda@tier4.jp> * style(pre-commit): autofix * update Signed-off-by: kminoda <koji.minoda@tier4.jp> * cland-tidy Signed-off-by: kminoda <koji.minoda@tier4.jp> * style(pre-commit): autofix * update variable name Signed-off-by: kminoda <koji.minoda@tier4.jp> * fix if name Signed-off-by: kminoda <koji.minoda@tier4.jp> * use nullopt (and moved yabloc monitor namespace Signed-off-by: kminoda <koji.minoda@tier4.jp> * fix readme Signed-off-by: kminoda <koji.minoda@tier4.jp> * style(pre-commit): autofix * add dependency Signed-off-by: kminoda <koji.minoda@tier4.jp> * style(pre-commit): autofix * reflect comment Signed-off-by: kminoda <koji.minoda@tier4.jp> * update comment Signed-off-by: kminoda <koji.minoda@tier4.jp> * style(pre-commit): autofix --------- Signed-off-by: kminoda <koji.minoda@tier4.jp> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Signed-off-by: Felix F Xu <felixfxu@gmail.com>

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update

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remove unnecessary part

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remove unnecessary part

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Merge branch 'main' into feat/add_yabloc_monitor

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shorten function

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reflect chatgpt

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feat(yabloc_monitor): add yabloc_monitor #4395

feat(yabloc_monitor): add yabloc_monitor #4395

kminoda commented Jul 26, 2023 •

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kminoda commented Jul 31, 2023


		const auto now = clock_->now();

		const auto diff_pose = now - *latest_yabloc_pose_stamp_ptr_;

feat(yabloc_monitor): add yabloc_monitor #4395

feat(yabloc_monitor): add yabloc_monitor #4395

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kminoda commented Jul 26, 2023 • edited Loading

Description

Related links

Tests performed

Notes for reviewers

Interface changes

Effects on system behavior

Pre-review checklist for the PR author

In-review checklist for the PR reviewers

Post-review checklist for the PR author

kminoda commented Jul 28, 2023 • edited Loading

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