From fd0813a237da48b50085d9d67422351def3dd18f Mon Sep 17 00:00:00 2001 From: Hayato Mizushima Date: Tue, 14 Jan 2025 15:11:20 +0900 Subject: [PATCH] feat: merge message update Signed-off-by: Hayato Mizushima --- .vscode/settings.json | 4 +-- ReleaseNotes.md | 8 +++++ dependency.repos | 18 +++++------ docs/use_case/localization.en.md | 22 ++++++------- docs/use_case/localization.ja.md | 22 ++++++------- driving_log_replayer_v2/CHANGELOG.rst | 6 ++++ .../localization/topic_state_monitor.yaml | 2 +- .../annotationless_perception.py | 2 +- .../driving_log_replayer_v2/localization.py | 4 +-- driving_log_replayer_v2/package.xml | 2 +- .../scripts/localization_evaluator_node.py | 4 +-- .../test/unittest/test_localization.py | 4 +-- pyproject.toml | 1 + repository.cspell.json | 32 ++++++++++--------- 14 files changed, 73 insertions(+), 58 deletions(-) diff --git a/.vscode/settings.json b/.vscode/settings.json index f45fdab9..03a9b724 100644 --- a/.vscode/settings.json +++ b/.vscode/settings.json @@ -33,7 +33,7 @@ "${workspaceFolder}/../../../install/perception_eval/local/lib/python3.10/dist-packages", "${workspaceFolder}/../../../install/ros2_numpy/local/lib/python3.10/dist-packages", "${workspaceFolder}/../../../install/driving_log_replayer_v2_msgs/local/lib/python3.10/dist-packages", - "${workspaceFolder}/../../../install/tier4_debug_msgs/local/lib/python3.10/dist-packages", + "${workspaceFolder}/../../../install/autoware_internal_debug_msgs/local/lib/python3.10/dist-packages", "${workspaceFolder}/../../../install/driving_log_replayer_v2_analyzer/local/lib/python3.10/dist-packages", "${workspaceFolder}/../../../install/tier4_localization_msgs/local/lib/python3.10/dist-packages", "${workspaceFolder}/../../../install/tier4_api_msgs/local/lib/python3.10/dist-packages", @@ -52,7 +52,7 @@ "${workspaceFolder}/../../../install/perception_eval/local/lib/python3.10/dist-packages", "${workspaceFolder}/../../../install/ros2_numpy/local/lib/python3.10/dist-packages", "${workspaceFolder}/../../../install/driving_log_replayer_v2_msgs/local/lib/python3.10/dist-packages", - "${workspaceFolder}/../../../install/tier4_debug_msgs/local/lib/python3.10/dist-packages", + "${workspaceFolder}/../../../install/autoware_internal_debug_msgs/local/lib/python3.10/dist-packages", "${workspaceFolder}/../../../install/driving_log_replayer_v2_analyzer/local/lib/python3.10/dist-packages", "${workspaceFolder}/../../../install/tier4_localization_msgs/local/lib/python3.10/dist-packages", "${workspaceFolder}/../../../install/tier4_api_msgs/local/lib/python3.10/dist-packages", diff --git a/ReleaseNotes.md b/ReleaseNotes.md index 59cd1d7b..d4b2c567 100644 --- a/ReleaseNotes.md +++ b/ReleaseNotes.md @@ -61,6 +61,14 @@ Major changes | `planning_control` | use case | add planning_control_evaluator | [#43](https://github.com/tier4/driving_log_replayer_v2/pull/43) | [hayato-m126](https://github.com/hayato-m126) | | `diagnostics` | use case | add diagnostics_evaluator | [#42](https://github.com/tier4/driving_log_replayer_v2/pull/42) | [hayato-m126](https://github.com/hayato-m126) | +## Version 2.6.0 + +Major changes + +| Module | Feature | Brief summary | Pull request | Jira | Contributor | +| ------ | ------- | -------------------------------------------------------------- | -------------------------------------------------------------- | -------- | --------------------------------------------------- | +| `all` | message | replace `tier4_debug_msgs` with `autoware_internal_debug_msgs` | [#589](https://github.com/tier4/driving_log_replayer/pull/589) | RT1-9020 | [SakodaShintaro](https://github.com/SakodaShintaro) | + ## Version 2.5.0 Major changes diff --git a/dependency.repos b/dependency.repos index deb86a1b..614c25c1 100644 --- a/dependency.repos +++ b/dependency.repos @@ -1,31 +1,29 @@ repositories: - # core - core/autoware_msgs: + autoware/autoware_msgs: type: git url: https://github.com/autowarefoundation/autoware_msgs.git version: 1.3.0 - core/autoware_adapi_msgs: + autoware/autoware_adapi_msgs: type: git url: https://github.com/autowarefoundation/autoware_adapi_msgs.git version: beta/1.7.0 - core/autoware_internal_msgs: + autoware/autoware_internal_msgs: type: git url: https://github.com/autowarefoundation/autoware_internal_msgs.git - version: 1.1.0 - core/autoware_cmake: + version: 1.3.0 + autoware/autoware_cmake: type: git url: https://github.com/autowarefoundation/autoware_cmake.git version: 1.0.0 - core/autoware_utils: + autoware/autoware_utils: type: git url: https://github.com/autowarefoundation/autoware_utils.git version: 1.0.0 - core/autoware_lanelet2_extension: + autoware/autoware_lanelet2_extension: type: git url: https://github.com/autowarefoundation/autoware_lanelet2_extension.git version: 0.6.2 - # universe - universe/external/tier4_autoware_msgs: + autoware/tier4_autoware_msgs: type: git url: https://github.com/tier4/tier4_autoware_msgs.git version: tier4/universe diff --git a/docs/use_case/localization.en.md b/docs/use_case/localization.en.md index 335e2e23..98da85b6 100644 --- a/docs/use_case/localization.en.md +++ b/docs/use_case/localization.en.md @@ -82,17 +82,17 @@ The NDT availability evaluation output is marked as `Error` when conditions for Subscribed topics: -| Topic name | Data type | -| -------------------------------------------------------------------- | ----------------------------------- | -| /diagnostics | diagnostic_msgs/msg/DiagnosticArray | -| /localization/pose_estimator/transform_probability | tier4_debug_msgs/msg/Float32Stamped | -| /localization/pose_estimator/nearest_voxel_transformation_likelihood | tier4_debug_msgs/msg/Float32Stamped | -| /localization/pose_estimator/initial_to_result_relative_pose | geometry_msgs/msg/PoseStamped | -| /localization/pose_estimator/exe_time_ms | tier4_debug_msgs/msg/Float32Stamped | -| /localization/pose_estimator/iteration_num | tier4_debug_msgs/msg/Int32Stamped | -| /tf | tf2_msgs/msg/TFMessage | -| /localization/util/downsample/pointcloud | sensor_msgs/msg/PointCloud2 | -| /localization/pose_estimator/points_aligned | sensor_msgs/msg/PointCloud2 | +| Topic name | Data type | +| -------------------------------------------------------------------- | ------------------------------------------------- | +| /diagnostics | diagnostic_msgs::msg::DiagnosticArray | +| /localization/pose_estimator/transform_probability | autoware_internal_debug_msgs::msg::Float32Stamped | +| /localization/pose_estimator/nearest_voxel_transformation_likelihood | autoware_internal_debug_msgs::msg::Float32Stamped | +| /localization/pose_estimator/initial_to_result_relative_pose | geometry_msgs::msg::PoseStamped | +| /localization/pose_estimator/exe_time_ms | autoware_internal_debug_msgs::msg::Float32Stamped | +| /localization/pose_estimator/iteration_num | autoware_internal_debug_msgs::msg::Int32Stamped | +| /tf | tf2_msgs/msg/TFMessage | +| /localization/util/downsample/pointcloud | sensor_msgs::msg::PointCloud2 | +| /localization/pose_estimator/points_aligned | sensor_msgs::msg::PointCloud2 | Published topics: diff --git a/docs/use_case/localization.ja.md b/docs/use_case/localization.ja.md index fb304d33..de6bd678 100644 --- a/docs/use_case/localization.ja.md +++ b/docs/use_case/localization.ja.md @@ -82,17 +82,17 @@ Component State Monitorが出力する `/diagnostics` の中から、監視ト Subscribed topics: -| topic 名 | データ型 | -| -------------------------------------------------------------------- | ----------------------------------- | -| /diagnostics | diagnostic_msgs/msg/DiagnosticArray | -| /localization/pose_estimator/transform_probability | tier4_debug_msgs/msg/Float32Stamped | -| /localization/pose_estimator/nearest_voxel_transformation_likelihood | tier4_debug_msgs/msg/Float32Stamped | -| /localization/pose_estimator/initial_to_result_relative_pose | geometry_msgs/msg/PoseStamped | -| /localization/pose_estimator/exe_time_ms | tier4_debug_msgs/msg/Float32Stamped | -| /localization/pose_estimator/iteration_num | tier4_debug_msgs/msg/Int32Stamped | -| /tf | tf2_msgs/msg/TFMessage | -| /localization/util/downsample/pointcloud | sensor_msgs/msg/PointCloud2 | -| /localization/pose_estimator/points_aligned | sensor_msgs/msg/PointCloud2 | +| topic 名 | データ型 | +| -------------------------------------------------------------------- | ------------------------------------------------- | +| /diagnostics | diagnostic_msgs::msg::DiagnosticArray | +| /localization/pose_estimator/transform_probability | autoware_internal_debug_msgs::msg::Float32Stamped | +| /localization/pose_estimator/nearest_voxel_transformation_likelihood | autoware_internal_debug_msgs::msg::Float32Stamped | +| /localization/pose_estimator/initial_to_result_relative_pose | geometry_msgs::msg::PoseStamped | +| /localization/pose_estimator/exe_time_ms | autoware_internal_debug_msgs::msg::Float32Stamped | +| /localization/pose_estimator/iteration_num | autoware_internal_debug_msgs::msg::Int32Stamped | +| /tf | tf2_msgs/msg/TFMessage | +| /localization/util/downsample/pointcloud | sensor_msgs::msg::PointCloud2 | +| /localization/pose_estimator/points_aligned | sensor_msgs::msg::PointCloud2 | Published topics: diff --git a/driving_log_replayer_v2/CHANGELOG.rst b/driving_log_replayer_v2/CHANGELOG.rst index d23adbe1..09f2cab6 100644 --- a/driving_log_replayer_v2/CHANGELOG.rst +++ b/driving_log_replayer_v2/CHANGELOG.rst @@ -216,6 +216,12 @@ Changelog for package driving_log_replayer --------- * Contributors: Hayato Mizushima, iwatake +2.6.0 (2025-01-14) +------------------ +* feat: update message type (`#589 `_) + Co-authored-by: Shintaro Sakoda +* Contributors: Hayato Mizushima + 2.5.0 (2024-12-19) ------------------ * fix: update lanelet2 extension (`#586 `_) diff --git a/driving_log_replayer_v2/config/localization/topic_state_monitor.yaml b/driving_log_replayer_v2/config/localization/topic_state_monitor.yaml index 34cc3914..8ece9236 100644 --- a/driving_log_replayer_v2/config/localization/topic_state_monitor.yaml +++ b/driving_log_replayer_v2/config/localization/topic_state_monitor.yaml @@ -4,7 +4,7 @@ args: node_name_suffix: ndt_scan_matcher_exe_time topic: /localization/pose_estimator/exe_time_ms - topic_type: tier4_debug_msgs/msg/Float32Stamped + topic_type: autoware_internal_debug_msgs/msg/Float32Stamped best_effort: false transient_local: false warn_rate: 5.0 diff --git a/driving_log_replayer_v2/driving_log_replayer_v2/annotationless_perception.py b/driving_log_replayer_v2/driving_log_replayer_v2/annotationless_perception.py index 7cc49408..ae190b44 100644 --- a/driving_log_replayer_v2/driving_log_replayer_v2/annotationless_perception.py +++ b/driving_log_replayer_v2/driving_log_replayer_v2/annotationless_perception.py @@ -199,7 +199,7 @@ def set_frame(self, msg: DiagnosticArray) -> dict: diag_array_class[class_name] = {} diag_array_class[class_name].update(diag_dict) # evaluate for each class - for class_name in diag_array_class: # noqa PLC0206 + for class_name in diag_array_class: # noqa: PLC0206 if self.__container.get(class_name) is None: # Add default ObjectMetricsClass for metrics aggregation self.__container[class_name] = ObjectMetrics( diff --git a/driving_log_replayer_v2/driving_log_replayer_v2/localization.py b/driving_log_replayer_v2/driving_log_replayer_v2/localization.py index 59e0130c..98d3b034 100644 --- a/driving_log_replayer_v2/driving_log_replayer_v2/localization.py +++ b/driving_log_replayer_v2/driving_log_replayer_v2/localization.py @@ -19,14 +19,14 @@ from typing import ClassVar from typing import Literal +from autoware_internal_debug_msgs.msg import Float32Stamped +from autoware_internal_debug_msgs.msg import Int32Stamped from diagnostic_msgs.msg import DiagnosticStatus from example_interfaces.msg import Float64 from geometry_msgs.msg import PoseStamped import numpy as np from pydantic import BaseModel from rosidl_runtime_py import message_to_ordereddict -from tier4_debug_msgs.msg import Float32Stamped -from tier4_debug_msgs.msg import Int32Stamped from driving_log_replayer_v2.result import EvaluationItem from driving_log_replayer_v2.result import ResultBase diff --git a/driving_log_replayer_v2/package.xml b/driving_log_replayer_v2/package.xml index 5029a887..bfdddc46 100644 --- a/driving_log_replayer_v2/package.xml +++ b/driving_log_replayer_v2/package.xml @@ -17,6 +17,7 @@ autoware_cmake autoware_common_msgs + autoware_internal_debug_msgs autoware_map_msgs autoware_perception_msgs diagnostic_msgs @@ -29,7 +30,6 @@ tf2_geometry_msgs tf2_msgs tf2_ros - tier4_debug_msgs tier4_localization_msgs tier4_metric_msgs visualization_msgs diff --git a/driving_log_replayer_v2/scripts/localization_evaluator_node.py b/driving_log_replayer_v2/scripts/localization_evaluator_node.py index d4419bfc..0608e04d 100755 --- a/driving_log_replayer_v2/scripts/localization_evaluator_node.py +++ b/driving_log_replayer_v2/scripts/localization_evaluator_node.py @@ -14,12 +14,12 @@ # See the License for the specific language governing permissions and # limitations under the License. +from autoware_internal_debug_msgs.msg import Float32Stamped +from autoware_internal_debug_msgs.msg import Int32Stamped from diagnostic_msgs.msg import DiagnosticArray from diagnostic_msgs.msg import DiagnosticStatus from example_interfaces.msg import Float64 from geometry_msgs.msg import PoseStamped -from tier4_debug_msgs.msg import Float32Stamped -from tier4_debug_msgs.msg import Int32Stamped from driving_log_replayer_v2.evaluator import DLREvaluatorV2 from driving_log_replayer_v2.evaluator import evaluator_main diff --git a/driving_log_replayer_v2/test/unittest/test_localization.py b/driving_log_replayer_v2/test/unittest/test_localization.py index 99bdcfc2..3d21c27a 100644 --- a/driving_log_replayer_v2/test/unittest/test_localization.py +++ b/driving_log_replayer_v2/test/unittest/test_localization.py @@ -12,13 +12,13 @@ # See the License for the specific language governing permissions and # limitations under the License. +from autoware_internal_debug_msgs.msg import Float32Stamped +from autoware_internal_debug_msgs.msg import Int32Stamped from builtin_interfaces.msg import Time from diagnostic_msgs.msg import DiagnosticStatus from diagnostic_msgs.msg import KeyValue from example_interfaces.msg import Float64 import pytest -from tier4_debug_msgs.msg import Float32Stamped -from tier4_debug_msgs.msg import Int32Stamped from driving_log_replayer_v2.localization import Availability from driving_log_replayer_v2.localization import Convergence diff --git a/pyproject.toml b/pyproject.toml index 48bc0ed0..1263ab9c 100644 --- a/pyproject.toml +++ b/pyproject.toml @@ -5,6 +5,7 @@ authors = [ { name = "Hayato Mizushima", email = "hayato.mizushima@tier4.jp" }, { name = "Kotaro Uetake", email = "kotaro.uetake@tier4.jp" }, { name = "Masato Saeki", email = "masato.saeki@tier4.jp" }, + { name = "Shintaro Sakoda", email = "shintaro.sakoda@tier4.jp" }, { name = "Koji Minoda", email = "koji.minoda@tier4.jp" }, { name = "Kosuke Takeuchi", email = "kosuke.takeuchi@tier4.jp" }, { name = "Keisuke Shima", email = "keisuke.shima@tier4.jp" }, diff --git a/repository.cspell.json b/repository.cspell.json index 1cc16c9f..f422f1bb 100644 --- a/repository.cspell.json +++ b/repository.cspell.json @@ -1,41 +1,43 @@ { "words": [ - "CENTERDISTANCE", - "Hayato", - "Keisuke", - "Koji", - "Kotaro", - "Masato", - "MOTA", - "MOTP", - "Minoda", - "Mizushima", - "Saeki", - "Sakamoto", - "Shima", - "UMiho", - "Uetake", "annotationless", "autouse", "bbox", + "CENTERDISTANCE", "conlist", "devkit", "dtick", "fastjsonschema", + "Hayato", "kaleido", + "Keisuke", + "Koji", + "Kotaro", "lanefollowing", "leftdiagonal", + "Masato", + "Minoda", + "Mizushima", + "MOTA", + "MOTP", "nums", "nuscenes", "objdata", "pydantic", "pyproject", "rightdiagonal", + "Saeki", + "Sakamoto", + "Sakoda", + "Shima", + "Shintaro", "sideshift", "simplejson", "tickmode", "ticktext", "tickvals", + "Uetake", + "UMiho", "xaxes", "yaxes", "youtalk",