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tier4_debug_tools#

This package provides useful features for debugging Autoware.

Usage#

tf2pose#

This tool converts any tf to pose topic.
With this tool, for example, you can plot x values of tf in rqt_multiplot.

sh ros2 run tier4_debug_tools tf2pose {tf_from} {tf_to} {hz}

Example:

```sh $ ros2 run tier4_debug_tools tf2pose base_link ndt_base_link 100

$ ros2 topic echo /tf2pose/pose -n1 header: seq: 13 stamp: secs: 1605168366 nsecs: 549174070 frame_id: "base_link" pose: position: x: 0.0387684271191 y: -0.00320360406477 z: 0.000276674520819 orientation: x: 0.000335221893885 y: 0.000122020672186 z: -0.00539673212896 w: 0.999985368502

```

pose2tf#

This tool converts any pose topic to tf.

sh ros2 run tier4_debug_tools pose2tf {pose_topic_name} {tf_name}

Example:

```sh $ ros2 run tier4_debug_tools pose2tf /localization/pose_estimator/pose ndt_pose

$ ros2 run tf tf_echo ndt_pose ndt_base_link 100 At time 1605168365.449 - Translation: [0.000, 0.000, 0.000] - Rotation: in Quaternion [0.000, 0.000, 0.000, 1.000] in RPY (radian) [0.000, -0.000, 0.000] in RPY (degree) [0.000, -0.000, 0.000] ```

stop_reason2pose#

This tool extracts pose from stop_reasons.
Topics without numbers such as /stop_reason2pose/pose/detection_area are the nearest stop_reasons, and topics with numbers are individual stop_reasons that are roughly matched with previous ones.

sh ros2 run tier4_debug_tools stop_reason2pose {stop_reason_topic_name}

Example:

```sh $ ros2 run tier4_debug_tools stop_reason2pose /planning/scenario_planning/status/stop_reasons

$ ros2 topic list | ag stop_reason2pose /stop_reason2pose/pose/detection_area /stop_reason2pose/pose/detection_area_1 /stop_reason2pose/pose/obstacle_stop /stop_reason2pose/pose/obstacle_stop_1

$ ros2 topic echo /stop_reason2pose/pose/detection_area -n1 header: seq: 1 stamp: secs: 1605168355 nsecs: 821713 frame_id: "map" pose: position: x: 60608.8433457 y: 43886.2410876 z: 44.9078212441 orientation: x: 0.0 y: 0.0 z: -0.190261378408 w: 0.981733470901

```

stop_reason2tf#

This is an all-in-one script that uses tf2pose, pose2tf, and stop_reason2pose.
With this tool, you can view the relative position from base_link to the nearest stop_reason.

sh ros2 run tier4_debug_tools stop_reason2tf {stop_reason_name}

Example:

sh $ ros2 run tier4_debug_tools stop_reason2tf obstacle_stop At time 1605168359.501 - Translation: [0.291, -0.095, 0.266] - Rotation: in Quaternion [0.007, 0.011, -0.005, 1.000] in RPY (radian) [0.014, 0.023, -0.010] in RPY (degree) [0.825, 1.305, -0.573]

lateral_error_publisher#

This node calculate the control error and localization error in the trajectory normal direction as shown in the figure below.

lateral_error_publisher_overview

Set the reference trajectory, vehicle pose and ground truth pose in the launch file.

sh ros2 launch tier4_debug_tools lateral_error_publisher.launch.xml