scenario_simulator_v2 Adapter

Purpose

This package provides a node to convert various messages from the Autoware into tier4_simulation_msgs::msg::UserDefinedValue messages for the scenario_simulator_v2. Currently, this node supports conversion of:

• tier4_metric_msgs::msg::MetricArray for metric topics
• Diagnostic topics passed from .webauto-ci.yml via autoware.diagnostic_config

Inner-workings / Algorithms

• For tier4_metric_msgs::msg::MetricArray, The node subscribes to all topics listed in the parameter metric_topic_list. Each time such message is received, it is converted into as many UserDefinedValue messages as the number of Metric objects. The format of the output topic is detailed in the output section.

• For diagnostic topics from autoware.diagnostic_config, The node subscribes to /diagnostics Each time such message is received, it is converted into as many UserDefinedValue messages as the number of DiagnosticStatus objects in the DiagnosticArray. The format of the input autoware.diagnostic_config is detailed in the input section. The format of the output topic is detailed in the output section.

Metric Array Inputs / Outputs

Metric Array Inputs

The node listens to MetricArray messages on the topics specified in metric_topic_list.

Metric Array Outputs

The node outputs UserDefinedValue messages that are converted from the received messages.

The name of the output topics are generated from the corresponding input topic, the name of the metric.

• For example, we might listen to topic /planning/planning_evaluator/metrics and receive a MetricArray with 2 metrics:
  • metric with name: "metricA/x"
  • metric with name: "metricA/y"
• The resulting topics to publish the UserDefinedValue are as follows:
  • /planning/planning_evaluator/metrics/metricA/x
  • /planning/planning_evaluator/metrics/metricA/y

Diagnostics Inputs / Outputs

Diagnostics extracts the level field from DiagnosticStatus and outputs it as a single value to correspond with tier4_simulation_msgs::msg::UserDefinedValue messages.

Diagnostics Inputs

• The node listens to /diagnostics. Multiple DiagnosticStatus objects are extracted from the DiagnosticArray within /diagnostics.

• About autoware.diagnostic_config:
  • The configuration file is specified from .webauto-ci.yml.
  • Under diagnostic_groups, create a group name and define output_topic_name and aggregation_list under it.
    • output_topic_name
      • Specifies the topic name to publish to.
      • The format /diagnostics/scenario_simulator_v2_adapter/*** is recommended.
    • aggregation_list
      • Lists the diagnostic topics to be grouped.
      • Can include output_topic_name declared in the same format (recursively expanded).
  • A sample configuration can be found in autoware_scenario_simulator_v2_adapter/config/diagnostic_config.param.yaml.

/**:
  ros__parameters:
    diagnostic_groups:
      overall_diagnostics:
        output_topic_name: /diagnostics/scenario_simulator_v2_adapter/overall_diagnostics
        aggregation_list:
          - /diagnostics/scenario_simulator_v2_adapter/topic_state_monitor_diagnostics

      topic_state_monitor_diagnostics:
        output_topic_name: /diagnostics/scenario_simulator_v2_adapter/topic_state_monitor_diagnostics
        aggregation_list:
          - /diagnostics/topic_state_monitor_mission_planning_route/planning_topic_status
          - /diagnostics/topic_state_monitor_scenario_planning_trajectory/planning_topic_status

Diagnostics Outputs

The node outputs UserDefinedValue messages that are converted from the received messages. Diagnostics output has two patterns:

1. One-to-one correspondence with diagnostic status names.
2. Grouped output based on autoware.diagnostic_config that aggregates diagnostic status names.

• For individual publish: The name of the output topics are generated from /diagnostics/ prefix and the status.name field of each DiagnosticStatus. The ": " in the status name is replaced with / to form a valid topic name.
  • status name: planning_validator: intersection_validation_collision_check
  • publish topic name: /diagnostics/planning_validator/intersection_validation_collision_check

• For grouped topic publish: The name of the output topics is used output_topic_name in autoware.diagnostic_config. Each time a DiagnosticStatus that matches any topic in the aggregation_list is received, its level value is published to the output_topic_name topic. If the level is ERROR, a warning is logged with the diagnostic topic name and group name.

Parameters

Name	Type	Description	Default	Range
metric_topic_list	array	The topic name list of the processing time.	[]	N/A

Assumptions / Known limits

Values in the Metric objects of a MetricArray are assumed to be of type double.

Future extensions / Unimplemented parts