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

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.

Inputs / Outputs

Inputs

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

Outputs

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

• For MetricArray 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

Parameters

Name	Type	Description	Default	Range
update_rate	float	The scanning and update frequency of the checker.	10.0	≥2
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