Processing Time Checker#
Purpose#
This node checks whether the processing time of each module is valid or not, and send a diagnostic. NOTE: Currently, there is no validation feature, and "OK" is always assigned in the diagnostic.
Standalone Startup#
ros2 launch autoware_processing_time_checker processing_time_checker.launch.xml
Inner-workings / Algorithms#
Inputs / Outputs#
Input#
| Name | Type | Description |
|---|---|---|
/.../processing_time_ms |
autoware_internal_debug_msgs/Float64Stamped |
processing time of each module |
Output#
| Name | Type | Description |
|---|---|---|
/system/processing_time_checker/metrics |
tier4_metric_msgs::msg::MetricArray |
processing time of all the modules |
Parameters#
| Name | Type | Description | Default | Range |
|---|---|---|---|---|
| update_rate | float | The scanning and update frequency of the checker. | 10 | >2 |
| processing_time_topic_name_list | array | The topic name list of the processing time. | [] | N/A |
If output_metrics = true, the node writes the statics of the processing_time measured during its lifetime to <ros2_logging_directory>/autoware_metrics/<node_name>-<time_stamp>.json when shut down.
Assumptions / Known limits#
TBD.