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fix(planning_validator): not publish diag before data is ready #5461

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Nov 2, 2023
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fix(planning_validator): not publish diag before data is ready #5461

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2 changes: 1 addition & 1 deletion planning/planning_validator/include/planning_validator/planning_validator.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -109,7 +109,7 @@ class PlanningValidator : public rclcpp::Node
int diag_error_count_threshold_ = 0;
bool display_on_terminal_ = true;

Updater diag_updater_{this};
std::shared_ptr<Updater> diag_updater_ = nullptr;

PlanningValidatorStatus validation_status_;
ValidationParams validation_params_; // for thresholds
Expand Down
33 changes: 17 additions & 16 deletions planning/planning_validator/src/planning_validator.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -47,10 +47,6 @@ PlanningValidator::PlanningValidator(const rclcpp::NodeOptions & options)

setupParameters();

if (publish_diag_) {
setupDiag();
}

logger_configure_ = std::make_unique<tier4_autoware_utils::LoggerLevelConfigure>(this);
}

Expand Down Expand Up @@ -112,39 +108,40 @@ void PlanningValidator::setStatus(

void PlanningValidator::setupDiag()
{
diag_updater_ = std::make_shared<Updater>(this);
auto & d = diag_updater_;
d.setHardwareID("planning_validator");
d->setHardwareID("planning_validator");

std::string ns = "trajectory_validation_";
d.add(ns + "finite", [&](auto & stat) {
d->add(ns + "finite", [&](auto & stat) {
setStatus(stat, validation_status_.is_valid_finite_value, "infinite value is found");
});
d.add(ns + "interval", [&](auto & stat) {
d->add(ns + "interval", [&](auto & stat) {
setStatus(stat, validation_status_.is_valid_interval, "points interval is too long");
});
d.add(ns + "relative_angle", [&](auto & stat) {
d->add(ns + "relative_angle", [&](auto & stat) {
setStatus(stat, validation_status_.is_valid_relative_angle, "relative angle is too large");
});
d.add(ns + "curvature", [&](auto & stat) {
d->add(ns + "curvature", [&](auto & stat) {
setStatus(stat, validation_status_.is_valid_curvature, "curvature is too large");
});
d.add(ns + "lateral_acceleration", [&](auto & stat) {
d->add(ns + "lateral_acceleration", [&](auto & stat) {
setStatus(stat, validation_status_.is_valid_lateral_acc, "lateral acceleration is too large");
});
d.add(ns + "acceleration", [&](auto & stat) {
d->add(ns + "acceleration", [&](auto & stat) {
setStatus(stat, validation_status_.is_valid_longitudinal_max_acc, "acceleration is too large");
});
d.add(ns + "deceleration", [&](auto & stat) {
d->add(ns + "deceleration", [&](auto & stat) {
setStatus(stat, validation_status_.is_valid_longitudinal_min_acc, "deceleration is too large");
});
d.add(ns + "steering", [&](auto & stat) {
d->add(ns + "steering", [&](auto & stat) {
setStatus(stat, validation_status_.is_valid_steering, "expected steering is too large");
});
d.add(ns + "steering_rate", [&](auto & stat) {
d->add(ns + "steering_rate", [&](auto & stat) {
setStatus(
stat, validation_status_.is_valid_steering_rate, "expected steering rate is too large");
});
d.add(ns + "velocity_deviation", [&](auto & stat) {
d->add(ns + "velocity_deviation", [&](auto & stat) {
setStatus(
stat, validation_status_.is_valid_velocity_deviation, "velocity deviation is too large");
});
Expand Down Expand Up @@ -174,11 +171,15 @@ void PlanningValidator::onTrajectory(const Trajectory::ConstSharedPtr msg)

if (!isDataReady()) return;

if (publish_diag_ && !diag_updater_) {
setupDiag(); // run setup after all data is ready.
}

debug_pose_publisher_->clearMarkers();

validate(*current_trajectory_);

diag_updater_.force_update();
diag_updater_->force_update();

publishTrajectory();

Expand Down
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