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feat(common): create booars_utils pkg and create function_timer.hpp #10

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merged 3 commits into from
Aug 21, 2024
Merged

feat(common): create booars_utils pkg and create function_timer.hpp #10

merged 3 commits into from
Aug 21, 2024

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Autumn60
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ノード時間に基づき一定周期で特定の関数を呼び出すクラス FunctionTimer を追加。

@Autumn60 Autumn60 requested a review from a team August 11, 2024 04:34
@Autumn60
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spell-check CIのFailは #11 マージ後に解消

sitahara
sitahara approved these changes Aug 12, 2024
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lgtmです．
ちなみに素人質問で申し訳ないのですが，rclcpp::create_timerで作ったタイマーとこれでは，どのような違いがありますか?

@Autumn60
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@sitahara

主な目的は、タイマー作成に関する複雑な記載をクラス内に封じ込めて、タイマーを利用するコードの可読性を向上させることなので、利用における機能の違いはないと思います。

一応違いとしては、(Timerと異なり)GenericTimerではコールバック関数の型を指定できるため、コールバックの呼び出しと同時に特定の値を引数として渡したりなどができます。
この機能とまた別の機能(callback-group)を組み合わせることで、ノードを(トピック受信による)event-drivenなものからtimer-drivenなものに書き換えることが出来たりします。

@Autumn60 Autumn60 merged commit c207fce into main Aug 21, 2024
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@sitahara
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わかりやすく説明していただきありがとうございます! 勉強になりました．

@Autumn60 Autumn60 deleted the feat/common/create_booars_utils_pkg branch August 21, 2024 13:19
booars-bot bot pushed a commit that referenced this pull request Oct 19, 2024
@knorrrr @yusuke-y819
@Arata-Stu @hamadayo @Tom-Sawada705 @peregrine-884 @toki-1441 @masahiro-kubota
feat: run zenoh under aic container (AutomotiveAIChallenge#150)
a769e47 
* feat: add mpc pid (yosen param) (#1)

* feat(rviz): rviz visualize (#2)

* Revert "remove debug"

This reverts commit 1d10963.

* add multi_data_monitor

* add multi_data_monitor depends

* add multidatamonitor(accel brake steer)

* update rviz

* update readme

* add control_cmd

* chore: add terminator and remove eval record (#3)

* feat: add section timer (#5)

* save

* feat: add section and lap timer for debug

* feat: add section and lap timer

* feat(rviz, plogjuggler): update vizualizer (#6)

* add mps

* set colors properly

* add mpc pid multidatamonitor

* chore add mpc

* add measured

* update rviz

* add mpc plotjuggler

* fix plotjuggler config

* add localizer plotjuggler

* multidata monitor add deg rad conversion

* update plotjuggler localizer(yaw)

* multidatamonitor reduce digits

* chore digits multidatamonitor

* chore: add bash script (#7)

* chore: del sensor noise (#8)

* feat: parameterized cov (#9)

* feat: add mpc pid from awsim stable autoware (#10)

* feat: add rap time launch and visualize (#11)

* feat: add gnss frame id changer (#12)

* frame_id変換のためのノード追加

* fix: pose_cov_transformer.cpp

pose_positionの計算の修正を行いました

---------

Co-authored-by: Tom Sawada <[email protected]>

* feat: add path_to_trajectory (#4)

* wip

* feat

* feat

* wip

* wip

* wip

* Delete aichallenge/result-details.json

* fix: run_simulator.bash

パスについて、AWSIM_GPUからAWSIMに戻しました

---------

Co-authored-by: knorrrr <[email protected]>
Co-authored-by: Tom Sawada <[email protected]>

* fix thread and add parameter

* fix culclation bug

* fix pose cov to pose

* feat: add vehicle state culculator (#14)

* Fix/dockerfile (#15)

* fix:Dockerfile

* fix:Dockerfile2

* fix: Dockerfile

---------

Co-authored-by: toki-1441 <[email protected]>

* Fix/autoware.bash (#16)

* fix:Dockerfile

* fix:Dockerfile2

* fix: Dockerfile

* fix:reference.launch.xml

---------

Co-authored-by: toki-1441 <[email protected]>

* change custom_msgs to csv_path_changer_msg (#17)

* feat: add section  timer with diffrence between best and current lap (#19)

* feat: replay rosbag (#20)

* cp reference

* cp reference

* separate rosbag and simreal

* launch branch is_rosbag

* add rosbag and launch script

* fix launch args(effects pose timestamp, resulting ekf error)

* path chagne

* add separate rosbag

* add separate rosbag

* update localizer plotjuggler

* plotjuggler add linear vel

* update lozalizer pltjuggler

* del unnecessary launch(planning)

* diable planning when is_rosbag

* add trajectory editor (#23)

* /localization/kinematic_stateのframe_idをmapからbase_linkに変換する (#24)

* feat: add imu raw frame id changer

* add sensor_msg depends

* feat: add true gps module and edit reference launch (#27)

* feat: add true gps module and edit reference launch

* Update aichallenge/workspace/src/aichallenge_submit/gps_module/src/true_gps_module.cpp

---------

Co-authored-by: knorrrr <[email protected]>

* fix: weaving speed (#30)

* feat: pose transformer add gnss (#26)

* publish gnss pose

* update plotjuggler

* update plt

* update plotjuggler

* add comment out

* update plotjuggler

* chore change rosbag filename

* chore: add reference launch ekf parameter (#28)

* doc: change README for error handling (#33)

* chore: change run_replay_rosbag_autoware.sh (#32)

* add reference launch ekf parameter (#31)

* feat: edit initial value of best time, inf to 999.9 (#34)

* feat: use original gnss (#36)

* update pose transformer

* update reference

* fix launch error

* fix(gps_module)pose to posestamped

* update reference launch

* use gnss original covariance

* update plotjuggler

* can change gnss cov

* parameterized gnss module cov

* update rviz

* update gpss param

* publish original pose when interface rosbag

* add sensor data covariance monitor (#37)

* update editor

* feat: command line

* fix: 権限付与

* feat: edit and add  Arata`s dicripttion of MPC param (#40)

* feat: rap time difference from best time (#41)

* ベストタイムとの差分の表示を追加

* update digits all 2

---------

Co-authored-by: knorrrr <[email protected]>

* feat: add pid mpc prefix (#29)

* ref: change param (pid)

* ref: add coment out

* ref: params

* fix: yaml

* fix merge

---------

Co-authored-by: knorrrr <[email protected]>

* fix: run csv_editor node (#35)

* fix: calc gps orientation (#38)

* refactor

* fix

* separate host ecu launch

* add  vehicle plotjuggler

* doc: Update README.md (#42)

* init param controller

* add cmd

* fix crush problem

* wip does not load env var before zenoh

* set env var

* appky precommit

* remove duplicate in dockerfile

* add host network setting

* revert: delete host network setting

Signed-off-by: Masahiro Kubota <[email protected]>

* style: fix line breaks

Signed-off-by: Masahiro Kubota <[email protected]>

---------

Signed-off-by: Masahiro Kubota <[email protected]>
Co-authored-by: yusuke-y819 <[email protected]>
Co-authored-by: Arata-Stu <[email protected]>
Co-authored-by: hamadayo <[email protected]>
Co-authored-by: Tom Sawada <[email protected]>
Co-authored-by: hayato-hayashi <[email protected]>
Co-authored-by: toki-1441 <[email protected]>
Co-authored-by: toki-1441 <[email protected]>
Co-authored-by: hamadayo <[email protected]>
Co-authored-by: toki-1441 <[email protected]>
Co-authored-by: Masahiro Kubota <[email protected]>
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@Autumn60 @sitahara