feat(imu_corrector): add gyro_bias estimation in diag #5054

kminoda · 2023-09-20T10:53:33Z

Description

Add estimated gyro bias in diagnostics.

Tests performed

Launched Autoware and confirmed that the diagnostics are properly updated.

Effects on system behavior

Not applicable

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Signed-off-by: kminoda <[email protected]>

TaikiYamada4

I tested the rosbag replay simulation in the Autoware tutorial and confirmed the same kind of diagnostics to your test.
LGTM!

codecov · 2023-09-21T05:24:05Z

Codecov Report

Patch coverage has no change and project coverage change: -0.01% ⚠️

Comparison is base (9f4ccf6) 15.75% compared to head (5237356) 15.75%.
Report is 24 commits behind head on main.

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #5054      +/-   ##
==========================================
- Coverage   15.75%   15.75%   -0.01%     
==========================================
  Files        1581     1581              
  Lines      109668   109674       +6     
  Branches    34294    34294              
==========================================
  Hits        17276    17276              
- Misses      73361    73367       +6     
  Partials    19031    19031

Flag	Coverage Δ		*Carryforward flag
differential	`24.70% <0.00%> (?)`
total	`15.75% <ø> (ø)`		Carriedforward from 9f4ccf6

*This pull request uses carry forward flags. Click here to find out more.

Files Changed	Coverage Δ
sensing/imu_corrector/src/gyro_bias_estimator.cpp	`0.00% <0.00%> (ø)`

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Signed-off-by: kminoda <[email protected]>

* fix(ekf_localizer): fix bug in #5054 Signed-off-by: kminoda <[email protected]> * fix bug Signed-off-by: kminoda <[email protected]> --------- Signed-off-by: kminoda <[email protected]>

…ation#5066) * fix(ekf_localizer): fix bug in autowarefoundation#5054 Signed-off-by: kminoda <[email protected]> * fix bug Signed-off-by: kminoda <[email protected]> --------- Signed-off-by: kminoda <[email protected]>

Signed-off-by: asa-naki <[email protected]>

…tion#4729) (#856) * feat(imu_corrector): add gyro_bias_validator (backport autowarefoundation#4729) * feat(imu_corrector): add gyro_bias_validator Signed-off-by: kminoda <[email protected]> * style(pre-commit): autofix * update Signed-off-by: kminoda <[email protected]> * revert launch Signed-off-by: kminoda <[email protected]> * updat Signed-off-by: kminoda <[email protected]> * style(pre-commit): autofix * add debug publisher Signed-off-by: kminoda <[email protected]> * minor fix Signed-off-by: kminoda <[email protected]> * style(pre-commit): autofix * style(pre-commit): autofix * add gtest Signed-off-by: kminoda <[email protected]> * style(pre-commit): autofix * updat e readme Signed-off-by: kminoda <[email protected]> * style(pre-commit): autofix * add diagnostics Signed-off-by: kminoda <[email protected]> * style(pre-commit): autofix * update Signed-off-by: kminoda <[email protected]> * style(pre-commit): autofix * validator -> estimator Signed-off-by: kminoda <[email protected]> * fix build Signed-off-by: kminoda <[email protected]> * update default parameter Signed-off-by: kminoda <[email protected]> * update comment Signed-off-by: kminoda <[email protected]> * update readme Signed-off-by: kminoda <[email protected]> * style(pre-commit): autofix * updated Signed-off-by: kminoda <[email protected]> * minor update in readme Signed-off-by: kminoda <[email protected]> * style(pre-commit): autofix * fix pre-commit Signed-off-by: kminoda <[email protected]> * update readme Signed-off-by: kminoda <[email protected]> * style(pre-commit): autofix * Fix NG -> WARN Signed-off-by: kminoda <[email protected]> --------- Signed-off-by: kminoda <[email protected]> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Signed-off-by: asa-naki <[email protected]> * build(imu_corrector): add missing diagnostic_updater dependency (autowarefoundation#4980) Signed-off-by: Esteve Fernandez <[email protected]> * add gyro_bias estimation in diag ( autowarefoundation#5054) Signed-off-by: asa-naki <[email protected]> * ci(pre-commit): autofix --------- Signed-off-by: asa-naki <[email protected]> Signed-off-by: Esteve Fernandez <[email protected]> Co-authored-by: kminoda <[email protected]> Co-authored-by: Esteve Fernandez <[email protected]> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>

* feat(system_error_monitor): manual modules (#793) * feat(rviz_plugin): console meter is too large on the Rviz with FHD display, isn't it? (#587) * feat(tier4_planning/vehicle_plugin): make plugins size scalable Signed-off-by: Takamasa Horibe <[email protected]> * remove space Signed-off-by: Takamasa Horibe <[email protected]> * scaling Signed-off-by: Takamasa Horibe <[email protected]> * change diag message Signed-off-by: asa-naki <[email protected]> * fix module name Signed-off-by: asa-naki <[email protected]> * add manual module and ignoring modules Signed-off-by: asa-naki <[email protected]> * Revert "feat(rviz_plugin): console meter is too large on the Rviz with FHD display, isn't it? (#587)" This reverts commit f96169c. * Revert "change diag message" This reverts commit dff01ce. * ci(pre-commit): autofix * fix spell check Signed-off-by: asa-naki <[email protected]> * Revert "fix spell check" This reverts commit 208aa1e. * Revert "fix module name" This reverts commit cec7653. * revert ignore module Signed-off-by: asa-naki <[email protected]> * current_mode check update Signed-off-by: asa-naki <[email protected]> * ci(pre-commit): autofix * delete margin Signed-off-by: asa-naki <[email protected]> --------- Signed-off-by: Takamasa Horibe <[email protected]> Signed-off-by: asa-naki <[email protected]> Co-authored-by: Takamasa Horibe <[email protected]> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> * feat(ad_service_state_monitor): change configs name (#876) change configs name Signed-off-by: asa-naki <[email protected]> * feat(plannig_error_monitor): update error sharp angle threshold (#681) * fix error_sharp_angle Signed-off-by: Shigekazu Fukuta <[email protected]> * update readme Signed-off-by: Shigekazu Fukuta <[email protected]> --------- Signed-off-by: Shigekazu Fukuta <[email protected]> * fix: add error handling when path is invalid (#934) * fix(behavior_path): delete duplicated * add error handling * fix: when path size is 1 * fix(detection_area): search collision index only in lanelet (#695) * fix(detection_area): search collision index only in lanelet * ci(pre-commit): autofix --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> * fix(detection_area): fix overline function (#930) * fix(detection_area): fix overline function * ci(pre-commit): autofix --------- Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> * fix(route_handler): fix threshold for removing overlapping points (#1015) * fix(route_handler): fix threshold for removing overlapping points * fix * fix(ntp_monitor): move chronyc command execution to a timer (backport autowarefoundation#4634) (#880) fix(ntp_monitor): move chronyc command execution to a timer (autowarefoundation#4634) * fix(ntp_monitor): move chronyc command execution to a timer * add newly added parameter timeout to config --------- Signed-off-by: ito-san <[email protected]> Co-authored-by: ito-san <[email protected]> * feat(elevation_map_loader): add error handling for std::runtime_error (backport autowarefoundation#4187) (#652) feat(elevation_map_loader): add error handling for std::runtime_error (autowarefoundation#4187) * feat(elevation_map_loader): Add error handling for std::runtime_error * feat(elevation_map_loader): add error message output --------- Signed-off-by: Shin-kyoto <[email protected]> Co-authored-by: Shintaro Tomie <[email protected]> * fix(system_monitor): extend command line to display (backport autowarefoundation#4553) (#768) fix(system_monitor): extend command line to display (autowarefoundation#4553) Signed-off-by: ito-san <[email protected]> Co-authored-by: ito-san <[email protected]> * fix(system_monitor): high-memory process are not provided in MEM order (backport autowarefoundation#4654) (#769) fix(system_monitor): high-memory process are not provided in MEM order (autowarefoundation#4654) * fix(process_monitor): high-memory process are not being provided in %MEM order * changed option from 'g' to 'n' --------- Signed-off-by: ito-san <[email protected]> Co-authored-by: ito-san <[email protected]> * fix(system_monitor): fix program command line reading (backport autowarefoundation#5191, autowarefoundation#5430) (#995) * perf(system_monitor): fix program command line reading (autowarefoundation#5191) * Fix program command line reading Signed-off-by: Owen-Liuyuxuan <[email protected]> * style(pre-commit): autofix * fix spelling commandline->command_line Signed-off-by: Owen-Liuyuxuan <[email protected]> --------- Signed-off-by: Owen-Liuyuxuan <[email protected]> Co-authored-by: Owen-Liuyuxuan <[email protected]> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> * fix(system_monitor): output command line (autowarefoundation#5430) * fix(system_monitor): output command line Signed-off-by: takeshi.iwanari <[email protected]> * style(pre-commit): autofix --------- Signed-off-by: takeshi.iwanari <[email protected]> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> --------- Signed-off-by: Owen-Liuyuxuan <[email protected]> Signed-off-by: takeshi.iwanari <[email protected]> Co-authored-by: Yuxuan Liu <[email protected]> Co-authored-by: Owen-Liuyuxuan <[email protected]> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: takeshi-iwanari <[email protected]> Co-authored-by: Akihisa Nagata <[email protected]> * feat(imu_corrector): add gyro_bias_validator (backport autowarefoundation#4729) (#856) * feat(imu_corrector): add gyro_bias_validator (backport autowarefoundation#4729) * feat(imu_corrector): add gyro_bias_validator Signed-off-by: kminoda <[email protected]> * style(pre-commit): autofix * update Signed-off-by: kminoda <[email protected]> * revert launch Signed-off-by: kminoda <[email protected]> * updat Signed-off-by: kminoda <[email protected]> * style(pre-commit): autofix * add debug publisher Signed-off-by: kminoda <[email protected]> * minor fix Signed-off-by: kminoda <[email protected]> * style(pre-commit): autofix * style(pre-commit): autofix * add gtest Signed-off-by: kminoda <[email protected]> * style(pre-commit): autofix * updat e readme Signed-off-by: kminoda <[email protected]> * style(pre-commit): autofix * add diagnostics Signed-off-by: kminoda <[email protected]> * style(pre-commit): autofix * update Signed-off-by: kminoda <[email protected]> * style(pre-commit): autofix * validator -> estimator Signed-off-by: kminoda <[email protected]> * fix build Signed-off-by: kminoda <[email protected]> * update default parameter Signed-off-by: kminoda <[email protected]> * update comment Signed-off-by: kminoda <[email protected]> * update readme Signed-off-by: kminoda <[email protected]> * style(pre-commit): autofix * updated Signed-off-by: kminoda <[email protected]> * minor update in readme Signed-off-by: kminoda <[email protected]> * style(pre-commit): autofix * fix pre-commit Signed-off-by: kminoda <[email protected]> * update readme Signed-off-by: kminoda <[email protected]> * style(pre-commit): autofix * Fix NG -> WARN Signed-off-by: kminoda <[email protected]> --------- Signed-off-by: kminoda <[email protected]> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Signed-off-by: asa-naki <[email protected]> * build(imu_corrector): add missing diagnostic_updater dependency (autowarefoundation#4980) Signed-off-by: Esteve Fernandez <[email protected]> * add gyro_bias estimation in diag ( autowarefoundation#5054) Signed-off-by: asa-naki <[email protected]> * ci(pre-commit): autofix --------- Signed-off-by: asa-naki <[email protected]> Signed-off-by: Esteve Fernandez <[email protected]> Co-authored-by: kminoda <[email protected]> Co-authored-by: Esteve Fernandez <[email protected]> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> * feat(imu_corrector): add gyro bias log (#918) add gyro_bias log Signed-off-by: asa-naki <[email protected]> * feat(system_error_monitor): add ignore_until_waiting_for_route module (#888) * add ignore_module Signed-off-by: asa-naki <[email protected]> * add description Signed-off-by: asa-naki <[email protected]> * ci(pre-commit): autofix * change name ignore_until_waiting_for_route Signed-off-by: asa-naki <[email protected]> * update description Signed-off-by: asa-naki <[email protected]> * rename function name and delete planning state Signed-off-by: asa-naki <[email protected]> * update description Signed-off-by: asa-naki <[email protected]> * Update --------- Signed-off-by: asa-naki <[email protected]> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Hiroki OTA <[email protected]> * feat(system_error_monitor): add ignore hartbeat timeout in initializing state (#972) * add ignore hartbeat timeout in initializing state Signed-off-by: asa-naki <[email protected]> * fix typo * Update comment * ci(pre-commit): autofix * fix typo * ci(pre-commit): autofix * update comment * ci(pre-commit): autofix --------- Signed-off-by: asa-naki <[email protected]> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> --------- Signed-off-by: Takamasa Horibe <[email protected]> Signed-off-by: asa-naki <[email protected]> Signed-off-by: Shigekazu Fukuta <[email protected]> Signed-off-by: ito-san <[email protected]> Signed-off-by: Shin-kyoto <[email protected]> Signed-off-by: Owen-Liuyuxuan <[email protected]> Signed-off-by: takeshi.iwanari <[email protected]> Signed-off-by: Esteve Fernandez <[email protected]> Co-authored-by: Takamasa Horibe <[email protected]> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Shigekazu Fukuta <[email protected]> Co-authored-by: Hiroki OTA <[email protected]> Co-authored-by: ito-san <[email protected]> Co-authored-by: Shintaro Tomie <[email protected]> Co-authored-by: Yuxuan Liu <[email protected]> Co-authored-by: Owen-Liuyuxuan <[email protected]> Co-authored-by: takeshi-iwanari <[email protected]> Co-authored-by: kminoda <[email protected]> Co-authored-by: Esteve Fernandez <[email protected]>

feat(imu_corrector): add gyro_bias estimation in diag

448b373

Signed-off-by: kminoda <[email protected]>

kminoda requested review from TaikiYamada4 and YamatoAndo as code owners September 20, 2023 10:53

github-actions bot added the component:sensing Data acquisition from sensors, drivers, preprocessing. (auto-assigned) label Sep 20, 2023

update

5237356

Signed-off-by: kminoda <[email protected]>

TaikiYamada4 approved these changes Sep 21, 2023

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TaikiYamada4 added the tag:run-build-and-test-differential Mark to enable build-and-test-differential workflow. (used-by-ci) label Sep 21, 2023

kminoda added a commit to kminoda/autoware.universe that referenced this pull request Sep 21, 2023

fix(ekf_localizer): fix bug in autowarefoundation#5054

d671200

Signed-off-by: kminoda <[email protected]>

kminoda mentioned this pull request Sep 21, 2023

fix(ekf_localizer): fix bug in #5054 #5066

Merged

4 tasks

kminoda merged commit e2123a2 into autowarefoundation:main Sep 25, 2023
34 of 37 checks passed

kminoda deleted the feat/imu_corrector/add_gyro_bias_in_diag branch September 26, 2023 01:36

asa-naki added a commit to tier4/autoware.universe that referenced this pull request Sep 26, 2023

add gyro_bias estimation in diag ( autowarefoundation#5054)

e1bdf48

Signed-off-by: asa-naki <[email protected]>

asa-naki mentioned this pull request Sep 26, 2023

feat(imu_corrector): add gyro_bias_validator (backport #4729) tier4/autoware.universe#856

Merged

7 tasks

tier4-autoware-public-bot bot mentioned this pull request Sep 26, 2023

chore: sync upstream tier4/autoware.universe#878

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tier4-autoware-public-bot bot mentioned this pull request Oct 10, 2023

chore: sync beta branch beta/v0.13.0 with tier4/main tier4/autoware.universe#925

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feat(imu_corrector): add gyro_bias estimation in diag #5054

feat(imu_corrector): add gyro_bias estimation in diag #5054

kminoda commented Sep 20, 2023 •

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feat(imu_corrector): add gyro_bias estimation in diag #5054

feat(imu_corrector): add gyro_bias estimation in diag #5054

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kminoda commented Sep 20, 2023 • edited by TaikiYamada4 Loading

Description

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