feat(imu_corrector): add gyro_bias_validator (backport #4729) #856
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…tion#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]>
…warefoundation#4980) Signed-off-by: Esteve Fernandez <[email protected]>
Signed-off-by: asa-naki <[email protected]>
|
bias estimation is not yet ready... |
こちらは車両からのtwistが出ていないと難しいかなと思ったのですが、 |
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時間がかかりそうならリリース時に確認にするしかないと思いますが、間に合いそうなら確認お願いします |
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確認できましたので、Descriptionに追記しました！ |
h-ohta
approved these changes
Sep 29, 2023
asa-naki
added a commit
that referenced
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Aug 14, 2024
…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>
This was referenced Aug 27, 2024
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* 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]>
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Description
autowarefoundation#4729 のbackport
手元の環境で
autowarefoundation#4980
も合わせて取り込まないとBuildができなかったためこちらも合わせて取り込んだ
diagの値の表示できるようにする
autowarefoundation#5054
も更新(tier4 syncに時間がかかるため、追加commitをbackport）
launchに関しては
https://github.com/tier4/aip_launcher.x1.eve/pull/43
で対応
Related links
https://github.com/tier4/aip_launcher.x1.eve/pull/43
https://tier4.atlassian.net/browse/AEAP-746
Tests performed
となり、diagnosticsとして出ていることは確認
Lsimでv1'のデータを再生して
と表示されることを確認しました
また実機のIMUでも
が表示されることまでは確認済
rqt_publisherで
/localization/twist_estimator/vehicle_velocity_converter/twist_with_covariance
に現在時刻の
stamp
sec now().sec
nanosec now().nanosec
で送り込むと
下記のように流れると
下記画像のように数値確認までは済
Notes for reviewers
system_error_monitorの追加はこちらで取り込まれます
https://github.com/tier4/autoware_launch.x1.eve/pull/432
Interface changes
Effects on system behavior
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