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autoware_debug_tools#

This package provides useful features for debugging Autoware.

Usage#

tf2pose#

This tool converts any tf to pose topic.
With this tool, for example, you can plot x values of tf in rqt_multiplot.

rosrun autoware_debug_tools tf2pose {tf_from} {tf_to} {hz}

Example:

$ rosrun autoware_debug_tools tf2pose base_link ndt_base_link 100

$ rostopic echo /tf2pose/pose -n1
header:
  seq: 13
  stamp:
    secs: 1605168366
    nsecs: 549174070
  frame_id: "base_link"
pose:
  position:
    x: 0.0387684271191
    y: -0.00320360406477
    z: 0.000276674520819
  orientation:
    x: 0.000335221893885
    y: 0.000122020672186
    z: -0.00539673212896
    w: 0.999985368502
---

pose2tf#

This tool converts any pose topic to tf.

rosrun autoware_debug_tools pose2tf {pose_topic_name} {tf_name}

Example:

$ rosrun autoware_debug_tools pose2tf /localization/pose_estimator/pose ndt_pose

$ rosrun tf tf_echo ndt_pose ndt_base_link 100
At time 1605168365.449
- Translation: [0.000, 0.000, 0.000]
- Rotation: in Quaternion [0.000, 0.000, 0.000, 1.000]
            in RPY (radian) [0.000, -0.000, 0.000]
            in RPY (degree) [0.000, -0.000, 0.000]

stop_reason2pose#

This tool extracts pose from stop_reasons.
Topics without numbers such as /stop_reason2pose/pose/detection_area are the nearest stop_reasons, and topics with numbers are individual stop_reasons that are roughly matched with previous ones.

rosrun autoware_debug_tools stop_reason2pose {stop_reason_topic_name}

Example:

$ rosrun autoware_debug_tools stop_reason2pose /planning/scenario_planning/status/stop_reasons

$ rostopic list | ag stop_reason2pose
/stop_reason2pose/pose/detection_area
/stop_reason2pose/pose/detection_area_1
/stop_reason2pose/pose/obstacle_stop
/stop_reason2pose/pose/obstacle_stop_1

$ rostopic echo /stop_reason2pose/pose/detection_area -n1
header:
  seq: 1
  stamp:
    secs: 1605168355
    nsecs:    821713
  frame_id: "map"
pose:
  position:
    x: 60608.8433457
    y: 43886.2410876
    z: 44.9078212441
  orientation:
    x: 0.0
    y: 0.0
    z: -0.190261378408
    w: 0.981733470901
---

stop_reason2tf#

This is an all-in-one script that uses tf2pose, pose2tf, and stop_reason2pose.
With this tool, you can view the relative position from base_link to the nearest stop_reason.

rosrun autoware_debug_tools stop_reason2tf {stop_reason_name}

Example:

$ rosrun autoware_debug_tools stop_reason2tf obstacle_stop
At time 1605168359.501
- Translation: [0.291, -0.095, 0.266]
- Rotation: in Quaternion [0.007, 0.011, -0.005, 1.000]
            in RPY (radian) [0.014, 0.023, -0.010]
            in RPY (degree) [0.825, 1.305, -0.573]

lateral_error_publisher#

This node calculate the control error and localization error in the trajectory normal direction as shown in the figure below.

lateral_error_publisher_overview

Set the reference trajectory, vehicle pose and ground truth pose in the launch file.

ros2 launch autoware_debug_tools lateral_error_publisher.launch.xml