From 46dcb09f6452434061c5cf6c705596adf3aa177b Mon Sep 17 00:00:00 2001 From: Shintaro Sakoda Date: Wed, 26 Jun 2024 18:19:13 +0900 Subject: [PATCH 1/7] Added ellipse diagnostics to ekf Signed-off-by: Shintaro Sakoda --- .../config/ekf_localizer.param.yaml | 5 +++ .../include/ekf_localizer/diagnostics.hpp | 3 ++ .../include/ekf_localizer/ekf_localizer.hpp | 3 +- .../ekf_localizer/hyper_parameters.hpp | 13 ++++++++ localization/ekf_localizer/package.xml | 1 + .../schema/sub/diagnostics.sub_schema.json | 26 +++++++++++++++ .../ekf_localizer/src/diagnostics.cpp | 33 +++++++++++++++++++ .../ekf_localizer/src/ekf_localizer.cpp | 20 +++++++++-- 8 files changed, 100 insertions(+), 4 deletions(-) diff --git a/localization/ekf_localizer/config/ekf_localizer.param.yaml b/localization/ekf_localizer/config/ekf_localizer.param.yaml index 19bfd2d498b68..2e23e1a6e173a 100644 --- a/localization/ekf_localizer/config/ekf_localizer.param.yaml +++ b/localization/ekf_localizer/config/ekf_localizer.param.yaml @@ -39,6 +39,11 @@ pose_no_update_count_threshold_error: 100 twist_no_update_count_threshold_warn: 50 twist_no_update_count_threshold_error: 100 + scale: 3.0 + error_ellipse_size: 1.5 + warn_ellipse_size: 1.2 + error_ellipse_size_lateral_direction: 0.3 + warn_ellipse_size_lateral_direction: 0.25 misc: # for velocity measurement limitation (Set 0.0 if you want to ignore) diff --git a/localization/ekf_localizer/include/ekf_localizer/diagnostics.hpp b/localization/ekf_localizer/include/ekf_localizer/diagnostics.hpp index 4c92b2947642b..8815a1758de01 100644 --- a/localization/ekf_localizer/include/ekf_localizer/diagnostics.hpp +++ b/localization/ekf_localizer/include/ekf_localizer/diagnostics.hpp @@ -33,6 +33,9 @@ diagnostic_msgs::msg::DiagnosticStatus check_measurement_delay_gate( diagnostic_msgs::msg::DiagnosticStatus check_measurement_mahalanobis_gate( const std::string & measurement_type, const bool is_passed_mahalanobis_gate, const double mahalanobis_distance, const double mahalanobis_distance_threshold); +diagnostic_msgs::msg::DiagnosticStatus check_covariance_ellipse( + const std::string & name, const double curr_size, const double warn_threshold, + const double error_threshold); diagnostic_msgs::msg::DiagnosticStatus merge_diagnostic_status( const std::vector & stat_array); diff --git a/localization/ekf_localizer/include/ekf_localizer/ekf_localizer.hpp b/localization/ekf_localizer/include/ekf_localizer/ekf_localizer.hpp index 65003f5fe9864..ada9024faceee 100644 --- a/localization/ekf_localizer/include/ekf_localizer/ekf_localizer.hpp +++ b/localization/ekf_localizer/include/ekf_localizer/ekf_localizer.hpp @@ -216,7 +216,8 @@ class EKFLocalizer : public rclcpp::Node /** * @brief publish diagnostics message */ - void publish_diagnostics(const rclcpp::Time & current_time); + void publish_diagnostics( + const geometry_msgs::msg::PoseStamped & current_ekf_pose, const rclcpp::Time & current_time); /** * @brief update simple 1d filter diff --git a/localization/ekf_localizer/include/ekf_localizer/hyper_parameters.hpp b/localization/ekf_localizer/include/ekf_localizer/hyper_parameters.hpp index 8d76102e5d64d..19ef514811661 100644 --- a/localization/ekf_localizer/include/ekf_localizer/hyper_parameters.hpp +++ b/localization/ekf_localizer/include/ekf_localizer/hyper_parameters.hpp @@ -57,6 +57,13 @@ class HyperParameters node->declare_parameter("diagnostics.twist_no_update_count_threshold_warn")), twist_no_update_count_threshold_error( node->declare_parameter("diagnostics.twist_no_update_count_threshold_error")), + scale(node->declare_parameter("diagnostics.scale")), + error_ellipse_size(node->declare_parameter("diagnostics.error_ellipse_size")), + warn_ellipse_size(node->declare_parameter("diagnostics.warn_ellipse_size")), + error_ellipse_size_lateral_direction( + node->declare_parameter("diagnostics.error_ellipse_size_lateral_direction")), + warn_ellipse_size_lateral_direction( + node->declare_parameter("diagnostics.warn_ellipse_size_lateral_direction")), threshold_observable_velocity_mps( node->declare_parameter("misc.threshold_observable_velocity_mps")) { @@ -86,6 +93,12 @@ class HyperParameters const size_t pose_no_update_count_threshold_error; const size_t twist_no_update_count_threshold_warn; const size_t twist_no_update_count_threshold_error; + double scale; + double error_ellipse_size; + double warn_ellipse_size; + double error_ellipse_size_lateral_direction; + double warn_ellipse_size_lateral_direction; + const double threshold_observable_velocity_mps; }; diff --git a/localization/ekf_localizer/package.xml b/localization/ekf_localizer/package.xml index 07efca6339b98..9c89867025632 100644 --- a/localization/ekf_localizer/package.xml +++ b/localization/ekf_localizer/package.xml @@ -28,6 +28,7 @@ fmt geometry_msgs kalman_filter + localization_util nav_msgs rclcpp rclcpp_components diff --git a/localization/ekf_localizer/schema/sub/diagnostics.sub_schema.json b/localization/ekf_localizer/schema/sub/diagnostics.sub_schema.json index 2e2dca411971e..eba53e0e7a392 100644 --- a/localization/ekf_localizer/schema/sub/diagnostics.sub_schema.json +++ b/localization/ekf_localizer/schema/sub/diagnostics.sub_schema.json @@ -24,6 +24,32 @@ "type": "integer", "description": "The threshold at which an ERROR state is triggered due to the Twist Topic update not happening continuously for a certain number of times", "default": 100 + }, + "scale": { + "type": "number", + "description": "The scale factor to apply the error ellipse size", + "default": 3.0 + }, + "error_ellipse_size": { + "type": "number", + "description": "The long axis size of the error ellipse to trigger a ERROR state", + "default": 1.5 + }, + "warn_ellipse_size": { + "type": "number", + "description": "The long axis size of the error ellipse to trigger a WARN state", + "default": 1.2 + }, + "error_ellipse_size_lateral_direction": { + "type": "number", + "description": "The lateral direction size of the error ellipse to trigger a ERROR state", + "default": 0.3 + }, + "warn_ellipse_size_lateral_direction": { + "type": "number", + "description": "The lateral direction size of the error ellipse to trigger a WARN state", + "default": 0.25 + } } }, "required": [ diff --git a/localization/ekf_localizer/src/diagnostics.cpp b/localization/ekf_localizer/src/diagnostics.cpp index ecbeaf8b2445a..902efeafacdb3 100644 --- a/localization/ekf_localizer/src/diagnostics.cpp +++ b/localization/ekf_localizer/src/diagnostics.cpp @@ -139,6 +139,39 @@ diagnostic_msgs::msg::DiagnosticStatus check_measurement_mahalanobis_gate( return stat; } +diagnostic_msgs::msg::DiagnosticStatus check_covariance_ellipse( + const std::string & name, const double curr_size, const double warn_threshold, + const double error_threshold) +{ + diagnostic_msgs::msg::DiagnosticStatus stat; + + diagnostic_msgs::msg::KeyValue key_value; + key_value.key = name + "_size"; + key_value.value = std::to_string(curr_size); + stat.values.push_back(key_value); + + key_value.key = name + "_warn_threshold"; + key_value.value = std::to_string(warn_threshold); + stat.values.push_back(key_value); + + key_value.key = name + "_error_threshold"; + key_value.value = std::to_string(error_threshold); + stat.values.push_back(key_value); + + stat.level = diagnostic_msgs::msg::DiagnosticStatus::OK; + stat.message = "OK"; + if (curr_size >= warn_threshold) { + stat.level = diagnostic_msgs::msg::DiagnosticStatus::WARN; + stat.message = "[WARN]" + name + " is large"; + } + if (curr_size >= error_threshold) { + stat.level = diagnostic_msgs::msg::DiagnosticStatus::ERROR; + stat.message = "[ERROR]" + name + " is large"; + } + + return stat; +} + // The highest level within the stat_array will be reflected in the merged_stat. // When all stat_array entries are 'OK,' the message of merged_stat will be "OK" diagnostic_msgs::msg::DiagnosticStatus merge_diagnostic_status( diff --git a/localization/ekf_localizer/src/ekf_localizer.cpp b/localization/ekf_localizer/src/ekf_localizer.cpp index 11fa2b6713a52..24ea1c47db829 100644 --- a/localization/ekf_localizer/src/ekf_localizer.cpp +++ b/localization/ekf_localizer/src/ekf_localizer.cpp @@ -17,6 +17,7 @@ #include "ekf_localizer/diagnostics.hpp" #include "ekf_localizer/string.hpp" #include "ekf_localizer/warning_message.hpp" +#include "localization_util/covariance_ellipse.hpp" #include #include @@ -148,7 +149,7 @@ void EKFLocalizer::timer_callback() if (!is_activated_) { warning_->warn_throttle( "The node is not activated. Provide initial pose to pose_initializer", 2000); - publish_diagnostics(current_time); + publish_diagnostics(geometry_msgs::msg::PoseStamped{}, current_time); return; } @@ -241,7 +242,7 @@ void EKFLocalizer::timer_callback() /* publish ekf result */ publish_estimate_result(current_ekf_pose, current_biased_ekf_pose, current_ekf_twist); - publish_diagnostics(current_time); + publish_diagnostics(current_ekf_pose, current_time); } /* @@ -390,7 +391,8 @@ void EKFLocalizer::publish_estimate_result( pub_odom_->publish(odometry); } -void EKFLocalizer::publish_diagnostics(const rclcpp::Time & current_time) +void EKFLocalizer::publish_diagnostics( + const geometry_msgs::msg::PoseStamped & current_ekf_pose, const rclcpp::Time & current_time) { std::vector diag_status_array; @@ -418,6 +420,18 @@ void EKFLocalizer::publish_diagnostics(const rclcpp::Time & current_time) diag_status_array.push_back(check_measurement_mahalanobis_gate( "twist", twist_diag_info_.is_passed_mahalanobis_gate, twist_diag_info_.mahalanobis_distance, params_.twist_gate_dist)); + + geometry_msgs::msg::PoseWithCovariance pose_cov; + pose_cov.pose = current_ekf_pose.pose; + pose_cov.covariance = ekf_module_->get_current_pose_covariance(); + const autoware::localization_util::Ellipse ellipse = + autoware::localization_util::calculate_xy_ellipse(pose_cov, params_.scale); + diag_status_array.push_back(check_covariance_ellipse( + "cov_ellipse_long_axis", ellipse.long_radius, params_.warn_ellipse_size, + params_.error_ellipse_size)); + diag_status_array.push_back(check_covariance_ellipse( + "cov_ellipse_lateral_direction", ellipse.size_lateral_direction, + params_.warn_ellipse_size_lateral_direction, params_.error_ellipse_size_lateral_direction)); } diagnostic_msgs::msg::DiagnosticStatus diag_merged_status; From 4ef40bef5365556a6a9bff69d8137a8630ad2f50 Mon Sep 17 00:00:00 2001 From: Shintaro Sakoda Date: Wed, 26 Jun 2024 18:38:31 +0900 Subject: [PATCH 2/7] Removed an unnecessary parenthesis Signed-off-by: Shintaro Sakoda --- .../ekf_localizer/schema/sub/diagnostics.sub_schema.json | 1 - 1 file changed, 1 deletion(-) diff --git a/localization/ekf_localizer/schema/sub/diagnostics.sub_schema.json b/localization/ekf_localizer/schema/sub/diagnostics.sub_schema.json index eba53e0e7a392..b4d88ccf81625 100644 --- a/localization/ekf_localizer/schema/sub/diagnostics.sub_schema.json +++ b/localization/ekf_localizer/schema/sub/diagnostics.sub_schema.json @@ -50,7 +50,6 @@ "description": "The lateral direction size of the error ellipse to trigger a WARN state", "default": 0.25 } - } }, "required": [ "pose_no_update_count_threshold_warn", From 5939c0aa47eafc4ef5b7d8d1fb7ea78b4eae74fd Mon Sep 17 00:00:00 2001 From: Shintaro Sakoda Date: Thu, 27 Jun 2024 09:08:16 +0900 Subject: [PATCH 3/7] Fixed to ellipse_scale Signed-off-by: Shintaro Sakoda --- localization/ekf_localizer/config/ekf_localizer.param.yaml | 2 +- .../ekf_localizer/schema/sub/diagnostics.sub_schema.json | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/localization/ekf_localizer/config/ekf_localizer.param.yaml b/localization/ekf_localizer/config/ekf_localizer.param.yaml index 2e23e1a6e173a..4a7696ec9e65e 100644 --- a/localization/ekf_localizer/config/ekf_localizer.param.yaml +++ b/localization/ekf_localizer/config/ekf_localizer.param.yaml @@ -39,7 +39,7 @@ pose_no_update_count_threshold_error: 100 twist_no_update_count_threshold_warn: 50 twist_no_update_count_threshold_error: 100 - scale: 3.0 + ellipse_scale: 3.0 error_ellipse_size: 1.5 warn_ellipse_size: 1.2 error_ellipse_size_lateral_direction: 0.3 diff --git a/localization/ekf_localizer/schema/sub/diagnostics.sub_schema.json b/localization/ekf_localizer/schema/sub/diagnostics.sub_schema.json index b4d88ccf81625..eda9e7d06f6f4 100644 --- a/localization/ekf_localizer/schema/sub/diagnostics.sub_schema.json +++ b/localization/ekf_localizer/schema/sub/diagnostics.sub_schema.json @@ -25,7 +25,7 @@ "description": "The threshold at which an ERROR state is triggered due to the Twist Topic update not happening continuously for a certain number of times", "default": 100 }, - "scale": { + "ellipse_scale": { "type": "number", "description": "The scale factor to apply the error ellipse size", "default": 3.0 From f84ea0dc5991403d641470f1b8bf7765b2ed6270 Mon Sep 17 00:00:00 2001 From: Shintaro Sakoda Date: Thu, 27 Jun 2024 09:19:57 +0900 Subject: [PATCH 4/7] Fixed to ellipse_scale Signed-off-by: Shintaro Sakoda --- .../ekf_localizer/include/ekf_localizer/hyper_parameters.hpp | 4 ++-- localization/ekf_localizer/src/ekf_localizer.cpp | 2 +- 2 files changed, 3 insertions(+), 3 deletions(-) diff --git a/localization/ekf_localizer/include/ekf_localizer/hyper_parameters.hpp b/localization/ekf_localizer/include/ekf_localizer/hyper_parameters.hpp index 19ef514811661..7c3c03c83b778 100644 --- a/localization/ekf_localizer/include/ekf_localizer/hyper_parameters.hpp +++ b/localization/ekf_localizer/include/ekf_localizer/hyper_parameters.hpp @@ -57,7 +57,7 @@ class HyperParameters node->declare_parameter("diagnostics.twist_no_update_count_threshold_warn")), twist_no_update_count_threshold_error( node->declare_parameter("diagnostics.twist_no_update_count_threshold_error")), - scale(node->declare_parameter("diagnostics.scale")), + ellipse_scale(node->declare_parameter("diagnostics.ellipse_scale")), error_ellipse_size(node->declare_parameter("diagnostics.error_ellipse_size")), warn_ellipse_size(node->declare_parameter("diagnostics.warn_ellipse_size")), error_ellipse_size_lateral_direction( @@ -93,7 +93,7 @@ class HyperParameters const size_t pose_no_update_count_threshold_error; const size_t twist_no_update_count_threshold_warn; const size_t twist_no_update_count_threshold_error; - double scale; + double ellipse_scale; double error_ellipse_size; double warn_ellipse_size; double error_ellipse_size_lateral_direction; diff --git a/localization/ekf_localizer/src/ekf_localizer.cpp b/localization/ekf_localizer/src/ekf_localizer.cpp index 24ea1c47db829..e541939026d95 100644 --- a/localization/ekf_localizer/src/ekf_localizer.cpp +++ b/localization/ekf_localizer/src/ekf_localizer.cpp @@ -425,7 +425,7 @@ void EKFLocalizer::publish_diagnostics( pose_cov.pose = current_ekf_pose.pose; pose_cov.covariance = ekf_module_->get_current_pose_covariance(); const autoware::localization_util::Ellipse ellipse = - autoware::localization_util::calculate_xy_ellipse(pose_cov, params_.scale); + autoware::localization_util::calculate_xy_ellipse(pose_cov, params_.ellipse_scale); diag_status_array.push_back(check_covariance_ellipse( "cov_ellipse_long_axis", ellipse.long_radius, params_.warn_ellipse_size, params_.error_ellipse_size)); From e180fd4152acb7d61f133f96a2de8db551a715d8 Mon Sep 17 00:00:00 2001 From: Shintaro Sakoda Date: Fri, 28 Jun 2024 17:38:25 +0900 Subject: [PATCH 5/7] Updated ekf_diagnostics.png Signed-off-by: Shintaro 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zW5Z*n7xI0#&c0GSa&n_x%Y(*e^Yf3*T3LHh9-GmpuNsfnw|f@3U(TGp@!x00 zjJTuxR+oM6oDh2;D%EVD?;gkRGDZG}?z8@k&H{PWqM+bH_xy%)Q$9c6w^!iJ%hdE9 z%O))*=kT0EcNBF6AL=StM>i-gQf)hPw?))hc>$9`Mai)%Ki@CPU7}wi<}dL_G$2Hx zA%2_A5$n0h0mm%mU!F8ixWulYvrIB7%-rVdV!Mz)<&Up7l?Q&k;!?6MSbXmC7>B(p zR~x*4>d?_pdU?9Ww)!l7RxO@ioZ5Chj+dU>UflIKI^y*u>CfSQZig4u@JwGeV^@}3 z)vK_?isRQRes+7W_@*BR}6S+grWUTqU zQ2oz;W%Z*c%``v9Ka78>Q=u;U+;8q7*V)XU#e#C4%|10nFYV5rBB|wmH~$@Q$UXCi zTS)NV&J!@@A?JOLvwr@vKf3q7S(701wWo;(?yo&=&vH{O^`G`1cQfu35ctPK)ZEJX z+LfDuQ!+rXZ9=jbm{B%yZfg$+#HOSxDg!~X_|3=@AaKLAj0`3J_}?2|?0j;fp_%~* NJYD@<);T3K0RVSRBoqJu From 0a3187381c1ae65b6b2d0401a2c51f8265dc1b18 Mon Sep 17 00:00:00 2001 From: Shintaro Sakoda Date: Fri, 28 Jun 2024 17:41:56 +0900 Subject: [PATCH 6/7] Added condition Signed-off-by: Shintaro Sakoda --- localization/ekf_localizer/README.md | 2 ++ 1 file changed, 2 insertions(+) diff --git a/localization/ekf_localizer/README.md b/localization/ekf_localizer/README.md index b91282015732e..0e8c198fd3886 100644 --- a/localization/ekf_localizer/README.md +++ b/localization/ekf_localizer/README.md @@ -186,10 +186,12 @@ Note that, although the dimension gets larger since the analytical expansion can - The number of consecutive no measurement update via the Pose/Twist topic exceeds the `pose_no_update_count_threshold_warn`/`twist_no_update_count_threshold_warn`. - The timestamp of the Pose/Twist topic is beyond the delay compensation range. - The Pose/Twist topic is beyond the range of Mahalanobis distance for covariance estimation. +- The covariance ellipse is bigger than threshold `warn_ellipse_size` for long axis and `warn_ellipse_size_lateral_direction` for lateral_direction. ### The conditions that result in an ERROR state - The number of consecutive no measurement update via the Pose/Twist topic exceeds the `pose_no_update_count_threshold_error`/`twist_no_update_count_threshold_error`. +- The covariance ellipse is bigger than threshold `error_ellipse_size` for long axis and `error_ellipse_size_lateral_direction` for lateral_direction. ## Known issues From 96eab491b1512873be0b9f817d224350b4a486bb Mon Sep 17 00:00:00 2001 From: Shintaro Sakoda Date: Fri, 28 Jun 2024 17:51:56 +0900 Subject: [PATCH 7/7] Fixed "and" to "or" Signed-off-by: Shintaro Sakoda --- localization/ekf_localizer/README.md | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/localization/ekf_localizer/README.md b/localization/ekf_localizer/README.md index 0e8c198fd3886..3b417b12bc6e9 100644 --- a/localization/ekf_localizer/README.md +++ b/localization/ekf_localizer/README.md @@ -186,12 +186,12 @@ Note that, although the dimension gets larger since the analytical expansion can - The number of consecutive no measurement update via the Pose/Twist topic exceeds the `pose_no_update_count_threshold_warn`/`twist_no_update_count_threshold_warn`. - The timestamp of the Pose/Twist topic is beyond the delay compensation range. - The Pose/Twist topic is beyond the range of Mahalanobis distance for covariance estimation. -- The covariance ellipse is bigger than threshold `warn_ellipse_size` for long axis and `warn_ellipse_size_lateral_direction` for lateral_direction. +- The covariance ellipse is bigger than threshold `warn_ellipse_size` for long axis or `warn_ellipse_size_lateral_direction` for lateral_direction. ### The conditions that result in an ERROR state - The number of consecutive no measurement update via the Pose/Twist topic exceeds the `pose_no_update_count_threshold_error`/`twist_no_update_count_threshold_error`. -- The covariance ellipse is bigger than threshold `error_ellipse_size` for long axis and `error_ellipse_size_lateral_direction` for lateral_direction. +- The covariance ellipse is bigger than threshold `error_ellipse_size` for long axis or `error_ellipse_size_lateral_direction` for lateral_direction. ## Known issues