From 2c2799da796641a2c7433d06956e4ae2dbf47560 Mon Sep 17 00:00:00 2001 From: Kazunori-Nakajima Date: Fri, 26 Jul 2024 13:55:48 +0900 Subject: [PATCH] style: Rename topic Signed-off-by: Kazunori-Nakajima --- docs/use_case/annotationless_perception.en.md | 6 +++--- docs/use_case/annotationless_perception.ja.md | 6 +++--- log_evaluator/log_evaluator/launch_config.py | 2 +- .../scripts/annotationless_perception_evaluator_node.py | 2 +- 4 files changed, 8 insertions(+), 8 deletions(-) diff --git a/docs/use_case/annotationless_perception.en.md b/docs/use_case/annotationless_perception.en.md index c2bdee40..46efd3d0 100644 --- a/docs/use_case/annotationless_perception.en.md +++ b/docs/use_case/annotationless_perception.en.md @@ -11,7 +11,7 @@ Launching the file executes the following steps: 1. Execute launch of evaluation node (`annotationless_perception_evaluator_node`), `logging_simulator.launch` file and `ros2 bag play` command 2. Autoware receives sensor data output from input rosbag and the perception module performs recognition. -3. The perception_online_evaluator publishes diagnostic topic to `/diagnostic/perception_online_evaluator/metrics` +3. The perception_online_evaluator publishes diagnostic topic to `/perception/perception_online_evaluator/metrics` 4. The evaluation node subscribes to the topic and evaluates data. The result is dumped into a file. 5. When the playback of the rosbag is finished, Autoware's launch is automatically terminated, and the evaluation is completed. @@ -31,7 +31,7 @@ The following two values specified in the scenario or launch argument are used t - Threshold - PassRange(Coefficient to correct threshold) -Success or failure is determined for each status.name in `/diagnostic/perception_online_evaluator/metrics` according to the following rules. +Success or failure is determined for each status.name in `/perception/perception_online_evaluator/metrics` according to the following rules. Items for which no threshold is set (min, max, mean) are always judged as normal. Only those items for which a threshold is specified are subject to evaluation. #### min @@ -67,7 +67,7 @@ Subscribed topics: | Topic name | Data type | | ----------------------------------------------- | ------------------------------------- | -| /diagnostic/perception_online_evaluator/metrics | diagnostic_msgs::msg::DiagnosticArray | +| /perception/perception_online_evaluator/metrics | diagnostic_msgs::msg::DiagnosticArray | Published topics: diff --git a/docs/use_case/annotationless_perception.ja.md b/docs/use_case/annotationless_perception.ja.md index 5968c96f..b1253ec2 100644 --- a/docs/use_case/annotationless_perception.ja.md +++ b/docs/use_case/annotationless_perception.ja.md @@ -11,7 +11,7 @@ launch を立ち上げると以下のことが実行され、評価される。 1. launch で評価ノード(`annotationless_perception_evaluator_node`)と `logging_simulator.launch`、`ros2 bag play`コマンドを立ち上げる 2. bag から出力されたセンサーデータを autoware が受け取って、perception モジュールが認識を行う -3. perception_online_evaluator が `/diagnostic/perception_online_evaluator/metrics`に診断結果を出力する +3. perception_online_evaluator が `/perception/perception_online_evaluator/metrics`に診断結果を出力する 4. 評価ノードが topic を subscribe して、各基準を満たしているかを判定して結果をファイルに記録する 5. bag の再生が終了すると自動で launch が終了して評価が終了する @@ -31,7 +31,7 @@ topic の subscribe 1 回につき、認識クラス毎に以下に記述する - 閾値 - 合格範囲(閾値を補正する係数) -`/diagnostic/perception_online_evaluator/metrics` のstatus.name毎に以下のルールに従い成否の判定が行われる。 +`/perception/perception_online_evaluator/metrics` のstatus.name毎に以下のルールに従い成否の判定が行われる。 閾値が設定されてない項目(min, max, mean)に関しては常に正常と判定される。指定があるもののみが評価対象になる。 #### min @@ -67,7 +67,7 @@ Subscribed topics: | Topic name | Data type | | ----------------------------------------------- | ------------------------------------- | -| /diagnostic/perception_online_evaluator/metrics | diagnostic_msgs::msg::DiagnosticArray | +| /perception/perception_online_evaluator/metrics | diagnostic_msgs::msg::DiagnosticArray | Published topics: diff --git a/log_evaluator/log_evaluator/launch_config.py b/log_evaluator/log_evaluator/launch_config.py index ff72b06d..8fe86cfa 100644 --- a/log_evaluator/log_evaluator/launch_config.py +++ b/log_evaluator/log_evaluator/launch_config.py @@ -182,7 +182,7 @@ |^/perception/object_recognition/objects$\ |^/perception/object_recognition/tracking/multi_object_tracker/debug/.*\ |^/perception/object_recognition/detection/.*/debug/pipeline_latency_ms$\ -|^/diagnostic/perception_online_evaluator/.*\ +|^/perception/perception_online_evaluator/.*\ """ ANNOTATIONLESS_PERCEPTION_AUTOWARE_ARGS = { diff --git a/log_evaluator/scripts/annotationless_perception_evaluator_node.py b/log_evaluator/scripts/annotationless_perception_evaluator_node.py index 58c5e51d..81adb756 100755 --- a/log_evaluator/scripts/annotationless_perception_evaluator_node.py +++ b/log_evaluator/scripts/annotationless_perception_evaluator_node.py @@ -47,7 +47,7 @@ def __init__(self, name: str) -> None: self.__sub_diagnostics = self.create_subscription( DiagnosticArray, - "/diagnostic/perception_online_evaluator/metrics", + "/perception/perception_online_evaluator/metrics", self.diagnostics_cb, 1, )