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chore: sync upstream #51

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merged 10 commits into from
May 30, 2022
Merged

chore: sync upstream #51

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5cca477
chore: change ml models location (#938)
eratostennis May 27, 2022
c69fb17
chore: change lidar blockage message (#971)
badai-nguyen May 27, 2022
e8f34ea
fix(tier4_perception_launch): rename pkg name (#981)
shmpwk May 27, 2022
4e52f8c
fix(pointcloud_preprocessor): fix launch file (#972)
kaancolak May 27, 2022
d1a158c
ci: support multi distro CI (#967)
kenji-miyake May 27, 2022
9445f3a
chore: sync files (#983)
awf-autoware-bot[bot] May 27, 2022
180dba1
feat: view LaneId on PathWithLaneIdFootprint plugin (#984)
h-ohta May 30, 2022
b51fe91
chore: replace topic tools (#986)
wep21 May 30, 2022
8b949df
feat: use THROTTLE to output log (#969)
h-ohta May 30, 2022
64f636a
fix: delete unused arg (#988)
tkimura4 May 30, 2022
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chore: change lidar blockage message (#971) 
* chore: change lidar blockage message

Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp>

* chore: add Diagnostics level into message

Signed-off-by: badai-nguyen <dai.nguyen@tier4.jp>
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@badai-nguyen
badai-nguyen authored May 27, 2022
commit c69fb17decb9dfb862938cbfad94084f5d3b6896
20 changes: 11 additions & 9 deletions sensing/pointcloud_preprocessor/src/blockage_diag/blockage_diag_nodelet.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -77,27 +77,29 @@ void BlockageDiagComponent::onBlockageChecker(DiagnosticStatusWrapper & stat)
// TODO(badai-nguyen): consider sky_blockage_ratio_ for DiagnosticsStatus." [todo]

auto level = DiagnosticStatus::OK;
std::string msg;
if (ground_blockage_ratio_ < 0) {
level = DiagnosticStatus::STALE;
msg = "STALE";
} else if (
(ground_blockage_ratio_ > blockage_ratio_threshold_) &&
(ground_blockage_count_ > blockage_count_threshold_)) {
level = DiagnosticStatus::ERROR;
msg = "ERROR";
} else if (ground_blockage_ratio_ > 0.0f) {
level = DiagnosticStatus::WARN;
msg = "WARN";
} else {
level = DiagnosticStatus::OK;
msg = "OK";
}

std::string msg;
if (level == DiagnosticStatus::OK) {
msg = "OK";
} else if (level == DiagnosticStatus::WARN) {
msg = "WARNING: LiDAR blockage";
} else if (level == DiagnosticStatus::ERROR) {
msg = "ERROR: LiDAR blockage";
} else if (level == DiagnosticStatus::STALE) {
msg = "STALE";
if ((ground_blockage_ratio_ > 0.0f) && (sky_blockage_ratio_ > 0.0f)) {
msg = msg + ": LIDAR both blockage";
} else if (ground_blockage_ratio_ > 0.0f) {
msg = msg + ": LIDAR ground blockage";
} else if (sky_blockage_ratio_ > 0.0f) {
msg = msg + ": LIDAR sky blockage";
}
stat.summary(level, msg);
}
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