chore: add target_path.json for the latest Autoware (#173)

* chore: add target_path.json for the latest Autoware 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>
tier4 · May 22, 2024 · 871911c · 871911c
1 parent 4cca745
commit 871911c
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Showing 5 changed files with 143 additions and 5 deletions.
diff --git a/report/report_analysis/make_report.sh b/report/report_analysis/make_report.sh
@@ -12,7 +12,6 @@ report_dir_name=output/report_"${trace_data_name}"
 is_path_analysis_only=${is_path_analysis_only:-false}
 is_html_only=${is_html_only:-false}
 
-
 mkdir -p "${report_dir_name}"
 
 # Save misc files

diff --git a/report/report_validation/make_report.sh b/report/report_validation/make_report.sh
@@ -12,7 +12,6 @@ report_dir_name=output/val_"${trace_data_name}"
 is_path_analysis_only=${is_path_analysis_only:-false}
 is_html_only=${is_html_only:-false}
 
-
 mkdir -p "${report_dir_name}"
 
 # Save misc files

diff --git a/sample_autoware/README.md b/sample_autoware/README.md
@@ -120,9 +120,8 @@ sh ./run.sh
 ```
 
 - Before running the script, please modify the settings in `sample_autoware/run.sh`
-  - `trace_data`: path to trace data
-  - `start_strip`: Start strip [sec] to load trace data
-  - `end_strip`: End strip [sec] to load trace data
+  - `trace_data`: Set path to trace data
+  - `target_path_json`: Use `./target_path_latest.json` if you runs the latest Autoware or modify the json file
   - Setting files in this directory are just a sample, and may not work with your trace data.
     - Please modify them for your case. ([Explanation](../report/README.md))
 - Reports are created in `sample_autoware/output/`

diff --git a/sample_autoware/run.sh b/sample_autoware/run.sh
@@ -2,6 +2,7 @@
 
 export component_list_json=./component_list.json
 export target_path_json=./target_path.json
+# export target_path_json=./target_path_latest.json
 export max_node_depth=20
 export timeout=120
 export draw_all_message_flow=false

diff --git a/sample_autoware/target_path_latest.json b/sample_autoware/target_path_latest.json
@@ -0,0 +1,140 @@
+{
+  "ignore_topic_list": ["/tf", "/tf_static", "/diagnostics"],
+  "ignore_node_list": [
+    "/_ros2cli_/*",
+    "/launch_ros_*",
+    "/planning/scenario_planning/external_velocity_limit_selector",
+    "/control/shift_decider"
+  ],
+  "target_path_list": [
+    {
+      "name": "component_sensing",
+      "path": [
+        "/sensing/lidar/top/velodyne_driver_ros_wrapper_node",
+        "/sensing/lidar/concatenate_data"
+      ],
+      "include_first_callback": false
+    },
+    {
+      "name": "component_localization",
+      "path": [
+        "/sensing/lidar/concatenate_data",
+        "/localization/pose_twist_fusion_filter/stop_filter"
+      ],
+      "include_first_callback": false
+    },
+    {
+      "name": "component_perception",
+      "path": [
+        "/sensing/lidar/concatenate_data",
+        "/perception/object_recognition/detection/centerpoint/lidar_centerpoint",
+        "/perception/object_recognition/prediction/map_based_prediction"
+      ],
+      "include_first_callback": false
+    },
+    {
+      "name": "component_perception(detection_lidar)",
+      "path": [
+        "/sensing/lidar/concatenate_data",
+        "/perception/object_recognition/detection/centerpoint/lidar_centerpoint",
+        "/perception/object_recognition/tracking/multi_object_tracker"
+      ],
+      "include_first_callback": false
+    },
+    {
+      "name": "component_perception(prediction)",
+      "path": [
+        "/perception/object_recognition/tracking/multi_object_tracker",
+        "/perception/object_recognition/prediction/map_based_prediction"
+      ]
+    },
+    {
+      "name": "component_planning",
+      "path": [
+        "/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner",
+        "/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner",
+        "/planning/scenario_planning/lane_driving/motion_planning/obstacle_velocity_limiter",
+        "/planning/scenario_planning/scenario_selector",
+        "/planning/planning_validator"
+      ]
+    },
+    {
+      "name": "component_control",
+      "path": [
+        "/control/trajectory_follower/controller_node_exe",
+        ["/control/vehicle_cmd_gate", "/control/trajectory_follower/control_cmd"]
+      ]
+    },
+    {
+      "name": "e2e_sensing-to-localization",
+      "path": [
+        "/sensing/lidar/top/velodyne_driver_ros_wrapper_node",
+        "/localization/pose_estimator/ndt_scan_matcher",
+        "/localization/pose_twist_fusion_filter/stop_filter"
+      ],
+      "include_first_callback": false
+    },
+    {
+      "name": "e2e_sensing-to-control",
+      "path_blocks": [
+        [
+          "/sensing/lidar/top/velodyne_driver_ros_wrapper_node",
+          "/perception/object_recognition/detection/centerpoint/lidar_centerpoint",
+          "/perception/object_recognition/prediction/map_based_prediction",
+          [
+            "/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner",
+            "/perception/object_recognition/objects"
+          ]
+        ],
+        [
+          "/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner",
+          "/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner",
+          "/planning/scenario_planning/lane_driving/motion_planning/obstacle_velocity_limiter",
+          "/planning/scenario_planning/scenario_selector",
+          "/planning/planning_validator"
+        ],
+        [
+          "/planning/planning_validator",
+          "/control/trajectory_follower/controller_node_exe",
+          ["/control/vehicle_cmd_gate", "/control/trajectory_follower/control_cmd"]
+        ]
+      ],
+      "include_first_callback": false
+    },
+    {
+      "name": "e2e_sensing-to-perception",
+      "path": [
+        "/sensing/lidar/top/velodyne_driver_ros_wrapper_node",
+        "/perception/object_recognition/detection/centerpoint/lidar_centerpoint",
+        "/perception/object_recognition/prediction/map_based_prediction"
+      ],
+      "include_first_callback": false
+    },
+    {
+      "name": "e2e_sensing-to-perception(detection)",
+      "path": [
+        "/sensing/lidar/top/velodyne_driver_ros_wrapper_node",
+        "/perception/object_recognition/detection/centerpoint/lidar_centerpoint",
+        "/perception/object_recognition/tracking/multi_object_tracker"
+      ],
+      "include_first_callback": false
+    },
+    {
+      "name": "e2e_planning-to-control",
+      "path_blocks": [
+        [
+          "/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner",
+          "/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner",
+          "/planning/scenario_planning/lane_driving/motion_planning/obstacle_velocity_limiter",
+          "/planning/scenario_planning/scenario_selector",
+          "/planning/planning_validator"
+        ],
+        [
+          "/planning/planning_validator",
+          "/control/trajectory_follower/controller_node_exe",
+          ["/control/vehicle_cmd_gate", "/control/trajectory_follower/control_cmd"]
+        ]
+      ]
+    }
+  ]
+}