refactor(perception_online_evaluator): use tier4_metric_msgs instead of diagnostic_msgs

evaluator/perception_online_evaluator/README.md

@@ -155,11 +155,11 @@ where:
 
 ## Inputs / Outputs
 
-| Name              | Type                                              | Description                                       |
-| ----------------- | ------------------------------------------------- | ------------------------------------------------- |
-| `~/input/objects` | `autoware_perception_msgs::msg::PredictedObjects` | The predicted objects to evaluate.                |
-| `~/metrics`       | `diagnostic_msgs::msg::DiagnosticArray`           | Diagnostic information about perception accuracy. |
-| `~/markers`       | `visualization_msgs::msg::MarkerArray`            | Visual markers for debugging and visualization.   |
+| Name              | Type                                              | Description                                     |
+| ----------------- | ------------------------------------------------- | ----------------------------------------------- |
+| `~/input/objects` | `autoware_perception_msgs::msg::PredictedObjects` | The predicted objects to evaluate.              |
+| `~/metrics`       | `tier4_metric_msgs::msg::MetricArray`             | Metric information about perception accuracy.   |
+| `~/markers`       | `visualization_msgs::msg::MarkerArray`            | Visual markers for debugging and visualization. |
 
 ## Parameters
 

evaluator/perception_online_evaluator/include/perception_online_evaluator/perception_online_evaluator_node.hpp

@@ -23,9 +23,10 @@
 #include "tf2_ros/transform_listener.h"
 
 #include "autoware_perception_msgs/msg/predicted_objects.hpp"
-#include "diagnostic_msgs/msg/diagnostic_array.hpp"
 #include "nav_msgs/msg/odometry.hpp"
 #include "visualization_msgs/msg/marker_array.hpp"
+#include <tier4_metric_msgs/msg/metric.hpp>
+#include <tier4_metric_msgs/msg/metric_array.hpp>
 
 #include <array>
 #include <deque>
@@ -38,8 +39,6 @@ namespace perception_diagnostics
 using autoware::universe_utils::Accumulator;
 using autoware_perception_msgs::msg::ObjectClassification;
 using autoware_perception_msgs::msg::PredictedObjects;
-using diagnostic_msgs::msg::DiagnosticArray;
-using diagnostic_msgs::msg::DiagnosticStatus;
 using nav_msgs::msg::Odometry;
 using TFMessage = tf2_msgs::msg::TFMessage;
 
@@ -60,15 +59,34 @@ class PerceptionOnlineEvaluatorNode : public rclcpp::Node
    */
   void onObjects(const PredictedObjects::ConstSharedPtr objects_msg);
 
-  DiagnosticStatus generateDiagnosticStatus(
-    const std::string metric, const Accumulator<double> & metric_stat) const;
-  DiagnosticStatus generateDiagnosticStatus(
-    const std::string & metric, const double metric_value) const;
+  /**
+   * @brief Convert metric statistic to `tier4_metric_msgs::msg::Metric` and append to
+   * `tier4_metric_msgs::msg::MetricArray`.
+   *
+   * @param metric Metric name.
+   * @param metric_stat Metric statistic.
+   * @param metrics_msg Metrics value container.
+   */
+  void toMetricMsg(
+    const std::string & metric, const Accumulator<double> & metric_stat,
+    tier4_metric_msgs::msg::MetricArray & metrics_msg) const;
+
+  /**
+   * @brief Convert metric value to `tier4_metric_msgs::msg::Metric` and append to
+   * `tier4_metric_msgs::msg::MetricArray
+   *
+   * @param metric Metric name.
+   * @param metric_stat Metric value.
+   * @param metrics_msg Metrics value container.
+   */
+  void toMetricMsg(
+    const std::string & metric, const double metric_value,
+    tier4_metric_msgs::msg::MetricArray & metrics_msg) const;
 
 private:
   // Subscribers and publishers
   rclcpp::Subscription<PredictedObjects>::SharedPtr objects_sub_;
-  rclcpp::Publisher<DiagnosticArray>::SharedPtr metrics_pub_;
+  rclcpp::Publisher<tier4_metric_msgs::msg::MetricArray>::SharedPtr metrics_pub_;
   rclcpp::Publisher<MarkerArray>::SharedPtr pub_marker_;
 
   // TF

evaluator/perception_online_evaluator/package.xml

@@ -23,7 +23,6 @@
   <depend>autoware_perception_msgs</depend>
   <depend>autoware_universe_utils</depend>
   <depend>autoware_vehicle_info_utils</depend>
-  <depend>diagnostic_msgs</depend>
   <depend>eigen</depend>
   <depend>geometry_msgs</depend>
   <depend>glog</depend>
@@ -33,6 +32,7 @@
   <depend>rclcpp_components</depend>
   <depend>tf2</depend>
   <depend>tf2_ros</depend>
+  <depend>tier4_metric_msgs</depend>
 
   <test_depend>ament_cmake_ros</test_depend>
   <test_depend>ament_index_cpp</test_depend>

evaluator/perception_online_evaluator/src/perception_online_evaluator_node.cpp

@@ -50,7 +50,7 @@ PerceptionOnlineEvaluatorNode::PerceptionOnlineEvaluatorNode(
 
   objects_sub_ = create_subscription<PredictedObjects>(
     "~/input/objects", 1, std::bind(&PerceptionOnlineEvaluatorNode::onObjects, this, _1));
-  metrics_pub_ = create_publisher<DiagnosticArray>("~/metrics", 1);
+  metrics_pub_ = create_publisher<tier4_metric_msgs::msg::MetricArray>("~/metrics", 1);
   pub_marker_ = create_publisher<MarkerArray>("~/markers", 10);
 
   tf_buffer_ = std::make_unique<tf2_ros::Buffer>(this->get_clock());
@@ -65,7 +65,8 @@ PerceptionOnlineEvaluatorNode::PerceptionOnlineEvaluatorNode(
 
 void PerceptionOnlineEvaluatorNode::publishMetrics()
 {
-  DiagnosticArray metrics_msg;
+  // DiagnosticArray metrics_msg;
+  tier4_metric_msgs::msg::MetricArray metrics_msg;
 
   // calculate metrics
   for (const Metric & metric : parameters_->metrics) {
@@ -80,60 +81,54 @@ void PerceptionOnlineEvaluatorNode::publishMetrics()
         for (const auto & [metric, value] : arg) {
           if constexpr (std::is_same_v<T, MetricStatMap>) {
             if (value.count() > 0) {
-              metrics_msg.status.emplace_back(generateDiagnosticStatus(metric, value));
+              toMetricMsg(metric, value, metrics_msg);
             }
           } else if constexpr (std::is_same_v<T, MetricValueMap>) {
-            metrics_msg.status.emplace_back(generateDiagnosticStatus(metric, value));
+            toMetricMsg(metric, value, metrics_msg);
           }
         }
       },
       metric_result.value());
   }
 
   // publish metrics
-  if (!metrics_msg.status.empty()) {
-    metrics_msg.header.stamp = now();
+  if (!metrics_msg.metric_array.empty()) {
+    metrics_msg.stamp = now();
     metrics_pub_->publish(metrics_msg);
   }
   publishDebugMarker();
 }
 
-DiagnosticStatus PerceptionOnlineEvaluatorNode::generateDiagnosticStatus(
-  const std::string metric, const Accumulator<double> & metric_stat) const
+void PerceptionOnlineEvaluatorNode::toMetricMsg(
+  const std::string & metric, const Accumulator<double> & metric_stat,
+  tier4_metric_msgs::msg::MetricArray & metrics_msg) const
 {
-  DiagnosticStatus status;
-
-  status.level = status.OK;
-  status.name = metric;
-
-  diagnostic_msgs::msg::KeyValue key_value;
-  key_value.key = "min";
-  key_value.value = std::to_string(metric_stat.min());
-  status.values.push_back(key_value);
-  key_value.key = "max";
-  key_value.value = std::to_string(metric_stat.max());
-  status.values.push_back(key_value);
-  key_value.key = "mean";
-  key_value.value = std::to_string(metric_stat.mean());
-  status.values.push_back(key_value);
-
-  return status;
+  // min value
+  metrics_msg.metric_array.emplace_back(tier4_metric_msgs::build<tier4_metric_msgs::msg::Metric>()
+                                          .name(metric + "min")
+                                          .unit("m")
+                                          .value(std::to_string(metric_stat.min())));
+
+  // max value
+  metrics_msg.metric_array.emplace_back(tier4_metric_msgs::build<tier4_metric_msgs::msg::Metric>()
+                                          .name(metric + "max")
+                                          .unit("m")
+                                          .value(std::to_string(metric_stat.max())));
+
+  // mean value
+  metrics_msg.metric_array.emplace_back(tier4_metric_msgs::build<tier4_metric_msgs::msg::Metric>()
+                                          .name(metric + "mean")
+                                          .unit("m")
+                                          .value(std::to_string(metric_stat.mean())));
 }
 
-DiagnosticStatus PerceptionOnlineEvaluatorNode::generateDiagnosticStatus(
-  const std::string & metric, const double value) const
+void PerceptionOnlineEvaluatorNode::toMetricMsg(
+  const std::string & metric, const double metric_value,
+  tier4_metric_msgs::msg::MetricArray & metrics_msg) const
 {
-  DiagnosticStatus status;
-
-  status.level = status.OK;
-  status.name = metric;
-
-  diagnostic_msgs::msg::KeyValue key_value;
-  key_value.key = "metric_value";
-  key_value.value = std::to_string(value);
-  status.values.push_back(key_value);
-
-  return status;
+  metrics_msg.metric_array.emplace_back(
+    tier4_metric_msgs::build<tier4_metric_msgs::msg::Metric>().name(metric).unit("m").value(
+      std::to_string(metric_value)));
 }
 
 void PerceptionOnlineEvaluatorNode::onObjects(const PredictedObjects::ConstSharedPtr objects_msg)