Processing Time Checker

Purpose

This node checks whether the processing time of each module is valid or not, and send a diagnostic. NOTE: Currently, there is no validation feature, and “OK” is always assigned in the diagnostic.

Standalone Startup

ros2 launch autoware_processing_time_checker processing_time_checker.launch.xml

Inner-workings / Algorithms

Inputs / Outputs

Input

Output

Parameters

{{ json_to_markdown(“system/autoware_processing_time_checker/schema/processing_time_checker.schema.json”) }}

If output_metrics = true, the node writes the statics of the processing_time measured during its lifetime to <ros2_logging_directory>/autoware_metrics/<node_name>-<time_stamp>.json when shut down.

Assumptions / Known limits

TBD.

Changelog for package autoware_processing_time_checker

0.44.0 (2025-04-18)

0.43.0 (2025-03-21)

• Merge remote-tracking branch 'origin/main' into chore/bump-version-0.43
• chore: rename from [autoware.universe]{.title-ref} to [autoware_universe]{.title-ref} (#10306)
• Contributors: Hayato Mizushima, Yutaka Kondo

0.42.0 (2025-03-03)

• Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base
• feat(autoware_utils): replace autoware_universe_utils with autoware_utils (#10191)
• Contributors: Fumiya Watanabe, 心刚

0.41.2 (2025-02-19)

• chore: bump version to 0.41.1 (#10088)
• Contributors: Ryohsuke Mitsudome

0.41.1 (2025-02-10)

0.41.0 (2025-01-29)

• Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base
• feat(autoware_processing_time_checker)!: tier4_debug_msgs changed to autoware_internal_debug_msgs in autoware_processing_time_checker (#9921) Co-authored-by: Ryohsuke Mitsudome <<43976834+mitsudome-r@users.noreply.github.com>>
• fix(autoware_processing_time_checker): fix bugprone-exception-escape (#9780)
  • fix: bugprone-error

  * fix: cpplint ---------

• Contributors: Fumiya Watanabe, Vishal Chauhan, kobayu858

0.40.0 (2024-12-12)

• Merge branch 'main' into release-0.40.0
• Revert "chore(package.xml): bump version to 0.39.0 (#9587)" This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5.
• fix: fix ticket links in CHANGELOG.rst (#9588)
• chore(package.xml): bump version to 0.39.0 (#9587)
  • chore(package.xml): bump version to 0.39.0
  • fix: fix ticket links in CHANGELOG.rst

  * fix: remove unnecessary diff ---------Co-authored-by: Yutaka Kondo <<yutaka.kondo@youtalk.jp>>

• fix: fix ticket links in CHANGELOG.rst (#9588)
• fix(autoware_processing_time_checker): fix typo (#9504)
• feat(autoware_processing_time_checker): add a trigger to choice whether to output metrics to log folder (#9479)
  • add output_metrics option.
  • move param set from config to launch file.

  * fix bug. ---------

• feat(processing_time_checker): update processing time list (#9350)
• 0.39.0
• update changelog
• Merge commit '6a1ddbd08bd' into release-0.39.0
• fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (#9304)
• fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (#9304)
• feat(tier4_metric_msgs): apply tier4_metric_msgs for scenario_simulator_v2_adapter, control_evaluator, planning_evaluator, autonomous_emergency_braking, obstacle_cruise_planner, motion_velocity_planner, processing_time_checker (#9180)
  • first commit
  • fix building errs.
  • change diagnostic messages to metric messages for publishing decision.
  • fix bug about motion_velocity_planner
  • change the diagnostic msg to metric msg in autoware_obstacle_cruise_planner.
  • tmp save for planning_evaluator
  • change the topic to which metrics published to.
  • fix typo.
  • remove unnesessary publishing of metrics.
  • mke planning_evaluator publish msg of MetricArray instead of Diags.
  • update aeb with metric type for decision.
  • fix some bug
  • remove autoware_evaluator_utils package.
  • remove diagnostic_msgs dependency of planning_evaluator
  • use metric_msgs for autoware_processing_time_checker.
  • rewrite diagnostic_convertor to scenario_simulator_v2_adapter, supporting metric_msgs.
  • pre-commit and fix typo
  • publish metrics even if there is no metric in the MetricArray.
  • modify the metric name of processing_time.
  • update unit test for test_planning/control_evaluator

  * manual pre-commit ---------

• chore(package.xml): bump version to 0.38.0 (#9266) (#9284)
  • unify package.xml version to 0.37.0
  • remove system_monitor/CHANGELOG.rst
  • add changelog

  * 0.38.0

• Contributors: Esteve Fernandez, Fumiya Watanabe, Kazunori-Nakajima, Kem (TiankuiXian), Ryohsuke Mitsudome, Ryuta Kambe, Yutaka Kondo

0.39.0 (2024-11-25)

• Merge commit '6a1ddbd08bd' into release-0.39.0
• fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (#9304)
• fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (#9304)
• feat(tier4_metric_msgs): apply tier4_metric_msgs for scenario_simulator_v2_adapter, control_evaluator, planning_evaluator, autonomous_emergency_braking, obstacle_cruise_planner, motion_velocity_planner, processing_time_checker (#9180)
  • first commit
  • fix building errs.
  • change diagnostic messages to metric messages for publishing decision.
  • fix bug about motion_velocity_planner
  • change the diagnostic msg to metric msg in autoware_obstacle_cruise_planner.
  • tmp save for planning_evaluator
  • change the topic to which metrics published to.
  • fix typo.
  • remove unnesessary publishing of metrics.
  • mke planning_evaluator publish msg of MetricArray instead of Diags.
  • update aeb with metric type for decision.
  • fix some bug
  • remove autoware_evaluator_utils package.
  • remove diagnostic_msgs dependency of planning_evaluator
  • use metric_msgs for autoware_processing_time_checker.
  • rewrite diagnostic_convertor to scenario_simulator_v2_adapter, supporting metric_msgs.
  • pre-commit and fix typo
  • publish metrics even if there is no metric in the MetricArray.
  • modify the metric name of processing_time.
  • update unit test for test_planning/control_evaluator

  * manual pre-commit ---------

• chore(package.xml): bump version to 0.38.0 (#9266) (#9284)
  • unify package.xml version to 0.37.0
  • remove system_monitor/CHANGELOG.rst
  • add changelog

  * 0.38.0

• Contributors: Esteve Fernandez, Kem (TiankuiXian), Yutaka Kondo

0.38.0 (2024-11-08)

• unify package.xml version to 0.37.0
• feat(costmap_generator, control_validator, scenario_selector, surround_obstacle_checker, vehicle_cmd_gate): add processing time pub. (#9065)
  • feat(costmap_generator, control_validator, scenario_selector, surround_obstacle_checker, vehicle_cmd_gate): Add: processing_time_pub
  • fix: pre-commit
  • feat(costmap_generator): fix: No output when not Active.
  • fix: clang-format

  * Re: fix: clang-format ---------

• feat(processing_time_checker): add a new package (#7957)
  • feat(processing_time_checker): add a new package
  • fix
  • fix
  • update README and schema.json
  • fix
  • fix

  * fix

• Contributors: Kazunori-Nakajima, Takayuki Murooka, Yutaka Kondo

0.26.0 (2024-04-03)