tier4_debug_tools

This package provides useful features for debugging Autoware.

Usage

tf2pose

This tool converts any tf to pose topic.
With this tool, for example, you can plot x values of tf in rqt_multiplot.

ros2 run tier4_debug_tools tf2pose {tf_from} {tf_to} {hz}

Example:

$ ros2 run tier4_debug_tools tf2pose base_link ndt_base_link 100

$ ros2 topic echo /tf2pose/pose -n1
header:
  seq: 13
  stamp:
    secs: 1605168366
    nsecs: 549174070
  frame_id: "base_link"
pose:
  position:
    x: 0.0387684271191
    y: -0.00320360406477
    z: 0.000276674520819
  orientation:
    x: 0.000335221893885
    y: 0.000122020672186
    z: -0.00539673212896
    w: 0.999985368502
---

pose2tf

This tool converts any pose topic to tf.

ros2 run tier4_debug_tools pose2tf {pose_topic_name} {tf_name}

Example:

$ ros2 run tier4_debug_tools pose2tf /localization/pose_estimator/pose ndt_pose

$ ros2 run tf tf_echo ndt_pose ndt_base_link 100
At time 1605168365.449
- Translation: [0.000, 0.000, 0.000]
- Rotation: in Quaternion [0.000, 0.000, 0.000, 1.000]
            in RPY (radian) [0.000, -0.000, 0.000]
            in RPY (degree) [0.000, -0.000, 0.000]

stop_reason2pose

This tool extracts pose from stop_reasons.
Topics without numbers such as /stop_reason2pose/pose/detection_area are the nearest stop_reasons, and topics with numbers are individual stop_reasons that are roughly matched with previous ones.

ros2 run tier4_debug_tools stop_reason2pose {stop_reason_topic_name}

Example:

$ ros2 run tier4_debug_tools stop_reason2pose /planning/scenario_planning/status/stop_reasons

$ ros2 topic list | ag stop_reason2pose
/stop_reason2pose/pose/detection_area
/stop_reason2pose/pose/detection_area_1
/stop_reason2pose/pose/obstacle_stop
/stop_reason2pose/pose/obstacle_stop_1

$ ros2 topic echo /stop_reason2pose/pose/detection_area -n1
header:
  seq: 1
  stamp:
    secs: 1605168355
    nsecs:    821713
  frame_id: "map"
pose:
  position:
    x: 60608.8433457
    y: 43886.2410876
    z: 44.9078212441
  orientation:
    x: 0.0
    y: 0.0
    z: -0.190261378408
    w: 0.981733470901
---

stop_reason2tf

This is an all-in-one script that uses tf2pose, pose2tf, and stop_reason2pose.
With this tool, you can view the relative position from base_link to the nearest stop_reason.

ros2 run tier4_debug_tools stop_reason2tf {stop_reason_name}

Example:

$ ros2 run tier4_debug_tools stop_reason2tf obstacle_stop
At time 1605168359.501
- Translation: [0.291, -0.095, 0.266]
- Rotation: in Quaternion [0.007, 0.011, -0.005, 1.000]
            in RPY (radian) [0.014, 0.023, -0.010]
            in RPY (degree) [0.825, 1.305, -0.573]

lateral_error_publisher

This node calculate the control error and localization error in the trajectory normal direction as shown in the figure below.

Set the reference trajectory, vehicle pose and ground truth pose in the launch file.

ros2 launch tier4_debug_tools lateral_error_publisher.launch.xml

Changelog for package tier4_debug_tools

0.2.0 (2025-03-24)

0.1.0 (2025-01-28)

• unify version to 0.0.0
• feat(tier4_debug_tools)!: replace tier4_debug_msgs with tier4_internal_debug_msgs (#203)

• refactor(universe_utils/motion_utils)!: add autoware namespace (#59) * refactor(universe_utils): add autoware namespace style(pre-commit): autofix * refactor(motion_utils): add autoware namespace ---------

• refactor(motion_utils)!: add autoware prefix and include dir (#53) style(pre-commit): autofix
• refactor(autoware_universe_utils)!: rename tier4_autoware_utils to autoware_universe_utils (#52) Co-authored-by: kosuke55 <<kosuke.tnp@gmail.com>> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]\@users.noreply.github.com>
• feat!: change from autoware_auto_msgs to autoware_msgs (#30)
  • feat!: replace autoware_auto_msgs with autoware_msgs
  • style(pre-commit): autofix
  • feat: port remaining autoware_auto_msgs to autoware_msgs (#32)
  • feat: port remaining autoware_auto_msgs to autoware_msgs

  * style(pre-commit): autofix ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]\@users.noreply.github.com>

  • remove <depend>autoware_msgs</depend>

  * remove non-existent dep ---------Co-authored-by: mitsudome-r <<ryohsuke.mitsudome@tier4.jp>> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]\@users.noreply.github.com> Co-authored-by: Ryohsuke Mitsudome <<43976834+mitsudome-r@users.noreply.github.com>> Co-authored-by: M. Fatih Cırıt <<mfc@leodrive.ai>>

• feat: move tools from autoware.universe (#8)
  • feat: move tools from autoware.universe
  • update build_depends.repos

  * update build_depends.repos ---------

• Contributors: Kosuke Takeuchi, Ryohsuke Mitsudome, Takayuki Murooka, Yukihiro Saito, Yutaka Kondo