pre-commit and fix typo

control/autoware_autonomous_emergency_braking/include/autoware/autonomous_emergency_braking/node.hpp

@@ -34,10 +34,10 @@
 #include <sensor_msgs/msg/imu.hpp>
 #include <sensor_msgs/msg/point_cloud2.hpp>
 #include <tier4_debug_msgs/msg/float32_stamped.hpp>
-#include <visualization_msgs/msg/marker.hpp>
-#include <visualization_msgs/msg/marker_array.hpp>
 #include <tier4_metric_msgs/msg/metric.hpp>
 #include <tier4_metric_msgs/msg/metric_array.hpp>
+#include <visualization_msgs/msg/marker.hpp>
+#include <visualization_msgs/msg/marker_array.hpp>
 
 #include <boost/optional.hpp>
 

control/autoware_autonomous_emergency_braking/package.xml

@@ -42,8 +42,8 @@
   <depend>tf2_geometry_msgs</depend>
   <depend>tf2_ros</depend>
   <depend>tier4_debug_msgs</depend>
-  <depend>visualization_msgs</depend>
   <depend>tier4_metric_msgs</depend>
+  <depend>visualization_msgs</depend>
 
   <export>
     <build_type>ament_cmake</build_type>

evaluator/autoware_control_evaluator/include/autoware/control_evaluator/control_evaluator_node.hpp

@@ -51,10 +51,8 @@ class ControlEvaluatorNode : public rclcpp::Node
 {
 public:
   explicit ControlEvaluatorNode(const rclcpp::NodeOptions & node_options);
-  void AddLateralDeviationMetricMsg(
-    const Trajectory & traj, const Point & ego_point);
-  void AddYawDeviationMetricMsg(
-    const Trajectory & traj, const Pose & ego_pose);
+  void AddLateralDeviationMetricMsg(const Trajectory & traj, const Point & ego_point);
+  void AddYawDeviationMetricMsg(const Trajectory & traj, const Pose & ego_pose);
   void AddGoalLongitudinalDeviationMetricMsg(const Pose & ego_pose);
   void AddGoalLateralDeviationMetricMsg(const Pose & ego_pose);
   void AddGoalYawDeviationMetricMsg(const Pose & ego_pose);

evaluator/autoware_control_evaluator/package.xml

@@ -18,7 +18,6 @@
 
   <depend>autoware_motion_utils</depend>
   <depend>autoware_planning_msgs</depend>
-  <depend>tier4_metric_msgs</depend>
   <depend>autoware_route_handler</depend>
   <depend>autoware_test_utils</depend>
   <depend>autoware_universe_utils</depend>
@@ -28,6 +27,7 @@
   <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_lint_auto</test_depend>

evaluator/autoware_control_evaluator/src/control_evaluator_node.cpp

@@ -79,21 +79,21 @@ void ControlEvaluatorNode::AddLaneletMetricMsg(const Pose & ego_pose)
   MetricMsg metric_msg;
 
   {
-  metric_msg.name = base_name+ "lane_id";
-  metric_msg.value = std::to_string(current_lane.id());
-  metrics_msg_.metric_array.push_back(metric_msg);
+    metric_msg.name = base_name + "lane_id";
+    metric_msg.value = std::to_string(current_lane.id());
+    metrics_msg_.metric_array.push_back(metric_msg);
   }
 
   {
-  metric_msg.name = base_name + "s";
-  metric_msg.value = std::to_string(arc_coordinates.length);
-  metrics_msg_.metric_array.push_back(metric_msg);
+    metric_msg.name = base_name + "s";
+    metric_msg.value = std::to_string(arc_coordinates.length);
+    metrics_msg_.metric_array.push_back(metric_msg);
   }
-  
+
   {
-  metric_msg.name = base_name + "t";
-  metric_msg.value = std::to_string(arc_coordinates.distance);
-  metrics_msg_.metric_array.push_back(metric_msg);
+    metric_msg.name = base_name + "t";
+    metric_msg.value = std::to_string(arc_coordinates.distance);
+    metrics_msg_.metric_array.push_back(metric_msg);
   }
   return;
 }
@@ -103,7 +103,7 @@ void ControlEvaluatorNode::AddKinematicStateMetricMsg(
 {
   const std::string base_name = "kinematic_state/";
   MetricMsg metric_msg;
-  
+
   metric_msg.name = base_name + "vel";
   metric_msg.value = std::to_string(odom.twist.twist.linear.x);
   metrics_msg_.metric_array.push_back(metric_msg);
@@ -148,8 +148,7 @@ void ControlEvaluatorNode::AddLateralDeviationMetricMsg(
   return;
 }
 
-void ControlEvaluatorNode::AddYawDeviationMetricMsg(
-  const Trajectory & traj, const Pose & ego_pose)
+void ControlEvaluatorNode::AddYawDeviationMetricMsg(const Trajectory & traj, const Pose & ego_pose)
 {
   const double yaw_deviation = metrics::calcYawDeviation(traj, ego_pose);
 
@@ -160,8 +159,7 @@ void ControlEvaluatorNode::AddYawDeviationMetricMsg(
   return;
 }
 
-void ControlEvaluatorNode::AddGoalLongitudinalDeviationMetricMsg(
-  const Pose & ego_pose)
+void ControlEvaluatorNode::AddGoalLongitudinalDeviationMetricMsg(const Pose & ego_pose)
 {
   const double longitudinal_deviation =
     metrics::calcLongitudinalDeviation(route_handler_.getGoalPose(), ego_pose.position);
@@ -173,8 +171,7 @@ void ControlEvaluatorNode::AddGoalLongitudinalDeviationMetricMsg(
   return;
 }
 
-void ControlEvaluatorNode::AddGoalLateralDeviationMetricMsg(
-  const Pose & ego_pose)
+void ControlEvaluatorNode::AddGoalLateralDeviationMetricMsg(const Pose & ego_pose)
 {
   const double lateral_deviation =
     metrics::calcLateralDeviation(route_handler_.getGoalPose(), ego_pose.position);
@@ -186,8 +183,7 @@ void ControlEvaluatorNode::AddGoalLateralDeviationMetricMsg(
   return;
 }
 
-void ControlEvaluatorNode::AddGoalYawDeviationMetricMsg(
-  const Pose & ego_pose)
+void ControlEvaluatorNode::AddGoalYawDeviationMetricMsg(const Pose & ego_pose)
 {
   const double yaw_deviation = metrics::calcYawDeviation(route_handler_.getGoalPose(), ego_pose);
 
@@ -230,7 +226,6 @@ void ControlEvaluatorNode::onTimer()
     metrics_pub_->publish(metrics_msg_);
     metrics_msg_ = MetricArrayMsg{};
   }
-
 }
 }  // namespace control_diagnostics
 

evaluator/autoware_planning_evaluator/README.md

@@ -58,9 +58,9 @@ Adding a new metric `M` requires the following steps:
 
 Each metric is published on a topic named after the metric name.
 
-| Name        | Type                                    | Description                                             |
-| ----------- | --------------------------------------- | ------------------------------------------------------- |
-| `~/metrics` | `tier4_metric_msgs::msg::MetricArray` | MetricArray with many metrics of `tier4_metric_msgs::msg::Metric`|
+| Name        | Type                                  | Description                                                       |
+| ----------- | ------------------------------------- | ----------------------------------------------------------------- |
+| `~/metrics` | `tier4_metric_msgs::msg::MetricArray` | MetricArray with many metrics of `tier4_metric_msgs::msg::Metric` |
 
 When shut down, the evaluation node writes the values of the metrics measured during its lifetime
 to a file as specified by the `output_file` parameter.

evaluator/autoware_planning_evaluator/include/autoware/planning_evaluator/planning_evaluator_node.hpp

@@ -96,8 +96,7 @@ class PlanningEvaluatorNode : public rclcpp::Node
   /**
    * @brief publish the given metric statistic
    */
-  void AddMetricMsg(
-    const Metric & metric, const Stat<double> & metric_stat);
+  void AddMetricMsg(const Metric & metric, const Stat<double> & metric_stat);
 
   /**
    * @brief publish current ego lane info

evaluator/autoware_planning_evaluator/package.xml

@@ -19,7 +19,6 @@
   <depend>autoware_planning_msgs</depend>
   <depend>autoware_route_handler</depend>
   <depend>autoware_universe_utils</depend>
-  <depend>tier4_metric_msgs</depend>
   <depend>eigen</depend>
   <depend>geometry_msgs</depend>
   <depend>nav_msgs</depend>
@@ -28,6 +27,7 @@
   <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_lint_auto</test_depend>

evaluator/autoware_planning_evaluator/src/planning_evaluator_node.cpp

@@ -118,8 +118,7 @@ void PlanningEvaluatorNode::getRouteData()
   }
 }
 
-void PlanningEvaluatorNode::AddLaneletMetricMsg(
-  const Odometry::ConstSharedPtr ego_state_ptr)
+void PlanningEvaluatorNode::AddLaneletMetricMsg(const Odometry::ConstSharedPtr ego_state_ptr)
 {
   const auto & ego_pose = ego_state_ptr->pose.pose;
   const auto current_lanelets = [&]() {
@@ -140,21 +139,21 @@ void PlanningEvaluatorNode::AddLaneletMetricMsg(
   MetricMsg metric_msg;
 
   {
-  metric_msg.name = base_name+ "lane_id";
-  metric_msg.value = std::to_string(current_lane.id());
-  metrics_msg_.metric_array.push_back(metric_msg);
+    metric_msg.name = base_name + "lane_id";
+    metric_msg.value = std::to_string(current_lane.id());
+    metrics_msg_.metric_array.push_back(metric_msg);
   }
 
   {
-  metric_msg.name = base_name + "s";
-  metric_msg.value = std::to_string(arc_coordinates.length);
-  metrics_msg_.metric_array.push_back(metric_msg);
+    metric_msg.name = base_name + "s";
+    metric_msg.value = std::to_string(arc_coordinates.length);
+    metrics_msg_.metric_array.push_back(metric_msg);
   }
-  
+
   {
-  metric_msg.name = base_name + "t";
-  metric_msg.value = std::to_string(arc_coordinates.distance);
-  metrics_msg_.metric_array.push_back(metric_msg);
+    metric_msg.name = base_name + "t";
+    metric_msg.value = std::to_string(arc_coordinates.distance);
+    metrics_msg_.metric_array.push_back(metric_msg);
   }
   return;
 }
@@ -196,27 +195,26 @@ void PlanningEvaluatorNode::AddKinematicStateMetricMsg(
   return;
 }
 
-void PlanningEvaluatorNode::AddMetricMsg(
-  const Metric & metric, const Stat<double> & metric_stat)
+void PlanningEvaluatorNode::AddMetricMsg(const Metric & metric, const Stat<double> & metric_stat)
 {
   const std::string base_name = metric_to_str.at(metric) + "/";
   MetricMsg metric_msg;
   {
-  metric_msg.name = base_name + "min";
-  metric_msg.value = boost::lexical_cast<decltype(metric_msg.value)>(metric_stat.min());
-  metrics_msg_.metric_array.push_back(metric_msg);
+    metric_msg.name = base_name + "min";
+    metric_msg.value = boost::lexical_cast<decltype(metric_msg.value)>(metric_stat.min());
+    metrics_msg_.metric_array.push_back(metric_msg);
   }
 
   {
-  metric_msg.name = base_name + "max";
-  metric_msg.value = boost::lexical_cast<decltype(metric_msg.value)>(metric_stat.max());
-  metrics_msg_.metric_array.push_back(metric_msg);
+    metric_msg.name = base_name + "max";
+    metric_msg.value = boost::lexical_cast<decltype(metric_msg.value)>(metric_stat.max());
+    metrics_msg_.metric_array.push_back(metric_msg);
   }
 
   {
-  metric_msg.name = base_name + "mean";
-  metric_msg.value = boost::lexical_cast<decltype(metric_msg.value)>(metric_stat.mean());
-  metrics_msg_.metric_array.push_back(metric_msg);
+    metric_msg.name = base_name + "mean";
+    metric_msg.value = boost::lexical_cast<decltype(metric_msg.value)>(metric_stat.mean());
+    metrics_msg_.metric_array.push_back(metric_msg);
   }
 
   return;

evaluator/scenario_simulator_v2_adapter/README.md

@@ -4,14 +4,15 @@
 
 This package provides a node to convert various messages from the Autoware into `tier4_simulation_msgs::msg::UserDefinedValue` messages for the scenario_simulator_v2.
 Currently, this node supports conversion of:
+
 - `tier4_metric_msgs::msg::MetricArray` for metric topics
 
 ## Inner-workings / Algorithms
 
-- For `tier4_metric_msgs::msg::MetricArray`, 
-The node subscribes to all topics listed in the parameter `metric_topic_list`.
-Each time such message is received, it is converted into as many `UserDefinedValue` messages as the number of `Metric` objects.
-The format of the output topic is detailed in the _output_ section.
+- For `tier4_metric_msgs::msg::MetricArray`,
+  The node subscribes to all topics listed in the parameter `metric_topic_list`.
+  Each time such message is received, it is converted into as many `UserDefinedValue` messages as the number of `Metric` objects.
+  The format of the output topic is detailed in the _output_ section.
 
 ## Inputs / Outputs
 
@@ -24,7 +25,7 @@ The node listens to `MetricArray` messages on the topics specified in `metric_to
 The node outputs `UserDefinedValue` messages that are converted from the received messages.
 
 - For `MetricArray` messages,
-The name of the output topics are generated from the corresponding input topic, the name of the metric.
+  The name of the output topics are generated from the corresponding input topic, the name of the metric.
   - For example, we might listen to topic `/planning/planning_evaluator/metrics` and receive a `MetricArray` with 2 metrics:
     - metric with `name: "metricA/x"`
     - metric with `name: "metricA/y"`
@@ -33,9 +34,10 @@ The name of the output topics are generated from the corresponding input topic,
     - `/planning/planning_evaluator/metrics/metricA/y`
 
 ## Parameters
+
 {{ json_to_markdown("src/autoware/universe/evaluator/scenario_simulator_v2_adapter/schema/scenario_simulator_v2_adapter.schema.json") }}
 
-## Assumptions / Known limitsmetrics_x
+## Assumptions / Known limits
 
 Values in the `Metric` objects of a `MetricArray` are assumed to be of type `double`.
 

evaluator/scenario_simulator_v2_adapter/config/scenario_simulator_v2_adapter.param.yaml

@@ -4,4 +4,4 @@
     metric_topic_list:
       - /planning/planning_evaluator/metrics
       - /control/control_evaluator/metrics
-      - /system/processing_time_checker/metrics
+      - /system/processing_time_checker/metrics

evaluator/scenario_simulator_v2_adapter/include/scenario_simulator_v2_adapter/converter_node.hpp

@@ -17,10 +17,10 @@
 
 #include <rclcpp/rclcpp.hpp>
 
-#include <tier4_metric_msgs/msg/metric.hpp>
-#include <tier4_metric_msgs/msg/metric_array.hpp>
 #include "tier4_simulation_msgs/msg/user_defined_value.hpp"
 #include "tier4_simulation_msgs/msg/user_defined_value_type.hpp"
+#include <tier4_metric_msgs/msg/metric.hpp>
+#include <tier4_metric_msgs/msg/metric_array.hpp>
 
 #include <memory>
 #include <string>

evaluator/scenario_simulator_v2_adapter/package.xml

@@ -12,10 +12,10 @@
 
   <buildtool_depend>ament_cmake_auto</buildtool_depend>
   <buildtool_depend>autoware_cmake</buildtool_depend>
-  <depend>tier4_metric_msgs</depend>
   <depend>pluginlib</depend>
   <depend>rclcpp</depend>
   <depend>rclcpp_components</depend>
+  <depend>tier4_metric_msgs</depend>
   <depend>tier4_simulation_msgs</depend>
 
   <test_depend>ament_cmake_gtest</test_depend>

evaluator/scenario_simulator_v2_adapter/schema/scenario_simulator_v2_adapter.schema.json

@@ -12,22 +12,15 @@
           "exclusiveMinimum": 2,
           "description": "The scanning and update frequency of the checker."
         },
-        "processing_time_topic_list": {
-          "type": "array",
-          "items": {
-            "type": "string"
-          },
-          "description": "The topic name list of the processing time."
-        },
         "metric_topic_list": {
           "type": "array",
           "items": {
             "type": "string"
           },
-          "description": "The topic name list of the metrics."
+          "description": "The topic name list of the processing time."
         }
       },
-      "required": ["update_rate", "processing_time_topic_list", "metric_topic_list"]
+      "required": ["update_rate", "metric_topic_list"]
     }
   },
   "properties": {
@@ -42,4 +35,4 @@
     }
   },
   "required": ["/**"]
-}
+}

evaluator/scenario_simulator_v2_adapter/test/test_converter_node.cpp

@@ -16,10 +16,10 @@
 
 #include <rclcpp/rclcpp.hpp>
 
-#include <tier4_metric_msgs/msg/metric.hpp>
-#include <tier4_metric_msgs/msg/metric_array.hpp>
 #include "tier4_simulation_msgs/msg/user_defined_value.hpp"
 #include "tier4_simulation_msgs/msg/user_defined_value_type.hpp"
+#include <tier4_metric_msgs/msg/metric.hpp>
+#include <tier4_metric_msgs/msg/metric_array.hpp>
 
 #include <gtest/gtest.h>
 

planning/autoware_obstacle_cruise_planner/package.xml

@@ -38,8 +38,8 @@
   <depend>tf2</depend>
   <depend>tf2_ros</depend>
   <depend>tier4_debug_msgs</depend>
-  <depend>tier4_planning_msgs</depend>
   <depend>tier4_metric_msgs</depend>
+  <depend>tier4_planning_msgs</depend>
   <depend>visualization_msgs</depend>
 
   <test_depend>ament_cmake_ros</test_depend>