rewrite diagnostic_convertor to scenario_simulator_v2_adapter, suppor…

…ting metric_msgs.

.github/CODEOWNERS

@@ -62,7 +62,7 @@ control/predicted_path_checker/** [email protected]
 evaluator/autoware_control_evaluator/** [email protected] [email protected] [email protected] [email protected]
 evaluator/autoware_evaluator_utils/** [email protected] [email protected]
 evaluator/autoware_planning_evaluator/** [email protected] [email protected]
-evaluator/diagnostic_converter/** [email protected] [email protected] [email protected]
+evaluator/scenario_simulator_v2_adapter/** [email protected] [email protected] [email protected]
 evaluator/kinematic_evaluator/** [email protected] [email protected] [email protected] [email protected] [email protected] [email protected] [email protected]
 evaluator/localization_evaluator/** [email protected] [email protected]
 evaluator/perception_online_evaluator/** [email protected] [email protected] [email protected] [email protected] [email protected] [email protected]

evaluator/diagnostic_converter/CMakeLists.txt → evaluator/scenario_simulator_v2_adapter/CMakeLists.txt

@@ -1,6 +1,6 @@
 cmake_minimum_required(VERSION 3.16.3) # Ubuntu 20.04 default CMake version
 
-project(diagnostic_converter)
+project(scenario_simulator_v2_adapter)
 
 if(NOT CMAKE_CXX_STANDARD)
   set(CMAKE_CXX_STANDARD 14)
@@ -21,7 +21,7 @@ ament_auto_add_library(${PROJECT_NAME}_node SHARED
 )
 
 rclcpp_components_register_node(${PROJECT_NAME}_node
-  PLUGIN "diagnostic_converter::DiagnosticConverter"
+  PLUGIN "scenario_simulator_v2_adapter::MetricConverter"
   EXECUTABLE ${PROJECT_NAME}
 )
 

evaluator/scenario_simulator_v2_adapter/README.md

@@ -0,0 +1,42 @@
+# scenario_simulator_v2 Adapter
+
+## Purpose
+
+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.
+
+## Inputs / Outputs
+
+### Inputs
+
+The node listens to `MetricArray` messages on the topics specified in `metric_topic_list`.
+
+### Outputs
+
+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.
+  - 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"`
+  - The resulting topics to publish the `UserDefinedValue` are as follows:
+    - `/planning/planning_evaluator/metrics/metricA/x`
+    - `/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
+
+Values in the `Metric` objects of a `MetricArray` are assumed to be of type `double`.
+
+## Future extensions / Unimplemented parts

evaluator/scenario_simulator_v2_adapter/config/scenario_simulator_v2_adapter.param.yaml

@@ -0,0 +1,7 @@
+/**:
+  ros__parameters:
+    update_rate: 10.0
+    metric_topic_list:
+      - /planning/planning_evaluator/metrics
+      - /control/control_evaluator/metrics
+      - /system/processing_time_checker/metrics