Merge pull request #1040 from tier4/sync-awf-latest

chore: sync awf-latest

Author: tier4-autoware-public-bot[bot]

autoware_launch/config/system/pipeline_latency_monitor/pipeline_latency_monitor.param.yaml

@@ -0,0 +1,57 @@
+/**:
+  ros__parameters:
+    update_rate: 10.0
+    latency_threshold_ms: 1000.0
+    window_size: 10
+
+    processing_steps:  # processing steps used to calculate the latency.
+      # The name of the steps are only used for setting the parameters and for debug outputs
+      sequence:  # sequence ordered from first to last step
+        - multi_object_tracker
+        - decorative_object_merger_node
+        - map_based_prediction
+        - planning
+        - control
+      # Each step needs to be associated with a topic, a topic type, a timestamp meaning, and a multiplier
+      multi_object_tracker:
+        topic: # input topic with the timestamp and the latency duration of the processing step
+          /perception/object_recognition/tracking/multi_object_tracker/debug/meas_to_tracked_object_ms
+        topic_type: # type of the input topic
+          autoware_internal_debug_msgs/msg/Float64Stamped
+        timestamp_meaning: "end" # whether the timestamp represent the "start" or "end" time of the step
+        latency_multiplier: 1.0 # multiplier to convert the input latency duration into ms (e.g., 1e3 for s->ms, 1e-3 for us->ms)
+      decorative_object_merger_node:
+        topic: # input topic with the timestamp and the latency duration of the processing step
+          /perception/object_recognition/tracking/decorative_object_merger_node/debug/processing_time_ms
+        topic_type: # type of the input topic
+          autoware_internal_debug_msgs/msg/Float64Stamped
+        timestamp_meaning: "end" # whether the timestamp represent the "start" or "end" time of the step
+        latency_multiplier: 1.0 # multiplier to convert the input latency duration into ms (e.g., 1e3 for s->ms, 1e-3 for us->ms)
+      map_based_prediction:
+        topic: # input topic with the timestamp and the latency duration of the processing step
+          /perception/object_recognition/prediction/map_based_prediction/debug/processing_time_ms
+        topic_type: # type of the input topic
+          autoware_internal_debug_msgs/msg/Float64Stamped
+        timestamp_meaning: "end" # whether the timestamp represent the "start" or "end" time of the step
+        latency_multiplier: 1.0  # multiplier to convert the input latency duration into ms (e.g., 1e3 for s->ms, 1e-3 for us->ms)
+      planning:
+        topic: # input topic with the timestamp and the latency duration of the processing step
+          /planning/planning_validator/validation_status
+        topic_type: # type of the input topic
+          autoware_planning_validator/msg/PlanningValidatorStatus
+        timestamp_meaning: "end" # whether the timestamp represent the "start" or "end" time of the step
+        latency_multiplier: 1.0e3 # multiplier to convert the input latency duration into ms (e.g., 1e3 for s->ms, 1e-3 for us->ms)
+      control:
+        topic: # input topic with the timestamp and the latency duration of the processing step
+          /control/control_component_latency
+        topic_type: # type of the input topic
+          autoware_internal_debug_msgs/msg/Float64Stamped
+        timestamp_meaning: "end" # whether the timestamp represent the "start" or "end" time of the step
+        latency_multiplier: 1.0e3 # multiplier to convert the input latency duration into ms (e.g., 1e3 for s->ms, 1e-3 for us->ms)
+
+    latency_offsets_ms:  # [ms] extra offset to add to the total latency
+      - 0.0 # sensing
+      - 1.4 # perception
+      - 50.0 # planning
+      - 15.0 # control
+      - 191.0 # vehicle interface

autoware_launch/launch/components/tier4_system_component.launch.xml

@@ -12,6 +12,7 @@
     <arg name="component_state_monitor_topic_path" value="$(find-pkg-share autoware_launch)/config/system/component_state_monitor/topics.yaml"/>
     <arg name="duplicated_node_checker_param_path" value="$(find-pkg-share autoware_launch)/config/system/duplicated_node_checker/duplicated_node_checker.param.yaml"/>
     <arg name="processing_time_checker_param_path" value="$(find-pkg-share autoware_launch)/config/system/processing_time_checker/processing_time_checker.param.yaml"/>
+    <arg name="pipeline_latency_monitor_param_path" value="$(find-pkg-share autoware_launch)/config/system/pipeline_latency_monitor/pipeline_latency_monitor.param.yaml"/>
     <arg name="mrm_comfortable_stop_operator_param_path" value="$(find-pkg-share autoware_launch)/config/system/mrm_comfortable_stop_operator/mrm_comfortable_stop_operator.param.yaml"/>
     <arg name="mrm_emergency_stop_operator_param_path" value="$(find-pkg-share autoware_launch)/config/system/mrm_emergency_stop_operator/mrm_emergency_stop_operator.param.yaml"/>
     <arg name="dummy_diag_publisher_param_path" value="$(find-pkg-share autoware_launch)/config/system/tier4_diagnostics/dummy_diag_publisher.param.yaml"/>