From 2f82f6ee93c25f64bbf0431320e5752ccfd0cc9a Mon Sep 17 00:00:00 2001 From: Maximilian Schmeller Date: Tue, 19 Jul 2022 18:34:41 +0200 Subject: [PATCH] Change import paths to correct directory --- requirements.txt | 2 +- trace-analysis.ipynb | 364 ++++++++++++++++++++++++++----------------- 2 files changed, 222 insertions(+), 144 deletions(-) diff --git a/requirements.txt b/requirements.txt index d0e5023..7343431 100644 --- a/requirements.txt +++ b/requirements.txt @@ -3,4 +3,4 @@ pandas matplotlib pyvis graphviz -ruamel.yaml \ No newline at end of file +ruamel.yaml diff --git a/trace-analysis.ipynb b/trace-analysis.ipynb index 5218a3d..5f8a2a7 100644 --- a/trace-analysis.ipynb +++ b/trace-analysis.ipynb @@ -3,7 +3,11 @@ { "cell_type": "code", "execution_count": 1, - "metadata": {}, + "metadata": { + "pycharm": { + "name": "#%%\n" + } + }, "outputs": [], "source": [ "import os\n", @@ -14,9 +18,9 @@ "\n", "from IPython.display import display, clear_output\n", "\n", - "sys.path.append(\"../ros2_tracing/tracetools_read\")\n", - "sys.path.append(\"../tracetools_analysis/tracetools_analysis\")\n", - "#from tracetools_read.trace import *\n", + "sys.path.append(\"../autoware/build/tracetools_read/\")\n", + "sys.path.append(\"../autoware/build/tracetools_analysis/\")\n", + "from tracetools_read.trace import *\n", "from tracetools_analysis.loading import load_file\n", "from tracetools_analysis.processor.ros2 import Ros2Handler\n", "from tracetools_analysis.utils.ros2 import Ros2DataModelUtil\n", @@ -33,7 +37,11 @@ { "cell_type": "code", "execution_count": 2, - "metadata": {}, + "metadata": { + "pycharm": { + "name": "#%%\n" + } + }, "outputs": [], "source": [ "def pkl_filename_from_file_timestamp(file_path):\n", @@ -43,7 +51,7 @@ " return pkl_filename, os.path.exists(pkl_filename)\n", " return None, False\n", "\n", - "path = os.path.expanduser(\"./\")\n", + "path = os.path.expanduser(\"~/Downloads/autoware-trace/ust\")\n", "path_converted = os.path.join(path, 'converted')\n", "pkl_filename, pkl_exists = pkl_filename_from_file_timestamp(path_converted)\n", "\n", @@ -57,7 +65,11 @@ { "cell_type": "code", "execution_count": 3, - "metadata": {}, + "metadata": { + "pycharm": { + "name": "#%%\n" + } + }, "outputs": [], "source": [ "if False:\n", @@ -113,7 +125,11 @@ }, { "cell_type": "markdown", - "metadata": {}, + "metadata": { + "pycharm": { + "name": "#%% md\n" + } + }, "source": [ "# Data Structures" ] @@ -121,7 +137,11 @@ { "cell_type": "code", "execution_count": 4, - "metadata": {}, + "metadata": { + "pycharm": { + "name": "#%%\n" + } + }, "outputs": [], "source": [ "def str_to_cls(classname):\n", @@ -226,10 +246,8 @@ " return list(filter(lambda pub: pub.topic_name == self.topic_name, publishers.values()))\n", " \n", " @cached_property\n", - " def subscription_object(self) -> 'SubscriptionObject':\n", - " sub_objs = list(filter(lambda sub_obj: sub_obj.subscription_handle == self.id, subscription_objects.values()))\n", - " assert len(sub_objs) <= 1\n", - " return sub_objs[0] if sub_objs else None\n", + " def subscription_objects(self) -> 'SubscriptionObject':\n", + " return list(filter(lambda sub_obj: sub_obj.subscription_handle == self.id, subscription_objects.values()))\n", "\n", " @property\n", " def topic(self) -> 'Topic':\n", @@ -352,10 +370,8 @@ " symbol: str\n", "\n", " @cached_property\n", - " def callback_obj(self) -> 'CallbackObject':\n", - " cb_objs = list(filter(lambda cb_obj: cb_obj.callback_object == self.id, callback_objects.values()))\n", - " assert len(cb_objs) <= 1\n", - " return cb_objs[0] if cb_objs else None\n", + " def callback_objs(self) -> List['CallbackObject']:\n", + " return list(filter(lambda cb_obj: cb_obj.callback_object == self.id, callback_objects.values()))\n", "\n", " def __hash__(self):\n", " return hash((self.id, self.timestamp, self.symbol))\n", @@ -384,7 +400,11 @@ { "cell_type": "code", "execution_count": 5, - "metadata": {}, + "metadata": { + "pycharm": { + "name": "#%%\n" + } + }, "outputs": [ { "name": "stdout", @@ -396,7 +416,6 @@ } ], "source": [ - "\n", "if not pkl_exists:\n", " print(\"Did not find pickled ROS objects, extracting...\")\n", " #######################################\n", @@ -421,10 +440,10 @@ "\n", " [(o.path, o.publishers, o.subscriptions, o.timers) for o in nodes.values()] ; print(\"Cached node properties\")\n", " [(o.instances, o.subscriptions) for o in publishers.values()] ; print(\"Cached publisher properties\")\n", - " [(o.publishers, o.subscription_object) for o in subscriptions.values()] ; print(\"Cached subscription properties\")\n", + " [(o.publishers, o.subscription_objects) for o in subscriptions.values()] ; print(\"Cached subscription properties\")\n", " [(o.nodes) for o in timers.values()] ; print(\"Cached timer properties\")\n", " [(o.callback_instances, o.owner, o.owner_info) for o in callback_objects.values()] ; print(\"Cached callback object properties\")\n", - " [(o.callback_obj) for o in callback_symbols.values()] ; print(\"Cached callback symbol properties\")\n", + " [(o.callback_objs) for o in callback_symbols.values()] ; print(\"Cached callback symbol properties\")\n", " [(o.publishers, o.subscriptions) for o in topics.values()] ; print(\"Cached topic properties\")\n", "\n", " fields_to_pickle = [\n", @@ -458,7 +477,11 @@ }, { "cell_type": "markdown", - "metadata": {}, + "metadata": { + "pycharm": { + "name": "#%% md\n" + } + }, "source": [ "# Callback-Sub & Callback-Timer Links" ] @@ -466,7 +489,11 @@ { "cell_type": "code", "execution_count": null, - "metadata": {}, + "metadata": { + "pycharm": { + "name": "#%%\n" + } + }, "outputs": [], "source": [ "import re\n", @@ -513,7 +540,11 @@ }, { "cell_type": "markdown", - "metadata": {}, + "metadata": { + "pycharm": { + "name": "#%% md\n" + } + }, "source": [ "# Topic-Node Mapping" ] @@ -521,7 +552,11 @@ { "cell_type": "code", "execution_count": null, - "metadata": {}, + "metadata": { + "pycharm": { + "name": "#%%\n" + } + }, "outputs": [], "source": [ "# Aggregate topics that have the same pubs and subs\n", @@ -537,7 +572,11 @@ }, { "cell_type": "markdown", - "metadata": {}, + "metadata": { + "pycharm": { + "name": "#%% md\n" + } + }, "source": [ "# Timer-Node Mapping" ] @@ -545,7 +584,11 @@ { "cell_type": "code", "execution_count": null, - "metadata": {}, + "metadata": { + "pycharm": { + "name": "#%%\n" + } + }, "outputs": [], "source": [ "unknowns = {}\n", @@ -570,7 +613,11 @@ }, { "cell_type": "markdown", - "metadata": {}, + "metadata": { + "pycharm": { + "name": "#%% md\n" + } + }, "source": [ "# Measure Frequency Deviations" ] @@ -578,7 +625,11 @@ { "cell_type": "code", "execution_count": null, - "metadata": {}, + "metadata": { + "pycharm": { + "name": "#%%\n" + } + }, "outputs": [], "source": [ "# Get Publisher frequencies\n", @@ -600,7 +651,11 @@ }, { "cell_type": "markdown", - "metadata": {}, + "metadata": { + "pycharm": { + "name": "#%% md\n" + } + }, "source": [ "# Plot Frequency Deviations" ] @@ -609,7 +664,10 @@ "cell_type": "code", "execution_count": null, "metadata": { - "scrolled": true + "scrolled": true, + "pycharm": { + "name": "#%%\n" + } }, "outputs": [], "source": [ @@ -642,7 +700,11 @@ }, { "cell_type": "markdown", - "metadata": {}, + "metadata": { + "pycharm": { + "name": "#%% md\n" + } + }, "source": [ "# Data Flow Graph" ] @@ -651,7 +713,10 @@ "cell_type": "code", "execution_count": null, "metadata": { - "scrolled": false + "scrolled": false, + "pycharm": { + "name": "#%%\n" + } }, "outputs": [], "source": [ @@ -703,7 +768,11 @@ }, { "cell_type": "markdown", - "metadata": {}, + "metadata": { + "pycharm": { + "name": "#%% md\n" + } + }, "source": [ "# Pub-Use Latencies\n", "Compute for each node and its data dependencies the list of pub-use delays (per-topic-per-node list of pub-use delays)" @@ -712,7 +781,11 @@ { "cell_type": "code", "execution_count": null, - "metadata": {}, + "metadata": { + "pycharm": { + "name": "#%%\n" + } + }, "outputs": [], "source": [ "def filter_none(ls):\n", @@ -773,7 +846,11 @@ { "cell_type": "code", "execution_count": null, - "metadata": {}, + "metadata": { + "pycharm": { + "name": "#%%\n" + } + }, "outputs": [], "source": [ "from matplotlib import cm\n", @@ -874,7 +951,11 @@ }, { "cell_type": "markdown", - "metadata": {}, + "metadata": { + "pycharm": { + "name": "#%% md\n" + } + }, "source": [ "# E2E Latency Calculation" ] @@ -882,13 +963,17 @@ { "cell_type": "code", "execution_count": 6, - "metadata": {}, + "metadata": { + "pycharm": { + "name": "#%%\n" + } + }, "outputs": [ { "name": "stdout", "output_type": "stream", "text": [ - "(483/483) Processing done. \n" + "(1842/1842) Processing done. \r\n" ] } ], @@ -971,7 +1056,15 @@ "\n", "with ProgressPrinter(\"Processing\", len(callback_objects)) as p:\n", " for cb in callback_objects.values():\n", - " p.step(Ros2DataModelUtil._prettify(None, callback_symbols[cb.callback_object].symbol) if cb.callback_object in callback_symbols else str(cb.id))\n", + " cb_sym = callback_symbols[cb.callback_object].symbol if cb.callback_object in callback_symbols else None\n", + " if cb_sym:\n", + " p.step(Ros2DataModelUtil._prettify(None, cb_sym))\n", + " else:\n", + " p.step(cb.id)\n", + "\n", + " if \"ParameterEvent\" in cb_sym:\n", + " continue\n", + "\n", " # Find topics the callback EXPLICITLY depends on\n", " # - Timer callbacks: no EXPLICIT dependencies\n", " # - Subscription callbacks: callback depends on the subscribed topic. Possibly also has other IMPLICIT dependencies\n", @@ -1017,75 +1110,62 @@ }, { "cell_type": "code", - "execution_count": 7, - "metadata": {}, + "execution_count": 19, + "metadata": { + "pycharm": { + "name": "#%%\n" + } + }, "outputs": [ { "name": "stdout", "output_type": "stream", "text": [ "/diagnostics:\n", - " 0.069979% void (AutowareStateMonitorNode::?)(autoware_auto_vehicle_msgs::msg::ControlModeReport*),\n", - " 0.069979% void (AutowareStateMonitorNode::?)(nav_msgs::msg::Odometry*)\n", - "/planning/scenario_planning/scenario_selector/trajectory:\n", - " 97.216700% void (ScenarioSelectorNode::?)(autoware_auto_planning_msgs::msg::Trajectory*),\n", - " 2.783300% void (ScenarioSelectorNode::?)(autoware_auto_planning_msgs::msg::Trajectory*)\n", + " 93.922652% void (diagnostic_updater::Updater::?)(),\n", + " 6.629834% void (ProcessMonitor::?)()\n", "/diagnostics:\n", - " 9.008380% void (diagnostic_updater::Updater::?)(),\n", - " 90.712291% void (planning_diagnostics::PlanningErrorMonitorNode::?)()\n", - "/control/trajectory_follower/control_cmd:\n", - " 50.000000% void (autoware::motion::control::trajectory_follower_nodes::LatLonMuxer::?)(autoware_auto_control_msgs::msg::AckermannLateralCommand*),\n", - " 50.000000% void (autoware::motion::control::trajectory_follower_nodes::LatLonMuxer::?)(autoware_auto_control_msgs::msg::LongitudinalCommand*)\n", - "/planning/scenario_planning/status/stop_reason:\n", - " 0.306748% void (motion_planning::ObstacleStopPlannerNode::?)(sensor_msgs::msg::PointCloud2*),\n", - " 100.000000% void (motion_planning::ObstacleStopPlannerNode::?)(autoware_auto_planning_msgs::msg::Trajectory*)\n", - "/planning/scenario_planning/lane_driving/trajectory:\n", - " 0.306748% void (motion_planning::ObstacleStopPlannerNode::?)(sensor_msgs::msg::PointCloud2*),\n", - " 100.000000% void (motion_planning::ObstacleStopPlannerNode::?)(autoware_auto_planning_msgs::msg::Trajectory*)\n", - "/planning/scenario_planning/lane_driving/motion_planning/obstacle_stop_planner/debug/marker:\n", - " 0.204499% void (motion_planning::ObstacleStopPlannerNode::?)(sensor_msgs::msg::PointCloud2*),\n", - " 100.000000% void (motion_planning::ObstacleStopPlannerNode::?)(autoware_auto_planning_msgs::msg::Trajectory*)\n", + " 0.202429% void (rclcpp::TimeSource::?)(rosgraph_msgs::msg::Clock*),\n", + " 60.526316% void (planning_diagnostics::PlanningErrorMonitorNode::?)()\n", + "/awapi/vehicle/get/status:\n", + " 0.689655% void (rclcpp::TimeSource::?)(rosgraph_msgs::msg::Clock*),\n", + " 100.000000% void (autoware_api::AutowareIvAdapter::?)()\n", "/diagnostics:\n", - " 9.047619% void (diagnostic_updater::Updater::?)(),\n", - " 90.793651% void (VehicleCmdGate::?)()\n", - "/control/command/emergency_cmd:\n", - " 100.000000% void (VehicleCmdGate::?)(autoware_auto_control_msgs::msg::AckermannControlCommand*),\n", - " 7.980703% void (behavior_path_planner::BehaviorPathPlannerNode::?)()\n", - "/control/command/control_cmd:\n", - " 100.000000% void (VehicleCmdGate::?)(autoware_auto_control_msgs::msg::AckermannControlCommand*),\n", - " 7.953136% void (behavior_path_planner::BehaviorPathPlannerNode::?)()\n", - "/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/debug/intersection:\n", - " 100.000000% void (behavior_velocity_planner::BehaviorVelocityPlannerNode::?)(autoware_auto_planning_msgs::msg::PathWithLaneId*),\n", - " 0.204082% void (behavior_velocity_planner::BehaviorVelocityPlannerNode::?)(nav_msgs::msg::Odometry*)\n", - "/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/debug/stop_line:\n", - " 100.000000% void (behavior_velocity_planner::BehaviorVelocityPlannerNode::?)(autoware_auto_planning_msgs::msg::PathWithLaneId*),\n", - " 0.102041% void (behavior_velocity_planner::BehaviorVelocityPlannerNode::?)(nav_msgs::msg::Odometry*)\n", - "/planning/scenario_planning/status/infrastructure_commands:\n", - " 100.000000% void (behavior_velocity_planner::BehaviorVelocityPlannerNode::?)(autoware_auto_planning_msgs::msg::PathWithLaneId*),\n", - " 0.204082% void (behavior_velocity_planner::BehaviorVelocityPlannerNode::?)(nav_msgs::msg::Odometry*)\n", - "/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/debug/virtual_traffic_light:\n", - " 100.000000% void (behavior_velocity_planner::BehaviorVelocityPlannerNode::?)(autoware_auto_planning_msgs::msg::PathWithLaneId*),\n", - " 0.102041% void (behavior_velocity_planner::BehaviorVelocityPlannerNode::?)(nav_msgs::msg::OccupancyGrid*)\n", - "/planning/scenario_planning/status/infrastructure_commands:\n", - " 100.000000% void (behavior_velocity_planner::BehaviorVelocityPlannerNode::?)(autoware_auto_planning_msgs::msg::PathWithLaneId*),\n", - " 0.204082% void (behavior_velocity_planner::BehaviorVelocityPlannerNode::?)(sensor_msgs::msg::PointCloud2*),\n", - " 0.102041% void (behavior_velocity_planner::BehaviorVelocityPlannerNode::?)(nav_msgs::msg::Odometry*)\n", - "/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/debug/merge_from_private:\n", - " 100.000000% void (behavior_velocity_planner::BehaviorVelocityPlannerNode::?)(autoware_auto_planning_msgs::msg::PathWithLaneId*),\n", - " 0.102041% void (behavior_velocity_planner::BehaviorVelocityPlannerNode::?)(nav_msgs::msg::Odometry*)\n", - "/planning/scenario_planning/status/stop_reasons:\n", - " 100.000000% void (behavior_velocity_planner::BehaviorVelocityPlannerNode::?)(autoware_auto_planning_msgs::msg::PathWithLaneId*),\n", - " 0.306122% void (behavior_velocity_planner::BehaviorVelocityPlannerNode::?)(sensor_msgs::msg::PointCloud2*)\n", - "/planning/scenario_planning/status/infrastructure_commands:\n", - " 100.000000% void (behavior_velocity_planner::BehaviorVelocityPlannerNode::?)(autoware_auto_planning_msgs::msg::PathWithLaneId*),\n", - " 0.204082% void (behavior_velocity_planner::BehaviorVelocityPlannerNode::?)(nav_msgs::msg::Odometry*)\n", - "/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/debug/occlusion_spot:\n", - " 100.000000% void (behavior_velocity_planner::BehaviorVelocityPlannerNode::?)(autoware_auto_planning_msgs::msg::PathWithLaneId*),\n", - " 0.102041% void (behavior_velocity_planner::BehaviorVelocityPlannerNode::?)(sensor_msgs::msg::PointCloud2*),\n", - " 0.102041% void (behavior_velocity_planner::BehaviorVelocityPlannerNode::?)(nav_msgs::msg::Odometry*)\n", - "/planning/scenario_planning/lane_driving/behavior_planning/path:\n", - " 100.000000% void (behavior_velocity_planner::BehaviorVelocityPlannerNode::?)(autoware_auto_planning_msgs::msg::PathWithLaneId*),\n", - " 0.408163% void (behavior_velocity_planner::BehaviorVelocityPlannerNode::?)(sensor_msgs::msg::PointCloud2*)\n" + " 0.005231% void (rclcpp::TimeSource::?)(rosgraph_msgs::msg::Clock*),\n", + " 0.005231% void (NDTScanMatcher::?)(geometry_msgs::msg::PoseWithCovarianceStamped*),\n", + " 0.428960% void (NDTScanMatcher::?)(sensor_msgs::msg::PointCloud2*),\n", + " 4.723792% void (NDTScanMatcher::?)(sensor_msgs::msg::PointCloud2*),\n", + " 0.136012% void (AutowareStateMonitorNode::?)()\n", + "/localization/pose_estimator/pose_with_covariance:\n", + " 0.384615% void (rclcpp::TimeSource::?)(rosgraph_msgs::msg::Clock*),\n", + " 100.000000% void (NDTScanMatcher::?)(sensor_msgs::msg::PointCloud2*)\n", + "/localization/pose_estimator/initial_to_result_distance:\n", + " 100.000000% void (NDTScanMatcher::?)(sensor_msgs::msg::PointCloud2*),\n", + " 0.373134% void (AutowareStateMonitorNode::?)()\n", + "/localization/pose_estimator/initial_to_result_distance_new:\n", + " 100.000000% void (NDTScanMatcher::?)(sensor_msgs::msg::PointCloud2*),\n", + " 0.373134% void (AutowareStateMonitorNode::?)()\n", + "/localization/pose_estimator/transform_probability:\n", + " 100.000000% void (NDTScanMatcher::?)(sensor_msgs::msg::PointCloud2*),\n", + " 0.373134% void (AutowareStateMonitorNode::?)()\n", + "/localization/pose_estimator/exe_time_ms:\n", + " 100.000000% void (NDTScanMatcher::?)(sensor_msgs::msg::PointCloud2*),\n", + " 0.373134% void (AutowareStateMonitorNode::?)()\n", + "/localization/pose_estimator/nearest_voxel_transformation_likelihood:\n", + " 100.000000% void (NDTScanMatcher::?)(sensor_msgs::msg::PointCloud2*),\n", + " 0.373134% void (AutowareStateMonitorNode::?)()\n", + "/localization/pose_estimator/initial_to_result_distance_old:\n", + " 100.000000% void (NDTScanMatcher::?)(sensor_msgs::msg::PointCloud2*),\n", + " 0.373134% void (AutowareStateMonitorNode::?)()\n", + "/localization/pose_estimator/iteration_num:\n", + " 100.000000% void (NDTScanMatcher::?)(sensor_msgs::msg::PointCloud2*),\n", + " 0.373134% void (AutowareStateMonitorNode::?)()\n", + "/diagnostics:\n", + " 34.070796% void (diagnostic_updater::Updater::?)(),\n", + " 65.486726% void (vehicle_cmd_gate::VehicleCmdGate::?)()\n", + "/control/current_gate_mode:\n", + " 50.000000% void (vehicle_cmd_gate::VehicleCmdGate::?)(),\n", + " 50.000000% void (vehicle_cmd_gate::VehicleCmdGate::?)()\n" ] } ], @@ -1101,7 +1181,7 @@ " if pub not in pub_to_scored_cb:\n", " pub_to_scored_cb[pub] = []\n", " pub_to_scored_cb[pub].append((send_cb, score))\n", - " receiver_cbs = [sub.subscription_object.callback_object for sub in pub.subscriptions if sub.subscription_object is not None]\n", + " receiver_cbs = [sub_obj.callback_object for sub in pub.subscriptions for sub_obj in sub.subscription_objects]\n", " for recv_cb in receiver_cbs:\n", " edges[(send_cb, recv_cb)] = (pub.topic, pub_cb_to_lat_stats[(pub, recv_cb)])\n", "\n", @@ -1120,7 +1200,7 @@ "for topic in out_topics:\n", " outputs.update({cb: topic for pub in topic.publishers if pub in pub_to_scored_cb for cb, score in pub_to_scored_cb[pub]})\n", "for topic in in_topics:\n", - " inputs.update({sub.subscription_object.callback_object: topic for sub in topic.subscriptions if sub.subscription_object is not None})\n", + " inputs.update({sub_obj.callback_object: topic for sub in topic.subscriptions for sub_obj in sub.subscription_objects})\n", "\n", "\n", "#################################################\n", @@ -1143,16 +1223,24 @@ }, { "cell_type": "code", - "execution_count": 8, - "metadata": {}, + "execution_count": 20, + "metadata": { + "pycharm": { + "name": "#%%\n" + } + }, "outputs": [ { - "name": "stdout", - "output_type": "stream", - "text": [ - "Node(id=281471218807408, timestamp=1652795532762216423, tid=10104, rmw_handle=281471218875664, name='behavior_path_planner', namespace='/planning/scenario_planning/lane_driving/behavior_planning')\n", - " CallbackObject -> CallbackObject CallbackObject CallbackObject CallbackObject CallbackObject CallbackObject\n", - " CallbackObject -> CallbackObject CallbackObject CallbackObject\n" + "ename": "KeyError", + "evalue": "281471221778768", + "output_type": "error", + "traceback": [ + "\u001B[0;31m---------------------------------------------------------------------------\u001B[0m", + "\u001B[0;31mKeyError\u001B[0m Traceback (most recent call last)", + "\u001B[0;32m/tmp/ipykernel_6800/33364117.py\u001B[0m in \u001B[0;36m\u001B[0;34m\u001B[0m\n\u001B[1;32m 12\u001B[0m \u001B[0mnode_internal_deps\u001B[0m \u001B[0;34m=\u001B[0m \u001B[0myaml\u001B[0m\u001B[0;34m.\u001B[0m\u001B[0mload\u001B[0m\u001B[0;34m(\u001B[0m\u001B[0mf\u001B[0m\u001B[0;34m)\u001B[0m\u001B[0;34m\u001B[0m\u001B[0;34m\u001B[0m\u001B[0m\n\u001B[1;32m 13\u001B[0m \u001B[0;31m# Convert node path to node instance\u001B[0m\u001B[0;34m\u001B[0m\u001B[0;34m\u001B[0m\u001B[0m\n\u001B[0;32m---> 14\u001B[0;31m node_internal_deps = {_find_node(path): {\n\u001B[0m\u001B[1;32m 15\u001B[0m \u001B[0mcallback_objects\u001B[0m\u001B[0;34m[\u001B[0m\u001B[0mcb_id\u001B[0m\u001B[0;34m]\u001B[0m\u001B[0;34m:\u001B[0m \u001B[0;34m[\u001B[0m\u001B[0mcallback_objects\u001B[0m\u001B[0;34m[\u001B[0m\u001B[0mdep_id\u001B[0m\u001B[0;34m]\u001B[0m \u001B[0;32mfor\u001B[0m \u001B[0mdep_id\u001B[0m \u001B[0;32min\u001B[0m \u001B[0mdep_ids\u001B[0m\u001B[0;34m]\u001B[0m\u001B[0;34m\u001B[0m\u001B[0;34m\u001B[0m\u001B[0m\n\u001B[1;32m 16\u001B[0m \u001B[0;32mfor\u001B[0m \u001B[0mcb_id\u001B[0m\u001B[0;34m,\u001B[0m \u001B[0mdep_ids\u001B[0m\u001B[0;34m\u001B[0m\u001B[0;34m\u001B[0m\u001B[0m\n", + "\u001B[0;32m/tmp/ipykernel_6800/33364117.py\u001B[0m in \u001B[0;36m\u001B[0;34m(.0)\u001B[0m\n\u001B[1;32m 12\u001B[0m \u001B[0mnode_internal_deps\u001B[0m \u001B[0;34m=\u001B[0m \u001B[0myaml\u001B[0m\u001B[0;34m.\u001B[0m\u001B[0mload\u001B[0m\u001B[0;34m(\u001B[0m\u001B[0mf\u001B[0m\u001B[0;34m)\u001B[0m\u001B[0;34m\u001B[0m\u001B[0;34m\u001B[0m\u001B[0m\n\u001B[1;32m 13\u001B[0m \u001B[0;31m# Convert node path to node instance\u001B[0m\u001B[0;34m\u001B[0m\u001B[0;34m\u001B[0m\u001B[0m\n\u001B[0;32m---> 14\u001B[0;31m node_internal_deps = {_find_node(path): {\n\u001B[0m\u001B[1;32m 15\u001B[0m \u001B[0mcallback_objects\u001B[0m\u001B[0;34m[\u001B[0m\u001B[0mcb_id\u001B[0m\u001B[0;34m]\u001B[0m\u001B[0;34m:\u001B[0m \u001B[0;34m[\u001B[0m\u001B[0mcallback_objects\u001B[0m\u001B[0;34m[\u001B[0m\u001B[0mdep_id\u001B[0m\u001B[0;34m]\u001B[0m \u001B[0;32mfor\u001B[0m \u001B[0mdep_id\u001B[0m \u001B[0;32min\u001B[0m \u001B[0mdep_ids\u001B[0m\u001B[0;34m]\u001B[0m\u001B[0;34m\u001B[0m\u001B[0;34m\u001B[0m\u001B[0m\n\u001B[1;32m 16\u001B[0m \u001B[0;32mfor\u001B[0m \u001B[0mcb_id\u001B[0m\u001B[0;34m,\u001B[0m \u001B[0mdep_ids\u001B[0m\u001B[0;34m\u001B[0m\u001B[0;34m\u001B[0m\u001B[0m\n", + "\u001B[0;32m/tmp/ipykernel_6800/33364117.py\u001B[0m in \u001B[0;36m\u001B[0;34m(.0)\u001B[0m\n\u001B[1;32m 13\u001B[0m \u001B[0;31m# Convert node path to node instance\u001B[0m\u001B[0;34m\u001B[0m\u001B[0;34m\u001B[0m\u001B[0m\n\u001B[1;32m 14\u001B[0m node_internal_deps = {_find_node(path): {\n\u001B[0;32m---> 15\u001B[0;31m \u001B[0mcallback_objects\u001B[0m\u001B[0;34m[\u001B[0m\u001B[0mcb_id\u001B[0m\u001B[0;34m]\u001B[0m\u001B[0;34m:\u001B[0m \u001B[0;34m[\u001B[0m\u001B[0mcallback_objects\u001B[0m\u001B[0;34m[\u001B[0m\u001B[0mdep_id\u001B[0m\u001B[0;34m]\u001B[0m \u001B[0;32mfor\u001B[0m \u001B[0mdep_id\u001B[0m \u001B[0;32min\u001B[0m \u001B[0mdep_ids\u001B[0m\u001B[0;34m]\u001B[0m\u001B[0;34m\u001B[0m\u001B[0;34m\u001B[0m\u001B[0m\n\u001B[0m\u001B[1;32m 16\u001B[0m \u001B[0;32mfor\u001B[0m \u001B[0mcb_id\u001B[0m\u001B[0;34m,\u001B[0m \u001B[0mdep_ids\u001B[0m\u001B[0;34m\u001B[0m\u001B[0;34m\u001B[0m\u001B[0m\n\u001B[1;32m 17\u001B[0m \u001B[0;32min\u001B[0m \u001B[0mdeps\u001B[0m\u001B[0;34m.\u001B[0m\u001B[0mitems\u001B[0m\u001B[0;34m(\u001B[0m\u001B[0;34m)\u001B[0m\u001B[0;34m\u001B[0m\u001B[0;34m\u001B[0m\u001B[0m\n", + "\u001B[0;31mKeyError\u001B[0m: 281471221778768" ] } ], @@ -1184,35 +1272,13 @@ }, { "cell_type": "code", - "execution_count": 14, - "metadata": {}, - "outputs": [ - { - "name": "stdout", - "output_type": "stream", - "text": [ - "[WARN] CB has no owners\n", - "[WARN] CB has no owners\n", - "[WARN] CB has no owners\n", - "[WARN] CB has no owners\n", - "[WARN] CB has no owners\n", - "[WARN] CB has no owners\n", - "[WARN] CB has no owners\n", - "[WARN] CB has no owners\n" - ] - }, - { - "data": { - "image/svg+xml": "\n\n\n\n\n\nG\n\n\ncluster_/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner\n\n/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner\n\n\ncluster_/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner\n\n/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner\n\n\ncluster_/control/external_cmd_selector\n\n/control/external_cmd_selector\n\n\ncluster_/planning/scenario_planning/scenario_selector\n\n/planning/scenario_planning/scenario_selector\n\n\ncluster_/planning/scenario_planning/external_velocity_limit_selector\n\n/planning/scenario_planning/external_velocity_limit_selector\n\n\ncluster_/planning/scenario_planning/parking/freespace_planner\n\n/planning/scenario_planning/parking/freespace_planner\n\n\ncluster_/planning/scenario_planning/parking/costmap_generator\n\n/planning/scenario_planning/parking/costmap_generator\n\n\ncluster_/control/trajectory_follower/longitudinal_controller_node_exe\n\n/control/trajectory_follower/longitudinal_controller_node_exe\n\n\ncluster_/planning/planning_diagnostics/planning_error_monitor\n\n/planning/planning_diagnostics/planning_error_monitor\n\n\ncluster_/control/vehicle_cmd_gate\n\n/control/vehicle_cmd_gate\n\n\ncluster_/planning/scenario_planning/lane_driving/motion_planning/obstacle_avoidance_planner\n\n/planning/scenario_planning/lane_driving/motion_planning/obstacle_avoidance_planner\n\n\ncluster_/system/ad_service_state_monitor\n\n/system/ad_service_state_monitor\n\n\ncluster_/control/trajectory_follower/lateral_controller_node_exe\n\n/control/trajectory_follower/lateral_controller_node_exe\n\n\ncluster_/control/external_cmd_converter\n\n/control/external_cmd_converter\n\n\ncluster_/system/emergency_handler\n\n/system/emergency_handler\n\n\ncluster_/control/trajectory_follower/latlon_muxer_node_exe\n\n/control/trajectory_follower/latlon_muxer_node_exe\n\n\ncluster_/planning/mission_planning/mission_planner\n\n/planning/mission_planning/mission_planner\n\n\ncluster_/system/system_error_monitor\n\n/system/system_error_monitor\n\n\ncluster_/planning/scenario_planning/lane_driving/motion_planning/surround_obstacle_checker\n\n/planning/scenario_planning/lane_driving/motion_planning/surround_obstacle_checker\n\n\ncluster_/control/trajectory_follower/lane_departure_checker_node\n\n/control/trajectory_follower/lane_departure_checker_node\n\n\ncluster_/map/lanelet2_map_visualization\n\n/map/lanelet2_map_visualization\n\n\ncluster_/planning/scenario_planning/lane_driving/motion_planning/obstacle_stop_planner\n\n/planning/scenario_planning/lane_driving/motion_planning/obstacle_stop_planner\n\n\ncluster_/control/shift_decider\n\n/control/shift_decider\n\n\ncluster_/planning/scenario_planning/motion_velocity_smoother\n\n/planning/scenario_planning/motion_velocity_smoother\n\n\ncluster_/robot_state_publisher\n\n/robot_state_publisher\n\n\ncluster_/planning/mission_planning/goal_pose_visualizer\n\n/planning/mission_planning/goal_pose_visualizer\n\n\ncluster_/map/map_tf_generator\n\n/map/map_tf_generator\n\n\ncluster_/system/system_monitor/hdd_monitor\n\n/system/system_monitor/hdd_monitor\n\n\n\nINPUT\n\nINPUT\n\n \n\n\n\n281471292354688\n\n\n \n\nvoid (behavior_velocity_planner::BehaviorVelocityPlannerNode::?)(autoware_auto_perception_msgs::msg::TrafficSignalArray*)\n\n \n\n\n\n\n\nINPUT:out->281471292354688:in\n\n\n\n\n\n\n\n\n281471292723984\n\n\n \n\nvoid (behavior_velocity_planner::BehaviorVelocityPlannerNode::?)(autoware_auto_perception_msgs::msg::TrafficSignalArray*)\n\n \n\n\n\n\n\nINPUT:out->281471292723984:in\n\n\n\n\n\n\n\n\n281471292197968\n\n\n \n\nvoid (behavior_velocity_planner::BehaviorVelocityPlannerNode::?)(nav_msgs::msg::Odometry*)\n\n \n\n\n\n\n\nINPUT:out->281471292197968:in\n\n\n\n\n\n\n\n\n281471292814832\n\n\n \n\nvoid (behavior_velocity_planner::BehaviorVelocityPlannerNode::?)(nav_msgs::msg::OccupancyGrid*)\n\n \n\n\n\n\n\nINPUT:out->281471292814832:in\n\n\n\n\n\n\n\n\n281471292758736\n\n\n \n\nvoid (behavior_velocity_planner::BehaviorVelocityPlannerNode::?)(tier4_v2x_msgs::msg::VirtualTrafficLightStateArray*)\n\n \n\n\n\n\n\nINPUT:out->281471292758736:in\n\n\n\n\n\n\n\n\n281471292694880\n\n\n \n\nvoid (behavior_velocity_planner::BehaviorVelocityPlannerNode::?)(tier4_planning_msgs::msg::VelocityLimit*)\n\n \n\n\n\n\n\nINPUT:out->281471292694880:in\n\n\n\n\n\n\n\n\n281471292187680\n\n\n \n\nvoid (behavior_velocity_planner::BehaviorVelocityPlannerNode::?)(autoware_auto_perception_msgs::msg::PredictedObjects*)\n\n \n\n\n\n\n\nINPUT:out->281471292187680:in\n\n\n\n\n\n\n\n\n281471292439776\n\n\n \n\nvoid (behavior_velocity_planner::BehaviorVelocityPlannerNode::?)(tier4_api_msgs::msg::CrosswalkStatus*)\n\n \n\n\n\n\n\nINPUT:out->281471292439776:in\n\n\n\n\n\n\n\n\n281471292201536\n\n\n \n\nvoid (behavior_velocity_planner::BehaviorVelocityPlannerNode::?)(sensor_msgs::msg::PointCloud2*)\n\n \n\n\n\n\n\nINPUT:out->281471292201536:in\n\n\n\n\n\n\n\n\n281471292458032\n\n\n \n\nvoid (behavior_velocity_planner::BehaviorVelocityPlannerNode::?)(tier4_api_msgs::msg::IntersectionStatus*)\n\n \n\n\n\n\n\nINPUT:out->281471292458032:in\n\n\n\n\n\n\n\n\n281471220381760\n\n\n \n\nvoid (behavior_path_planner::BehaviorPathPlannerNode::?)(tier4_planning_msgs::msg::PathChangeModule*)\n\n \n\n\n\n\n\nINPUT:out->281471220381760:in\n\n\n\n\n\n\n\n\n281471220598896\n\n\n \n\nvoid (behavior_path_planner::SideShiftModule::?)(tier4_planning_msgs::msg::LateralOffset*)\n\n \n\n\n\n\n\nINPUT:out->281471220598896:in\n\n\n\n\n\n\n\n\n281471220195376\n\n\n \n\nvoid (behavior_path_planner::BehaviorPathPlannerNode::?)(nav_msgs::msg::Odometry*)\n\n \n\n\n\n\n\nINPUT:out->281471220195376:in\n\n\n\n\n\n\n\n\n281471220214336\n\n\n \n\nvoid (behavior_path_planner::BehaviorPathPlannerNode::?)(autoware_auto_perception_msgs::msg::PredictedObjects*)\n\n \n\n\n\n\n\nINPUT:out->281471220214336:in\n\n\n\n\n\n\n\n\n187651236011408\n\n\n \n\nvoid (ExternalCmdSelector::?)(tier4_external_api_msgs::msg::TurnSignalStamped*)\n\n \n\n\n\n\n\nINPUT:out->187651236011408:in\n\n\n\n\n\n\n\n\n187651236017424\n\n\n \n\nvoid (ExternalCmdSelector::?)(tier4_external_api_msgs::msg::Heartbeat*)\n\n \n\n\n\n\n\nINPUT:out->187651236017424:in\n\n\n\n\n\n\n\n\n187651235894224\n\n\n \n\nvoid (ExternalCmdSelector::?)(tier4_external_api_msgs::msg::ControlCommandStamped*)\n\n \n\n\n\n\n\nINPUT:out->187651235894224:in\n\n\n\n\n\n\n\n\n187651236076832\n\n\n \n\nvoid (ExternalCmdSelector::?)(tier4_external_api_msgs::msg::TurnSignalStamped*)\n\n \n\n\n\n\n\nINPUT:out->187651236076832:in\n\n\n\n\n\n\n\n\n187651236049552\n\n\n \n\nvoid (ExternalCmdSelector::?)(tier4_external_api_msgs::msg::ControlCommandStamped*)\n\n \n\n\n\n\n\nINPUT:out->187651236049552:in\n\n\n\n\n\n\n\n\n187651236075584\n\n\n \n\nvoid (ExternalCmdSelector::?)(tier4_external_api_msgs::msg::GearShiftStamped*)\n\n \n\n\n\n\n\nINPUT:out->187651236075584:in\n\n\n\n\n\n\n\n\n187651236009840\n\n\n \n\nvoid (ExternalCmdSelector::?)(tier4_external_api_msgs::msg::GearShiftStamped*)\n\n \n\n\n\n\n\nINPUT:out->187651236009840:in\n\n\n\n\n\n\n\n\n187651236084304\n\n\n \n\nvoid (ExternalCmdSelector::?)(tier4_external_api_msgs::msg::Heartbeat*)\n\n \n\n\n\n\n\nINPUT:out->187651236084304:in\n\n\n\n\n\n\n\n\n187650725684000\n\n\n \n\nvoid (ScenarioSelectorNode::?)(nav_msgs::msg::Odometry*)\n\n \n\n\n\n\n\nINPUT:out->187650725684000:in\n\n\n\n\n\n\n\n\n187651290507760\n\n\n \n\nvoid (ExternalVelocityLimitSelectorNode::?)(tier4_planning_msgs::msg::VelocityLimit*)\n\n \n\n\n\n\n\nINPUT:out->187651290507760:in\n\n\n\n\n\n\n\n\n187651235284384\n\n\n \n\nvoid (freespace_planner::FreespacePlannerNode::?)(nav_msgs::msg::Odometry*)\n\n \n\n\n\n\n\nINPUT:out->187651235284384:in\n\n\n\n\n\n\n\n\n187651234414432\n\n\n \n\nvoid (CostmapGenerator::?)(autoware_auto_perception_msgs::msg::PredictedObjects*)\n\n \n\n\n\n\n\nINPUT:out->187651234414432:in\n\n\n\n\n\n\n\n\n187651234424704\n\n\n \n\nvoid (CostmapGenerator::?)(sensor_msgs::msg::PointCloud2*)\n\n \n\n\n\n\n\nINPUT:out->187651234424704:in\n\n\n\n\n\n\n\n\n187651235237984\n\n\n \n\nvoid (autoware::motion::control::trajectory_follower_nodes::LongitudinalController::?)(nav_msgs::msg::Odometry*)\n\n \n\n\n\n\n\nINPUT:out->187651235237984:in\n\n\n\n\n\n\n\n\n187651239922832\n\n\n \n\nvoid (VehicleCmdGate::?)(autoware_auto_vehicle_msgs::msg::SteeringReport*)\n\n \n\n\n\n\n\nINPUT:out->187651239922832:in\n\n\n\n\n\n\n\n\n187651239912896\n\n\n \n\nvoid (VehicleCmdGate::?)(tier4_control_msgs::msg::GateMode*)\n\n \n\n\n\n\n\nINPUT:out->187651239912896:in\n\n\n\n\n\n\n\n\n187651170628208\n\n\n \n\nvoid (ObstacleAvoidancePlanner::?)(nav_msgs::msg::Odometry*)\n\n \n\n\n\n\n\nINPUT:out->187651170628208:in\n\n\n\n\n\n\n\n\n187651170706592\n\n\n \n\nvoid (ObstacleAvoidancePlanner::?)(autoware_auto_perception_msgs::msg::PredictedObjects*)\n\n \n\n\n\n\n\nINPUT:out->187651170706592:in\n\n\n\n\n\n\n\n\n187651170795920\n\n\n \n\nvoid (ObstacleAvoidancePlanner::?)(tier4_planning_msgs::msg::EnableAvoidance*)\n\n \n\n\n\n\n\nINPUT:out->187651170795920:in\n\n\n\n\n\n\n\n\n187650227061536\n\n\n \n\nvoid (AutowareStateMonitorNode::?)(autoware_auto_vehicle_msgs::msg::ControlModeReport*)\n\n \n\n\n\n\n\nINPUT:out->187650227061536:in\n\n\n\n\n\n\n\n\n187650227086464\n\n\n \n\nvoid (AutowareStateMonitorNode::?)(nav_msgs::msg::Odometry*)\n\n \n\n\n\n\n\nINPUT:out->187650227086464:in\n\n\n\n\n\n\n\n\n187651234295632\n\n\n \n\nvoid (autoware::motion::control::trajectory_follower_nodes::LateralController::?)(autoware_auto_vehicle_msgs::msg::SteeringReport*)\n\n \n\n\n\n\n\nINPUT:out->187651234295632:in\n\n\n\n\n\n\n\n\n187651234414560\n\n\n \n\nvoid (autoware::motion::control::trajectory_follower_nodes::LateralController::?)(nav_msgs::msg::Odometry*)\n\n \n\n\n\n\n\nINPUT:out->187651234414560:in\n\n\n\n\n\n\n\n\n187651236518192\n\n\n \n\nvoid (external_cmd_converter::ExternalCmdConverterNode::?)(nav_msgs::msg::Odometry*)\n\n \n\n\n\n\n\nINPUT:out->187651236518192:in\n\n\n\n\n\n\n\n\n187650829931008\n\n\n \n\nvoid (EmergencyHandler::?)(nav_msgs::msg::Odometry*)\n\n \n\n\n\n\n\nINPUT:out->187650829931008:in\n\n\n\n\n\n\n\n\n187650830008528\n\n\n \n\nvoid (EmergencyHandler::?)(autoware_auto_vehicle_msgs::msg::ControlModeReport*)\n\n \n\n\n\n\n\nINPUT:out->187650830008528:in\n\n\n\n\n\n\n\n\n187651612752912\n\n\n \n\nvoid (mission_planner::MissionPlanner::?)(geometry_msgs::msg::PoseStamped*)\n\n \n\n\n\n\n\nINPUT:out->187651612752912:in\n\n\n\n\n\n\n\n\n187651612765392\n\n\n \n\nvoid (mission_planner::MissionPlanner::?)(geometry_msgs::msg::PoseStamped*)\n\n \n\n\n\n\n\nINPUT:out->187651612765392:in\n\n\n\n\n\n\n\n\n187650864479216\n\n\n \n\nvoid (AutowareErrorMonitor::?)(autoware_auto_vehicle_msgs::msg::ControlModeReport*)\n\n \n\n\n\n\n\nINPUT:out->187650864479216:in\n\n\n\n\n\n\n\n\n281472225979632\n\n\n \n\nvoid (surround_obstacle_checker::SurroundObstacleCheckerNode::?)(nav_msgs::msg::Odometry*)\n\n \n\n\n\n\n\nINPUT:out->281472225979632:in\n\n\n\n\n\n\n\n\n281472225878608\n\n\n \n\nvoid (surround_obstacle_checker::SurroundObstacleCheckerNode::?)(sensor_msgs::msg::PointCloud2*)\n\n \n\n\n\n\n\nINPUT:out->281472225878608:in\n\n\n\n\n\n\n\n\n281472225914304\n\n\n \n\nvoid (surround_obstacle_checker::SurroundObstacleCheckerNode::?)(autoware_auto_perception_msgs::msg::PredictedObjects*)\n\n \n\n\n\n\n\nINPUT:out->281472225914304:in\n\n\n\n\n\n\n\n\n187651237827456\n\n\n \n\nvoid (lane_departure_checker::LaneDepartureCheckerNode::?)(nav_msgs::msg::Odometry*)\n\n \n\n\n\n\n\nINPUT:out->187651237827456:in\n\n\n\n\n\n\n\n\n281471555072288\n\n\n \n\nvoid (motion_planning::ObstacleStopPlannerNode::?)(sensor_msgs::msg::PointCloud2*)\n\n \n\n\n\n\n\nINPUT:out->281471555072288:in\n\n\n\n\n\n\n\n\n281471555215120\n\n\n \n\nvoid (motion_planning::ObstacleStopPlannerNode::?)(tier4_planning_msgs::msg::ExpandStopRange*)\n\n \n\n\n\n\n\nINPUT:out->281471555215120:in\n\n\n\n\n\n\n\n\n281471555234272\n\n\n \n\nvoid (motion_planning::ObstacleStopPlannerNode::?)(nav_msgs::msg::Odometry*)\n\n \n\n\n\n\n\nINPUT:out->281471555234272:in\n\n\n\n\n\n\n\n\n281471555182320\n\n\n \n\nvoid (motion_planning::ObstacleStopPlannerNode::?)(autoware_auto_perception_msgs::msg::PredictedObjects*)\n\n \n\n\n\n\n\nINPUT:out->281471555182320:in\n\n\n\n\n\n\n\n\n187651165425504\n\n\n \n\nvoid (motion_velocity_smoother::MotionVelocitySmootherNode::?)(nav_msgs::msg::Odometry*)\n\n \n\n\n\n\n\nINPUT:out->187651165425504:in\n\n\n\n\n\n\n\n\n187651122540608\n\n\n \n\nvoid (robot_state_publisher::RobotStatePublisher::?)(sensor_msgs::msg::JointState*)\n\n \n\n\n\n\n\nINPUT:out->187651122540608:in\n\n\n\n\n\n\n\n\nOUTPUT\n\n \n\nOUTPUT\n\n\n\n281471292182224\n\n\n \n\nvoid (behavior_velocity_planner::BehaviorVelocityPlannerNode::?)(autoware_auto_planning_msgs::msg::PathWithLaneId*)\n\n \n\n\n\n\n\n281471292182224:out->OUTPUT:in\n\n\n\n\n\n\n\n\n187651170508848\n\n\n \n\nvoid (ObstacleAvoidancePlanner::?)(autoware_auto_planning_msgs::msg::Path*)\n\n \n\n\n\n\n\n281471292182224:out->187651170508848:in\n\n\n\n\n\n\n\n\n281471292197968:out->OUTPUT:in\n\n\n\n\n\n\n\n\n281471292814832:out->OUTPUT:in\n\n\n\n\n\n\n\n\n281471292201536:out->OUTPUT:in\n\n\n\n\n\n\n\n\n281471292201536:out->187651170508848:in\n\n\n\n\n\n\n\n\n281471292318288\n\n\n \n\nvoid (behavior_velocity_planner::BehaviorVelocityPlannerNode::?)(autoware_auto_mapping_msgs::msg::HADMapBin*)\n\n \n\n\n\n\n\n281471220283472\n\n\n \n\nvoid (behavior_path_planner::BehaviorPathPlannerNode::?)(tier4_planning_msgs::msg::Approval*)\n\n \n\n\n\n\n\n281471220381760:out->281471220283472:in\n\n\n\n\n\n\n\n\n281471221778768\n\n\n \n\nvoid (behavior_path_planner::BehaviorPathPlannerNode::?)()\n\n \n\n\n\n\n\n281471220381760:out->281471221778768:in\n\n\n\n\n\n\n\n\n281471220598896:out->281471220283472:in\n\n\n\n\n\n\n\n\n281471220598896:out->281471221778768:in\n\n\n\n\n\n\n\n\n281471220449136\n\n\n \n\nvoid (behavior_path_planner::BehaviorPathPlannerNode::?)(autoware_auto_planning_msgs::msg::HADMapRoute*)\n\n \n\n\n\n\n\n281471220449136:out->281471220283472:in\n\n\n\n\n\n\n\n\n281471220449136:out->281471221778768:in\n\n\n\n\n\n\n\n\n281471220195376:out->281471221778768:in\n\n\n\n\n\n\n\n\n281471220214336:out->281471221778768:in\n\n\n\n\n\n\n\n\n281471220283472:out->OUTPUT:in\n\n\n\n\n\n\n\n\n281471220283472:out->281471292182224:in\n\n\n\n\n\n\n\n\n187651239969968\n\n\n \n\nvoid (VehicleCmdGate::?)(autoware_auto_vehicle_msgs::msg::HazardLightsCommand*)\n\n \n\n\n\n\n\n281471220283472:out->187651239969968:in\n\n\n\n\n\n\n\n\n187651239936720\n\n\n \n\nvoid (VehicleCmdGate::?)(autoware_auto_vehicle_msgs::msg::TurnIndicatorsCommand*)\n\n \n\n\n\n\n\n281471220283472:out->187651239936720:in\n\n\n\n\n\n\n\n\n281471221778768:out->OUTPUT:in\n\n\n\n\n\n\n\n\n187650829824912\n\n\n \n\nvoid (EmergencyHandler::?)(autoware_auto_control_msgs::msg::AckermannControlCommand*)\n\n \n\n\n\n\n\n281471221778768:out->187650829824912:in\n\n\n\n\n\n\n\n\n281471220400576\n\n\n \n\nvoid (behavior_path_planner::BehaviorPathPlannerNode::?)(autoware_auto_mapping_msgs::msg::HADMapBin*)\n\n \n\n\n\n\n\n281471220223648\n\n\n \n\nbehavior_path_planner::BehaviorPathPlannerNode::BehaviorPathPlannerNode(rclcpp::NodeOptionsconst&)::{lambda(tier4_planning_msgs::msg::Scenario*)#1}\n\n \n\n\n\n\n\n281471220223648:out->281471221778768:in\n\n\n\n\n\n\n\n\n187651236095968\n\n\n \n\nvoid (ExternalCmdSelector::?)()\n\n \n\n\n\n\n\n187651236095968:out->OUTPUT:in\n\n\n\n\n\n\n\n\n187650725588976\n\n\n \n\nvoid (ScenarioSelectorNode::?)(autoware_auto_planning_msgs::msg::HADMapRoute*)\n\n \n\n\n\n\n\n187650725574912\n\n\n \n\nvoid (ScenarioSelectorNode::?)(autoware_auto_mapping_msgs::msg::HADMapBin*)\n\n \n\n\n\n\n\n187650725848512\n\n\n \n\nvoid (ScenarioSelectorNode::?)()\n\n \n\n\n\n\n\n187650725848512:out->281471220223648:in\n\n\n\n\n\n\n\n\n187651235281808\n\n\n \n\nvoid (freespace_planner::FreespacePlannerNode::?)(tier4_planning_msgs::msg::Scenario*)\n\n \n\n\n\n\n\n187650725848512:out->187651235281808:in\n\n\n\n\n\n\n\n\n187651234516960\n\n\n \n\nvoid (CostmapGenerator::?)(tier4_planning_msgs::msg::Scenario*)\n\n \n\n\n\n\n\n187650725848512:out->187651234516960:in\n\n\n\n\n\n\n\n\n187650725538176\n\n\n \n\nvoid (ScenarioSelectorNode::?)(autoware_auto_planning_msgs::msg::Trajectory*)\n\n \n\n\n\n\n\n187651165396336\n\n\n \n\nvoid (motion_velocity_smoother::MotionVelocitySmootherNode::?)(autoware_auto_planning_msgs::msg::Trajectory*)\n\n \n\n\n\n\n\n187650725538176:out->187651165396336:in\n\n\n\n\n\n\n\n\n187650725528480\n\n\n \n\nvoid (ScenarioSelectorNode::?)(autoware_auto_planning_msgs::msg::Trajectory*)\n\n \n\n\n\n\n\n187650725528480:out->187651165396336:in\n\n\n\n\n\n\n\n\n187651290535728\n\n\n \n\nvoid (ExternalVelocityLimitSelectorNode::?)(tier4_planning_msgs::msg::VelocityLimit*)\n\n \n\n\n\n\n\n187651290617280\n\n\n \n\nvoid (ExternalVelocityLimitSelectorNode::?)(tier4_planning_msgs::msg::VelocityLimitClearCommand*)\n\n \n\n\n\n\n\n187651235210912\n\n\n \n\nvoid (freespace_planner::FreespacePlannerNode::?)(nav_msgs::msg::OccupancyGrid*)\n\n \n\n\n\n\n\n187651235257712\n\n\n \n\nvoid (freespace_planner::FreespacePlannerNode::?)(autoware_auto_planning_msgs::msg::HADMapRoute*)\n\n \n\n\n\n\n\n187651234961136\n\n\n \n\nvoid (freespace_planner::FreespacePlannerNode::?)()\n\n \n\n\n\n\n\n187651234515584\n\n\n \n\nvoid (CostmapGenerator::?)(autoware_auto_mapping_msgs::msg::HADMapBin*)\n\n \n\n\n\n\n\n187651234424656\n\n\n \n\nvoid (CostmapGenerator::?)()\n\n \n\n\n\n\n\n187651234424656:out->OUTPUT:in\n\n\n\n\n\n\n\n\n187651234424656:out->187651235210912:in\n\n\n\n\n\n\n\n\n187651235237936\n\n\n \n\nvoid (autoware::motion::control::trajectory_follower_nodes::LongitudinalController::?)()\n\n \n\n\n\n\n\n187651235242032\n\n\n \n\nvoid (autoware::motion::control::trajectory_follower_nodes::LongitudinalController::?)(autoware_auto_planning_msgs::msg::Trajectory*)\n\n \n\n\n\n\n\n187650857875248\n\n\n \n\nvoid (planning_diagnostics::PlanningErrorMonitorNode::?)(autoware_auto_planning_msgs::msg::Trajectory*)\n\n \n\n\n\n\n\n187650857760512\n\n\n \n\nvoid (planning_diagnostics::PlanningErrorMonitorNode::?)()\n\n \n\n\n\n\n\n187650857760512:out->OUTPUT:in\n\n\n\n\n\n\n\n\n187651239920720\n\n\n \n\nvoid (VehicleCmdGate::?)(autoware_auto_vehicle_msgs::msg::Engage*)\n\n \n\n\n\n\n\n187651240076560\n\n\n \n\nvoid (VehicleCmdGate::?)(autoware_auto_vehicle_msgs::msg::HazardLightsCommand*)\n\n \n\n\n\n\n\n187651239621024\n\n\n \n\nvoid (VehicleCmdGate::?)(autoware_auto_system_msgs::msg::EmergencyState*)\n\n \n\n\n\n\n\n187651239995456\n\n\n \n\nvoid (VehicleCmdGate::?)(autoware_auto_vehicle_msgs::msg::TurnIndicatorsCommand*)\n\n \n\n\n\n\n\n187651239979264\n\n\n \n\nvoid (VehicleCmdGate::?)(autoware_auto_vehicle_msgs::msg::GearCommand*)\n\n \n\n\n\n\n\n187651240214128\n\n\n \n\nvoid (VehicleCmdGate::?)()\n\n \n\n\n\n\n\n187651240214128:out->OUTPUT:in\n\n\n\n\n\n\n\n\n187650226567200\n\n\n \n\nvoid (AutowareStateMonitorNode::?)(autoware_auto_vehicle_msgs::msg::Engage*)\n\n \n\n\n\n\n\n187651240214128:out->187650226567200:in\n\n\n\n\n\n\n\n\n187651236612256\n\n\n \n\nvoid (external_cmd_converter::ExternalCmdConverterNode::?)(tier4_control_msgs::msg::GateMode*)\n\n \n\n\n\n\n\n187651240214128:out->187651236612256:in\n\n\n\n\n\n\n\n\n187650864449376\n\n\n \n\nvoid (AutowareErrorMonitor::?)(tier4_control_msgs::msg::GateMode*)\n\n \n\n\n\n\n\n187651240214128:out->187650864449376:in\n\n\n\n\n\n\n\n\n187651240027632\n\n\n \n\nvoid (VehicleCmdGate::?)(autoware_auto_vehicle_msgs::msg::HazardLightsCommand*)\n\n \n\n\n\n\n\n187651240036592\n\n\n \n\nvoid (VehicleCmdGate::?)(autoware_auto_vehicle_msgs::msg::GearCommand*)\n\n \n\n\n\n\n\n187651240083056\n\n\n \n\nvoid (VehicleCmdGate::?)(autoware_auto_vehicle_msgs::msg::GearCommand*)\n\n \n\n\n\n\n\n187651239991632\n\n\n \n\nvoid (VehicleCmdGate::?)(autoware_auto_control_msgs::msg::AckermannControlCommand*)\n\n \n\n\n\n\n\n187651239927824\n\n\n \n\nvoid (VehicleCmdGate::?)(autoware_auto_control_msgs::msg::AckermannControlCommand*)\n\n \n\n\n\n\n\n187651239927824:out->OUTPUT:in\n\n\n\n\n\n\n\n\n187651239927824:out->187650829824912:in\n\n\n\n\n\n\n\n\n187651239890784\n\n\n \n\nvoid (VehicleCmdGate::?)(tier4_external_api_msgs::msg::Heartbeat*)\n\n \n\n\n\n\n\n187651240046928\n\n\n \n\nvoid (VehicleCmdGate::?)(autoware_auto_control_msgs::msg::AckermannControlCommand*)\n\n \n\n\n\n\n\n187651170508848:out->OUTPUT:in\n\n\n\n\n\n\n\n\n281471555210208\n\n\n \n\nvoid (motion_planning::ObstacleStopPlannerNode::?)(autoware_auto_planning_msgs::msg::Trajectory*)\n\n \n\n\n\n\n\n187651170508848:out->281471555210208:in\n\n\n\n\n\n\n\n\n187650227078416\n\n\n \n\nvoid (AutowareStateMonitorNode::?)()\n\n \n\n\n\n\n\n187650227078464\n\n\n \n\nvoid (AutowareStateMonitorNode::?)(autoware_auto_planning_msgs::msg::HADMapRoute*)\n\n \n\n\n\n\n\n187651233978848\n\n\n \n\nvoid (autoware::motion::control::trajectory_follower_nodes::LateralController::?)()\n\n \n\n\n\n\n\n187651234294336\n\n\n \n\nvoid (autoware::motion::control::trajectory_follower_nodes::LateralController::?)(autoware_auto_planning_msgs::msg::Trajectory*)\n\n \n\n\n\n\n\n187651236629808\n\n\n \n\nvoid (external_cmd_converter::ExternalCmdConverterNode::?)(tier4_external_api_msgs::msg::Heartbeat*)\n\n \n\n\n\n\n\n187651236539712\n\n\n \n\nvoid (external_cmd_converter::ExternalCmdConverterNode::?)(tier4_external_api_msgs::msg::ControlCommandStamped*)\n\n \n\n\n\n\n\n187651236521888\n\n\n \n\nvoid (external_cmd_converter::ExternalCmdConverterNode::?)()\n\n \n\n\n\n\n\n187651236535728\n\n\n \n\nvoid (external_cmd_converter::ExternalCmdConverterNode::?)(autoware_auto_vehicle_msgs::msg::GearCommand*)\n\n \n\n\n\n\n\n187650829768384\n\n\n \n\nvoid (EmergencyHandler::?)(autoware_auto_system_msgs::msg::HazardStatusStamped*)\n\n \n\n\n\n\n\n187650830150352\n\n\n \n\nvoid (EmergencyHandler::?)()\n\n \n\n\n\n\n\n187650830150352:out->187651240076560:in\n\n\n\n\n\n\n\n\n187650830150352:out->187651239621024:in\n\n\n\n\n\n\n\n\n187650830150352:out->187651240046928:in\n\n\n\n\n\n\n\n\n187650830033680\n\n\n \n\n\n \n\n\n\n\n\n187651237083504\n\n\n \n\nvoid (autoware::motion::control::trajectory_follower_nodes::LatLonMuxer::?)(autoware_auto_control_msgs::msg::AckermannLateralCommand*)\n\n \n\n\n\n\n\n187651237083504:out->187651239927824:in\n\n\n\n\n\n\n\n\n187651238636368\n\n\n \n\nvoid (ShiftDecider::?)(autoware_auto_control_msgs::msg::AckermannControlCommand*)\n\n \n\n\n\n\n\n187651237083504:out->187651238636368:in\n\n\n\n\n\n\n\n\n187651237165200\n\n\n \n\nvoid (autoware::motion::control::trajectory_follower_nodes::LatLonMuxer::?)(autoware_auto_control_msgs::msg::LongitudinalCommand*)\n\n \n\n\n\n\n\n187651237165200:out->187651239927824:in\n\n\n\n\n\n\n\n\n187651237165200:out->187651238636368:in\n\n\n\n\n\n\n\n\n187650883819920\n\n\n \n\nvoid (MapTFGeneratorNode::?)(sensor_msgs::msg::PointCloud2*)\n\n \n\n\n\n\n\n187651612752912:out->OUTPUT:in\n\n\n\n\n\n\n\n\n187651612752912:out->281471220449136:in\n\n\n\n\n\n\n\n\n187651612752912:out->187650725588976:in\n\n\n\n\n\n\n\n\n187651612752912:out->187651235257712:in\n\n\n\n\n\n\n\n\n187651612752912:out->187650227078464:in\n\n\n\n\n\n\n\n\n187651237930272\n\n\n \n\nvoid (lane_departure_checker::LaneDepartureCheckerNode::?)(autoware_auto_planning_msgs::msg::HADMapRoute*)\n\n \n\n\n\n\n\n187651612752912:out->187651237930272:in\n\n\n\n\n\n\n\n\n187651613335744\n\n\n \n\nvoid (mission_planner::GoalPoseVisualizer::?)(autoware_auto_planning_msgs::msg::HADMapRoute*)\n\n \n\n\n\n\n\n187651612752912:out->187651613335744:in\n\n\n\n\n\n\n\n\n187651612976832\n\n\n \n\nvoid (mission_planner::MissionPlannerLanelet2::?)(autoware_auto_mapping_msgs::msg::HADMapBin*)\n\n \n\n\n\n\n\n187650864460272\n\n\n \n\nvoid (AutowareErrorMonitor::?)(autoware_auto_system_msgs::msg::AutowareState*)\n\n \n\n\n\n\n\n187650864330336\n\n\n \n\nvoid (AutowareErrorMonitor::?)(diagnostic_msgs::msg::DiagnosticArray*)\n\n \n\n\n\n\n\n187650864529200\n\n\n \n\nvoid (AutowareErrorMonitor::?)()\n\n \n\n\n\n\n\n187650864529200:out->OUTPUT:in\n\n\n\n\n\n\n\n\n187650864529200:out->187650829768384:in\n\n\n\n\n\n\n\n\n187650864529200:out->187650830033680:in\n\n\n\n\n\n\n\n\n281472225931680\n\n\n \n\nvoid (surround_obstacle_checker::SurroundObstacleCheckerNode::?)()\n\n \n\n\n\n\n\n281472225931680:out->OUTPUT:in\n\n\n\n\n\n\n\n\n187651237948160\n\n\n \n\nvoid (lane_departure_checker::LaneDepartureCheckerNode::?)(autoware_auto_planning_msgs::msg::Trajectory*)\n\n \n\n\n\n\n\n187651235161760\n\n\n \n\nvoid (lane_departure_checker::LaneDepartureCheckerNode::?)()\n\n \n\n\n\n\n\n187651238195664\n\n\n \n\nvoid (lane_departure_checker::LaneDepartureCheckerNode::?)(autoware_auto_planning_msgs::msg::Trajectory*)\n\n \n\n\n\n\n\n187651237831536\n\n\n \n\nvoid (lane_departure_checker::LaneDepartureCheckerNode::?)(autoware_auto_mapping_msgs::msg::HADMapBin*)\n\n \n\n\n\n\n\n187650884621760\n\n\n \n\nvoid (Lanelet2MapVisualizationNode::?)(autoware_auto_mapping_msgs::msg::HADMapBin*)\n\n \n\n\n\n\n\n187650884621760:out->OUTPUT:in\n\n\n\n\n\n\n\n\n281471555072288:out->OUTPUT:in\n\n\n\n\n\n\n\n\n281471555072288:out->187650725528480:in\n\n\n\n\n\n\n\n\n281471555210208:out->OUTPUT:in\n\n\n\n\n\n\n\n\n281471555210208:out->187650725528480:in\n\n\n\n\n\n\n\n\n187651238636192\n\n\n \n\nvoid (ShiftDecider::?)()\n\n \n\n\n\n\n\n187651238636192:out->187651239979264:in\n\n\n\n\n\n\n\n\n187651165396336:out->OUTPUT:in\n\n\n\n\n\n\n\n\n187651165396336:out->187651235242032:in\n\n\n\n\n\n\n\n\n187651165396336:out->187650857875248:in\n\n\n\n\n\n\n\n\n187651165396336:out->187651234294336:in\n\n\n\n\n\n\n\n\n187651165396336:out->187651238195664:in\n\n\n\n\n\n\n\n\n187651165497712\n\n\n \n\nvoid (motion_velocity_smoother::MotionVelocitySmootherNode::?)(tier4_planning_msgs::msg::VelocityLimit*)\n\n \n\n\n\n\n\n187651613335744:out->OUTPUT:in\n\n\n\n\n\n\n\n\n281470279497792\n\n\n \n\nvoid (HDDMonitor::?)()\n\n \n\n\n\n\n\n", - "text/plain": [ - "" - ] - }, - "execution_count": 14, - "metadata": {}, - "output_type": "execute_result" + "execution_count": null, + "metadata": { + "pycharm": { + "name": "#%%\n" } - ], + }, + "outputs": [], "source": [ "\n", "#################################################\n", @@ -1302,7 +1368,11 @@ { "cell_type": "code", "execution_count": 10, - "metadata": {}, + "metadata": { + "pycharm": { + "name": "#%%\n" + } + }, "outputs": [ { "name": "stdout", @@ -1444,7 +1514,11 @@ { "cell_type": "code", "execution_count": null, - "metadata": {}, + "metadata": { + "pycharm": { + "name": "#%%\n" + } + }, "outputs": [], "source": [ "fig = plt.figure(figsize=(30, 10))\n", @@ -1461,7 +1535,11 @@ { "cell_type": "code", "execution_count": null, - "metadata": {}, + "metadata": { + "pycharm": { + "name": "#%%\n" + } + }, "outputs": [], "source": [] } @@ -1490,4 +1568,4 @@ }, "nbformat": 4, "nbformat_minor": 2 -} +} \ No newline at end of file