diff --git a/annotate_interactively.py b/annotate_interactively.py index 0e622cc..b99182a 100644 --- a/annotate_interactively.py +++ b/annotate_interactively.py @@ -1,21 +1,334 @@ +import functools import json -import os.path -import sys +import os +import pickle +import re +from dataclasses import dataclass +from typing import Tuple, List, Literal, Iterable + +import numpy as np +import pandas as pd import termcolor -from typing import Dict, List, Tuple + +IN_DIR = "/home/max/Projects/llvm-project/clang-tools-extra/ros2-internal-dependency-checker/output" +SRC_DIR = "/home/max/Projects/autoware/src" + +OUT_NAME = "clang_objects.pkl" + + +def SRC_FILE_NAME(in_file_name: str): + return os.path.join(SRC_DIR, in_file_name.replace("-", "/").replace(".json", ".cpp")) ignored_idfs = set() +class SetEncoder(json.JSONEncoder): + def default(self, o): + if isinstance(o, set): + return list(o) + match o: + case set(): + return list(o) + case list() | dict() | int() | float() | str(): + return json.JSONEncoder.default(self, o) + case np.int64: + return json.JSONEncoder.default(self, int(o)) + + return json.JSONEncoder.default(self, o) + + +def fuse_fields(f1, f2): + if f1 is None: + return f2 + + if f2 is None: + return f1 + + if f1 == f2: + return f1 + + raise ValueError(f"Inconsistent fields {f1=} and {f2=} cannot be fused") + + +def fuse_objects(o1, o2): + field_names = o1.__dataclass_fields__.keys() + for f in field_names: + setattr(o1, f, fuse_fields(getattr(o1, f), getattr(o2, f))) + return o1 + + +@dataclass +class SourceRange: + start_file: str + start_line: int | None + start_col: int | None + + end_file: str + end_line: int | None + end_col: int | None + + def __init__(self, json_obj): + begin = json_obj["begin"].split(":") + end = json_obj["end"].split(":") + + self.start_file = os.path.realpath(begin[0]) + self.start_line = int(begin[1]) if len(begin) > 1 else None + self.start_col = int(begin[2].split(" ")[0]) if len(begin) > 2 else None + + self.end_file = os.path.realpath(end[0]) + self.end_line = int(end[1]) if len(end) > 1 else None + self.end_col = int(end[2].split(" ")[0]) if len(end) > 2 else None + + def __hash__(self): + return hash((self.start_file, self.start_line, self.start_col, + self.end_file, self.end_line, self.end_col)) + + +@dataclass +class Node: + id: int + qualified_name: str + source_range: 'SourceRange' + field_ids: List[int] | None + method_ids: List[int] | None + + def __init__(self, json_obj): + self.id = json_obj['id'] + self.qualified_name = json_obj['id'] + self.source_range = SourceRange(json_obj['source_range']) + self.field_ids = list(map(lambda obj: obj['id'], json_obj['fields'])) if 'fields' in json_obj else None + self.method_ids = list(map(lambda obj: obj['id'], json_obj['methods'])) if 'methods' in json_obj else None + + def __hash__(self): + return hash(self.id) + + +@dataclass +class Method: + id: int + qualified_name: str + source_range: 'SourceRange' + return_type: str | None + parameter_types: List[str] | None + + def __init__(self, json_obj): + self.id = json_obj['id'] + self.qualified_name = json_obj['qualified_name'] + self.source_range = SourceRange(json_obj['source_range']) + self.return_type = json_obj['signature']['return_type'] if 'signature' in json_obj else None + self.parameter_types = json_obj['signature']['parameter_types'] if 'signature' in json_obj else None + + def __hash__(self): + return hash(self.id) + + +@dataclass +class Field: + id: int + qualified_name: str + source_range: 'SourceRange' + + def __init__(self, json_obj): + self.id = json_obj['id'] + self.qualified_name = json_obj['qualified_name'] + self.source_range = SourceRange(json_obj['source_range']) + + def __hash__(self): + return hash(self.id) + + +@dataclass +class MemberRef: + type: Literal["read", "write", "call", "arg", "pub"] | None + member_chain: List[int] + method_id: int | None + node_id: int | None + source_range: 'SourceRange' + + def __init__(self, json_obj): + access_type = json_obj['context']['access_type'] + if access_type == 'none': + access_type = None + self.type = access_type + self.member_chain = list(map(lambda obj: obj['id'], json_obj['member'][::-1])) + self.method_id = json_obj['context']['method']['id'] if 'method' in json_obj['context'] else None + self.node_id = json_obj['context']['node']['id'] if 'node' in json_obj['context'] else None + self.source_range = SourceRange(json_obj['context']['statement']['source_range']) + + def __hash__(self): + return self.source_range.__hash__() + + +@dataclass +class Subscription: + topic: str | None + callback_id: int | None + source_range: 'SourceRange' + + def __init__(self, json_obj): + self.topic = json_obj['topic'] if 'topic' in json_obj else None + self.callback_id = json_obj['callback']['id'] if 'callback' in json_obj else None + self.source_range = SourceRange(json_obj['source_range']) + + def __hash__(self): + return self.source_range.__hash__() + + +@dataclass +class Publisher: + topic: str | None + member_id: int | None + source_range: 'SourceRange' + + def update(self, t2: 'Timer'): + return self + + def __init__(self, json_obj): + self.topic = json_obj['topic'] if 'topic' in json_obj else None + self.member_id = json_obj['member']['id'] if 'member' in json_obj else None + self.source_range = SourceRange(json_obj['source_range']) + + def __hash__(self): + return self.source_range.__hash__() + + +@dataclass +class Timer: + callback_id: int | None + source_range: 'SourceRange' + + def __init__(self, json_obj): + self.callback_id = json_obj['callback']['id'] if 'callback' in json_obj else None + self.source_range = SourceRange(json_obj['source_range']) + + def __hash__(self): + return self.source_range.__hash__() + + +def find_data_deps(nodes: Iterable[Node], pubs: Iterable[Publisher], subs: Iterable[Subscription], + timers: Iterable[Timer], fields, methods, accesses: Iterable[MemberRef]): + writes = set() + reads = set() + publications = set() + + for member_ref in accesses: + member_id = member_ref.member_chain[0] if member_ref.member_chain else None + if member_id is None: + print(f"[WARN ] MemberRef without any members in chain @ {member_ref.source_range}") + continue + + dep_tuple = (member_ref.method_id, member_id) + + match member_ref.type: + case "write": + writes.add(dep_tuple) + case "read": + reads.add(dep_tuple) + case "call" | "arg": + writes.add(dep_tuple) + reads.add(dep_tuple) + case "pub": + publications.add(dep_tuple) + + reads = pd.DataFrame.from_records(list(reads), columns=['method_id', 'member_id']) + writes = pd.DataFrame.from_records(list(writes), columns=['method_id', 'member_id']) + pub_dict = {method: set() for method, _ in publications} + for method, member in publications: + pub_dict[method].add(member) + + deps = {} + + for reading_method in reads["method_id"].unique().tolist(): + deps[reading_method] = set() + + read_members = reads[reads['method_id'] == reading_method]["member_id"].unique().tolist() + + for read_member in read_members: + writing_methods = writes[writes['member_id'] == read_member]['method_id'].unique().tolist() + deps[reading_method].update(writing_methods) + + deps[reading_method].discard(reading_method) # Remove reflexive dependencies + + return publications, deps + + +def dedup(elems): + hash_map = {} + + for e in elems: + if e.__hash__() not in hash_map: + hash_map[e.__hash__()] = [] + hash_map[e.__hash__()].append(e) + + ret_list = [] + for hash, elems in hash_map.items(): + if len(elems) == 1: + ret_list += elems + continue + + elem = functools.reduce(fuse_objects, elems[1:], elems[0]) + ret_list.append(elem) + print(f"Fused {len(elems)} {type(elem)}s") + + return ret_list + + +def definitions_from_json(cb_dict): + nodes = [] + pubs = [] + subs = [] + timers = [] + accesses = [] + fields = [] + methods = [] + + if "nodes" in cb_dict: + for node in cb_dict["nodes"]: + nodes.append(Node(node)) + for field in node["fields"]: + fields.append(Field(field)) + for method in node["methods"]: + methods.append(Method(method)) + + if "publishers" in cb_dict: + for publisher in cb_dict["publishers"]: + pubs.append(Publisher(publisher)) + + if "subscriptions" in cb_dict: + for subscription in cb_dict["subscriptions"]: + subs.append(Subscription(subscription)) + + if "timers" in cb_dict: + for timer in cb_dict["timers"]: + timers.append(Timer(timer)) + + if "accesses" in cb_dict: + for access_type in cb_dict["accesses"]: + for access in cb_dict["accesses"][access_type]: + accesses.append(MemberRef(access)) + + nodes = dedup(nodes) + pubs = dedup(pubs) + subs = dedup(subs) + timers = dedup(timers) + fields = dedup(fields) + methods = dedup(methods) + + return nodes, pubs, subs, timers, fields, methods, accesses + + def highlight(substr: str, text: str): - return text.replace(substr, termcolor.colored(substr, 'green', attrs=['bold'])) + regex = r"(?<=\W)({substr})(?=\W)|^({substr})$" + return re.sub(regex.format(substr=substr), termcolor.colored(r"\1\2", 'magenta', attrs=['bold']), text) def prompt_user(file: str, cb: str, idf: str, text: str) -> Tuple[str, bool, bool]: - print(f"{file.rstrip('.cpp')}->{cb}:") - print(highlight(idf, text)) - answer = input(f"{highlight(idf, idf)}\nwrite (w), read (r), both (rw), ignore future (i) exit and save (q), undo (z), skip (Enter): ") + print('\n' * 5) + print(f"{file.rstrip('.cpp').rstrip('.hpp')}\n->{cb}:") + print(highlight(idf.split('::')[-1], text)) + answer = input(f"{highlight(idf, idf)}\n" + f"write (w), read (r), both (rw), ignore future (i) exit and save (q), undo (z), skip (Enter): ") if answer not in ["", "r", "w", "rw", "q", "z", "i"]: print(f"Invalid answer '{answer}', try again.") answer = prompt_user(file, cb, idf, text) @@ -28,35 +341,25 @@ def prompt_user(file: str, cb: str, idf: str, text: str) -> Tuple[str, bool, boo return answer, answer == "q", answer == "z" -def main(cb_dict: Dict): +def main(nodes, cbs, fields, methods): + open_files = {} cb_rw_dict = {} jobs = [] - for file, cbs in cb_dict.items(): - cb_rw_dict[file] = {} - for cb, cb_data in cbs.items(): - cb: str - if 'error' in cb_data: - print(f"Error: {cb_data['error']}") - continue - identifiers = cb_data['identifiers'] - text_lines = cb_data['body_lines'] - text = "".join(text_lines) + for cb_id, cb_dict in cbs.items(): + cb_rw_dict[cb_dict['qualified_name']] = {'reads': set(), 'writes': set()} + for ref_dict in cb_dict['member_refs']: + if ref_dict['file'] not in open_files: + with open(ref_dict['file'], 'r') as f: + open_files[ref_dict['file']] = f.readlines() - cb_rw_dict[file][cb] = {'reads': [], 'writes': []} - - for idf in identifiers: - jobs.append((file, cb, idf, text)) - - # Skip already saved mappings - if os.path.exists("cb_mapping.json"): - with open("cb_mapping.json", "r") as f: - prev_rw_dict = json.load(f) - jobs = [(file, cb, idf, text) - for file, cb, idf, text in jobs - if file not in prev_rw_dict - or cb not in prev_rw_dict[file]] + ln = ref_dict['start_line'] - 1 + text = open_files[ref_dict['file']] + line = termcolor.colored(text[ln], None, "on_cyan") + lines = [*text[ln - 3:ln], line, *text[ln + 1:ln + 4]] + text = ''.join(lines) + jobs.append((ref_dict['file'], cb_dict['qualified_name'], ref_dict['qualified_name'], text)) i = 0 do_undo = False @@ -65,11 +368,17 @@ def main(cb_dict: Dict): if do_undo: ignored_idfs.discard(idf) - cb_rw_dict[file][cb]['reads'].remove(idf) - cb_rw_dict[file][cb]['writes'].remove(idf) + cb_rw_dict[cb]['reads'].discard(idf) + cb_rw_dict[cb]['writes'].discard(idf) do_undo = False if idf in ignored_idfs: + print("Ignoring", idf) + i += 1 + continue + + if idf in cb_rw_dict[cb]['reads'] and idf in cb_rw_dict[cb]['writes']: + print(f"{idf} is already written to and read from in {cb}, skipping.") i += 1 continue @@ -84,29 +393,47 @@ def main(cb_dict: Dict): continue if 'r' in classification: - cb_rw_dict[file][cb]['reads'].append(idf) + cb_rw_dict[cb]['reads'].add(idf) if 'w' in classification: - cb_rw_dict[file][cb]['writes'].append(idf) + cb_rw_dict[cb]['writes'].add(idf) if not any(x in classification for x in ['r', 'w']): print(f"Ignoring occurences of {idf} in cb.") i += 1 - with open("cb_mapping.json", "w") as f: - json.dump(cb_rw_dict, f) + with open("deps.json", "w") as f: + json.dump(cb_rw_dict, f, cls=SetEncoder) print("Done.") if __name__ == "__main__": - if len(sys.argv) != 2: - print(f"Usage: {sys.argv[0]} ") - exit(0) + out_dict = {} - with open(sys.argv[1], "r") as f: - cb_dict = json.load(f) - common_prefix = os.path.commonprefix(list(cb_dict.keys())) - strip_len = len(common_prefix) - cb_dict = {k[strip_len:]: v for k, v in cb_dict.items()} + for filename in os.listdir(IN_DIR): + source_filename = SRC_FILE_NAME(filename) + print(f"Processing {source_filename}") + with open(os.path.join(IN_DIR, filename), "r") as f: + cb_dict = json.load(f) + if cb_dict is None: + print(f" [WARN ] Empty tool output detected in {filename}") + continue + definitions = definitions_from_json(cb_dict) + deps, publications = find_data_deps(*definitions) - main(cb_dict) + (nodes, pubs, subs, timers, fields, methods, accesses) = definitions + out_dict[source_filename] = { + "dependencies": deps, + "publications": publications, + "nodes": nodes, + "publishers": pubs, + "subscriptions": subs, + "timers": timers, + "fields": fields, + "methods": methods + } + + with open(OUT_NAME, "wb") as f: + pickle.dump(out_dict, f) + + print("Done.") diff --git a/ast_utils.py b/ast_utils.py deleted file mode 100644 index 91eadba..0000000 --- a/ast_utils.py +++ /dev/null @@ -1,281 +0,0 @@ -import clang.cindex as ci -from clang.cindex import TokenKind as tk -from clang.cindex import CursorKind as ck -from typing import List - - -class TUHandler: - BRACK_MAP = { - ')': '(', - ']': '[', - '>': '<', - '}': '{' - } - - def __init__(self, tu: ci.TranslationUnit): - self.tu = tu - - def get_subscription_callback_handlers(self): - ################################################# - # Find create_subscription function calls - ################################################# - - c: ci.Cursor = self.tu.cursor - create_subscription_tokens = [ - " ".join(map(lambda t2: t2.spelling, t.cursor.get_tokens())) - for t in c.get_tokens() - if t.kind == tk.IDENTIFIER and t.spelling == "create_subscription" - ] - - print(create_subscription_tokens) - - ################################################# - # Extract callback function identifier - ################################################# - - - ################################################# - # Locate definition for callback function - ################################################# - pass - - def get_timer_callback_handlers(self): - pass - - def get_member_accesses(self, function_def: ci.Cursor): - pass - - # def consume_generics(ts: List[ci.Token]): - # if not ts or ts[0].spelling != '<': - # return ts, None - - # gen = [] - # for i, t in enumerate(ts): - # match t.spelling: - # case '<': - # pass - # case '>': - # return ts[i+1:], gen - # case _: - # gen.append(t) - - # return ts, None - - # def consume_args(ts: List[ci.Token]): - # if not ts or ts[0].spelling != '(': - # print(f"Opening token is {ts[0].spelling}, not (") - # return ts, None - - # ts = ts[1:] # strip start tok - - # args = [] - # current_arg = [] - # brack_depth = 1 - # for i, t in enumerate(ts): - # match t.spelling: - # case '(': - # brack_depth += 1 - # current_arg.append(t) - # case ')': - # brack_depth -= 1 - # if brack_depth == 0: - # args.append(current_arg) - # return ts[i+1:], args - # else: - # current_arg.append(t) - # case ',': - # if brack_depth > 1: - # current_arg.append(t) - # else: - # args.append(current_arg) - # current_arg = [] - # case _: - # current_arg.append(t) - - # return ts, None - - # def consume_function_identifier(ts: List[ci.Token]): - # identifier = [] - # for i, t in enumerate(ts): - # match t.kind: - # case tk.PUNCTUATION: - # match t.spelling: - # case "(" | "<": - # return ts[i:], identifier - # case _: - # identifier.append(t) - # case _: - # identifier.append(t) - - # return ts, None - - # def consume_function_call(ts: List[ci.Token]): - # assert ts and ts[0].kind == tk.IDENTIFIER - # ts, identifier = consume_function_identifier(ts) - # ts, gen = consume_generics(ts) - # ts, args = consume_args(ts) - - # return ts, identifier, gen, args - - # def find_children(cur: ci.Cursor, find_func): - # found = [] - # if find_func(cur): - # found.append(cur) - - # for c in cur.get_children(): - # found += find_children(c, find_func) - - # return found - - # def find_body(cur: ci.Cursor, symbol: List[ci.Token]): - # if symbol is None: - # return - - # method_candidates = find_children(cur, lambda c: c.kind == ck.CXX_METHOD and any( - # map(lambda t: t.spelling == symbol[-1].spelling, c.get_tokens()))) - # valid_candidates = [] - # for cand in method_candidates: - # func_bodies = find_children( - # cand, lambda c: c.kind == ck.COMPOUND_STMT) - # if not func_bodies: - # continue - # valid_candidates.append(func_bodies[0]) - - # if len(valid_candidates) != 1: - # print( - # f"Error, {pt(symbol)} has {len(valid_candidates)} candidates for a function definition!") - # return None - - # def _rec(c: ci.Cursor, lvl=0): - # print( - # f"{' '*lvl*2}{str(c.kind):.<40s} {c.spelling:30s} {';;'.join(str(arg.kind) for arg in c.get_arguments())}") - # for ch in c.get_children(): - # _rec(ch, lvl+1) - - # _rec(valid_candidates[0]) - - # return list(valid_candidates[0].get_tokens()) - - # def get_identifiers_with_lines(tokens: List[ci.Token]): - - # stmt_extent = (tokens[0].extent.start, tokens[-1].extent.end) - # stmt_file = stmt_extent[0].file.name - # file_slice = slice(stmt_extent[0].line, stmt_extent[-1].line) - # with open(stmt_file, "r") as f: - # stmt_text = f.readlines()[file_slice] - - # ids = [] - # cur_id = [] - # for t in tokens: - # match t.kind: - # case tk.IDENTIFIER: - # cur_id.append(t) - # case tk.PUNCTUATION: - # match t.spelling: - # case "::" | "->" | ".": - # if cur_id: - # cur_id.append(t) - # case _: - # if cur_id: - # ids.append(cur_id) - # cur_id = [] - # case _: - # if cur_id: - # ids.append(cur_id) - # cur_id = [] - - # return ids, stmt_text - - # def consume_lambda_entry(ts: List[ci.Token]): - # if not ts or ts[0].spelling != "[": - # return ts, None - - # brack_level = 0 - # for i, t in enumerate(ts): - # match t.spelling: - # case '[': - # brack_level += 1 - # case ']': - # brack_level -= 1 - # if brack_level == 0: - # return ts[i+1:], list(ts[1:i-1]) - - # return ts, None - - # def consume_braced_block(ts: List[ci.Token]): - # if not ts or ts[0].spelling != "{": - # return ts, None - - # brack_stack = [] - - # for i, t in enumerate(ts): - # match t.kind: - # case tk.PUNCTUATION: - # match t.spelling: - # case '(' | '[' | '{': - # brack_stack.append(t) - # case ')' | ']' | '}': - # if brack_stack[-1].spelling == BRACK_MAP[t.spelling]: - # brack_stack.pop() - # if len(brack_stack) == 0: - # return ts[i+1:], list(ts[:i]) - # else: - # raise ValueError( - # f"Invalid brackets: {pt(brack_stack)}, {t.spelling}") - # return ts, None - - # def consume_lambda_def(ts: List[ci.Token]): - # ts, entry = consume_lambda_entry(ts) - # ts, args = consume_args(ts) - # ts, body = consume_braced_block(ts) - # return ts, body - - # def consume_callback_symbol(ts: List[ci.Token]): - # lambda_body = None - # if ts and ts[0].spelling == "std": - # ts, identifier, gen, args = consume_function_call(ts) - # if not args: - # raise ValueError("Empty arg list") - # if args[0][0].spelling != "&": - # raise NotImplementedError(pt(args)) - # callback_sym = args[0][1:] - # elif ts and ts[0].spelling == "[": - # ts, lambda_body = consume_lambda_def(ts) - # callback_sym = None - # else: - # print( - # f"Error: {pt(ts[:30])} is a callback symbol of unknown structure") - # callback_sym = None - - # return callback_sym, lambda_body - - # def get_mappings(tu: ci.TranslationUnit): - # cb_sym_to_identifiers_map = {} - - # ts_all = list(tu.cursor.get_tokens()) - # for i, t in enumerate(ts_all): - # if t.kind == ci.TokenKind.IDENTIFIER and t.spelling == "create_subscription": - # ts2, identifier, gen, args = consume_function_call(ts_all[i:]) - # cb = args[2] - # cb_sym, body = consume_callback_symbol(cb) - # cb_sym_key = pt(cb_sym) if cb_sym is not None else pt(cb) - # print(cb_sym_key) - # if body is None: - # body = find_body(tu.cursor, cb_sym) - # if body is not None: - # #print(" ",pt(body)) - # identifiers, text_lines = get_identifiers_with_lines(body) - # for l in text_lines: - # print(l.rstrip()) - - # if cb_sym_key not in cb_sym_to_identifiers_map: - # cb_sym_to_identifiers_map[cb_sym_key] = {'identifiers': list( - # map(pt, identifiers)), 'body_lines': text_lines} - # else: - # raise ValueError( - # f"Multiple create_subscription with same handler: {cb_sym_key}") - # else: - # cb_sym_to_identifiers_map[cb_sym_key] = { - # 'error': "No function body found"} - # #raise ValueError(f"No function body found for {cb_sym_key}") - # return cb_sym_to_identifiers_map diff --git a/clang-digger.ipynb b/clang-digger.ipynb deleted file mode 100644 index 668cd2e..0000000 --- a/clang-digger.ipynb +++ /dev/null @@ -1,479 +0,0 @@ -{ - "cells": [ - { - "cell_type": "code", - "execution_count": 1, - "metadata": {}, - "outputs": [ - { - "name": "stdout", - "output_type": "stream", - "text": [ - "Defaulting to user installation because normal site-packages is not writeable\n", - "Requirement already satisfied: libclang in /home/max/.local/lib/python3.10/site-packages (14.0.1)\n", - "Note: you may need to restart the kernel to use updated packages.\n" - ] - } - ], - "source": [ - "%pip install libclang" - ] - }, - { - "cell_type": "code", - "execution_count": 2, - "metadata": { - "collapsed": false, - "pycharm": { - "name": "#%%\n" - } - }, - "outputs": [], - "source": [ - "import glob\n", - "import json\n", - "import os\n", - "import pathlib\n", - "import re\n", - "from typing import Union, Iterator, List\n", - "\n", - "import clang.cindex as ci\n", - "from clang.cindex import TokenKind as tk\n", - "from clang.cindex import CursorKind as ck\n", - "\n", - "import ast_utils\n", - "\n", - "jj = os.path.join\n", - "\n", - "FS_ROOT = \"/\"\n", - "ROOT_DIR = jj(FS_ROOT, \"/home/max/projects/autoware/\")\n", - "\n", - "def pext(t: Union[ci.Token, ci.Cursor]):\n", - " e = t.extent\n", - " return f\"{e.start.line}:{e.start.column}-{e.end.line}:{e.end.column}\"\n", - "\n", - "def pt(tokens, join_str=''):\n", - " if tokens is None:\n", - " return \"None\"\n", - " return join_str.join(map(lambda t: t.spelling, tokens))\n", - "\n", - "if not os.path.exists(jj(ROOT_DIR, \"build/compile_commands.json\")):\n", - " print(\"Run\")\n", - " print(\" colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release -DCMAKE_EXPORT_COMPILE_COMMANDS=ON\")\n", - " print(\"to generate the files necessary to run this script.\")" - ] - }, - { - "cell_type": "code", - "execution_count": 3, - "metadata": { - "collapsed": false, - "pycharm": { - "name": "#%%\n" - } - }, - "outputs": [], - "source": [ - "_arg_pattern = re.compile(r\"(?<=\\s)(?:-D\\s*\\S+|-I\\s*\\S+|-isystem\\s*\\S+|--?std\\s*\\S+)(?=\\s)\")\n", - "\n", - "def _extract_args(compile_command):\n", - " segments = _arg_pattern.findall(compile_command)\n", - " segments = [part.strip() for seg in segments for part in seg.split(\" \")]\n", - " return segments\n", - "\n", - "with open(jj(ROOT_DIR, \"build/compile_commands.json\"), \"r\") as f:\n", - " compile_commands = json.load(f)\n", - "\n", - "compile_commands = {cmd['file']: cmd['command'] for cmd in compile_commands}\n", - "compile_commands = {k: _extract_args(v) for k, v in compile_commands.items()}" - ] - }, - { - "cell_type": "code", - "execution_count": null, - "metadata": { - "collapsed": false, - "pycharm": { - "name": "#%%\n" - } - }, - "outputs": [], - "source": [] - }, - { - "cell_type": "code", - "execution_count": 4, - "metadata": { - "collapsed": false, - "pycharm": { - "name": "#%%\n" - } - }, - "outputs": [ - { - "name": "stdout", - "output_type": "stream", - "text": [ - "['{ transform_listener_ = std :: make_shared < tier4_autoware_utils :: TransformListener > ( this ) ; // get parameter update_hz_ = this -> declare_parameter < double > ( \"update_hz\" , 10.0 ) ; covariance_ = this -> declare_parameter < double > ( \"initial_covariance\" , 0.05 ) ; velocity_min_threshold_ = this -> declare_parameter < double > ( \"velocity_min_threshold\" , 0.1 ) ; velocity_diff_threshold_ = this -> declare_parameter < double > ( \"velocity_diff_threshold\" , 0.556 ) ; pedal_diff_threshold_ = this -> declare_parameter < double > ( \"pedal_diff_threshold\" , 0.03 ) ; max_steer_threshold_ = this -> declare_parameter < double > ( \"max_steer_threshold\" , 0.2 ) ; max_pitch_threshold_ = this -> declare_parameter < double > ( \"max_pitch_threshold\" , 0.02 ) ; max_jerk_threshold_ = this -> declare_parameter < double > ( \"max_jerk_threshold\" , 0.7 ) ; pedal_velocity_thresh_ = this -> declare_parameter < double > ( \"pedal_velocity_thresh\" , 0.15 ) ; map_update_gain_ = this -> declare_parameter < double > ( \"map_update_gain\" , 0.02 ) ; max_accel_ = this -> declare_parameter < double > ( \"max_accel\" , 5.0 ) ; min_accel_ = this -> declare_parameter < double > ( \"min_accel\" , - 5.0 ) ; pedal_to_accel_delay_ = this -> declare_parameter < double > ( \"pedal_to_accel_delay\" , 0.3 ) ; max_data_count_ = this -> declare_parameter < int > ( \"max_data_count\" , 200 ) ; pedal_accel_graph_output_ = this -> declare_parameter < bool > ( \"pedal_accel_graph_output\" , false ) ; progress_file_output_ = this -> declare_parameter < bool > ( \"progress_file_output\" , false ) ; const auto get_pitch_method_str = this -> declare_parameter < std :: string > ( \"get_pitch_method\" , std :: string ( \"tf\" ) ) ; if ( get_pitch_method_str == std :: string ( \"tf\" ) ) { get_pitch_method_ = GET_PITCH_METHOD :: TF ; } else if ( get_pitch_method_str == std :: string ( \"none\" ) ) { get_pitch_method_ = GET_PITCH_METHOD :: NONE ; } else { RCLCPP_ERROR_STREAM ( rclcpp :: get_logger ( \"accel_brake_map_calibrator\" ) , \"update_method_\" << \" is wrong. (available method: tf, file, none\" ) ; return ; } update_suggest_thresh_ = this -> declare_parameter < double > ( \"update_suggest_thresh\" , 0.7 ) ; csv_calibrated_map_dir_ = this -> declare_parameter < std :: string > ( \"csv_calibrated_map_dir\" , std :: string ( \"\" ) ) ; output_accel_file_ = csv_calibrated_map_dir_ + \"/accel_map.csv\" ; output_brake_file_ = csv_calibrated_map_dir_ + \"/brake_map.csv\" ; const std :: string update_method_str = this -> declare_parameter < std :: string > ( \"update_method\" , std :: string ( \"update_offset_each_cell\" ) ) ; if ( update_method_str == std :: string ( \"update_offset_each_cell\" ) ) { update_method_ = UPDATE_METHOD :: UPDATE_OFFSET_EACH_CELL ; } else if ( update_method_str == std :: string ( \"update_offset_total\" ) ) { update_method_ = UPDATE_METHOD :: UPDATE_OFFSET_TOTAL ; } else { RCLCPP_ERROR_STREAM ( rclcpp :: get_logger ( \"accel_brake_map_calibrator\" ) , \"update_method\" << \" is wrong. (available method: update_offset_each_cell, update_offset_total\" ) ; return ; } // initializer // QoS setup static constexpr std :: size_t queue_size = 1 ; rclcpp :: QoS durable_qos ( queue_size ) ; // Publisher for checkUpdateSuggest calibration_status_pub_ = create_publisher < tier4_external_api_msgs :: msg :: CalibrationStatus > ( \"/accel_brake_map_calibrator/output/calibration_status\" , durable_qos ) ; /* Diagnostic Updater */ updater_ptr_ = std :: make_shared < diagnostic_updater :: Updater > ( this , 1.0 / update_hz_ ) ; updater_ptr_ -> setHardwareID ( \"accel_brake_map_calibrator\" ) ; updater_ptr_ -> add ( \"accel_brake_map_calibrator\" , this , & AccelBrakeMapCalibrator :: checkUpdateSuggest ) ; { csv_default_map_dir_ = this -> declare_parameter < std :: string > ( \"csv_default_map_dir\" , std :: string ( \"\" ) ) ; std :: string csv_path_accel_map = csv_default_map_dir_ + \"/accel_map.csv\" ; std :: string csv_path_brake_map = csv_default_map_dir_ + \"/brake_map.csv\" ; if ( ! accel_map_ . readAccelMapFromCSV ( csv_path_accel_map ) || ! new_accel_map_ . readAccelMapFromCSV ( csv_path_accel_map ) ) { is_default_map_ = false ; RCLCPP_ERROR_STREAM ( rclcpp :: get_logger ( \"accel_brake_map_calibrator\" ) , \"Cannot read accelmap. csv path = \" << csv_path_accel_map . c_str ( ) << \". stop calculation.\" ) ; return ; } if ( ! brake_map_ . readBrakeMapFromCSV ( csv_path_brake_map ) || ! new_brake_map_ . readBrakeMapFromCSV ( csv_path_brake_map ) ) { is_default_map_ = false ; RCLCPP_ERROR_STREAM ( rclcpp :: get_logger ( \"accel_brake_map_calibrator\" ) , \"Cannot read brakemap. csv path = \" << csv_path_brake_map . c_str ( ) << \". stop calculation.\" ) ; return ; } } std :: string output_log_file = this -> declare_parameter < std :: string > ( \"output_log_file\" , std :: string ( \"\" ) ) ; output_log_ . open ( output_log_file ) ; addIndexToCSV ( & output_log_ ) ; debug_values_ . data . resize ( num_debug_values_ ) ; // input map info accel_map_value_ = accel_map_ . getAccelMap ( ) ; brake_map_value_ = brake_map_ . getBrakeMap ( ) ; accel_vel_index_ = accel_map_ . getVelIdx ( ) ; brake_vel_index_ = brake_map_ . getVelIdx ( ) ; accel_pedal_index_ = accel_map_ . getThrottleIdx ( ) ; brake_pedal_index_ = brake_map_ . getBrakeIdx ( ) ; update_accel_map_value_ . resize ( ( accel_map_value_ . size ( ) ) ) ; update_brake_map_value_ . resize ( ( brake_map_value_ . size ( ) ) ) ; for ( auto & m : update_accel_map_value_ ) { m . resize ( accel_map_value_ . at ( 0 ) . size ( ) ) ; } for ( auto & m : update_brake_map_value_ ) { m . resize ( brake_map_value_ . at ( 0 ) . size ( ) ) ; } map_value_data_ . resize ( accel_map_value_ . size ( ) + brake_map_value_ . size ( ) - 1 ) ; for ( auto & m : map_value_data_ ) { m . resize ( accel_map_value_ . at ( 0 ) . size ( ) ) ; } std :: copy ( accel_map_value_ . begin ( ) , accel_map_value_ . end ( ) , update_accel_map_value_ . begin ( ) ) ; std :: copy ( brake_map_value_ . begin ( ) , brake_map_value_ . end ( ) , update_brake_map_value_ . begin ( ) ) ; // publisher update_suggest_pub_ = create_publisher < std_msgs :: msg :: Bool > ( \"~/output/update_suggest\" , durable_qos ) ; original_map_occ_pub_ = create_publisher < nav_msgs :: msg :: OccupancyGrid > ( \"/accel_brake_map_calibrator/debug/original_occ_map\" , durable_qos ) ; update_map_occ_pub_ = create_publisher < nav_msgs :: msg :: OccupancyGrid > ( \"/accel_brake_map_calibrator/debug/update_occ_map\" , durable_qos ) ; data_ave_pub_ = create_publisher < nav_msgs :: msg :: OccupancyGrid > ( \"/accel_brake_map_calibrator/debug/data_average_occ_map\" , durable_qos ) ; data_std_pub_ = create_publisher < nav_msgs :: msg :: OccupancyGrid > ( \"/accel_brake_map_calibrator/debug/data_std_dev_occ_map\" , durable_qos ) ; data_count_pub_ = create_publisher < nav_msgs :: msg :: OccupancyGrid > ( \"/accel_brake_map_calibrator/debug/data_count_occ_map\" , durable_qos ) ; data_count_with_self_pose_pub_ = create_publisher < nav_msgs :: msg :: OccupancyGrid > ( \"/accel_brake_map_calibrator/debug/data_count_self_pose_occ_map\" , durable_qos ) ; index_pub_ = create_publisher < visualization_msgs :: msg :: MarkerArray > ( \"/accel_brake_map_calibrator/debug/occ_index\" , durable_qos ) ; original_map_raw_pub_ = create_publisher < std_msgs :: msg :: Float32MultiArray > ( \"/accel_brake_map_calibrator/debug/original_raw_map\" , durable_qos ) ; update_map_raw_pub_ = create_publisher < std_msgs :: msg :: Float32MultiArray > ( \"/accel_brake_map_calibrator/output/update_raw_map\" , durable_qos ) ; debug_pub_ = create_publisher < tier4_debug_msgs :: msg :: Float32MultiArrayStamped > ( \"/accel_brake_map_calibrator/output/debug_values\" , durable_qos ) ; current_map_error_pub_ = create_publisher < tier4_debug_msgs :: msg :: Float32Stamped > ( \"/accel_brake_map_calibrator/output/current_map_error\" , durable_qos ) ; updated_map_error_pub_ = create_publisher < tier4_debug_msgs :: msg :: Float32Stamped > ( \"/accel_brake_map_calibrator/output/updated_map_error\" , durable_qos ) ; map_error_ratio_pub_ = create_publisher < tier4_debug_msgs :: msg :: Float32Stamped > ( \"/accel_brake_map_calibrator/output/map_error_ratio\" , durable_qos ) ; // subscriber using std :: placeholders :: _1 ; using std :: placeholders :: _2 ; using std :: placeholders :: _3 ; velocity_sub_ = create_subscription < autoware_auto_vehicle_msgs :: msg :: VelocityReport > ( \"~/input/velocity\" , queue_size , std :: bind ( & AccelBrakeMapCalibrator :: callbackVelocity , this , _1 ) ) ; steer_sub_ = create_subscription < autoware_auto_vehicle_msgs :: msg :: SteeringReport > ( \"~/input/steer\" , queue_size , std :: bind ( & AccelBrakeMapCalibrator :: callbackSteer , this , _1 ) ) ; actuation_status_sub_ = create_subscription < tier4_vehicle_msgs :: msg :: ActuationStatusStamped > ( \"~/input/actuation_status\" , queue_size , std :: bind ( & AccelBrakeMapCalibrator :: callbackActuationStatus , this , _1 ) ) ; // Service update_map_dir_server_ = create_service < tier4_vehicle_msgs :: srv :: UpdateAccelBrakeMap > ( \"~/input/update_map_dir\" , std :: bind ( & AccelBrakeMapCalibrator :: callbackUpdateMapService , this , _1 , _2 , _3 ) ) ; // timer initTimer ( 1.0 / update_hz_ ) ; initOutputCSVTimer ( 30.0 ) ; }', '{ transform_listener_ = std :: make_shared < tier4_autoware_utils :: TransformListener > ( this ) ; // get parameter update_hz_ = this -> declare_parameter < double > ( \"update_hz\" , 10.0 ) ; covariance_ = this -> declare_parameter < double > ( \"initial_covariance\" , 0.05 ) ; velocity_min_threshold_ = this -> declare_parameter < double > ( \"velocity_min_threshold\" , 0.1 ) ; velocity_diff_threshold_ = this -> declare_parameter < double > ( \"velocity_diff_threshold\" , 0.556 ) ; pedal_diff_threshold_ = this -> declare_parameter < double > ( \"pedal_diff_threshold\" , 0.03 ) ; max_steer_threshold_ = this -> declare_parameter < double > ( \"max_steer_threshold\" , 0.2 ) ; max_pitch_threshold_ = this -> declare_parameter < double > ( \"max_pitch_threshold\" , 0.02 ) ; max_jerk_threshold_ = this -> declare_parameter < double > ( \"max_jerk_threshold\" , 0.7 ) ; pedal_velocity_thresh_ = this -> declare_parameter < double > ( \"pedal_velocity_thresh\" , 0.15 ) ; map_update_gain_ = this -> declare_parameter < double > ( \"map_update_gain\" , 0.02 ) ; max_accel_ = this -> declare_parameter < double > ( \"max_accel\" , 5.0 ) ; min_accel_ = this -> declare_parameter < double > ( \"min_accel\" , - 5.0 ) ; pedal_to_accel_delay_ = this -> declare_parameter < double > ( \"pedal_to_accel_delay\" , 0.3 ) ; max_data_count_ = this -> declare_parameter < int > ( \"max_data_count\" , 200 ) ; pedal_accel_graph_output_ = this -> declare_parameter < bool > ( \"pedal_accel_graph_output\" , false ) ; progress_file_output_ = this -> declare_parameter < bool > ( \"progress_file_output\" , false ) ; const auto get_pitch_method_str = this -> declare_parameter < std :: string > ( \"get_pitch_method\" , std :: string ( \"tf\" ) ) ; if ( get_pitch_method_str == std :: string ( \"tf\" ) ) { get_pitch_method_ = GET_PITCH_METHOD :: TF ; } else if ( get_pitch_method_str == std :: string ( \"none\" ) ) { get_pitch_method_ = GET_PITCH_METHOD :: NONE ; } else { RCLCPP_ERROR_STREAM ( rclcpp :: get_logger ( \"accel_brake_map_calibrator\" ) , \"update_method_\" << \" is wrong. (available method: tf, file, none\" ) ; return ; } update_suggest_thresh_ = this -> declare_parameter < double > ( \"update_suggest_thresh\" , 0.7 ) ; csv_calibrated_map_dir_ = this -> declare_parameter < std :: string > ( \"csv_calibrated_map_dir\" , std :: string ( \"\" ) ) ; output_accel_file_ = csv_calibrated_map_dir_ + \"/accel_map.csv\" ; output_brake_file_ = csv_calibrated_map_dir_ + \"/brake_map.csv\" ; const std :: string update_method_str = this -> declare_parameter < std :: string > ( \"update_method\" , std :: string ( \"update_offset_each_cell\" ) ) ; if ( update_method_str == std :: string ( \"update_offset_each_cell\" ) ) { update_method_ = UPDATE_METHOD :: UPDATE_OFFSET_EACH_CELL ; } else if ( update_method_str == std :: string ( \"update_offset_total\" ) ) { update_method_ = UPDATE_METHOD :: UPDATE_OFFSET_TOTAL ; } else { RCLCPP_ERROR_STREAM ( rclcpp :: get_logger ( \"accel_brake_map_calibrator\" ) , \"update_method\" << \" is wrong. (available method: update_offset_each_cell, update_offset_total\" ) ; return ; } // initializer // QoS setup static constexpr std :: size_t queue_size = 1 ; rclcpp :: QoS durable_qos ( queue_size ) ; // Publisher for checkUpdateSuggest calibration_status_pub_ = create_publisher < tier4_external_api_msgs :: msg :: CalibrationStatus > ( \"/accel_brake_map_calibrator/output/calibration_status\" , durable_qos ) ; /* Diagnostic Updater */ updater_ptr_ = std :: make_shared < diagnostic_updater :: Updater > ( this , 1.0 / update_hz_ ) ; updater_ptr_ -> setHardwareID ( \"accel_brake_map_calibrator\" ) ; updater_ptr_ -> add ( \"accel_brake_map_calibrator\" , this , & AccelBrakeMapCalibrator :: checkUpdateSuggest ) ; { csv_default_map_dir_ = this -> declare_parameter < std :: string > ( \"csv_default_map_dir\" , std :: string ( \"\" ) ) ; std :: string csv_path_accel_map = csv_default_map_dir_ + \"/accel_map.csv\" ; std :: string csv_path_brake_map = csv_default_map_dir_ + \"/brake_map.csv\" ; if ( ! accel_map_ . readAccelMapFromCSV ( csv_path_accel_map ) || ! new_accel_map_ . readAccelMapFromCSV ( csv_path_accel_map ) ) { is_default_map_ = false ; RCLCPP_ERROR_STREAM ( rclcpp :: get_logger ( \"accel_brake_map_calibrator\" ) , \"Cannot read accelmap. csv path = \" << csv_path_accel_map . c_str ( ) << \". stop calculation.\" ) ; return ; } if ( ! brake_map_ . readBrakeMapFromCSV ( csv_path_brake_map ) || ! new_brake_map_ . readBrakeMapFromCSV ( csv_path_brake_map ) ) { is_default_map_ = false ; RCLCPP_ERROR_STREAM ( rclcpp :: get_logger ( \"accel_brake_map_calibrator\" ) , \"Cannot read brakemap. csv path = \" << csv_path_brake_map . c_str ( ) << \". stop calculation.\" ) ; return ; } } std :: string output_log_file = this -> declare_parameter < std :: string > ( \"output_log_file\" , std :: string ( \"\" ) ) ; output_log_ . open ( output_log_file ) ; addIndexToCSV ( & output_log_ ) ; debug_values_ . data . resize ( num_debug_values_ ) ; // input map info accel_map_value_ = accel_map_ . getAccelMap ( ) ; brake_map_value_ = brake_map_ . getBrakeMap ( ) ; accel_vel_index_ = accel_map_ . getVelIdx ( ) ; brake_vel_index_ = brake_map_ . getVelIdx ( ) ; accel_pedal_index_ = accel_map_ . getThrottleIdx ( ) ; brake_pedal_index_ = brake_map_ . getBrakeIdx ( ) ; update_accel_map_value_ . resize ( ( accel_map_value_ . size ( ) ) ) ; update_brake_map_value_ . resize ( ( brake_map_value_ . size ( ) ) ) ; for ( auto & m : update_accel_map_value_ ) { m . resize ( accel_map_value_ . at ( 0 ) . size ( ) ) ; } for ( auto & m : update_brake_map_value_ ) { m . resize ( brake_map_value_ . at ( 0 ) . size ( ) ) ; } map_value_data_ . resize ( accel_map_value_ . size ( ) + brake_map_value_ . size ( ) - 1 ) ; for ( auto & m : map_value_data_ ) { m . resize ( accel_map_value_ . at ( 0 ) . size ( ) ) ; } std :: copy ( accel_map_value_ . begin ( ) , accel_map_value_ . end ( ) , update_accel_map_value_ . begin ( ) ) ; std :: copy ( brake_map_value_ . begin ( ) , brake_map_value_ . end ( ) , update_brake_map_value_ . begin ( ) ) ; // publisher update_suggest_pub_ = create_publisher < std_msgs :: msg :: Bool > ( \"~/output/update_suggest\" , durable_qos ) ; original_map_occ_pub_ = create_publisher < nav_msgs :: msg :: OccupancyGrid > ( \"/accel_brake_map_calibrator/debug/original_occ_map\" , durable_qos ) ; update_map_occ_pub_ = create_publisher < nav_msgs :: msg :: OccupancyGrid > ( \"/accel_brake_map_calibrator/debug/update_occ_map\" , durable_qos ) ; data_ave_pub_ = create_publisher < nav_msgs :: msg :: OccupancyGrid > ( \"/accel_brake_map_calibrator/debug/data_average_occ_map\" , durable_qos ) ; data_std_pub_ = create_publisher < nav_msgs :: msg :: OccupancyGrid > ( \"/accel_brake_map_calibrator/debug/data_std_dev_occ_map\" , durable_qos ) ; data_count_pub_ = create_publisher < nav_msgs :: msg :: OccupancyGrid > ( \"/accel_brake_map_calibrator/debug/data_count_occ_map\" , durable_qos ) ; data_count_with_self_pose_pub_ = create_publisher < nav_msgs :: msg :: OccupancyGrid > ( \"/accel_brake_map_calibrator/debug/data_count_self_pose_occ_map\" , durable_qos ) ; index_pub_ = create_publisher < visualization_msgs :: msg :: MarkerArray > ( \"/accel_brake_map_calibrator/debug/occ_index\" , durable_qos ) ; original_map_raw_pub_ = create_publisher < std_msgs :: msg :: Float32MultiArray > ( \"/accel_brake_map_calibrator/debug/original_raw_map\" , durable_qos ) ; update_map_raw_pub_ = create_publisher < std_msgs :: msg :: Float32MultiArray > ( \"/accel_brake_map_calibrator/output/update_raw_map\" , durable_qos ) ; debug_pub_ = create_publisher < tier4_debug_msgs :: msg :: Float32MultiArrayStamped > ( \"/accel_brake_map_calibrator/output/debug_values\" , durable_qos ) ; current_map_error_pub_ = create_publisher < tier4_debug_msgs :: msg :: Float32Stamped > ( \"/accel_brake_map_calibrator/output/current_map_error\" , durable_qos ) ; updated_map_error_pub_ = create_publisher < tier4_debug_msgs :: msg :: Float32Stamped > ( \"/accel_brake_map_calibrator/output/updated_map_error\" , durable_qos ) ; map_error_ratio_pub_ = create_publisher < tier4_debug_msgs :: msg :: Float32Stamped > ( \"/accel_brake_map_calibrator/output/map_error_ratio\" , durable_qos ) ; // subscriber using std :: placeholders :: _1 ; using std :: placeholders :: _2 ; using std :: placeholders :: _3 ; velocity_sub_ = create_subscription < autoware_auto_vehicle_msgs :: msg :: VelocityReport > ( \"~/input/velocity\" , queue_size , std :: bind ( & AccelBrakeMapCalibrator :: callbackVelocity , this , _1 ) ) ; steer_sub_ = create_subscription < autoware_auto_vehicle_msgs :: msg :: SteeringReport > ( \"~/input/steer\" , queue_size , std :: bind ( & AccelBrakeMapCalibrator :: callbackSteer , this , _1 ) ) ; actuation_status_sub_ = create_subscription < tier4_vehicle_msgs :: msg :: ActuationStatusStamped > ( \"~/input/actuation_status\" , queue_size , std :: bind ( & AccelBrakeMapCalibrator :: callbackActuationStatus , this , _1 ) ) ; // Service update_map_dir_server_ = create_service < tier4_vehicle_msgs :: srv :: UpdateAccelBrakeMap > ( \"~/input/update_map_dir\" , std :: bind ( & AccelBrakeMapCalibrator :: callbackUpdateMapService , this , _1 , _2 , _3 ) ) ; // timer initTimer ( 1.0 / update_hz_ ) ; initOutputCSVTimer ( 30.0 ) ; }', '{ transform_listener_ = std :: make_shared < tier4_autoware_utils :: TransformListener > ( this ) ; // get parameter update_hz_ = this -> declare_parameter < double > ( \"update_hz\" , 10.0 ) ; covariance_ = this -> declare_parameter < double > ( \"initial_covariance\" , 0.05 ) ; velocity_min_threshold_ = this -> declare_parameter < double > ( \"velocity_min_threshold\" , 0.1 ) ; velocity_diff_threshold_ = this -> declare_parameter < double > ( \"velocity_diff_threshold\" , 0.556 ) ; pedal_diff_threshold_ = this -> declare_parameter < double > ( \"pedal_diff_threshold\" , 0.03 ) ; max_steer_threshold_ = this -> declare_parameter < double > ( \"max_steer_threshold\" , 0.2 ) ; max_pitch_threshold_ = this -> declare_parameter < double > ( \"max_pitch_threshold\" , 0.02 ) ; max_jerk_threshold_ = this -> declare_parameter < double > ( \"max_jerk_threshold\" , 0.7 ) ; pedal_velocity_thresh_ = this -> declare_parameter < double > ( \"pedal_velocity_thresh\" , 0.15 ) ; map_update_gain_ = this -> declare_parameter < double > ( \"map_update_gain\" , 0.02 ) ; max_accel_ = this -> declare_parameter < double > ( \"max_accel\" , 5.0 ) ; min_accel_ = this -> declare_parameter < double > ( \"min_accel\" , - 5.0 ) ; pedal_to_accel_delay_ = this -> declare_parameter < double > ( \"pedal_to_accel_delay\" , 0.3 ) ; max_data_count_ = this -> declare_parameter < int > ( \"max_data_count\" , 200 ) ; pedal_accel_graph_output_ = this -> declare_parameter < bool > ( \"pedal_accel_graph_output\" , false ) ; progress_file_output_ = this -> declare_parameter < bool > ( \"progress_file_output\" , false ) ; const auto get_pitch_method_str = this -> declare_parameter < std :: string > ( \"get_pitch_method\" , std :: string ( \"tf\" ) ) ; if ( get_pitch_method_str == std :: string ( \"tf\" ) ) { get_pitch_method_ = GET_PITCH_METHOD :: TF ; } else if ( get_pitch_method_str == std :: string ( \"none\" ) ) { get_pitch_method_ = GET_PITCH_METHOD :: NONE ; } else { RCLCPP_ERROR_STREAM ( rclcpp :: get_logger ( \"accel_brake_map_calibrator\" ) , \"update_method_\" << \" is wrong. (available method: tf, file, none\" ) ; return ; } update_suggest_thresh_ = this -> declare_parameter < double > ( \"update_suggest_thresh\" , 0.7 ) ; csv_calibrated_map_dir_ = this -> declare_parameter < std :: string > ( \"csv_calibrated_map_dir\" , std :: string ( \"\" ) ) ; output_accel_file_ = csv_calibrated_map_dir_ + \"/accel_map.csv\" ; output_brake_file_ = csv_calibrated_map_dir_ + \"/brake_map.csv\" ; const std :: string update_method_str = this -> declare_parameter < std :: string > ( \"update_method\" , std :: string ( \"update_offset_each_cell\" ) ) ; if ( update_method_str == std :: string ( \"update_offset_each_cell\" ) ) { update_method_ = UPDATE_METHOD :: UPDATE_OFFSET_EACH_CELL ; } else if ( update_method_str == std :: string ( \"update_offset_total\" ) ) { update_method_ = UPDATE_METHOD :: UPDATE_OFFSET_TOTAL ; } else { RCLCPP_ERROR_STREAM ( rclcpp :: get_logger ( \"accel_brake_map_calibrator\" ) , \"update_method\" << \" is wrong. (available method: update_offset_each_cell, update_offset_total\" ) ; return ; } // initializer // QoS setup static constexpr std :: size_t queue_size = 1 ; rclcpp :: QoS durable_qos ( queue_size ) ; // Publisher for checkUpdateSuggest calibration_status_pub_ = create_publisher < tier4_external_api_msgs :: msg :: CalibrationStatus > ( \"/accel_brake_map_calibrator/output/calibration_status\" , durable_qos ) ; /* Diagnostic Updater */ updater_ptr_ = std :: make_shared < diagnostic_updater :: Updater > ( this , 1.0 / update_hz_ ) ; updater_ptr_ -> setHardwareID ( \"accel_brake_map_calibrator\" ) ; updater_ptr_ -> add ( \"accel_brake_map_calibrator\" , this , & AccelBrakeMapCalibrator :: checkUpdateSuggest ) ; { csv_default_map_dir_ = this -> declare_parameter < std :: string > ( \"csv_default_map_dir\" , std :: string ( \"\" ) ) ; std :: string csv_path_accel_map = csv_default_map_dir_ + \"/accel_map.csv\" ; std :: string csv_path_brake_map = csv_default_map_dir_ + \"/brake_map.csv\" ; if ( ! accel_map_ . readAccelMapFromCSV ( csv_path_accel_map ) || ! new_accel_map_ . readAccelMapFromCSV ( csv_path_accel_map ) ) { is_default_map_ = false ; RCLCPP_ERROR_STREAM ( rclcpp :: get_logger ( \"accel_brake_map_calibrator\" ) , \"Cannot read accelmap. csv path = \" << csv_path_accel_map . c_str ( ) << \". stop calculation.\" ) ; return ; } if ( ! brake_map_ . readBrakeMapFromCSV ( csv_path_brake_map ) || ! new_brake_map_ . readBrakeMapFromCSV ( csv_path_brake_map ) ) { is_default_map_ = false ; RCLCPP_ERROR_STREAM ( rclcpp :: get_logger ( \"accel_brake_map_calibrator\" ) , \"Cannot read brakemap. csv path = \" << csv_path_brake_map . c_str ( ) << \". stop calculation.\" ) ; return ; } } std :: string output_log_file = this -> declare_parameter < std :: string > ( \"output_log_file\" , std :: string ( \"\" ) ) ; output_log_ . open ( output_log_file ) ; addIndexToCSV ( & output_log_ ) ; debug_values_ . data . resize ( num_debug_values_ ) ; // input map info accel_map_value_ = accel_map_ . getAccelMap ( ) ; brake_map_value_ = brake_map_ . getBrakeMap ( ) ; accel_vel_index_ = accel_map_ . getVelIdx ( ) ; brake_vel_index_ = brake_map_ . getVelIdx ( ) ; accel_pedal_index_ = accel_map_ . getThrottleIdx ( ) ; brake_pedal_index_ = brake_map_ . getBrakeIdx ( ) ; update_accel_map_value_ . resize ( ( accel_map_value_ . size ( ) ) ) ; update_brake_map_value_ . resize ( ( brake_map_value_ . size ( ) ) ) ; for ( auto & m : update_accel_map_value_ ) { m . resize ( accel_map_value_ . at ( 0 ) . size ( ) ) ; } for ( auto & m : update_brake_map_value_ ) { m . resize ( brake_map_value_ . at ( 0 ) . size ( ) ) ; } map_value_data_ . resize ( accel_map_value_ . size ( ) + brake_map_value_ . size ( ) - 1 ) ; for ( auto & m : map_value_data_ ) { m . resize ( accel_map_value_ . at ( 0 ) . size ( ) ) ; } std :: copy ( accel_map_value_ . begin ( ) , accel_map_value_ . end ( ) , update_accel_map_value_ . begin ( ) ) ; std :: copy ( brake_map_value_ . begin ( ) , brake_map_value_ . end ( ) , update_brake_map_value_ . begin ( ) ) ; // publisher update_suggest_pub_ = create_publisher < std_msgs :: msg :: Bool > ( \"~/output/update_suggest\" , durable_qos ) ; original_map_occ_pub_ = create_publisher < nav_msgs :: msg :: OccupancyGrid > ( \"/accel_brake_map_calibrator/debug/original_occ_map\" , durable_qos ) ; update_map_occ_pub_ = create_publisher < nav_msgs :: msg :: OccupancyGrid > ( \"/accel_brake_map_calibrator/debug/update_occ_map\" , durable_qos ) ; data_ave_pub_ = create_publisher < nav_msgs :: msg :: OccupancyGrid > ( \"/accel_brake_map_calibrator/debug/data_average_occ_map\" , durable_qos ) ; data_std_pub_ = create_publisher < nav_msgs :: msg :: OccupancyGrid > ( \"/accel_brake_map_calibrator/debug/data_std_dev_occ_map\" , durable_qos ) ; data_count_pub_ = create_publisher < nav_msgs :: msg :: OccupancyGrid > ( \"/accel_brake_map_calibrator/debug/data_count_occ_map\" , durable_qos ) ; data_count_with_self_pose_pub_ = create_publisher < nav_msgs :: msg :: OccupancyGrid > ( \"/accel_brake_map_calibrator/debug/data_count_self_pose_occ_map\" , durable_qos ) ; index_pub_ = create_publisher < visualization_msgs :: msg :: MarkerArray > ( \"/accel_brake_map_calibrator/debug/occ_index\" , durable_qos ) ; original_map_raw_pub_ = create_publisher < std_msgs :: msg :: Float32MultiArray > ( \"/accel_brake_map_calibrator/debug/original_raw_map\" , durable_qos ) ; update_map_raw_pub_ = create_publisher < std_msgs :: msg :: Float32MultiArray > ( \"/accel_brake_map_calibrator/output/update_raw_map\" , durable_qos ) ; debug_pub_ = create_publisher < tier4_debug_msgs :: msg :: Float32MultiArrayStamped > ( \"/accel_brake_map_calibrator/output/debug_values\" , durable_qos ) ; current_map_error_pub_ = create_publisher < tier4_debug_msgs :: msg :: Float32Stamped > ( \"/accel_brake_map_calibrator/output/current_map_error\" , durable_qos ) ; updated_map_error_pub_ = create_publisher < tier4_debug_msgs :: msg :: Float32Stamped > ( \"/accel_brake_map_calibrator/output/updated_map_error\" , durable_qos ) ; map_error_ratio_pub_ = create_publisher < tier4_debug_msgs :: msg :: Float32Stamped > ( \"/accel_brake_map_calibrator/output/map_error_ratio\" , durable_qos ) ; // subscriber using std :: placeholders :: _1 ; using std :: placeholders :: _2 ; using std :: placeholders :: _3 ; velocity_sub_ = create_subscription < autoware_auto_vehicle_msgs :: msg :: VelocityReport > ( \"~/input/velocity\" , queue_size , std :: bind ( & AccelBrakeMapCalibrator :: callbackVelocity , this , _1 ) ) ; steer_sub_ = create_subscription < autoware_auto_vehicle_msgs :: msg :: SteeringReport > ( \"~/input/steer\" , queue_size , std :: bind ( & AccelBrakeMapCalibrator :: callbackSteer , this , _1 ) ) ; actuation_status_sub_ = create_subscription < tier4_vehicle_msgs :: msg :: ActuationStatusStamped > ( \"~/input/actuation_status\" , queue_size , std :: bind ( & AccelBrakeMapCalibrator :: callbackActuationStatus , this , _1 ) ) ; // Service update_map_dir_server_ = create_service < tier4_vehicle_msgs :: srv :: UpdateAccelBrakeMap > ( \"~/input/update_map_dir\" , std :: bind ( & AccelBrakeMapCalibrator :: callbackUpdateMapService , this , _1 , _2 , _3 ) ) ; // timer initTimer ( 1.0 / update_hz_ ) ; initOutputCSVTimer ( 30.0 ) ; }']\n", - "[]\n", - "[]\n", - "['{ using std :: placeholders :: _1 ; using std :: placeholders :: _2 ; using std :: placeholders :: _3 ; // Parameter update_rate_ = this -> declare_parameter ( \"update_rate\" , 10.0 ) ; disengage_on_route_ = this -> declare_parameter ( \"disengage_on_route\" , true ) ; disengage_on_goal_ = this -> declare_parameter ( \"disengage_on_goal\" , true ) ; // Parameter for StateMachine state_param_ . th_arrived_distance_m = this -> declare_parameter ( \"th_arrived_distance_m\" , 1.0 ) ; const auto th_arrived_angle_deg = this -> declare_parameter ( \"th_arrived_angle_deg\" , 45.0 ) ; state_param_ . th_arrived_angle = tier4_autoware_utils :: deg2rad ( th_arrived_angle_deg ) ; state_param_ . th_stopped_time_sec = this -> declare_parameter ( \"th_stopped_time_sec\" , 1.0 ) ; state_param_ . th_stopped_velocity_mps = this -> declare_parameter ( \"th_stopped_velocity_mps\" , 0.01 ) ; // State Machine state_machine_ = std :: make_shared < StateMachine > ( state_param_ ) ; // Config topic_configs_ = getConfigs < TopicConfig > ( this -> get_node_parameters_interface ( ) , \"topic_configs\" ) ; tf_configs_ = getConfigs < TfConfig > ( this -> get_node_parameters_interface ( ) , \"tf_configs\" ) ; // Callback Groups callback_group_subscribers_ = this -> create_callback_group ( rclcpp :: CallbackGroupType :: MutuallyExclusive ) ; callback_group_services_ = this -> create_callback_group ( rclcpp :: CallbackGroupType :: MutuallyExclusive ) ; auto subscriber_option = rclcpp :: SubscriptionOptions ( ) ; subscriber_option . callback_group = callback_group_subscribers_ ; // Topic Callback for ( const auto & topic_config : topic_configs_ ) { registerTopicCallback ( topic_config . name , topic_config . type , topic_config . transient_local , topic_config . best_effort ) ; } // Subscriber sub_autoware_engage_ = this -> create_subscription < autoware_auto_vehicle_msgs :: msg :: Engage > ( \"input/autoware_engage\" , 1 , std :: bind ( & AutowareStateMonitorNode :: onAutowareEngage , this , _1 ) , subscriber_option ) ; sub_control_mode_ = this -> create_subscription < autoware_auto_vehicle_msgs :: msg :: ControlModeReport > ( \"input/control_mode\" , 1 , std :: bind ( & AutowareStateMonitorNode :: onVehicleControlMode , this , _1 ) , subscriber_option ) ; sub_map_ = create_subscription < autoware_auto_mapping_msgs :: msg :: HADMapBin > ( \"input/vector_map\" , rclcpp :: QoS { 1 } . transient_local ( ) , std :: bind ( & AutowareStateMonitorNode :: onMap , this , _1 ) , subscriber_option ) ; sub_route_ = this -> create_subscription < autoware_auto_planning_msgs :: msg :: HADMapRoute > ( \"input/route\" , rclcpp :: QoS { 1 } . transient_local ( ) , std :: bind ( & AutowareStateMonitorNode :: onRoute , this , _1 ) , subscriber_option ) ; sub_odom_ = this -> create_subscription < nav_msgs :: msg :: Odometry > ( \"input/odometry\" , 100 , std :: bind ( & AutowareStateMonitorNode :: onOdometry , this , _1 ) , subscriber_option ) ; // Service srv_shutdown_ = this -> create_service < std_srvs :: srv :: Trigger > ( \"service/shutdown\" , std :: bind ( & AutowareStateMonitorNode :: onShutdownService , this , _1 , _2 , _3 ) , rmw_qos_profile_services_default , callback_group_services_ ) ; srv_reset_route_ = this -> create_service < std_srvs :: srv :: Trigger > ( \"service/reset_route\" , std :: bind ( & AutowareStateMonitorNode :: onResetRouteService , this , _1 , _2 , _3 ) , rmw_qos_profile_services_default , callback_group_services_ ) ; // Publisher pub_autoware_state_ = this -> create_publisher < autoware_auto_system_msgs :: msg :: AutowareState > ( \"output/autoware_state\" , 1 ) ; pub_autoware_engage_ = this -> create_publisher < autoware_auto_vehicle_msgs :: msg :: Engage > ( \"output/autoware_engage\" , 1 ) ; // Diagnostic Updater setupDiagnosticUpdater ( ) ; // Wait for first topics std :: this_thread :: sleep_for ( std :: chrono :: milliseconds ( 1000 ) ) ; // Timer const auto period_ns = rclcpp :: Rate ( update_rate_ ) . period ( ) ; timer_ = rclcpp :: create_timer ( this , get_clock ( ) , period_ns , std :: bind ( & AutowareStateMonitorNode :: onTimer , this ) , callback_group_subscribers_ ) ; }', '{ using std :: placeholders :: _1 ; using std :: placeholders :: _2 ; using std :: placeholders :: _3 ; // Parameter update_rate_ = this -> declare_parameter ( \"update_rate\" , 10.0 ) ; disengage_on_route_ = this -> declare_parameter ( \"disengage_on_route\" , true ) ; disengage_on_goal_ = this -> declare_parameter ( \"disengage_on_goal\" , true ) ; // Parameter for StateMachine state_param_ . th_arrived_distance_m = this -> declare_parameter ( \"th_arrived_distance_m\" , 1.0 ) ; const auto th_arrived_angle_deg = this -> declare_parameter ( \"th_arrived_angle_deg\" , 45.0 ) ; state_param_ . th_arrived_angle = tier4_autoware_utils :: deg2rad ( th_arrived_angle_deg ) ; state_param_ . th_stopped_time_sec = this -> declare_parameter ( \"th_stopped_time_sec\" , 1.0 ) ; state_param_ . th_stopped_velocity_mps = this -> declare_parameter ( \"th_stopped_velocity_mps\" , 0.01 ) ; // State Machine state_machine_ = std :: make_shared < StateMachine > ( state_param_ ) ; // Config topic_configs_ = getConfigs < TopicConfig > ( this -> get_node_parameters_interface ( ) , \"topic_configs\" ) ; tf_configs_ = getConfigs < TfConfig > ( this -> get_node_parameters_interface ( ) , \"tf_configs\" ) ; // Callback Groups callback_group_subscribers_ = this -> create_callback_group ( rclcpp :: CallbackGroupType :: MutuallyExclusive ) ; callback_group_services_ = this -> create_callback_group ( rclcpp :: CallbackGroupType :: MutuallyExclusive ) ; auto subscriber_option = rclcpp :: SubscriptionOptions ( ) ; subscriber_option . callback_group = callback_group_subscribers_ ; // Topic Callback for ( const auto & topic_config : topic_configs_ ) { registerTopicCallback ( topic_config . name , topic_config . type , topic_config . transient_local , topic_config . best_effort ) ; } // Subscriber sub_autoware_engage_ = this -> create_subscription < autoware_auto_vehicle_msgs :: msg :: Engage > ( \"input/autoware_engage\" , 1 , std :: bind ( & AutowareStateMonitorNode :: onAutowareEngage , this , _1 ) , subscriber_option ) ; sub_control_mode_ = this -> create_subscription < autoware_auto_vehicle_msgs :: msg :: ControlModeReport > ( \"input/control_mode\" , 1 , std :: bind ( & AutowareStateMonitorNode :: onVehicleControlMode , this , _1 ) , subscriber_option ) ; sub_map_ = create_subscription < autoware_auto_mapping_msgs :: msg :: HADMapBin > ( \"input/vector_map\" , rclcpp :: QoS { 1 } . transient_local ( ) , std :: bind ( & AutowareStateMonitorNode :: onMap , this , _1 ) , subscriber_option ) ; sub_route_ = this -> create_subscription < autoware_auto_planning_msgs :: msg :: HADMapRoute > ( \"input/route\" , rclcpp :: QoS { 1 } . transient_local ( ) , std :: bind ( & AutowareStateMonitorNode :: onRoute , this , _1 ) , subscriber_option ) ; sub_odom_ = this -> create_subscription < nav_msgs :: msg :: Odometry > ( \"input/odometry\" , 100 , std :: bind ( & AutowareStateMonitorNode :: onOdometry , this , _1 ) , subscriber_option ) ; // Service srv_shutdown_ = this -> create_service < std_srvs :: srv :: Trigger > ( \"service/shutdown\" , std :: bind ( & AutowareStateMonitorNode :: onShutdownService , this , _1 , _2 , _3 ) , rmw_qos_profile_services_default , callback_group_services_ ) ; srv_reset_route_ = this -> create_service < std_srvs :: srv :: Trigger > ( \"service/reset_route\" , std :: bind ( & AutowareStateMonitorNode :: onResetRouteService , this , _1 , _2 , _3 ) , rmw_qos_profile_services_default , callback_group_services_ ) ; // Publisher pub_autoware_state_ = this -> create_publisher < autoware_auto_system_msgs :: msg :: AutowareState > ( \"output/autoware_state\" , 1 ) ; pub_autoware_engage_ = this -> create_publisher < autoware_auto_vehicle_msgs :: msg :: Engage > ( \"output/autoware_engage\" , 1 ) ; // Diagnostic Updater setupDiagnosticUpdater ( ) ; // Wait for first topics std :: this_thread :: sleep_for ( std :: chrono :: milliseconds ( 1000 ) ) ; // Timer const auto period_ns = rclcpp :: Rate ( update_rate_ ) . period ( ) ; timer_ = rclcpp :: create_timer ( this , get_clock ( ) , period_ns , std :: bind ( & AutowareStateMonitorNode :: onTimer , this ) , callback_group_subscribers_ ) ; }', '{ using std :: placeholders :: _1 ; using std :: placeholders :: _2 ; using std :: placeholders :: _3 ; // Parameter update_rate_ = this -> declare_parameter ( \"update_rate\" , 10.0 ) ; disengage_on_route_ = this -> declare_parameter ( \"disengage_on_route\" , true ) ; disengage_on_goal_ = this -> declare_parameter ( \"disengage_on_goal\" , true ) ; // Parameter for StateMachine state_param_ . th_arrived_distance_m = this -> declare_parameter ( \"th_arrived_distance_m\" , 1.0 ) ; const auto th_arrived_angle_deg = this -> declare_parameter ( \"th_arrived_angle_deg\" , 45.0 ) ; state_param_ . th_arrived_angle = tier4_autoware_utils :: deg2rad ( th_arrived_angle_deg ) ; state_param_ . th_stopped_time_sec = this -> declare_parameter ( \"th_stopped_time_sec\" , 1.0 ) ; state_param_ . th_stopped_velocity_mps = this -> declare_parameter ( \"th_stopped_velocity_mps\" , 0.01 ) ; // State Machine state_machine_ = std :: make_shared < StateMachine > ( state_param_ ) ; // Config topic_configs_ = getConfigs < TopicConfig > ( this -> get_node_parameters_interface ( ) , \"topic_configs\" ) ; tf_configs_ = getConfigs < TfConfig > ( this -> get_node_parameters_interface ( ) , \"tf_configs\" ) ; // Callback Groups callback_group_subscribers_ = this -> create_callback_group ( rclcpp :: CallbackGroupType :: MutuallyExclusive ) ; callback_group_services_ = this -> create_callback_group ( rclcpp :: CallbackGroupType :: MutuallyExclusive ) ; auto subscriber_option = rclcpp :: SubscriptionOptions ( ) ; subscriber_option . callback_group = callback_group_subscribers_ ; // Topic Callback for ( const auto & topic_config : topic_configs_ ) { registerTopicCallback ( topic_config . name , topic_config . type , topic_config . transient_local , topic_config . best_effort ) ; } // Subscriber sub_autoware_engage_ = this -> create_subscription < autoware_auto_vehicle_msgs :: msg :: Engage > ( \"input/autoware_engage\" , 1 , std :: bind ( & AutowareStateMonitorNode :: onAutowareEngage , this , _1 ) , subscriber_option ) ; sub_control_mode_ = this -> create_subscription < autoware_auto_vehicle_msgs :: msg :: ControlModeReport > ( \"input/control_mode\" , 1 , std :: bind ( & AutowareStateMonitorNode :: onVehicleControlMode , this , _1 ) , subscriber_option ) ; sub_map_ = create_subscription < autoware_auto_mapping_msgs :: msg :: HADMapBin > ( \"input/vector_map\" , rclcpp :: QoS { 1 } . transient_local ( ) , std :: bind ( & AutowareStateMonitorNode :: onMap , this , _1 ) , subscriber_option ) ; sub_route_ = this -> create_subscription < autoware_auto_planning_msgs :: msg :: HADMapRoute > ( \"input/route\" , rclcpp :: QoS { 1 } . transient_local ( ) , std :: bind ( & AutowareStateMonitorNode :: onRoute , this , _1 ) , subscriber_option ) ; sub_odom_ = this -> create_subscription < nav_msgs :: msg :: Odometry > ( \"input/odometry\" , 100 , std :: bind ( & AutowareStateMonitorNode :: onOdometry , this , _1 ) , subscriber_option ) ; // Service srv_shutdown_ = this -> create_service < std_srvs :: srv :: Trigger > ( \"service/shutdown\" , std :: bind ( & AutowareStateMonitorNode :: onShutdownService , this , _1 , _2 , _3 ) , rmw_qos_profile_services_default , callback_group_services_ ) ; srv_reset_route_ = this -> create_service < std_srvs :: srv :: Trigger > ( \"service/reset_route\" , std :: bind ( & AutowareStateMonitorNode :: onResetRouteService , this , _1 , _2 , _3 ) , rmw_qos_profile_services_default , callback_group_services_ ) ; // Publisher pub_autoware_state_ = this -> create_publisher < autoware_auto_system_msgs :: msg :: AutowareState > ( \"output/autoware_state\" , 1 ) ; pub_autoware_engage_ = this -> create_publisher < autoware_auto_vehicle_msgs :: msg :: Engage > ( \"output/autoware_engage\" , 1 ) ; // Diagnostic Updater setupDiagnosticUpdater ( ) ; // Wait for first topics std :: this_thread :: sleep_for ( std :: chrono :: milliseconds ( 1000 ) ) ; // Timer const auto period_ns = rclcpp :: Rate ( update_rate_ ) . period ( ) ; timer_ = rclcpp :: create_timer ( this , get_clock ( ) , period_ns , std :: bind ( & AutowareStateMonitorNode :: onTimer , this ) , callback_group_subscribers_ ) ; }', '{ using std :: placeholders :: _1 ; using std :: placeholders :: _2 ; using std :: placeholders :: _3 ; // Parameter update_rate_ = this -> declare_parameter ( \"update_rate\" , 10.0 ) ; disengage_on_route_ = this -> declare_parameter ( \"disengage_on_route\" , true ) ; disengage_on_goal_ = this -> declare_parameter ( \"disengage_on_goal\" , true ) ; // Parameter for StateMachine state_param_ . th_arrived_distance_m = this -> declare_parameter ( \"th_arrived_distance_m\" , 1.0 ) ; const auto th_arrived_angle_deg = this -> declare_parameter ( \"th_arrived_angle_deg\" , 45.0 ) ; state_param_ . th_arrived_angle = tier4_autoware_utils :: deg2rad ( th_arrived_angle_deg ) ; state_param_ . th_stopped_time_sec = this -> declare_parameter ( \"th_stopped_time_sec\" , 1.0 ) ; state_param_ . th_stopped_velocity_mps = this -> declare_parameter ( \"th_stopped_velocity_mps\" , 0.01 ) ; // State Machine state_machine_ = std :: make_shared < StateMachine > ( state_param_ ) ; // Config topic_configs_ = getConfigs < TopicConfig > ( this -> get_node_parameters_interface ( ) , \"topic_configs\" ) ; tf_configs_ = getConfigs < TfConfig > ( this -> get_node_parameters_interface ( ) , \"tf_configs\" ) ; // Callback Groups callback_group_subscribers_ = this -> create_callback_group ( rclcpp :: CallbackGroupType :: MutuallyExclusive ) ; callback_group_services_ = this -> create_callback_group ( rclcpp :: CallbackGroupType :: MutuallyExclusive ) ; auto subscriber_option = rclcpp :: SubscriptionOptions ( ) ; subscriber_option . callback_group = callback_group_subscribers_ ; // Topic Callback for ( const auto & topic_config : topic_configs_ ) { registerTopicCallback ( topic_config . name , topic_config . type , topic_config . transient_local , topic_config . best_effort ) ; } // Subscriber sub_autoware_engage_ = this -> create_subscription < autoware_auto_vehicle_msgs :: msg :: Engage > ( \"input/autoware_engage\" , 1 , std :: bind ( & AutowareStateMonitorNode :: onAutowareEngage , this , _1 ) , subscriber_option ) ; sub_control_mode_ = this -> create_subscription < autoware_auto_vehicle_msgs :: msg :: ControlModeReport > ( \"input/control_mode\" , 1 , std :: bind ( & AutowareStateMonitorNode :: onVehicleControlMode , this , _1 ) , subscriber_option ) ; sub_map_ = create_subscription < autoware_auto_mapping_msgs :: msg :: HADMapBin > ( \"input/vector_map\" , rclcpp :: QoS { 1 } . transient_local ( ) , std :: bind ( & AutowareStateMonitorNode :: onMap , this , _1 ) , subscriber_option ) ; sub_route_ = this -> create_subscription < autoware_auto_planning_msgs :: msg :: HADMapRoute > ( \"input/route\" , rclcpp :: QoS { 1 } . transient_local ( ) , std :: bind ( & AutowareStateMonitorNode :: onRoute , this , _1 ) , subscriber_option ) ; sub_odom_ = this -> create_subscription < nav_msgs :: msg :: Odometry > ( \"input/odometry\" , 100 , std :: bind ( & AutowareStateMonitorNode :: onOdometry , this , _1 ) , subscriber_option ) ; // Service srv_shutdown_ = this -> create_service < std_srvs :: srv :: Trigger > ( \"service/shutdown\" , std :: bind ( & AutowareStateMonitorNode :: onShutdownService , this , _1 , _2 , _3 ) , rmw_qos_profile_services_default , callback_group_services_ ) ; srv_reset_route_ = this -> create_service < std_srvs :: srv :: Trigger > ( \"service/reset_route\" , std :: bind ( & AutowareStateMonitorNode :: onResetRouteService , this , _1 , _2 , _3 ) , rmw_qos_profile_services_default , callback_group_services_ ) ; // Publisher pub_autoware_state_ = this -> create_publisher < autoware_auto_system_msgs :: msg :: AutowareState > ( \"output/autoware_state\" , 1 ) ; pub_autoware_engage_ = this -> create_publisher < autoware_auto_vehicle_msgs :: msg :: Engage > ( \"output/autoware_engage\" , 1 ) ; // Diagnostic Updater setupDiagnosticUpdater ( ) ; // Wait for first topics std :: this_thread :: sleep_for ( std :: chrono :: milliseconds ( 1000 ) ) ; // Timer const auto period_ns = rclcpp :: Rate ( update_rate_ ) . period ( ) ; timer_ = rclcpp :: create_timer ( this , get_clock ( ) , period_ns , std :: bind ( & AutowareStateMonitorNode :: onTimer , this ) , callback_group_subscribers_ ) ; }', '{ using std :: placeholders :: _1 ; using std :: placeholders :: _2 ; using std :: placeholders :: _3 ; // Parameter update_rate_ = this -> declare_parameter ( \"update_rate\" , 10.0 ) ; disengage_on_route_ = this -> declare_parameter ( \"disengage_on_route\" , true ) ; disengage_on_goal_ = this -> declare_parameter ( \"disengage_on_goal\" , true ) ; // Parameter for StateMachine state_param_ . th_arrived_distance_m = this -> declare_parameter ( \"th_arrived_distance_m\" , 1.0 ) ; const auto th_arrived_angle_deg = this -> declare_parameter ( \"th_arrived_angle_deg\" , 45.0 ) ; state_param_ . th_arrived_angle = tier4_autoware_utils :: deg2rad ( th_arrived_angle_deg ) ; state_param_ . th_stopped_time_sec = this -> declare_parameter ( \"th_stopped_time_sec\" , 1.0 ) ; state_param_ . th_stopped_velocity_mps = this -> declare_parameter ( \"th_stopped_velocity_mps\" , 0.01 ) ; // State Machine state_machine_ = std :: make_shared < StateMachine > ( state_param_ ) ; // Config topic_configs_ = getConfigs < TopicConfig > ( this -> get_node_parameters_interface ( ) , \"topic_configs\" ) ; tf_configs_ = getConfigs < TfConfig > ( this -> get_node_parameters_interface ( ) , \"tf_configs\" ) ; // Callback Groups callback_group_subscribers_ = this -> create_callback_group ( rclcpp :: CallbackGroupType :: MutuallyExclusive ) ; callback_group_services_ = this -> create_callback_group ( rclcpp :: CallbackGroupType :: MutuallyExclusive ) ; auto subscriber_option = rclcpp :: SubscriptionOptions ( ) ; subscriber_option . callback_group = callback_group_subscribers_ ; // Topic Callback for ( const auto & topic_config : topic_configs_ ) { registerTopicCallback ( topic_config . name , topic_config . type , topic_config . transient_local , topic_config . best_effort ) ; } // Subscriber sub_autoware_engage_ = this -> create_subscription < autoware_auto_vehicle_msgs :: msg :: Engage > ( \"input/autoware_engage\" , 1 , std :: bind ( & AutowareStateMonitorNode :: onAutowareEngage , this , _1 ) , subscriber_option ) ; sub_control_mode_ = this -> create_subscription < autoware_auto_vehicle_msgs :: msg :: ControlModeReport > ( \"input/control_mode\" , 1 , std :: bind ( & AutowareStateMonitorNode :: onVehicleControlMode , this , _1 ) , subscriber_option ) ; sub_map_ = create_subscription < autoware_auto_mapping_msgs :: msg :: HADMapBin > ( \"input/vector_map\" , rclcpp :: QoS { 1 } . transient_local ( ) , std :: bind ( & AutowareStateMonitorNode :: onMap , this , _1 ) , subscriber_option ) ; sub_route_ = this -> create_subscription < autoware_auto_planning_msgs :: msg :: HADMapRoute > ( \"input/route\" , rclcpp :: QoS { 1 } . transient_local ( ) , std :: bind ( & AutowareStateMonitorNode :: onRoute , this , _1 ) , subscriber_option ) ; sub_odom_ = this -> create_subscription < nav_msgs :: msg :: Odometry > ( \"input/odometry\" , 100 , std :: bind ( & AutowareStateMonitorNode :: onOdometry , this , _1 ) , subscriber_option ) ; // Service srv_shutdown_ = this -> create_service < std_srvs :: srv :: Trigger > ( \"service/shutdown\" , std :: bind ( & AutowareStateMonitorNode :: onShutdownService , this , _1 , _2 , _3 ) , rmw_qos_profile_services_default , callback_group_services_ ) ; srv_reset_route_ = this -> create_service < std_srvs :: srv :: Trigger > ( \"service/reset_route\" , std :: bind ( & AutowareStateMonitorNode :: onResetRouteService , this , _1 , _2 , _3 ) , rmw_qos_profile_services_default , callback_group_services_ ) ; // Publisher pub_autoware_state_ = this -> create_publisher < autoware_auto_system_msgs :: msg :: AutowareState > ( \"output/autoware_state\" , 1 ) ; pub_autoware_engage_ = this -> create_publisher < autoware_auto_vehicle_msgs :: msg :: Engage > ( \"output/autoware_engage\" , 1 ) ; // Diagnostic Updater setupDiagnosticUpdater ( ) ; // Wait for first topics std :: this_thread :: sleep_for ( std :: chrono :: milliseconds ( 1000 ) ) ; // Timer const auto period_ns = rclcpp :: Rate ( update_rate_ 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8\u001b[0m h\u001b[39m.\u001b[39mget_subscription_callback_handlers()\n", - "File \u001b[0;32m~/.local/lib/python3.10/site-packages/clang/cindex.py:2815\u001b[0m, in \u001b[0;36mIndex.parse\u001b[0;34m(self, path, args, unsaved_files, options)\u001b[0m\n\u001b[1;32m 2802\u001b[0m \u001b[39mdef\u001b[39;00m \u001b[39mparse\u001b[39m(\u001b[39mself\u001b[39m, path, args\u001b[39m=\u001b[39m\u001b[39mNone\u001b[39;00m, unsaved_files\u001b[39m=\u001b[39m\u001b[39mNone\u001b[39;00m, options \u001b[39m=\u001b[39m \u001b[39m0\u001b[39m):\n\u001b[1;32m 2803\u001b[0m \u001b[39m\"\"\"Load the translation unit from the given source code file by running\u001b[39;00m\n\u001b[1;32m 2804\u001b[0m \u001b[39m clang and generating the AST before loading. Additional command line\u001b[39;00m\n\u001b[1;32m 2805\u001b[0m \u001b[39m parameters can be passed to clang via the args parameter.\u001b[39;00m\n\u001b[0;32m (...)\u001b[0m\n\u001b[1;32m 2813\u001b[0m \u001b[39m will be raised.\u001b[39;00m\n\u001b[1;32m 2814\u001b[0m \u001b[39m \"\"\"\u001b[39;00m\n\u001b[0;32m-> 2815\u001b[0m \u001b[39mreturn\u001b[39;00m TranslationUnit\u001b[39m.\u001b[39;49mfrom_source(path, args, unsaved_files, options,\n\u001b[1;32m 2816\u001b[0m \u001b[39mself\u001b[39;49m)\n", - "File \u001b[0;32m~/.local/lib/python3.10/site-packages/clang/cindex.py:2923\u001b[0m, in \u001b[0;36mTranslationUnit.from_source\u001b[0;34m(cls, filename, args, unsaved_files, options, index)\u001b[0m\n\u001b[1;32m 2920\u001b[0m unsaved_array[i]\u001b[39m.\u001b[39mcontents \u001b[39m=\u001b[39m contents\n\u001b[1;32m 2921\u001b[0m unsaved_array[i]\u001b[39m.\u001b[39mlength \u001b[39m=\u001b[39m \u001b[39mlen\u001b[39m(contents)\n\u001b[0;32m-> 2923\u001b[0m ptr \u001b[39m=\u001b[39m conf\u001b[39m.\u001b[39;49mlib\u001b[39m.\u001b[39;49mclang_parseTranslationUnit(index,\n\u001b[1;32m 2924\u001b[0m fspath(filename) \u001b[39mif\u001b[39;49;00m filename \u001b[39mis\u001b[39;49;00m \u001b[39mnot\u001b[39;49;00m \u001b[39mNone\u001b[39;49;00m \u001b[39melse\u001b[39;49;00m \u001b[39mNone\u001b[39;49;00m,\n\u001b[1;32m 2925\u001b[0m args_array,\n\u001b[1;32m 2926\u001b[0m \u001b[39mlen\u001b[39;49m(args), unsaved_array,\n\u001b[1;32m 2927\u001b[0m \u001b[39mlen\u001b[39;49m(unsaved_files), options)\n\u001b[1;32m 2929\u001b[0m \u001b[39mif\u001b[39;00m \u001b[39mnot\u001b[39;00m ptr:\n\u001b[1;32m 2930\u001b[0m \u001b[39mraise\u001b[39;00m TranslationUnitLoadError(\u001b[39m\"\u001b[39m\u001b[39mError parsing translation unit.\u001b[39m\u001b[39m\"\u001b[39m)\n", - "\u001b[0;31mKeyboardInterrupt\u001b[0m: " - ] - } - ], - "source": [ - "all_mappings = {}\n", - "idx = ci.Index.create()\n", - "\n", - "for src_file, args in compile_commands.items():\n", - " src_file: str\n", - " tu = idx.parse(src_file, args=args) # 0x200: KeepGoing (after fatal errors)\n", - " h = ast_utils.TUHandler(tu)\n", - " h.get_subscription_callback_handlers()\n", - "\n", - "with open(\"cb_identifiers.json\", \"w\") as f:\n", - " json.dump(all_mappings, f)" - ] - }, - { - "cell_type": "code", - "execution_count": null, - "metadata": { - "collapsed": false, - "pycharm": { - "name": "#%%\n" - } - }, - "outputs": [], - "source": [] - } - ], - "metadata": { - "kernelspec": { - "display_name": "Python 3.10.5 64-bit", - "language": "python", - "name": "python3" - }, - "language_info": { - "codemirror_mode": { - "name": "ipython", - "version": 3 - }, - "file_extension": ".py", - "mimetype": "text/x-python", - "name": "python", - "nbconvert_exporter": "python", - "pygments_lexer": "ipython3", - "version": "3.10.5" - }, - "orig_nbformat": 4, - "vscode": { - "interpreter": { - "hash": "8a94588eda9d64d9e9a351ab8144e55b1fabf5113b54e67dd26a8c27df0381b3" - } - } - }, - "nbformat": 4, - "nbformat_minor": 2 -} diff --git a/digger.ipynb b/digger.ipynb deleted file mode 100644 index 189627d..0000000 --- a/digger.ipynb +++ /dev/null @@ -1,824 +0,0 @@ -{ - "cells": [ - { - "cell_type": "code", - "execution_count": 34, - "metadata": {}, - "outputs": [], - "source": [ - "import requests\n", - "import json\n", - "import pandas as pd\n", - "from urllib.parse import quote\n", - "\n", - "jj = lambda a, b: f\"{a.rstrip('/')}/{b.lstrip('/')}\"\n", - "\n", - "def pp(arg):\n", - " if isinstance(arg, str):\n", - " arg = json.loads(arg)\n", - " print(json.dumps(arg, indent=2, sort_keys=True))\n", - " \n", - "\n", - "API_URL = \"http://localhost:8080/api/v1\"\n", - "BASE_DIR = \"/home/max/projects/autoware/src\"\n", - "\n", - "headers = {'Authorization': \"Bearer TOKEN\"}" - ] - }, - { - "cell_type": "code", - "execution_count": 42, - "metadata": {}, - "outputs": [ - { - "name": "stdout", - "output_type": "stream", - "text": [ - "/universe/autoware.universe/sensing/pointcloud_preprocessor/src/filter.cpp create_subscription 139 sub_input_ = create_subscription<PointCloud2>( \n", - "[WARN] Could not find matching bind statement for /universe/autoware.universe/sensing/pointcloud_preprocessor/src/filter.cpp#create_subscription@139\n", - "/universe/autoware.universe/control/vehicle_cmd_gate/src/vehicle_cmd_gate.cpp create_subscription 70 emergency_state_sub_ = this->create_subscription<EmergencyState>( \n", - "/universe/autoware.universe/control/vehicle_cmd_gate/src/vehicle_cmd_gate.cpp bind 71 \"input/emergency_state\", 1, std::bind(&VehicleCmdGate::onEmergencyState, this, _1)); \n", - "/universe/autoware.universe/control/vehicle_cmd_gate/src/vehicle_cmd_gate.cpp create_subscription 72 external_emergency_stop_heartbeat_sub_ = this->create_subscription<Heartbeat>( \n", - "/universe/autoware.universe/control/vehicle_cmd_gate/src/vehicle_cmd_gate.cpp bind 74 std::bind(&VehicleCmdGate::onExternalEmergencyStopHeartbeat, this, _1)); \n", - "/universe/autoware.universe/control/vehicle_cmd_gate/src/vehicle_cmd_gate.cpp create_subscription 75 gate_mode_sub_ = this->create_subscription<GateMode>( \n", - "/universe/autoware.universe/control/vehicle_cmd_gate/src/vehicle_cmd_gate.cpp bind 76 \"input/gate_mode\", 1, std::bind(&VehicleCmdGate::onGateMode, this, _1)); \n", - "/universe/autoware.universe/control/vehicle_cmd_gate/src/vehicle_cmd_gate.cpp create_subscription 77 engage_sub_ = this->create_subscription<EngageMsg>( \n", - "/universe/autoware.universe/control/vehicle_cmd_gate/src/vehicle_cmd_gate.cpp bind 78 \"input/engage\", 1, std::bind(&VehicleCmdGate::onEngage, this, _1)); \n", - "/universe/autoware.universe/control/vehicle_cmd_gate/src/vehicle_cmd_gate.cpp create_subscription 79 steer_sub_ = this->create_subscription<SteeringReport>( \n", - "/universe/autoware.universe/control/vehicle_cmd_gate/src/vehicle_cmd_gate.cpp bind 80 \"input/steering\", 1, std::bind(&VehicleCmdGate::onSteering, this, _1)); \n", - "/universe/autoware.universe/control/vehicle_cmd_gate/src/vehicle_cmd_gate.cpp create_subscription 83 auto_control_cmd_sub_ = this->create_subscription<AckermannControlCommand>( \n", - "/universe/autoware.universe/control/vehicle_cmd_gate/src/vehicle_cmd_gate.cpp bind 84 \"input/auto/control_cmd\", 1, std::bind(&VehicleCmdGate::onAutoCtrlCmd, this, _1)); \n", - "/universe/autoware.universe/control/vehicle_cmd_gate/src/vehicle_cmd_gate.cpp create_subscription 86 auto_turn_indicator_cmd_sub_ = this->create_subscription<TurnIndicatorsCommand>( \n", - "/universe/autoware.universe/control/vehicle_cmd_gate/src/vehicle_cmd_gate.cpp bind 88 std::bind(&VehicleCmdGate::onAutoTurnIndicatorsCmd, this, _1)); \n", - "/universe/autoware.universe/control/vehicle_cmd_gate/src/vehicle_cmd_gate.cpp create_subscription 90 auto_hazard_light_cmd_sub_ = this->create_subscription<HazardLightsCommand>( \n", - "/universe/autoware.universe/control/vehicle_cmd_gate/src/vehicle_cmd_gate.cpp bind 91 \"input/auto/hazard_lights_cmd\", 1, std::bind(&VehicleCmdGate::onAutoHazardLightsCmd, this, _1)); \n", - "/universe/autoware.universe/control/vehicle_cmd_gate/src/vehicle_cmd_gate.cpp create_subscription 93 auto_gear_cmd_sub_ = this->create_subscription<GearCommand>( \n", - "/universe/autoware.universe/control/vehicle_cmd_gate/src/vehicle_cmd_gate.cpp bind 94 \"input/auto/gear_cmd\", 1, std::bind(&VehicleCmdGate::onAutoShiftCmd, this, _1)); \n", - "/universe/autoware.universe/control/vehicle_cmd_gate/src/vehicle_cmd_gate.cpp create_subscription 97 remote_control_cmd_sub_ = this->create_subscription<AckermannControlComman \n", - "/universe/autoware.universe/control/vehicle_cmd_gate/src/vehicle_cmd_gate.cpp bind 98 \"input/external/control_cmd\", 1, std::bind(&VehicleCmdGate::onRemoteCtrlCmd, this, _1)); \n", - "/universe/autoware.universe/system/system_monitor/test/src/cpu_monitor/test_tegra_cpu_monitor.cpp create_subscription 114 sub_ = monitor_->create_subscription<diagnostic_msgs::msg::DiagnosticArray>( \n", - "/universe/autoware.universe/system/system_monitor/test/src/cpu_monitor/test_tegra_cpu_monitor.cpp bind 115 \"/diagnostics\", 1000, std::bind(&TestCPUMonitor::diagCallback, monitor_.get(), _1)); \n", - "/universe/autoware.universe/simulator/fault_injection/src/fault_injection_node/fault_injection_node.cpp create_subscription 56 sub_simulation_events_ = this->create_subscription<SimulationEvents>( \n", - "/universe/autoware.universe/simulator/fault_injection/src/fault_injection_node/fault_injection_node.cpp bind 58 std::bind(&FaultInjectionNode::onSimulationEvents, this, _1)); \n", - "/universe/autoware.universe/planning/planning_evaluator/test/test_planning_evaluator_node.cpp create_subscription 85 metric_sub_ = rclcpp::create_subscription<DiagnosticArray>( \n", - "[WARN] Could not find matching bind statement for /universe/autoware.universe/planning/planning_evaluator/test/test_planning_evaluator_node.cpp#create_subscription@85\n", - "/universe/autoware.universe/control/lane_departure_checker/src/lane_departure_checker_node/lane_departure_checker_node.cpp create_subscription 148 sub_odom_ = this->create_subscription<nav_msgs::msg::Odometry>( \n", - "/universe/autoware.universe/control/lane_departure_checker/src/lane_departure_checker_node/lane_departure_checker_node.cpp bind 149 \"~/input/odometry\", 1, std::bind(&LaneDepartureCheckerNode::onOdometry, this, _1)); \n", - "/universe/autoware.universe/control/lane_departure_checker/src/lane_departure_checker_node/lane_departure_checker_node.cpp create_subscription 150 sub_lanelet_map_bin_ = this->create_subscription<HADMapBin>( \n", - "/universe/autoware.universe/control/lane_departure_checker/src/lane_departure_checker_node/lane_departure_checker_node.cpp bind 152 std::bind(&LaneDepartureCheckerNode::onLaneletMapBin, this, _1)); \n", - "/universe/autoware.universe/control/lane_departure_checker/src/lane_departure_checker_node/lane_departure_checker_node.cpp create_subscription 153 sub_route_ = this->create_subscription<HADMapRoute>( \n", - "/universe/autoware.universe/control/lane_departure_checker/src/lane_departure_checker_node/lane_departure_checker_node.cpp bind 155 std::bind(&LaneDepartureCheckerNode::onRoute, this, _1)); \n", - "/universe/autoware.universe/control/lane_departure_checker/src/lane_departure_checker_node/lane_departure_checker_node.cpp create_subscription 156 sub_reference_trajectory_ = this->create_subscription<Trajectory>( \n", - "/universe/autoware.universe/control/lane_departure_checker/src/lane_departure_checker_node/lane_departure_checker_node.cpp bind 158 std::bind(&LaneDepartureCheckerNode::onReferenceTrajectory, this, _1)); \n", - "/universe/autoware.universe/control/lane_departure_checker/src/lane_departure_checker_node/lane_departure_checker_node.cpp create_subscription 159 sub_predicted_trajectory_ = this->create_subscription<Trajectory>( \n", - "/universe/autoware.universe/control/lane_departure_checker/src/lane_departure_checker_node/lane_departure_checker_node.cpp bind 161 std::bind(&LaneDepartureCheckerNode::onPredictedTrajectory, this, _1)); \n", - "/universe/external/tier4_ad_api_adaptor/autoware_iv_external_api_adaptor/src/emergency.cpp create_subscription 35 sub_emergency_ = create_subscription<tier4_external_api_msgs::msg::Emergency>( \n", - "/universe/external/tier4_ad_api_adaptor/autoware_iv_external_api_adaptor/src/emergency.cpp bind 36 \"/api/autoware/get/emergency\", rclcpp::QoS(1), std::bind(&Emergency::getEmergency, this, _1)); \n", - "/universe/external/tier4_ad_api_adaptor/autoware_iv_external_api_adaptor/src/rosbag_logging_mode.cpp create_subscription 38 create_subscription<tier4_external_api_msgs::msg::RosbagLoggingMode>( \n", - "/universe/external/tier4_ad_api_adaptor/autoware_iv_external_api_adaptor/src/rosbag_logging_mode.cpp bind 40 std::bind(&RosbagLoggingMode::onRosbagLoggingMode, this, _1)); \n", - "/universe/autoware.universe/system/emergency_handler/src/emergency_handler/emergency_handler_core.cpp create_subscription 34 create_subscription<autoware_auto_system_msgs::msg::HazardStatusStamped>( \n", - "/universe/autoware.universe/system/emergency_handler/src/emergency_handler/emergency_handler_core.cpp bind 36 std::bind(&EmergencyHandler::onHazardStatusStamped, this, _1)); \n", - "/universe/autoware.universe/system/emergency_handler/src/emergency_handler/emergency_handler_core.cpp create_subscription 38 create_subscription<autoware_auto_control_msgs::msg::AckermannControlCommand>( \n", - "/universe/autoware.universe/system/emergency_handler/src/emergency_handler/emergency_handler_core.cpp bind 40 std::bind(&EmergencyHandler::onPrevControlCommand, this, _1)); \n", - "/universe/autoware.universe/system/emergency_handler/src/emergency_handler/emergency_handler_core.cpp create_subscription 41 sub_odom_ = create_subscription<nav_msgs::msg::Odometry>( \n", - "/universe/autoware.universe/system/emergency_handler/src/emergency_handler/emergency_handler_core.cpp bind 42 \"~/input/odometry\", rclcpp::QoS{1}, std::bind(&EmergencyHandler::onOdometry, this, _1)); \n", - "/universe/autoware.universe/system/emergency_handler/src/emergency_handler/emergency_handler_core.cpp create_subscription 44 sub_control_mode_ = create_subscription<autoware_auto_vehicle_msgs::msg::ControlModeReport>( \n", - "/universe/autoware.universe/system/emergency_handler/src/emergency_handler/emergency_handler_core.cpp bind 45 \"~/input/control_mode\", rclcpp::QoS{1}, std::bind(&EmergencyHandler::onControlMode, this, _1)); \n", - "/universe/autoware.universe/simulator/dummy_perception_publisher/src/node.cpp create_subscription 92 object_sub_ = this->create_subscription<dummy_perception_publisher::msg::Object>( \n", - "/universe/autoware.universe/simulator/dummy_perception_publisher/src/node.cpp bind 94 std::bind(&DummyPerceptionPublisherNode::objectCallback, this, std::placeholders::_1)); \n", - "/universe/autoware.universe/localization/stop_filter/src/stop_filter.cpp create_subscription 38 sub_odom_ = create_subscription<nav_msgs::msg::Odometry>( \n", - "/universe/autoware.universe/localization/stop_filter/src/stop_filter.cpp bind 39 \"input/odom\", 1, std::bind(&StopFilter::callbackOdometry, this, _1)); \n", - "/universe/autoware.universe/planning/motion_velocity_smoother/scripts/trajectory_visualizer.py create_subscription 114 self.sub_localization_twist = self.create_subscription( \n", - "[WARN] Could not find matching bind statement for /universe/autoware.universe/planning/motion_velocity_smoother/scripts/trajectory_visualizer.py#create_subscription@114\n", - "/universe/autoware.universe/planning/motion_velocity_smoother/scripts/trajectory_visualizer.py create_subscription 117 self.sub_vehicle_twist = self.create_subscription( \n", - "[WARN] Could not find matching bind statement for /universe/autoware.universe/planning/motion_velocity_smoother/scripts/trajectory_visualizer.py#create_subscription@117\n", - "/universe/autoware.universe/planning/motion_velocity_smoother/scripts/trajectory_visualizer.py create_subscription 121 self.sub_external_velocity_limit = self.create_subscription( \n", - "[WARN] Could not find matching bind statement for /universe/autoware.universe/planning/motion_velocity_smoother/scripts/trajectory_visualizer.py#create_subscription@121\n", - "/universe/autoware.universe/sensing/livox/livox_tag_filter/src/livox_tag_filter_node/livox_tag_filter_node.cpp create_subscription 46 sub_pointcloud_ = this->create_subscription<sensor_msgs::msg::PointCloud2>( \n", - "/universe/autoware.universe/sensing/livox/livox_tag_filter/src/livox_tag_filter_node/livox_tag_filter_node.cpp bind 47 \"input\", rclcpp::SensorDataQoS(), std::bind(&LivoxTagFilterNode::onPointCloud, this, _1)); \n", - "/universe/external/grid_map/grid_map_demos/src/ImageToGridmapDemo.cpp create_subscription 24 this->create_subscription<sensor_msgs::msg::Image>( \n", - "/universe/external/grid_map/grid_map_demos/src/ImageToGridmapDemo.cpp bind 26 std::bind(&ImageToGridmapDemo::imageCallback, this, std::placeholders::_1)); \n", - "/universe/autoware.universe/system/system_monitor/test/src/gpu_monitor/test_unknown_gpu_monitor.cpp create_subscription 61 sub_ = monitor_->create_subscription<diagnostic_msgs::msg::DiagnosticArray>( \n", - "/universe/autoware.universe/system/system_monitor/test/src/gpu_monitor/test_unknown_gpu_monitor.cpp bind 62 \"/diagnostics\", 1000, std::bind(&TestGPUMonitor::diagCallback, monitor_.get(), _1)); \n", - "/universe/autoware.universe/planning/motion_velocity_smoother/src/motion_velocity_smoother_node.cpp create_subscription 81 sub_current_trajectory_ = create_subscription<Trajectory>( \n", - "/universe/autoware.universe/planning/motion_velocity_smoother/src/motion_velocity_smoother_node.cpp bind 82 \"~/input/trajectory\", 1, std::bind(&MotionVelocitySmootherNode::onCurrentTrajectory, this, _1)); \n", - "/universe/autoware.universe/planning/motion_velocity_smoother/src/motion_velocity_smoother_node.cpp create_subscription 83 sub_current_odometry_ = create_subscription<Odometry>( \n", - "/universe/autoware.universe/planning/motion_velocity_smoother/src/motion_velocity_smoother_node.cpp bind 85 std::bind(&MotionVelocitySmootherNode::onCurrentOdometry, this, _1)); \n", - "/universe/autoware.universe/planning/motion_velocity_smoother/src/motion_velocity_smoother_node.cpp create_subscription 86 sub_external_velocity_limit_ = create_subscription<VelocityLimit>( \n", - "/universe/autoware.universe/planning/motion_velocity_smoother/src/motion_velocity_smoother_node.cpp bind 88 std::bind(&MotionVelocitySmootherNode::onExternalVelocityLimit, this, _1)); \n", - "/universe/autoware.universe/perception/traffic_light_visualization/src/traffic_light_map_visualizer/node.cpp create_subscription 123 tl_state_sub_ = create_subscription<autoware_auto_perception_msgs::msg::TrafficSignalArray>( \n", - "/universe/autoware.universe/perception/traffic_light_visualization/src/traffic_light_map_visualizer/node.cpp bind 125 std::bind(&TrafficLightMapVisualizerNode::trafficSignalsCallback, this, _1)); \n", - "/universe/autoware.universe/perception/traffic_light_visualization/src/traffic_light_map_visualizer/node.cpp create_subscription 126 vector_map_sub_ = create_subscription<autoware_auto_mapping_msgs::msg::HADMapBin>( \n", - "/universe/autoware.universe/perception/traffic_light_visualization/src/traffic_light_map_visualizer/node.cpp bind 128 std::bind(&TrafficLightMapVisualizerNode::binMapCallback, this, _1)); \n", - "/universe/autoware.universe/simulator/fault_injection/test/test_fault_injection_node.test.py create_subscription 103 self.test_node.create_subscription( \n", - "[WARN] Could not find matching bind statement for /universe/autoware.universe/simulator/fault_injection/test/test_fault_injection_node.test.py#create_subscription@103\n", - "/universe/autoware.universe/common/fake_test_node/test/test_fake_test_node.cpp create_subscription 47 m_sub{this->create_subscription<Int32>(\"/input_topic\", 10, [&](const Int32::SharedPtr msg) { \n", - "[WARN] Could not find matching bind statement for /universe/autoware.universe/common/fake_test_node/test/test_fake_test_node.cpp#create_subscription@47\n", - "/universe/autoware.universe/common/fake_test_node/test/test_fake_test_node.cpp create_subscription 69 auto result_odom_subscription = fixture->template create_subscription<Bool>( \n", - "[WARN] Could not find matching bind statement for /universe/autoware.universe/common/fake_test_node/test/test_fake_test_node.cpp#create_subscription@69\n", - "/universe/autoware.universe/planning/behavior_velocity_planner/src/node.cpp create_subscription 97 this->create_subscription<autoware_auto_planning_msgs::msg::PathWithLaneId>( \n", - "/universe/autoware.universe/planning/behavior_velocity_planner/src/node.cpp bind 98 \"~/input/path_with_lane_id\", 1, std::bind(&BehaviorVelocityPlannerNode::onTrigger, this, _1), \n", - "/universe/autoware.universe/planning/behavior_velocity_planner/src/node.cpp create_subscription 103 this->create_subscription<autoware_auto_perception_msgs::msg::PredictedObjects>( \n", - "/universe/autoware.universe/planning/behavior_velocity_planner/src/node.cpp bind 105 std::bind(&BehaviorVelocityPlannerNode::onPredictedObjects, this, _1), \n", - "/universe/autoware.universe/planning/behavior_velocity_planner/src/node.cpp create_subscription 107 sub_no_ground_pointcloud_ = this->create_subscription<sensor_msgs::msg::PointCloud2>( \n", - "/universe/autoware.universe/planning/behavior_velocity_planner/src/node.cpp bind 109 std::bind(&BehaviorVelocityPlannerNode::onNoGroundPointCloud, this, _1), \n", - "/universe/autoware.universe/planning/behavior_velocity_planner/src/node.cpp create_subscription 111 sub_vehicle_odometry_ = this->create_subscription<nav_msgs::msg::Odometry>( \n", - "/universe/autoware.universe/planning/behavior_velocity_planner/src/node.cpp bind 113 std::bind(&BehaviorVelocityPlannerNode::onVehicleVelocity, this, _1), \n", - "/universe/autoware.universe/planning/behavior_velocity_planner/src/node.cpp create_subscription 115 sub_lanelet_map_ = this->create_subscription<autoware_auto_mapping_msgs::msg::HADMapBin>( \n", - "/universe/autoware.universe/planning/behavior_velocity_planner/src/node.cpp bind 117 std::bind(&BehaviorVelocityPlannerNode::onLaneletMap, this, _1), \n", - "/universe/autoware.universe/planning/behavior_velocity_planner/src/node.cpp create_subscription 120 this->create_subscription<autoware_auto_perception_msgs::msg::TrafficSignalArray>( \n", - "/universe/autoware.universe/planning/behavior_velocity_planner/src/node.cpp bind 122 std::bind(&BehaviorVelocityPlannerNode::onTrafficSignals, this, _1), \n", - "/universe/autoware.universe/planning/behavior_velocity_planner/src/node.cpp create_subscription 124 sub_external_crosswalk_states_ = this->create_subscription<tier4_api_msgs::msg::CrosswalkStatus>( \n", - "/universe/autoware.universe/planning/behavior_velocity_planner/src/node.cpp bind 126 std::bind(&BehaviorVelocityPlannerNode::onExternalCrosswalkStates, this, _1), \n", - "/universe/autoware.universe/planning/behavior_velocity_planner/src/node.cpp create_subscription 129 this->create_subscription<tier4_api_msgs::msg::IntersectionStatus>( \n", - "/universe/autoware.universe/planning/behavior_velocity_planner/src/node.cpp bind 131 std::bind(&BehaviorVelocityPlannerNode::onExternalIntersectionStates, this, _1)); \n", - "/universe/autoware.universe/planning/behavior_velocity_planner/src/node.cpp create_subscription 132 sub_external_velocity_limit_ = this->create_subscription<VelocityLimit>( \n", - "/universe/autoware.universe/planning/behavior_velocity_planner/src/node.cpp bind 134 std::bind(&BehaviorVelocityPlannerNode::onExternalVelocityLimit, this, _1)); \n", - "/universe/autoware.universe/planning/behavior_velocity_planner/src/node.cpp create_subscription 136 this->create_subscription<autoware_auto_perception_msg \n", - "/universe/autoware.universe/planning/behavior_velocity_planner/src/node.cpp bind 138 std::bind(&BehaviorVelocityPlannerNode::onExternalTrafficSignals, this, _1), \n", - "/universe/external/tier4_ad_api_adaptor/autoware_iv_external_api_adaptor/src/map.cpp create_subscription 34 sub_map_info_ = create_subscription<tier4_external_api_msgs::msg::MapHash>( \n", - "/universe/external/tier4_ad_api_adaptor/autoware_iv_external_api_adaptor/src/map.cpp bind 36 std::bind(&Map::getMapHash, this, _1)); \n", - "/universe/autoware.universe/system/system_monitor/test/src/ntp_monitor/test_ntp_monitor.cpp create_subscription 100 sub_ = monitor_->create_subscription<diagnostic_msgs::msg::DiagnosticArray>( \n", - "/universe/autoware.universe/system/system_monitor/test/src/ntp_monitor/test_ntp_monitor.cpp bind 101 \"/diagnostics\", 1000, std::bind(&TestNTPMonitor::diagCallback, monitor_.get(), _1)); \n", - "/universe/autoware.universe/simulator/simple_planning_simulator/src/simple_planning_simulator/simple_planning_simulator_core.cpp create_subscription 89 sub_init_pose_ = create_subscription<PoseWithCovarianceStamped>( \n", - "/universe/autoware.universe/simulator/simple_planning_simulator/src/simple_planning_simulator/simple_planning_simulator_core.cpp bind 90 \"/initialpose\", QoS{1}, std::bind(&SimplePlanningSimulator::on_initialpose, this, _1)); \n", - "/universe/autoware.universe/simulator/simple_planning_simulator/src/simple_planning_simulator/simple_planning_simulator_core.cpp create_subscription 91 sub_ackermann_cmd_ = create_subscription<AckermannControlCommand>( \n", - "/universe/autoware.universe/simulator/simple_planning_simulator/src/simple_planning_simulator/simple_planning_simulator_core.cpp bind 93 std::bind(&SimplePlanningSimulator::on_ackermann_cmd, this, _1)); \n", - "/universe/autoware.universe/simulator/simple_planning_simulator/src/simple_planning_simulator/simple_planning_simulator_core.cpp create_subscription 94 sub_gear_cmd_ = create_subscription<GearCommand>( \n", - "/universe/autoware.universe/simulator/simple_planning_simulator/src/simple_planning_simulator/simple_planning_simulator_core.cpp bind 95 \"input/gear_command\", QoS{1}, std::bind(&SimplePlanningSimulator::on_gear_cmd, this, _1)); \n", - "/universe/autoware.universe/simulator/simple_planning_simulator/src/simple_planning_simulator/simple_planning_simulator_core.cpp create_subscription 96 sub_turn_indicators_cmd_ = create_subscription<TurnIndicatorsCommand>( \n", - "/universe/autoware.universe/simulator/simple_planning_simulator/src/simple_planning_simulator/simple_planning_simulator_core.cpp bind 98 std::bind(&SimplePlanningSimulator::on_turn_indicators_cmd, this, _1)); \n", - "/universe/autoware.universe/simulator/simple_planning_simulator/src/simple_planning_simulator/simple_planning_simulator_core.cpp create_subscription 99 sub_hazard_lights_cmd_ = create_subscription<HazardLightsCommand>( \n", - "/universe/autoware.universe/simulator/simple_planning_simulator/src/simple_planning_simulator/simple_planning_simulator_core.cpp bind 101 std::bind(&SimplePlanningSimulator::on_hazard_lights_cmd, this, _1)); \n", - "/universe/autoware.universe/simulator/simple_planning_simulator/src/simple_planning_simulator/simple_planning_simulator_core.cpp create_subscription 102 sub_trajectory_ = create_subscription<Trajectory>( \n", - "/universe/autoware.universe/simulator/simple_planning_simulator/src/simple_planning_simulator/simple_planning_simulator_core.cpp bind 103 \"input/trajectory\", QoS{1}, std::bind(&SimplePlanningSimulator::on_trajectory, this, _1)); \n", - "/universe/autoware.universe/simulator/simple_planning_simulator/src/simple_planning_simulator/simple_planning_simulator_core.cpp create_subscription 104 sub_engage_ = create_subscription<Engage>( \n", - "/universe/autoware.universe/simulator/simple_planning_simulator/src/simple_planning_simulator/simple_planning_simulator_core.cpp bind 105 \"input/engage\", rclcpp::QoS{1}, std::bind(&SimplePlanningSimulator::on_engage, this, _1)); \n", - "/universe/external/tier4_ad_api_adaptor/autoware_iv_internal_api_adaptor/src/velocity.cpp create_subscription 33 sub_planning_velocity_ = create_subscription<tier4_planning_msgs::msg::VelocityLimit>( \n", - "/universe/external/tier4_ad_api_adaptor/autoware_iv_internal_api_adaptor/src/velocity.cpp bind 35 std::bind(&Velocity::onVelocityLimit, this, _1)); \n", - "/universe/autoware.universe/system/system_error_monitor/src/system_error_monitor_core.cpp create_subscription 251 sub_diag_array_ = create_subscription<diagnostic_msgs::msg::DiagnosticArray>( \n", - "/universe/autoware.universe/system/system_error_monitor/src/system_error_monitor_core.cpp bind 252 \"input/diag_array\", rclcpp::QoS{1}, std::bind(&AutowareErrorMonitor::onDiagArray, this, _1)); \n", - "/universe/autoware.universe/system/system_error_monitor/src/system_error_monitor_core.cpp create_subscription 253 sub_current_gate_mode_ = create_subscription<tier4_control_msgs::msg::GateMode>( \n", - "/universe/autoware.universe/system/system_error_monitor/src/system_error_monitor_core.cpp bind 255 std::bind(&AutowareErrorMonitor::onCurrentGateMode, this, _1)); \n", - "/universe/autoware.universe/system/system_error_monitor/src/system_error_monitor_core.cpp create_subscription 256 sub_autoware_state_ = create_subscription<autoware_auto_system_msgs::msg::AutowareState>( \n", - "/universe/autoware.universe/system/system_error_monitor/src/system_error_monitor_core.cpp bind 258 std::bind(&AutowareErrorMonitor::onAutowareState, this, _1)); \n", - "/universe/autoware.universe/system/system_error_monitor/src/system_error_monitor_core.cpp create_subscription 259 sub_control_mode_ = create_subscription<autoware_auto_vehicle_msgs::msg::ControlModeReport>( \n", - "/universe/autoware.universe/system/system_error_monitor/src/system_error_monitor_core.cpp bind 261 std::bind(&AutowareErrorMonitor::onControlMode, this, _1)); \n", - "/universe/autoware.universe/perception/detected_object_feature_remover/src/detected_object_feature_remover.cpp create_subscription 23 sub_ = this->create_subscription<DetectedObjectsWithFeature>( \n", - "/universe/autoware.universe/perception/detected_object_feature_remover/src/detected_object_feature_remover.cpp bind 24 \"~/input\", 1, std::bind(&DetectedObjectFeatureRemover::objectCallback, this, _1)); \n", - "/universe/autoware.universe/planning/obstacle_avoidance_planner/src/node.cpp create_subscription 259 path_sub_ = create_subscription<autoware_auto_planning_msgs::msg::Path>( \n", - "/universe/autoware.universe/planning/obstacle_avoidance_planner/src/node.cpp bind 261 std::bind(&ObstacleAvoidancePlanner::pathCallback, this, std::placeholders::_1)); \n", - "/universe/autoware.universe/planning/obstacle_avoidance_planner/src/node.cpp create_subscription 262 odom_sub_ = create_subscription<nav_msgs::msg::Odometry>( \n", - "/universe/autoware.universe/planning/obstacle_avoidance_planner/src/node.cpp bind 264 std::bind(&ObstacleAvoidancePlanner::odomCallback, this, std::placeholders::_1)); \n", - "/universe/autoware.universe/planning/obstacle_avoidance_planner/src/node.cpp create_subscription 265 objects_sub_ = create_subscription<autoware_auto_perception_msgs::msg::PredictedObjects>( \n", - "/universe/autoware.universe/planning/obstacle_avoidance_planner/src/node.cpp bind 267 std::bind(&ObstacleAvoidancePlanner::objectsCallback, this, std::placeholders::_1)); \n", - "/universe/autoware.universe/planning/obstacle_avoidance_planner/src/node.cpp create_subscription 268 is_avoidance_sub_ = create_subscription<tier4_planning_msgs::msg::EnableAvoidance>( \n", - "/universe/autoware.universe/planning/obstacle_avoidance_planner/src/node.cpp bind 270 std::bind(&ObstacleAvoidancePlanner::enableAvoidanceCallback, this, std::placeholders::_1)); \n", - "/universe/autoware.universe/perception/euclidean_cluster/src/voxel_grid_based_euclidean_cluster_node.cpp create_subscription 37 pointcloud_sub_ = this->create_subscription<sensor_msgs::msg::PointCloud2>( \n", - "/universe/autoware.universe/perception/euclidean_cluster/src/voxel_grid_based_euclidean_cluster_node.cpp bind 39 std::bind(&VoxelGridBasedEuclideanClusterNode::onPointCloud, this, _1)); \n", - "/universe/autoware.universe/localization/twist2accel/src/twist2accel.cpp create_subscription 35 sub_odom_ = create_subscription<nav_msgs::msg::Odometry>( \n", - "/universe/autoware.universe/localization/twist2accel/src/twist2accel.cpp bind 36 \"input/odom\", 1, std::bind(&Twist2Accel::callbackOdometry, this, _1)); \n", - "/universe/autoware.universe/localization/twist2accel/src/twist2accel.cpp create_subscription 37 sub_twist_ = create_subscription<geometry_msgs::msg::TwistWithCovarianceStamped>( \n", - "/universe/autoware.universe/localization/twist2accel/src/twist2accel.cpp bind 38 \"input/twist\", 1, std::bind(&Twist2Accel::callbackTwistWithCovariance, this, _1)); \n", - "/universe/autoware.universe/planning/obstacle_stop_planner/src/node.cpp create_subscription 524 obstacle_pointcloud_sub_ = this->create_subscription<sensor_msgs::msg::PointCloud2>( \n", - "/universe/autoware.universe/planning/obstacle_stop_planner/src/node.cpp bind 526 std::bind(&ObstacleStopPlannerNode::obstaclePointcloudCallback, this, std::placeholders::_1), \n", - "/universe/autoware.universe/planning/obstacle_stop_planner/src/node.cpp create_subscription 528 path_sub_ = this->create_subscription<Trajectory>( \n", - "/universe/autoware.universe/planning/obstacle_stop_planner/src/node.cpp bind 530 std::bind(&ObstacleStopPlannerNode::pathCallback, this, std::placeholders::_1), \n", - "/universe/autoware.universe/planning/obstacle_stop_planner/src/node.cpp create_subscription 532 current_velocity_sub_ = this->create_subscription<nav_msgs::msg::Odometry>( \n", - "/universe/autoware.universe/planning/obstacle_stop_planner/src/node.cpp bind 534 std::bind(&ObstacleStopPlannerNode::currentVelocityCallback, this, std::placeholders::_1), \n", - "/universe/autoware.universe/planning/obstacle_stop_planner/src/node.cpp create_subscription 536 dynamic_object_sub_ = this->create_subscription<PredictedObjects>( \n", - "/universe/autoware.universe/planning/obstacle_stop_planner/src/node.cpp bind 538 std::bind(&ObstacleStopPlannerNode::dynamicObjectCallback, this, std::placeholders::_1), \n", - "/universe/autoware.universe/planning/obstacle_stop_planner/src/node.cpp create_subscription 540 expand_stop_range_sub_ = this->create_subscription<ExpandStopRange>( \n", - "/universe/autoware.universe/planning/obstacle_stop_planner/src/node.cpp bind 542 std::bind( \n", - "/universe/autoware.universe/system/system_monitor/test/src/cpu_monitor/test_raspi_cpu_monitor.cpp create_subscription 113 sub_ = monitor_->create_subscription<diagnostic_msgs::msg::DiagnosticArray>( \n", - "/universe/autoware.universe/system/system_monitor/test/src/cpu_monitor/test_raspi_cpu_monitor.cpp bind 114 \"/diagnostics\", 1000, std::bind(&TestCPUMonitor::diagCallback, monitor_.get(), _1)); \n", - "/sensor_component/external/tamagawa_imu_driver/src/tag_can_driver.cpp create_subscription 104 rclcpp::Subscription<can_msgs::msg::Frame>::SharedPtr sub = node->create_subscription<can_msgs::msg::Frame>(\"/can/imu\", 100, receive_CAN);\n", - "[WARN] Could not find matching bind statement for /sensor_component/external/tamagawa_imu_driver/src/tag_can_driver.cpp#create_subscription@104\n", - "/universe/autoware.universe/localization/initial_pose_button_panel/src/initial_pose_button_panel.cpp create_subscription 66 pose_cov_sub_ = raw_node->create_subscription<geometry_msgs::msg::PoseWithCovarianceStamped>( \n", - "/universe/autoware.universe/localization/initial_pose_button_panel/src/initial_pose_button_panel.cpp bind 68 std::bind(&InitialPoseButtonPanel::callbackPoseCov, this, std::placeholders::_1)); \n", - "/universe/autoware.universe/localization/initial_pose_button_panel/src/initial_pose_button_panel.cpp create_subscription 87 pose_cov_sub_ = raw_node->create_subscription<geometry_msgs::msg::PoseWithCovarianceStamped>( \n", - "/universe/autoware.universe/localization/initial_pose_button_panel/src/initial_pose_button_panel.cpp bind 89 std::bind(&InitialPoseButtonPanel::callbackPoseCov, this, std::placeholders::_1)); \n", - "/universe/autoware.universe/common/tier4_autoware_utils/include/tier4_autoware_utils/system/heartbeat_checker.hpp create_subscription 30 sub_heartbeat_ = node.create_subscription<HeartbeatMsg>( \n", - "/universe/autoware.universe/common/tier4_autoware_utils/include/tier4_autoware_utils/system/heartbeat_checker.hpp bind 31 topic_name, rclcpp::QoS{1}, std::bind(&HeaderlessHeartbeatChecker::onHeartbeat, this, _1)); \n", - "/universe/autoware.universe/control/trajectory_follower_nodes/src/lateral_controller_node.cpp create_subscription 142 m_sub_ref_path = create_subscription<autoware_auto_planning_msgs::msg::Trajectory>( \n", - "/universe/autoware.universe/control/trajectory_follower_nodes/src/lateral_controller_node.cpp bind 144 std::bind(&LateralController::onTrajectory, this, _1)); \n", - "/universe/autoware.universe/control/trajectory_follower_nodes/src/lateral_controller_node.cpp create_subscription 145 m_sub_steering = create_subscription<autoware_auto_vehicle_msgs::msg::SteeringReport>( \n", - "/universe/autoware.universe/control/trajectory_follower_nodes/src/lateral_controller_node.cpp bind 147 std::bind(&LateralController::onSteering, this, _1)); \n", - "/universe/autoware.universe/control/trajectory_follower_nodes/src/lateral_controller_node.cpp create_subscription 148 m_sub_odometry = create_subscription<nav_msgs::msg::Odometry>( \n", - "/universe/autoware.universe/control/trajectory_follower_nodes/src/lateral_controller_node.cpp bind 150 std::bind(&LateralController::onOdometry, this, _1)); \n", - "/universe/autoware.universe/map/map_tf_generator/src/map_tf_generator_node.cpp create_subscription 41 sub_ = create_subscription<sensor_msgs::msg::PointCloud2>( \n", - "/universe/autoware.universe/map/map_tf_generator/src/map_tf_generator_node.cpp bind 43 std::bind(&MapTFGeneratorNode::onPointCloud, this, std::placeholders::_1)); \n", - "/universe/autoware.universe/system/system_monitor/test/src/cpu_monitor/test_arm_cpu_monitor.cpp create_subscription 113 sub_ = monitor_->create_subscription<diagnostic_msgs::msg::DiagnosticArray>( \n", - "/universe/autoware.universe/system/system_monitor/test/src/cpu_monitor/test_arm_cpu_monitor.cpp bind 114 \"/diagnostics\", 1000, std::bind(&TestCPUMonitor::diagCallback, monitor_.get(), _1)); \n", - "/universe/autoware.universe/control/obstacle_collision_checker/src/obstacle_collision_checker_node/obstacle_collision_checker_node.cpp create_subscription 72 sub_obstacle_pointcloud_ = create_subscription<sensor_msgs::msg::PointCloud2>( \n", - "/universe/autoware.universe/control/obstacle_collision_checker/src/obstacle_collision_checker_node/obstacle_collision_checker_node.cpp bind 74 std::bind(&ObstacleCollisionCheckerNode::onObstaclePointcloud, this, _1)); \n", - "/universe/autoware.universe/control/obstacle_collision_checker/src/obstacle_collision_checker_node/obstacle_collision_checker_node.cpp create_subscription 75 sub_reference_trajectory_ = create_subscription<autoware_auto_planning_msgs::msg::Trajectory>( \n", - "/universe/autoware.universe/control/obstacle_collision_checker/src/obstacle_collision_checker_node/obstacle_collision_checker_node.cpp bind 77 std::bind(&ObstacleCollisionCheckerNode::onReferenceTrajectory, this, _1)); \n", - "/universe/autoware.universe/control/obstacle_collision_checker/src/obstacle_collision_checker_node/obstacle_collision_checker_node.cpp create_subscription 78 sub_predicted_trajectory_ = create_subscription<autoware_auto_planning_msgs::msg::Trajectory>( \n", - "/universe/autoware.universe/control/obstacle_collision_checker/src/obstacle_collision_checker_node/obstacle_collision_checker_node.cpp bind 80 std::bind(&ObstacleCollisionCheckerNode::onPredictedTrajectory, this, _1)); \n", - "/universe/autoware.universe/control/obstacle_collision_checker/src/obstacle_collision_checker_node/obstacle_collision_checker_node.cpp create_subscription 81 sub_odom_ = create_subscription<nav_msgs::msg::Odometry>( \n", - "/universe/autoware.universe/control/obstacle_collision_checker/src/obstacle_collision_checker_node/obstacle_collision_checker_node.cpp bind 82 \"input/odometry\", 1, std::bind(&ObstacleCollisionCheckerNode::onOdom, this, _1)); \n", - "/universe/autoware.universe/control/joy_controller/src/joy_controller/joy_controller_node.cpp create_subscription 476 sub_joy_ = this->create_subscription<sensor_msgs::msg::Joy>( \n", - "/universe/autoware.universe/control/joy_controller/src/joy_controller/joy_controller_node.cpp bind 477 \"input/joy\", 1, std::bind(&AutowareJoyControllerNode::onJoy, this, std::placeholders::_1), \n", - "/universe/autoware.universe/control/joy_controller/src/joy_controller/joy_controller_node.cpp create_subscription 479 sub_odom_ = this->create_subscription<nav_msgs::msg::Odometry>( \n", - "/universe/autoware.universe/control/joy_controller/src/joy_controller/joy_controller_node.cpp bind 481 std::bind(&AutowareJoyControllerNode::onOdometry, this, std::placeholders::_1), \n", - "/universe/external/tier4_ad_api_adaptor/autoware_iv_external_api_adaptor/src/start.cpp create_subscription 28 sub_get_operator_ = create_subscription<tier4_external_api_msgs::msg::Operator>( \n", - "/universe/external/tier4_ad_api_adaptor/autoware_iv_external_api_adaptor/src/start.cpp bind 29 \"/api/external/get/operator\", rclcpp::QoS(1), std::bind(&Start::getOperator, this, _1)); \n", - "/universe/autoware.universe/planning/behavior_path_planner/src/scene_module/side_shift/side_shift_module.cpp create_subscription 62 lateral_offset_subscriber_ = node.create_subscription<LateralOffset>( \n", - "/universe/autoware.universe/planning/behavior_path_planner/src/scene_module/side_shift/side_shift_module.cpp bind 63 \"~/input/lateral_offset\", 1, std::bind(&SideShiftModule::onLateralOffset, this, _1)); \n", - "/universe/autoware.universe/planning/behavior_path_planner/src/behavior_path_planner_node.cpp create_subscription 89 velocity_subscriber_ = create_subscription<Odometry>( \n", - "/universe/autoware.universe/planning/behavior_path_planner/src/behavior_path_planner_node.cpp bind 90 \"~/input/odometry\", 1, std::bind(&BehaviorPathPlannerNode::onVelocity, this, _1), \n", - "/universe/autoware.universe/planning/behavior_path_planner/src/behavior_path_planner_node.cpp create_subscription 92 perception_subscriber_ = create_subscription<PredictedObjects>( \n", - "/universe/autoware.universe/planning/behavior_path_planner/src/behavior_path_planner_node.cpp bind 93 \"~/input/perception\", 1, std::bind(&BehaviorPathPlannerNode::onPerception, this, _1), \n", - "/universe/autoware.universe/planning/behavior_path_planner/src/behavior_path_planner_node.cpp create_subscription 95 scenario_subscriber_ = create_subscription<Scenario>( \n", - "/universe/autoware.universe/planning/behavior_path_planner/src/behavior_path_planner_node.cpp bind 103 std::bind(&BehaviorPathPlannerNode::onExternalApproval, this, _1), \n", - "/universe/autoware.universe/planning/behavior_path_planner/src/behavior_path_planner_node.cpp create_subscription 101 external_approval_subscriber_ = create_subscription<ApprovalMsg>( \n", - "/universe/autoware.universe/planning/behavior_path_planner/src/behavior_path_planner_node.cpp bind 103 std::bind(&BehaviorPathPlannerNode::onExternalApproval, this, _1), \n", - "/universe/autoware.universe/planning/behavior_path_planner/src/behavior_path_planner_node.cpp create_subscription 105 force_approval_subscriber_ = create_subscription<PathChangeModule>( \n", - "/universe/autoware.universe/planning/behavior_path_planner/src/behavior_path_planner_node.cpp bind 106 \"~/input/force_approval\", 1, std::bind(&BehaviorPathPlannerNode::onForceApproval, this, _1), \n", - "/universe/autoware.universe/planning/behavior_path_planner/src/behavior_path_planner_node.cpp create_subscription 111 vector_map_subscriber_ = create_subscription<HADMapBin>( \n", - "/universe/autoware.universe/planning/behavior_path_planner/src/behavior_path_planner_node.cpp bind 112 \"~/input/vector_map\", qos_transient_local, std::bind(&BehaviorPathPlannerNode::onMap, this, _1), \n", - "/universe/autoware.universe/planning/behavior_path_planner/src/behavior_path_planner_node.cpp create_subscription 114 route_subscriber_ = create_subscription<HADMapRoute>( \n", - "/universe/autoware.universe/planning/behavior_path_planner/src/behavior_path_planner_node.cpp bind 115 \"~/input/route\", qos_transient_local, std::bind(&BehaviorPathPlannerNode::onRoute, this, _1), \n", - "/universe/autoware.universe/system/ad_service_state_monitor/src/ad_service_state_monitor_node/ad_service_state_monitor_node.cpp create_subscription 430 sub_autoware_engage_ = this->create_subscription<autoware_auto_vehicle_msgs::msg::Engage>( \n", - "/universe/autoware.universe/system/ad_service_state_monitor/src/ad_service_state_monitor_node/ad_service_state_monitor_node.cpp bind 431 \"input/autoware_engage\", 1, std::bind(&AutowareStateMonitorNode::onAutowareEngage, this, _1), \n", - "/universe/autoware.universe/system/ad_service_state_monitor/src/ad_service_state_monitor_node/ad_service_state_monitor_node.cpp create_subscription 433 sub_control_mode_ = this->create_subscription<autoware_auto_vehicle_msgs::msg::ControlModeReport>( \n", - "/universe/autoware.universe/system/ad_service_state_monitor/src/ad_service_state_monitor_node/ad_service_state_monitor_node.cpp bind 434 \"input/control_mode\", 1, std::bind(&AutowareStateMonitorNode::onVehicleControlMode, this, _1), \n", - "/universe/autoware.universe/system/ad_service_state_monitor/src/ad_service_state_monitor_node/ad_service_state_monitor_node.cpp create_subscription 436 sub_route_ = this->create_subscription<autoware_auto_planning_msgs::msg::HADMapRoute>( \n", - "/universe/autoware.universe/system/ad_service_state_monitor/src/ad_service_state_monitor_node/ad_service_state_monitor_node.cpp bind 438 std::bind(&AutowareStateMonitorNode::onRoute, this, _1), subscriber_option); \n", - "/universe/autoware.universe/system/ad_service_state_monitor/src/ad_service_state_monitor_node/ad_service_state_monitor_node.cpp create_subscription 439 sub_odom_ = this->create_subscription<nav_msgs::msg::Odometry>( \n", - "/universe/autoware.universe/system/ad_service_state_monitor/src/ad_service_state_monitor_node/ad_service_state_monitor_node.cpp bind 440 \"input/odometry\", 100, std::bind(&AutowareStateMonitorNode::onOdometry, this, _1), \n", - "/universe/autoware.universe/localization/pose2twist/src/pose2twist_core.cpp create_subscription 39 pose_sub_ = create_subscription<geometry_msgs::msg::PoseStamped>( \n", - "/universe/autoware.universe/localization/pose2twist/src/pose2twist_core.cpp bind 40 \"pose\", queue_size, std::bind(&Pose2Twist::callbackPose, this, _1)); \n", - "/universe/external/tier4_ad_api_adaptor/autoware_iv_external_api_adaptor/src/cpu_usage.cpp create_subscription 25 sub_cpu_usage_ = create_subscription<tier4_external_api_msgs::msg::CpuUsage>( \n", - "[WARN] Could not find matching bind statement for /universe/external/tier4_ad_api_adaptor/autoware_iv_external_api_adaptor/src/cpu_usage.cpp#create_subscription@25\n", - "/universe/autoware.universe/system/system_monitor/test/src/mem_monitor/test_mem_monitor.cpp create_subscription 99 sub_ = monitor_->create_subscription<diagnostic_msgs::msg::DiagnosticArray>( \n", - "/universe/autoware.universe/system/system_monitor/test/src/mem_monitor/test_mem_monitor.cpp bind 100 \"/diagnostics\", 1000, std::bind(&TestMemMonitor::diagCallback, monitor_.get(), _1)); \n", - "/universe/autoware.universe/common/fake_test_node/include/fake_test_node/fake_test_node.hpp create_subscription 140 typename rclcpp::Subscription<MsgT>::SharedPtr create_subscription( \n", - "[WARN] Could not find matching bind statement for /universe/autoware.universe/common/fake_test_node/include/fake_test_node/fake_test_node.hpp#create_subscription@140\n", - "/universe/autoware.universe/common/fake_test_node/include/fake_test_node/fake_test_node.hpp create_subscription 146 auto subscription = m_fake_node->create_subscription<MsgT>(topic, qos, callback); \n", - "[WARN] Could not find matching bind statement for /universe/autoware.universe/common/fake_test_node/include/fake_test_node/fake_test_node.hpp#create_subscription@146\n", - "/universe/autoware.universe/sensing/pointcloud_preprocessor/src/vector_map_filter/lanelet2_map_filter_nodelet.cpp create_subscription 53 map_sub_ = this->create_subscription<autoware_auto_mapping_msgs::msg::HADMapBin>( \n", - "/universe/autoware.universe/sensing/pointcloud_preprocessor/src/vector_map_filter/lanelet2_map_filter_nodelet.cpp bind 55 std::bind(&Lanelet2MapFilterComponent::mapCallback, this, _1)); \n", - "/universe/autoware.universe/sensing/pointcloud_preprocessor/src/vector_map_filter/lanelet2_map_filter_nodelet.cpp create_subscription 56 pointcloud_sub_ = this->create_subscription<PointCloud2>( \n", - "/universe/autoware.universe/sensing/pointcloud_preprocessor/src/vector_map_filter/lanelet2_map_filter_nodelet.cpp bind 58 std::bind(&Lanelet2MapFilterComponent::pointcloudCallback, this, _1)); \n", - "/universe/autoware.universe/common/tier4_planning_rviz_plugin/src/tools/max_velocity.cpp create_subscription 117 max_vel_sub_ = raw_node->create_subscription<tier4_planning_msgs::msg::VelocityLimit>( \n", - "/universe/autoware.universe/common/tier4_planning_rviz_plugin/src/tools/max_velocity.cpp bind 119 std::bind(&MaxVelocityDisplay::processMessage, this, std::placeholders::_1)); \n", - "/universe/autoware.universe/system/system_monitor/test/src/gpu_monitor/test_tegra_gpu_monitor.cpp create_subscription 93 sub_ = monitor_->create_subscription<diagnostic_msgs::msg::DiagnosticArray>( \n", - "/universe/autoware.universe/system/system_monitor/test/src/gpu_monitor/test_tegra_gpu_monitor.cpp bind 94 \"/diagnostics\", 1000, std::bind(&TestGPUMonitor::diagCallback, monitor_.get(), _1)); \n", - "/universe/external/tier4_ad_api_adaptor/autoware_iv_internal_api_adaptor/src/iv_msgs.cpp create_subscription 25 sub_state_ = create_subscription<AutowareStateAuto>( \n", - "/universe/external/tier4_ad_api_adaptor/autoware_iv_internal_api_adaptor/src/iv_msgs.cpp bind 26 \"/autoware/state\", rclcpp::QoS(1), std::bind(&IVMsgs::onState, this, _1)); \n", - "/universe/external/tier4_ad_api_adaptor/autoware_iv_internal_api_adaptor/src/iv_msgs.cpp create_subscription 27 sub_emergency_ = create_subscription<EmergencyStateAuto>( \n", - "/universe/external/tier4_ad_api_adaptor/autoware_iv_internal_api_adaptor/src/iv_msgs.cpp bind 28 \"/system/emergency/emergency_state\", rclcpp::QoS(1), std::bind(&IVMsgs::onEmergency, this, _1)); \n", - "/universe/external/tier4_ad_api_adaptor/autoware_iv_internal_api_adaptor/src/iv_msgs.cpp create_subscription 32 sub_control_mode_ = create_subscription<ControlModeAuto>( \n", - "/universe/external/tier4_ad_api_adaptor/autoware_iv_internal_api_adaptor/src/iv_msgs.cpp bind 33 \"/vehicle/status/control_mode\", rclcpp::QoS(1), std::bind(&IVMsgs::onControlMode, this, _1)); \n", - "/universe/external/tier4_ad_api_adaptor/autoware_iv_internal_api_adaptor/src/iv_msgs.cpp create_subscription 37 sub_trajectory_ = create_subscription<TrajectoryAuto>( \n", - "/universe/external/tier4_ad_api_adaptor/autoware_iv_internal_api_adaptor/src/iv_msgs.cpp bind 39 std::bind(&IVMsgs::onTrajectory, this, _1)); \n", - "/universe/external/tier4_ad_api_adaptor/autoware_iv_internal_api_adaptor/src/iv_msgs.cpp create_subscription 43 sub_tracked_objects_ = create_subscription<TrackedObjectsAuto>( \n", - "/universe/external/tier4_ad_api_adaptor/autoware_iv_internal_api_adaptor/src/iv_msgs.cpp bind 45 std::bind(&IVMsgs::onTrackedObjects, this, _1)); \n", - "/universe/autoware.universe/planning/planning_error_monitor/test/src/test_planning_error_monitor_pubsub.cpp create_subscription 39 diag_sub_ = create_subscription<DiagnosticArray>( \n", - "[WARN] Could not find matching bind statement for /universe/autoware.universe/planning/planning_error_monitor/test/src/test_planning_error_monitor_pubsub.cpp#create_subscription@39\n", - "/universe/autoware.universe/perception/compare_map_segmentation/src/compare_elevation_map_filter_node.cpp create_subscription 49 sub_map_ = this->create_subscription<grid_map_msgs::msg::GridMap>( \n", - "/universe/autoware.universe/perception/compare_map_segmentation/src/compare_elevation_map_filter_node.cpp bind 51 std::bind( \n", - "/universe/autoware.universe/map/map_loader/src/lanelet2_map_loader/lanelet2_map_visualization_node.cpp create_subscription 75 sub_map_bin_ = this->create_subscription<autoware_auto_mapping_msgs::msg::HADMapBin>( \n", - "/universe/autoware.universe/map/map_loader/src/lanelet2_map_loader/lanelet2_map_visualization_node.cpp bind 77 std::bind(&Lanelet2MapVisualizationNode::onMapBin, this, _1)); \n", - "/universe/autoware.universe/perception/map_based_prediction/src/map_based_prediction_node.cpp create_subscription 84 sub_objects_ = this->create_subscription<TrackedObjects>( \n", - "/universe/autoware.universe/perception/map_based_prediction/src/map_based_prediction_node.cpp bind 86 std::bind(&MapBasedPredictionNode::objectsCallback, this, std::placeholders::_1)); \n", - "/universe/autoware.universe/perception/map_based_prediction/src/map_based_prediction_node.cpp create_subscription 87 sub_map_ = this->create_subscription<HADMapBin>( \n", - "/universe/autoware.universe/perception/map_based_prediction/src/map_based_prediction_node.cpp bind 89 std::bind(&MapBasedPredictionNode::mapCallback, this, std::placeholders::_1)); \n", - "/universe/autoware.universe/common/tier4_debug_tools/scripts/pose2tf.py create_subscription 32 self._sub_pose = self.create_subscription( \n", - "[WARN] Could not find matching bind statement for /universe/autoware.universe/common/tier4_debug_tools/scripts/pose2tf.py#create_subscription@32\n", - "/universe/autoware.universe/common/tier4_debug_tools/scripts/stop_reason2pose.py create_subscription 34 self._sub_pose = self.create_subscription( \n", - "[WARN] Could not find matching bind statement for /universe/autoware.universe/common/tier4_debug_tools/scripts/stop_reason2pose.py#create_subscription@34\n", - "/universe/autoware.universe/control/external_cmd_selector/src/external_cmd_selector/external_cmd_selector_node.cpp create_subscription 52 sub_local_control_cmd_ = create_subscription<ExternalControlCommand>( \n", - "/universe/autoware.universe/control/external_cmd_selector/src/external_cmd_selector/external_cmd_selector_node.cpp bind 53 \"~/input/local/control_cmd\", 1, std::bind(&ExternalCmdSelector::onLocalControlCmd, this, _1), \n", - "/universe/autoware.universe/control/external_cmd_selector/src/external_cmd_selector/external_cmd_selector_node.cpp create_subscription 55 sub_local_shift_cmd_ = create_subscription<ExternalGearShift>( \n", - "/universe/autoware.universe/control/external_cmd_selector/src/external_cmd_selector/external_cmd_selector_node.cpp bind 56 \"~/input/local/shift_cmd\", 1, std::bind(&ExternalCmdSelector::onLocalShiftCmd, this, _1), \n", - "/universe/autoware.universe/control/external_cmd_selector/src/external_cmd_selector/external_cmd_selector_node.cpp create_subscription 58 sub_local_turn_signal_cmd_ = create_subscription<ExternalTurnSignal>( \n", - "/universe/autoware.universe/control/external_cmd_selector/src/external_cmd_selector/external_cmd_selector_node.cpp bind 60 std::bind(&ExternalCmdSelector::onLocalTurnSignalCmd, this, _1), subscriber_option); \n", - "/universe/autoware.universe/control/external_cmd_selector/src/external_cmd_selector/external_cmd_selector_node.cpp create_subscription 61 sub_local_heartbeat_ = create_subscription<ExternalHeartbeat>( \n", - "/universe/autoware.universe/control/external_cmd_selector/src/external_cmd_selector/external_cmd_selector_node.cpp bind 62 \"~/input/local/heartbeat\", 1, std::bind(&ExternalCmdSelector::onLocalHeartbeat, this, _1), \n", - "/universe/autoware.universe/control/external_cmd_selector/src/external_cmd_selector/external_cmd_selector_node.cpp create_subscription 65 sub_remote_control_cmd_ = create_subscription<ExternalControlCommand>( \n", - "/universe/autoware.universe/control/external_cmd_selector/src/external_cmd_selector/external_cmd_selector_node.cpp bind 66 \"~/input/remote/control_cmd\", 1, std::bind(&ExternalCmdSelector::onRemoteControlCmd, this, _1), \n", - "/universe/autoware.universe/control/external_cmd_selector/src/external_cmd_selector/external_cmd_selector_node.cpp create_subscription 68 sub_remote_shift_cmd_ = create_subscription<ExternalGearShift>( \n", - "/universe/autoware.universe/control/external_cmd_selector/src/external_cmd_selector/external_cmd_selector_node.cpp bind 69 \"~/input/remote/shift_cmd\", 1, std::bind(&ExternalCmdSelector::onRemoteShiftCmd, this, _1), \n", - "/universe/autoware.universe/control/external_cmd_selector/src/external_cmd_selector/external_cmd_selector_node.cpp create_subscription 71 sub_remote_turn_signal_cmd_ = create_subscription<ExternalTurnSignal>( \n", - "/universe/autoware.universe/control/external_cmd_selector/src/external_cmd_selector/external_cmd_selector_node.cpp bind 73 std::bind(&ExternalCmdSelector::onRemoteTurnSignalCmd, this, _1), subscriber_option); \n", - "/universe/autoware.universe/control/external_cmd_selector/src/external_cmd_selector/external_cmd_selector_node.cpp create_subscription 74 sub_remote_heartbeat_ = create_subscription<ExternalHeartbeat>( \n", - "/universe/autoware.universe/control/external_cmd_selector/src/external_cmd_selector/external_cmd_selector_node.cpp bind 75 \"~/input/remote/heartbeat\", 1, std::bind(&ExternalCmdSelector::onRemoteHeartbeat, this, _1), \n", - "/universe/autoware.universe/vehicle/accel_brake_map_calibrator/accel_brake_map_calibrator/test/sim_actuation_status_publisher.py create_subscription 39 self.sub = self.create_subscription( \n", - "[WARN] Could not find matching bind statement for /universe/autoware.universe/vehicle/accel_brake_map_calibrator/accel_brake_map_calibrator/test/sim_actuation_status_publisher.py#create_subscription@39\n", - "/universe/autoware.universe/planning/rtc_auto_approver/src/rtc_auto_approver_interface.cpp create_subscription 26 status_sub_ = node->create_subscription<CooperateStatusArray>( \n", - "/universe/autoware.universe/planning/rtc_auto_approver/src/rtc_auto_approver_interface.cpp bind 28 std::bind(&RTCAutoApproverInterface::onStatus, this, _1)); \n", - "/universe/autoware.universe/control/trajectory_follower_nodes/test/test_latlon_muxer_node.cpp create_subscription 54 this->create_subscription<ControlCommand>( \n", - "[WARN] Could not find matching bind statement for /universe/autoware.universe/control/trajectory_follower_nodes/test/test_latlon_muxer_node.cpp#create_subscription@54\n", - "/universe/autoware.universe/control/trajectory_follower_nodes/test/test_latlon_muxer_node.cpp create_subscription 100 this->create_subscription<ControlCommand>( \n", - "[WARN] Could not find matching bind statement for /universe/autoware.universe/control/trajectory_follower_nodes/test/test_latlon_muxer_node.cpp#create_subscription@100\n", - "/universe/autoware.universe/control/trajectory_follower_nodes/test/test_latlon_muxer_node.cpp create_subscription 136 this->create_subscription<ControlCommand>( \n", - "[WARN] Could not find matching bind statement for /universe/autoware.universe/control/trajectory_follower_nodes/test/test_latlon_muxer_node.cpp#create_subscription@136\n", - "/universe/autoware.universe/control/trajectory_follower_nodes/test/test_latlon_muxer_node.cpp create_subscription 172 this->create_subscription<ControlCommand>( \n", - "[WARN] Could not find matching bind statement for /universe/autoware.universe/control/trajectory_follower_nodes/test/test_latlon_muxer_node.cpp#create_subscription@172\n", - "/universe/autoware.universe/vehicle/accel_brake_map_calibrator/accel_brake_map_calibrator/src/accel_brake_map_calibrator_node.cpp create_subscription 188 velocity_sub_ = create_subscription<autoware_auto_vehicle_msgs::msg::VelocityReport>( \n", - "/universe/autoware.universe/vehicle/accel_brake_map_calibrator/accel_brake_map_calibrator/src/accel_brake_map_calibrator_node.cpp bind 190 std::bind(&AccelBrakeMapCalibrator::callbackVelocity, this, _1)); \n", - "/universe/autoware.universe/vehicle/accel_brake_map_calibrator/accel_brake_map_calibrator/src/accel_brake_map_calibrator_node.cpp create_subscription 191 steer_sub_ = create_subscription<autoware_auto_vehicle_msgs::msg::SteeringReport>( \n", - "/universe/autoware.universe/vehicle/accel_brake_map_calibrator/accel_brake_map_calibrator/src/accel_brake_map_calibrator_node.cpp bind 192 \"~/input/steer\", queue_size, std::bind(&AccelBrakeMapCalibrator::callbackSteer, this, _1)); \n", - "/universe/autoware.universe/vehicle/accel_brake_map_calibrator/accel_brake_map_calibrator/src/accel_brake_map_calibrator_node.cpp create_subscription 193 actuation_status_sub_ = create_subscription<tier4_vehicle_msgs::msg::ActuationStatusStamped>( \n", - "/universe/autoware.universe/vehicle/accel_brake_map_calibrator/accel_brake_map_calibrator/src/accel_brake_map_calibrator_node.cpp bind 195 std::bind(&AccelBrakeMapCalibrator::callbackActuationStatus, this, _1)); \n", - "/universe/external/tier4_ad_api_adaptor/autoware_iv_internal_api_adaptor/src/route.cpp create_subscription 90 sub_planning_route_ = create_subscription<autoware_auto_planning_msgs::msg::HADMapRoute>( \n", - "/universe/external/tier4_ad_api_adaptor/autoware_iv_internal_api_adaptor/src/route.cpp bind 92 std::bind(&Route::onRoute, this, _1)); \n", - "/universe/autoware.universe/perception/compare_map_segmentation/src/voxel_based_approximate_compare_map_filter_nodelet.cpp create_subscription 46 sub_map_ = this->create_subscription<PointCloud2>( \n", - "/universe/autoware.universe/perception/compare_map_segmentation/src/voxel_based_approximate_compare_map_filter_nodelet.cpp bind 48 std::bind(&VoxelBasedApproximateCompareMapFilterComponent::input_target_callback, this, _1)); \n", - "/universe/external/grid_map/grid_map_demos/src/FiltersDemo.cpp create_subscription 26 subscriber_ = this->create_subscription<grid_map_msgs::msg::GridMap>( \n", - "/universe/external/grid_map/grid_map_demos/src/FiltersDemo.cpp bind 28 std::bind(&FiltersDemo::callback, this, std::placeholders::_1)); \n", - "/universe/autoware.universe/control/trajectory_follower_nodes/test/test_longitudinal_controller_node.cpp create_subscription 78 this->create_subscription<LongitudinalCommand>( \n", - "[WARN] Could not find matching bind statement for /universe/autoware.universe/control/trajectory_follower_nodes/test/test_longitudinal_controller_node.cpp#create_subscription@78\n", - "/universe/autoware.universe/control/trajectory_follower_nodes/test/test_longitudinal_controller_node.cpp create_subscription 150 this->create_subscription<LongitudinalCommand>( \n", - "[WARN] Could not find matching bind statement for /universe/autoware.universe/control/trajectory_follower_nodes/test/test_longitudinal_controller_node.cpp#create_subscription@150\n", - "/universe/autoware.universe/control/trajectory_follower_nodes/test/test_longitudinal_controller_node.cpp create_subscription 222 this->create_subscription<LongitudinalCommand>( \n", - "[WARN] Could not find matching bind statement for /universe/autoware.universe/control/trajectory_follower_nodes/test/test_longitudinal_controller_node.cpp#create_subscription@222\n", - "/universe/autoware.universe/control/trajectory_follower_nodes/test/test_longitudinal_controller_node.cpp create_subscription 294 this->create_subscription<LongitudinalCommand>( \n", - "[WARN] Could not find matching bind statement for /universe/autoware.universe/control/trajectory_follower_nodes/test/test_longitudinal_controller_node.cpp#create_subscription@294\n", - "/universe/autoware.universe/control/trajectory_follower_nodes/test/test_longitudinal_controller_node.cpp create_subscription 358 this->create_subscription<LongitudinalCommand>( \n", - "[WARN] Could not find matching bind statement for /universe/autoware.universe/control/trajectory_follower_nodes/test/test_longitudinal_controller_node.cpp#create_subscription@358\n", - "/universe/autoware.universe/control/trajectory_follower_nodes/test/test_longitudinal_controller_node.cpp create_subscription 422 this->create_subscription<LongitudinalCommand>( \n", - "[WARN] Could not find matching bind statement for /universe/autoware.universe/control/trajectory_follower_nodes/test/test_longitudinal_controller_node.cpp#create_subscription@422\n", - "/universe/autoware.universe/localization/ekf_localizer/src/ekf_localizer.cpp create_subscription 93 sub_initialpose_ = create_subscription<geometry_msgs::msg::PoseWithCovarianceStamped>( \n", - "/universe/autoware.universe/localization/ekf_localizer/src/ekf_localizer.cpp bind 94 \"initialpose\", 1, std::bind(&EKFLocalizer::callbackInitialPose, this, _1)); \n", - "/universe/autoware.universe/localization/ekf_localizer/src/ekf_localizer.cpp create_subscription 95 sub_pose_with_cov_ = create_subscription<geometry_msgs::msg::PoseWithCovarianceStamped>( \n", - "/universe/autoware.universe/localization/ekf_localizer/src/ekf_localizer.cpp bind 96 \"in_pose_with_covariance\", 1, std::bind(&EKFLocalizer::callbackPoseWithCovariance, this, _1)); \n", - "/universe/autoware.universe/localization/ekf_localizer/src/ekf_localizer.cpp create_subscription 97 sub_twist_with_cov_ = create_subscription<geometry_msgs::msg::TwistWithCovarianceStamped>( \n", - "/universe/autoware.universe/localization/ekf_localizer/src/ekf_localizer.cpp bind 98 \"in_twist_with_covariance\", 1, std::bind(&EKFLocalizer::callbackTwistWithCovariance, this, _1)); \n", - "/universe/autoware.universe/planning/obstacle_cruise_planner/scripts/trajectory_visualizer.py create_subscription 68 self.sub_localization_twist = self.create_subscription( \n", - "[WARN] Could not find matching bind statement for /universe/autoware.universe/planning/obstacle_cruise_planner/scripts/trajectory_visualizer.py#create_subscription@68\n", - "/universe/autoware.universe/planning/obstacle_cruise_planner/scripts/trajectory_visualizer.py create_subscription 71 self.sub_vehicle_twist = self.create_subscription( \n", - "[WARN] Could not find matching bind statement for /universe/autoware.universe/planning/obstacle_cruise_planner/scripts/trajectory_visualizer.py#create_subscription@71\n", - "/universe/autoware.universe/common/tier4_traffic_light_rviz_plugin/src/traffic_light_publish_panel.cpp create_subscription 223 sub_vector_map_ = raw_node_->create_subscription<HADMapBin>( \n", - "/universe/autoware.universe/common/tier4_traffic_light_rviz_plugin/src/traffic_light_publish_panel.cpp bind 225 std::bind(&TrafficLightPublishPanel::onVectorMap, this, _1)); \n", - "/universe/autoware.universe/planning/mission_planner/src/mission_planner_lanelet2/mission_planner_lanelet2.cpp create_subscription 132 map_subscriber_ = create_subscription<autoware_auto_mapping_msgs::msg::HADMapBin>( \n", - "/universe/autoware.universe/planning/mission_planner/src/mission_planner_lanelet2/mission_planner_lanelet2.cpp bind 134 std::bind(&MissionPlannerLanelet2::mapCallback, this, _1)); \n", - "/universe/autoware.universe/planning/behavior_velocity_planner/src/scene_module/run_out/dynamic_obstacle.cpp create_subscription 151 sub_compare_map_filtered_pointcloud_ = node.create_subscription<sensor_msgs::msg::PointCloud2>( \n", - "/universe/autoware.universe/planning/behavior_velocity_planner/src/scene_module/run_out/dynamic_obstacle.cpp bind 153 std::bind(&DynamicObstacleCreatorForPoints::onCompareMapFilteredPointCloud, this, _1)); \n", - "/universe/autoware.universe/sensing/image_transport_decompressor/src/image_transport_decompressor.cpp create_subscription 69 compressed_image_sub_ = create_subscription<sensor_msgs::msg::CompressedImage>( \n", - "/universe/autoware.universe/sensing/image_transport_decompressor/src/image_transport_decompressor.cpp bind 71 std::bind(&ImageTransportDecompressor::onCompressedImage, this, std::placeholders::_1)); \n", - "/universe/autoware.universe/planning/freespace_planner/src/freespace_planner/freespace_planner_node.cpp create_subscription 234 route_sub_ = create_subscription<HADMapRoute>( \n", - "/universe/autoware.universe/planning/freespace_planner/src/freespace_planner/freespace_planner_node.cpp bind 236 std::bind(&FreespacePlannerNode::onRoute, this, _1)); \n", - "/universe/autoware.universe/planning/freespace_planner/src/freespace_planner/freespace_planner_node.cpp create_subscription 237 occupancy_grid_sub_ = create_subscription<OccupancyGrid>( \n", - "/universe/autoware.universe/planning/freespace_planner/src/freespace_planner/freespace_planner_node.cpp bind 238 \"~/input/occupancy_grid\", 1, std::bind(&FreespacePlannerNode::onOccupancyGrid, this, _1)); \n", - "/universe/autoware.universe/planning/freespace_planner/src/freespace_planner/freespace_planner_node.cpp create_subscription 239 scenario_sub_ = create_subscription<Scenario>( \n", - "/universe/autoware.universe/planning/freespace_planner/src/freespace_planner/freespace_planner_node.cpp bind 240 \"~/input/scenario\", 1, std::bind(&FreespacePlannerNode::onScenario, this, _1)); \n", - "/universe/autoware.universe/planning/freespace_planner/src/freespace_planner/freespace_planner_node.cpp create_subscription 241 odom_sub_ = create_subscription<Odometry>( \n", - "/universe/autoware.universe/planning/freespace_planner/src/freespace_planner/freespace_planner_node.cpp bind 242 \"~/input/odometry\", 100, std::bind(&FreespacePlannerNode::onOdometry, this, _1)); \n", - "/universe/autoware.universe/planning/scenario_selector/src/scenario_selector_node/scenario_selector_node.cpp create_subscription 328 this->create_subscription<autoware_auto_planning_msgs::msg::Trajectory>( \n", - "/universe/autoware.universe/planning/scenario_selector/src/scenario_selector_node/scenario_selector_node.cpp bind 330 std::bind(&ScenarioSelectorNode::onLaneDrivingTrajectory, this, std::placeholders::_1)); \n", - "/universe/autoware.universe/planning/scenario_selector/src/scenario_selector_node/scenario_selector_node.cpp create_subscription 332 sub_parking_trajectory_ = this->create_subscription<autoware_auto_planning_msgs::msg::Trajectory>( \n", - "/universe/autoware.universe/planning/scenario_selector/src/scenario_selector_node/scenario_selector_node.cpp bind 334 std::bind(&ScenarioSelectorNode::onParkingTrajectory, this, std::placeholders::_1)); \n", - "/universe/autoware.universe/planning/scenario_selector/src/scenario_selector_node/scenario_selector_node.cpp create_subscription 336 sub_lanelet_map_ = this->create_subscription<autoware_auto_mapping_msgs::msg::HADMapBin>( \n", - "/universe/autoware.universe/planning/scenario_selector/src/scenario_selector_node/scenario_selector_node.cpp bind 338 std::bind(&ScenarioSelectorNode::onMap, this, std::placeholders::_1)); \n", - "/universe/autoware.universe/planning/scenario_selector/src/scenario_selector_node/scenario_selector_node.cpp create_subscription 339 sub_route_ = this->create_subscription<autoware_auto_planning_msgs::msg::HADMapRoute>( \n", - "/universe/autoware.universe/planning/scenario_selector/src/scenario_selector_node/scenario_selector_node.cpp bind 341 std::bind(&ScenarioSelectorNode::onRoute, this, std::placeholders::_1)); \n", - "/universe/autoware.universe/planning/scenario_selector/src/scenario_selector_node/scenario_selector_node.cpp create_subscription 342 sub_odom_ = this->create_subscription<nav_msgs::msg::Odometry>( \n", - "/universe/autoware.universe/planning/scenario_selector/src/scenario_selector_node/scenario_selector_node.cpp bind 344 std::bind(&ScenarioSelectorNode::onOdom, this, std::placeholders::_1)); \n", - "/universe/autoware.universe/perception/compare_map_segmentation/src/voxel_based_compare_map_filter_nodelet.cpp create_subscription 45 sub_map_ = this->create_subscription<PointCloud2>( \n", - "/universe/autoware.universe/perception/compare_map_segmentation/src/voxel_based_compare_map_filter_nodelet.cpp bind 47 std::bind(&VoxelBasedCompareMapFilterComponent::input_target_callback, this, _1)); \n", - "/universe/autoware.universe/common/fake_test_node/design/fake_test_node-design.md create_subscription 45 auto result_odom_subscription = create_subscription<Bool>(\"/output_topic\", *node, \n", - "[WARN] Could not find matching bind statement for /universe/autoware.universe/common/fake_test_node/design/fake_test_node-design.md#create_subscription@45\n", - "/universe/autoware.universe/perception/traffic_light_map_based_detector/src/node.cpp create_subscription 98 map_sub_ = create_subscription<autoware_auto_mapping_msgs::msg::HADMapBin>( \n", - "/universe/autoware.universe/perception/traffic_light_map_based_detector/src/node.cpp bind 100 std::bind(&MapBasedDetector::mapCallback, this, _1)); \n", - "/universe/autoware.universe/perception/traffic_light_map_based_detector/src/node.cpp create_subscription 101 camera_info_sub_ = create_subscription<sensor_msgs::msg::CameraInfo>( \n", - "/universe/autoware.universe/perception/traffic_light_map_based_detector/src/node.cpp bind 103 std::bind(&MapBasedDetector::cameraInfoCallback, this, _1)); \n", - "/universe/autoware.universe/perception/traffic_light_map_based_detector/src/node.cpp create_subscription 104 route_sub_ = create_subscription<autoware_auto_planning_msgs::msg::HADMapRoute>( \n", - "/universe/autoware.universe/perception/traffic_light_map_based_detector/src/node.cpp bind 106 std::bind(&MapBasedDetector::routeCallback, this, _1)); \n", - "/universe/autoware.universe/perception/object_range_splitter/src/node.cpp create_subscription 23 sub_ = this->create_subscription<autoware_auto_perception_msgs::msg::DetectedObjects>( \n", - "/universe/autoware.universe/perception/object_range_splitter/src/node.cpp bind 24 \"input/object\", rclcpp::QoS{1}, std::bind(&ObjectRangeSplitterNode::objectCallback, this, _1)); \n", - "/universe/autoware.universe/planning/costmap_generator/nodes/costmap_generator/costmap_generator_node.cpp create_subscription 197 sub_objects_ = this->create_subscription<autoware_auto_perception_msgs::msg::PredictedObjects>( \n", - "/universe/autoware.universe/planning/costmap_generator/nodes/costmap_generator/costmap_generator_node.cpp bind 198 \"~/input/objects\", 1, std::bind(&CostmapGenerator::onObjects, this, _1)); \n", - "/universe/autoware.universe/planning/costmap_generator/nodes/costmap_generator/costmap_generator_node.cpp create_subscription 199 sub_points_ = this->create_subscription<sensor_msgs::msg::PointCloud2>( \n", - "/universe/autoware.universe/planning/costmap_generator/nodes/costmap_generator/costmap_generator_node.cpp bind 201 std::bind(&CostmapGenerator::onPoints, this, _1)); \n", - "/universe/autoware.universe/planning/costmap_generator/nodes/costmap_generator/costmap_generator_node.cpp create_subscription 202 sub_lanelet_bin_map_ = this->create_subscription<autoware_auto_mapping_msgs::msg::HADMapBin>( \n", - "/universe/autoware.universe/planning/costmap_generator/nodes/costmap_generator/costmap_generator_node.cpp bind 204 std::bind(&CostmapGenerator::onLaneletMapBin, this, _1)); \n", - "/universe/autoware.universe/planning/costmap_generator/nodes/costmap_generator/costmap_generator_node.cpp create_subscription 205 sub_scenario_ = this->create_subscription<tier4_planning_msgs::msg::Scenario>( \n", - "/universe/autoware.universe/planning/costmap_generator/nodes/costmap_generator/costmap_generator_node.cpp bind 206 \"~/input/scenario\", 1, std::bind(&CostmapGenerator::onScenario, this, _1)); \n", - "/universe/autoware.universe/vehicle/raw_vehicle_cmd_converter/src/node.cpp create_subscription 86 sub_control_cmd_ = create_subscription<AckermannControlCommand>( \n", - "/universe/autoware.universe/vehicle/raw_vehicle_cmd_converter/src/node.cpp bind 87 \"~/input/control_cmd\", 1, std::bind(&RawVehicleCommandConverterNode::onControlCmd, this, _1)); \n", - "/universe/autoware.universe/vehicle/raw_vehicle_cmd_converter/src/node.cpp create_subscription 88 sub_velocity_ = create_subscription<Odometry>( \n", - "/universe/autoware.universe/vehicle/raw_vehicle_cmd_converter/src/node.cpp bind 89 \"~/input/odometry\", 1, std::bind(&RawVehicleCommandConverterNode::onVelocity, this, _1)); \n", - "/universe/autoware.universe/vehicle/raw_vehicle_cmd_converter/src/node.cpp create_subscription 90 sub_steering_ = create_subscription<Steering>( \n", - "/universe/autoware.universe/vehicle/raw_vehicle_cmd_converter/src/node.cpp bind 91 \"~/input/steering\", 1, std::bind(&RawVehicleCommandConverterNode::onSteering, this, _1)); \n", - "/sensor_component/external/velodyne_vls/velodyne_pointcloud/src/conversions/convert.cc create_subscription 150 this->create_subscription<velodyne_msgs::msg::VelodyneScan>( \n", - "/sensor_component/external/velodyne_vls/velodyne_pointcloud/src/conversions/convert.cc bind 152 std::bind(&Convert::processScan, this, std::placeholders::_1)); \n", - "/vehicle/external/pacmod_interface/pacmod_interface/src/pacmod_interface/pacmod_interface.cpp create_subscription 68 control_cmd_sub_ = create_subscription<autoware_auto_control_msgs::msg::AckermannControlCommand>( \n", - "/vehicle/external/pacmod_interface/pacmod_interface/src/pacmod_interface/pacmod_interface.cpp bind 69 \"/control/command/control_cmd\", 1, std::bind(&PacmodInterface::callbackControlCmd, this, _1)); \n", - "/vehicle/external/pacmod_interface/pacmod_interface/src/pacmod_interface/pacmod_interface.cpp create_subscription 70 gear_cmd_sub_ = create_subscription<autoware_auto_vehicle_msgs::msg::GearCommand>( \n", - "/vehicle/external/pacmod_interface/pacmod_interface/src/pacmod_interface/pacmod_interface.cpp bind 71 \"/control/command/gear_cmd\", 1, std::bind(&PacmodInterface::callbackGearCmd, this, _1)); \n", - "/vehicle/external/pacmod_interface/pacmod_interface/src/pacmod_interface/pacmod_interface.cpp create_subscription 73 create_subscription<autoware_auto_vehicle_msgs::msg::TurnIndicatorsCommand>( \n", - "/vehicle/external/pacmod_interface/pacmod_interface/src/pacmod_interface/pacmod_interface.cpp bind 75 std::bind(&PacmodInterface::callbackTurnIndicatorsCommand, this, _1)); \n", - "/vehicle/external/pacmod_interface/pacmod_interface/src/pacmod_interface/pacmod_interface.cpp create_subscription 77 create_subscription<autoware_auto_vehicle_msgs::msg::HazardLightsCommand>( \n", - "/vehicle/external/pacmod_interface/pacmod_interface/src/pacmod_interface/pacmod_interface.cpp bind 79 std::bind(&PacmodInterface::callbackHazardLightsCommand, this, _1)); \n", - "/vehicle/external/pacmod_interface/pacmod_interface/src/pacmod_interface/pacmod_interface.cpp create_subscription 80 engage_cmd_sub_ = create_subscription<autoware_auto_vehicle_msgs::msg::Engage>( \n", - "/vehicle/external/pacmod_interface/pacmod_interface/src/pacmod_interface/pacmod_interface.cpp bind 81 \"/vehicle/engage\", rclcpp::QoS{1}, std::bind(&PacmodInterface::callbackEngage, this, _1)); \n", - "/vehicle/external/pacmod_interface/pacmod_interface/src/pacmod_interface/pacmod_interface.cpp create_subscription 82 actuation_cmd_sub_ = create_subscription<ActuationCommandStamped>( \n", - "/vehicle/external/pacmod_interface/pacmod_interface/src/pacmod_interface/pacmod_interface.cpp bind 84 std::bind(&PacmodInterface::callbackActuationCmd, this, _1)); \n", - "/vehicle/external/pacmod_interface/pacmod_interface/src/pacmod_interface/pacmod_interface.cpp create_subscription 85 emergency_sub_ = create_subscription<tier4_vehicle_msgs::msg::VehicleEmergencyStamped>( \n", - "/vehicle/external/pacmod_interface/pacmod_interface/src/pacmod_interface/pacmod_interface.cpp bind 87 std::bind(&PacmodInterface::callbackEmergencyCmd, this, _1)); \n", - "/universe/autoware.universe/planning/planning_evaluator/src/planning_evaluator_node.cpp create_subscription 33 traj_sub_ = create_subscription<Trajectory>( \n", - "/universe/autoware.universe/planning/planning_evaluator/src/planning_evaluator_node.cpp bind 34 \"~/input/trajectory\", 1, std::bind(&PlanningEvaluatorNode::onTrajectory, this, _1)); \n", - "/universe/autoware.universe/planning/planning_evaluator/src/planning_evaluator_node.cpp create_subscription 36 ref_sub_ = create_subscription<Trajectory>( \n", - "/universe/autoware.universe/planning/planning_evaluator/src/planning_evaluator_node.cpp bind 38 std::bind(&PlanningEvaluatorNode::onReferenceTrajectory, this, _1)); \n", - "/universe/autoware.universe/planning/planning_evaluator/src/planning_evaluator_node.cpp create_subscription 40 objects_sub_ = create_subscription<PredictedObjects>( \n", - "/universe/autoware.universe/planning/planning_evaluator/src/planning_evaluator_node.cpp bind 41 \"~/input/objects\", 1, std::bind(&PlanningEvaluatorNode::onObjects, this, _1)); \n", - "/sensor_component/external/tamagawa_imu_driver/src/tag_serial_driver.cpp create_subscription 145 rclcpp::Subscription<std_msgs::msg::Int32>::SharedPtr sub1 = node->create_subscription<std_msgs::msg::Int32>(\"receive_ver_req\", 10, receive_ver_req);\n", - "[WARN] Could not find matching bind statement for /sensor_component/external/tamagawa_imu_driver/src/tag_serial_driver.cpp#create_subscription@145\n", - "/sensor_component/external/tamagawa_imu_driver/src/tag_serial_driver.cpp create_subscription 146 rclcpp::Subscription<std_msgs::msg::Int32>::SharedPtr sub2 = node->create_subscription<std_msgs::msg::Int32>(\"receive_offset_cancel_req\", 10, receive_offset_cancel_req);\n", - "[WARN] Could not find matching bind statement for /sensor_component/external/tamagawa_imu_driver/src/tag_serial_driver.cpp#create_subscription@146\n", - "/sensor_component/external/tamagawa_imu_driver/src/tag_serial_driver.cpp create_subscription 147 rclcpp::Subscription<std_msgs::msg::Int32>::SharedPtr sub3 = node->create_subscription<std_msgs::msg::Int32>(\"receive_heading_reset_req\", 10, receive_heading_reset_req);\n", - "[WARN] Could not find matching bind statement for /sensor_component/external/tamagawa_imu_driver/src/tag_serial_driver.cpp#create_subscription@147\n", - "/universe/autoware.universe/perception/compare_map_segmentation/src/voxel_distance_based_compare_map_filter_nodelet.cpp create_subscription 33 sub_map_ = this->create_subscription<PointCloud2>( \n", - "/universe/autoware.universe/perception/compare_map_segmentation/src/voxel_distance_based_compare_map_filter_nodelet.cpp bind 35 std::bind(&VoxelDistanceBasedCompareMapFilterComponent::input_target_callback, this, _1)); \n", - "/universe/autoware.universe/control/pure_pursuit/src/pure_pursuit/pure_pursuit_node.cpp create_subscription 76 sub_trajectory_ = this->create_subscription<autoware_auto_planning_msgs::msg::Trajectory>( \n", - "/universe/autoware.universe/control/pure_pursuit/src/pure_pursuit/pure_pursuit_node.cpp bind 77 \"input/reference_trajectory\", 1, std::bind(&PurePursuitNode::onTrajectory, this, _1)); \n", - "/universe/autoware.universe/control/pure_pursuit/src/pure_pursuit/pure_pursuit_node.cpp create_subscription 78 sub_current_odometry_ = this->create_subscription<nav_msgs::msg::Odometry>( \n", - "/universe/autoware.universe/control/pure_pursuit/src/pure_pursuit/pure_pursuit_node.cpp bind 79 \"input/current_odometry\", 1, std::bind(&PurePursuitNode::onCurrentOdometry, this, _1)); \n", - "/universe/autoware.universe/sensing/imu_corrector/src/imu_corrector_core.cpp create_subscription 29 imu_sub_ = create_subscription<sensor_msgs::msg::Imu>( \n", - "/universe/autoware.universe/sensing/imu_corrector/src/imu_corrector_core.cpp bind 30 \"input\", rclcpp::QoS{1}, std::bind(&ImuCorrector::callbackImu, this, std::placeholders::_1)); \n", - "/universe/external/tier4_ad_api_adaptor/autoware_iv_external_api_adaptor/src/door.cpp create_subscription 33 sub_door_status_ = create_subscription<tier4_api_msgs::msg::DoorStatus>( \n", - "/universe/external/tier4_ad_api_adaptor/autoware_iv_external_api_adaptor/src/door.cpp bind 34 \"/vehicle/status/door_status\", rclcpp::QoS(1), std::bind(&Door::getDoorStatus, this, _1)); \n", - "/universe/external/tier4_ad_api_adaptor/autoware_iv_internal_api_adaptor/src/operator.cpp create_subscription 47 sub_external_select_ = create_subscription<tier4_control_msgs::msg::ExternalCommandSelectorMode>( \n", - "/universe/external/tier4_ad_api_adaptor/autoware_iv_internal_api_adaptor/src/operator.cpp bind 49 std::bind(&Operator::onExternalSelect, this, _1)); \n", - "/universe/external/tier4_ad_api_adaptor/autoware_iv_internal_api_adaptor/src/operator.cpp create_subscription 50 sub_gate_mode_ = create_subscription<tier4_control_msgs::msg::GateMode>( \n", - "/universe/external/tier4_ad_api_adaptor/autoware_iv_internal_api_adaptor/src/operator.cpp bind 51 \"/control/current_gate_mode\", rclcpp::QoS(1), std::bind(&Operator::onGateMode, this, _1)); \n", - "/universe/external/tier4_ad_api_adaptor/autoware_iv_internal_api_adaptor/src/operator.cpp create_subscription 53 create_subscription<autoware_auto_vehicle_msgs::msg::ControlModeReport>( \n", - "/universe/external/tier4_ad_api_adaptor/autoware_iv_internal_api_adaptor/src/operator.cpp bind 55 std::bind(&Operator::onVehicleControlMode, this, _1)); \n", - "/universe/autoware.universe/localization/ndt_scan_matcher/src/ndt_scan_matcher_core.cpp create_subscription 218 initial_pose_sub_ = this->create_subscription<geometry_msgs::msg::PoseWithCovarianceStamped>( \n", - "/universe/autoware.universe/localization/ndt_scan_matcher/src/ndt_scan_matcher_core.cpp bind 220 std::bind(&NDTScanMatcher::callbackInitialPose, this, std::placeholders::_1), \n", - "/universe/autoware.universe/localization/ndt_scan_matcher/src/ndt_scan_matcher_core.cpp create_subscription 222 map_points_sub_ = this->create_subscription<sensor_msgs::msg::PointCloud2>( \n", - "/universe/autoware.universe/localization/ndt_scan_matcher/src/ndt_scan_matcher_core.cpp bind 224 std::bind(&NDTScanMatcher::callbackMapPoints, this, std::placeholders::_1), main_sub_opt); \n", - "/universe/autoware.universe/localization/ndt_scan_matcher/src/ndt_scan_matcher_core.cpp create_subscription 225 sensor_points_sub_ = this->create_subscription<sensor_msgs::msg::PointCloud2>( \n", - "/universe/autoware.universe/localization/ndt_scan_matcher/src/ndt_scan_matcher_core.cpp bind 227 std::bind(&NDTScanMatcher::callbackSensorPoints, this, std::placeholders::_1), main_sub_opt); \n", - "/universe/autoware.universe/control/shift_decider/src/shift_decider.cpp create_subscription 34 sub_control_cmd_ = create_subscription<autoware_auto_control_msgs::msg::AckermannControlCommand>( \n", - "/universe/autoware.universe/control/shift_decider/src/shift_decider.cpp bind 35 \"input/control_cmd\", queue_size, std::bind(&ShiftDecider::onControlCmd, this, _1)); \n", - "/universe/autoware.universe/sensing/pointcloud_preprocessor/src/distortion_corrector/distortion_corrector.cpp create_subscription 44 velocity_report_sub_ = this->create_subscription<VelocityReport>( \n", - "/universe/autoware.universe/sensing/pointcloud_preprocessor/src/distortion_corrector/distortion_corrector.cpp bind 46 std::bind(&DistortionCorrectorComponent::onVelocityReport, this, std::placeholders::_1)); \n", - "/universe/autoware.universe/sensing/pointcloud_preprocessor/src/distortion_corrector/distortion_corrector.cpp create_subscription 47 input_points_sub_ = this->create_subscription<PointCloud2>( \n", - "/universe/autoware.universe/sensing/pointcloud_preprocessor/src/distortion_corrector/distortion_corrector.cpp bind 49 std::bind(&DistortionCorrectorComponent::onPointCloud, this, std::placeholders::_1)); \n", - "/universe/autoware.universe/common/goal_distance_calculator/src/goal_distance_calculator_node.cpp create_subscription 50 sub_route_ = create_subscription<autoware_auto_planning_msgs::msg::Route>( \n", - "/universe/autoware.universe/common/goal_distance_calculator/src/goal_distance_calculator_node.cpp bind 60 this, get_clock(), period_ns, std::bind(&GoalDistanceCalculatorNode::onTimer, this)); \n", - "/universe/autoware.universe/system/system_monitor/test/src/gpu_monitor/test_nvml_gpu_monitor.cpp create_subscription 95 sub_ = monitor_->create_subscription<diagnostic_msgs::msg::DiagnosticArray>( \n", - "/universe/autoware.universe/system/system_monitor/test/src/gpu_monitor/test_nvml_gpu_monitor.cpp bind 96 \"/diagnostics\", 1000, std::bind(&TestGPUMonitor::diagCallback, monitor_.get(), _1)); \n", - "/universe/external/tier4_ad_api_adaptor/autoware_iv_external_api_adaptor/src/vehicle_status.cpp create_subscription 82 sub_velocity_ = create_subscription<autoware_auto_vehicle_msgs::msg::VelocityReport>( \n", - "[WARN] Could not find matching bind statement for /universe/external/tier4_ad_api_adaptor/autoware_iv_external_api_adaptor/src/vehicle_status.cpp#create_subscription@82\n", - "/universe/external/tier4_ad_api_adaptor/autoware_iv_external_api_adaptor/src/vehicle_status.cpp create_subscription 87 sub_steering_ = create_subscription<autoware_auto_vehicle_msgs::msg::SteeringReport>( \n", - "[WARN] Could not find matching bind statement for /universe/external/tier4_ad_api_adaptor/autoware_iv_external_api_adaptor/src/vehicle_status.cpp#create_subscription@87\n", - "/universe/external/tier4_ad_api_adaptor/autoware_iv_external_api_adaptor/src/vehicle_status.cpp create_subscription 92 sub_turn_indicators_ = create_subscription<autoware_auto_vehicle_msgs::msg::TurnIndicatorsReport>( \n", - "[WARN] Could not find matching bind statement for /universe/external/tier4_ad_api_adaptor/autoware_iv_external_api_adaptor/src/vehicle_status.cpp#create_subscription@92\n", - "/universe/external/tier4_ad_api_adaptor/autoware_iv_external_api_adaptor/src/vehicle_status.cpp create_subscription 97 sub_hazard_lights_ = create_subscription<autoware_auto_vehicle_msgs::msg::HazardLightsReport>( \n", - "[WARN] Could not find matching bind statement for /universe/external/tier4_ad_api_adaptor/autoware_iv_external_api_adaptor/src/vehicle_status.cpp#create_subscription@97\n", - "/universe/external/tier4_ad_api_adaptor/autoware_iv_external_api_adaptor/src/vehicle_status.cpp create_subscription 102 sub_gear_shift_ = create_subscription<autoware_auto_vehicle_msgs::msg::GearReport>( \n", - "[WARN] Could not find matching bind statement for /universe/external/tier4_ad_api_adaptor/autoware_iv_external_api_adaptor/src/vehicle_status.cpp#create_subscription@102\n", - "/universe/external/tier4_ad_api_adaptor/autoware_iv_external_api_adaptor/src/vehicle_status.cpp create_subscription 110 sub_cmd_ = create_subscription<autoware_auto_control_msgs::msg::AckermannControlCommand>( \n", - "[WARN] Could not find matching bind statement for /universe/external/tier4_ad_api_adaptor/autoware_iv_external_api_adaptor/src/vehicle_status.cpp#create_subscription@110\n", - "/universe/autoware.universe/localization/localization_error_monitor/src/node.cpp create_subscription 44 pose_with_cov_sub_ = this->create_subscription<geometry_msgs::msg::PoseWithCovarianceStamped>( \n", - "/universe/autoware.universe/localization/localization_error_monitor/src/node.cpp bind 46 std::bind(&LocalizationErrorMonitor::onPoseWithCovariance, this, std::placeholders::_1)); \n", - "/universe/external/tier4_ad_api_adaptor/autoware_iv_external_api_adaptor/src/engage.cpp create_subscription 37 sub_engage_status_ = create_subscription<autoware_auto_vehicle_msgs::msg::Engage>( \n", - "/universe/external/tier4_ad_api_adaptor/autoware_iv_external_api_adaptor/src/engage.cpp bind 38 \"/api/autoware/get/engage\", rclcpp::QoS(1), std::bind(&Engage::onEngageStatus, this, _1)); \n", - "/universe/external/tier4_ad_api_adaptor/autoware_iv_external_api_adaptor/src/engage.cpp create_subscription 39 sub_autoware_state_ = create_subscription<autoware_auto_system_msgs::msg::AutowareState>( \n", - "/universe/external/tier4_ad_api_adaptor/autoware_iv_external_api_adaptor/src/engage.cpp bind 40 \"/autoware/state\", rclcpp::QoS(1), std::bind(&Engage::onAutowareState, this, _1)); \n", - "/universe/autoware.universe/system/system_monitor/test/src/process_monitor/test_process_monitor.cpp create_subscription 104 sub_ = monitor_->create_subscription<diagnostic_msgs::msg::DiagnosticArray>( \n", - "/universe/autoware.universe/system/system_monitor/test/src/process_monitor/test_process_monitor.cpp bind 105 \"/diagnostics\", 1000, std::bind(&TestProcessMonitor::diagCallback, monitor_.get(), _1)); \n", - "/universe/external/tier4_ad_api_adaptor/autoware_iv_external_api_adaptor/src/calibration_status.cpp create_subscription 46 create_subscription<tier4_external_api_msgs::msg::CalibrationStatus>( \n", - "[WARN] Could not find matching bind statement for /universe/external/tier4_ad_api_adaptor/autoware_iv_external_api_adaptor/src/calibration_status.cpp#create_subscription@46\n", - "/sensor_component/external/velodyne_vls/velodyne_pointcloud/src/conversions/interpolate.cc create_subscription 31 velocity_report_sub_ = this->create_subscription<autoware_auto_vehicle_msgs::msg::VelocityReport>( \n", - "/sensor_component/external/velodyne_vls/velodyne_pointcloud/src/conversions/interpolate.cc bind 33 std::bind(&Interpolate::processVelocityReport, this, std::placeholders::_1)); \n", - "/sensor_component/external/velodyne_vls/velodyne_pointcloud/src/conversions/interpolate.cc create_subscription 34 velodyne_points_ex_sub_ = this->create_subscription<sensor_msgs::msg::PointCloud2>( \n", - "/sensor_component/external/velodyne_vls/velodyne_pointcloud/src/conversions/interpolate.cc bind 35 \"velodyne_points_ex\", rclcpp::SensorDataQoS(), std::bind(&Interpolate::processPoints,this, std::placeholders::_1));\n", - "/universe/autoware.universe/control/trajectory_follower_nodes/src/longitudinal_controller_node.cpp create_subscription 171 m_sub_current_velocity = create_subscription<nav_msgs::msg::Odometry>( \n", - "/universe/autoware.universe/control/trajectory_follower_nodes/src/longitudinal_controller_node.cpp bind 173 std::bind(&LongitudinalController::callbackCurrentVelocity, this, _1)); \n", - "/universe/autoware.universe/control/trajectory_follower_nodes/src/longitudinal_controller_node.cpp create_subscription 174 m_sub_trajectory = create_subscription<autoware_auto_planning_msgs::msg::Trajectory>( \n", - "/universe/autoware.universe/control/trajectory_follower_nodes/src/longitudinal_controller_node.cpp bind 176 std::bind(&LongitudinalController::callbackTrajectory, this, _1)); \n", - "/universe/autoware.universe/planning/planning_error_monitor/src/planning_error_monitor_node.cpp create_subscription 36 traj_sub_ = create_subscription<Trajectory>( \n", - "/universe/autoware.universe/planning/planning_error_monitor/src/planning_error_monitor_node.cpp bind 37 \"~/input/trajectory\", 1, std::bind(&PlanningErrorMonitorNode::onCurrentTrajectory, this, _1)); \n", - "/universe/autoware.universe/control/control_performance_analysis/src/control_performance_analysis_node.cpp create_subscription 59 sub_trajectory_ = create_subscription<Trajectory>( \n", - "/universe/autoware.universe/control/control_performance_analysis/src/control_performance_analysis_node.cpp bind 61 std::bind(&ControlPerformanceAnalysisNode::onTrajectory, this, _1)); \n", - "/universe/autoware.universe/control/control_performance_analysis/src/control_performance_analysis_node.cpp create_subscription 63 sub_control_cmd_ = create_subscription<AckermannControlCommand>( \n", - "/universe/autoware.universe/control/control_performance_analysis/src/control_performance_analysis_node.cpp bind 64 \"~/input/control_raw\", 1, std::bind(&ControlPerformanceAnalysisNode::onControlRaw, this, _1)); \n", - "/universe/autoware.universe/control/control_performance_analysis/src/control_performance_analysis_node.cpp create_subscription 66 sub_vehicle_steering_ = create_subscription<SteeringReport>( \n", - "/universe/autoware.universe/control/control_performance_analysis/src/control_performance_analysis_node.cpp bind 68 std::bind(&ControlPerformanceAnalysisNode::onVecSteeringMeasured, this, _1)); \n", - "/universe/autoware.universe/control/control_performance_analysis/src/control_performance_analysis_node.cpp create_subscription 70 sub_velocity_ = create_subscription<Odometry>( \n", - "/universe/autoware.universe/control/control_performance_analysis/src/control_performance_analysis_node.cpp bind 71 \"~/input/odometry\", 1, std::bind(&ControlPerformanceAnalysisNode::onVelocity, this, _1)); \n", - "/universe/autoware.universe/system/system_monitor/test/src/cpu_monitor/test_unknown_cpu_monitor.cpp create_subscription 61 sub_ = monitor_->create_subscription<diagnostic_msgs::msg::DiagnosticArray>( \n", - "/universe/autoware.universe/system/system_monitor/test/src/cpu_monitor/test_unknown_cpu_monitor.cpp bind 62 \"/diagnostics\", 1000, std::bind(&TestCPUMonitor::diagCallback, monitor_.get(), _1)); \n", - "/universe/autoware.universe/sensing/image_diagnostics/src/image_diagnostics_node.cpp create_subscription 24 image_sub_ = create_subscription<sensor_msgs::msg::Image>( \n", - "/universe/autoware.universe/sensing/image_diagnostics/src/image_diagnostics_node.cpp bind 26 std::bind(&ImageDiagNode::ImageChecker, this, std::placeholders::_1)); \n", - "/universe/autoware.universe/common/tier4_debug_tools/src/lateral_error_publisher.cpp create_subscription 28 sub_trajectory_ = create_subscription<autoware_auto_planning_msgs::msg::Trajectory>( \n", - "/universe/autoware.universe/common/tier4_debug_tools/src/lateral_error_publisher.cpp bind 30 std::bind(&LateralErrorPublisher::onTrajectory, this, _1)); \n", - "/universe/autoware.universe/common/tier4_debug_tools/src/lateral_error_publisher.cpp create_subscription 31 sub_vehicle_pose_ = create_subscription<geometry_msgs::msg::PoseWithCovarianceStamped>( \n", - "/universe/autoware.universe/common/tier4_debug_tools/src/lateral_error_publisher.cpp bind 33 std::bind(&LateralErrorPublisher::onVehiclePose, this, _1)); \n", - "/universe/autoware.universe/common/tier4_debug_tools/src/lateral_error_publisher.cpp create_subscription 34 sub_ground_truth_pose_ = create_subscription<geometry_msgs::msg::PoseWithCovarianceStamped>( \n", - "/universe/autoware.universe/common/tier4_debug_tools/src/lateral_error_publisher.cpp bind 36 std::bind(&LateralErrorPublisher::onGroundTruthPose, this, _1)); \n", - "/universe/autoware.universe/planning/surround_obstacle_checker/src/node.cpp create_subscription 170 sub_pointcloud_ = this->create_subscription<sensor_msgs::msg::PointCloud2>( \n", - "/universe/autoware.universe/planning/surround_obstacle_checker/src/node.cpp bind 172 std::bind(&SurroundObstacleCheckerNode::onPointCloud, this, std::placeholders::_1)); \n", - "/universe/autoware.universe/planning/surround_obstacle_checker/src/node.cpp create_subscription 173 sub_dynamic_objects_ = this->create_subscription<PredictedObjects>( \n", - "/universe/autoware.universe/planning/surround_obstacle_checker/src/node.cpp bind 175 std::bind(&SurroundObstacleCheckerNode::onDynamicObjects, this, std::placeholders::_1)); \n", - "/universe/autoware.universe/planning/surround_obstacle_checker/src/node.cpp create_subscription 176 sub_odometry_ = this->create_subscription<nav_msgs::msg::Odometry>( \n", - "/universe/autoware.universe/planning/surround_obstacle_checker/src/node.cpp bind 178 std::bind(&SurroundObstacleCheckerNode::onOdometry, this, std::placeholders::_1)); \n", - "/universe/autoware.universe/planning/external_velocity_limit_selector/src/external_velocity_limit_selector_node.cpp create_subscription 75 sub_external_velocity_limit_from_api_ = this->create_subscription<VelocityLimit>( \n", - "/universe/autoware.universe/planning/external_velocity_limit_selector/src/external_velocity_limit_selector_node.cpp bind 77 std::bind(&ExternalVelocityLimitSelectorNode::onVelocityLimitFromAPI, this, _1)); \n", - "/universe/autoware.universe/planning/external_velocity_limit_selector/src/external_velocity_limit_selector_node.cpp create_subscription 79 sub_external_velocity_limit_from_internal_ = this->create_subscription<VelocityLimit>( \n", - "/universe/autoware.universe/planning/external_velocity_limit_selector/src/external_velocity_limit_selector_node.cpp bind 81 std::bind(&ExternalVelocityLimitSelectorNode::onVelocityLimitFromInternal, this, _1)); \n", - "/universe/autoware.universe/planning/external_velocity_limit_selector/src/external_velocity_limit_selector_node.cpp create_subscription 83 sub_velocity_limit_clear_command_ = this->create_subscription<VelocityLimitClearCommand>( \n", - "/universe/autoware.universe/planning/external_velocity_limit_selector/src/external_velocity_limit_selector_node.cpp bind 85 std::bind(&ExternalVelocityLimitSelectorNode::onVelocityLimitClearCommand, this, _1)); \n", - "/universe/autoware.universe/system/system_monitor/test/src/cpu_monitor/test_intel_cpu_monitor.cpp create_subscription 115 sub_ = monitor_->create_subscription<diagnostic_msgs::msg::DiagnosticArray>( \n", - "/universe/autoware.universe/system/system_monitor/test/src/cpu_monitor/test_intel_cpu_monitor.cpp bind 116 \"/diagnostics\", 1000, std::bind(&TestCPUMonitor::diagCallback, monitor_.get(), _1)); \n", - "/universe/autoware.universe/system/system_monitor/test/src/net_monitor/test_net_monitor.cpp create_subscription 90 sub_ = monitor_->create_subscription<diagnostic_msgs::msg::DiagnosticArray>( \n", - "/universe/autoware.universe/system/system_monitor/test/src/net_monitor/test_net_monitor.cpp bind 91 \"/diagnostics\", 1000, std::bind(&TestNetMonitor::diagCallback, monitor_.get(), _1)); \n", - "/universe/autoware.universe/planning/obstacle_cruise_planner/src/node.cpp create_subscription 180 trajectory_sub_ = create_subscription<Trajectory>( \n", - "/universe/autoware.universe/planning/obstacle_cruise_planner/src/node.cpp bind 182 std::bind(&ObstacleCruisePlannerNode::onTrajectory, this, _1)); \n", - "/universe/autoware.universe/planning/obstacle_cruise_planner/src/node.cpp create_subscription 183 smoothed_trajectory_sub_ = create_subscription<Trajectory>( \n", - "/universe/autoware.universe/planning/obstacle_cruise_planner/src/node.cpp bind 185 std::bind(&ObstacleCruisePlannerNode::onSmoothedTrajectory, this, _1)); \n", - "/universe/autoware.universe/planning/obstacle_cruise_planner/src/node.cpp create_subscription 186 objects_sub_ = create_subscription<PredictedObjects>( \n", - "/universe/autoware.universe/planning/obstacle_cruise_planner/src/node.cpp bind 187 \"~/input/objects\", rclcpp::QoS{1}, std::bind(&ObstacleCruisePlannerNode::onObjects, this, _1)); \n", - "/universe/autoware.universe/planning/obstacle_cruise_planner/src/node.cpp create_subscription 188 odom_sub_ = create_subscription<Odometry>( \n", - "/universe/autoware.universe/planning/obstacle_cruise_planner/src/node.cpp bind 190 std::bind(&ObstacleCruisePlannerNode::onOdometry, this, std::placeholders::_1)); \n", - "/universe/autoware.universe/vehicle/external_cmd_converter/src/node.cpp create_subscription 31 sub_velocity_ = create_subscription<Odometry>( \n", - "/universe/autoware.universe/vehicle/external_cmd_converter/src/node.cpp bind 32 \"in/odometry\", 1, std::bind(&ExternalCmdConverterNode::onVelocity, this, _1)); \n", - "/universe/autoware.universe/vehicle/external_cmd_converter/src/node.cpp create_subscription 33 sub_control_cmd_ = create_subscription<ExternalControlCommand>( \n", - "/universe/autoware.universe/vehicle/external_cmd_converter/src/node.cpp bind 34 \"in/external_control_cmd\", 1, std::bind(&ExternalCmdConverterNode::onExternalCmd, this, _1)); \n", - "/universe/autoware.universe/vehicle/external_cmd_converter/src/node.cpp create_subscription 35 sub_shift_cmd_ = create_subscription<GearCommand>( \n", - "/universe/autoware.universe/vehicle/external_cmd_converter/src/node.cpp bind 36 \"in/shift_cmd\", 1, std::bind(&ExternalCmdConverterNode::onGearCommand, this, _1)); \n", - "/universe/autoware.universe/vehicle/external_cmd_converter/src/node.cpp create_subscription 37 sub_gate_mode_ = create_subscription<tier4_control_msgs::msg::GateMode>( \n", - "/universe/autoware.universe/vehicle/external_cmd_converter/src/node.cpp bind 38 \"in/current_gate_mode\", 1, std::bind(&ExternalCmdConverterNode::onGateMode, this, _1)); \n", - "/universe/autoware.universe/vehicle/external_cmd_converter/src/node.cpp create_subscription 39 sub_emergency_stop_heartbeat_ = create_subscription<tier4_external_api_msgs::msg::Heartbeat>( \n", - "/universe/autoware.universe/vehicle/external_cmd_converter/src/node.cpp bind 41 std::bind(&ExternalCmdConverterNode::onEmergencyStopHeartbeat, this, _1)); \n", - "/universe/autoware.universe/perception/lidar_centerpoint/src/node.cpp create_subscription 86 pointcloud_sub_ = this->create_subscription<sensor_msgs::msg::PointCloud2>( \n", - "/universe/autoware.universe/perception/lidar_centerpoint/src/node.cpp bind 88 std::bind(&LidarCenterPointNode::pointCloudCallback, this, std::placeholders::_1)); \n", - "/universe/autoware.universe/common/tier4_control_rviz_plugin/src/tools/manual_controller.cpp create_subscription 164 sub_gate_mode_ = raw_node_->create_subscription<GateMode>( \n", - "/universe/autoware.universe/common/tier4_control_rviz_plugin/src/tools/manual_controller.cpp bind 165 \"/control/current_gate_mode\", 10, std::bind(&ManualController::onGateMode, this, _1)); \n", - "/universe/autoware.universe/common/tier4_control_rviz_plugin/src/tools/manual_controller.cpp create_subscription 167 sub_velocity_ = raw_node_->create_subscription<VelocityReport>( \n", - "/universe/autoware.universe/common/tier4_control_rviz_plugin/src/tools/manual_controller.cpp bind 168 \"/vehicle/status/velocity_status\", 1, std::bind(&ManualController::onVelocity, this, _1)); \n", - "/universe/autoware.universe/common/tier4_control_rviz_plugin/src/tools/manual_controller.cpp create_subscription 170 sub_engage_ = raw_node_->create_subscription<Engage>( \n", - "/universe/autoware.universe/common/tier4_control_rviz_plugin/src/tools/manual_controller.cpp bind 171 \"/api/autoware/get/engage\", 10, std::bind(&ManualController::onEngageStatus, this, _1)); \n", - "/universe/autoware.universe/common/tier4_control_rviz_plugin/src/tools/manual_controller.cpp create_subscription 173 sub_gear_ = raw_node_->create_subscription<GearReport>( \n", - "/universe/autoware.universe/common/tier4_control_rviz_plugin/src/tools/manual_controller.cpp bind 174 \"/vehicle/status/gear_status\", 10, std::bind(&ManualController::onGear, this, _1)); \n", - "/universe/autoware.universe/control/trajectory_follower_nodes/test/test_lateral_controller_node.cpp create_subscription 80 this->create_subscription<LateralCommand>( \n", - "[WARN] Could not find matching bind statement for /universe/autoware.universe/control/trajectory_follower_nodes/test/test_lateral_controller_node.cpp#create_subscription@80\n", - "/universe/autoware.universe/control/trajectory_follower_nodes/test/test_lateral_controller_node.cpp create_subscription 110 this->create_subscription<LateralCommand>( \n", - "[WARN] Could not find matching bind statement for /universe/autoware.universe/control/trajectory_follower_nodes/test/test_lateral_controller_node.cpp#create_subscription@110\n", - "/universe/autoware.universe/control/trajectory_follower_nodes/test/test_lateral_controller_node.cpp create_subscription 162 this->create_subscription<LateralCommand>( \n", - "[WARN] Could not find matching bind statement for /universe/autoware.universe/control/trajectory_follower_nodes/test/test_lateral_controller_node.cpp#create_subscription@162\n", - "/universe/autoware.universe/control/trajectory_follower_nodes/test/test_lateral_controller_node.cpp create_subscription 234 this->create_subscription<LateralCommand>( \n", - "[WARN] Could not find matching bind statement for /universe/autoware.universe/control/trajectory_follower_nodes/test/test_lateral_controller_node.cpp#create_subscription@234\n", - "/universe/autoware.universe/control/trajectory_follower_nodes/test/test_lateral_controller_node.cpp create_subscription 306 this->create_subscription<LateralCommand>( \n", - "[WARN] Could not find matching bind statement for /universe/autoware.universe/control/trajectory_follower_nodes/test/test_lateral_controller_node.cpp#create_subscription@306\n", - "/universe/autoware.universe/control/trajectory_follower_nodes/test/test_lateral_controller_node.cpp create_subscription 378 this->create_subscription<LateralCommand>( \n", - "[WARN] Could not find matching bind statement for /universe/autoware.universe/control/trajectory_follower_nodes/test/test_lateral_controller_node.cpp#create_subscription@378\n", - "/universe/autoware.universe/perception/elevation_map_loader/src/elevation_map_loader_node.cpp create_subscription 84 sub_map_hash_ = create_subscription<tier4_external_api_msgs::msg::MapHash>( \n", - "/universe/autoware.universe/perception/elevation_map_loader/src/elevation_map_loader_node.cpp bind 86 std::bind(&ElevationMapLoaderNode::onMapHash, this, _1)); \n", - "/universe/autoware.universe/perception/elevation_map_loader/src/elevation_map_loader_node.cpp create_subscription 87 sub_pointcloud_map_ = this->create_subscription<sensor_msgs::msg::PointCloud2>( \n", - "/universe/autoware.universe/perception/elevation_map_loader/src/elevation_map_loader_node.cpp bind 89 std::bind(&ElevationMapLoaderNode::onPointcloudMap, this, _1)); \n", - "/universe/autoware.universe/perception/elevation_map_loader/src/elevation_map_loader_node.cpp create_subscription 90 sub_vector_map_ = this->create_subscription<autoware_auto_mapping_msgs::msg::HADMapBin>( \n", - "/universe/autoware.universe/perception/elevation_map_loader/src/elevation_map_loader_node.cpp bind 91 \"input/vector_map\", durable_qos, std::bind(&ElevationMapLoaderNode::onVectorMap, this, _1)); \n", - "/universe/autoware.universe/perception/euclidean_cluster/src/euclidean_cluster_node.cpp create_subscription 33 pointcloud_sub_ = this->create_subscription<sensor_msgs::msg::PointCloud2>( \n", - "/universe/autoware.universe/perception/euclidean_cluster/src/euclidean_cluster_node.cpp bind 35 std::bind(&EuclideanClusterNode::onPointCloud, this, _1)); \n", - "/universe/autoware.universe/planning/planning_error_monitor/src/invalid_trajectory_publisher.cpp create_subscription 29 traj_sub_ = create_subscription<Trajectory>( \n", - "/universe/autoware.universe/planning/planning_error_monitor/src/invalid_trajectory_publisher.cpp bind 31 std::bind(&InvalidTrajectoryPublisherNode::onCurrentTrajectory, this, _1)); \n", - "/universe/autoware.universe/perception/multi_object_tracker/src/multi_object_tracker_core.cpp create_subscription 167 detected_object_sub_ = create_subscription<autoware_auto_perception_msgs::msg::DetectedObjects>( \n", - "/universe/autoware.universe/perception/multi_object_tracker/src/multi_object_tracker_core.cpp bind 169 std::bind(&MultiObjectTracker::onMeasurement, this, std::placeholders::_1)); \n", - "/universe/autoware.universe/planning/mission_planner/src/goal_pose_visualizer/goal_pose_visualizer.cpp create_subscription 21 sub_route_ = create_subscription<autoware_auto_planning_msgs::msg::HADMapRoute>( \n", - "/universe/autoware.universe/planning/mission_planner/src/goal_pose_visualizer/goal_pose_visualizer.cpp bind 23 std::bind(&GoalPoseVisualizer::echoBackRouteCallback, this, std::placeholders::_1)); \n", - "/universe/external/tier4_ad_api_adaptor/autoware_iv_external_api_adaptor/src/route.cpp create_subscription 42 sub_get_route_ = create_subscription<tier4_external_api_msgs::msg::Route>( \n", - "/universe/external/tier4_ad_api_adaptor/autoware_iv_external_api_adaptor/src/route.cpp bind 44 std::bind(&Route::onRoute, this, _1)); \n", - "/universe/external/tier4_ad_api_adaptor/autoware_iv_external_api_adaptor/src/route.cpp create_subscription 45 sub_autoware_state_ = create_subscription<autoware_auto_system_msgs::msg::AutowareState>( \n", - "/universe/external/tier4_ad_api_adaptor/autoware_iv_external_api_adaptor/src/route.cpp bind 46 \"/autoware/state\", rclcpp::QoS(1), std::bind(&Route::onAutowareState, this, _1)); \n", - "/vehicle/external/pacmod_interface/pacmod_interface/src/pacmod_dynamic_parameter_changer/pacmod_dynamic_parameter_changer_node.cpp create_subscription 47 steer_rpt_sub_ = create_subscription<pacmod3_msgs::msg::SystemRptFloat>( \n", - "/vehicle/external/pacmod_interface/pacmod_interface/src/pacmod_dynamic_parameter_changer/pacmod_dynamic_parameter_changer_node.cpp bind 49 std::bind(&PacmodDynamicParameterChangerNode::subSteerRpt, this, _1)); \n", - "/universe/autoware.universe/simulator/simple_planning_simulator/test/test_simple_planning_simulator.cpp create_subscription 49 current_odom_sub_ = create_subscription<Odometry>( \n", - "[WARN] Could not find matching bind statement for /universe/autoware.universe/simulator/simple_planning_simulator/test/test_simple_planning_simulator.cpp#create_subscription@49\n", - "/universe/autoware.universe/system/system_monitor/test/src/hdd_monitor/test_hdd_monitor.cpp create_subscription 131 sub_ = monitor_->create_subscription<diagnostic_msgs::msg::DiagnosticArray>( \n", - "/universe/autoware.universe/system/system_monitor/test/src/hdd_monitor/test_hdd_monitor.cpp bind 132 \"/diagnostics\", 1000, std::bind(&TestHDDMonitor::diagCallback, monitor_.get(), _1)); \n", - "/universe/autoware.universe/perception/detection_by_tracker/src/detection_by_tracker_core.cpp create_subscription 204 trackers_sub_ = create_subscription<autoware_auto_perception_msgs::msg::TrackedObjects>( \n", - "/universe/autoware.universe/perception/detection_by_tracker/src/detection_by_tracker_core.cpp bind 206 std::bind(&TrackerHandler::onTrackedObjects, &tracker_handler_, std::placeholders::_1)); \n", - "/universe/autoware.universe/perception/detection_by_tracker/src/detection_by_tracker_core.cpp create_subscription 208 create_subscription<tier4_perception_msgs::msg::DetectedObjectsWithFeature>( \n", - "/universe/autoware.universe/perception/detection_by_tracker/src/detection_by_tracker_core.cpp bind 210 std::bind(&DetectionByTracker::onObjects, this, std::placeholders::_1)); \n", - "/universe/autoware.universe/planning/planning_evaluator/src/motion_evaluator_node.cpp create_subscription 30 twist_sub_ = create_subscription<nav_msgs::msg::Odometry>( \n", - "/universe/autoware.universe/planning/planning_evaluator/src/motion_evaluator_node.cpp bind 32 std::bind(&MotionEvaluatorNode::onOdom, this, std::placeholders::_1)); \n", - "/universe/autoware.universe/common/component_interface_utils/include/component_interface_utils/rclcpp/create_interface.hpp create_subscription 72 auto subscription = node->template create_subscription<typename SpecT::Message>( \n", - "[WARN] Could not find matching bind statement for /universe/autoware.universe/common/component_interface_utils/include/component_interface_utils/rclcpp/create_interface.hpp#create_subscription@72\n", - "/universe/autoware.universe/planning/mission_planner/lib/mission_planner_base.cpp create_subscription 41 goal_subscriber_ = create_subscription<geometry_msgs::msg::PoseStamped>( \n", - "/universe/autoware.universe/planning/mission_planner/lib/mission_planner_base.cpp bind 42 \"input/goal_pose\", 10, std::bind(&MissionPlanner::goalPoseCallback, this, _1)); \n", - "/universe/autoware.universe/planning/mission_planner/lib/mission_planner_base.cpp create_subscription 43 checkpoint_subscriber_ = create_subscription<geometry_msgs::msg::PoseStamped>( \n", - "/universe/autoware.universe/planning/mission_planner/lib/mission_planner_base.cpp bind 44 \"input/checkpoint\", 10, std::bind(&MissionPlanner::checkpointCallback, this, _1)); \n", - "/universe/autoware.universe/perception/image_projection_based_fusion/src/fusion_node.cpp create_subscription 61 camera_info_subs_.at(roi_i) = this->create_subscription<sensor_msgs::msg::CameraInfo>( \n", - "/universe/autoware.universe/perception/image_projection_based_fusion/src/fusion_node.cpp bind 74 std::bind(&FusionNode::dummyCallback, this, std::placeholders::_1)); \n", - "/universe/autoware.universe/control/trajectory_follower_nodes/src/latlon_muxer_node.cpp create_subscription 34 create_subscription<autoware_auto_control_msgs::msg::AckermannLateralCommand>( \n", - "/universe/autoware.universe/control/trajectory_follower_nodes/src/latlon_muxer_node.cpp bind 36 std::bind(&LatLonMuxer::latCtrlCmdCallback, this, std::placeholders::_1)); \n", - "/universe/autoware.universe/control/trajectory_follower_nodes/src/latlon_muxer_node.cpp create_subscription 37 m_lon_control_cmd_sub = create_subscription<autoware_auto_control_msgs::msg::LongitudinalCommand>( \n", - "/universe/autoware.universe/control/trajectory_follower_nodes/src/latlon_muxer_node.cpp bind 39 std::bind(&LatLonMuxer::lonCtrlCmdCallback, this, std::placeholders::_1)); \n", - "/universe/autoware.universe/common/tier4_state_rviz_plugin/src/autoware_state_panel.cpp create_subscription 129 sub_gate_mode_ = raw_node_->create_subscription<tier4_control_msgs::msg::GateMode>( \n", - "/universe/autoware.universe/common/tier4_state_rviz_plugin/src/autoware_state_panel.cpp bind 130 \"/control/current_gate_mode\", 10, std::bind(&AutowareStatePanel::onGateMode, this, _1)); \n", - "/universe/autoware.universe/common/tier4_state_rviz_plugin/src/autoware_state_panel.cpp create_subscription 133 raw_node_->create_subscription<tier4_control_msgs::msg::ExternalCommandSelectorMode>( \n", - "/universe/autoware.universe/common/tier4_state_rviz_plugin/src/autoware_state_panel.cpp bind 135 std::bind(&AutowareStatePanel::onSelectorMode, this, _1)); \n", - "/universe/autoware.universe/common/tier4_state_rviz_plugin/src/autoware_state_panel.cpp create_subscription 138 raw_node_->create_subscription<autoware_auto_system_msgs::msg::AutowareState>( \n", - "/universe/autoware.universe/common/tier4_state_rviz_plugin/src/autoware_state_panel.cpp bind 139 \"/autoware/state\", 10, std::bind(&AutowareStatePanel::onAutowareState, this, _1)); \n", - "/universe/autoware.universe/common/tier4_state_rviz_plugin/src/autoware_state_panel.cpp create_subscription 141 sub_gear_ = raw_node_->create_subscription<autoware_auto_vehicle_msgs::msg::GearReport>( \n", - "/universe/autoware.universe/common/tier4_state_rviz_plugin/src/autoware_state_panel.cpp bind 142 \"/vehicle/status/gear_status\", 10, std::bind(&AutowareStatePanel::onShift, this, _1)); \n", - "/universe/autoware.universe/common/tier4_state_rviz_plugin/src/autoware_state_panel.cpp create_subscription 144 sub_engage_ = raw_node_->create_subscription<tier4_external_api_msgs::msg::EngageStatus>( \n", - "/universe/autoware.universe/common/tier4_state_rviz_plugin/src/autoware_state_panel.cpp bind 145 \"/api/external/get/engage\", 10, std::bind(&AutowareStatePanel::onEngageStatus, this, _1)); \n", - "/universe/autoware.universe/common/tier4_state_rviz_plugin/src/autoware_state_panel.cpp create_subscription 147 sub_emergency_ = raw_node_->create_subscription<tier4_external_api_msgs::msg::Emergency>( \n", - "/universe/autoware.universe/common/tier4_state_rviz_plugin/src/autoware_state_panel.cpp bind 148 \"/api/autoware/get/emergency\", 10, std::bind(&AutowareStatePanel::onEmergencyStatus, this, _1)); \n", - "/universe/autoware.universe/perception/heatmap_visualizer/src/heatmap_visualizer_node.cpp create_subscription 39 objects_sub_ = create_subscription<autoware_auto_perception_msgs::msg::DetectedObjects>( \n", - "/universe/autoware.universe/perception/heatmap_visualizer/src/heatmap_visualizer_node.cpp bind 41 std::bind(&HeatmapVisualizerNode::detectedObjectsCallback, this, std::placeholders::_1)); \n", - "/universe/autoware.universe/common/path_distance_calculator/src/path_distance_calculator.cpp create_subscription 27 sub_path_ = create_subscription<autoware_auto_planning_msgs::msg::Path>( \n", - "[WARN] Could not find matching bind statement for /universe/autoware.universe/common/path_distance_calculator/src/path_distance_calculator.cpp#create_subscription@27\n", - "/universe/autoware.universe/perception/image_projection_based_fusion/src/debugger.cpp create_subscription 43 auto sub = image_transport::create_subscription( \n", - "/universe/autoware.universe/perception/image_projection_based_fusion/src/debugger.cpp bind 45 std::bind(&Debugger::imageCallback, this, std::placeholders::_1, img_i), \"raw\", \n", - "/universe/external/tier4_ad_api_adaptor/autoware_iv_external_api_adaptor/src/operator.cpp create_subscription 41 sub_get_operator_ = create_subscription<tier4_external_api_msgs::msg::Operator>( \n", - "/universe/external/tier4_ad_api_adaptor/autoware_iv_external_api_adaptor/src/operator.cpp bind 42 \"/api/autoware/get/operator\", rclcpp::QoS(1), std::bind(&Operator::onOperator, this, _1)); \n", - "/universe/external/tier4_ad_api_adaptor/autoware_iv_external_api_adaptor/src/operator.cpp create_subscription 43 sub_get_observer_ = create_subscription<tier4_external_api_msgs::msg::Observer>( \n", - "/universe/external/tier4_ad_api_adaptor/autoware_iv_external_api_adaptor/src/operator.cpp bind 44 \"/api/autoware/get/observer\", rclcpp::QoS(1), std::bind(&Operator::onObserver, this, _1)); \n", - "/universe/autoware.universe/perception/lidar_apollo_instance_segmentation/src/node.cpp create_subscription 37 pointcloud_sub_ = this->create_subscription<sensor_msgs::msg::PointCloud2>( \n", - "/universe/autoware.universe/perception/lidar_apollo_instance_segmentation/src/node.cpp bind 39 std::bind(&LidarInstanceSegmentationNode::pointCloudCallback, this, _1)); \n", - "/universe/autoware.universe/common/tier4_autoware_utils/src/vehicle/vehicle_state_checker.cpp create_subscription 27 sub_odom_ = node->create_subscription<Odometry>( \n", - "/universe/autoware.universe/common/tier4_autoware_utils/src/vehicle/vehicle_state_checker.cpp bind 29 std::bind(&VehicleStopChecker::onOdom, this, _1)); \n", - "/universe/autoware.universe/common/tier4_autoware_utils/src/vehicle/vehicle_state_checker.cpp create_subscription 90 sub_trajectory_ = node->create_subscription<Trajectory>( \n", - "/universe/autoware.universe/common/tier4_autoware_utils/src/vehicle/vehicle_state_checker.cpp bind 92 std::bind(&VehicleArrivalChecker::onTrajectory, this, _1)); \n", - "/universe/external/grid_map/grid_map_visualization/src/GridMapVisualization.cpp create_subscription 148 mapSubscriber_ = nodePtr->create_subscription<grid_map_msgs::msg::GridMap>( \n", - "/universe/external/grid_map/grid_map_visualization/src/GridMapVisualization.cpp bind 150 std::bind(&GridMapVisualization::callback, this, std::placeholders::_1)); \n", - "/universe/autoware.universe/localization/vehicle_velocity_converter/src/vehicle_velocity_converter.cpp create_subscription 25 vehicle_report_sub_ = create_subscription<autoware_auto_vehicle_msgs::msg::VelocityReport>( \n", - "/universe/autoware.universe/localization/vehicle_velocity_converter/src/vehicle_velocity_converter.cpp bind 27 std::bind(&VehicleVelocityConverter::callbackVelocityReport, this, std::placeholders::_1)); \n", - "/universe/autoware.universe/system/dummy_infrastructure/src/dummy_infrastructure_node/dummy_infrastructure_node.cpp create_subscription 82 sub_command_array_ = create_subscription<InfrastructureCommandArray>( \n", - "/universe/autoware.universe/system/dummy_infrastructure/src/dummy_infrastructure_node/dummy_infrastructure_node.cpp bind 84 std::bind(&DummyInfrastructureNode::onCommandArray, this, _1)); \n", - "/universe/autoware.universe/sensing/gnss_poser/src/gnss_poser_core.cpp create_subscription 45 nav_sat_fix_sub_ = create_subscription<sensor_msgs::msg::NavSatFix>( \n", - "/universe/autoware.universe/sensing/gnss_poser/src/gnss_poser_core.cpp bind 46 \"fix\", rclcpp::QoS{1}, std::bind(&GNSSPoser::callbackNavSatFix, this, std::placeholders::_1)); \n", - "/universe/autoware.universe/sensing/gnss_poser/src/gnss_poser_core.cpp create_subscription 47 nav_pvt_sub_ = create_subscription<ublox_msgs::msg::NavPVT>( \n", - "/universe/autoware.universe/sensing/gnss_poser/src/gnss_poser_core.cpp bind 48 \"navpvt\", rclcpp::QoS{1}, std::bind(&GNSSPoser::callbackNavPVT, this, std::placeholders::_1)); \n", - "/universe/autoware.universe/common/tier4_calibration_rviz_plugin/src/accel_brake_map_calibrator_button_panel.cpp create_subscription 71 update_suggest_sub_ = raw_node->create_subscription<std_msgs::msg::Bool>( \n", - "/universe/autoware.universe/common/tier4_calibration_rviz_plugin/src/accel_brake_map_calibrator_button_panel.cpp bind 73 std::bind( \n", - "/universe/autoware.universe/common/tier4_calibration_rviz_plugin/src/accel_brake_map_calibrator_button_panel.cpp create_subscription 103 update_suggest_sub_ = raw_node->create_subscription<std_msgs::msg::Bool>( \n", - "/universe/autoware.universe/common/tier4_calibration_rviz_plugin/src/accel_brake_map_calibrator_button_panel.cpp bind 105 std::bind( \n", - "/universe/autoware.universe/perception/compare_map_segmentation/src/distance_based_compare_map_filter_nodelet.cpp create_subscription 33 sub_map_ = this->create_subscription<PointCloud2>( \n", - "/universe/autoware.universe/perception/compare_map_segmentation/src/distance_based_compare_map_filter_nodelet.cpp bind 35 std::bind(&DistanceBasedCompareMapFilterComponent::input_target_callback, this, _1)); \n", - "/universe/external/tier4_ad_api_adaptor/autoware_iv_external_api_adaptor/src/fail_safe_state.cpp create_subscription 26 sub_state_ = create_subscription<autoware_auto_system_msgs::msg::EmergencyState>( \n", - "[WARN] Could not find matching bind statement for /universe/external/tier4_ad_api_adaptor/autoware_iv_external_api_adaptor/src/fail_safe_state.cpp#create_subscription@26\n", - "/vehicle/external/pacmod_interface/pacmod_interface/src/pacmod_interface/pacmod_diag_publisher.cpp create_subscription 38 can_sub_ = create_subscription<can_msgs::msg::Frame>( \n", - "/vehicle/external/pacmod_interface/pacmod_interface/src/pacmod_interface/pacmod_diag_publisher.cpp bind 39 \"/pacmod/can_tx\", 1, std::bind(&PacmodDiagPublisher::callbackCan, this, std::placeholders::_1)); \n", - "/universe/autoware.universe/perception/shape_estimation/src/node.cpp create_subscription 39 sub_ = create_subscription<DetectedObjectsWithFeature>( \n", - "/universe/autoware.universe/perception/shape_estimation/src/node.cpp bind 40 \"input\", rclcpp::QoS{1}, std::bind(&ShapeEstimationNode::callback, this, _1)); \n", - "/universe/autoware.universe/localization/pose_initializer/src/pose_initializer_core.cpp create_subscription 71 initial_pose_sub_ = this->create_subscription<geometry_msgs::msg::PoseWithCovarianceStamped>( \n", - "/universe/autoware.universe/localization/pose_initializer/src/pose_initializer_core.cpp bind 73 std::bind(&PoseInitializer::callbackInitialPose, this, std::placeholders::_1)); \n", - "/universe/autoware.universe/localization/pose_initializer/src/pose_initializer_core.cpp create_subscription 74 map_points_sub_ = this->create_subscription<sensor_msgs::msg::PointCloud2>( \n", - "/universe/autoware.universe/localization/pose_initializer/src/pose_initializer_core.cpp bind 76 std::bind(&PoseInitializer::callbackMapPoints, this, std::placeholders::_1)); \n", - "/universe/autoware.universe/localization/pose_initializer/src/pose_initializer_core.cpp create_subscription 77 gnss_pose_sub_ = this->create_subscription<geometry_msgs::msg::PoseWithCovarianceStamped>( \n", - "/universe/autoware.universe/localization/pose_initializer/src/pose_initializer_core.cpp bind 79 std::bind(&PoseInitializer::callbackGNSSPoseCov, this, std::placeholders::_1)); \n", - "/universe/autoware.universe/localization/pose_initializer/src/pose_initializer_core.cpp create_subscription 81 this->create_subscription<tier4_localization_msgs::msg::PoseInitializationRequest>( \n", - "/universe/autoware.universe/localization/pose_initializer/src/pose_initializer_core.cpp bind 83 std::bind(&PoseInitializer::callbackPoseInitializationRequest, this, std::placeholders::_1)); \n", - "/universe/external/tier4_ad_api_adaptor/awapi_awiv_adapter/src/awapi_awiv_adapter_core.cpp create_subscription 60 sub_steer_ = this->create_subscription<autoware_auto_vehicle_msgs::msg::SteeringReport>( \n", - "/universe/external/tier4_ad_api_adaptor/awapi_awiv_adapter/src/awapi_awiv_adapter_core.cpp bind 61 \"input/steer\", 1, std::bind(&AutowareIvAdapter::callbackSteer, this, _1)); \n", - "/universe/external/tier4_ad_api_adaptor/awapi_awiv_adapter/src/awapi_awiv_adapter_core.cpp create_subscription 63 this->create_subscription<autoware_auto_control_msgs::msg::AckermannControlCommand>( \n", - "/universe/external/tier4_ad_api_adaptor/awapi_awiv_adapter/src/awapi_awiv_adapter_core.cpp bind 65 std::bind(&AutowareIvAdapter::callbackVehicleCmd, this, _1)); \n", - "/universe/external/tier4_ad_api_adaptor/awapi_awiv_adapter/src/awapi_awiv_adapter_core.cpp create_subscription 67 this->create_subscription<autoware_auto_vehicle_msgs::msg::TurnIndicatorsReport>( \n", - "/universe/external/tier4_ad_api_adaptor/awapi_awiv_adapter/src/awapi_awiv_adapter_core.cpp bind 68 \"input/turn_indicators\", 1, std::bind(&AutowareIvAdapter::callbackTurnIndicators, this, _1)); \n", - "/universe/external/tier4_ad_api_adaptor/awapi_awiv_adapter/src/awapi_awiv_adapter_core.cpp create_subscription 70 this->create_subscription<autoware_auto_vehicle_msgs::msg::HazardLightsReport>( \n", - "/universe/external/tier4_ad_api_adaptor/awapi_awiv_adapter/src/awapi_awiv_adapter_core.cpp bind 71 \"input/hazard_lights\", 1, std::bind(&AutowareIvAdapter::callbackHazardLights, this, _1)); \n", - "/universe/external/tier4_ad_api_adaptor/awapi_awiv_adapter/src/awapi_awiv_adapter_core.cpp create_subscription 72 sub_odometry_ = this->create_subscription<nav_msgs::msg::Odometry>( \n", - "/universe/external/tier4_ad_api_adaptor/awapi_awiv_adapter/src/awapi_awiv_adapter_core.cpp bind 73 \"input/odometry\", 1, std::bind(&AutowareIvAdapter::callbackTwist, this, _1)); \n", - "/universe/external/tier4_ad_api_adaptor/awapi_awiv_adapter/src/awapi_awiv_adapter_core.cpp create_subscription 74 sub_gear_ = this->create_subscription<autoware_auto_vehicle_msgs::msg::GearReport>( \n", - "/universe/external/tier4_ad_api_adaptor/awapi_awiv_adapter/src/awapi_awiv_adapter_core.cpp bind 75 \"input/gear\", 1, std::bind(&AutowareIvAdapter::callbackGear, this, _1)); \n", - "/universe/external/tier4_ad_api_adaptor/awapi_awiv_adapter/src/awapi_awiv_adapter_core.cpp create_subscription 76 sub_battery_ = this->create_subscription<tier4_vehicle_msgs::msg::BatteryStatus>( \n", - "/universe/external/tier4_ad_api_adaptor/awapi_awiv_adapter/src/awapi_awiv_adapter_core.cpp bind 77 \"input/battery\", 1, std::bind(&AutowareIvAdapter::callbackBattery, this, _1)); \n", - "/universe/external/tier4_ad_api_adaptor/awapi_awiv_adapter/src/awapi_awiv_adapter_core.cpp create_subscription 78 sub_nav_sat_ = this->create_subscription<sensor_msgs::msg::NavSatFix>( \n", - "/universe/external/tier4_ad_api_adaptor/awapi_awiv_adapter/src/awapi_awiv_adapter_core.cpp bind 79 \"input/nav_sat\", 1, std::bind(&AutowareIvAdapter::callbackNavSat, this, _1)); \n", - "/universe/external/tier4_ad_api_adaptor/awapi_awiv_adapter/src/awapi_awiv_adapter_core.cpp create_subscription 80 sub_autoware_state_ = this->create_subscription<tier4_system_msgs::msg::AutowareState>( \n", - "/universe/external/tier4_ad_api_adaptor/awapi_awiv_adapter/src/awapi_awiv_adapter_core.cpp bind 81 \"input/autoware_state\", 1, std::bind(&AutowareIvAdapter::callbackAutowareState, this, _1)); \n", - "/universe/external/tier4_ad_api_adaptor/awapi_awiv_adapter/src/awapi_awiv_adapter_core.cpp create_subscription 82 sub_control_mode_ = this->create_subscription<autoware_auto_vehicle_msg \n", - "/universe/external/tier4_ad_api_adaptor/awapi_awiv_adapter/src/awapi_awiv_adapter_core.cpp bind 83 \"input/control_mode\", 1, std::bind(&AutowareIvAdapter::callbackControlMode, this, _1)); \n", - "/vehicle/external/pacmod_interface/pacmod_interface/src/pacmod_additional_debug_publisher/pacmod_additional_debug_publisher_node.cpp create_subscription 32 sub_ = create_subscription<can_msgs::msg::Frame>( \n", - "/vehicle/external/pacmod_interface/pacmod_interface/src/pacmod_additional_debug_publisher/pacmod_additional_debug_publisher_node.cpp bind 34 std::bind(&PacmodAdditionalDebugPublisherNode::canTxCallback, this, _1)); \n", - "/universe/external/tier4_ad_api_adaptor/autoware_iv_external_api_adaptor/src/rtc_controller.cpp create_subscription 28 blind_spot_sub_ = create_subscription<CooperateStatusArray>( \n", - "/universe/external/tier4_ad_api_adaptor/autoware_iv_external_api_adaptor/src/rtc_controller.cpp bind 30 rclcpp::QoS(1), std::bind(&RTCController::blindSpotCallback, this, _1)); \n", - "/universe/external/tier4_ad_api_adaptor/autoware_iv_external_api_adaptor/src/rtc_controller.cpp create_subscription 31 crosswalk_sub_ = create_subscription<CooperateStatusArray>( \n", - "/universe/external/tier4_ad_api_adaptor/autoware_iv_external_api_adaptor/src/rtc_controller.cpp bind 33 rclcpp::QoS(1), std::bind(&RTCController::crosswalkCallback, this, _1)); \n", - "/universe/external/tier4_ad_api_adaptor/autoware_iv_external_api_adaptor/src/rtc_controller.cpp create_subscription 34 detection_area_sub_ = create_subscription<CooperateStatusArray>( \n", - "/universe/external/tier4_ad_api_adaptor/autoware_iv_external_api_adaptor/src/rtc_controller.cpp bind 36 rclcpp::QoS(1), std::bind(&RTCController::detectionAreaCallback, this, _1)); \n", - "/universe/external/tier4_ad_api_adaptor/autoware_iv_external_api_adaptor/src/rtc_controller.cpp create_subscription 37 intersection_sub_ = create_subscription<CooperateStatusArray>( \n", - "/universe/external/tier4_ad_api_adaptor/autoware_iv_external_api_adaptor/src/rtc_controller.cpp bind 39 rclcpp::QoS(1), std::bind(&RTCController::intersectionCallback, this, _1)); \n", - "/universe/external/tier4_ad_api_adaptor/autoware_iv_external_api_adaptor/src/rtc_controller.cpp create_subscription 40 no_stopping_area_sub_ = create_subscription<CooperateStatusArray>( \n", - "/universe/external/tier4_ad_api_adaptor/autoware_iv_external_api_adaptor/src/rtc_controller.cpp bind 42 rclcpp::QoS(1), std::bind(&RTCController::noStoppingAreaCallback, this, _1)); \n", - "/universe/external/tier4_ad_api_adaptor/autoware_iv_external_api_adaptor/src/rtc_controller.cpp create_subscription 43 occlusion_spot_sub_ = create_subscription<CooperateStatusArray>( \n", - "/universe/external/tier4_ad_api_adaptor/autoware_iv_external_api_adaptor/src/rtc_controller.cpp bind 45 rclcpp::QoS(1), std::bind(&RTCController::occlusionSpotCallback, this, _1)); \n", - "/universe/external/tier4_ad_api_adaptor/autoware_iv_external_api_adaptor/src/rtc_controller.cpp create_subscription 46 traffic_light_sub_ = create_subscription<CooperateStatusArray>( \n", - "/universe/external/tier4_ad_api_adaptor/autoware_iv_external_api_adaptor/src/rtc_controller.cpp bind 48 rclcpp::QoS(1), std::bind(&RTCController::trafficLightCallback, this, _1)); \n", - "/universe/external/tier4_ad_api_adaptor/autoware_iv_external_api_adaptor/src/rtc_controller.cpp create_subscription 49 virtual_traffic_light_sub_ = create_subscription<CooperateStatusArray>( \n", - "/universe/external/tier4_ad_api_adaptor/autoware_iv_external_api_adaptor/src/rtc_controller.cpp bind 52 rclcpp::QoS(1), std::bind(&RTCController::virtualTrafficLightCallback, this, _1)); \n", - "/universe/external/tier4_ad_api_adaptor/autoware_iv_external_api_adaptor/src/rtc_controller.cpp create_subscription 53 lane_change_left_sub_ = create_subscription<CooperateStatusArray>( \n", - "/universe/external/tier4_ad_api_adaptor/autoware_iv_external_api_adaptor/src/rtc_controller.cpp bind 55 rclcpp::QoS(1), std::bind(&RTCController::laneChangeLeftCallback, this, _1)); \n", - "/universe/external/tier4_ad_api_adaptor/autoware_iv_external_api_adaptor/src/rtc_controller.cpp create_subscription 56 lane_change_right_sub_ = create_subscription<CooperateStatusArra \n", - "/universe/external/tier4_ad_api_adaptor/autoware_iv_external_api_adaptor/src/rtc_controller.cpp bind 58 rclcpp::QoS(1), std::bind(&RTCController::laneChangeRightCallback, this, _1)); \n", - "/universe/autoware.universe/planning/motion_velocity_smoother/scripts/closest_velocity_checker.py create_subscription 73 self.sub0 = self.create_subscription( \n", - "[WARN] Could not find matching bind statement for /universe/autoware.universe/planning/motion_velocity_smoother/scripts/closest_velocity_checker.py#create_subscription@73\n", - "/universe/autoware.universe/planning/motion_velocity_smoother/scripts/closest_velocity_checker.py create_subscription 79 self.sub1 = self.create_subscription( \n", - "[WARN] Could not find matching bind statement for /universe/autoware.universe/planning/motion_velocity_smoother/scripts/closest_velocity_checker.py#create_subscription@79\n", - "/universe/autoware.universe/planning/motion_velocity_smoother/scripts/closest_velocity_checker.py create_subscription 82 self.sub2 = self.create_subscription( \n", - "[WARN] Could not find matching bind statement for /universe/autoware.universe/planning/motion_velocity_smoother/scripts/closest_velocity_checker.py#create_subscription@82\n", - "/universe/autoware.universe/planning/motion_velocity_smoother/scripts/closest_velocity_checker.py create_subscription 88 self.sub3 = self.create_subscription( \n", - "[WARN] Could not find matching bind statement for /universe/autoware.universe/planning/motion_velocity_smoother/scripts/closest_velocity_checker.py#create_subscription@88\n", - "/universe/autoware.universe/planning/motion_velocity_smoother/scripts/closest_velocity_checker.py create_subscription 91 self.sub4 = self.create_subscription( \n", - "[WARN] Could not find matching bind statement for /universe/autoware.universe/planning/motion_velocity_smoother/scripts/closest_velocity_checker.py#create_subscription@91\n", - "/universe/autoware.universe/planning/motion_velocity_smoother/scripts/closest_velocity_checker.py create_subscription 99 self.sub5 = self.create_subscription( \n", - "[WARN] Could not find matching bind statement for /universe/autoware.universe/planning/motion_velocity_smoother/scripts/closest_velocity_checker.py#create_subscription@99\n", - "/universe/autoware.universe/planning/motion_velocity_smoother/scripts/closest_velocity_checker.py create_subscription 104 self.sub6 = self.create_subscription( \n", - "[WARN] Could not find matching bind statement for /universe/autoware.universe/planning/motion_velocity_smoother/scripts/closest_velocity_checker.py#create_subscription@104\n", - "/universe/autoware.universe/planning/motion_velocity_smoother/scripts/closest_velocity_checker.py create_subscription 110 self.sub7 = self.create_subscription( \n", - "[WARN] Could not find matching bind statement for /universe/autoware.universe/planning/motion_velocity_smoother/scripts/closest_velocity_checker.py#create_subscription@110\n", - "/universe/autoware.universe/planning/motion_velocity_smoother/scripts/closest_velocity_checker.py create_subscription 115 self.sub8 = self.create_subscription( \n", - "[WARN] Could not find matching bind statement for /universe/autoware.universe/planning/motion_velocity_smoother/scripts/closest_velocity_checker.py#create_subscription@115\n", - "/universe/autoware.universe/planning/motion_velocity_smoother/scripts/closest_velocity_checker.py create_subscription 118 self.sub12 = self.create_subscription( \n", - "[WARN] Could not find matching bind statement for /universe/autoware.universe/planning/motion_velocity_smoother/scripts/closest_velocity_checker.py#create_subscription@118\n", - "/universe/autoware.universe/localization/gyro_odometer/src/gyro_odometer_core.cpp create_subscription 33 vehicle_twist_with_cov_sub_ = create_subscription<geometry_msgs::msg::TwistWithCovarianceStamped>( \n", - "/universe/autoware.universe/localization/gyro_odometer/src/gyro_odometer_core.cpp bind 35 std::bind(&GyroOdometer::callbackTwistWithCovariance, this, std::placeholders::_1)); \n", - "/universe/autoware.universe/localization/gyro_odometer/src/gyro_odometer_core.cpp create_subscription 37 imu_sub_ = create_subscription<sensor_msgs::msg::Imu>( \n", - "/universe/autoware.universe/localization/gyro_odometer/src/gyro_odometer_core.cpp bind 38 \"imu\", rclcpp::QoS{100}, std::bind(&GyroOdometer::callbackImu, this, std::placeholders::_1)); \n", - "/universe/autoware.universe/perception/tensorrt_yolo/src/nodelet.cpp create_subscription 124 image_sub_ = image_transport::create_subscription( \n", - "/universe/autoware.universe/perception/tensorrt_yolo/src/nodelet.cpp bind 125 this, \"in/image\", std::bind(&TensorrtYoloNodelet::callback, this, _1), \"raw\", \n", - "/universe/autoware.universe/localization/ekf_localizer/test/src/test_ekf_localizer.cpp create_subscription 45 sub_twist = this->create_subscription<geometry_msgs::msg::TwistStamped>( \n", - "/universe/autoware.universe/localization/ekf_localizer/test/src/test_ekf_localizer.cpp bind 46 \"/ekf_twist\", 1, std::bind(&TestEKFLocalizerNode::testCallbackTwist, this, _1)); \n", - "/universe/autoware.universe/localization/ekf_localizer/test/src/test_ekf_localizer.cpp create_subscription 47 sub_pose = this->create_subscription<geometry_msgs::msg::PoseStamped>( \n", - "/universe/autoware.universe/localization/ekf_localizer/test/src/test_ekf_localizer.cpp bind 48 \"/ekf_pose\", 1, std::bind(&TestEKFLocalizerNode::testCallbackPose, this, _1)); \n", - "/universe/autoware.universe/common/tier4_planning_rviz_plugin/src/drivable_area/display.cpp create_subscription 234 ->template create_subscription<map_msgs::msg::OccupancyGridUpdate>( \n", - "[WARN] Could not find matching bind statement for /universe/autoware.universe/common/tier4_planning_rviz_plugin/src/drivable_area/display.cpp#create_subscription@234\n", - "/universe/autoware.universe/sensing/pointcloud_preprocessor/src/concatenate_data/concatenate_data_nodelet.cpp create_subscription 158 filters_[d] = this->create_subscription<sensor_msgs::msg::PointCloud2>( \n", - "/universe/autoware.universe/sensing/pointcloud_preprocessor/src/concatenate_data/concatenate_data_nodelet.cpp bind 161 auto twist_cb = std::bind( \n", - "/universe/autoware.universe/sensing/pointcloud_preprocessor/src/concatenate_data/concatenate_data_nodelet.cpp create_subscription 163 sub_twist_ = this->create_subscription<autoware_auto_vehicle_msgs::msg::VelocityReport>( \n", - "/universe/autoware.universe/sensing/pointcloud_preprocessor/src/concatenate_data/concatenate_data_nodelet.cpp bind 173 std::bind(&PointCloudConcatenateDataSynchronizerComponent::timer_callback, this)); \n" - ] - } - ], - "source": [ - "def sym(path, symbol):\n", - " r = requests.get(jj(API_URL, f\"search?path={quote(path)}&symbol={quote(symbol)}\"))\n", - " r.raise_for_status()\n", - " results = r.json()['results']\n", - " records = []\n", - " for path, matches in results.items():\n", - " for match in matches:\n", - " records.append((path, symbol, int(match['lineNumber']) - 1, match['line']))\n", - " \n", - " df = pd.DataFrame(records, columns=[\"path\", \"symbol\", \"line_num\", \"line\"])\n", - " return df\n", - "\n", - "\n", - "def list_subscriptions(path):\n", - " #\"results\": {\n", - " #\"/universe/autoware.universe/planning/behavior_path_planner/include/behavior_path_planner/behavior_path_planner_node.hpp\": [\n", - " # {\n", - " # \"line\": \" rclcpp::Subscription<Odometry>::SharedPtr velocity_subscriber_;\",\n", - " # \"lineNumber\": \"90\"\n", - " # }\n", - " #],\n", - " syms_sub = sym(path, \"create_subscription\")\n", - " for path, symb, line_num, line in syms_sub.itertuples(index=False, name=None):\n", - " syms_bind = sym(path, \"bind\")\n", - " print(f\"{path:120s} {symb:25s} {line_num:4d} {line:120s}\")\n", - " closest_bind = syms_bind[syms_bind[\"line_num\"]>=line_num][:1]\n", - " if len(closest_bind) == 0:\n", - " print(f\"[WARN] Could not find matching bind statement for {path}#{symb}@{line_num}\")\n", - " for cpath, csymb, cline_num, cline in closest_bind.itertuples(index=False, name=None):\n", - " print(f\"{cpath:120s} {csymb:25s} {cline_num:4d} {cline:120s}\")\n", - "\n", - "\n", - "\n", - "list_subscriptions(\"\")" - ] - }, - { - "cell_type": "code", - "execution_count": null, - "metadata": {}, - "outputs": [], - "source": [] - } - ], - "metadata": { - "interpreter": { - "hash": "e7370f93d1d0cde622a1f8e1c04877d8463912d04d973331ad4851f04de6915a" - }, - "kernelspec": { - "display_name": "Python 3.8.10 64-bit", - "language": "python", - "name": "python3" - }, - "language_info": { - "codemirror_mode": { - "name": "ipython", - "version": 3 - }, - "file_extension": ".py", - "mimetype": "text/x-python", - "name": "python", - "nbconvert_exporter": "python", - "pygments_lexer": "ipython3", - "version": "3.8.10" - }, - "orig_nbformat": 4 - }, - "nbformat": 4, - "nbformat_minor": 2 -}