feat(evalautor): rename evaluator diag topics (#8152)

* feat(evalautor): rename evaluator diag topics Signed-off-by: kosuke55 <[email protected]> * perception Signed-off-by: kosuke55 <[email protected]> --------- Signed-off-by: kosuke55 <[email protected]>
autowarefoundation · Jul 29, 2024 · 4a92ae6 · 4a92ae6
1 parent 6719f5f
commit 4a92ae6
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Showing 5 changed files with 6 additions and 6 deletions.
diff --git a/evaluator/autoware_control_evaluator/launch/control_evaluator.launch.xml b/evaluator/autoware_control_evaluator/launch/control_evaluator.launch.xml
@@ -13,7 +13,7 @@
       <remap from="~/input/odometry" to="$(var input/odometry)"/>
       <remap from="~/input/acceleration" to="$(var input/acceleration)"/>
       <remap from="~/input/trajectory" to="$(var input/trajectory)"/>
-      <remap from="~/metrics" to="/diagnostic/control_evaluator/metrics"/>
+      <remap from="~/metrics" to="/control/control_evaluator/metrics"/>
       <remap from="~/input/vector_map" to="$(var map_topic_name)"/>
       <remap from="~/input/route" to="$(var route_topic_name)"/>
     </node>

diff --git a/evaluator/autoware_planning_evaluator/launch/planning_evaluator.launch.xml b/evaluator/autoware_planning_evaluator/launch/planning_evaluator.launch.xml
@@ -22,7 +22,7 @@
       <remap from="~/input/modified_goal" to="$(var input/modified_goal)"/>
       <remap from="~/input/route" to="$(var input/route_topic)"/>
       <remap from="~/input/vector_map" to="$(var input/map_topic)"/>
-      <remap from="~/metrics" to="/diagnostic/planning_evaluator/metrics"/>
+      <remap from="~/metrics" to="/planning/planning_evaluator/metrics"/>
     </node>
   </group>
 </launch>
diff --git a/evaluator/perception_online_evaluator/launch/perception_online_evaluator.launch.xml b/evaluator/perception_online_evaluator/launch/perception_online_evaluator.launch.xml
@@ -6,8 +6,8 @@
     <node name="perception_online_evaluator" exec="perception_online_evaluator" pkg="perception_online_evaluator">
       <param from="$(find-pkg-share perception_online_evaluator)/param/perception_online_evaluator.defaults.yaml"/>
       <remap from="~/input/objects" to="$(var input/objects)"/>
-      <remap from="~/metrics" to="/diagnostic/perception_online_evaluator/metrics"/>
-      <remap from="~/markers" to="/diagnostic/perception_online_evaluator/markers"/>
+      <remap from="~/metrics" to="/perception/perception_online_evaluator/metrics"/>
+      <remap from="~/markers" to="/perception/perception_online_evaluator/markers"/>
     </node>
   </group>
 </launch>
diff --git a/launch/tier4_control_launch/launch/control.launch.xml b/launch/tier4_control_launch/launch/control.launch.xml
@@ -221,7 +221,7 @@
         <remap from="~/input/odometry" to="/localization/kinematic_state"/>
         <remap from="~/input/acceleration" to="/localization/acceleration"/>
         <remap from="~/input/trajectory" to="/planning/scenario_planning/trajectory"/>
-        <remap from="~/metrics" to="/diagnostic/control_evaluator/metrics"/>
+        <remap from="~/metrics" to="/control/control_evaluator/metrics"/>
         <remap from="~/input/vector_map" to="/map/vector_map"/>
         <remap from="~/input/route" to="/planning/mission_planning/route"/>
       </composable_node>

diff --git a/launch/tier4_simulator_launch/launch/simulator.launch.xml b/launch/tier4_simulator_launch/launch/simulator.launch.xml
@@ -149,7 +149,7 @@
   <!-- Diagnostic Converter -->
   <group if="$(var launch_diagnostic_converter)">
     <node name="diagnostic_converter" exec="diagnostic_converter" pkg="diagnostic_converter" output="screen">
-      <param name="diagnostic_topics" value="[/diagnostic/planning_evaluator/metrics, /diagnostic/control_evaluator/metrics, /diagnostics_err, /system/processing_time_checker/metrics]"/>
+      <param name="diagnostic_topics" value="[/planning/planning_evaluator/metrics, /control/control_evaluator/metrics, /diagnostics_err, /system/processing_time_checker/metrics]"/>
     </node>
   </group>