From 90d5b94e91eee5fd437976196a9e6dbf465ec9cb Mon Sep 17 00:00:00 2001 From: Takayuki Murooka Date: Sat, 16 Dec 2023 15:31:04 +0900 Subject: [PATCH] feat(planning_debug_utils): add update_logger_level.sh (#5888) * feat(planning_debug_utils): update_logger_level.sh Signed-off-by: Takayuki Murooka * add error handling Signed-off-by: Takayuki Murooka * update README Signed-off-by: Takayuki Murooka --------- Signed-off-by: Takayuki Murooka --- planning/planning_debug_tools/CMakeLists.txt | 1 + planning/planning_debug_tools/README.md | 17 ++++++++ .../image/logging_level_updater.png | Bin 0 -> 53603 bytes .../image/logging_level_updater_typo.png | Bin 0 -> 58134 bytes .../scripts/update_logger_level.sh | 41 ++++++++++++++++++ 5 files changed, 59 insertions(+) create mode 100644 planning/planning_debug_tools/image/logging_level_updater.png create mode 100644 planning/planning_debug_tools/image/logging_level_updater_typo.png create mode 100755 planning/planning_debug_tools/scripts/update_logger_level.sh diff --git a/planning/planning_debug_tools/CMakeLists.txt b/planning/planning_debug_tools/CMakeLists.txt index 58f73ca3836c2..389bfdaa848d4 100644 --- a/planning/planning_debug_tools/CMakeLists.txt +++ b/planning/planning_debug_tools/CMakeLists.txt @@ -53,5 +53,6 @@ install(PROGRAMS scripts/closest_velocity_checker.py scripts/perception_replayer/perception_reproducer.py scripts/perception_replayer/perception_replayer.py + scripts/update_logger_level.sh DESTINATION lib/${PROJECT_NAME} ) diff --git a/planning/planning_debug_tools/README.md b/planning/planning_debug_tools/README.md index aa46c0e2fc7ef..a89cec2864857 100644 --- a/planning/planning_debug_tools/README.md +++ b/planning/planning_debug_tools/README.md @@ -6,6 +6,7 @@ This package contains several planning-related debug tools. - **Closest velocity checker**: prints the velocity information indicated by each modules - **Perception reproducer**: generates detected objects from rosbag data in planning simulator environment - **processing time checker**: displays processing_time of modules on the terminal +- **logging level updater**: updates the logging level of the planning modules. ## Trajectory analyzer @@ -264,3 +265,19 @@ The program allows users to customize two parameters via command-line arguments: - --display_frequency (or -f): This sets the frequency at which the terminal UI updates. The default value is 5Hz. By adjusting these parameters, users can tailor the display to their specific monitoring needs. + +## Logging Level Updater + +The purpose of the Logging Level Updater is to update the logging level of the planning modules via ROS 2 service. Users can easily update the logging level for debugging. + +```bash +ros2 run planning_debug_tools update_logger_level.sh +``` + +`` will be `DEBUG`, `INFO`, `WARN`, or `ERROR`. + +![logging_level_updater](image/logging_level_updater.png) + +When you have a typo of the planning module, the script will show the available modules. + +![logging_level_updater_typo](image/logging_level_updater_typo.png) diff --git a/planning/planning_debug_tools/image/logging_level_updater.png b/planning/planning_debug_tools/image/logging_level_updater.png new file mode 100644 index 0000000000000000000000000000000000000000..ae91140060b0f2a485d15aa6e814d89a69bbfbba GIT binary patch literal 53603 zcmaI7Wl$Z#7BxyBXmEG8KyY_=4-kU8yE_DT3-0a~+&RJB-QC^cz&YpTe)qnr_vd@7 zreGCLL?|CC=@wa$?s55@Ip{fpO6sX{F&{;v@Vik+36mdSIQszWz!} zTMOf}!Jin|K4|%y9$18+#O>sb>C7Fnmv9a86WYR8q5PAv2T^v24}^ zlixIAnB7S~|9?QNOb@RM_2vJLn0O;tA*OHtSD@O~6qJYkUom7Hhx6F{=l=@c8nxma zj2G??Iz><749AwWM1nbdf2=umkRw--)~s) 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+declare -A logger_name_dict + +# behavior path planner +behavior_path_module_list=("avoidance" "avoidance_by_lane_change" "dynamic_avoidance" "lane_change_right" "lane_change_left" "external_request_lane_change_right" "external_request_lane_change_left" "goal_planner" "start_planner" "side_shift") +for module in "${behavior_path_module_list[@]}"; do + node_name_dict[$module]="/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner" + logger_name_dict[$module]="planning.scenario_planning.lane_driving.behavior_planning.behavior_path_planner."$module +done + +# behavior velocity planner +behavior_velocity_module_list=("crosswalk" "walkway" "traffic_light" "intersection" "merge_from_private" "blind_spot" "detection_area" "virtual_traffic_light" "no_stopping_area" "stop_line" "occlusion_spot" "run_out" "speed_bump" "out_of_lane" "no_drivable_lane") +for module in "${behavior_velocity_module_list[@]}"; do + node_name_dict[$module]="/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner" + logger_name_dict[$module]="planning.scenario_planning.lane_driving.behavior_planning.behavior_velocity_planner."$module +done + +# obstacle avoidance planner +node_name_dict["obstacle_avoidance_planner"]=/planning/scenario_planning/lane_driving/motion_planning/obstacle_avoidance_planner +logger_name_dict["obstacle_avoidance_planner"]=/planning/scenario_planning/lane_driving/motion_planning/obstacle_avoidance_planner + +# motion velocity smoother +node_name_dict["motion_velocity_smoother"]=/planning/scenario_planning/motion_velocity_smoother +logger_name_dict["motion_velocity_smoother"]=/planning/scenario_planning/motion_velocity_smoother + +if [ -z "${node_name_dict[$1]}" ]; then + echo "[ERROR] $1 is not found." + echo -n "[ERROR] The available modules are [ " + for node_name in "${!node_name_dict[@]}"; do + echo -n "${node_name} " + done + echo "]" + exit 0 +fi + +# update logger +node_name=${node_name_dict[$1]} +logger_name=${logger_name_dict[$1]} +ros2 service call "$node_name/config_logger" logging_demo/srv/ConfigLogger "{logger_name: $logger_name, level: $2}"