feat(metrics): make it possible to hide graph for each metrics

Signed-off-by: satoshi-ota <[email protected]>

evaluation/tier4_metrics_rviz_plugin/CMakeLists.txt

@@ -28,4 +28,5 @@ ament_auto_package(
   INSTALL_TO_SHARE
   icons
   plugins
+  config
 )

evaluation/tier4_metrics_rviz_plugin/config/metrics_visualize_panel.param.yaml

@@ -0,0 +1,51 @@
+curvature:
+  table: true
+  graph: false
+point_interval:
+  table: true
+  graph: false
+length:
+  table: true
+  graph: false
+duration:
+  table: true
+  graph: false
+velocity:
+  table: true
+  graph: false
+acceleration:
+  table: true
+  graph: false
+jerk:
+  table: true
+  graph: false
+lateral_deviation:
+  table: true
+  graph: false
+yaw_deviation:
+  table: true
+  graph: false
+velocity_deviation:
+  table: true
+  graph: false
+stability:
+  table: true
+  graph: false
+stability_frechet:
+  table: true
+  graph: false
+obstacle_distance:
+  table: true
+  graph: false
+obstacle_ttc:
+  table: true
+  graph: false
+modified_goal_longitudinal_deviation:
+  table: true
+  graph: false
+modified_goal_lateral_deviation:
+  table: true
+  graph: false
+modified_goal_yaw_deviation:
+  table: true
+  graph: false

evaluation/tier4_metrics_rviz_plugin/include/metrics_visualize_panel.hpp

@@ -35,6 +35,8 @@
 
 #include <diagnostic_msgs/msg/diagnostic_array.hpp>
 
+#include <yaml-cpp/yaml.h>
+
 #include <iostream>
 #include <limits>
 #include <string>
@@ -244,6 +246,9 @@ private Q_SLOTS:
   // Stored metrics data
   std::unordered_map<std::string, Metric> metrics_;
 
+  // Metrics configuration
+  YAML::Node config_;
+
   // Utility functions for managing widget visibility based on topics
   void updateWidgetVisibility(const std::string & target_topic, const bool show);
   void showCurrentTopicWidgets();

evaluation/tier4_metrics_rviz_plugin/package.xml

@@ -22,6 +22,7 @@
   <depend>qtbase5-dev</depend>
   <depend>rclcpp</depend>
   <depend>rviz_common</depend>
+  <depend>yaml-cpp</depend>
 
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>autoware_lint_common</test_depend>

evaluation/tier4_metrics_rviz_plugin/src/metrics_visualize_panel.cpp

@@ -15,6 +15,7 @@
 
 #include "metrics_visualize_panel.hpp"
 
+#include <ament_index_cpp/get_package_share_directory.hpp>
 #include <rviz_common/display_context.hpp>
 
 #include <X11/Xlib.h>
@@ -95,6 +96,11 @@ void MetricsVisualizePanel::onInitialize()
 
   const auto period = std::chrono::milliseconds(static_cast<int64_t>(1e3 / 10));
   timer_ = raw_node_->create_wall_timer(period, [&]() { onTimer(); });
+
+  const std::string yaml_filepath =
+    ament_index_cpp::get_package_share_directory("tier4_metrics_rviz_plugin") +
+    "/config/metrics_visualize_panel.param.yaml";
+  config_ = YAML::LoadFile(yaml_filepath);
 }
 
 void MetricsVisualizePanel::updateWidgetVisibility(
@@ -224,12 +230,21 @@ void MetricsVisualizePanel::onMetrics(
       QGridLayout * all_metrics_layout = dynamic_cast<QGridLayout *>(all_metrics_widget->layout());
 
       // Add the widgets to the "All Metrics" tab layout
-      all_metrics_layout->addWidget(tableWidget, row, col);
-      all_metrics_layout->setRowStretch(row, false);
-      all_metrics_layout->addWidget(chartViewWidget, row + 1, col);
-      all_metrics_layout->setRowStretch(row + 1, true);
-      all_metrics_layout->setColumnStretch(col, true);
-
+      try {
+        if (config_[status.name]["table"].as<bool>()) {
+          all_metrics_layout->addWidget(tableWidget, row, col);
+        }
+
+        if (config_[status.name]["graph"].as<bool>()) {
+          all_metrics_layout->addWidget(chartViewWidget, row + 1, col);
+        }
+
+        all_metrics_layout->setRowStretch(row, false);
+        all_metrics_layout->setRowStretch(row + 1, true);
+        all_metrics_layout->setColumnStretch(col, true);
+      } catch (const YAML::Exception & e) {
+        std::cerr << "YAML error: " << e.what() << std::endl;
+      }
       // Also add the widgets to the topic_widgets_map_ for easy management
       topic_widgets_map_[topic_name][status.name] = std::make_pair(tableWidget, chartViewWidget);
     }