feat: all component test (#90)

* feat: add all component setting Signed-off-by: Hayato Mizushima <[email protected]> * feat: all component evaluation uses record only mode Signed-off-by: Hayato Mizushima <[email protected]> * add record topic for all component test Signed-off-by: MasatoSaeki <[email protected]> --------- Signed-off-by: Hayato Mizushima <[email protected]> Signed-off-by: MasatoSaeki <[email protected]> Co-authored-by: MasatoSaeki <[email protected]>
tier4 · Feb 20, 2025 · b00f537 · b00f537
1 parent 882ba04
commit b00f537
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Showing 2 changed files with 48 additions and 2 deletions.
diff --git a/driving_log_replayer_v2/driving_log_replayer_v2/launch/all.py b/driving_log_replayer_v2/driving_log_replayer_v2/launch/all.py
@@ -0,0 +1,43 @@
+# Copyright (c) 2025 TIER IV.inc
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+from launch.actions import DeclareLaunchArgument
+
+RECORD_TOPIC = """^/diagnostics$\
+|^/sensing/lidar/concatenated/pointcloud$\
+|^/perception/object_recognition/objects$\
+|^/perception/obstacle_segmentation/pointcloud$\
+|^/perception/object_recognition/detection/rois(11|10|[0-9])$\
+|^/perception/traffic_light_recognition/camera(11|10|[0-9])/detection/rois$\
+|^/perception/traffic_light_recognition/camera(11|10|[0-9])/detection/rough/rois$\
+|^/perception/traffic_light_recognition/camera(11|10|[0-9])/classification/traffic_signals$\
+|^/perception/traffic_light_recognition/traffic_signals$\
+|^/tf$\
+|^/tf_static$\
+|^/planning/scenario_planning/lane_driving/behavior_planning/path$\
+|^/planning/scenario_planning/trajectory$\
+|^/.*/virtual_wall/.*$\
+|^/.*/path_candidate/.*\
+"""
+
+AUTOWARE_DISABLE = {}
+
+AUTOWARE_ARGS = {
+    "pose_source": "ndt",
+    "twist_source": "gyro_odom",
+}
+
+NODE_PARAMS = {}
+
+USE_CASE_ARGS: list[DeclareLaunchArgument] = []
diff --git a/driving_log_replayer_v2/launch/driving_log_replayer_v2.launch.py b/driving_log_replayer_v2/launch/driving_log_replayer_v2.launch.py
@@ -204,7 +204,7 @@ def extract_remap_topics(profile_name: str) -> list[str]:
         return remap_dict.get("remap")
 
 
-def ensure_arg_compatibility(context: LaunchContext) -> list:
+def ensure_arg_compatibility(context: LaunchContext) -> list:  # noqa
     conf = context.launch_configurations
 
     # check conf
@@ -265,6 +265,9 @@ def ensure_arg_compatibility(context: LaunchContext) -> list:
     conf["result_archive_path"] = output_dir.joinpath("result_archive").as_posix()
     conf["use_case"] = yaml_obj["Evaluation"]["UseCaseName"]
 
+    if conf["use_case"] == "all":
+        conf["record_only"] = "true"
+
     return [
         LogInfo(
             msg=f"{t4_dataset_path=}, {dataset_index=}, {output_dir=}, use_case={conf['use_case']}",
@@ -333,7 +336,7 @@ def launch_evaluator_node(context: LaunchContext) -> list:
     if conf["record_only"] != "false":
         # output dummy result for Evaluator
         output_dummy_result_jsonl(conf["result_json_path"])
-        return [LogInfo(msg="evaluator_node is not launched because record_only is set")]
+        return [LogInfo(msg="evaluator_node is not launched due to record only mode")]
     params = {
         "use_sim_time": True,
         "scenario_path": conf["scenario_path"],