get steer msg by take instead of callback

Signed-off-by: N-Eiki <eiki.nagata.2@tier4.jp>

vehicle/accel_brake_map_calibrator/include/accel_brake_map_calibrator/accel_brake_map_calibrator_node.hpp

@@ -1,5 +1,5 @@
 //
-// Copyright 2020 Tier IV, Inc. All rights reserved.
+// Copyright 2024 Tier IV, Inc. All rights reserved.
 //
 // Licensed under the Apache License, Version 2.0 (the "License");
 // you may not use this file except in compliance with the License.
@@ -27,8 +27,8 @@
 
 #include <Eigen/Dense>
 
-#include "autoware_vehicle_msgs/msg/steering_report.hpp"
-#include "autoware_vehicle_msgs/msg/velocity_report.hpp"
+#include "autoware_auto_vehicle_msgs/msg/steering_report.hpp"
+#include "autoware_auto_vehicle_msgs/msg/velocity_report.hpp"
 #include "geometry_msgs/msg/twist_stamped.hpp"
 #include "nav_msgs/msg/occupancy_grid.hpp"
 #include "std_msgs/msg/bool.hpp"
@@ -44,6 +44,7 @@
 #include "tier4_vehicle_msgs/msg/actuation_command_stamped.hpp"
 #include "tier4_vehicle_msgs/msg/actuation_status_stamped.hpp"
 #include "tier4_vehicle_msgs/srv/update_accel_brake_map.hpp"
+#include "tier4_autoware_utils/ros/polling_subscriber.hpp"
 #include "visualization_msgs/msg/marker_array.hpp"
 
 #include <fstream>
@@ -56,8 +57,8 @@
 namespace accel_brake_map_calibrator
 {
 
-using autoware_vehicle_msgs::msg::SteeringReport;
-using autoware_vehicle_msgs::msg::VelocityReport;
+using autoware_auto_vehicle_msgs::msg::SteeringReport;
+using autoware_auto_vehicle_msgs::msg::VelocityReport;
 using geometry_msgs::msg::TwistStamped;
 using nav_msgs::msg::OccupancyGrid;
 using raw_vehicle_cmd_converter::AccelMap;
@@ -108,9 +109,11 @@ class AccelBrakeMapCalibrator : public rclcpp::Node
   rclcpp::Publisher<CalibrationStatus>::SharedPtr calibration_status_pub_;
 
   rclcpp::Subscription<VelocityReport>::SharedPtr velocity_sub_;
-  rclcpp::Subscription<SteeringReport>::SharedPtr steer_sub_;
+  // rclcpp::Subscription<SteeringReport>::SharedPtr steer_sub_;
   rclcpp::Subscription<ActuationStatusStamped>::SharedPtr actuation_status_sub_;
   rclcpp::Subscription<ActuationCommandStamped>::SharedPtr actuation_cmd_sub_;
+  tier4_autoware_utils::InterProcessPollingSubscriber<SteeringReport> steer_sub_{
+    this, "~/input/steer"};
 
   // Service
   rclcpp::Service<UpdateAccelBrakeMap>::SharedPtr update_map_dir_server_;
@@ -249,7 +252,7 @@ class AccelBrakeMapCalibrator : public rclcpp::Node
   void callbackActuationCommand(const ActuationCommandStamped::ConstSharedPtr msg);
   void callbackActuationStatus(const ActuationStatusStamped::ConstSharedPtr msg);
   void callbackVelocity(const VelocityReport::ConstSharedPtr msg);
-  void callbackSteer(const SteeringReport::ConstSharedPtr msg);
+  // void callbackSteer(const SteeringReport::ConstSharedPtr msg);
   bool callbackUpdateMapService(
     const std::shared_ptr<rmw_request_id_t> request_header,
     UpdateAccelBrakeMap::Request::SharedPtr req, UpdateAccelBrakeMap::Response::SharedPtr res);
@@ -378,4 +381,4 @@ class AccelBrakeMapCalibrator : public rclcpp::Node
 
 }  // namespace accel_brake_map_calibrator
 
-#endif  // ACCEL_BRAKE_MAP_CALIBRATOR__ACCEL_BRAKE_MAP_CALIBRATOR_NODE_HPP_
+#endif  // ACCEL_BRAKE_MAP_CALIBRATOR__ACCEL_BRAKE_MAP_CALIBRATOR_NODE_HPP_

vehicle/accel_brake_map_calibrator/package.xml

@@ -7,6 +7,7 @@
   <maintainer email="tomoya.kimura@tier4.jp">Tomoya Kimura</maintainer>
   <maintainer email="taiki.tanaka@tier4.jp">Taiki Tanaka</maintainer>
   <maintainer email="takeshi.miura@tier4.jp">Takeshi Miura</maintainer>
+  <maintainer email="eiki.nagata@tier4.jp">Eiki Nagata</maintainer>
 
   <license>Apache License 2.0</license>
 

vehicle/accel_brake_map_calibrator/src/accel_brake_map_calibrator_node.cpp

@@ -1,5 +1,5 @@
 //
-// Copyright 2020 Tier IV, Inc. All rights reserved.
+// Copyright 2024 Tier IV, Inc. All rights reserved.
 //
 // Licensed under the Apache License, Version 2.0 (the "License");
 // you may not use this file except in compliance with the License.
@@ -211,8 +211,6 @@ AccelBrakeMapCalibrator::AccelBrakeMapCalibrator(const rclcpp::NodeOptions & nod
   velocity_sub_ = create_subscription<VelocityReport>(
     "~/input/velocity", queue_size,
     std::bind(&AccelBrakeMapCalibrator::callbackVelocity, this, _1));
-  steer_sub_ = create_subscription<SteeringReport>(
-    "~/input/steer", queue_size, std::bind(&AccelBrakeMapCalibrator::callbackSteer, this, _1));
   if (accel_brake_value_source_ == ACCEL_BRAKE_SOURCE::STATUS) {
     actuation_status_sub_ = create_subscription<ActuationStatusStamped>(
       "~/input/actuation_status", queue_size,
@@ -298,6 +296,9 @@ void AccelBrakeMapCalibrator::timerCallback()
 
   /* valid check */
 
+  // take steer_ptr_ data
+  steer_ptr_ = steer_sub_.takeData();
+
   // data check
   if (
     !twist_ptr_ || !steer_ptr_ || !accel_pedal_ptr_ || !brake_pedal_ptr_ ||
@@ -496,12 +497,6 @@ void AccelBrakeMapCalibrator::callbackVelocity(const VelocityReport::ConstShared
   pushDataToVec(twist_msg, twist_vec_max_size_, &twist_vec_);
 }
 
-void AccelBrakeMapCalibrator::callbackSteer(const SteeringReport::ConstSharedPtr msg)
-{
-  debug_values_.data.at(CURRENT_STEER) = msg->steering_tire_angle;
-  steer_ptr_ = msg;
-}
-
 void AccelBrakeMapCalibrator::callbackActuation(
   const std_msgs::msg::Header header, const double accel, const double brake)
 {
@@ -1691,4 +1686,4 @@ void AccelBrakeMapCalibrator::addLogToCSV(
             << ", " << new_accel_mse << "," << rmse_rate << std::endl;
 }
 
-}  // namespace accel_brake_map_calibrator
+}  // namespace accel_brake_map_calibrator