fix(motion_velocity_planner): remove Metric messages (#10342)

Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>

Author: takayuki5168

planning/motion_velocity_planner/autoware_motion_velocity_obstacle_cruise_module/package.xml

@@ -28,7 +28,6 @@
   <depend>pluginlib</depend>
   <depend>rclcpp</depend>
   <depend>tf2</depend>
-  <depend>tier4_metric_msgs</depend>
   <depend>visualization_msgs</depend>
 
   <test_depend>ament_cmake_ros</test_depend>

planning/motion_velocity_planner/autoware_motion_velocity_obstacle_cruise_module/src/metrics_manager.hpp

@@ -123,7 +123,6 @@ void ObstacleCruiseModule::init(rclcpp::Node & node, const std::string & module_
   debug_publisher_ = node.create_publisher<MarkerArray>("~/obstacle_cruise/debug_markers", 1);
 
   // module publisher
-  metrics_pub_ = node.create_publisher<MetricArray>("~/cruise/metrics", 10);
   debug_cruise_planning_info_pub_ =
     node.create_publisher<Float32MultiArrayStamped>("~/debug/cruise_planning_info", 1);
   processing_time_detail_pub_ = node.create_publisher<autoware_utils::ProcessingTimeDetail>(
@@ -160,7 +159,6 @@ VelocityPlanningResult ObstacleCruiseModule::plan(
   // 1. init variables
   stop_watch_.tic();
   debug_data_ptr_ = std::make_shared<DebugData>();
-  metrics_manager_.init();
 
   // filter obstacles of predicted objects
   const auto cruise_obstacles = filter_cruise_obstacle_for_predicted_object(
@@ -174,7 +172,6 @@ VelocityPlanningResult ObstacleCruiseModule::plan(
   [[maybe_unused]] const auto cruise_traj_points = cruise_planner_->plan_cruise(
     planner_data, raw_trajectory_points, cruise_obstacles, debug_data_ptr_,
     planning_factor_interface_, result.velocity_limit);
-  metrics_manager_.calculate_metrics("PlannerInterface", "cruise");
 
   // clear velocity limit if necessary
   if (result.velocity_limit) {
@@ -356,14 +353,10 @@ void ObstacleCruiseModule::publish_debug_info()
   // 4. objects of interest
   objects_of_interest_marker_interface_->publishMarkerArray();
 
-  // 5. metrics
-  const auto metrics_msg = metrics_manager_.create_metric_array(clock_->now());
-  metrics_pub_->publish(metrics_msg);
-
-  // 6. processing time
+  // 5. processing time
   processing_time_publisher_->publish(create_float64_stamped(clock_->now(), stop_watch_.toc()));
 
-  // 7. planning factor
+  // 6. planning factor
   planning_factor_interface_->publish();
 }
 

planning/motion_velocity_planner/autoware_motion_velocity_obstacle_cruise_module/src/obstacle_cruise_module.cpp

@@ -20,7 +20,6 @@
 #include "autoware_utils/system/stop_watch.hpp"
 #include "autoware_utils/system/time_keeper.hpp"
 #include "cruise_planner_interface.hpp"
-#include "metrics_manager.hpp"
 #include "optimization_based_planner/optimization_based_planner.hpp"
 #include "parameters.hpp"
 #include "pid_based_planner/pid_based_planner.hpp"
@@ -65,7 +64,6 @@ class ObstacleCruiseModule : public PluginModuleInterface
   rclcpp::Publisher<Float32MultiArrayStamped>::SharedPtr debug_cruise_planning_info_pub_;
 
   // module publisher
-  rclcpp::Publisher<MetricArray>::SharedPtr metrics_pub_;
   std::unique_ptr<autoware::objects_of_interest_marker_interface::ObjectsOfInterestMarkerInterface>
     objects_of_interest_marker_interface_;
   rclcpp::Publisher<autoware_utils::ProcessingTimeDetail>::SharedPtr processing_time_detail_pub_;
@@ -78,7 +76,6 @@ class ObstacleCruiseModule : public PluginModuleInterface
   std::vector<CruiseObstacle> prev_cruise_object_obstacles_;
   mutable std::shared_ptr<DebugData> debug_data_ptr_;
   bool need_to_clear_velocity_limit_{false};
-  MetricsManager metrics_manager_;
   mutable std::shared_ptr<autoware_utils::TimeKeeper> time_keeper_;
 
   std::unique_ptr<CruisePlannerInterface> create_cruise_planner(rclcpp::Node & node) const;

planning/motion_velocity_planner/autoware_motion_velocity_obstacle_cruise_module/src/obstacle_cruise_module.hpp

@@ -31,8 +31,6 @@
 #include "visualization_msgs/msg/marker_array.hpp"
 #include <autoware_internal_planning_msgs/msg/planning_factor.hpp>
 #include <autoware_internal_planning_msgs/msg/safety_factor_array.hpp>
-#include <tier4_metric_msgs/msg/metric.hpp>
-#include <tier4_metric_msgs/msg/metric_array.hpp>
 
 #include <pcl/point_cloud.h>
 #include <pcl/point_types.h>
@@ -60,8 +58,6 @@ using visualization_msgs::msg::MarkerArray;
 namespace bg = boost::geometry;
 using autoware_utils::Point2d;
 using autoware_utils::Polygon2d;
-using Metric = tier4_metric_msgs::msg::Metric;
-using MetricArray = tier4_metric_msgs::msg::MetricArray;
 using PointCloud = pcl::PointCloud<pcl::PointXYZ>;
 using autoware_internal_planning_msgs::msg::PlanningFactor;
 using autoware_internal_planning_msgs::msg::SafetyFactorArray;

planning/motion_velocity_planner/autoware_motion_velocity_obstacle_cruise_module/src/type_alias.hpp

@@ -28,7 +28,6 @@
   <depend>pluginlib</depend>
   <depend>rclcpp</depend>
   <depend>tf2</depend>
-  <depend>tier4_metric_msgs</depend>
   <depend>visualization_msgs</depend>
 
   <test_depend>ament_cmake_ros</test_depend>

planning/motion_velocity_planner/autoware_motion_velocity_obstacle_slow_down_module/package.xml

@@ -208,7 +208,6 @@ void ObstacleSlowDownModule::init(rclcpp::Node & node, const std::string & modul
   debug_publisher_ = node.create_publisher<MarkerArray>("~/obstacle_slow_down/debug_markers", 1);
 
   // module publisher
-  metrics_pub_ = node.create_publisher<MetricArray>("~/slow_down/metrics", 10);
   debug_slow_down_planning_info_pub_ =
     node.create_publisher<Float32MultiArrayStamped>("~/debug/slow_down_planning_info", 1);
   processing_time_detail_pub_ = node.create_publisher<autoware_utils::ProcessingTimeDetail>(
@@ -329,7 +328,6 @@ VelocityPlanningResult ObstacleSlowDownModule::plan(
 
   stop_watch_.tic();
   debug_data_ptr_ = std::make_shared<DebugData>();
-  metrics_manager_.init();
   decimated_traj_polys_ = std::nullopt;
 
   const auto decimated_traj_points = utils::decimate_trajectory_points_from_ego(
@@ -357,7 +355,6 @@ VelocityPlanningResult ObstacleSlowDownModule::plan(
   result.slowdown_intervals = plan_slow_down(
     planner_data, raw_trajectory_points, slow_down_obstacles, result.velocity_limit,
     planner_data->vehicle_info_);
-  metrics_manager_.calculate_metrics("PlannerInterface", "cruise");
 
   // clear velocity limit if necessary
   if (result.velocity_limit) {
@@ -886,14 +883,10 @@ void ObstacleSlowDownModule::publish_debug_info()
   // 4. objects of interest
   objects_of_interest_marker_interface_->publishMarkerArray();
 
-  // 5. metrics
-  const auto metrics_msg = metrics_manager_.create_metric_array(clock_->now());
-  metrics_pub_->publish(metrics_msg);
-
-  // 6. processing time
+  // 5. processing time
   processing_time_publisher_->publish(create_float64_stamped(clock_->now(), stop_watch_.toc()));
 
-  // 7. planning factor
+  // 6. planning factor
   planning_factor_interface_->publish();
 }
 

planning/motion_velocity_planner/autoware_motion_velocity_obstacle_slow_down_module/src/metrics_manager.hpp

@@ -19,7 +19,6 @@
 #include "autoware/motion_velocity_planner_common_universe/utils.hpp"
 #include "autoware_utils/system/stop_watch.hpp"
 #include "autoware_utils/system/time_keeper.hpp"
-#include "metrics_manager.hpp"
 #include "parameters.hpp"
 #include "type_alias.hpp"
 #include "types.hpp"
@@ -70,7 +69,6 @@ class ObstacleSlowDownModule : public PluginModuleInterface
   ObstacleFilteringParam obstacle_filtering_param_;
 
   // module publisher
-  rclcpp::Publisher<MetricArray>::SharedPtr metrics_pub_;
   rclcpp::Publisher<Float32MultiArrayStamped>::SharedPtr debug_slow_down_planning_info_pub_;
   rclcpp::Publisher<autoware_utils::ProcessingTimeDetail>::SharedPtr processing_time_detail_pub_;
 
@@ -85,7 +83,6 @@ class ObstacleSlowDownModule : public PluginModuleInterface
   Float32MultiArrayStamped slow_down_debug_multi_array_;
   autoware_utils::StopWatch<std::chrono::milliseconds> stop_watch_;
   mutable std::shared_ptr<DebugData> debug_data_ptr_;
-  MetricsManager metrics_manager_;
   bool need_to_clear_velocity_limit_{false};
   mutable std::shared_ptr<autoware_utils::TimeKeeper> time_keeper_;
   mutable std::optional<std::vector<Polygon2d>> decimated_traj_polys_{std::nullopt};

planning/motion_velocity_planner/autoware_motion_velocity_obstacle_slow_down_module/src/obstacle_slow_down_module.cpp

@@ -31,8 +31,6 @@
 #include "visualization_msgs/msg/marker_array.hpp"
 #include <autoware_internal_planning_msgs/msg/planning_factor.hpp>
 #include <autoware_internal_planning_msgs/msg/safety_factor_array.hpp>
-#include <tier4_metric_msgs/msg/metric.hpp>
-#include <tier4_metric_msgs/msg/metric_array.hpp>
 
 #include <pcl/point_cloud.h>
 #include <pcl/point_types.h>
@@ -60,8 +58,6 @@ using visualization_msgs::msg::MarkerArray;
 namespace bg = boost::geometry;
 using autoware_utils::Point2d;
 using autoware_utils::Polygon2d;
-using Metric = tier4_metric_msgs::msg::Metric;
-using MetricArray = tier4_metric_msgs::msg::MetricArray;
 using PointCloud = pcl::PointCloud<pcl::PointXYZ>;
 using autoware_internal_planning_msgs::msg::PlanningFactor;
 using autoware_internal_planning_msgs::msg::SafetyFactorArray;

planning/motion_velocity_planner/autoware_motion_velocity_obstacle_slow_down_module/src/obstacle_slow_down_module.hpp

@@ -27,7 +27,6 @@
   <depend>pluginlib</depend>
   <depend>rclcpp</depend>
   <depend>tf2</depend>
-  <depend>tier4_metric_msgs</depend>
   <depend>tier4_planning_msgs</depend>
   <depend>visualization_msgs</depend>