feat(evalautor): rename evaluator diag topics (#1432)

* feat(evalautor): rename evaluator diag topics (autowarefoundation#8152)

* feat(evalautor): rename evaluator diag topics

Signed-off-by: kosuke55 <kosuke.tnp@gmail.com>

* perception

Signed-off-by: kosuke55 <kosuke.tnp@gmail.com>

---------

Signed-off-by: kosuke55 <kosuke.tnp@gmail.com>

* fix: adapt v0.29.0 control launcher

Signed-off-by: Shumpei Wakabayashi <shumpei.wakabayashi@tier4.jp>

---------

Signed-off-by: kosuke55 <kosuke.tnp@gmail.com>
Signed-off-by: Shumpei Wakabayashi <shumpei.wakabayashi@tier4.jp>
Co-authored-by: Kosuke Takeuchi <kosuke.tnp@gmail.com>

Author: shmpwk

evaluator/autoware_control_evaluator/launch/control_evaluator.launch.xml

@@ -9,7 +9,7 @@
       <remap from="~/input/diagnostics" to="$(var input/diagnostics)"/>
       <remap from="~/input/odometry" to="$(var input/odometry)"/>
       <remap from="~/input/trajectory" to="$(var input/trajectory)"/>
-      <remap from="~/metrics" to="/diagnostic/control_evaluator/metrics"/>
+      <remap from="~/metrics" to="/control/control_evaluator/metrics"/>
     </node>
   </group>
 </launch>

evaluator/autoware_planning_evaluator/launch/planning_evaluator.launch.xml

@@ -14,7 +14,7 @@
       <remap from="~/input/reference_trajectory" to="$(var input/reference_trajectory)"/>
       <remap from="~/input/objects" to="$(var input/objects)"/>
       <remap from="~/input/modified_goal" to="$(var input/modified_goal)"/>
-      <remap from="~/metrics" to="/diagnostic/planning_evaluator/metrics"/>
+      <remap from="~/metrics" to="/planning/planning_evaluator/metrics"/>
     </node>
   </group>
 </launch>

evaluator/perception_online_evaluator/launch/perception_online_evaluator.launch.xml

@@ -6,8 +6,8 @@
     <node name="perception_online_evaluator" exec="perception_online_evaluator" pkg="perception_online_evaluator">
       <param from="$(find-pkg-share perception_online_evaluator)/param/perception_online_evaluator.defaults.yaml"/>
       <remap from="~/input/objects" to="$(var input/objects)"/>
-      <remap from="~/metrics" to="/diagnostic/perception_online_evaluator/metrics"/>
-      <remap from="~/markers" to="/diagnostic/perception_online_evaluator/markers"/>
+      <remap from="~/metrics" to="/perception/perception_online_evaluator/metrics"/>
+      <remap from="~/markers" to="/perception/perception_online_evaluator/markers"/>
     </node>
   </group>
 </launch>

launch/tier4_control_launch/launch/control.launch.py

@@ -381,7 +381,7 @@ def launch_setup(context, *args, **kwargs):
             ("~/input/diagnostics", "/diagnostics"),
             ("~/input/odometry", "/localization/kinematic_state"),
             ("~/input/trajectory", "/planning/scenario_planning/trajectory"),
-            ("~/metrics", "/diagnostic/control_evaluator/metrics"),
+            ("~/metrics", "/control/control_evaluator/metrics"),
         ],
     )
 

launch/tier4_simulator_launch/launch/simulator.launch.xml

@@ -147,7 +147,7 @@
   <!-- Diagnostic Converter -->
   <group if="$(var launch_diagnostic_converter)">
     <node name="diagnostic_converter" exec="diagnostic_converter" pkg="diagnostic_converter" output="screen">
-      <param name="diagnostic_topics" value="[/diagnostic/planning_evaluator/metrics, /diagnostic/control_evaluator/metrics, /diagnostics_err]"/>
+      <param name="diagnostic_topics" value="[/planning/planning_evaluator/metrics, /diagnostic/control_evaluator/metrics, /diagnostics_err]"/>
     </node>
   </group>