control_performance_analysis

Purpose

control_performance_analysis is the package to analyze the tracking performance of a control module.

This package is used as a tool to quantify the results of the control module. That's why it doesn't interfere with the core logic of autonomous driving.

Based on the various input from planning, control, and vehicle, it publishes the result of analysis as control_performance_analysis::msg::ErrorStamped defined in this package.

Input / Output

Input topics

Name	Type	Description
/planning/scenario_planning/trajectory	autoware_auto_planning_msgs::msg::Trajectory	Output trajectory from planning module.
/control/trajectory_follower/lateral/control_cmd	autoware_auto_control_msgs::msg::AckermannLateralCommand	Output lateral control command from control module.
/vehicle/status/steering_status	autoware_auto_vehicle_msgs::msg::SteeringReport	Steering information from vehicle.
/localization/kinematic_state	nav_msgs::msg::Odometry	Use twist from odometry.
/tf	tf2_msgs::msg::TFMessage	Extract ego pose from tf.

Output topics

Name	Type	Description
/control_performance/performance_vars	control_performance_analysis::msg::ErrorStamped	The result of the performance analysis.