tier4_debug_tools

This package provides useful features for debugging Autoware.

Usage

tf2pose

This tool converts any tf to pose topic.
With this tool, for example, you can plot x values of tf in rqt_multiplot.

ros2 run tier4_debug_tools tf2pose {tf_from} {tf_to} {hz}

Example:

$ ros2 run tier4_debug_tools tf2pose base_link ndt_base_link 100

$ ros2 topic echo /tf2pose/pose -n1
header:
  seq: 13
  stamp:
    secs: 1605168366
    nsecs: 549174070
  frame_id: "base_link"
pose:
  position:
    x: 0.0387684271191
    y: -0.00320360406477
    z: 0.000276674520819
  orientation:
    x: 0.000335221893885
    y: 0.000122020672186
    z: -0.00539673212896
    w: 0.999985368502
---

pose2tf

This tool converts any pose topic to tf.

ros2 run tier4_debug_tools pose2tf {pose_topic_name} {tf_name}

Example:

$ ros2 run tier4_debug_tools pose2tf /localization/pose_estimator/pose ndt_pose

$ ros2 run tf tf_echo ndt_pose ndt_base_link 100
At time 1605168365.449
- Translation: [0.000, 0.000, 0.000]
- Rotation: in Quaternion [0.000, 0.000, 0.000, 1.000]
            in RPY (radian) [0.000, -0.000, 0.000]
            in RPY (degree) [0.000, -0.000, 0.000]

stop_reason2pose

This tool extracts pose from stop_reasons.
Topics without numbers such as /stop_reason2pose/pose/detection_area are the nearest stop_reasons, and topics with numbers are individual stop_reasons that are roughly matched with previous ones.

ros2 run tier4_debug_tools stop_reason2pose {stop_reason_topic_name}

Example:

$ ros2 run tier4_debug_tools stop_reason2pose /planning/scenario_planning/status/stop_reasons

$ ros2 topic list | ag stop_reason2pose
/stop_reason2pose/pose/detection_area
/stop_reason2pose/pose/detection_area_1
/stop_reason2pose/pose/obstacle_stop
/stop_reason2pose/pose/obstacle_stop_1

$ ros2 topic echo /stop_reason2pose/pose/detection_area -n1
header:
  seq: 1
  stamp:
    secs: 1605168355
    nsecs:    821713
  frame_id: "map"
pose:
  position:
    x: 60608.8433457
    y: 43886.2410876
    z: 44.9078212441
  orientation:
    x: 0.0
    y: 0.0
    z: -0.190261378408
    w: 0.981733470901
---

File truncated at 100 lines see the full file

Changelog for package tier4_debug_tools

0.3.0 (2025-08-11)

0.2.0 (2025-03-24)

0.1.0 (2025-01-28)

• unify version to 0.0.0

• feat(tier4_debug_tools)!: replace tier4_debug_msgs with tier4_internal_debug_msgs (#203)

• refactor(universe_utils/motion_utils)!: add autoware namespace (#59)

  * refactor(universe_utils): add autoware namespace style(pre-commit): autofix

  * refactor(motion_utils): add autoware namespace ---------

• refactor(motion_utils)!: add autoware prefix and include dir (#53) style(pre-commit): autofix

• refactor(autoware_universe_utils)!: rename tier4_autoware_utils to autoware_universe_utils (#52) Co-authored-by: kosuke55 <<kosuke.tnp@gmail.com>> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>

• feat!: change from autoware_auto_msgs to autoware_msgs (#30)

  • feat!: replace autoware_auto_msgs with autoware_msgs
  • style(pre-commit): autofix
  • feat: port remaining autoware_auto_msgs to autoware_msgs (#32)
  • feat: port remaining autoware_auto_msgs to autoware_msgs

  * style(pre-commit): autofix ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>

  • remove <depend>autoware_msgs</depend>

  * remove non-existent dep ---------Co-authored-by: mitsudome-r <<ryohsuke.mitsudome@tier4.jp>> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: Ryohsuke Mitsudome <<43976834+mitsudome-r@users.noreply.github.com>> Co-authored-by: M. Fatih Cırıt <<mfc@leodrive.ai>>

• feat: move tools from autoware.universe (#8)

  • feat: move tools from autoware.universe
  • update build_depends.repos

  * update build_depends.repos ---------

• Contributors: Kosuke Takeuchi, Ryohsuke Mitsudome, Takayuki Murooka, Yukihiro Saito, Yutaka Kondo