scenario_simulator_v2 Adapter

Purpose

This package provides a node to convert various messages from the Autoware into tier4_simulation_msgs::msg::UserDefinedValue messages for the scenario_simulator_v2. Currently, this node supports conversion of:

• tier4_metric_msgs::msg::MetricArray for metric topics

Inner-workings / Algorithms

• For tier4_metric_msgs::msg::MetricArray, The node subscribes to all topics listed in the parameter metric_topic_list. Each time such message is received, it is converted into as many UserDefinedValue messages as the number of Metric objects. The format of the output topic is detailed in the output section.

Inputs / Outputs

Inputs

The node listens to MetricArray messages on the topics specified in metric_topic_list.

Outputs

The node outputs UserDefinedValue messages that are converted from the received messages.

• For MetricArray messages, The name of the output topics are generated from the corresponding input topic, the name of the metric.
  • For example, we might listen to topic /planning/planning_evaluator/metrics and receive a MetricArray with 2 metrics:
    • metric with name: "metricA/x"
    • metric with name: "metricA/y"
  • The resulting topics to publish the UserDefinedValue are as follows:
    • /planning/planning_evaluator/metrics/metricA/x
    • /planning/planning_evaluator/metrics/metricA/y

Parameters

{{ json_to_markdown(“evaluator/autoware_scenario_simulator_v2_adapter/schema/scenario_simulator_v2_adapter.schema.json”) }}

Assumptions / Known limits

Values in the Metric objects of a MetricArray are assumed to be of type double.

Future extensions / Unimplemented parts

Changelog for package autoware_scenario_simulator_v2_adapter

0.47.0 (2025-08-11)

• feat(autoware_scenario_simulator_v2_adapter): support converting all diagnostics to UserDefinedValue (#11033)

  • convert all diagnostics to userdefinedvalues
  • feat(intersection_collision_checker): improve logic to address false negatives (#11030)
  • revise and improve velocity estimation and tracking logic
  • ensure consistent collision lane ids

  * small refactoring ---------

  * Update evaluator/autoware_scenario_simulator_v2_adapter/src/converter_node.cpp Co-authored-by: Junya Sasaki <<j2sasaki1990@gmail.com>> ---------Co-authored-by: mkquda <<168697710+mkquda@users.noreply.github.com>> Co-authored-by: Junya Sasaki <<j2sasaki1990@gmail.com>>

• Contributors: Kem (TiankuiXian)

0.46.0 (2025-06-20)

• Merge remote-tracking branch 'upstream/main' into tmp/TaikiYamada/bump_version_base
• feat(scenario_simulator_v2_adapter): updated the read me file and schema (#10189)
• docs(evaluator): fix documentation links (#10702) fix documentation links
• Contributors: TaikiYamada4, Vishal Chauhan, Yuxuan Liu

0.45.0 (2025-05-22)

0.44.2 (2025-06-10)

0.44.1 (2025-05-01)

0.44.0 (2025-04-18)

0.43.0 (2025-03-21)

• Merge remote-tracking branch 'origin/main' into chore/bump-version-0.43
• chore: rename from [autoware.universe]{.title-ref} to [autoware_universe]{.title-ref} (#10306)
• Contributors: Hayato Mizushima, Yutaka Kondo

0.42.0 (2025-03-03)

0.41.2 (2025-02-19)

• chore: bump version to 0.41.1 (#10088)
• Contributors: Ryohsuke Mitsudome

0.41.1 (2025-02-10)

0.41.0 (2025-01-29)

• Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base

• feat: apply [autoware_]{.title-ref} prefix for [scenario_simulator_v2_adapter]{.title-ref} (#9957)

  • feat(autoware_scenario_simulator_v2_adapter): apply [autoware_]{.title-ref} prefix (see below):

  * In this commit, I did not organize a folder structure. The folder structure will be organized in the next some commits.

  • The changes will follow the Autoware's guideline as below:
  • https://autowarefoundation.github.io/autoware-documentation/main/contributing/coding-guidelines/ros-nodes/directory-structure/#package-folder
  • rename(scenario_simulator_v2_adapter): move headers under `include/autoware`:
  • Fixes due to this changes for .hpp/.cpp files will be applied in the next commit
  • fix(scenario_simulator_v2_adapter): fix include paths
  • To follow the previous commit
  • rename: [scenario_simulator_v2_adapter]{.title-ref} => [autoware_scenario_simulator_v2_adapter]{.title-ref}
  • bug(autoware_scenario_simulator_v2_adapter): revert wrongly updated copyrights
  • bug(autoware_scenario_simulator_v2_adapter): [autoware_]{.title-ref} prefix is not needed here

  * bug(autoware_scenario_simulator_v2_adapter): wrong package name in launch side ---------

• Contributors: Fumiya Watanabe, Junya Sasaki

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