Evaluator Package

Package Information

Description

This package contains the evaluator node, used to evaluate the AS main pipeline in real time, with aid of simulation environments and other data.

Folder Structure

• adapter: Adapter base class to change ROS2 interfaces according to the simulator or environment
• pacsim_adapter: Adapter for PacSim simulator
• eufs_adapter: Adapter for EUFS simulator
• fsds_adapter: Adapter for FSDS simulator
• vehicle_adapter: Adapter for the vehicle
• formats: Functions for formatting messages into a common format
• metrics: Functions for metrics calculation
• adapter_maps: Maps for adapter configurations
• evaluator: Evaluator node class

Launch Configurations

Design

The structure of the node is quite simple and depicted by the following class diagram:

The way the system works can be explained with the aid of the following sequence diagram:

Roles of Adapters vs. the Evaluator Class

The Evaluator node class only creates Subscribers for the topics intrinsic to the system (ex. topics from the Mocker Node).

Other subscriptions that depend on the simulator topics are all made in the adapters, as well as the subsequent linkage to callbacks. The callbacks in the adapters simply recieve the messages in simulator-dependent format, and transform them into a standard format. The standardized messages are then used in the evaluator node so that metrics can be calculated and published.

This is true for all but the control node, which for simplicity reasons sends all the information necessary for evaluation in a separate message, as it does not use simulation data to evaluate itself.

Complete Evaluation System Diagram

The concept of the complete evaluation system can be seen in the following diagram:

Results

The metrics will be published in

``` topics.

## How to Run

### Install Dependencies


```sh
./dependencies_install.sh

Compiling

colcon build --packages-up-to evaluator

Testing

colcon test --packages-select evaluator # use event-handler=console_direct+ for imediate output

To check test results:

colcon test-result --all --verbose

Running

Use a launch file:

source ./install/setup.bash # If in a new terminal
ros2 launch evaluator evaluator-eufs.launch.py

or run directly:

source ./install/setup.bash # If in a new terminal
ros2 run evaluator evaluator