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docs: Update for new diagnostics contents
#668 Signed-off-by: Motsu-san <[email protected]>
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‎localization/autoware_ekf_localizer/README.md‎

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@@ -177,31 +177,161 @@ Note that, although the dimension gets larger since the analytical expansion can
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## Diagnostics
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### is_activated
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<p align="center">
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<img src="./media/ekf_diagnostics_is_activated.png" width="320">
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</p>
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| Name | Description | Transition condition to Warning | Transition condition to Error |
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| -------------- | -------------------------------- | ------------------------------- | ----------------------------- |
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| `is_activated` | The activation state of the node | The node is not in the activate state | none |
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### is_set_initialpose
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<p align="center">
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<img src="./media/ekf_diagnostics_is_set_initialpose.png" width="320">
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</p>
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| Name | Description | Transition condition to Warning | Transition condition to Error |
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| ------------------- | ----------------------------------- | ------------------------------- | ----------------------------- |
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| `is_set_initialpose` | Whether the initial pose is set | The initial pose is not set | none |
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### pose_no_update_count
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<p align="center">
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<img src="./media/ekf_diagnostics_pose_no_update_count.png" width="320">
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</p>
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| Name | Description | Transition condition to Warning | Transition condition to Error |
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| -------------------------------------- | ----------------------------------------------------- | ------------------------------- | ----------------------------- |
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| `pose_no_update_count` | Consecutive count of no measurement update via Pose topic | The count exceeds `pose_no_update_count_threshold_warn` | The count exceeds `pose_no_update_count_threshold_error` |
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| `pose_no_update_count_threshold_warn` | Warning threshold for pose update count | none | none |
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| `pose_no_update_count_threshold_error` | Error threshold for pose update count | none | none |
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### pose_queue_size
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<p align="center">
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<img src="./media/ekf_diagnostics_pose_queue_size.png" width="320">
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</p>
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| Name | Description | Transition condition to Warning | Transition condition to Error |
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| ----------------- | ------------------------------ | ------------------------------- | ----------------------------- |
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| `pose_queue_size` | Current size of the pose queue | none | none |
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### pose_delay_time
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<p align="center">
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<img src="./media/ekf_diagnostics_pose_delay_time.png" width="320">
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</p>
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| Name | Description | Transition condition to Warning | Transition condition to Error |
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| ---------------------------- | -------------------------------------------- | ------------------------------- | ----------------------------- |
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| `pose_is_passed_delay_gate` | Whether the Pose topic passes the delay gate | The timestamp is beyond the delay compensation range | none |
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| `pose_delay_time` | Current delay time of Pose topic | none | none |
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| `pose_delay_time_threshold` | Threshold for pose delay time | none | none |
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### pose_mahalanobis_distance
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<p align="center">
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<img src="./media/ekf_diagnostics.png" width="320">
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<img src="./media/ekf_diagnostics_pose_mahalanobis_distance.png" width="320">
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</p>
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| Name | Description | Transition condition to Warning | Transition condition to Error |
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| ---------------------------------- | -------------------------------------------------------- | ------------------------------- | ----------------------------- |
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| `pose_is_passed_mahalanobis_gate` | Whether the Pose topic passes the Mahalanobis distance gate | The Pose topic is beyond the range of Mahalanobis distance for covariance estimation | none |
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| `pose_mahalanobis_distance` | Current Mahalanobis distance for Pose topic | none | none |
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| `pose_mahalanobis_distance_threshold` | Threshold for pose Mahalanobis distance | none | none |
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### twist_no_update_count
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<p align="center">
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<img src="./media/ekf_diagnostics_twist_no_update_count.png" width="320">
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</p>
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| Name | Description | Transition condition to Warning | Transition condition to Error |
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| --------------------------------------- | ------------------------------------------------------ | ------------------------------- | ----------------------------- |
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| `twist_no_update_count` | Consecutive count of no measurement update via Twist topic | The count exceeds `twist_no_update_count_threshold_warn` | The count exceeds `twist_no_update_count_threshold_error` |
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| `twist_no_update_count_threshold_warn` | Warning threshold for twist update count | none | none |
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| `twist_no_update_count_threshold_error` | Error threshold for twist update count | none | none |
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### twist_queue_size
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| Name | Description | Transition condition to Warning | Transition condition to Error |
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| ------------------ | ------------------------------- | ------------------------------- | ----------------------------- |
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| `twist_queue_size` | Current size of the twist queue | none | none |
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### twist_delay_time
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<p align="center">
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<img src="./media/ekf_diagnostics_twist_delay_time.png" width="320">
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</p>
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| Name | Description | Transition condition to Warning | Transition condition to Error |
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| ----------------------------- | --------------------------------------------- | ------------------------------- | ----------------------------- |
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| `twist_is_passed_delay_gate` | Whether the Twist topic passes the delay gate | The timestamp is beyond the delay compensation range | none |
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| `twist_delay_time` | Current delay time of Twist topic | none | none |
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| `twist_delay_time_threshold` | Threshold for twist delay time | none | none |
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### twist_mahalanobis_distance
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<p align="center">
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<img src="./media/ekf_diagnostics_twist_mahalanobis_distance.png" width="320">
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</p>
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| Name | Description | Transition condition to Warning | Transition condition to Error |
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| ----------------------------------- | --------------------------------------------------------- | ------------------------------- | ----------------------------- |
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| `twist_is_passed_mahalanobis_gate` | Whether the Twist topic passes the Mahalanobis distance gate | The Twist topic is beyond the range of Mahalanobis distance for covariance estimation | none |
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| `twist_mahalanobis_distance` | Current Mahalanobis distance for Twist topic | none | none |
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| `twist_mahalanobis_distance_threshold` | Threshold for twist Mahalanobis distance | none | none |
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### cov_ellipse_long_axis_size
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<p align="center">
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<img src="./media/ekf_diagnostics_cov_ellipse_long_axis_size.png" width="320">
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</p>
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| Name | Description | Transition condition to Warning | Transition condition to Error |
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| ------------------------------------ | ------------------------------------------ | ------------------------------- | ----------------------------- |
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| `cov_ellipse_long_axis_size` | Size of the covariance ellipse (long axis) | The ellipse is bigger than `warn_ellipse_size` | The ellipse is bigger than `error_ellipse_size` |
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| `cov_ellipse_long_axis_warn_threshold` | Warning threshold for long axis ellipse size | none | none |
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| `cov_ellipse_long_axis_error_threshold` | Error threshold for long axis ellipse size | none | none |
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### cov_ellipse_lateral_direction_size
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<p align="center">
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<img src="./media/ekf_diagnostics_cov_ellipse_lateral_direction_size.png" width="320">
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</p>
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| Name | Description | Transition condition to Warning | Transition condition to Error |
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| ---------------------------------------------- | --------------------------------------------------- | ------------------------------- | ----------------------------- |
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| `cov_ellipse_lateral_direction_size` | Size of the covariance ellipse (lateral direction) | The ellipse is bigger than `warn_ellipse_size_lateral_direction` | The ellipse is bigger than `error_ellipse_size_lateral_direction` |
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| `cov_ellipse_lateral_direction_warn_threshold` | Warning threshold for lateral direction ellipse size | none | none |
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| `cov_ellipse_lateral_direction_error_threshold` | Error threshold for lateral direction ellipse size | none | none |
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### callback_pose
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<p align="center">
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<img src="./media/ekf_diagnostics_callback_pose.png" width="320">
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</p>
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| Name | Description | Transition condition to Warning | Transition condition to Error |
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| ------------------ | ---------------------------------------------- | ------------------------------- | ----------------------------- |
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| `topic_time_stamp` | The time stamp of the pose callback execution | none | none |
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※This diagnostic is published every time the pose callback is executed, providing a record of when pose measurements are received.
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### callback_twist
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<p align="center">
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<img src="./media/ekf_diagnostics_callback_twist.png" width="320">
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</p>
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### Diagnostic Conditions
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| Name | Description | Transition condition to Warning | Transition condition to Error |
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| ------------------ | ----------------------------------------------- | ------------------------------- | ----------------------------- |
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| `topic_time_stamp` | The time stamp of the twist callback execution | none | none |
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| Condition | Description | Transition condition to Warning | Transition condition to Error |
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| --------- | ----------- | ------------------------------- | ----------------------------- |
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| `is_activated` | The activation state of the node | The node is not in the activate state | none |
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| `is_set_initialpose` | Whether the initial pose is set | The initial pose is not set | none |
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| `pose_no_update_count` | Consecutive count of no measurement update via Pose topic | The count exceeds `pose_no_update_count_threshold_warn` | The count exceeds `pose_no_update_count_threshold_error` |
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| `twist_no_update_count` | Consecutive count of no measurement update via Twist topic | The count exceeds `twist_no_update_count_threshold_warn` | The count exceeds `twist_no_update_count_threshold_error` |
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| `pose_is_passed_delay_gate` | Whether the Pose topic passes the delay gate | The timestamp is beyond the delay compensation range | none |
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| `twist_is_passed_delay_gate` | Whether the Twist topic passes the delay gate | The timestamp is beyond the delay compensation range | none |
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| `pose_is_passed_mahalanobis_gate` | Whether the Pose topic passes the Mahalanobis distance gate | The Pose topic is beyond the range of Mahalanobis distance for covariance estimation | none |
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| `twist_is_passed_mahalanobis_gate` | Whether the Twist topic passes the Mahalanobis distance gate | The Twist topic is beyond the range of Mahalanobis distance for covariance estimation | none |
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| `cov_ellipse_long_axis` | Size of the covariance ellipse (long axis) | The ellipse is bigger than `warn_ellipse_size` | The ellipse is bigger than `error_ellipse_size` |
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| `cov_ellipse_lateral_direction` | Size of the covariance ellipse (lateral direction) | The ellipse is bigger than `warn_ellipse_size_lateral_direction` | The ellipse is bigger than `error_ellipse_size_lateral_direction` |
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※This diagnostic is published every time the twist callback is executed, providing a record of when twist measurements are received.
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## Known issues
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‎localization/autoware_ekf_localizer/media/ekf_diagnostics_cov_ellipse_lateral_direction_size.png‎

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‎localization/autoware_ekf_localizer/media/ekf_diagnostics_cov_ellipse_long_axis_size.png‎

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‎localization/autoware_ekf_localizer/media/ekf_diagnostics_is_activated.png‎

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‎localization/autoware_ekf_localizer/media/ekf_diagnostics_is_set_initialpose.png‎

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‎localization/autoware_ekf_localizer/media/ekf_diagnostics_pose_delay_time.png‎

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‎localization/autoware_ekf_localizer/media/ekf_diagnostics_pose_mahalanobis_distance.png‎

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‎localization/autoware_ekf_localizer/media/ekf_diagnostics_pose_no_update_count.png‎

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‎localization/autoware_ekf_localizer/media/ekf_diagnostics_pose_queue_size.png‎

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‎localization/autoware_ekf_localizer/media/ekf_diagnostics_twist_delay_time.png‎

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