fix(lareral_deviation_monitor): update metrics msgs

.github/CODEOWNERS

@@ -15,10 +15,10 @@
 common/tier4_simulated_clock_rviz_plugin/** maxime.clement@tier4.jp
 common/tier4_string_viewer_rviz_plugin/** satoshi.ota@tier4.jp
 common/tier4_target_object_type_rviz_plugin/** takamasa.horibe@tier4.jp
-control/control_debug_tools/** takayuki.murooka@tier4.jp zhe.shen@tier4.jp
+control/control_debug_tools/** takayuki.murooka@tier4.jp zhe.shen@tier4.jp kosuke.takeuchi@tier4.jp temkei.kem@tier4.jp
 control/stop_accel_evaluator/** takayuki.murooka@tier4.jp
 control/vehicle_cmd_analyzer/** taichi.hirano@tier4.jp
 control_data_collecting_tool/** asei.inoue@proxima-ai-tech.com kosuke.takeuchi@tier4.jp masayuki.aino@proxima-ai-tech.com takamasa.horibe@tier4.jp takayuki.murooka@tier4.jp toru.hishinuma@proxima-ai-tech.com
 driving_environment_analyzer/** satoshi.ota@tier4.jp
 evaluation/tier4_metrics_rviz_plugin/** fumiya.watanabe@tier4.jp kosuke.takeuchi@tier4.jp kyoichi.sugahara@tier4.jp maxime.clement@tier4.jp satoshi.ota@tier4.jp
 localization/deviation_estimation_tools/deviation_estimator/** kento.yabuuchi.2@tier4.jp koji.minoda@tier4.jp masahiro.sakamoto@tier4.jp shintaro.sakoda@tier4.jp taiki.yamada@tier4.jp yamato.ando@tier4.jp

control/control_debug_tools/package.xml

@@ -6,6 +6,8 @@
   <description>The control_debug_tools package</description>
   <maintainer email="zhe.shen@tier4.jp">Zhe Shen</maintainer>
   <maintainer email="takayuki.murooka@tier4.jp">Takayuki Murooka</maintainer>
+  <maintainer email="kosuke.takeuchi@tier4.jp">Kosuke Takeuchi</maintainer>
+  <maintainer email="temkei.kem@tier4.jp">Temkei Kem</maintainer>
   <license>Apache License 2.0</license>
 
   <author email="zhe.shen@tier4.jp">Zhe Shen</author>

control/control_debug_tools/scripts/lateral_deviation_monitor.py

@@ -18,11 +18,11 @@
 
 from autoware_control_msgs.msg import Control
 from autoware_vehicle_msgs.msg import SteeringReport
-from diagnostic_msgs.msg import DiagnosticArray
 import matplotlib.pyplot as plt
 import rclpy
 from rclpy.node import Node
 from termcolor import colored
+from tier4_metric_msgs.msg import MetricArray
 
 
 class SteeringAndLateralDeviationMonitor(Node):
@@ -38,7 +38,7 @@ def __init__(self, plot=False):
         )
 
         self.create_subscription(
-            DiagnosticArray, "/control/control_evaluator/metrics", self.metrics_callback, 10
+            MetricArray, "/control/control_evaluator/metrics", self.metrics_callback, 10
         )
 
         self.control_steering_angle = None
@@ -77,14 +77,11 @@ def steering_status_callback(self, msg):
         self.update_steering_diff()
         self.update_max_values()
 
-    def metrics_callback(self, msg):
-        for status in msg.status:
-            if status.name == "lateral_deviation":
-                for value in status.values:
-                    if value.key == "metric_value":
-                        self.lateral_deviation = float(value.value)
-                        self.update_max_values()
-                        break
+    def metrics_callback(self, msgs):
+        for msg in msgs.metric_array:
+            if msg.name == "lateral_deviation":
+                self.lateral_deviation = float(msg.value)
+                self.update_max_values()
 
     def update_steering_diff(self):
         if self.control_steering_angle is not None and self.vehicle_steering_angle is not None: