D-Kit : Add localization timer (#12796)

modules/localization/msf/BUILD

@@ -59,8 +59,7 @@ cc_binary(
 
 cc_test(
     name = "msf_localization_test",
-    size = "small",
-    timeout = "short",
+    size = "enormous",
     srcs = ["msf_localization_test.cc"],
     copts = [
         "-fno-access-control",

modules/localization/msf/msf_localization.cc

@@ -185,6 +185,10 @@ void MSFLocalization::InitParams() {
       FLAGS_localization_std_x_threshold_2;
   localization_param_.localization_std_y_threshold_2 =
       FLAGS_localization_std_y_threshold_2;
+
+  localization_timer_.reset(new cyber::Timer(
+      10, [this]() { this->OnLocalizationTimer(); }, false));
+  localization_timer_->Start();
 }
 
 void MSFLocalization::OnPointCloud(
@@ -304,7 +308,7 @@ void MSFLocalization::OnGnssHeading(
   localization_integ_.GnssHeadingProcess(*gnss_heading_msg);
 }
 
-void MSFLocalization::OnGps() {
+void MSFLocalization::OnLocalizationTimer() {
   if (!raw_imu_msg_) {
     return;
   }

modules/localization/msf/msf_localization.h

@@ -75,9 +75,9 @@ class MSFLocalization {
       const std::shared_ptr<drivers::gnss::GnssBestPose> &bestgnsspos_msg);
   void OnGnssHeading(
       const std::shared_ptr<drivers::gnss::Heading> &gnss_heading_msg);
-  void OnGps();
 
   void SetPublisher(const std::shared_ptr<LocalizationMsgPublisher> &publisher);
+  void OnLocalizationTimer();
 
  private:
   bool LoadGnssAntennaExtrinsic(const std::string &file_path, double *offset_x,
@@ -105,6 +105,7 @@ class MSFLocalization {
   std::shared_ptr<LocalizationMsgPublisher> publisher_;
   std::shared_ptr<drivers::gnss::Imu> raw_imu_msg_;
   std::mutex mutex_imu_msg_;
+  std::unique_ptr<cyber::Timer> localization_timer_ = nullptr;
 };
 
 }  // namespace localization

modules/localization/msf/msf_localization_component.cc

@@ -49,7 +49,6 @@ bool MSFLocalizationComponent::InitConfig() {
   lidar_topic_ = FLAGS_lidar_topic;
   bestgnsspos_topic_ = FLAGS_gnss_best_pose_topic;
   gnss_heading_topic_ = FLAGS_heading_topic;
-  gps_topic_ = FLAGS_gps_topic;
 
   if (!publisher_->InitConfig()) {
     AERROR << "Init publisher config failed.";
@@ -90,10 +89,6 @@ bool MSFLocalizationComponent::InitIO() {
   gnss_heading_listener_ = this->node_->CreateReader<drivers::gnss::Heading>(
       gnss_heading_topic_, gnss_heading_call);
 
-  std::function<void(const std::shared_ptr<Gps>& gps_msg)> gps_call =
-      std::bind(&MSFLocalization::OnGps, &localization_);
-  gps_listener_ = this->node_->CreateReader<Gps>(gps_topic_, gps_call);
-
   // init writer
   if (!publisher_->InitIO()) {
     AERROR << "Init publisher io failed.";

modules/localization/msf/msf_localization_component.h

@@ -63,9 +63,6 @@ class MSFLocalizationComponent final
       gnss_heading_listener_ = nullptr;
   std::string gnss_heading_topic_ = "";
 
-  std::shared_ptr<cyber::Reader<Gps>> gps_listener_ = nullptr;
-  std::string gps_topic_ = "";
-
  private:
   std::shared_ptr<LocalizationMsgPublisher> publisher_;
   MSFLocalization localization_;