feat(component_state_monitor): monitor traffic light recognition outp…

…ut (autowarefoundation#5778) Signed-off-by: Tomohito Ando <[email protected]> Signed-off-by: karishma <[email protected]>
Interplai · Jun 3, 2024 · f04d70c · f04d70c
1 parent 1137a2d
commit f04d70c
Showing 1 changed file with 13 additions and 0 deletions.
diff --git a/system/component_state_monitor/config/topics.yaml b/system/component_state_monitor/config/topics.yaml
@@ -89,6 +89,19 @@
     error_rate: 1.0
     timeout: 1.0
 
+- module: perception
+  mode: [online, logging_simulation]
+  type: autonomous
+  args:
+    node_name_suffix: traffic_light_recognition_traffic_signals
+    topic: /perception/traffic_light_recognition/traffic_signals
+    topic_type: autoware_perception_msgs/msg/TrafficSignalArray
+    best_effort: false
+    transient_local: false
+    warn_rate: 5.0
+    error_rate: 1.0
+    timeout: 1.0
+
 - module: planning
   mode: [online, logging_simulation, planning_simulation]
   type: autonomous