From 98db139243cf02f19781c4b0ede36dedb35de28e Mon Sep 17 00:00:00 2001
From: Makoto Kurihara <mkuri8m@gmail.com>
Date: Fri, 25 Nov 2022 23:04:53 +0900
Subject: [PATCH] feat(system_launch): split system_error_monitor config for
 simulation (#577)

Signed-off-by: Makoto Kurihara <mkuri8m@gmail.com>

Signed-off-by: Makoto Kurihara <mkuri8m@gmail.com>
---
 .../system_error_monitor.param.yaml           |  0
 ...ror_monitor.planning_simulation.param.yaml | 49 +++++++++++++++++++
 system_launch/launch/system.launch.xml        |  7 ++-
 3 files changed, 55 insertions(+), 1 deletion(-)
 rename system_launch/config/{ => system_error_monitor}/system_error_monitor.param.yaml (100%)
 create mode 100644 system_launch/config/system_error_monitor/system_error_monitor.planning_simulation.param.yaml

diff --git a/system_launch/config/system_error_monitor.param.yaml b/system_launch/config/system_error_monitor/system_error_monitor.param.yaml
similarity index 100%
rename from system_launch/config/system_error_monitor.param.yaml
rename to system_launch/config/system_error_monitor/system_error_monitor.param.yaml
diff --git a/system_launch/config/system_error_monitor/system_error_monitor.planning_simulation.param.yaml b/system_launch/config/system_error_monitor/system_error_monitor.planning_simulation.param.yaml
new file mode 100644
index 0000000000..27fd3c1e4d
--- /dev/null
+++ b/system_launch/config/system_error_monitor/system_error_monitor.planning_simulation.param.yaml
@@ -0,0 +1,49 @@
+#   name: diag name
+#   sf_at: diag level where it becomes Safe Fault
+#   lf_at: diag level where it becomes Latent Fault
+#   spf_at: diag level where it becomes Single Point Fault
+#   auto_recovery: Determines whether the system will automatically recover when it recovers from an error.
+#
+# Note:
+# empty-value for sf_at, lf_at and spf_at is "none"
+# default values are:
+#   sf_at: "none"
+#   lf_at: "warn"
+#   spf_at: "error"
+#   auto_recovery: "true"
+---
+/**:
+  ros__parameters:
+    required_modules:
+      autonomous_driving:
+        /autoware/control/autonomous_driving/node_alive_monitoring: default
+        /autoware/control/autonomous_driving/performance_monitoring/lane_departure: default
+        /autoware/control/control_command_gate/node_alive_monitoring: default
+
+        /autoware/localization/node_alive_monitoring: default
+        /autoware/localization/performance_monitoring/matching_score: { sf_at: "warn", lf_at: "none", spf_at: "none" }
+        /autoware/localization/performance_monitoring/localization_accuracy: default
+
+        /autoware/map/node_alive_monitoring: default
+
+        /autoware/perception/node_alive_monitoring: default
+
+        /autoware/planning/node_alive_monitoring: default
+        /autoware/planning/performance_monitoring/trajectory_validation: default
+
+        # /autoware/sensing/node_alive_monitoring: default
+
+        /autoware/system/node_alive_monitoring: default
+        /autoware/system/emergency_stop_operation: default
+        /autoware/system/resource_monitoring: { sf_at: "warn", lf_at: "none", spf_at: "none" }
+
+        /autoware/vehicle/node_alive_monitoring: default
+
+      external_control:
+        /autoware/control/control_command_gate/node_alive_monitoring: default
+        /autoware/control/external_control/external_command_selector/node_alive_monitoring: default
+
+        /autoware/system/node_alive_monitoring: default
+        /autoware/system/emergency_stop_operation: default
+
+        /autoware/vehicle/node_alive_monitoring: default
diff --git a/system_launch/launch/system.launch.xml b/system_launch/launch/system.launch.xml
index 0696bbfaa2..ef0b5b63fc 100644
--- a/system_launch/launch/system.launch.xml
+++ b/system_launch/launch/system.launch.xml
@@ -40,7 +40,12 @@
 
     <!-- Error Monitor -->
     <group>
-      <let name="config_file" value="$(find-pkg-share system_launch)/config/system_error_monitor.param.yaml"/>
+      <let name="config_file" value="$(find-pkg-share system_launch)/config/system_error_monitor/system_error_monitor.param.yaml" if="$(eval &quot;'$(var run_mode)'=='online'&quot;)"/>
+      <let
+        name="config_file"
+        value="$(find-pkg-share system_launch)/config/system_error_monitor/system_error_monitor.planning_simulation.param.yaml"
+        if="$(eval &quot;'$(var run_mode)'=='planning_simulation'&quot;)"
+      />
       <include file="$(find-pkg-share system_error_monitor)/launch/system_error_monitor.launch.xml">
         <arg name="config_file" value="$(var config_file)" />
         <arg name="extra_agg_config_file_sensing" value="$(var sensor_launch_pkg)/config/diagnostic_aggregator/sensor_kit.param.yaml" />