From a2c4de52f6608db30f4d3cf256fa0f63935b57ff Mon Sep 17 00:00:00 2001 From: Yamato Ando Date: Fri, 26 Apr 2024 08:14:04 +0900 Subject: [PATCH] feat(system diags): rename diag of ndt scan matcher (#6889) rename ndt diag Signed-off-by: Yamato Ando --- .../fault_injection/config/fault_injection.param.yaml | 2 +- .../system_diagnostic_monitor/config/autoware-psim.yaml | 2 +- system/system_diagnostic_monitor/config/localization.yaml | 8 ++++---- .../config/diagnostic_aggregator/localization.param.yaml | 6 +++--- .../config/system_error_monitor.param.yaml | 2 +- .../system_error_monitor.planning_simulation.param.yaml | 2 +- 6 files changed, 11 insertions(+), 11 deletions(-) diff --git a/simulator/fault_injection/config/fault_injection.param.yaml b/simulator/fault_injection/config/fault_injection.param.yaml index e9e90a336348e..bb871163ffd4f 100644 --- a/simulator/fault_injection/config/fault_injection.param.yaml +++ b/simulator/fault_injection/config/fault_injection.param.yaml @@ -3,7 +3,7 @@ event_diag_list: vehicle_is_out_of_lane: ": lane_departure" trajectory_deviation_is_high: ": trajectory_deviation" - localization_matching_score_is_low: ": ndt_scan_matcher" + localization_matching_score_is_low: ": scan_matching_status" localization_accuracy_is_low: ": localization_error_ellipse" map_version_is_different: ": map_version" trajectory_is_invalid: ": trajectory_point_validation" diff --git a/system/system_diagnostic_monitor/config/autoware-psim.yaml b/system/system_diagnostic_monitor/config/autoware-psim.yaml index 6962607f912b3..3d55079229280 100644 --- a/system/system_diagnostic_monitor/config/autoware-psim.yaml +++ b/system/system_diagnostic_monitor/config/autoware-psim.yaml @@ -3,7 +3,7 @@ files: edits: - { type: remove, path: /autoware/map/topic_rate_check/pointcloud_map } - - { type: remove, path: /autoware/localization/matching_score } + - { type: remove, path: /autoware/localization/scan_matching_status } - { type: remove, path: /autoware/localization/accuracy } - { type: remove, path: /autoware/localization/sensor_fusion_status } - { type: remove, path: /autoware/localization/topic_rate_check/pose_twist_fusion } diff --git a/system/system_diagnostic_monitor/config/localization.yaml b/system/system_diagnostic_monitor/config/localization.yaml index 334101875aba6..62bf17775c3fb 100644 --- a/system/system_diagnostic_monitor/config/localization.yaml +++ b/system/system_diagnostic_monitor/config/localization.yaml @@ -8,7 +8,7 @@ units: list: - { type: link, link: /autoware/localization/topic_rate_check/transform } - { type: link, link: /autoware/localization/topic_rate_check/pose_twist_fusion } - - { type: link, link: /autoware/localization/matching_score } + - { type: link, link: /autoware/localization/scan_matching_status } - { type: link, link: /autoware/localization/accuracy } - { type: link, link: /autoware/localization/sensor_fusion_status } @@ -27,10 +27,10 @@ units: node: topic_state_monitor_pose_twist_fusion_filter_pose name: localization_topic_status - - path: /autoware/localization/matching_score + - path: /autoware/localization/scan_matching_status type: diag - node: "" - name: ndt_scan_matcher + node: ndt_scan_matcher + name: scan_matching_status - path: /autoware/localization/accuracy type: diag diff --git a/system/system_error_monitor/config/diagnostic_aggregator/localization.param.yaml b/system/system_error_monitor/config/diagnostic_aggregator/localization.param.yaml index 9ed82304036cc..14226a0371193 100644 --- a/system/system_error_monitor/config/diagnostic_aggregator/localization.param.yaml +++ b/system/system_error_monitor/config/diagnostic_aggregator/localization.param.yaml @@ -18,10 +18,10 @@ type: diagnostic_aggregator/AnalyzerGroup path: performance_monitoring analyzers: - matching_score: + scan_matching_status: type: diagnostic_aggregator/GenericAnalyzer - path: matching_score - contains: ["ndt_scan_matcher"] + path: scan_matching_status + contains: ["ndt_scan_matcher: scan_matching_status"] timeout: 1.0 localization_error_ellipse: diff --git a/system/system_error_monitor/config/system_error_monitor.param.yaml b/system/system_error_monitor/config/system_error_monitor.param.yaml index 2b58f5b42c0be..d3fc221bac768 100644 --- a/system/system_error_monitor/config/system_error_monitor.param.yaml +++ b/system/system_error_monitor/config/system_error_monitor.param.yaml @@ -23,7 +23,7 @@ /autoware/control/autonomous_emergency_braking/performance_monitoring/emergency_stop: { sf_at: "none", lf_at: "warn", spf_at: "error", auto_recovery: "false"} /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/scan_matching_status: { sf_at: "warn", lf_at: "none", spf_at: "none" } /autoware/localization/performance_monitoring/localization_error_ellipse: default /autoware/map/node_alive_monitoring: default diff --git a/system/system_error_monitor/config/system_error_monitor.planning_simulation.param.yaml b/system/system_error_monitor/config/system_error_monitor.planning_simulation.param.yaml index f1031444394d0..43e8c56353a36 100644 --- a/system/system_error_monitor/config/system_error_monitor.planning_simulation.param.yaml +++ b/system/system_error_monitor/config/system_error_monitor.planning_simulation.param.yaml @@ -23,7 +23,7 @@ /autoware/control/autonomous_emergency_braking/performance_monitoring/emergency_stop: { sf_at: "none", lf_at: "warn", spf_at: "error", auto_recovery: "false"} /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/scan_matching_status: { sf_at: "warn", lf_at: "none", spf_at: "none" } # /autoware/localization/performance_monitoring/localization_error_ellipse: default /autoware/map/node_alive_monitoring: default