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set lm diags
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Signed-off-by: Yuki Takagi <[email protected]>
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@yuki-takagi-66
yuki-takagi-66 committed Nov 19, 2024
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27 changes: 15 additions & 12 deletions autoware_launch/config/system/dummy_diag_publisher/dummy_diag_publisher.param.yaml
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Expand Up @@ -14,22 +14,25 @@
/**:
ros__parameters:
required_diags:
# map
## /autoware/map/topic_rate_check/pointcloud_map
"topic_state_monitor_pointcloud_map: map_topic_status": default

# localization
## /autoware/localization/scan_matching_status
"ndt_scan_matcher: scan_matching_status": default
## /localization/001-topic_status/initialpose
"topic_state_monitor_initialpose3d: localization_topic_status": default

## /autoware/localization/accuracy
"localization_error_monitor: ellipse_error_status": default
## /localization/001-topic_status/pose_twist_fusion_filter
"topic_state_monitor_pose_twist_fusion_filter_pose: localization_topic_status": default

## /autoware/localization/sensor_fusion_status
"localization: ekf_localizer": default
## /localization/002-tf
"topic_state_monitor_transform_map_to_base_link: localization_topic_status": default

## /autoware/localization/topic_rate_check/pose_twist_fusion
"topic_state_monitor_pose_twist_fusion_filter_pose: localization_topic_status": default
## /localization/003-matching_score
"ndt_scan_matcher: scan_matching_status": default

## /localization/004-accuracy
"localization: localization_error_monitor": default

# map
## /map/001-topic_status/pointcloud_map
"topic_state_monitor_pointcloud_map: map_topic_status": default

# perception
## /autoware/perception/topic_rate_check/pointcloud
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12 changes: 6 additions & 6 deletions autoware_launch/config/system/system_diagnostic_monitor/autoware-main.yaml
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Expand Up @@ -28,8 +28,8 @@ units:
- path: /autoware/modes/autonomous
type: and
list:
- { type: link, link: /autoware/map }
- { type: link, link: /autoware/localization }
- { type: link, link: /map/autonomous_available }
- { type: link, link: /localization/autonomous_available }
- { type: link, link: /autoware/planning }
- { type: link, link: /autoware/perception }
- { type: link, link: /autoware/control }
Expand All @@ -39,8 +39,8 @@ units:
- path: /autoware/modes/pull_over
type: and
list:
- { type: link, link: /autoware/map }
- { type: link, link: /autoware/localization }
- { type: link, link: /map/pull_over_available }
- { type: link, link: /localization/pull_over_available }
- { type: link, link: /autoware/planning }
- { type: link, link: /autoware/perception }
- { type: link, link: /autoware/control }
Expand All @@ -50,8 +50,8 @@ units:
- path: /autoware/modes/comfortable_stop
type: and
list:
- { type: link, link: /autoware/map }
- { type: link, link: /autoware/localization }
- { type: link, link: /map/comfortable_stop_available }
- { type: link, link: /localization/comfortable_stop_available }
- { type: link, link: /autoware/planning }
- { type: link, link: /autoware/perception }
- { type: link, link: /autoware/control }
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110 changes: 83 additions & 27 deletions autoware_launch/config/system/system_diagnostic_monitor/localization.yaml
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@@ -1,43 +1,99 @@
units:
- path: /autoware/localization
type: short-circuit-and
- path: /localization/autonomous_available
type: and
list:
- type: link
link: /autoware/localization/state
- type: and
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/scan_matching_status }
- { type: link, link: /autoware/localization/accuracy }
- { type: link, link: /autoware/localization/sensor_fusion_status }

- path: /autoware/localization/state
type: diag
node: component_state_diagnostics
name: localization_state
- { type: link, link: /localization/emergency_stop }
- { type: link, link: /localization/pull_over }
- { type: link, link: /localization/comfortable_stop }

- path: /localization/pull_over_available
type: and
list:
- { type: link, link: /localization/emergency_stop }
- { type: link, link: /localization/comfortable_stop }

- path: /localization/comfortable_stop_available
type: and
list:
- { type: link, link: /localization/emergency_stop }

# *******************************************************************************
# NOTE: Please modify this section according to your environment and requirements.
# *******************************************************************************
- path: /localization/emergency_stop
type: and
list:
- { type: link, link: /localization/001-topic_status/initialpose-error }
- { type: link, link: /localization/001-topic_status/pose_twist_fusion_filter-error }
- { type: link, link: /localization/002-tf-error }
- { type: link, link: /localization/003-matching_score-error }
- { type: link, link: /localization/004-accuracy-error }

- path: /localization/comfortable_stop
type: and

- path: /localization/pull_over
type: and

- path: /localization/none
type: and

- path: /localization/001-topic_status/initialpose-error
type: warn-to-ok
item:
type: link
link: /localization/001-topic_status/initialpose

- path: /autoware/localization/topic_rate_check/transform
- path: /localization/001-topic_status/pose_twist_fusion_filter-error
type: warn-to-ok
item:
type: link
link: /localization/001-topic_status/pose_twist_fusion_filter

- path: /localization/002-tf-error
type: warn-to-ok
item:
type: link
link: /localization/002-tf

- path: /localization/003-matching_score-error
type: warn-to-ok
item:
type: link
link: /localization/003-matching_score

- path: /localization/004-accuracy-error
type: warn-to-ok
item:
type: link
link: /localization/004-accuracy

- path: /localization/001-topic_status/initialpose
type: diag
node: topic_state_monitor_transform_map_to_base_link
node: topic_state_monitor_initialpose3d
name: localization_topic_status
timeout: 1.0

- path: /autoware/localization/topic_rate_check/pose_twist_fusion
- path: /localization/001-topic_status/pose_twist_fusion_filter
type: diag
node: topic_state_monitor_pose_twist_fusion_filter_pose
name: localization_topic_status
timeout: 1.0

- path: /autoware/localization/scan_matching_status
- path: /localization/002-tf
type: diag
node: ndt_scan_matcher
name: scan_matching_status
node: topic_state_monitor_transform_map_to_base_link
name: localization_topic_status
timeout: 1.0

- path: /autoware/localization/accuracy
- path: /localization/003-matching_score
type: diag
node: localization_error_monitor
name: ellipse_error_status
node: ndt_scan_matcher
name: scan_matching_status
timeout: 1.0

- path: /autoware/localization/sensor_fusion_status
- path: /localization/004-accuracy
type: diag
node: localization
name: ekf_localizer
name: localization_error_monitor
timeout: 1.0
54 changes: 49 additions & 5 deletions autoware_launch/config/system/system_diagnostic_monitor/map.yaml
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@@ -1,16 +1,60 @@
units:
- path: /autoware/map
- path: /map/autonomous_available
type: and
list:
- { type: link, link: /autoware/map/topic_rate_check/vector_map }
- { type: link, link: /autoware/map/topic_rate_check/pointcloud_map }
- { type: link, link: /map/emergency_stop }
- { type: link, link: /map/pull_over }
- { type: link, link: /map/comfortable_stop }

- path: /autoware/map/topic_rate_check/vector_map
- path: /map/pull_over_available
type: and
list:
- { type: link, link: /map/emergency_stop }
- { type: link, link: /map/comfortable_stop }

- path: /map/comfortable_stop_available
type: and
list:
- { type: link, link: /map/emergency_stop }

# *******************************************************************************
# NOTE: Please modify this section according to your environment and requirements.
# *******************************************************************************
- path: /map/emergency_stop
type: and
list:
- { type: link, link: /map/001-topic_status/vector_map-error }
- { type: link, link: /map/001-topic_status/pointcloud_map-error }

- path: /map/comfortable_stop
type: and

- path: /map/pull_over
type: and

- path: /map/none
type: and

- path: /map/001-topic_status/vector_map-error
type: warn-to-ok
item:
type: link
link: /map/001-topic_status/vector_map

- path: /map/001-topic_status/pointcloud_map-error
type: warn-to-ok
item:
type: link
link: /map/001-topic_status/pointcloud_map

- path: /map/001-topic_status/vector_map
type: diag
node: topic_state_monitor_vector_map
name: map_topic_status
timeout: 1.0

- path: /autoware/map/topic_rate_check/pointcloud_map
- path: /map/001-topic_status/pointcloud_map
type: diag
node: topic_state_monitor_pointcloud_map
name: map_topic_status
timeout: 1.0

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