feat(autoware_launch): add diagnostic graph config for awsim

[isamu-takagi]

Description

Since diagnostic_graph_aggregator_graph_path depends on the simulator, I made it possible to specify the path from each launch file. This will replace system_error_monitor_param_path. See this discussion for details.

This PR be merged with autowarefoundation/autoware.universe#7133 at the same time.

Tests performed

Diagnostics determine the transition to autonomous mode. So I confirmed whether it was possible to transition to autonomous mode in each simulation. (Logging simulation is not applicable as it does not require a mode change.)

• Run planning simulation (check if it can drive in autonomous mode)
• Run logging simulation (check if the rosbag is visualized with rviz)
• Run E2E simulation (check if it can drive in autonomous mode)

Effects on system behavior

The new settings are made to be compatible with system_error_monitor's.

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[ito-san]

LGTM

[xmfcx]

How was this tested?

How can we make sure it's working?

[isamu-takagi]

@xmfcx Update the test performed section. You can check if it can drive in autonomous mode for planning/E2E simulation.

[xmfcx]

Rebased both this and autowarefoundation/autoware.universe#7133 to the latest main.

Edit: Tested with AWSIM-Labs too, it works the same.

Tested with the planning sim. Local is always disabled, is this normal behavior?

[isamu-takagi]

Tested with the planning sim. Local is always disabled, is this normal behavior?

Yes, the local mode requires diagnostics from joy_controller. You can check details of diagnostics by following command.

ros2 run rqt_diagnostic_graph_monitor rqt_diagnostic_graph_monitor

[xmfcx]

@isamu-takagi -san said it's expected.

Running ros2 run rqt_diagnostic_graph_monitor rqt_diagnostic_graph_monitor from autoware_tools/tree/main/system/rqt_diagnostic_graph_monitor
It's expecting the joy_controller's diagnostics.