From 9937359540d37d3875cc57ecee85614ccfb88fed Mon Sep 17 00:00:00 2001 From: kminoda Date: Fri, 17 Nov 2023 17:04:24 +0900 Subject: [PATCH] feat(component_state_monitor): monitor pose_estimator output Signed-off-by: kminoda --- .../system/component_state_monitor/topics.yaml | 13 +++++++++++++ 1 file changed, 13 insertions(+) diff --git a/autoware_launch/config/system/component_state_monitor/topics.yaml b/autoware_launch/config/system/component_state_monitor/topics.yaml index c00203dbb6..5672d13dcb 100644 --- a/autoware_launch/config/system/component_state_monitor/topics.yaml +++ b/autoware_launch/config/system/component_state_monitor/topics.yaml @@ -50,6 +50,19 @@ error_rate: 1.0 timeout: 1.0 +- module: localization + mode: [online, logging_simulation] + type: autonomous + args: + node_name_suffix: pose_estimator_pose + topic: /localization/pose_estimator/pose_with_covariance + topic_type: geometry_msgs/msg/PoseWithCovarianceStamped + best_effort: false + transient_local: false + warn_rate: 5.0 + error_rate: 1.0 + timeout: 1.0 + - module: perception mode: [online, logging_simulation] type: launch