From a71571bd55168c3cb9030c28f8ff872b5157814c Mon Sep 17 00:00:00 2001 From: kminoda <44218668+kminoda@users.noreply.github.com> Date: Mon, 6 Nov 2023 20:02:04 +0900 Subject: [PATCH] feat(ekf_localizer, system_error_monitor): system_error_monitor handles ekf diags (#674) * fix(ekf_localizer): change default parameter for no update count Signed-off-by: kminoda * update system_error_monitor Signed-off-by: kminoda --------- Signed-off-by: kminoda --- autoware_launch/config/localization/ekf_localizer.param.yaml | 4 ++-- .../system_error_monitor/system_error_monitor.param.yaml | 1 + 2 files changed, 3 insertions(+), 2 deletions(-) diff --git a/autoware_launch/config/localization/ekf_localizer.param.yaml b/autoware_launch/config/localization/ekf_localizer.param.yaml index 667217d259..1c16624605 100644 --- a/autoware_launch/config/localization/ekf_localizer.param.yaml +++ b/autoware_launch/config/localization/ekf_localizer.param.yaml @@ -24,9 +24,9 @@ # for diagnostics pose_no_update_count_threshold_warn: 50 - pose_no_update_count_threshold_error: 250 + pose_no_update_count_threshold_error: 100 twist_no_update_count_threshold_warn: 50 - twist_no_update_count_threshold_error: 250 + twist_no_update_count_threshold_error: 100 # for velocity measurement limitation (Set 0.0 if you want to ignore) threshold_observable_velocity_mps: 0.0 # [m/s] diff --git a/autoware_launch/config/system/system_error_monitor/system_error_monitor.param.yaml b/autoware_launch/config/system/system_error_monitor/system_error_monitor.param.yaml index b8da5f4e7c..6a763eace4 100644 --- a/autoware_launch/config/system/system_error_monitor/system_error_monitor.param.yaml +++ b/autoware_launch/config/system/system_error_monitor/system_error_monitor.param.yaml @@ -24,6 +24,7 @@ /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/localization/performance_monitoring/sensor_fusion_status: { sf_at: "error", lf_at: "none", spf_at: "none" } /autoware/map/node_alive_monitoring: default