Merge pull request autowarefoundation#762 from asana17/feat/replace-s…

…ystem-launch feat(system_launch): replace system launch Signed-off-by: asana17 <[email protected]>
tier4 · Feb 16, 2023 · a7c094c · a7c094c
2 parents 82692d8 + 8971dc3
commit a7c094c
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Showing 32 changed files with 94 additions and 311 deletions.
diff --git a/...onfig/component_state_monitor/topics.yaml → ...ystem/component_state_monitor/topics.yaml b/...onfig/component_state_monitor/topics.yaml → ...ystem/component_state_monitor/topics.yaml
diff --git a/...g/diagnostic_aggregator/system.param.yaml → ...m/diagnostic_aggregator/system.param.yaml b/...g/diagnostic_aggregator/system.param.yaml → ...m/diagnostic_aggregator/system.param.yaml
diff --git a/.../diagnostic_aggregator/vehicle.param.yaml → .../diagnostic_aggregator/vehicle.param.yaml b/.../diagnostic_aggregator/vehicle.param.yaml → .../diagnostic_aggregator/vehicle.param.yaml
diff --git a/autoware_launch/config/system/dummy_diag_publisher/dummy_diag_publisher.param.yaml b/autoware_launch/config/system/dummy_diag_publisher/dummy_diag_publisher.param.yaml
@@ -0,0 +1,49 @@
+# Description:
+#   required_diags:
+#     <name>: {is_active: <is_active>, status: <status>}
+#   name: diag name
+#   is_active: Force update or not
+#   status: diag status set by dummy diag publisher "OK, Warn, Error, Stale"
+#
+# Note:
+#
+# default values are:
+#   is_active: "true"
+#   status: "OK"
+---
+/**:
+  ros__parameters:
+    required_diags:
+
+      # control
+      joy_controller_connection: default
+
+      # localization
+      localization_accuracy: default
+      ndt_scan_matcher: default
+
+      # system
+      bagpacker: default
+      NTP Offset: default
+      CPU Temperature: default
+      CPU Usage: default
+      CPU Thermal Throttling: default
+      CPU Frequency: default
+      CPU Load Average: default
+      GPU Temperature: default
+      GPU Usage: default
+      GPU Memory Usage: default
+      GPU Thermal Throttling: default
+      Memory Usage: default
+      Network Usage: default
+      Network Traffic: default
+      HDD Temperature: default
+      HDD Usage: default
+      HDD PowerOnHours: default
+      HDD TotalDataWritten: default
+      High-load: default
+      High-mem: default
+      Tasks Summary: default
+
+      #vehicle
+      vehicle_errors: default
diff --git a/...ency_handler/emergency_handler.param.yaml → ...ency_handler/emergency_handler.param.yaml b/...ency_handler/emergency_handler.param.yaml → ...ency_handler/emergency_handler.param.yaml
diff --git a/.../mrm_comfortable_stop_operator.param.yaml → .../mrm_comfortable_stop_operator.param.yaml b/.../mrm_comfortable_stop_operator.param.yaml → .../mrm_comfortable_stop_operator.param.yaml
diff --git a/...or/mrm_emergency_stop_operator.param.yaml → ...or/mrm_emergency_stop_operator.param.yaml b/...or/mrm_emergency_stop_operator.param.yaml → ...or/mrm_emergency_stop_operator.param.yaml
diff --git a/...r_monitor/system_error_monitor.param.yaml → ...r_monitor/system_error_monitor.param.yaml b/...r_monitor/system_error_monitor.param.yaml → ...r_monitor/system_error_monitor.param.yaml
diff --git a/...or_monitor.planning_simulation.param.yaml → ...or_monitor.planning_simulation.param.yaml b/...or_monitor.planning_simulation.param.yaml → ...or_monitor.planning_simulation.param.yaml
diff --git a/...fig/system_monitor/cpu_monitor.param.yaml → ...tem/system_monitor/cpu_monitor.param.yaml b/...fig/system_monitor/cpu_monitor.param.yaml → ...tem/system_monitor/cpu_monitor.param.yaml
diff --git a/...fig/system_monitor/gpu_monitor.param.yaml → ...tem/system_monitor/gpu_monitor.param.yaml b/...fig/system_monitor/gpu_monitor.param.yaml → ...tem/system_monitor/gpu_monitor.param.yaml
diff --git a/...fig/system_monitor/hdd_monitor.param.yaml → ...tem/system_monitor/hdd_monitor.param.yaml b/...fig/system_monitor/hdd_monitor.param.yaml → ...tem/system_monitor/hdd_monitor.param.yaml
diff --git a/...fig/system_monitor/mem_monitor.param.yaml → ...tem/system_monitor/mem_monitor.param.yaml b/...fig/system_monitor/mem_monitor.param.yaml → ...tem/system_monitor/mem_monitor.param.yaml
diff --git a/...fig/system_monitor/net_monitor.param.yaml → ...tem/system_monitor/net_monitor.param.yaml b/...fig/system_monitor/net_monitor.param.yaml → ...tem/system_monitor/net_monitor.param.yaml
diff --git a/...fig/system_monitor/ntp_monitor.param.yaml → ...tem/system_monitor/ntp_monitor.param.yaml b/...fig/system_monitor/ntp_monitor.param.yaml → ...tem/system_monitor/ntp_monitor.param.yaml
diff --git a/...system_monitor/process_monitor.param.yaml → ...system_monitor/process_monitor.param.yaml b/...system_monitor/process_monitor.param.yaml → ...system_monitor/process_monitor.param.yaml
diff --git a/...system_monitor/voltage_monitor.param.yaml → ...system_monitor/voltage_monitor.param.yaml b/...system_monitor/voltage_monitor.param.yaml → ...system_monitor/voltage_monitor.param.yaml
diff --git a/autoware_launch/launch/autoware.launch.xml b/autoware_launch/launch/autoware.launch.xml
@@ -28,6 +28,8 @@
   <arg name="pointcloud_map_file" default="pointcloud_map.pcd" description="pointcloud map file name"/>
   <!-- System -->
   <arg name="system_run_mode" default="online" description="run mode in system"/>
+  <arg name="launch_system_monitor" default="true" description="launch system monitor"/>
+  <arg name="launch_dummy_diag_publisher" default="false" description="launch dummy diag publisher"/>
   <!-- Tools -->
   <arg name="rviz" default="true" description="launch rviz"/>
   <arg name="rviz_config" default="$(find-pkg-share autoware_launch)/rviz/autoware.rviz" description="rviz config"/>
@@ -64,8 +66,10 @@
 
   <!-- System -->
   <group if="$(var launch_system)">
-    <include file="$(find-pkg-share system_launch)/launch/system.launch.xml">
+    <include file="$(find-pkg-share autoware_launch)/launch/components/tier4_system_component.launch.xml">
       <arg name="run_mode" value="$(var system_run_mode)"/>
+      <arg name="launch_system_monitor" value="$(var launch_system_monitor)"/>
+      <arg name="launch_dummy_diag_publisher" value="$(var launch_dummy_diag_publisher)"/>
       <arg name="sensor_model" value="$(var sensor_model)"/>
     </include>
   </group>

diff --git a/autoware_launch/launch/components/tier4_system_component.launch.xml b/autoware_launch/launch/components/tier4_system_component.launch.xml
@@ -0,0 +1,33 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<launch>
+  <arg name="run_mode" default="online" description="options: online, planning_simulation"/>
+  <arg name="sensor_model" description="sensor model name"/>
+  <arg name="launch_system_monitor" default="true" description="launch system monitor"/>
+  <arg name="launch_dummy_diag_publisher" default="false" description="launch dummy diag publisher"/>
+
+  <include file="$(find-pkg-share tier4_system_launch)/launch/system.launch.xml">
+
+    <arg name="run_mode" value="$(var run_mode)"/>.
+    <arg name="sensor_model" value="$(var sensor_model)"/>
+    <arg name="launch_system_monitor" value="$(var launch_system_monitor)"/>
+    <arg name="launch_dummy_diag_publisher" value="$(var launch_dummy_diag_publisher)"/>
+
+    <arg name="component_state_monitor_topic_path" value="$(find-pkg-share autoware_launch)/config/system/component_state_monitor/topics.yaml"/>
+    <arg name="emergency_handler_param_path" value="$(find-pkg-share autoware_launch)/config/system/emergency_handler/emergency_handler.param.yaml"/>
+    <arg name="mrm_comfortable_stop_operator_param_path" value="$(find-pkg-share autoware_launch)/config/system/mrm_comfortable_stop_operator/mrm_comfortable_stop_operator.param.yaml"/>
+    <arg name="mrm_emergency_stop_operator_param_path" value="$(find-pkg-share autoware_launch)/config/system/mrm_emergency_stop_operator/mrm_emergency_stop_operator.param.yaml"/>
+    <arg name="system_error_monitor_param_path" value="$(find-pkg-share autoware_launch)/config/system/system_error_monitor/system_error_monitor.param.yaml"/>
+    <arg name="system_error_monitor_planning_simulator_param_path" value="$(find-pkg-share autoware_launch)/config/system/system_error_monitor/system_error_monitor.planning_simulation.param.yaml"/>
+    <arg name="diagnostic_aggregator_system_param_path" value="$(find-pkg-share autoware_launch)/config/system/diagnostic_aggregator/system.param.yaml"/>
+    <arg name="diagnostic_aggregator_vehicle_param_path" value="$(find-pkg-share autoware_launch)/config/system/diagnostic_aggregator/vehicle.param.yaml"/>
+    <arg name="dummy_diag_publisher_param_path" value="$(find-pkg-share autoware_launch)/config/system/dummy_diag_publisher/dummy_diag_publisher.param.yaml"/>
+    <arg name="system_monitor_cpu_monitor_param_path" value="$(find-pkg-share autoware_launch)/config/system/system_monitor/cpu_monitor.param.yaml"/>
+    <arg name="system_monitor_gpu_monitor_param_path" value="$(find-pkg-share autoware_launch)/config/system/system_monitor/gpu_monitor.param.yaml"/>
+    <arg name="system_monitor_hdd_monitor_param_path" value="$(find-pkg-share autoware_launch)/config/system/system_monitor/hdd_monitor.param.yaml"/>
+    <arg name="system_monitor_mem_monitor_param_path" value="$(find-pkg-share autoware_launch)/config/system/system_monitor/mem_monitor.param.yaml"/>
+    <arg name="system_monitor_net_monitor_param_path" value="$(find-pkg-share autoware_launch)/config/system/system_monitor/net_monitor.param.yaml"/>
+    <arg name="system_monitor_ntp_monitor_param_path" value="$(find-pkg-share autoware_launch)/config/system/system_monitor/ntp_monitor.param.yaml"/>
+    <arg name="system_monitor_process_monitor_param_path" value="$(find-pkg-share autoware_launch)/config/system/system_monitor/process_monitor.param.yaml"/>
+    <arg name="system_monitor_voltage_monitor_param_path" value="$(find-pkg-share autoware_launch)/config/system/system_monitor/voltage_monitor.param.yaml"/>
+  </include>
+</launch>
diff --git a/autoware_launch/launch/e2e_simulator.launch.xml b/autoware_launch/launch/e2e_simulator.launch.xml
@@ -23,6 +23,7 @@
   <arg name="launch_vehicle_interface" default="false"/>
   <!-- System -->
   <arg name="launch_system_monitor" default="false" description="launch system monitor"/>
+  <arg name="launch_dummy_diag_publisher" default="false" description="launch dummy diag publisher"/>
   <!-- Tools -->
   <arg name="rviz" default="true" description="launch rviz"/>
   <arg name="rviz_config" default="$(find-pkg-share autoware_launch)/rviz/autoware.rviz" description="rviz config"/>
@@ -50,6 +51,7 @@
       <arg name="pointcloud_map_file" value="$(var pointcloud_map_file)"/>
       <!-- System -->
       <arg name="launch_system_monitor" value="$(var launch_system_monitor)"/>
+      <arg name="launch_dummy_diag_publisher" value="$(var launch_dummy_diag_publisher)"/>
       <!-- Sensing -->
       <arg name="launch_sensing_driver" value="false"/>
       <!-- Perception-->

diff --git a/autoware_launch/launch/planning_simulator.launch.xml b/autoware_launch/launch/planning_simulator.launch.xml
@@ -11,6 +11,7 @@
   <arg name="pointcloud_map_file" default="pointcloud_map.pcd" description="pointcloud map file name"/>
   <!-- System -->
   <arg name="launch_system_monitor" default="false" description="launch system monitor"/>
+  <arg name="launch_dummy_diag_publisher" default="true" description="launch dummy diag publisher"/>
   <!-- Tools -->
   <arg name="rviz" default="true" description="launch rviz"/>
   <arg name="rviz_config" default="$(find-pkg-share autoware_launch)/rviz/autoware.rviz" description="rviz config"/>
@@ -43,6 +44,8 @@
       <arg name="launch_vehicle_interface" value="$(var launch_vehicle_interface)"/>
       <!-- System -->
       <arg name="system_run_mode" value="planning_simulation"/>
+      <arg name="launch_system_monitor" value="$(var launch_system_monitor)"/>
+      <arg name="launch_dummy_diag_publisher" value="$(var launch_dummy_diag_publisher)"/>
       <!-- Map -->
       <arg name="lanelet2_map_file" value="$(var lanelet2_map_file)"/>
       <arg name="pointcloud_map_file" value="$(var pointcloud_map_file)"/>

diff --git a/autoware_launch/package.xml b/autoware_launch/package.xml
@@ -6,6 +6,7 @@
 
   <maintainer email="[email protected]">Yukihiro Saito</maintainer>
   <maintainer email="[email protected]">Takagi, Isamu</maintainer>
+  <maintainer email="[email protected]">Akihiro Sakurai</maintainer>
   <license>Apache License 2.0</license>
 
   <buildtool_depend>ament_cmake_auto</buildtool_depend>
@@ -15,7 +16,6 @@
   <exec_depend>python3-bson</exec_depend>
   <exec_depend>python3-tornado</exec_depend>
   <exec_depend>rviz2</exec_depend>
-  <exec_depend>system_launch</exec_depend>
   <exec_depend>tier4_autoware_api_launch</exec_depend>
   <exec_depend>tier4_control_launch</exec_depend>
   <exec_depend>tier4_localization_launch</exec_depend>
@@ -24,6 +24,7 @@
   <exec_depend>tier4_planning_launch</exec_depend>
   <exec_depend>tier4_sensing_launch</exec_depend>
   <exec_depend>tier4_simulator_launch</exec_depend>
+  <exec_depend>tier4_system_launch</exec_depend>
   <exec_depend>tier4_vehicle_launch</exec_depend>
 
   <test_depend>ament_lint_auto</test_depend>

diff --git a/system_launch/system_launch.drawio.svg → autoware_launch/system_launch.drawio.svg b/system_launch/system_launch.drawio.svg → autoware_launch/system_launch.drawio.svg
diff --git a/system_launch/CMakeLists.txt b/system_launch/CMakeLists.txt
diff --git a/system_launch/README.md b/system_launch/README.md
diff --git a/system_launch/config/system_error_monitor.param.yaml b/system_launch/config/system_error_monitor.param.yaml
diff --git a/system_launch/launch/dummy_diag_publisher/control.launch.xml b/system_launch/launch/dummy_diag_publisher/control.launch.xml
diff --git a/system_launch/launch/dummy_diag_publisher/localization.launch.xml b/system_launch/launch/dummy_diag_publisher/localization.launch.xml
diff --git a/system_launch/launch/dummy_diag_publisher/system.launch.xml b/system_launch/launch/dummy_diag_publisher/system.launch.xml
diff --git a/system_launch/launch/dummy_diag_publisher/vehicle.launch.xml b/system_launch/launch/dummy_diag_publisher/vehicle.launch.xml