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feat(diag): build tier4 diag settings (#699)
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* build tier4 settings
Signed-off-by: yuki-takagi-66 <[email protected]>
Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
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yuki-takagi-66 authored Dec 9, 2024
1 parent 8a8f9c8 commit ac972ab
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3 changes: 0 additions & 3 deletions autoware_launch/config/system/tier4_diagnostics/autoware-awsim.yaml
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@@ -1,5 +1,2 @@
files:
- { path: $(dirname)/autoware-main.yaml }

edits:
- { type: remove, path: /autoware/system/duplicated_node_checker }
67 changes: 32 additions & 35 deletions autoware_launch/config/system/tier4_diagnostics/autoware-main.yaml
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@@ -1,70 +1,67 @@
files:
- { path: $(dirname)/control.yaml }
# - { path: $(dirname)/hardware.yaml }
- { path: $(dirname)/localization.yaml }
- { path: $(dirname)/map.yaml }
- { path: $(dirname)/perception.yaml }
- { path: $(dirname)/planning.yaml }
# - { path: $(dirname)/others.yaml }
# - { path: $(dirname)/sensing.yaml }
- { path: $(dirname)/system.yaml }
- { path: $(dirname)/vehicle.yaml }

units:
- path: /autoware/modes/local
type: and
list:
- { type: link, link: /autoware/vehicle }
- { type: link, link: /autoware/system }
- { type: link, link: /autoware/control/local }
type: stale

- path: /autoware/modes/remote
type: and
list:
- { type: link, link: /autoware/vehicle }
- { type: link, link: /autoware/system }
- { type: link, link: /autoware/control/remote }
type: stale

- path: /autoware/modes/stop
type: ok

- path: /autoware/modes/autonomous
type: and
list:
- { type: link, link: /autoware/map }
- { type: link, link: /autoware/localization }
- { type: link, link: /autoware/planning }
- { type: link, link: /autoware/perception }
- { type: link, link: /autoware/control }
- { type: link, link: /autoware/vehicle }
- { type: link, link: /autoware/system }
- { type: link, link: /map/autonomous_available }
- { type: link, link: /localization/autonomous_available }
- { type: link, link: /planning/autonomous_available }
- { type: link, link: /perception/autonomous_available }
- { type: link, link: /control/autonomous_available }
- { type: link, link: /vehicle/autonomous_available }
- { type: link, link: /system/autonomous_available }

- path: /autoware/modes/pull_over
type: and
list:
- { type: link, link: /autoware/map }
- { type: link, link: /autoware/localization }
- { type: link, link: /autoware/planning }
- { type: link, link: /autoware/perception }
- { type: link, link: /autoware/control }
- { type: link, link: /autoware/vehicle }
- { type: link, link: /autoware/system }
- { type: link, link: /map/pull_over_available }
- { type: link, link: /localization/pull_over_available }
- { type: link, link: /planning/pull_over_available }
- { type: link, link: /perception/pull_over_available }
- { type: link, link: /control/pull_over_available }
- { type: link, link: /vehicle/pull_over_available }
- { type: link, link: /system/pull_over_available }

- path: /autoware/modes/comfortable_stop
type: and
list:
- { type: link, link: /autoware/map }
- { type: link, link: /autoware/localization }
- { type: link, link: /autoware/planning }
- { type: link, link: /autoware/perception }
- { type: link, link: /autoware/control }
- { type: link, link: /autoware/vehicle }
- { type: link, link: /autoware/system }
- { type: link, link: /map/comfortable_stop_available }
- { type: link, link: /localization/comfortable_stop_available }
- { type: link, link: /planning/comfortable_stop_available }
- { type: link, link: /perception/comfortable_stop_available }
- { type: link, link: /control/comfortable_stop_available }
- { type: link, link: /vehicle/comfortable_stop_available }
- { type: link, link: /system/comfortable_stop_available }

- path: /autoware/modes/emergency_stop
type: and
list:
- { type: link, link: /autoware/vehicle }
- { type: link, link: /autoware/system }
type: ok

- path: /autoware/debug/tools
type: and
list:
- { type: link, link: /autoware/system/service_log_checker }

- path: /autoware/system/service_log_checker
type: diag
node: service_log_checker
name: response_status
129 changes: 92 additions & 37 deletions autoware_launch/config/system/tier4_diagnostics/control.yaml
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units:
- path: /autoware/control
- path: /control/autonomous_available
type: and
list:
- { type: link, link: /autoware/control/topic_rate_check/trajectory_follower }
- { type: link, link: /autoware/control/topic_rate_check/control_command }
- { type: link, link: /autoware/control/node_alive_monitoring/vehicle_cmd_gate }
- { type: link, link: /autoware/control/emergency_braking }
- { type: link, link: /autoware/control/performance_monitoring/lane_departure }
- { type: link, link: /autoware/control/performance_monitoring/trajectory_deviation }
- { type: link, link: /autoware/control/performance_monitoring/control_state }
- { type: link, link: /autoware/control/collision_detector }

- path: /autoware/control/local
- { type: link, link: /control/emergency_stop }
- { type: link, link: /control/pull_over }
- { type: link, link: /control/comfortable_stop }

- path: /control/pull_over_available
type: and
list:
- { type: link, link: /autoware/control/topic_rate_check/external_cmd_selector }
- { type: link, link: /autoware/control/topic_rate_check/external_cmd_converter }
- { type: link, link: /control/emergency_stop }
- { type: link, link: /control/comfortable_stop }

- path: /autoware/control/remote
- path: /control/comfortable_stop_available
type: and
list:
- { type: link, link: /autoware/control/topic_rate_check/external_cmd_selector }
- { type: link, link: /autoware/control/topic_rate_check/external_cmd_converter }
- { type: link, link: /control/emergency_stop }

- path: /autoware/control/topic_rate_check/trajectory_follower
type: diag
node: topic_state_monitor_trajectory_follower_control_cmd
name: control_topic_status
# *******************************************************************************
# NOTE: Please modify this section according to your environment and requirements.
# *******************************************************************************
- path: /control/emergency_stop
type: and
list:
- { type: link, link: /control/001-topic_status/control_command-error }
- { type: link, link: /control/004-lane_departure-error }
- { type: link, link: /control/005-trajectory_deviation-error }
- { type: link, link: /control/009-aeb_emergency_stop }
# - { type: link, link: /control/010-max_distance_deviation-error }
# - { type: link, link: /control/011-slip_detection }
- { type: link, link: /control/collision_detector }

- path: /control/comfortable_stop
type: and

- path: /control/pull_over
type: and

- path: /control/none
type: and
list:
- { type: link, link: /control/003-gate_heartbeat }
- { type: link, link: /control/007-external_command_converter_heartbeat }
- { type: link, link: /control/008-external_command_selector_heartbeat }

# Intermediate paths
- path: /control/001-topic_status/control_command-error
type: warn-to-ok
item:
type: link
link: /control/001-topic_status/control_command

- path: /control/004-lane_departure-error
type: warn-to-ok
item:
type: link
link: /control/004-lane_departure

- path: /control/005-trajectory_deviation-error
type: warn-to-ok
item:
type: link
link: /control/005-trajectory_deviation

- path: /autoware/control/topic_rate_check/control_command
- path: /control/010-max_distance_deviation-error
type: warn-to-ok
item:
type: link
link: /control/010-max_distance_deviation

- path: /control/001-topic_status/control_command
type: diag
node: topic_state_monitor_control_command_control_cmd
name: control_topic_status
timeout: 1.0

- path: /autoware/control/node_alive_monitoring/vehicle_cmd_gate
- path: /control/003-gate_heartbeat
type: diag
node: vehicle_cmd_gate
name: heartbeat
timeout: 1.0

- path: /autoware/control/emergency_braking
type: diag
node: autonomous_emergency_braking
name: aeb_emergency_stop

- path: /autoware/control/performance_monitoring/lane_departure
- path: /control/004-lane_departure
type: diag
node: lane_departure_checker_node
name: lane_departure
timeout: 1.0

- path: /autoware/control/performance_monitoring/trajectory_deviation
- path: /control/005-trajectory_deviation
type: diag
node: lane_departure_checker_node
name: trajectory_deviation
timeout: 1.0

- path: /autoware/control/performance_monitoring/control_state
- path: /control/007-external_command_converter_heartbeat
type: diag
node: controller_node_exe
name: control_state
node: external_cmd_converter
name: remote_control_topic_status
timeout: 1.0

- path: /autoware/control/topic_rate_check/external_cmd_selector
- path: /control/008-external_command_selector_heartbeat
type: diag
node: external_cmd_selector
name: heartbeat
timeout: 1.0

- path: /autoware/control/topic_rate_check/external_cmd_converter
- path: /control/009-aeb_emergency_stop
type: diag
node: external_cmd_converter
name: remote_control_topic_status
node: autonomous_emergency_braking
name: aeb_emergency_stop
timeout: 1.0

- path: /control/010-max_distance_deviation
type: diag
node: control_validator
name: control_validation_max_distance_deviation
timeout: 1.0

- path: /control/011-slip_detection
type: diag
node: slip_detector
name: slip_status
timeout: 3.0

- path: /autoware/control/collision_detector
- path: /control/collision_detector
type: diag
node: collision_detector
name: collision_detect
38 changes: 25 additions & 13 deletions autoware_launch/config/system/tier4_diagnostics/dummy_diag_publisher.param.yaml
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/**:
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
## /perception/001-topic_status/traffic_signals
"topic_state_monitor_traffic_light_recognition_traffic_signals: perception_topic_status": default

## /perception/001-topic_status/objects
"topic_state_monitor_object_recognition_objects: perception_topic_status": default

## /perception/001-topic_status/pointcloud
"topic_state_monitor_obstacle_segmentation_pointcloud: perception_topic_status": default

## /perception/002-detection_delay
"multi_object_tracker: Perception delay check from original header stamp": default
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