From c9ac4fe529cdc3cda1498c0b9327797cbb2fd48b Mon Sep 17 00:00:00 2001
From: Takayuki Murooka <takayuki5168@gmail.com>
Date: Thu, 21 Nov 2024 19:50:27 +0900
Subject: [PATCH 1/4] feat(rviz): visualize error diag graph (false by default)

Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>
---
 .../components/tier4_system_component.launch.xml   |  1 +
 autoware_launch/rviz/autoware.rviz                 | 14 +++++++-------
 2 files changed, 8 insertions(+), 7 deletions(-)

diff --git a/autoware_launch/launch/components/tier4_system_component.launch.xml b/autoware_launch/launch/components/tier4_system_component.launch.xml
index fa5056b9d9..d800bd7822 100644
--- a/autoware_launch/launch/components/tier4_system_component.launch.xml
+++ b/autoware_launch/launch/components/tier4_system_component.launch.xml
@@ -34,5 +34,6 @@
     <arg name="root_path" value="/autoware/modes/autonomous"/>
     <arg name="max_depth" value="3"/>
     <arg name="show_rate" value="0.2"/>
+    <arg name="enable_terminal_log" value="false"/>
   </include>
 </launch>
diff --git a/autoware_launch/rviz/autoware.rviz b/autoware_launch/rviz/autoware.rviz
index 589c9cbfd5..de169a0d18 100644
--- a/autoware_launch/rviz/autoware.rviz
+++ b/autoware_launch/rviz/autoware.rviz
@@ -268,20 +268,20 @@ Visualization Manager:
               Primary Color: 174; 174; 174
           Enabled: true
           Name: Vehicle
-        - Class: rviz_plugins/MrmSummaryOverlayDisplay
+        - Class: rviz_plugins/StringStampedOverlayDisplay
           Enabled: true
-          Font Size: 10
+          Font Size: 12
           Left: 10
-          Max Letter Num: 100
-          Name: MRM Summary
-          Text Color: 25; 255; 240
+          Max Letter Num: 70
+          Name: Error Diag Graph
+          Text Color: 51; 201; 220
           Top: 10
           Topic:
-            Depth: 5
+            Depth: 1
             Durability Policy: Volatile
             History Policy: Keep Last
             Reliability Policy: Reliable
-            Value: /system/emergency/hazard_status
+            Value: /logging_diag_graph/debug/error_graph
           Value: false
           Value height offset: 0
       Enabled: true

From 7979bedb26da0ee66323a7a51fbfa8d12ad0f611 Mon Sep 17 00:00:00 2001
From: Takayuki Murooka <takayuki5168@gmail.com>
Date: Thu, 21 Nov 2024 20:05:18 +0900
Subject: [PATCH 2/4] enable

Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>
---
 autoware_launch/rviz/autoware.rviz | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/autoware_launch/rviz/autoware.rviz b/autoware_launch/rviz/autoware.rviz
index de169a0d18..fa87d5f3c3 100644
--- a/autoware_launch/rviz/autoware.rviz
+++ b/autoware_launch/rviz/autoware.rviz
@@ -282,7 +282,7 @@ Visualization Manager:
             History Policy: Keep Last
             Reliability Policy: Reliable
             Value: /logging_diag_graph/debug/error_graph
-          Value: false
+          Value: true
           Value height offset: 0
       Enabled: true
       Name: System

From 8e5f348a0dbb2432381181d84e47a7565557a3f4 Mon Sep 17 00:00:00 2001
From: Takayuki Murooka <takayuki5168@gmail.com>
Date: Thu, 21 Nov 2024 21:17:10 +0900
Subject: [PATCH 3/4] increase show_rate

Signed-off-by: Takayuki Murooka <takayuki5168@gmail.com>
---
 .../launch/components/tier4_system_component.launch.xml         | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/autoware_launch/launch/components/tier4_system_component.launch.xml b/autoware_launch/launch/components/tier4_system_component.launch.xml
index d800bd7822..b80bde9b78 100644
--- a/autoware_launch/launch/components/tier4_system_component.launch.xml
+++ b/autoware_launch/launch/components/tier4_system_component.launch.xml
@@ -33,7 +33,7 @@
   <include file="$(find-pkg-share diagnostic_graph_utils)/launch/logging.launch.xml">
     <arg name="root_path" value="/autoware/modes/autonomous"/>
     <arg name="max_depth" value="3"/>
-    <arg name="show_rate" value="0.2"/>
+    <arg name="show_rate" value="10.0"/>
     <arg name="enable_terminal_log" value="false"/>
   </include>
 </launch>

From 244897d9986550025dc9cf1d3d924e6b5fdf6930 Mon Sep 17 00:00:00 2001
From: Takayuki Murooka <takayuki5168@gmail.com>
Date: Tue, 10 Dec 2024 12:10:41 +0900
Subject: [PATCH 4/4] Update autoware_launch/rviz/autoware.rviz

Co-authored-by: Takagi, Isamu <43976882+isamu-takagi@users.noreply.github.com>
---
 autoware_launch/rviz/autoware.rviz | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/autoware_launch/rviz/autoware.rviz b/autoware_launch/rviz/autoware.rviz
index fa87d5f3c3..f7d363655f 100644
--- a/autoware_launch/rviz/autoware.rviz
+++ b/autoware_launch/rviz/autoware.rviz
@@ -281,7 +281,7 @@ Visualization Manager:
             Durability Policy: Volatile
             History Policy: Keep Last
             Reliability Policy: Reliable
-            Value: /logging_diag_graph/debug/error_graph
+            Value: /logging_diag_graph/debug/error_graph_text
           Value: true
           Value height offset: 0
       Enabled: true