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feat(diag): use tier4 diag graph settings #705

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merged 1 commit into from
Dec 9, 2024
Merged

feat(diag): use tier4 diag graph settings #705

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2 changes: 1 addition & 1 deletion autoware_launch/launch/autoware.launch.xml
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Expand Up @@ -37,7 +37,7 @@
<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"/>
<arg name="diagnostic_graph_aggregator_graph_path" default="$(find-pkg-share autoware_launch)/config/system/diagnostics/autoware-main.yaml" description="diagnostic graph config"/>
<arg name="diagnostic_graph_aggregator_graph_path" default="$(find-pkg-share autoware_launch)/config/system/tier4_diagnostics/autoware-main.yaml" description="diagnostic graph config"/>
<!-- Tools -->
<arg name="rviz" default="true" description="launch rviz"/>
<arg name="rviz_config_name" default="autoware.rviz" description="rviz config name"/>
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4 changes: 2 additions & 2 deletions autoware_launch/launch/components/tier4_system_component.launch.xml
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@@ -1,7 +1,7 @@
<?xml version="1.0"?>
<launch>
<arg name="diagnostic_graph_aggregator_param_path" default="$(find-pkg-share diagnostic_graph_aggregator)/config/default.param.yaml"/>
<arg name="diagnostic_graph_aggregator_graph_path" default="$(find-pkg-share autoware_launch)/config/system/diagnostics/autoware-main.yaml"/>
<arg name="diagnostic_graph_aggregator_graph_path" default="$(find-pkg-share autoware_launch)/config/system/tier4_diagnostics/autoware-main.yaml"/>

<include file="$(find-pkg-share tier4_system_launch)/launch/system.launch.xml">
<arg name="run_mode" value="$(var system_run_mode)"/>
Expand All @@ -14,7 +14,7 @@
<arg name="processing_time_checker_param_path" value="$(find-pkg-share autoware_launch)/config/system/processing_time_checker/processing_time_checker.param.yaml"/>
<arg name="mrm_comfortable_stop_operator_param_path" value="$(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="$(find-pkg-share autoware_launch)/config/system/mrm_emergency_stop_operator/mrm_emergency_stop_operator.param.yaml"/>
<arg name="dummy_diag_publisher_param_path" value="$(find-pkg-share autoware_launch)/config/system/diagnostics/dummy_diag_publisher.param.yaml"/>
<arg name="dummy_diag_publisher_param_path" value="$(find-pkg-share autoware_launch)/config/system/tier4_diagnostics/dummy_diag_publisher.param.yaml"/>
<arg name="system_monitor_cpu_monitor_param_path" value="$(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"/>
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2 changes: 1 addition & 1 deletion autoware_launch/launch/e2e_simulator.launch.xml
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Expand Up @@ -71,7 +71,7 @@
<!-- System -->
<arg name="launch_system_monitor" value="$(var launch_system_monitor)"/>
<arg name="launch_dummy_diag_publisher" value="$(var launch_dummy_diag_publisher)"/>
<arg name="diagnostic_graph_aggregator_graph_path" value="$(find-pkg-share autoware_launch)/config/system/diagnostics/autoware-awsim.yaml"/>
<arg name="diagnostic_graph_aggregator_graph_path" value="$(find-pkg-share autoware_launch)/config/system/tier4_diagnostics/autoware-awsim.yaml"/>
<!-- Sensing -->
<arg name="launch_sensing_driver" value="$(var launch_sensing_driver)"/>
<!-- Perception-->
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2 changes: 1 addition & 1 deletion autoware_launch/launch/logging_simulator.launch.xml
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Expand Up @@ -65,7 +65,7 @@
<arg name="system_run_mode" value="logging_simulation"/>
<arg name="launch_system_monitor" value="$(var launch_system_monitor)"/>
<arg name="launch_dummy_diag_publisher" value="$(var launch_dummy_diag_publisher)"/>
<arg name="diagnostic_graph_aggregator_graph_path" value="$(find-pkg-share autoware_launch)/config/system/diagnostics/autoware-main.yaml"/>
<arg name="diagnostic_graph_aggregator_graph_path" value="$(find-pkg-share autoware_launch)/config/system/tier4_diagnostics/autoware-main.yaml"/>
<!-- Map -->
<arg name="lanelet2_map_file" value="$(var lanelet2_map_file)"/>
<arg name="pointcloud_map_file" value="$(var pointcloud_map_file)"/>
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2 changes: 1 addition & 1 deletion autoware_launch/launch/planning_simulator.launch.xml
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Expand Up @@ -70,7 +70,7 @@
<arg name="system_run_mode" value="planning_simulation"/>
<arg name="launch_system_monitor" value="$(var launch_system_monitor)"/>
<arg name="launch_dummy_diag_publisher" value="$(var launch_dummy_diag_publisher)"/>
<arg name="diagnostic_graph_aggregator_graph_path" value="$(find-pkg-share autoware_launch)/config/system/diagnostics/autoware-main.yaml"/>
<arg name="diagnostic_graph_aggregator_graph_path" value="$(find-pkg-share autoware_launch)/config/system/tier4_diagnostics/autoware-main.yaml"/>
<!-- Map -->
<arg name="lanelet2_map_file" value="$(var lanelet2_map_file)"/>
<arg name="pointcloud_map_file" value="$(var pointcloud_map_file)"/>
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