feat(ekf_localizer, system_error_monitor): system_error_monitor handl…

…es ekf diags (autowarefoundation#5467) * fix(ekf_localizer): change default parameter for no update count Signed-off-by: kminoda <[email protected]> * add ekf in system_error_monitor Signed-off-by: kminoda <[email protected]> * style(pre-commit): autofix --------- Signed-off-by: kminoda <[email protected]> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com>
TaikiYamada4 · Nov 7, 2023 · 72e96fc · 72e96fc
1 parent 7789be4
commit 72e96fc
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Showing 2 changed files with 12 additions and 2 deletions.
diff --git a/localization/ekf_localizer/config/ekf_localizer.param.yaml b/localization/ekf_localizer/config/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/system/system_error_monitor/config/diagnostic_aggregator/localization.param.yaml b/system/system_error_monitor/config/diagnostic_aggregator/localization.param.yaml
@@ -29,3 +29,13 @@
               path: localization_accuracy
               contains: ["localization: localization_error_monitor"]
               timeout: 1.0
+
+            # This diagnostic should ideally be avoided in terms of Fault Tree Analysis (FTA) compatibility.
+            # However, we may need this since the localization accuracy is still not reliable enough and may produce
+            # false positives. Thus, NOTE that this diagnostic should be removed in the future when the localization accuracy
+            # is reliable enough.
+            sensor_fusion_status:
+              type: diagnostic_aggregator/GenericAnalyzer
+              path: sensor_fusion_status
+              contains: ["localization: ekf_localizer"]
+              timeout: 1.0