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feat(duplicated_node_checker): add duplicated node names to msg #5382

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merged 2 commits into from
Oct 23, 2023
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feat(duplicated_node_checker): add duplicated node names to msg #5382

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1475d84
add duplicated node names to msg
kyoichi-sugahara Oct 23, 2023
232b433
align with launcher repository
kyoichi-sugahara Oct 23, 2023
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1 change: 1 addition & 0 deletions system/duplicated_node_checker/config/duplicated_node_checker.param.yaml
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Original file line number Diff line number Diff line change
@@ -1,3 +1,4 @@
/**:
ros__parameters:
update_rate: 10.0
add_duplicated_node_names_to_msg: false # if true, duplicated node names are added to msg
1 change: 1 addition & 0 deletions .../duplicated_node_checker/include/duplicated_node_checker/duplicated_node_checker_core.hpp
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Expand Up @@ -48,6 +48,7 @@ class DuplicatedNodeChecker : public rclcpp::Node

diagnostic_updater::Updater updater_{this};
rclcpp::TimerBase::SharedPtr timer_;
bool add_duplicated_node_names_to_msg_;
};
} // namespace duplicated_node_checker

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9 changes: 8 additions & 1 deletion system/duplicated_node_checker/src/duplicated_node_checker_core.cpp
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Expand Up @@ -28,6 +28,7 @@
: Node("duplicated_node_checker", node_options)
{
double update_rate = declare_parameter<double>("update_rate");
add_duplicated_node_names_to_msg_ = declare_parameter<bool>("add_duplicated_node_names_to_msg");

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system/duplicated_node_checker/src/duplicated_node_checker_core.cpp#L31 

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updater_.setHardwareID("duplicated_node_checker");
updater_.add("duplicated_node_checker", this, &DuplicatedNodeChecker::produceDiagnostics);

Expand Down Expand Up @@ -63,8 +64,14 @@
std::string msg;
int level;
if (identical_names.size() > 0) {
msg = "Error";
level = DiagnosticStatus::ERROR;
msg = "Error: Duplicated nodes detected";
if (add_duplicated_node_names_to_msg_) {
std::set<std::string> unique_identical_names(identical_names.begin(), identical_names.end());
for (const auto & name : unique_identical_names) {
msg += " " + name;

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system/duplicated_node_checker/src/duplicated_node_checker_core.cpp#L69-L72 

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}
}
for (auto name : identical_names) {
stat.add("Duplicated Node Name", name);
}
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1 change: 1 addition & 0 deletions system/system_error_monitor/config/system_error_monitor.planning_simulation.param.yaml
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Expand Up @@ -40,6 +40,7 @@
/autoware/system/service_log_checker: { sf_at: "warn", lf_at: "none", spf_at: "none" }
/autoware/system/duplicated_node_checker: default
# /autoware/system/resource_monitoring: { sf_at: "warn", lf_at: "error", spf_at: "none" }
# /autoware/system/duplicated_node_checker: default
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@Owen-Liuyuxuan Owen-Liuyuxuan Oct 23, 2023 •
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Could I know what is the motivation for adding this commented line in this file?

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It's to make it consistent with the config file on the launcher side, but the change is not necessary.
file:
https://github.com/autowarefoundation/autoware_launch/blob/13b28551b50141bd887042063e00cfc987c19e76/autoware_launch/config/system/system_error_monitor/system_error_monitor.planning_simulation.param.yaml#L42
FYI:
changed by following PR:
autowarefoundation/autoware_launch#649


/autoware/vehicle/node_alive_monitoring: default

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