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feat(system diags): rename diag of ndt scan matcher #6889

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Apr 25, 2024
Merged

feat(system diags): rename diag of ndt scan matcher #6889

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2 changes: 1 addition & 1 deletion simulator/fault_injection/config/fault_injection.param.yaml
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Expand Up @@ -3,7 +3,7 @@
event_diag_list:
vehicle_is_out_of_lane: ": lane_departure"
trajectory_deviation_is_high: ": trajectory_deviation"
localization_matching_score_is_low: ": ndt_scan_matcher"
localization_matching_score_is_low: ": scan_matching_status"
localization_accuracy_is_low: ": localization_error_ellipse"
map_version_is_different: ": map_version"
trajectory_is_invalid: ": trajectory_point_validation"
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2 changes: 1 addition & 1 deletion system/system_diagnostic_monitor/config/autoware-psim.yaml
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Expand Up @@ -3,7 +3,7 @@ files:

edits:
- { type: remove, path: /autoware/map/topic_rate_check/pointcloud_map }
- { type: remove, path: /autoware/localization/matching_score }
- { type: remove, path: /autoware/localization/scan_matching_status }
- { type: remove, path: /autoware/localization/accuracy }
- { type: remove, path: /autoware/localization/sensor_fusion_status }
- { type: remove, path: /autoware/localization/topic_rate_check/pose_twist_fusion }
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8 changes: 4 additions & 4 deletions system/system_diagnostic_monitor/config/localization.yaml
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Expand Up @@ -8,7 +8,7 @@ units:
list:
- { type: link, link: /autoware/localization/topic_rate_check/transform }
- { type: link, link: /autoware/localization/topic_rate_check/pose_twist_fusion }
- { type: link, link: /autoware/localization/matching_score }
- { type: link, link: /autoware/localization/scan_matching_status }
- { type: link, link: /autoware/localization/accuracy }
- { type: link, link: /autoware/localization/sensor_fusion_status }

Expand All @@ -27,10 +27,10 @@ units:
node: topic_state_monitor_pose_twist_fusion_filter_pose
name: localization_topic_status

- path: /autoware/localization/matching_score
- path: /autoware/localization/scan_matching_status
type: diag
node: ""
name: ndt_scan_matcher
node: ndt_scan_matcher
name: scan_matching_status

- path: /autoware/localization/accuracy
type: diag
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6 changes: 3 additions & 3 deletions system/system_error_monitor/config/diagnostic_aggregator/localization.param.yaml
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Expand Up @@ -18,10 +18,10 @@
type: diagnostic_aggregator/AnalyzerGroup
path: performance_monitoring
analyzers:
matching_score:
scan_matching_status:
type: diagnostic_aggregator/GenericAnalyzer
path: matching_score
contains: ["ndt_scan_matcher"]
path: scan_matching_status
contains: ["ndt_scan_matcher: scan_matching_status"]
timeout: 1.0

localization_error_ellipse:
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2 changes: 1 addition & 1 deletion system/system_error_monitor/config/system_error_monitor.param.yaml
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Expand Up @@ -23,7 +23,7 @@
/autoware/control/autonomous_emergency_braking/performance_monitoring/emergency_stop: { sf_at: "none", lf_at: "warn", spf_at: "error", auto_recovery: "false"}

/autoware/localization/node_alive_monitoring: default
/autoware/localization/performance_monitoring/matching_score: { sf_at: "warn", lf_at: "none", spf_at: "none" }
/autoware/localization/performance_monitoring/scan_matching_status: { sf_at: "warn", lf_at: "none", spf_at: "none" }
/autoware/localization/performance_monitoring/localization_error_ellipse: default

/autoware/map/node_alive_monitoring: default
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2 changes: 1 addition & 1 deletion system/system_error_monitor/config/system_error_monitor.planning_simulation.param.yaml
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Expand Up @@ -23,7 +23,7 @@
/autoware/control/autonomous_emergency_braking/performance_monitoring/emergency_stop: { sf_at: "none", lf_at: "warn", spf_at: "error", auto_recovery: "false"}

/autoware/localization/node_alive_monitoring: default
# /autoware/localization/performance_monitoring/matching_score: { sf_at: "warn", lf_at: "none", spf_at: "none" }
# /autoware/localization/performance_monitoring/scan_matching_status: { sf_at: "warn", lf_at: "none", spf_at: "none" }
# /autoware/localization/performance_monitoring/localization_error_ellipse: default

/autoware/map/node_alive_monitoring: default
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