From 22f20df8d762c7df274e1cf927b712e42c84381a Mon Sep 17 00:00:00 2001 From: Yuki Takagi Date: Mon, 25 Nov 2024 11:56:37 +0900 Subject: [PATCH] delete old dir Signed-off-by: Yuki Takagi --- .../autoware-awsim.yaml | 5 - .../autoware-main.yaml | 2 - .../dummy_diag_publisher.param.yaml | 36 ------ .../autoware-main.yaml | 70 ---------- .../_system_diagnostic_monitor/control.yaml | 74 ----------- .../_system_diagnostic_monitor/hardware.yaml | 121 ------------------ .../localization.yaml | 43 ------- .../_system_diagnostic_monitor/map.yaml | 16 --- .../perception.yaml | 16 --- .../_system_diagnostic_monitor/planning.yaml | 90 ------------- .../_system_diagnostic_monitor/system.yaml | 27 ---- .../_system_diagnostic_monitor/vehicle.yaml | 16 --- 12 files changed, 516 deletions(-) delete mode 100644 autoware_launch/config/system/_diagnostic_graph_aggregator/autoware-awsim.yaml delete mode 100644 autoware_launch/config/system/_diagnostic_graph_aggregator/autoware-main.yaml delete mode 100644 autoware_launch/config/system/_dummy_diag_publisher/dummy_diag_publisher.param.yaml delete mode 100644 autoware_launch/config/system/_system_diagnostic_monitor/autoware-main.yaml delete mode 100644 autoware_launch/config/system/_system_diagnostic_monitor/control.yaml delete mode 100644 autoware_launch/config/system/_system_diagnostic_monitor/hardware.yaml delete mode 100644 autoware_launch/config/system/_system_diagnostic_monitor/localization.yaml delete mode 100644 autoware_launch/config/system/_system_diagnostic_monitor/map.yaml delete mode 100644 autoware_launch/config/system/_system_diagnostic_monitor/perception.yaml delete mode 100644 autoware_launch/config/system/_system_diagnostic_monitor/planning.yaml delete mode 100644 autoware_launch/config/system/_system_diagnostic_monitor/system.yaml delete mode 100644 autoware_launch/config/system/_system_diagnostic_monitor/vehicle.yaml diff --git a/autoware_launch/config/system/_diagnostic_graph_aggregator/autoware-awsim.yaml b/autoware_launch/config/system/_diagnostic_graph_aggregator/autoware-awsim.yaml deleted file mode 100644 index 937cfdeb65..0000000000 --- a/autoware_launch/config/system/_diagnostic_graph_aggregator/autoware-awsim.yaml +++ /dev/null @@ -1,5 +0,0 @@ -files: - - { path: $(find-pkg-share autoware_launch)/config/system/system_diagnostic_monitor/autoware-main.yaml } - -edits: - - { type: remove, path: /autoware/system/duplicated_node_checker } diff --git a/autoware_launch/config/system/_diagnostic_graph_aggregator/autoware-main.yaml b/autoware_launch/config/system/_diagnostic_graph_aggregator/autoware-main.yaml deleted file mode 100644 index c96dd5ed46..0000000000 --- a/autoware_launch/config/system/_diagnostic_graph_aggregator/autoware-main.yaml +++ /dev/null @@ -1,2 +0,0 @@ -files: - - { path: $(find-pkg-share autoware_launch)/config/system/system_diagnostic_monitor/autoware-main.yaml } diff --git a/autoware_launch/config/system/_dummy_diag_publisher/dummy_diag_publisher.param.yaml b/autoware_launch/config/system/_dummy_diag_publisher/dummy_diag_publisher.param.yaml deleted file mode 100644 index 0ed824d3c8..0000000000 --- a/autoware_launch/config/system/_dummy_diag_publisher/dummy_diag_publisher.param.yaml +++ /dev/null @@ -1,36 +0,0 @@ -# Description: -# required_diags: -# : {is_active: , status: } -# name: diag name -# is_active: Force update or not -# status: diag status set by dummy diag publisher "OK, Warn, Error, Stale" -# -# Note: -# -# default values are: -# is_active: "true" -# status: "OK" ---- -/**: - ros__parameters: - required_diags: - # map - ## /autoware/map/topic_rate_check/pointcloud_map - "topic_state_monitor_pointcloud_map: map_topic_status": default - - # localization - ## /autoware/localization/scan_matching_status - "ndt_scan_matcher: scan_matching_status": default - - ## /autoware/localization/accuracy - "localization_error_monitor: ellipse_error_status": default - - ## /autoware/localization/sensor_fusion_status - "localization: ekf_localizer": default - - ## /autoware/localization/topic_rate_check/pose_twist_fusion - "topic_state_monitor_pose_twist_fusion_filter_pose: localization_topic_status": default - - # perception - ## /autoware/perception/topic_rate_check/pointcloud - "topic_state_monitor_obstacle_segmentation_pointcloud: perception_topic_status": default diff --git a/autoware_launch/config/system/_system_diagnostic_monitor/autoware-main.yaml b/autoware_launch/config/system/_system_diagnostic_monitor/autoware-main.yaml deleted file mode 100644 index fbbfe384f2..0000000000 --- a/autoware_launch/config/system/_system_diagnostic_monitor/autoware-main.yaml +++ /dev/null @@ -1,70 +0,0 @@ -files: - - { path: $(dirname)/control.yaml } - - { path: $(dirname)/localization.yaml } - - { path: $(dirname)/map.yaml } - - { path: $(dirname)/perception.yaml } - - { path: $(dirname)/planning.yaml } - - { path: $(dirname)/system.yaml } - - { path: $(dirname)/vehicle.yaml } - -units: - - path: /autoware/modes/local - type: and - list: - - { type: link, link: /autoware/vehicle } - - { type: link, link: /autoware/system } - - { type: link, link: /autoware/control/local } - - - path: /autoware/modes/remote - type: and - list: - - { type: link, link: /autoware/vehicle } - - { type: link, link: /autoware/system } - - { type: link, link: /autoware/control/remote } - - - path: /autoware/modes/stop - type: ok - - - path: /autoware/modes/autonomous - type: and - list: - - { type: link, link: /autoware/map } - - { type: link, link: /autoware/localization } - - { type: link, link: /autoware/planning } - - { type: link, link: /autoware/perception } - - { type: link, link: /autoware/control } - - { type: link, link: /autoware/vehicle } - - { type: link, link: /autoware/system } - - - path: /autoware/modes/pull_over - type: and - list: - - { type: link, link: /autoware/map } - - { type: link, link: /autoware/localization } - - { type: link, link: /autoware/planning } - - { type: link, link: /autoware/perception } - - { type: link, link: /autoware/control } - - { type: link, link: /autoware/vehicle } - - { type: link, link: /autoware/system } - - - path: /autoware/modes/comfortable_stop - type: and - list: - - { type: link, link: /autoware/map } - - { type: link, link: /autoware/localization } - - { type: link, link: /autoware/planning } - - { type: link, link: /autoware/perception } - - { type: link, link: /autoware/control } - - { type: link, link: /autoware/vehicle } - - { type: link, link: /autoware/system } - - - path: /autoware/modes/emergency_stop - type: and - list: - - { type: link, link: /autoware/vehicle } - - { type: link, link: /autoware/system } - - - path: /autoware/debug/tools - type: and - list: - - { type: link, link: /autoware/system/service_log_checker } diff --git a/autoware_launch/config/system/_system_diagnostic_monitor/control.yaml b/autoware_launch/config/system/_system_diagnostic_monitor/control.yaml deleted file mode 100644 index 6a04ed6714..0000000000 --- a/autoware_launch/config/system/_system_diagnostic_monitor/control.yaml +++ /dev/null @@ -1,74 +0,0 @@ -units: - - path: /autoware/control - type: and - list: - - { type: link, link: /autoware/control/topic_rate_check/trajectory_follower } - - { type: link, link: /autoware/control/topic_rate_check/control_command } - - { type: link, link: /autoware/control/node_alive_monitoring/vehicle_cmd_gate } - - { type: link, link: /autoware/control/emergency_braking } - - { type: link, link: /autoware/control/performance_monitoring/lane_departure } - - { type: link, link: /autoware/control/performance_monitoring/trajectory_deviation } - - { type: link, link: /autoware/control/performance_monitoring/control_state } - - { type: link, link: /autoware/control/collision_detector } - - - path: /autoware/control/local - type: and - list: - - { type: link, link: /autoware/control/topic_rate_check/external_cmd_selector } - - { type: link, link: /autoware/control/topic_rate_check/external_cmd_converter } - - - path: /autoware/control/remote - type: and - list: - - { type: link, link: /autoware/control/topic_rate_check/external_cmd_selector } - - { type: link, link: /autoware/control/topic_rate_check/external_cmd_converter } - - - path: /autoware/control/topic_rate_check/trajectory_follower - type: diag - node: topic_state_monitor_trajectory_follower_control_cmd - name: control_topic_status - - - path: /autoware/control/topic_rate_check/control_command - type: diag - node: topic_state_monitor_control_command_control_cmd - name: control_topic_status - - - path: /autoware/control/node_alive_monitoring/vehicle_cmd_gate - type: diag - node: vehicle_cmd_gate - name: heartbeat - - - path: /autoware/control/emergency_braking - type: diag - node: autonomous_emergency_braking - name: aeb_emergency_stop - - - path: /autoware/control/performance_monitoring/lane_departure - type: diag - node: lane_departure_checker_node - name: lane_departure - - - path: /autoware/control/performance_monitoring/trajectory_deviation - type: diag - node: lane_departure_checker_node - name: trajectory_deviation - - - path: /autoware/control/performance_monitoring/control_state - type: diag - node: controller_node_exe - name: control_state - - - path: /autoware/control/topic_rate_check/external_cmd_selector - type: diag - node: external_cmd_selector - name: heartbeat - - - path: /autoware/control/topic_rate_check/external_cmd_converter - type: diag - node: external_cmd_converter - name: remote_control_topic_status - - - path: /autoware/control/collision_detector - type: diag - node: collision_detector - name: collision_detect diff --git a/autoware_launch/config/system/_system_diagnostic_monitor/hardware.yaml b/autoware_launch/config/system/_system_diagnostic_monitor/hardware.yaml deleted file mode 100644 index d73f723670..0000000000 --- a/autoware_launch/config/system/_system_diagnostic_monitor/hardware.yaml +++ /dev/null @@ -1,121 +0,0 @@ -# TODO(Takagi, Isamu): This file is under construction. -units: - - path: /autoware/system/resources/clock/offset - diag: ": NTP Offset" - timeout: 10.0 - - - path: /autoware/system/resources/cpu/offset - diag: ": CPU Temperature" - timeout: 3.0 - - - path: /autoware/system/resources/cpu/usage - diag: ": CPU Usage" - timeout: 3.0 - - - path: /autoware/system/resources/cpu/thermal_throttling - diag: ": CPU Thermal Throttling" - timeout: 3.0 - - - path: /autoware/system/resources/cpu/frequency - diag: ": CPU Frequency" - timeout: 3.0 - - - path: /autoware/system/resources/cpu/load_average - diag: ": CPU Load Average" - timeout: 3.0 - - - path: /autoware/system/resources/gpu/temperature - diag: ": GPU Temperature" - timeout: 3.0 - - - path: /autoware/system/resources/gpu/usage - diag: ": GPU Usage" - timeout: 3.0 - - - path: /autoware/system/resources/gpu/memory_usage - diag: ": GPU Memory Usage" - timeout: 3.0 - - - path: /autoware/system/resources/gpu/thermal_throttling - diag: ": GPU Thermal Throttling" - timeout: 3.0 - - - path: /autoware/system/resources/gpu/frequency - diag: ": GPU Frequency" - timeout: 3.0 - - - path: /autoware/system/resources/memory/usage - diag: ": Memory Usage" - timeout: 3.0 - - - path: /autoware/system/resources/network/usage - diag: ": Network Usage" - timeout: 3.0 - - - path: /autoware/system/resources/network/traffic - diag: ": Network Traffic" - timeout: 3.0 - - - path: /autoware/system/resources/network/crc - diag: ": Network CRC Error" - timeout: 3.0 - - - path: /autoware/system/resources/network/packet_reassembles - diag: ": IP Packet Reassembles Failed" - timeout: 3.0 - - - path: /autoware/system/resources/storage/temperature - diag: ": HDD Temperature" - timeout: 3.0 - - - path: /autoware/system/resources/storage/recovered_error - diag: ": HDD RecoveredError" - timeout: 3.0 - - - path: /autoware/system/resources/storage/read_data_rate - diag: ": HDD ReadDataRate" - timeout: 3.0 - - - path: /autoware/system/resources/storage/write_data_rate - diag: ": HDD WriteDataRate" - timeout: 3.0 - - - path: /autoware/system/resources/storage/read_iops - diag: ": HDD ReadIOPS" - timeout: 3.0 - - - path: /autoware/system/resources/storage/write_iops - diag: ": HDD WriteIOPS" - timeout: 3.0 - - - path: /autoware/system/resources/storage/usage - diag: ": HDD Usage" - timeout: 3.0 - - - path: /autoware/system/resources/storage/power_on_hours - diag: ": HDD PowerOnHours" - timeout: 3.0 - - - path: /autoware/system/resources/storage/total_data_written - diag: ": HDD TotalDataWritten" - timeout: 3.0 - - - path: /autoware/system/resources/storage/connection - diag: ": HDD Connection" - timeout: 3.0 - - - path: /autoware/system/resources/process/high_load - diag: ": High-load" - timeout: 3.0 - - - path: /autoware/system/resources/process/high_mem - diag: ": High-mem" - timeout: 3.0 - - - path: /autoware/system/resources/process/tasks_summary - diag: ": Tasks Summary" - timeout: 3.0 - - - path: /autoware/system/resources/voltage/battery - diag: ": CMOS Battery Status" - timeout: 3.0 diff --git a/autoware_launch/config/system/_system_diagnostic_monitor/localization.yaml b/autoware_launch/config/system/_system_diagnostic_monitor/localization.yaml deleted file mode 100644 index 1100f2edac..0000000000 --- a/autoware_launch/config/system/_system_diagnostic_monitor/localization.yaml +++ /dev/null @@ -1,43 +0,0 @@ -units: - - path: /autoware/localization - type: short-circuit-and - list: - - type: link - link: /autoware/localization/state - - type: and - 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/scan_matching_status } - - { type: link, link: /autoware/localization/accuracy } - - { type: link, link: /autoware/localization/sensor_fusion_status } - - - path: /autoware/localization/state - type: diag - node: component_state_diagnostics - name: localization_state - - - path: /autoware/localization/topic_rate_check/transform - type: diag - node: topic_state_monitor_transform_map_to_base_link - name: localization_topic_status - - - path: /autoware/localization/topic_rate_check/pose_twist_fusion - type: diag - node: topic_state_monitor_pose_twist_fusion_filter_pose - name: localization_topic_status - - - path: /autoware/localization/scan_matching_status - type: diag - node: ndt_scan_matcher - name: scan_matching_status - - - path: /autoware/localization/accuracy - type: diag - node: localization_error_monitor - name: ellipse_error_status - - - path: /autoware/localization/sensor_fusion_status - type: diag - node: localization - name: ekf_localizer diff --git a/autoware_launch/config/system/_system_diagnostic_monitor/map.yaml b/autoware_launch/config/system/_system_diagnostic_monitor/map.yaml deleted file mode 100644 index 231ac6eb5f..0000000000 --- a/autoware_launch/config/system/_system_diagnostic_monitor/map.yaml +++ /dev/null @@ -1,16 +0,0 @@ -units: - - path: /autoware/map - type: and - list: - - { type: link, link: /autoware/map/topic_rate_check/vector_map } - - { type: link, link: /autoware/map/topic_rate_check/pointcloud_map } - - - path: /autoware/map/topic_rate_check/vector_map - type: diag - node: topic_state_monitor_vector_map - name: map_topic_status - - - path: /autoware/map/topic_rate_check/pointcloud_map - type: diag - node: topic_state_monitor_pointcloud_map - name: map_topic_status diff --git a/autoware_launch/config/system/_system_diagnostic_monitor/perception.yaml b/autoware_launch/config/system/_system_diagnostic_monitor/perception.yaml deleted file mode 100644 index 24e3c4eed5..0000000000 --- a/autoware_launch/config/system/_system_diagnostic_monitor/perception.yaml +++ /dev/null @@ -1,16 +0,0 @@ -units: - - path: /autoware/perception - type: and - list: - - { type: link, link: /autoware/perception/topic_rate_check/objects } - - { type: link, link: /autoware/perception/topic_rate_check/pointcloud } - - - path: /autoware/perception/topic_rate_check/objects - type: diag - node: topic_state_monitor_object_recognition_objects - name: perception_topic_status - - - path: /autoware/perception/topic_rate_check/pointcloud - type: diag - node: topic_state_monitor_obstacle_segmentation_pointcloud - name: perception_topic_status diff --git a/autoware_launch/config/system/_system_diagnostic_monitor/planning.yaml b/autoware_launch/config/system/_system_diagnostic_monitor/planning.yaml deleted file mode 100644 index c403fec237..0000000000 --- a/autoware_launch/config/system/_system_diagnostic_monitor/planning.yaml +++ /dev/null @@ -1,90 +0,0 @@ -units: - - path: /autoware/planning - type: short-circuit-and - list: - - type: link - link: /autoware/planning/routing/state - - type: and - list: - - { type: link, link: /autoware/planning/topic_rate_check/route } - - { type: link, link: /autoware/planning/topic_rate_check/trajectory } - - { type: link, link: /autoware/planning/trajectory_validation } - - - path: /autoware/planning/trajectory_validation - type: and - list: - - { type: link, link: /autoware/planning/trajectory_validation/finite } - - { type: link, link: /autoware/planning/trajectory_validation/interval } - - { type: link, link: /autoware/planning/trajectory_validation/curvature } - - { type: link, link: /autoware/planning/trajectory_validation/angle } - - { type: link, link: /autoware/planning/trajectory_validation/lateral_acceleration } - - { type: link, link: /autoware/planning/trajectory_validation/acceleration } - - { type: link, link: /autoware/planning/trajectory_validation/deceleration } - - { type: link, link: /autoware/planning/trajectory_validation/steering } - - { type: link, link: /autoware/planning/trajectory_validation/steering_rate } - - { type: link, link: /autoware/planning/trajectory_validation/velocity_deviation } - - - path: /autoware/planning/routing/state - type: diag - node: component_state_diagnostics - name: route_state - - - path: /autoware/planning/topic_rate_check/route - type: diag - node: topic_state_monitor_mission_planning_route - name: planning_topic_status - - - path: /autoware/planning/topic_rate_check/trajectory - type: diag - node: topic_state_monitor_scenario_planning_trajectory - name: planning_topic_status - - - path: /autoware/planning/trajectory_validation/finite - type: diag - node: planning_validator - name: trajectory_validation_finite - - - path: /autoware/planning/trajectory_validation/interval - type: diag - node: planning_validator - name: trajectory_validation_interval - - - path: /autoware/planning/trajectory_validation/curvature - type: diag - node: planning_validator - name: trajectory_validation_curvature - - - path: /autoware/planning/trajectory_validation/angle - type: diag - node: planning_validator - name: trajectory_validation_relative_angle - - - path: /autoware/planning/trajectory_validation/lateral_acceleration - type: diag - node: planning_validator - name: trajectory_validation_lateral_acceleration - - - path: /autoware/planning/trajectory_validation/acceleration - type: diag - node: planning_validator - name: trajectory_validation_acceleration - - - path: /autoware/planning/trajectory_validation/deceleration - type: diag - node: planning_validator - name: trajectory_validation_deceleration - - - path: /autoware/planning/trajectory_validation/steering - type: diag - node: planning_validator - name: trajectory_validation_steering - - - path: /autoware/planning/trajectory_validation/steering_rate - type: diag - node: planning_validator - name: trajectory_validation_steering_rate - - - path: /autoware/planning/trajectory_validation/velocity_deviation - type: diag - node: planning_validator - name: trajectory_validation_velocity_deviation diff --git a/autoware_launch/config/system/_system_diagnostic_monitor/system.yaml b/autoware_launch/config/system/_system_diagnostic_monitor/system.yaml deleted file mode 100644 index cb96c2cd7f..0000000000 --- a/autoware_launch/config/system/_system_diagnostic_monitor/system.yaml +++ /dev/null @@ -1,27 +0,0 @@ -units: - - path: /autoware/system - type: and - list: - - { type: link, link: /autoware/system/duplicated_node_checker } - - { type: link, link: /autoware/system/topic_rate_check/emergency_control_command } - - { type: link, link: /autoware/system/emergency_stop_operation } - - - path: /autoware/system/duplicated_node_checker - type: diag - node: duplicated_node_checker - name: duplicated_node_checker - - - path: /autoware/system/service_log_checker - type: diag - node: service_log_checker - name: response_status - - - path: /autoware/system/topic_rate_check/emergency_control_command - type: diag - node: topic_state_monitor_system_emergency_control_cmd - name: system_topic_status - - - path: /autoware/system/emergency_stop_operation - type: diag - node: vehicle_cmd_gate - name: emergency_stop_operation diff --git a/autoware_launch/config/system/_system_diagnostic_monitor/vehicle.yaml b/autoware_launch/config/system/_system_diagnostic_monitor/vehicle.yaml deleted file mode 100644 index e040e3c3c3..0000000000 --- a/autoware_launch/config/system/_system_diagnostic_monitor/vehicle.yaml +++ /dev/null @@ -1,16 +0,0 @@ -units: - - path: /autoware/vehicle - type: and - list: - - { type: link, link: /autoware/vehicle/topic_rate_check/velocity } - - { type: link, link: /autoware/vehicle/topic_rate_check/steering } - - - path: /autoware/vehicle/topic_rate_check/velocity - type: diag - node: topic_state_monitor_vehicle_status_velocity_status - name: vehicle_topic_status - - - path: /autoware/vehicle/topic_rate_check/steering - type: diag - node: topic_state_monitor_vehicle_status_steering_status - name: vehicle_topic_status