From a4d977e301a9f49f249a1a290add281c1be568e6 Mon Sep 17 00:00:00 2001 From: "tomoya.kimura" Date: Thu, 14 Sep 2023 20:02:19 +0900 Subject: [PATCH] feat: add system monitor param file for awsim Signed-off-by: tomoya.kimura --- .../system_error_monitor.awsim.param.yaml | 52 +++++++++++++++++++ 1 file changed, 52 insertions(+) create mode 100644 autoware_launch/config/system/system_error_monitor/system_error_monitor.awsim.param.yaml diff --git a/autoware_launch/config/system/system_error_monitor/system_error_monitor.awsim.param.yaml b/autoware_launch/config/system/system_error_monitor/system_error_monitor.awsim.param.yaml new file mode 100644 index 0000000000..2f98f9d0e2 --- /dev/null +++ b/autoware_launch/config/system/system_error_monitor/system_error_monitor.awsim.param.yaml @@ -0,0 +1,52 @@ +# Description: +# name: diag name +# sf_at: diag level where it becomes Safe Fault +# lf_at: diag level where it becomes Latent Fault +# spf_at: diag level where it becomes Single Point Fault +# auto_recovery: Determines whether the system will automatically recover when it recovers from an error. +# +# Note: +# empty-value for sf_at, lf_at and spf_at is "none" +# default values are: +# sf_at: "none" +# lf_at: "warn" +# spf_at: "error" +# auto_recovery: "true" +--- +/**: + ros__parameters: + required_modules: + autonomous_driving: + /autoware/control/autonomous_driving/node_alive_monitoring: default + /autoware/control/autonomous_driving/performance_monitoring/lane_departure: default + /autoware/control/control_command_gate/node_alive_monitoring: default + + /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/localization_accuracy: { sf_at: "warn", lf_at: "none", spf_at: "none" } + + /autoware/map/node_alive_monitoring: default + + /autoware/perception/node_alive_monitoring: default + + /autoware/planning/node_alive_monitoring: default + /autoware/planning/performance_monitoring/trajectory_validation: default + + # /autoware/sensing/node_alive_monitoring: default + + /autoware/system/node_alive_monitoring: default + /autoware/system/emergency_stop_operation: default + /autoware/system/service_log_checker: { sf_at: "warn", lf_at: "none", spf_at: "none" } + # /autoware/system/resource_monitoring: { sf_at: "warn", lf_at: "none", spf_at: "none" } + + /autoware/vehicle/node_alive_monitoring: default + + external_control: + /autoware/control/control_command_gate/node_alive_monitoring: default + /autoware/control/external_control/external_command_selector/node_alive_monitoring: default + + /autoware/system/node_alive_monitoring: default + /autoware/system/emergency_stop_operation: default + /autoware/system/service_log_checker: { sf_at: "warn", lf_at: "none", spf_at: "none" } + + /autoware/vehicle/node_alive_monitoring: default