set system diags

Signed-off-by: Yuki Takagi <[email protected]>

autoware_launch/config/system/system_diagnostic_monitor/autoware-main.yaml

@@ -34,7 +34,7 @@ units:
       - { type: link, link: /autoware/perception }
       - { type: link, link: /autoware/control }
       - { type: link, link: /autoware/vehicle }
-      - { type: link, link: /autoware/system }
+      - { type: link, link: /system/autonomous_available }
 
   - path: /autoware/modes/pull_over
     type: and
@@ -45,7 +45,7 @@ units:
       - { type: link, link: /autoware/perception }
       - { type: link, link: /autoware/control }
       - { type: link, link: /autoware/vehicle }
-      - { type: link, link: /autoware/system }
+      - { type: link, link: /system/pull_over_available }
 
   - path: /autoware/modes/comfortable_stop
     type: and
@@ -56,7 +56,7 @@ units:
       - { type: link, link: /autoware/perception }
       - { type: link, link: /autoware/control }
       - { type: link, link: /autoware/vehicle }
-      - { type: link, link: /autoware/system }
+      - { type: link, link: /system/comfortable_stop_available }
 
   - path: /autoware/modes/emergency_stop
     type: and
@@ -68,3 +68,8 @@ units:
     type: and
     list:
       - { type: link, link: /autoware/system/service_log_checker }
+
+  - path: /autoware/system/service_log_checker
+    type: diag
+    node: service_log_checker
+    name: response_status

autoware_launch/config/system/system_diagnostic_monitor/system.yaml

@@ -1,27 +1,60 @@
 units:
-  - path: /autoware/system
+  - path: /system/autonomous_available
     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 }
+      - { type: link, link: /system/emergency_stop }
+      - { type: link, link: /system/pull_over }
+      - { type: link, link: /system/comfortable_stop }
 
-  - path: /autoware/system/duplicated_node_checker
-    type: diag
-    node: duplicated_node_checker
-    name: duplicated_node_checker
+  - path: /system/pull_over_available
+    type: and
+    list:
+      - { type: link, link: /system/emergency_stop }
+      - { type: link, link: /system/comfortable_stop }
 
-  - path: /autoware/system/service_log_checker
-    type: diag
-    node: service_log_checker
-    name: response_status
+  - path: /system/comfortable_stop_available
+    type: and
+    list:
+      - { type: link, link: /system/emergency_stop }
+
+  # *******************************************************************************
+  # NOTE: Please modify this section according to your environment and requirements.
+  # *******************************************************************************
+  - path: /system/emergency_stop
+    type: and
+    list:
+      - { type: link, link: /system/001-topic_status-error }
+      - { type: link, link: /system/002-emergency_stop_operation-error }
+
+  - path: /system/comfortable_stop
+    type: and
+
+  - path: /system/pull_over
+    type: and
+
+  - path: /system/none
+    type: and
+
+  - path: /system/001-topic_status-error
+    type: warn-to-ok
+    item:
+      type: link
+      link: /system/001-topic_status
+
+  - path: /system/002-emergency_stop_operation-error
+    type: warn-to-ok
+    item:
+      type: link
+      link: /system/002-emergency_stop_operation
 
-  - path: /autoware/system/topic_rate_check/emergency_control_command
+  - path: /system/001-topic_status
     type: diag
     node: topic_state_monitor_system_emergency_control_cmd
     name: system_topic_status
+    timeout: 1.0
 
-  - path: /autoware/system/emergency_stop_operation
+  - path: /system/002-emergency_stop_operation
     type: diag
     node: vehicle_cmd_gate
     name: emergency_stop_operation
+    timeout: 1.0