feat(system_diagnostic_monitor): set concrete diag settings for localization/map

autoware_launch/config/system/dummy_diag_publisher/dummy_diag_publisher.param.yaml

@@ -14,22 +14,25 @@
 /**:
   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
+      ## /localization/001-topic_status/initialpose
+      "topic_state_monitor_initialpose3d: localization_topic_status": default
 
-      ## /autoware/localization/accuracy
-      "localization_error_monitor: ellipse_error_status": default
+      ## /localization/001-topic_status/pose_twist_fusion_filter
+      "topic_state_monitor_pose_twist_fusion_filter_pose: localization_topic_status": default
 
-      ## /autoware/localization/sensor_fusion_status
-      "localization: ekf_localizer": default
+      ## /localization/002-tf
+      "topic_state_monitor_transform_map_to_base_link: localization_topic_status": default
 
-      ## /autoware/localization/topic_rate_check/pose_twist_fusion
-      "topic_state_monitor_pose_twist_fusion_filter_pose: localization_topic_status": default
+      ## /localization/003-matching_score
+      "ndt_scan_matcher: scan_matching_status": default
+
+      ## /localization/004-accuracy
+      "localization: localization_error_monitor": default
+
+      # map
+      ## /map/001-topic_status/pointcloud_map
+      "topic_state_monitor_pointcloud_map: map_topic_status": default
 
       # perception
       ## /autoware/perception/topic_rate_check/pointcloud

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

@@ -28,8 +28,8 @@ units:
   - path: /autoware/modes/autonomous
     type: and
     list:
-      - { type: link, link: /autoware/map }
-      - { type: link, link: /autoware/localization }
+      - { type: link, link: /map/autonomous_available }
+      - { type: link, link: /localization/autonomous_available }
       - { type: link, link: /autoware/planning }
       - { type: link, link: /autoware/perception }
       - { type: link, link: /autoware/control }
@@ -39,8 +39,8 @@ units:
   - path: /autoware/modes/pull_over
     type: and
     list:
-      - { type: link, link: /autoware/map }
-      - { type: link, link: /autoware/localization }
+      - { type: link, link: /map/pull_over_available }
+      - { type: link, link: /localization/pull_over_available }
       - { type: link, link: /autoware/planning }
       - { type: link, link: /autoware/perception }
       - { type: link, link: /autoware/control }
@@ -50,8 +50,8 @@ units:
   - path: /autoware/modes/comfortable_stop
     type: and
     list:
-      - { type: link, link: /autoware/map }
-      - { type: link, link: /autoware/localization }
+      - { type: link, link: /map/comfortable_stop_available }
+      - { type: link, link: /localization/comfortable_stop_available }
       - { type: link, link: /autoware/planning }
       - { type: link, link: /autoware/perception }
       - { type: link, link: /autoware/control }

autoware_launch/config/system/system_diagnostic_monitor/localization.yaml

@@ -1,43 +1,99 @@
 units:
-  - path: /autoware/localization
-    type: short-circuit-and
+  - path: /localization/autonomous_available
+    type: 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
+      - { type: link, link: /localization/emergency_stop }
+      - { type: link, link: /localization/pull_over }
+      - { type: link, link: /localization/comfortable_stop }
+
+  - path: /localization/pull_over_available
+    type: and
+    list:
+      - { type: link, link: /localization/emergency_stop }
+      - { type: link, link: /localization/comfortable_stop }
+
+  - path: /localization/comfortable_stop_available
+    type: and
+    list:
+      - { type: link, link: /localization/emergency_stop }
+
+  # *******************************************************************************
+  # NOTE: Please modify this section according to your environment and requirements.
+  # *******************************************************************************
+  - path: /localization/emergency_stop
+    type: and
+    list:
+      - { type: link, link: /localization/001-topic_status/initialpose-error }
+      - { type: link, link: /localization/001-topic_status/pose_twist_fusion_filter-error }
+      - { type: link, link: /localization/002-tf-error }
+      - { type: link, link: /localization/003-matching_score-error }
+      - { type: link, link: /localization/004-accuracy-error }
+
+  - path: /localization/comfortable_stop
+    type: and
+
+  - path: /localization/pull_over
+    type: and
+
+  - path: /localization/none
+    type: and
+
+  - path: /localization/001-topic_status/initialpose-error
+    type: warn-to-ok
+    item:
+      type: link
+      link: /localization/001-topic_status/initialpose
 
-  - path: /autoware/localization/topic_rate_check/transform
+  - path: /localization/001-topic_status/pose_twist_fusion_filter-error
+    type: warn-to-ok
+    item:
+      type: link
+      link: /localization/001-topic_status/pose_twist_fusion_filter
+
+  - path: /localization/002-tf-error
+    type: warn-to-ok
+    item:
+      type: link
+      link: /localization/002-tf
+
+  - path: /localization/003-matching_score-error
+    type: warn-to-ok
+    item:
+      type: link
+      link: /localization/003-matching_score
+
+  - path: /localization/004-accuracy-error
+    type: warn-to-ok
+    item:
+      type: link
+      link: /localization/004-accuracy
+
+  - path: /localization/001-topic_status/initialpose
     type: diag
-    node: topic_state_monitor_transform_map_to_base_link
+    node: topic_state_monitor_initialpose3d
     name: localization_topic_status
+    timeout: 1.0
 
-  - path: /autoware/localization/topic_rate_check/pose_twist_fusion
+  - path: /localization/001-topic_status/pose_twist_fusion_filter
     type: diag
     node: topic_state_monitor_pose_twist_fusion_filter_pose
     name: localization_topic_status
+    timeout: 1.0
 
-  - path: /autoware/localization/scan_matching_status
+  - path: /localization/002-tf
     type: diag
-    node: ndt_scan_matcher
-    name: scan_matching_status
+    node: topic_state_monitor_transform_map_to_base_link
+    name: localization_topic_status
+    timeout: 1.0
 
-  - path: /autoware/localization/accuracy
+  - path: /localization/003-matching_score
     type: diag
-    node: localization_error_monitor
-    name: ellipse_error_status
+    node: ndt_scan_matcher
+    name: scan_matching_status
+    timeout: 1.0
 
-  - path: /autoware/localization/sensor_fusion_status
+  - path: /localization/004-accuracy
     type: diag
     node: localization
-    name: ekf_localizer
+    name: localization_error_monitor
+    timeout: 1.0

autoware_launch/config/system/system_diagnostic_monitor/map.yaml

@@ -1,16 +1,60 @@
 units:
-  - path: /autoware/map
+  - path: /map/autonomous_available
     type: and
     list:
-      - { type: link, link: /autoware/map/topic_rate_check/vector_map }
-      - { type: link, link: /autoware/map/topic_rate_check/pointcloud_map }
+      - { type: link, link: /map/emergency_stop }
+      - { type: link, link: /map/pull_over }
+      - { type: link, link: /map/comfortable_stop }
 
-  - path: /autoware/map/topic_rate_check/vector_map
+  - path: /map/pull_over_available
+    type: and
+    list:
+      - { type: link, link: /map/emergency_stop }
+      - { type: link, link: /map/comfortable_stop }
+
+  - path: /map/comfortable_stop_available
+    type: and
+    list:
+      - { type: link, link: /map/emergency_stop }
+
+  # *******************************************************************************
+  # NOTE: Please modify this section according to your environment and requirements.
+  # *******************************************************************************
+  - path: /map/emergency_stop
+    type: and
+    list:
+      - { type: link, link: /map/001-topic_status/vector_map-error }
+      - { type: link, link: /map/001-topic_status/pointcloud_map-error }
+
+  - path: /map/comfortable_stop
+    type: and
+
+  - path: /map/pull_over
+    type: and
+
+  - path: /map/none
+    type: and
+
+  - path: /map/001-topic_status/vector_map-error
+    type: warn-to-ok
+    item:
+      type: link
+      link: /map/001-topic_status/vector_map
+
+  - path: /map/001-topic_status/pointcloud_map-error
+    type: warn-to-ok
+    item:
+      type: link
+      link: /map/001-topic_status/pointcloud_map
+
+  - path: /map/001-topic_status/vector_map
     type: diag
     node: topic_state_monitor_vector_map
     name: map_topic_status
+    timeout: 1.0
 
-  - path: /autoware/map/topic_rate_check/pointcloud_map
+  - path: /map/001-topic_status/pointcloud_map
     type: diag
     node: topic_state_monitor_pointcloud_map
     name: map_topic_status
+    timeout: 1.0