feat(system_diagnostic_monitor): set concrete diag settings for planning/control/vehicle #1239
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Signed-off-by: Yuki Takagi <[email protected]>
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| - path: /autoware/modes/local | ||
| type: and | ||
| list: | ||
| - { type: link, link: /autoware/vehicle } | ||
| - { type: link, link: /autoware/system } | ||
| - { type: link, link: /autoware/control/local } | ||
| type: stale | ||
|
|
||
| - path: /autoware/modes/remote | ||
| type: and | ||
| list: | ||
| - { type: link, link: /autoware/vehicle } | ||
| - { type: link, link: /autoware/system } | ||
| - { type: link, link: /autoware/control/remote } | ||
| type: stale |
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Do not set these types to stale as this will disable local and remote modes.
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| - { type: link, link: /planning/001-topic_status/route-error } | ||
| - { type: link, link: /planning/001-topic_status/trajectory-error } | ||
| - { type: link, link: /planning/003-trajectory_finite_validation-error } | ||
| - { type: link, link: /planning/004-trajectory_interval_validation-error } | ||
| - { type: link, link: /planning/005-trajectory_curvature_validation-error } | ||
| - { type: link, link: /planning/006-trajectory_relative_angle_validation-error } | ||
| - { type: link, link: /planning/007-trajectory_lateral_acceleration_validation-error } | ||
| - { type: link, link: /planning/008-trajectory_acceleration_validation-error } | ||
| - { type: link, link: /planning/009-trajectory_deceleration_validation-error } | ||
| - { type: link, link: /planning/010-trajectory_steering_validation-error } | ||
| - { type: link, link: /planning/011-trajectory_steering_rate_validation-error } | ||
| - { type: link, link: /planning/012-trajectory_velocity_deviation_validation-error } |
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What does this number indicate?
| @@ -1,90 +1,203 @@ | |||
| units: | |||
| - path: /autoware/planning | |||
| type: short-circuit-and | |||
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The short-circuit-and type means that if an element has an error, the diagnostics for the following elements should not be evaluated. This does not seem to be maintained in the new configuration.
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Description
This PR provides concrete diag settings for planning/control/vehicle components
Related links
This PR is a part of #1221
Tests performed
psim and scenario tests
Notes for reviewers
Interface changes
ROS Topic Changes
ROS Parameter Changes
Effects on system behavior
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