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feat(system_diagnostic_monitor): set concrete diag settings for planning/control/vehicle #1239
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yuki-takagi-66
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131 changes: 96 additions & 35 deletions
131
autoware_launch/config/system/system_diagnostic_monitor/control.yaml
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -1,68 +1,129 @@ | ||
| units: | ||
| - path: /autoware/control | ||
| - path: /control/autonomous_available | ||
| 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 } | ||
|
|
||
| - path: /autoware/control/local | ||
| - { type: link, link: /control/emergency_stop } | ||
| - { type: link, link: /control/pull_over } | ||
| - { type: link, link: /control/comfortable_stop } | ||
|
|
||
| - path: /control/pull_over_available | ||
| 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 } | ||
| - { type: link, link: /control/emergency_stop } | ||
| - { type: link, link: /control/comfortable_stop } | ||
|
|
||
| - path: /autoware/control/remote | ||
| - path: /control/comfortable_stop_available | ||
| 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 } | ||
| - { type: link, link: /control/emergency_stop } | ||
|
|
||
| - path: /autoware/control/topic_rate_check/trajectory_follower | ||
| type: diag | ||
| node: topic_state_monitor_trajectory_follower_control_cmd | ||
| name: control_topic_status | ||
| # ******************************************************************************* | ||
| # NOTE: Please modify this section according to your environment and requirements. | ||
| # ******************************************************************************* | ||
| - path: /control/emergency_stop | ||
| type: and | ||
| list: | ||
| - { type: link, link: /control/001-topic_status/control_command-error } | ||
| - { type: link, link: /control/004-lane_departure-error } | ||
| - { type: link, link: /control/005-trajectory_deviation-error } | ||
| - { type: link, link: /control/009-aeb_emergency_stop } | ||
| # - { type: link, link: /control/010-max_distance_deviation-error } | ||
| # - { type: link, link: /control/011-slip_detection } | ||
| - { type: link, link: /control/collision_detector } | ||
|
|
||
| - path: /control/comfortable_stop | ||
| type: and | ||
|
|
||
| - path: /control/pull_over | ||
| type: and | ||
|
|
||
| - path: /control/none | ||
| type: and | ||
| list: | ||
| - { type: link, link: /control/003-gate_heartbeat } | ||
| - { type: link, link: /control/007-external_command_converter_heartbeat } | ||
| - { type: link, link: /control/008-external_command_selector_heartbeat } | ||
|
|
||
| # Intermediate paths | ||
| - path: /control/001-topic_status/control_command-error | ||
| type: warn-to-ok | ||
| item: | ||
| type: link | ||
| link: /control/001-topic_status/control_command | ||
|
|
||
| - path: /control/004-lane_departure-error | ||
| type: warn-to-ok | ||
| item: | ||
| type: link | ||
| link: /control/004-lane_departure | ||
|
|
||
| - path: /control/005-trajectory_deviation-error | ||
| type: warn-to-ok | ||
| item: | ||
| type: link | ||
| link: /control/005-trajectory_deviation | ||
|
|
||
| - path: /control/010-max_distance_deviation-error | ||
| type: warn-to-ok | ||
| item: | ||
| type: link | ||
| link: /control/010-max_distance_deviation | ||
|
|
||
| - path: /autoware/control/topic_rate_check/control_command | ||
| - path: /control/001-topic_status/control_command | ||
| type: diag | ||
| node: topic_state_monitor_control_command_control_cmd | ||
| name: control_topic_status | ||
| timeout: 1.0 | ||
|
|
||
| - path: /autoware/control/node_alive_monitoring/vehicle_cmd_gate | ||
| - path: /control/003-gate_heartbeat | ||
| type: diag | ||
| node: vehicle_cmd_gate | ||
| name: heartbeat | ||
| timeout: 1.0 | ||
|
|
||
| - path: /autoware/control/emergency_braking | ||
| type: diag | ||
| node: autonomous_emergency_braking | ||
| name: aeb_emergency_stop | ||
|
|
||
| - path: /autoware/control/performance_monitoring/lane_departure | ||
| - path: /control/004-lane_departure | ||
| type: diag | ||
| node: lane_departure_checker_node | ||
| name: lane_departure | ||
| timeout: 1.0 | ||
|
|
||
| - path: /autoware/control/performance_monitoring/trajectory_deviation | ||
| - path: /control/005-trajectory_deviation | ||
| type: diag | ||
| node: lane_departure_checker_node | ||
| name: trajectory_deviation | ||
| timeout: 1.0 | ||
|
|
||
| - path: /autoware/control/performance_monitoring/control_state | ||
| - path: /control/007-external_command_converter_heartbeat | ||
| type: diag | ||
| node: controller_node_exe | ||
| name: control_state | ||
| node: external_cmd_converter | ||
| name: remote_control_topic_status | ||
| timeout: 1.0 | ||
|
|
||
| - path: /autoware/control/topic_rate_check/external_cmd_selector | ||
| - path: /control/008-external_command_selector_heartbeat | ||
| type: diag | ||
| node: external_cmd_selector | ||
| name: heartbeat | ||
| timeout: 1.0 | ||
|
|
||
| - path: /autoware/control/topic_rate_check/external_cmd_converter | ||
| - path: /control/009-aeb_emergency_stop | ||
| type: diag | ||
| node: external_cmd_converter | ||
| name: remote_control_topic_status | ||
| node: autonomous_emergency_braking | ||
| name: aeb_emergency_stop | ||
| timeout: 1.0 | ||
|
|
||
| - path: /control/010-max_distance_deviation | ||
| type: diag | ||
| node: control_validator | ||
| name: control_validation_max_distance_deviation | ||
| timeout: 1.0 | ||
|
|
||
| - path: /control/011-slip_detection | ||
| type: diag | ||
| node: slip_detector | ||
| name: slip_status | ||
| timeout: 3.0 | ||
|
|
||
| - path: /control/collision_detector | ||
| type: diag | ||
| node: collision_detector | ||
| name: collision_detect |
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Do not set these types to stale as this will disable local and remote modes.