From 569922cd7a010fe5cc619049db66af07e60d1275 Mon Sep 17 00:00:00 2001 From: Takayuki Murooka Date: Mon, 15 Jan 2024 00:25:32 +0900 Subject: [PATCH 01/25] feat: use obstacle_cruise_planner and change safe_distance_margin Signed-off-by: Takayuki Murooka --- autoware_launch/config/planning/preset/default_preset.yaml | 2 +- .../obstacle_cruise_planner/obstacle_cruise_planner.param.yaml | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/autoware_launch/config/planning/preset/default_preset.yaml b/autoware_launch/config/planning/preset/default_preset.yaml index 7bd3dd26b3..8954026761 100644 --- a/autoware_launch/config/planning/preset/default_preset.yaml +++ b/autoware_launch/config/planning/preset/default_preset.yaml @@ -94,7 +94,7 @@ launch: - arg: name: motion_stop_planner_type - default: obstacle_stop_planner + default: obstacle_cruise_planner # option: obstacle_stop_planner # obstacle_cruise_planner # none diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/obstacle_cruise_planner.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/obstacle_cruise_planner.param.yaml index 90e897fda3..4d38226c26 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/obstacle_cruise_planner.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/obstacle_cruise_planner.param.yaml @@ -12,7 +12,7 @@ idling_time: 2.0 # idling time to detect front vehicle starting deceleration [s] min_ego_accel_for_rss: -1.0 # ego's acceleration to calculate RSS distance [m/ss] min_object_accel_for_rss: -1.0 # front obstacle's acceleration to calculate RSS distance [m/ss] - safe_distance_margin : 6.0 # This is also used as a stop margin [m] + safe_distance_margin : 5.0 # This is also used as a stop margin [m] terminal_safe_distance_margin : 3.0 # Stop margin at the goal. This value cannot exceed safe distance margin. [m] hold_stop_velocity_threshold: 0.01 # The maximum ego velocity to hold stopping [m/s] hold_stop_distance_threshold: 0.3 # The ego keeps stopping if the distance to stop changes within the threshold [m] From 40935760292c21974bd17e70438dec137c1ace54 Mon Sep 17 00:00:00 2001 From: Takayuki Murooka Date: Mon, 15 Jan 2024 00:26:09 +0900 Subject: [PATCH 02/25] feat: set max_vel to 40km/h Signed-off-by: Takayuki Murooka --- .../motion_velocity_smoother.param.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/autoware_launch/config/planning/scenario_planning/common/motion_velocity_smoother/motion_velocity_smoother.param.yaml b/autoware_launch/config/planning/scenario_planning/common/motion_velocity_smoother/motion_velocity_smoother.param.yaml index 235c76a5c1..44450b1848 100644 --- a/autoware_launch/config/planning/scenario_planning/common/motion_velocity_smoother/motion_velocity_smoother.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/common/motion_velocity_smoother/motion_velocity_smoother.param.yaml @@ -1,7 +1,7 @@ /**: ros__parameters: # motion state constraints - max_velocity: 20.0 # max velocity limit [m/s] + max_velocity: 11.1 # max velocity limit [m/s] stop_decel: 0.0 # deceleration at a stop point[m/ss] # external velocity limit parameter From df2779015b1b807ce70a4a62487d885c4156be6a Mon Sep 17 00:00:00 2001 From: Takayuki Murooka Date: Tue, 16 Jan 2024 11:31:15 +0900 Subject: [PATCH 03/25] feat: enable surround_obstacle_checker Signed-off-by: Takayuki Murooka --- .../launch/components/tier4_planning_component.launch.xml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/autoware_launch/launch/components/tier4_planning_component.launch.xml b/autoware_launch/launch/components/tier4_planning_component.launch.xml index 06740146f5..a6b5744f1b 100644 --- a/autoware_launch/launch/components/tier4_planning_component.launch.xml +++ b/autoware_launch/launch/components/tier4_planning_component.launch.xml @@ -8,7 +8,7 @@ - + From 39191f2dc0b589c61a592303f1cca8fd73a19200 Mon Sep 17 00:00:00 2001 From: Takayuki Murooka Date: Tue, 16 Jan 2024 16:13:18 +0900 Subject: [PATCH 04/25] feat: enable surround_obstacle_checker Signed-off-by: Takayuki Murooka --- autoware_launch/config/planning/preset/default_preset.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/autoware_launch/config/planning/preset/default_preset.yaml b/autoware_launch/config/planning/preset/default_preset.yaml index b57696d324..7c4b452bbf 100644 --- a/autoware_launch/config/planning/preset/default_preset.yaml +++ b/autoware_launch/config/planning/preset/default_preset.yaml @@ -112,7 +112,7 @@ launch: - arg: name: launch_surround_obstacle_checker - default: "false" + default: "true" # parking modules - arg: From 1e6387a7bdfd1c00afa9a727d68d122d1d766ba6 Mon Sep 17 00:00:00 2001 From: Takayuki Murooka Date: Mon, 22 Jan 2024 02:04:51 +0900 Subject: [PATCH 05/25] feat: enable dynamic_avoidance and disable outside_drivable_area_stop Signed-off-by: Takayuki Murooka --- autoware_launch/config/planning/preset/default_preset.yaml | 2 +- .../obstacle_avoidance_planner.param.yaml | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/autoware_launch/config/planning/preset/default_preset.yaml b/autoware_launch/config/planning/preset/default_preset.yaml index 7c4b452bbf..72921af441 100644 --- a/autoware_launch/config/planning/preset/default_preset.yaml +++ b/autoware_launch/config/planning/preset/default_preset.yaml @@ -8,7 +8,7 @@ launch: default: "true" - arg: name: launch_dynamic_avoidance_module - default: "false" + default: "true" - arg: name: launch_lane_change_right_module default: "true" diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_avoidance_planner/obstacle_avoidance_planner.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_avoidance_planner/obstacle_avoidance_planner.param.yaml index db89a81e47..17a044fb67 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_avoidance_planner/obstacle_avoidance_planner.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_avoidance_planner/obstacle_avoidance_planner.param.yaml @@ -3,7 +3,7 @@ option: enable_skip_optimization: false # skip elastic band and model predictive trajectory enable_reset_prev_optimization: false # If true, optimization has no fix constraint to the previous result. - enable_outside_drivable_area_stop: true # stop if the ego's trajectory footprint is outside the drivable area + enable_outside_drivable_area_stop: false # stop if the ego's trajectory footprint is outside the drivable area use_footprint_polygon_for_outside_drivable_area_check: false # If false, only the footprint's corner points are considered. debug: From 45bb96c523138405c90f533b007f22968994c7af Mon Sep 17 00:00:00 2001 From: Takayuki Murooka Date: Wed, 6 Mar 2024 22:47:49 +0900 Subject: [PATCH 06/25] feat: disable AEB and set the maximum velocity to 40km/h Signed-off-by: Takayuki Murooka --- .../config/planning/scenario_planning/common/common.param.yaml | 2 +- .../launch/components/tier4_control_component.launch.xml | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/autoware_launch/config/planning/scenario_planning/common/common.param.yaml b/autoware_launch/config/planning/scenario_planning/common/common.param.yaml index 0dba945718..face8610c7 100644 --- a/autoware_launch/config/planning/scenario_planning/common/common.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/common/common.param.yaml @@ -1,6 +1,6 @@ /**: ros__parameters: - max_vel: 4.17 # max velocity limit [m/s] + max_vel: 11.1 # max velocity limit [m/s] # constraints param for normal driving normal: diff --git a/autoware_launch/launch/components/tier4_control_component.launch.xml b/autoware_launch/launch/components/tier4_control_component.launch.xml index 5c3cf06ad0..d15e050d7a 100644 --- a/autoware_launch/launch/components/tier4_control_component.launch.xml +++ b/autoware_launch/launch/components/tier4_control_component.launch.xml @@ -4,7 +4,7 @@ - + From ae6d0bb952374ac38ff6752dcc69a0827b0a6d68 Mon Sep 17 00:00:00 2001 From: Mamoru Sobue Date: Tue, 19 Mar 2024 23:53:45 +0900 Subject: [PATCH 07/25] enable intersection_occlusion detection Signed-off-by: Mamoru Sobue --- .../behavior_velocity_planner/intersection.param.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/intersection.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/intersection.param.yaml index 68d4070cbf..abd12a9470 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/intersection.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_velocity_planner/intersection.param.yaml @@ -89,7 +89,7 @@ object_time_margin_to_collision_point: 4.0 occlusion: - enable: false + enable: true occlusion_attention_area_length: 70.0 free_space_max: 43 occupied_min: 58 From d8b1c9199fe76bc85213d54d9fd92b33bb136fbe Mon Sep 17 00:00:00 2001 From: Satoshi OTA <44889564+satoshi-ota@users.noreply.github.com> Date: Mon, 3 Jun 2024 21:16:19 +0900 Subject: [PATCH 08/25] chore(planning_launch): update motion module name (#1014) Signed-off-by: satoshi-ota --- .../config/planning/preset/default_preset.yaml | 6 +++--- .../Analytical.param.yaml | 0 .../JerkFiltered.param.yaml | 0 .../L2.param.yaml | 0 .../Linf.param.yaml | 0 .../velocity_smoother.param.yaml} | 0 .../path_optimizer.param.yaml} | 0 .../components/tier4_planning_component.launch.xml | 13 ++++++++----- autoware_launch/rviz/autoware.rviz | 2 +- 9 files changed, 12 insertions(+), 9 deletions(-) rename autoware_launch/config/planning/scenario_planning/common/{motion_velocity_smoother => autoware_velocity_smoother}/Analytical.param.yaml (100%) rename autoware_launch/config/planning/scenario_planning/common/{motion_velocity_smoother => autoware_velocity_smoother}/JerkFiltered.param.yaml (100%) rename autoware_launch/config/planning/scenario_planning/common/{motion_velocity_smoother => autoware_velocity_smoother}/L2.param.yaml (100%) rename autoware_launch/config/planning/scenario_planning/common/{motion_velocity_smoother => autoware_velocity_smoother}/Linf.param.yaml (100%) rename autoware_launch/config/planning/scenario_planning/common/{motion_velocity_smoother/motion_velocity_smoother.param.yaml => autoware_velocity_smoother/velocity_smoother.param.yaml} (100%) rename autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/{obstacle_avoidance_planner/obstacle_avoidance_planner.param.yaml => autoware_path_optimizer/path_optimizer.param.yaml} (100%) diff --git a/autoware_launch/config/planning/preset/default_preset.yaml b/autoware_launch/config/planning/preset/default_preset.yaml index 82fbd43399..55c9de67ad 100644 --- a/autoware_launch/config/planning/preset/default_preset.yaml +++ b/autoware_launch/config/planning/preset/default_preset.yaml @@ -93,8 +93,8 @@ launch: - arg: name: motion_path_planner_type - default: obstacle_avoidance_planner - # option: obstacle_avoidance_planner + default: path_optimizer + # option: path_optimizer # path_sampler # none @@ -111,7 +111,7 @@ launch: # none - arg: - name: motion_velocity_smoother_type + name: velocity_smoother_type default: JerkFiltered # option: JerkFiltered # L2 diff --git a/autoware_launch/config/planning/scenario_planning/common/motion_velocity_smoother/Analytical.param.yaml b/autoware_launch/config/planning/scenario_planning/common/autoware_velocity_smoother/Analytical.param.yaml similarity index 100% rename from autoware_launch/config/planning/scenario_planning/common/motion_velocity_smoother/Analytical.param.yaml rename to autoware_launch/config/planning/scenario_planning/common/autoware_velocity_smoother/Analytical.param.yaml diff --git a/autoware_launch/config/planning/scenario_planning/common/motion_velocity_smoother/JerkFiltered.param.yaml b/autoware_launch/config/planning/scenario_planning/common/autoware_velocity_smoother/JerkFiltered.param.yaml similarity index 100% rename from autoware_launch/config/planning/scenario_planning/common/motion_velocity_smoother/JerkFiltered.param.yaml rename to autoware_launch/config/planning/scenario_planning/common/autoware_velocity_smoother/JerkFiltered.param.yaml diff --git a/autoware_launch/config/planning/scenario_planning/common/motion_velocity_smoother/L2.param.yaml b/autoware_launch/config/planning/scenario_planning/common/autoware_velocity_smoother/L2.param.yaml similarity index 100% rename from autoware_launch/config/planning/scenario_planning/common/motion_velocity_smoother/L2.param.yaml rename to autoware_launch/config/planning/scenario_planning/common/autoware_velocity_smoother/L2.param.yaml diff --git a/autoware_launch/config/planning/scenario_planning/common/motion_velocity_smoother/Linf.param.yaml b/autoware_launch/config/planning/scenario_planning/common/autoware_velocity_smoother/Linf.param.yaml similarity index 100% rename from autoware_launch/config/planning/scenario_planning/common/motion_velocity_smoother/Linf.param.yaml rename to autoware_launch/config/planning/scenario_planning/common/autoware_velocity_smoother/Linf.param.yaml diff --git a/autoware_launch/config/planning/scenario_planning/common/motion_velocity_smoother/motion_velocity_smoother.param.yaml b/autoware_launch/config/planning/scenario_planning/common/autoware_velocity_smoother/velocity_smoother.param.yaml similarity index 100% rename from autoware_launch/config/planning/scenario_planning/common/motion_velocity_smoother/motion_velocity_smoother.param.yaml rename to autoware_launch/config/planning/scenario_planning/common/autoware_velocity_smoother/velocity_smoother.param.yaml diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_avoidance_planner/obstacle_avoidance_planner.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/autoware_path_optimizer/path_optimizer.param.yaml similarity index 100% rename from autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_avoidance_planner/obstacle_avoidance_planner.param.yaml rename to autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/autoware_path_optimizer/path_optimizer.param.yaml diff --git a/autoware_launch/launch/components/tier4_planning_component.launch.xml b/autoware_launch/launch/components/tier4_planning_component.launch.xml index c9f4e2ceae..5a48ea8908 100644 --- a/autoware_launch/launch/components/tier4_planning_component.launch.xml +++ b/autoware_launch/launch/components/tier4_planning_component.launch.xml @@ -43,7 +43,7 @@ - + @@ -68,7 +68,7 @@ - + @@ -77,11 +77,14 @@ - + - - + + diff --git a/autoware_launch/rviz/autoware.rviz b/autoware_launch/rviz/autoware.rviz index 627d9e8923..5e7cba18cf 100644 --- a/autoware_launch/rviz/autoware.rviz +++ b/autoware_launch/rviz/autoware.rviz @@ -2127,7 +2127,7 @@ Visualization Manager: Durability Policy: Volatile History Policy: Keep Last Reliability Policy: Reliable - Value: /planning/scenario_planning/motion_velocity_smoother/virtual_wall + Value: /planning/scenario_planning/velocity_smoother/virtual_wall Value: true - Class: rviz_default_plugins/MarkerArray Enabled: true From 2fd46d00be5c8265243247cd4815bdc25ee9ac79 Mon Sep 17 00:00:00 2001 From: Daniel Sanchez Date: Thu, 20 Jun 2024 10:09:27 +0900 Subject: [PATCH 09/25] disable AEB diag check Signed-off-by: Daniel Sanchez --- .../system/diagnostic_graph_aggregator/autoware-awsim.yaml | 1 + .../system/diagnostic_graph_aggregator/autoware-main.yaml | 3 +++ .../system/diagnostic_graph_aggregator/autoware-psim.yaml | 3 +++ 3 files changed, 7 insertions(+) diff --git a/autoware_launch/config/system/diagnostic_graph_aggregator/autoware-awsim.yaml b/autoware_launch/config/system/diagnostic_graph_aggregator/autoware-awsim.yaml index 9950acbc7e..7f002b1380 100644 --- a/autoware_launch/config/system/diagnostic_graph_aggregator/autoware-awsim.yaml +++ b/autoware_launch/config/system/diagnostic_graph_aggregator/autoware-awsim.yaml @@ -3,3 +3,4 @@ files: edits: - { type: remove, path: /autoware/system/duplicated_node_checker } + - { type: remove, path: /autoware/control/emergency_braking } diff --git a/autoware_launch/config/system/diagnostic_graph_aggregator/autoware-main.yaml b/autoware_launch/config/system/diagnostic_graph_aggregator/autoware-main.yaml index 42af3f79a3..f35f219df6 100644 --- a/autoware_launch/config/system/diagnostic_graph_aggregator/autoware-main.yaml +++ b/autoware_launch/config/system/diagnostic_graph_aggregator/autoware-main.yaml @@ -1,2 +1,5 @@ files: - { path: $(find-pkg-share system_diagnostic_monitor)/config/autoware-main.yaml } + +edits: + - { type: remove, path: /autoware/control/emergency_braking } diff --git a/autoware_launch/config/system/diagnostic_graph_aggregator/autoware-psim.yaml b/autoware_launch/config/system/diagnostic_graph_aggregator/autoware-psim.yaml index dfc820f93c..e11f391606 100644 --- a/autoware_launch/config/system/diagnostic_graph_aggregator/autoware-psim.yaml +++ b/autoware_launch/config/system/diagnostic_graph_aggregator/autoware-psim.yaml @@ -1,2 +1,5 @@ files: - { path: $(find-pkg-share system_diagnostic_monitor)/config/autoware-psim.yaml } + +edits: + - { type: remove, path: /autoware/control/emergency_braking } From 321cffa4237a625acaa04637ba64799fe06c3222 Mon Sep 17 00:00:00 2001 From: Takamasa Horibe Date: Thu, 20 Jun 2024 15:16:34 +0900 Subject: [PATCH 10/25] feat(diagnostic_graph_utils): launch logging node for diagnostic_graph Signed-off-by: Takamasa Horibe --- .../launch/components/tier4_system_component.launch.xml | 7 +++++++ 1 file changed, 7 insertions(+) diff --git a/autoware_launch/launch/components/tier4_system_component.launch.xml b/autoware_launch/launch/components/tier4_system_component.launch.xml index d5082a91e8..6fda11ac7a 100644 --- a/autoware_launch/launch/components/tier4_system_component.launch.xml +++ b/autoware_launch/launch/components/tier4_system_component.launch.xml @@ -34,4 +34,11 @@ + + + + + + + From 14946c04dc8f3eb5867a12802db568c2e6f98117 Mon Sep 17 00:00:00 2001 From: Kosuke Takeuchi Date: Thu, 18 Jul 2024 17:35:11 +0900 Subject: [PATCH 11/25] feat(api): set launch_deprecated_api true (#496) feat(api): launch_deprecated_api=true Signed-off-by: kosuke55 --- .../components/tier4_autoware_api_component.launch.xml | 5 +++-- 1 file changed, 3 insertions(+), 2 deletions(-) diff --git a/autoware_launch/launch/components/tier4_autoware_api_component.launch.xml b/autoware_launch/launch/components/tier4_autoware_api_component.launch.xml index 1c7b520108..bc582fbb9a 100644 --- a/autoware_launch/launch/components/tier4_autoware_api_component.launch.xml +++ b/autoware_launch/launch/components/tier4_autoware_api_component.launch.xml @@ -1,7 +1,8 @@ - - + + + From 1b046040129bc661ffa1993888cbe8e6b114ade8 Mon Sep 17 00:00:00 2001 From: Kosuke Takeuchi Date: Fri, 19 Jul 2024 14:00:39 +0900 Subject: [PATCH 12/25] fix(api): disable rosbridge to fix duplicated node (#497) Signed-off-by: kosuke55 --- .../launch/components/tier4_autoware_api_component.launch.xml | 2 -- 1 file changed, 2 deletions(-) diff --git a/autoware_launch/launch/components/tier4_autoware_api_component.launch.xml b/autoware_launch/launch/components/tier4_autoware_api_component.launch.xml index bc582fbb9a..2b6083bed6 100644 --- a/autoware_launch/launch/components/tier4_autoware_api_component.launch.xml +++ b/autoware_launch/launch/components/tier4_autoware_api_component.launch.xml @@ -2,7 +2,5 @@ - - From 2f787838cbc0ea7ae31738194020cae3f1263dd9 Mon Sep 17 00:00:00 2001 From: Kosuke Takeuchi Date: Thu, 1 Aug 2024 11:23:49 +0900 Subject: [PATCH 13/25] Revert "fix(api): disable rosbridge to fix duplicated node" (#523) Revert "fix(api): disable rosbridge to fix duplicated node (#497)" This reverts commit 1b046040129bc661ffa1993888cbe8e6b114ade8. --- .../launch/components/tier4_autoware_api_component.launch.xml | 2 ++ 1 file changed, 2 insertions(+) diff --git a/autoware_launch/launch/components/tier4_autoware_api_component.launch.xml b/autoware_launch/launch/components/tier4_autoware_api_component.launch.xml index 2b6083bed6..bc582fbb9a 100644 --- a/autoware_launch/launch/components/tier4_autoware_api_component.launch.xml +++ b/autoware_launch/launch/components/tier4_autoware_api_component.launch.xml @@ -2,5 +2,7 @@ + + From 6ed90f92c382140de55e44c64078a08e666fa0e4 Mon Sep 17 00:00:00 2001 From: Yuki TAKAGI <141538661+yuki-takagi-66@users.noreply.github.com> Date: Tue, 1 Oct 2024 17:28:17 +0900 Subject: [PATCH 14/25] revert(obstacle_cruise): revert an awf change (#617) Revert "fix(obstacle_cruise_planner): tune obstacle_cruise_planner for cruising front NPCs in dense urban ODD scenarios (#1166)" --- .../obstacle_cruise_planner.param.yaml | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/obstacle_cruise_planner.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/obstacle_cruise_planner.param.yaml index 3de8577c60..5f27fef6fb 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/obstacle_cruise_planner.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/obstacle_cruise_planner.param.yaml @@ -88,8 +88,8 @@ stop_obstacle_hold_time_threshold : 1.0 # maximum time for holding closest stop obstacle # hysteresis for cruise and stop - obstacle_velocity_threshold_from_cruise_to_stop : 1.0 # stop planning is executed to the obstacle whose velocity is less than this value [m/s] - obstacle_velocity_threshold_from_stop_to_cruise : 1.5 # stop planning is executed to the obstacle whose velocity is less than this value [m/s] + obstacle_velocity_threshold_from_cruise_to_stop : 3.0 # stop planning is executed to the obstacle whose velocity is less than this value [m/s] + obstacle_velocity_threshold_from_stop_to_cruise : 3.5 # stop planning is executed to the obstacle whose velocity is less than this value [m/s] # if crossing vehicle is determined as target obstacles or not crossing_obstacle: From 53cd6f32274b2e82227d92c4df88c109638ae78c Mon Sep 17 00:00:00 2001 From: Yuki TAKAGI <141538661+yuki-takagi-66@users.noreply.github.com> Date: Thu, 10 Oct 2024 15:51:38 +0900 Subject: [PATCH 15/25] revert(obstacle_cruise): reduce using predicted paths to maintain conventional behavior (#621) Signed-off-by: Yuki Takagi --- .../obstacle_cruise_planner/obstacle_cruise_planner.param.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/obstacle_cruise_planner.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/obstacle_cruise_planner.param.yaml index d37554eba7..d31c30ce61 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/obstacle_cruise_planner.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_cruise_planner/obstacle_cruise_planner.param.yaml @@ -126,7 +126,7 @@ ego_obstacle_overlap_time_threshold : 0.2 # time threshold to decide cut-in obstacle for cruise or stop [s] max_prediction_time_for_collision_check : 10.0 # prediction time to check collision between obstacle and ego max_lateral_time_margin: 5.0 # time threshold of lateral margin between obstacle and trajectory band with ego's width [s] - num_of_predicted_paths: 3 # number of the highest confidence predicted path to check collision between obstacle and ego + num_of_predicted_paths: 1 # number of the highest confidence predicted path to check collision between obstacle and ego yield: enable_yield: true lat_distance_threshold: 5.0 # lateral margin between obstacle in neighbor lanes and trajectory band with ego's width for yielding From 39b51361df7de62b1d263276fc85154b2666bf2d Mon Sep 17 00:00:00 2001 From: kyoichi-sugahara Date: Thu, 10 Oct 2024 18:19:38 +0900 Subject: [PATCH 16/25] Remove emergency braking from autoware-psim.yaml and enable autonomous emergency braking in tier4_control_component.launch.xml Signed-off-by: kyoichi-sugahara --- .../system/diagnostic_graph_aggregator/autoware-psim.yaml | 3 --- .../launch/components/tier4_control_component.launch.xml | 2 +- 2 files changed, 1 insertion(+), 4 deletions(-) diff --git a/autoware_launch/config/system/diagnostic_graph_aggregator/autoware-psim.yaml b/autoware_launch/config/system/diagnostic_graph_aggregator/autoware-psim.yaml index e11f391606..dfc820f93c 100644 --- a/autoware_launch/config/system/diagnostic_graph_aggregator/autoware-psim.yaml +++ b/autoware_launch/config/system/diagnostic_graph_aggregator/autoware-psim.yaml @@ -1,5 +1,2 @@ files: - { path: $(find-pkg-share system_diagnostic_monitor)/config/autoware-psim.yaml } - -edits: - - { type: remove, path: /autoware/control/emergency_braking } diff --git a/autoware_launch/launch/components/tier4_control_component.launch.xml b/autoware_launch/launch/components/tier4_control_component.launch.xml index bfa64229ee..a66ed49405 100644 --- a/autoware_launch/launch/components/tier4_control_component.launch.xml +++ b/autoware_launch/launch/components/tier4_control_component.launch.xml @@ -4,7 +4,7 @@ - + From 487faa67a1ea440687f5897735d14826e32dca9c Mon Sep 17 00:00:00 2001 From: Yuki TAKAGI <141538661+yuki-takagi-66@users.noreply.github.com> Date: Thu, 31 Oct 2024 19:30:52 +0900 Subject: [PATCH 17/25] revert(diagnostic_graph_aggregeator): revert aeb diag (#646) delete remove Signed-off-by: Yuki Takagi --- .../system/diagnostic_graph_aggregator/autoware-awsim.yaml | 1 - .../system/diagnostic_graph_aggregator/autoware-main.yaml | 3 --- 2 files changed, 4 deletions(-) diff --git a/autoware_launch/config/system/diagnostic_graph_aggregator/autoware-awsim.yaml b/autoware_launch/config/system/diagnostic_graph_aggregator/autoware-awsim.yaml index 7f002b1380..9950acbc7e 100644 --- a/autoware_launch/config/system/diagnostic_graph_aggregator/autoware-awsim.yaml +++ b/autoware_launch/config/system/diagnostic_graph_aggregator/autoware-awsim.yaml @@ -3,4 +3,3 @@ files: edits: - { type: remove, path: /autoware/system/duplicated_node_checker } - - { type: remove, path: /autoware/control/emergency_braking } diff --git a/autoware_launch/config/system/diagnostic_graph_aggregator/autoware-main.yaml b/autoware_launch/config/system/diagnostic_graph_aggregator/autoware-main.yaml index f35f219df6..42af3f79a3 100644 --- a/autoware_launch/config/system/diagnostic_graph_aggregator/autoware-main.yaml +++ b/autoware_launch/config/system/diagnostic_graph_aggregator/autoware-main.yaml @@ -1,5 +1,2 @@ files: - { path: $(find-pkg-share system_diagnostic_monitor)/config/autoware-main.yaml } - -edits: - - { type: remove, path: /autoware/control/emergency_braking } From b181ae1efb3d3a72c3af237be998a6674bcc3b81 Mon Sep 17 00:00:00 2001 From: Go Sakayori Date: Thu, 7 Nov 2024 12:07:59 +0900 Subject: [PATCH 18/25] enable collision_detector Signed-off-by: Go Sakayori --- .../config/system/system_diagnostic_monitor/control.yaml | 6 ++++++ .../launch/components/tier4_control_component.launch.xml | 2 +- 2 files changed, 7 insertions(+), 1 deletion(-) diff --git a/autoware_launch/config/system/system_diagnostic_monitor/control.yaml b/autoware_launch/config/system/system_diagnostic_monitor/control.yaml index 5551ed4575..32877af749 100644 --- a/autoware_launch/config/system/system_diagnostic_monitor/control.yaml +++ b/autoware_launch/config/system/system_diagnostic_monitor/control.yaml @@ -9,6 +9,7 @@ units: - { 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 } + - { type: link, link: /autoware/control/collision_detector} - path: /autoware/control/local type: and @@ -66,3 +67,8 @@ units: type: diag node: external_cmd_converter name: remote_control_topic_status + + - path: /autoware/control/collision_detector + type: diag + node: collision_detector + name: collision_detect diff --git a/autoware_launch/launch/components/tier4_control_component.launch.xml b/autoware_launch/launch/components/tier4_control_component.launch.xml index 64061ce176..095d0a2c60 100644 --- a/autoware_launch/launch/components/tier4_control_component.launch.xml +++ b/autoware_launch/launch/components/tier4_control_component.launch.xml @@ -6,7 +6,7 @@ - + From d890e00678cee4d4f908e4689b087e26ceefebdc Mon Sep 17 00:00:00 2001 From: "pre-commit-ci[bot]" <66853113+pre-commit-ci[bot]@users.noreply.github.com> Date: Thu, 7 Nov 2024 07:39:35 +0000 Subject: [PATCH 19/25] style(pre-commit): autofix --- .../config/system/system_diagnostic_monitor/control.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/autoware_launch/config/system/system_diagnostic_monitor/control.yaml b/autoware_launch/config/system/system_diagnostic_monitor/control.yaml index 32877af749..6a04ed6714 100644 --- a/autoware_launch/config/system/system_diagnostic_monitor/control.yaml +++ b/autoware_launch/config/system/system_diagnostic_monitor/control.yaml @@ -9,7 +9,7 @@ units: - { 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 } - - { type: link, link: /autoware/control/collision_detector} + - { type: link, link: /autoware/control/collision_detector } - path: /autoware/control/local type: and From 69ab8e036cfaaf6eb2c2d5327400e55a714251aa Mon Sep 17 00:00:00 2001 From: xtk8532704 <1041084556@qq.com> Date: Fri, 25 Oct 2024 17:28:20 +0900 Subject: [PATCH 20/25] change the old diagnostic_convertor to scenario_simulator_v2_adapter. --- .../launch/components/tier4_simulator_component.launch.xml | 4 ++-- autoware_launch/launch/planning_simulator.launch.xml | 4 ++-- 2 files changed, 4 insertions(+), 4 deletions(-) diff --git a/autoware_launch/launch/components/tier4_simulator_component.launch.xml b/autoware_launch/launch/components/tier4_simulator_component.launch.xml index 504337c1a0..864088a40a 100644 --- a/autoware_launch/launch/components/tier4_simulator_component.launch.xml +++ b/autoware_launch/launch/components/tier4_simulator_component.launch.xml @@ -4,7 +4,7 @@ - + @@ -20,7 +20,7 @@ - + diff --git a/autoware_launch/launch/planning_simulator.launch.xml b/autoware_launch/launch/planning_simulator.launch.xml index 3aba78c292..798e6ec99b 100644 --- a/autoware_launch/launch/planning_simulator.launch.xml +++ b/autoware_launch/launch/planning_simulator.launch.xml @@ -88,14 +88,14 @@ - + - + From 28767b448f5d29f83311cfdbe836d97bcfefaea9 Mon Sep 17 00:00:00 2001 From: Takayuki Murooka Date: Tue, 19 Nov 2024 11:35:12 +0900 Subject: [PATCH 21/25] feat: enable MRM summary Signed-off-by: Takayuki Murooka --- autoware_launch/rviz/autoware.rviz | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/autoware_launch/rviz/autoware.rviz b/autoware_launch/rviz/autoware.rviz index c53d5d62e6..589c9cbfd5 100644 --- a/autoware_launch/rviz/autoware.rviz +++ b/autoware_launch/rviz/autoware.rviz @@ -269,13 +269,13 @@ Visualization Manager: Enabled: true Name: Vehicle - Class: rviz_plugins/MrmSummaryOverlayDisplay - Enabled: false + Enabled: true Font Size: 10 - Left: 512 + Left: 10 Max Letter Num: 100 Name: MRM Summary Text Color: 25; 255; 240 - Top: 64 + Top: 10 Topic: Depth: 5 Durability Policy: Volatile From 2bb31d0222095d44195ce8c08f8dc2244fe4f8bc Mon Sep 17 00:00:00 2001 From: Yuki Takagi Date: Mon, 25 Nov 2024 11:51:49 +0900 Subject: [PATCH 22/25] merge to new folder Signed-off-by: Yuki Takagi --- .../system/diagnostics/autoware-awsim.yaml | 5 + .../system/diagnostics/autoware-main.yaml | 70 ++++++++++ .../config/system/diagnostics/control.yaml | 74 +++++++++++ .../dummy_diag_publisher.param.yaml | 36 ++++++ .../config/system/diagnostics/hardware.yaml | 121 ++++++++++++++++++ .../system/diagnostics/localization.yaml | 43 +++++++ .../config/system/diagnostics/map.yaml | 16 +++ .../config/system/diagnostics/perception.yaml | 16 +++ .../config/system/diagnostics/planning.yaml | 90 +++++++++++++ .../config/system/diagnostics/system.yaml | 27 ++++ .../config/system/diagnostics/vehicle.yaml | 16 +++ 11 files changed, 514 insertions(+) create mode 100644 autoware_launch/config/system/diagnostics/autoware-awsim.yaml create mode 100644 autoware_launch/config/system/diagnostics/autoware-main.yaml create mode 100644 autoware_launch/config/system/diagnostics/control.yaml create mode 100644 autoware_launch/config/system/diagnostics/dummy_diag_publisher.param.yaml create mode 100644 autoware_launch/config/system/diagnostics/hardware.yaml create mode 100644 autoware_launch/config/system/diagnostics/localization.yaml create mode 100644 autoware_launch/config/system/diagnostics/map.yaml create mode 100644 autoware_launch/config/system/diagnostics/perception.yaml create mode 100644 autoware_launch/config/system/diagnostics/planning.yaml create mode 100644 autoware_launch/config/system/diagnostics/system.yaml create mode 100644 autoware_launch/config/system/diagnostics/vehicle.yaml diff --git a/autoware_launch/config/system/diagnostics/autoware-awsim.yaml b/autoware_launch/config/system/diagnostics/autoware-awsim.yaml new file mode 100644 index 0000000000..4abae34a31 --- /dev/null +++ b/autoware_launch/config/system/diagnostics/autoware-awsim.yaml @@ -0,0 +1,5 @@ +files: + - { path: $(dirname)/autoware-main.yaml } + +edits: + - { type: remove, path: /autoware/system/duplicated_node_checker } diff --git a/autoware_launch/config/system/diagnostics/autoware-main.yaml b/autoware_launch/config/system/diagnostics/autoware-main.yaml new file mode 100644 index 0000000000..fbbfe384f2 --- /dev/null +++ b/autoware_launch/config/system/diagnostics/autoware-main.yaml @@ -0,0 +1,70 @@ +files: + - { path: $(dirname)/control.yaml } + - { path: $(dirname)/localization.yaml } + - { path: $(dirname)/map.yaml } + - { path: $(dirname)/perception.yaml } + - { path: $(dirname)/planning.yaml } + - { path: $(dirname)/system.yaml } + - { path: $(dirname)/vehicle.yaml } + +units: + - path: /autoware/modes/local + type: and + list: + - { type: link, link: /autoware/vehicle } + - { type: link, link: /autoware/system } + - { type: link, link: /autoware/control/local } + + - path: /autoware/modes/remote + type: and + list: + - { type: link, link: /autoware/vehicle } + - { type: link, link: /autoware/system } + - { type: link, link: /autoware/control/remote } + + - path: /autoware/modes/stop + type: ok + + - path: /autoware/modes/autonomous + type: and + list: + - { type: link, link: /autoware/map } + - { type: link, link: /autoware/localization } + - { type: link, link: /autoware/planning } + - { type: link, link: /autoware/perception } + - { type: link, link: /autoware/control } + - { type: link, link: /autoware/vehicle } + - { type: link, link: /autoware/system } + + - path: /autoware/modes/pull_over + type: and + list: + - { type: link, link: /autoware/map } + - { type: link, link: /autoware/localization } + - { type: link, link: /autoware/planning } + - { type: link, link: /autoware/perception } + - { type: link, link: /autoware/control } + - { type: link, link: /autoware/vehicle } + - { type: link, link: /autoware/system } + + - path: /autoware/modes/comfortable_stop + type: and + list: + - { type: link, link: /autoware/map } + - { type: link, link: /autoware/localization } + - { type: link, link: /autoware/planning } + - { type: link, link: /autoware/perception } + - { type: link, link: /autoware/control } + - { type: link, link: /autoware/vehicle } + - { type: link, link: /autoware/system } + + - path: /autoware/modes/emergency_stop + type: and + list: + - { type: link, link: /autoware/vehicle } + - { type: link, link: /autoware/system } + + - path: /autoware/debug/tools + type: and + list: + - { type: link, link: /autoware/system/service_log_checker } diff --git a/autoware_launch/config/system/diagnostics/control.yaml b/autoware_launch/config/system/diagnostics/control.yaml new file mode 100644 index 0000000000..6a04ed6714 --- /dev/null +++ b/autoware_launch/config/system/diagnostics/control.yaml @@ -0,0 +1,74 @@ +units: + - path: /autoware/control + 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 } + - { type: link, link: /autoware/control/collision_detector } + + - path: /autoware/control/local + 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 } + + - path: /autoware/control/remote + 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 } + + - path: /autoware/control/topic_rate_check/trajectory_follower + type: diag + node: topic_state_monitor_trajectory_follower_control_cmd + name: control_topic_status + + - path: /autoware/control/topic_rate_check/control_command + type: diag + node: topic_state_monitor_control_command_control_cmd + name: control_topic_status + + - path: /autoware/control/node_alive_monitoring/vehicle_cmd_gate + type: diag + node: vehicle_cmd_gate + name: heartbeat + + - path: /autoware/control/emergency_braking + type: diag + node: autonomous_emergency_braking + name: aeb_emergency_stop + + - path: /autoware/control/performance_monitoring/lane_departure + type: diag + node: lane_departure_checker_node + name: lane_departure + + - path: /autoware/control/performance_monitoring/trajectory_deviation + type: diag + node: lane_departure_checker_node + name: trajectory_deviation + + - path: /autoware/control/performance_monitoring/control_state + type: diag + node: controller_node_exe + name: control_state + + - path: /autoware/control/topic_rate_check/external_cmd_selector + type: diag + node: external_cmd_selector + name: heartbeat + + - path: /autoware/control/topic_rate_check/external_cmd_converter + type: diag + node: external_cmd_converter + name: remote_control_topic_status + + - path: /autoware/control/collision_detector + type: diag + node: collision_detector + name: collision_detect diff --git a/autoware_launch/config/system/diagnostics/dummy_diag_publisher.param.yaml b/autoware_launch/config/system/diagnostics/dummy_diag_publisher.param.yaml new file mode 100644 index 0000000000..0ed824d3c8 --- /dev/null +++ b/autoware_launch/config/system/diagnostics/dummy_diag_publisher.param.yaml @@ -0,0 +1,36 @@ +# Description: +# required_diags: +# : {is_active: , status: } +# name: diag name +# is_active: Force update or not +# status: diag status set by dummy diag publisher "OK, Warn, Error, Stale" +# +# Note: +# +# default values are: +# is_active: "true" +# status: "OK" +--- +/**: + 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 + + ## /autoware/localization/accuracy + "localization_error_monitor: ellipse_error_status": default + + ## /autoware/localization/sensor_fusion_status + "localization: ekf_localizer": default + + ## /autoware/localization/topic_rate_check/pose_twist_fusion + "topic_state_monitor_pose_twist_fusion_filter_pose: localization_topic_status": default + + # perception + ## /autoware/perception/topic_rate_check/pointcloud + "topic_state_monitor_obstacle_segmentation_pointcloud: perception_topic_status": default diff --git a/autoware_launch/config/system/diagnostics/hardware.yaml b/autoware_launch/config/system/diagnostics/hardware.yaml new file mode 100644 index 0000000000..d73f723670 --- /dev/null +++ b/autoware_launch/config/system/diagnostics/hardware.yaml @@ -0,0 +1,121 @@ +# TODO(Takagi, Isamu): This file is under construction. +units: + - path: /autoware/system/resources/clock/offset + diag: ": NTP Offset" + timeout: 10.0 + + - path: /autoware/system/resources/cpu/offset + diag: ": CPU Temperature" + timeout: 3.0 + + - path: /autoware/system/resources/cpu/usage + diag: ": CPU Usage" + timeout: 3.0 + + - path: /autoware/system/resources/cpu/thermal_throttling + diag: ": CPU Thermal Throttling" + timeout: 3.0 + + - path: /autoware/system/resources/cpu/frequency + diag: ": CPU Frequency" + timeout: 3.0 + + - path: /autoware/system/resources/cpu/load_average + diag: ": CPU Load Average" + timeout: 3.0 + + - path: /autoware/system/resources/gpu/temperature + diag: ": GPU Temperature" + timeout: 3.0 + + - path: /autoware/system/resources/gpu/usage + diag: ": GPU Usage" + timeout: 3.0 + + - path: /autoware/system/resources/gpu/memory_usage + diag: ": GPU Memory Usage" + timeout: 3.0 + + - path: /autoware/system/resources/gpu/thermal_throttling + diag: ": GPU Thermal Throttling" + timeout: 3.0 + + - path: /autoware/system/resources/gpu/frequency + diag: ": GPU Frequency" + timeout: 3.0 + + - path: /autoware/system/resources/memory/usage + diag: ": Memory Usage" + timeout: 3.0 + + - path: /autoware/system/resources/network/usage + diag: ": Network Usage" + timeout: 3.0 + + - path: /autoware/system/resources/network/traffic + diag: ": Network Traffic" + timeout: 3.0 + + - path: /autoware/system/resources/network/crc + diag: ": Network CRC Error" + timeout: 3.0 + + - path: /autoware/system/resources/network/packet_reassembles + diag: ": IP Packet Reassembles Failed" + timeout: 3.0 + + - path: /autoware/system/resources/storage/temperature + diag: ": HDD Temperature" + timeout: 3.0 + + - path: /autoware/system/resources/storage/recovered_error + diag: ": HDD RecoveredError" + timeout: 3.0 + + - path: /autoware/system/resources/storage/read_data_rate + diag: ": HDD ReadDataRate" + timeout: 3.0 + + - path: /autoware/system/resources/storage/write_data_rate + diag: ": HDD WriteDataRate" + timeout: 3.0 + + - path: /autoware/system/resources/storage/read_iops + diag: ": HDD ReadIOPS" + timeout: 3.0 + + - path: /autoware/system/resources/storage/write_iops + diag: ": HDD WriteIOPS" + timeout: 3.0 + + - path: /autoware/system/resources/storage/usage + diag: ": HDD Usage" + timeout: 3.0 + + - path: /autoware/system/resources/storage/power_on_hours + diag: ": HDD PowerOnHours" + timeout: 3.0 + + - path: /autoware/system/resources/storage/total_data_written + diag: ": HDD TotalDataWritten" + timeout: 3.0 + + - path: /autoware/system/resources/storage/connection + diag: ": HDD Connection" + timeout: 3.0 + + - path: /autoware/system/resources/process/high_load + diag: ": High-load" + timeout: 3.0 + + - path: /autoware/system/resources/process/high_mem + diag: ": High-mem" + timeout: 3.0 + + - path: /autoware/system/resources/process/tasks_summary + diag: ": Tasks Summary" + timeout: 3.0 + + - path: /autoware/system/resources/voltage/battery + diag: ": CMOS Battery Status" + timeout: 3.0 diff --git a/autoware_launch/config/system/diagnostics/localization.yaml b/autoware_launch/config/system/diagnostics/localization.yaml new file mode 100644 index 0000000000..1100f2edac --- /dev/null +++ b/autoware_launch/config/system/diagnostics/localization.yaml @@ -0,0 +1,43 @@ +units: + - path: /autoware/localization + type: short-circuit-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 + + - path: /autoware/localization/topic_rate_check/transform + type: diag + node: topic_state_monitor_transform_map_to_base_link + name: localization_topic_status + + - path: /autoware/localization/topic_rate_check/pose_twist_fusion + type: diag + node: topic_state_monitor_pose_twist_fusion_filter_pose + name: localization_topic_status + + - path: /autoware/localization/scan_matching_status + type: diag + node: ndt_scan_matcher + name: scan_matching_status + + - path: /autoware/localization/accuracy + type: diag + node: localization_error_monitor + name: ellipse_error_status + + - path: /autoware/localization/sensor_fusion_status + type: diag + node: localization + name: ekf_localizer diff --git a/autoware_launch/config/system/diagnostics/map.yaml b/autoware_launch/config/system/diagnostics/map.yaml new file mode 100644 index 0000000000..231ac6eb5f --- /dev/null +++ b/autoware_launch/config/system/diagnostics/map.yaml @@ -0,0 +1,16 @@ +units: + - path: /autoware/map + type: and + list: + - { type: link, link: /autoware/map/topic_rate_check/vector_map } + - { type: link, link: /autoware/map/topic_rate_check/pointcloud_map } + + - path: /autoware/map/topic_rate_check/vector_map + type: diag + node: topic_state_monitor_vector_map + name: map_topic_status + + - path: /autoware/map/topic_rate_check/pointcloud_map + type: diag + node: topic_state_monitor_pointcloud_map + name: map_topic_status diff --git a/autoware_launch/config/system/diagnostics/perception.yaml b/autoware_launch/config/system/diagnostics/perception.yaml new file mode 100644 index 0000000000..24e3c4eed5 --- /dev/null +++ b/autoware_launch/config/system/diagnostics/perception.yaml @@ -0,0 +1,16 @@ +units: + - path: /autoware/perception + type: and + list: + - { type: link, link: /autoware/perception/topic_rate_check/objects } + - { type: link, link: /autoware/perception/topic_rate_check/pointcloud } + + - path: /autoware/perception/topic_rate_check/objects + type: diag + node: topic_state_monitor_object_recognition_objects + name: perception_topic_status + + - path: /autoware/perception/topic_rate_check/pointcloud + type: diag + node: topic_state_monitor_obstacle_segmentation_pointcloud + name: perception_topic_status diff --git a/autoware_launch/config/system/diagnostics/planning.yaml b/autoware_launch/config/system/diagnostics/planning.yaml new file mode 100644 index 0000000000..c403fec237 --- /dev/null +++ b/autoware_launch/config/system/diagnostics/planning.yaml @@ -0,0 +1,90 @@ +units: + - path: /autoware/planning + type: short-circuit-and + list: + - type: link + link: /autoware/planning/routing/state + - type: and + list: + - { type: link, link: /autoware/planning/topic_rate_check/route } + - { type: link, link: /autoware/planning/topic_rate_check/trajectory } + - { type: link, link: /autoware/planning/trajectory_validation } + + - path: /autoware/planning/trajectory_validation + type: and + list: + - { type: link, link: /autoware/planning/trajectory_validation/finite } + - { type: link, link: /autoware/planning/trajectory_validation/interval } + - { type: link, link: /autoware/planning/trajectory_validation/curvature } + - { type: link, link: /autoware/planning/trajectory_validation/angle } + - { type: link, link: /autoware/planning/trajectory_validation/lateral_acceleration } + - { type: link, link: /autoware/planning/trajectory_validation/acceleration } + - { type: link, link: /autoware/planning/trajectory_validation/deceleration } + - { type: link, link: /autoware/planning/trajectory_validation/steering } + - { type: link, link: /autoware/planning/trajectory_validation/steering_rate } + - { type: link, link: /autoware/planning/trajectory_validation/velocity_deviation } + + - path: /autoware/planning/routing/state + type: diag + node: component_state_diagnostics + name: route_state + + - path: /autoware/planning/topic_rate_check/route + type: diag + node: topic_state_monitor_mission_planning_route + name: planning_topic_status + + - path: /autoware/planning/topic_rate_check/trajectory + type: diag + node: topic_state_monitor_scenario_planning_trajectory + name: planning_topic_status + + - path: /autoware/planning/trajectory_validation/finite + type: diag + node: planning_validator + name: trajectory_validation_finite + + - path: /autoware/planning/trajectory_validation/interval + type: diag + node: planning_validator + name: trajectory_validation_interval + + - path: /autoware/planning/trajectory_validation/curvature + type: diag + node: planning_validator + name: trajectory_validation_curvature + + - path: /autoware/planning/trajectory_validation/angle + type: diag + node: planning_validator + name: trajectory_validation_relative_angle + + - path: /autoware/planning/trajectory_validation/lateral_acceleration + type: diag + node: planning_validator + name: trajectory_validation_lateral_acceleration + + - path: /autoware/planning/trajectory_validation/acceleration + type: diag + node: planning_validator + name: trajectory_validation_acceleration + + - path: /autoware/planning/trajectory_validation/deceleration + type: diag + node: planning_validator + name: trajectory_validation_deceleration + + - path: /autoware/planning/trajectory_validation/steering + type: diag + node: planning_validator + name: trajectory_validation_steering + + - path: /autoware/planning/trajectory_validation/steering_rate + type: diag + node: planning_validator + name: trajectory_validation_steering_rate + + - path: /autoware/planning/trajectory_validation/velocity_deviation + type: diag + node: planning_validator + name: trajectory_validation_velocity_deviation diff --git a/autoware_launch/config/system/diagnostics/system.yaml b/autoware_launch/config/system/diagnostics/system.yaml new file mode 100644 index 0000000000..097ff367e5 --- /dev/null +++ b/autoware_launch/config/system/diagnostics/system.yaml @@ -0,0 +1,27 @@ +units: + - path: /autoware/system + 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 } + + - path: /autoware/system/duplicated_node_checker + type: diag + node: duplicated_node_checker + name: duplicated_node_checker + + - path: /autoware/system/service_log_checker + type: diag + node: service_log_checker + name: response_status + + - path: /autoware/system/topic_rate_check/emergency_control_command + type: diag + node: topic_state_monitor_system_emergency_control_cmd + name: system_topic_status + + - path: /autoware/system/emergency_stop_operation + type: diag + node: vehicle_cmd_gate + name: emergency_stop_operation diff --git a/autoware_launch/config/system/diagnostics/vehicle.yaml b/autoware_launch/config/system/diagnostics/vehicle.yaml new file mode 100644 index 0000000000..e040e3c3c3 --- /dev/null +++ b/autoware_launch/config/system/diagnostics/vehicle.yaml @@ -0,0 +1,16 @@ +units: + - path: /autoware/vehicle + type: and + list: + - { type: link, link: /autoware/vehicle/topic_rate_check/velocity } + - { type: link, link: /autoware/vehicle/topic_rate_check/steering } + + - path: /autoware/vehicle/topic_rate_check/velocity + type: diag + node: topic_state_monitor_vehicle_status_velocity_status + name: vehicle_topic_status + + - path: /autoware/vehicle/topic_rate_check/steering + type: diag + node: topic_state_monitor_vehicle_status_steering_status + name: vehicle_topic_status From 6f1747e538f0a28b0093a06291f10f94d1589f8e Mon Sep 17 00:00:00 2001 From: Yuki Takagi Date: Mon, 25 Nov 2024 11:54:55 +0900 Subject: [PATCH 23/25] delete old dir Signed-off-by: Yuki Takagi --- .../autoware-awsim.yaml | 0 .../autoware-main.yaml | 0 .../dummy_diag_publisher.param.yaml | 0 .../autoware-main.yaml | 0 .../control.yaml | 0 .../hardware.yaml | 0 .../localization.yaml | 0 .../map.yaml | 0 .../perception.yaml | 0 .../planning.yaml | 0 .../system.yaml | 0 .../vehicle.yaml | 0 12 files changed, 0 insertions(+), 0 deletions(-) rename autoware_launch/config/system/{diagnostic_graph_aggregator => _diagnostic_graph_aggregator}/autoware-awsim.yaml (100%) rename autoware_launch/config/system/{diagnostic_graph_aggregator => _diagnostic_graph_aggregator}/autoware-main.yaml (100%) rename autoware_launch/config/system/{dummy_diag_publisher => _dummy_diag_publisher}/dummy_diag_publisher.param.yaml (100%) rename autoware_launch/config/system/{system_diagnostic_monitor => _system_diagnostic_monitor}/autoware-main.yaml (100%) rename autoware_launch/config/system/{system_diagnostic_monitor => _system_diagnostic_monitor}/control.yaml (100%) rename autoware_launch/config/system/{system_diagnostic_monitor => _system_diagnostic_monitor}/hardware.yaml (100%) rename autoware_launch/config/system/{system_diagnostic_monitor => _system_diagnostic_monitor}/localization.yaml (100%) rename autoware_launch/config/system/{system_diagnostic_monitor => _system_diagnostic_monitor}/map.yaml (100%) rename autoware_launch/config/system/{system_diagnostic_monitor => _system_diagnostic_monitor}/perception.yaml (100%) rename autoware_launch/config/system/{system_diagnostic_monitor => _system_diagnostic_monitor}/planning.yaml (100%) rename autoware_launch/config/system/{system_diagnostic_monitor => _system_diagnostic_monitor}/system.yaml (100%) rename autoware_launch/config/system/{system_diagnostic_monitor => _system_diagnostic_monitor}/vehicle.yaml (100%) diff --git a/autoware_launch/config/system/diagnostic_graph_aggregator/autoware-awsim.yaml b/autoware_launch/config/system/_diagnostic_graph_aggregator/autoware-awsim.yaml similarity index 100% rename from autoware_launch/config/system/diagnostic_graph_aggregator/autoware-awsim.yaml rename to autoware_launch/config/system/_diagnostic_graph_aggregator/autoware-awsim.yaml diff --git a/autoware_launch/config/system/diagnostic_graph_aggregator/autoware-main.yaml b/autoware_launch/config/system/_diagnostic_graph_aggregator/autoware-main.yaml similarity index 100% rename from autoware_launch/config/system/diagnostic_graph_aggregator/autoware-main.yaml rename to autoware_launch/config/system/_diagnostic_graph_aggregator/autoware-main.yaml diff --git a/autoware_launch/config/system/dummy_diag_publisher/dummy_diag_publisher.param.yaml b/autoware_launch/config/system/_dummy_diag_publisher/dummy_diag_publisher.param.yaml similarity index 100% rename from autoware_launch/config/system/dummy_diag_publisher/dummy_diag_publisher.param.yaml rename to autoware_launch/config/system/_dummy_diag_publisher/dummy_diag_publisher.param.yaml diff --git a/autoware_launch/config/system/system_diagnostic_monitor/autoware-main.yaml b/autoware_launch/config/system/_system_diagnostic_monitor/autoware-main.yaml similarity index 100% rename from autoware_launch/config/system/system_diagnostic_monitor/autoware-main.yaml rename to autoware_launch/config/system/_system_diagnostic_monitor/autoware-main.yaml diff --git a/autoware_launch/config/system/system_diagnostic_monitor/control.yaml b/autoware_launch/config/system/_system_diagnostic_monitor/control.yaml similarity index 100% rename from autoware_launch/config/system/system_diagnostic_monitor/control.yaml rename to autoware_launch/config/system/_system_diagnostic_monitor/control.yaml diff --git a/autoware_launch/config/system/system_diagnostic_monitor/hardware.yaml b/autoware_launch/config/system/_system_diagnostic_monitor/hardware.yaml similarity index 100% rename from autoware_launch/config/system/system_diagnostic_monitor/hardware.yaml rename to autoware_launch/config/system/_system_diagnostic_monitor/hardware.yaml diff --git a/autoware_launch/config/system/system_diagnostic_monitor/localization.yaml b/autoware_launch/config/system/_system_diagnostic_monitor/localization.yaml similarity index 100% rename from autoware_launch/config/system/system_diagnostic_monitor/localization.yaml rename to autoware_launch/config/system/_system_diagnostic_monitor/localization.yaml diff --git a/autoware_launch/config/system/system_diagnostic_monitor/map.yaml b/autoware_launch/config/system/_system_diagnostic_monitor/map.yaml similarity index 100% rename from autoware_launch/config/system/system_diagnostic_monitor/map.yaml rename to autoware_launch/config/system/_system_diagnostic_monitor/map.yaml diff --git a/autoware_launch/config/system/system_diagnostic_monitor/perception.yaml b/autoware_launch/config/system/_system_diagnostic_monitor/perception.yaml similarity index 100% rename from autoware_launch/config/system/system_diagnostic_monitor/perception.yaml rename to autoware_launch/config/system/_system_diagnostic_monitor/perception.yaml diff --git a/autoware_launch/config/system/system_diagnostic_monitor/planning.yaml b/autoware_launch/config/system/_system_diagnostic_monitor/planning.yaml similarity index 100% rename from autoware_launch/config/system/system_diagnostic_monitor/planning.yaml rename to autoware_launch/config/system/_system_diagnostic_monitor/planning.yaml diff --git a/autoware_launch/config/system/system_diagnostic_monitor/system.yaml b/autoware_launch/config/system/_system_diagnostic_monitor/system.yaml similarity index 100% rename from autoware_launch/config/system/system_diagnostic_monitor/system.yaml rename to autoware_launch/config/system/_system_diagnostic_monitor/system.yaml diff --git a/autoware_launch/config/system/system_diagnostic_monitor/vehicle.yaml b/autoware_launch/config/system/_system_diagnostic_monitor/vehicle.yaml similarity index 100% rename from autoware_launch/config/system/system_diagnostic_monitor/vehicle.yaml rename to autoware_launch/config/system/_system_diagnostic_monitor/vehicle.yaml From 5c8f2e89ed2f4e9a9efb2e8644aa8c9ea8098cf5 Mon Sep 17 00:00:00 2001 From: Yuki Takagi Date: Mon, 25 Nov 2024 11:55:39 +0900 Subject: [PATCH 24/25] ref new dir Signed-off-by: Yuki Takagi --- autoware_launch/launch/autoware.launch.xml | 2 +- .../launch/components/tier4_system_component.launch.xml | 4 ++-- autoware_launch/launch/e2e_simulator.launch.xml | 3 ++- autoware_launch/launch/logging_simulator.launch.xml | 2 +- autoware_launch/launch/planning_simulator.launch.xml | 2 +- 5 files changed, 7 insertions(+), 6 deletions(-) diff --git a/autoware_launch/launch/autoware.launch.xml b/autoware_launch/launch/autoware.launch.xml index 29378cc0c8..4bf18af889 100644 --- a/autoware_launch/launch/autoware.launch.xml +++ b/autoware_launch/launch/autoware.launch.xml @@ -37,7 +37,7 @@ - + diff --git a/autoware_launch/launch/components/tier4_system_component.launch.xml b/autoware_launch/launch/components/tier4_system_component.launch.xml index fa5056b9d9..e729fef464 100644 --- a/autoware_launch/launch/components/tier4_system_component.launch.xml +++ b/autoware_launch/launch/components/tier4_system_component.launch.xml @@ -1,7 +1,7 @@ - + @@ -14,7 +14,7 @@ - + diff --git a/autoware_launch/launch/e2e_simulator.launch.xml b/autoware_launch/launch/e2e_simulator.launch.xml index 3237754c48..eaa9dcead4 100644 --- a/autoware_launch/launch/e2e_simulator.launch.xml +++ b/autoware_launch/launch/e2e_simulator.launch.xml @@ -71,7 +71,7 @@ - + @@ -83,3 +83,4 @@ + diff --git a/autoware_launch/launch/logging_simulator.launch.xml b/autoware_launch/launch/logging_simulator.launch.xml index f1a9ad5fab..123bd01ed3 100644 --- a/autoware_launch/launch/logging_simulator.launch.xml +++ b/autoware_launch/launch/logging_simulator.launch.xml @@ -65,7 +65,7 @@ - + diff --git a/autoware_launch/launch/planning_simulator.launch.xml b/autoware_launch/launch/planning_simulator.launch.xml index be175553b7..3c56e11412 100644 --- a/autoware_launch/launch/planning_simulator.launch.xml +++ b/autoware_launch/launch/planning_simulator.launch.xml @@ -70,7 +70,7 @@ - + From 22f20df8d762c7df274e1cf927b712e42c84381a Mon Sep 17 00:00:00 2001 From: Yuki Takagi Date: Mon, 25 Nov 2024 11:56:37 +0900 Subject: [PATCH 25/25] delete old dir Signed-off-by: Yuki Takagi --- .../autoware-awsim.yaml | 5 - .../autoware-main.yaml | 2 - .../dummy_diag_publisher.param.yaml | 36 ------ .../autoware-main.yaml | 70 ---------- .../_system_diagnostic_monitor/control.yaml | 74 ----------- .../_system_diagnostic_monitor/hardware.yaml | 121 ------------------ .../localization.yaml | 43 ------- .../_system_diagnostic_monitor/map.yaml | 16 --- .../perception.yaml | 16 --- .../_system_diagnostic_monitor/planning.yaml | 90 ------------- .../_system_diagnostic_monitor/system.yaml | 27 ---- .../_system_diagnostic_monitor/vehicle.yaml | 16 --- 12 files changed, 516 deletions(-) delete mode 100644 autoware_launch/config/system/_diagnostic_graph_aggregator/autoware-awsim.yaml delete mode 100644 autoware_launch/config/system/_diagnostic_graph_aggregator/autoware-main.yaml delete mode 100644 autoware_launch/config/system/_dummy_diag_publisher/dummy_diag_publisher.param.yaml delete mode 100644 autoware_launch/config/system/_system_diagnostic_monitor/autoware-main.yaml delete mode 100644 autoware_launch/config/system/_system_diagnostic_monitor/control.yaml delete mode 100644 autoware_launch/config/system/_system_diagnostic_monitor/hardware.yaml delete mode 100644 autoware_launch/config/system/_system_diagnostic_monitor/localization.yaml delete mode 100644 autoware_launch/config/system/_system_diagnostic_monitor/map.yaml delete mode 100644 autoware_launch/config/system/_system_diagnostic_monitor/perception.yaml delete mode 100644 autoware_launch/config/system/_system_diagnostic_monitor/planning.yaml delete mode 100644 autoware_launch/config/system/_system_diagnostic_monitor/system.yaml delete mode 100644 autoware_launch/config/system/_system_diagnostic_monitor/vehicle.yaml diff --git a/autoware_launch/config/system/_diagnostic_graph_aggregator/autoware-awsim.yaml b/autoware_launch/config/system/_diagnostic_graph_aggregator/autoware-awsim.yaml deleted file mode 100644 index 937cfdeb65..0000000000 --- a/autoware_launch/config/system/_diagnostic_graph_aggregator/autoware-awsim.yaml +++ /dev/null @@ -1,5 +0,0 @@ -files: - - { path: $(find-pkg-share autoware_launch)/config/system/system_diagnostic_monitor/autoware-main.yaml } - -edits: - - { type: remove, path: /autoware/system/duplicated_node_checker } diff --git a/autoware_launch/config/system/_diagnostic_graph_aggregator/autoware-main.yaml b/autoware_launch/config/system/_diagnostic_graph_aggregator/autoware-main.yaml deleted file mode 100644 index c96dd5ed46..0000000000 --- a/autoware_launch/config/system/_diagnostic_graph_aggregator/autoware-main.yaml +++ /dev/null @@ -1,2 +0,0 @@ -files: - - { path: $(find-pkg-share autoware_launch)/config/system/system_diagnostic_monitor/autoware-main.yaml } diff --git a/autoware_launch/config/system/_dummy_diag_publisher/dummy_diag_publisher.param.yaml b/autoware_launch/config/system/_dummy_diag_publisher/dummy_diag_publisher.param.yaml deleted file mode 100644 index 0ed824d3c8..0000000000 --- a/autoware_launch/config/system/_dummy_diag_publisher/dummy_diag_publisher.param.yaml +++ /dev/null @@ -1,36 +0,0 @@ -# Description: -# required_diags: -# : {is_active: , status: } -# name: diag name -# is_active: Force update or not -# status: diag status set by dummy diag publisher "OK, Warn, Error, Stale" -# -# Note: -# -# default values are: -# is_active: "true" -# status: "OK" ---- -/**: - 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 - - ## /autoware/localization/accuracy - "localization_error_monitor: ellipse_error_status": default - - ## /autoware/localization/sensor_fusion_status - "localization: ekf_localizer": default - - ## /autoware/localization/topic_rate_check/pose_twist_fusion - "topic_state_monitor_pose_twist_fusion_filter_pose: localization_topic_status": default - - # perception - ## /autoware/perception/topic_rate_check/pointcloud - "topic_state_monitor_obstacle_segmentation_pointcloud: perception_topic_status": default diff --git a/autoware_launch/config/system/_system_diagnostic_monitor/autoware-main.yaml b/autoware_launch/config/system/_system_diagnostic_monitor/autoware-main.yaml deleted file mode 100644 index fbbfe384f2..0000000000 --- a/autoware_launch/config/system/_system_diagnostic_monitor/autoware-main.yaml +++ /dev/null @@ -1,70 +0,0 @@ -files: - - { path: $(dirname)/control.yaml } - - { path: $(dirname)/localization.yaml } - - { path: $(dirname)/map.yaml } - - { path: $(dirname)/perception.yaml } - - { path: $(dirname)/planning.yaml } - - { path: $(dirname)/system.yaml } - - { path: $(dirname)/vehicle.yaml } - -units: - - path: /autoware/modes/local - type: and - list: - - { type: link, link: /autoware/vehicle } - - { type: link, link: /autoware/system } - - { type: link, link: /autoware/control/local } - - - path: /autoware/modes/remote - type: and - list: - - { type: link, link: /autoware/vehicle } - - { type: link, link: /autoware/system } - - { type: link, link: /autoware/control/remote } - - - path: /autoware/modes/stop - type: ok - - - path: /autoware/modes/autonomous - type: and - list: - - { type: link, link: /autoware/map } - - { type: link, link: /autoware/localization } - - { type: link, link: /autoware/planning } - - { type: link, link: /autoware/perception } - - { type: link, link: /autoware/control } - - { type: link, link: /autoware/vehicle } - - { type: link, link: /autoware/system } - - - path: /autoware/modes/pull_over - type: and - list: - - { type: link, link: /autoware/map } - - { type: link, link: /autoware/localization } - - { type: link, link: /autoware/planning } - - { type: link, link: /autoware/perception } - - { type: link, link: /autoware/control } - - { type: link, link: /autoware/vehicle } - - { type: link, link: /autoware/system } - - - path: /autoware/modes/comfortable_stop - type: and - list: - - { type: link, link: /autoware/map } - - { type: link, link: /autoware/localization } - - { type: link, link: /autoware/planning } - - { type: link, link: /autoware/perception } - - { type: link, link: /autoware/control } - - { type: link, link: /autoware/vehicle } - - { type: link, link: /autoware/system } - - - path: /autoware/modes/emergency_stop - type: and - list: - - { type: link, link: /autoware/vehicle } - - { type: link, link: /autoware/system } - - - path: /autoware/debug/tools - type: and - list: - - { type: link, link: /autoware/system/service_log_checker } diff --git a/autoware_launch/config/system/_system_diagnostic_monitor/control.yaml b/autoware_launch/config/system/_system_diagnostic_monitor/control.yaml deleted file mode 100644 index 6a04ed6714..0000000000 --- a/autoware_launch/config/system/_system_diagnostic_monitor/control.yaml +++ /dev/null @@ -1,74 +0,0 @@ -units: - - path: /autoware/control - 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 } - - { type: link, link: /autoware/control/collision_detector } - - - path: /autoware/control/local - 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 } - - - path: /autoware/control/remote - 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 } - - - path: /autoware/control/topic_rate_check/trajectory_follower - type: diag - node: topic_state_monitor_trajectory_follower_control_cmd - name: control_topic_status - - - path: /autoware/control/topic_rate_check/control_command - type: diag - node: topic_state_monitor_control_command_control_cmd - name: control_topic_status - - - path: /autoware/control/node_alive_monitoring/vehicle_cmd_gate - type: diag - node: vehicle_cmd_gate - name: heartbeat - - - path: /autoware/control/emergency_braking - type: diag - node: autonomous_emergency_braking - name: aeb_emergency_stop - - - path: /autoware/control/performance_monitoring/lane_departure - type: diag - node: lane_departure_checker_node - name: lane_departure - - - path: /autoware/control/performance_monitoring/trajectory_deviation - type: diag - node: lane_departure_checker_node - name: trajectory_deviation - - - path: /autoware/control/performance_monitoring/control_state - type: diag - node: controller_node_exe - name: control_state - - - path: /autoware/control/topic_rate_check/external_cmd_selector - type: diag - node: external_cmd_selector - name: heartbeat - - - path: /autoware/control/topic_rate_check/external_cmd_converter - type: diag - node: external_cmd_converter - name: remote_control_topic_status - - - path: /autoware/control/collision_detector - type: diag - node: collision_detector - name: collision_detect diff --git a/autoware_launch/config/system/_system_diagnostic_monitor/hardware.yaml b/autoware_launch/config/system/_system_diagnostic_monitor/hardware.yaml deleted file mode 100644 index d73f723670..0000000000 --- a/autoware_launch/config/system/_system_diagnostic_monitor/hardware.yaml +++ /dev/null @@ -1,121 +0,0 @@ -# TODO(Takagi, Isamu): This file is under construction. -units: - - path: /autoware/system/resources/clock/offset - diag: ": NTP Offset" - timeout: 10.0 - - - path: /autoware/system/resources/cpu/offset - diag: ": CPU Temperature" - timeout: 3.0 - - - path: /autoware/system/resources/cpu/usage - diag: ": CPU Usage" - timeout: 3.0 - - - path: /autoware/system/resources/cpu/thermal_throttling - diag: ": CPU Thermal Throttling" - timeout: 3.0 - - - path: /autoware/system/resources/cpu/frequency - diag: ": CPU Frequency" - timeout: 3.0 - - - path: /autoware/system/resources/cpu/load_average - diag: ": CPU Load Average" - timeout: 3.0 - - - path: /autoware/system/resources/gpu/temperature - diag: ": GPU Temperature" - timeout: 3.0 - - - path: /autoware/system/resources/gpu/usage - diag: ": GPU Usage" - timeout: 3.0 - - - path: /autoware/system/resources/gpu/memory_usage - diag: ": GPU Memory Usage" - timeout: 3.0 - - - path: /autoware/system/resources/gpu/thermal_throttling - diag: ": GPU Thermal Throttling" - timeout: 3.0 - - - path: /autoware/system/resources/gpu/frequency - diag: ": GPU Frequency" - timeout: 3.0 - - - path: /autoware/system/resources/memory/usage - diag: ": Memory Usage" - timeout: 3.0 - - - path: /autoware/system/resources/network/usage - diag: ": Network Usage" - timeout: 3.0 - - - path: /autoware/system/resources/network/traffic - diag: ": Network Traffic" - timeout: 3.0 - - - path: /autoware/system/resources/network/crc - diag: ": Network CRC Error" - timeout: 3.0 - - - path: /autoware/system/resources/network/packet_reassembles - diag: ": IP Packet Reassembles Failed" - timeout: 3.0 - - - path: /autoware/system/resources/storage/temperature - diag: ": HDD Temperature" - timeout: 3.0 - - - path: /autoware/system/resources/storage/recovered_error - diag: ": HDD RecoveredError" - timeout: 3.0 - - - path: /autoware/system/resources/storage/read_data_rate - diag: ": HDD ReadDataRate" - timeout: 3.0 - - - path: /autoware/system/resources/storage/write_data_rate - diag: ": HDD WriteDataRate" - timeout: 3.0 - - - path: /autoware/system/resources/storage/read_iops - diag: ": HDD ReadIOPS" - timeout: 3.0 - - - path: /autoware/system/resources/storage/write_iops - diag: ": HDD WriteIOPS" - timeout: 3.0 - - - path: /autoware/system/resources/storage/usage - diag: ": HDD Usage" - timeout: 3.0 - - - path: /autoware/system/resources/storage/power_on_hours - diag: ": HDD PowerOnHours" - timeout: 3.0 - - - path: /autoware/system/resources/storage/total_data_written - diag: ": HDD TotalDataWritten" - timeout: 3.0 - - - path: /autoware/system/resources/storage/connection - diag: ": HDD Connection" - timeout: 3.0 - - - path: /autoware/system/resources/process/high_load - diag: ": High-load" - timeout: 3.0 - - - path: /autoware/system/resources/process/high_mem - diag: ": High-mem" - timeout: 3.0 - - - path: /autoware/system/resources/process/tasks_summary - diag: ": Tasks Summary" - timeout: 3.0 - - - path: /autoware/system/resources/voltage/battery - diag: ": CMOS Battery Status" - timeout: 3.0 diff --git a/autoware_launch/config/system/_system_diagnostic_monitor/localization.yaml b/autoware_launch/config/system/_system_diagnostic_monitor/localization.yaml deleted file mode 100644 index 1100f2edac..0000000000 --- a/autoware_launch/config/system/_system_diagnostic_monitor/localization.yaml +++ /dev/null @@ -1,43 +0,0 @@ -units: - - path: /autoware/localization - type: short-circuit-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 - - - path: /autoware/localization/topic_rate_check/transform - type: diag - node: topic_state_monitor_transform_map_to_base_link - name: localization_topic_status - - - path: /autoware/localization/topic_rate_check/pose_twist_fusion - type: diag - node: topic_state_monitor_pose_twist_fusion_filter_pose - name: localization_topic_status - - - path: /autoware/localization/scan_matching_status - type: diag - node: ndt_scan_matcher - name: scan_matching_status - - - path: /autoware/localization/accuracy - type: diag - node: localization_error_monitor - name: ellipse_error_status - - - path: /autoware/localization/sensor_fusion_status - type: diag - node: localization - name: ekf_localizer diff --git a/autoware_launch/config/system/_system_diagnostic_monitor/map.yaml b/autoware_launch/config/system/_system_diagnostic_monitor/map.yaml deleted file mode 100644 index 231ac6eb5f..0000000000 --- a/autoware_launch/config/system/_system_diagnostic_monitor/map.yaml +++ /dev/null @@ -1,16 +0,0 @@ -units: - - path: /autoware/map - type: and - list: - - { type: link, link: /autoware/map/topic_rate_check/vector_map } - - { type: link, link: /autoware/map/topic_rate_check/pointcloud_map } - - - path: /autoware/map/topic_rate_check/vector_map - type: diag - node: topic_state_monitor_vector_map - name: map_topic_status - - - path: /autoware/map/topic_rate_check/pointcloud_map - type: diag - node: topic_state_monitor_pointcloud_map - name: map_topic_status diff --git a/autoware_launch/config/system/_system_diagnostic_monitor/perception.yaml b/autoware_launch/config/system/_system_diagnostic_monitor/perception.yaml deleted file mode 100644 index 24e3c4eed5..0000000000 --- a/autoware_launch/config/system/_system_diagnostic_monitor/perception.yaml +++ /dev/null @@ -1,16 +0,0 @@ -units: - - path: /autoware/perception - type: and - list: - - { type: link, link: /autoware/perception/topic_rate_check/objects } - - { type: link, link: /autoware/perception/topic_rate_check/pointcloud } - - - path: /autoware/perception/topic_rate_check/objects - type: diag - node: topic_state_monitor_object_recognition_objects - name: perception_topic_status - - - path: /autoware/perception/topic_rate_check/pointcloud - type: diag - node: topic_state_monitor_obstacle_segmentation_pointcloud - name: perception_topic_status diff --git a/autoware_launch/config/system/_system_diagnostic_monitor/planning.yaml b/autoware_launch/config/system/_system_diagnostic_monitor/planning.yaml deleted file mode 100644 index c403fec237..0000000000 --- a/autoware_launch/config/system/_system_diagnostic_monitor/planning.yaml +++ /dev/null @@ -1,90 +0,0 @@ -units: - - path: /autoware/planning - type: short-circuit-and - list: - - type: link - link: /autoware/planning/routing/state - - type: and - list: - - { type: link, link: /autoware/planning/topic_rate_check/route } - - { type: link, link: /autoware/planning/topic_rate_check/trajectory } - - { type: link, link: /autoware/planning/trajectory_validation } - - - path: /autoware/planning/trajectory_validation - type: and - list: - - { type: link, link: /autoware/planning/trajectory_validation/finite } - - { type: link, link: /autoware/planning/trajectory_validation/interval } - - { type: link, link: /autoware/planning/trajectory_validation/curvature } - - { type: link, link: /autoware/planning/trajectory_validation/angle } - - { type: link, link: /autoware/planning/trajectory_validation/lateral_acceleration } - - { type: link, link: /autoware/planning/trajectory_validation/acceleration } - - { type: link, link: /autoware/planning/trajectory_validation/deceleration } - - { type: link, link: /autoware/planning/trajectory_validation/steering } - - { type: link, link: /autoware/planning/trajectory_validation/steering_rate } - - { type: link, link: /autoware/planning/trajectory_validation/velocity_deviation } - - - path: /autoware/planning/routing/state - type: diag - node: component_state_diagnostics - name: route_state - - - path: /autoware/planning/topic_rate_check/route - type: diag - node: topic_state_monitor_mission_planning_route - name: planning_topic_status - - - path: /autoware/planning/topic_rate_check/trajectory - type: diag - node: topic_state_monitor_scenario_planning_trajectory - name: planning_topic_status - - - path: /autoware/planning/trajectory_validation/finite - type: diag - node: planning_validator - name: trajectory_validation_finite - - - path: /autoware/planning/trajectory_validation/interval - type: diag - node: planning_validator - name: trajectory_validation_interval - - - path: /autoware/planning/trajectory_validation/curvature - type: diag - node: planning_validator - name: trajectory_validation_curvature - - - path: /autoware/planning/trajectory_validation/angle - type: diag - node: planning_validator - name: trajectory_validation_relative_angle - - - path: /autoware/planning/trajectory_validation/lateral_acceleration - type: diag - node: planning_validator - name: trajectory_validation_lateral_acceleration - - - path: /autoware/planning/trajectory_validation/acceleration - type: diag - node: planning_validator - name: trajectory_validation_acceleration - - - path: /autoware/planning/trajectory_validation/deceleration - type: diag - node: planning_validator - name: trajectory_validation_deceleration - - - path: /autoware/planning/trajectory_validation/steering - type: diag - node: planning_validator - name: trajectory_validation_steering - - - path: /autoware/planning/trajectory_validation/steering_rate - type: diag - node: planning_validator - name: trajectory_validation_steering_rate - - - path: /autoware/planning/trajectory_validation/velocity_deviation - type: diag - node: planning_validator - name: trajectory_validation_velocity_deviation diff --git a/autoware_launch/config/system/_system_diagnostic_monitor/system.yaml b/autoware_launch/config/system/_system_diagnostic_monitor/system.yaml deleted file mode 100644 index cb96c2cd7f..0000000000 --- a/autoware_launch/config/system/_system_diagnostic_monitor/system.yaml +++ /dev/null @@ -1,27 +0,0 @@ -units: - - path: /autoware/system - 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 } - - - path: /autoware/system/duplicated_node_checker - type: diag - node: duplicated_node_checker - name: duplicated_node_checker - - - path: /autoware/system/service_log_checker - type: diag - node: service_log_checker - name: response_status - - - path: /autoware/system/topic_rate_check/emergency_control_command - type: diag - node: topic_state_monitor_system_emergency_control_cmd - name: system_topic_status - - - path: /autoware/system/emergency_stop_operation - type: diag - node: vehicle_cmd_gate - name: emergency_stop_operation diff --git a/autoware_launch/config/system/_system_diagnostic_monitor/vehicle.yaml b/autoware_launch/config/system/_system_diagnostic_monitor/vehicle.yaml deleted file mode 100644 index e040e3c3c3..0000000000 --- a/autoware_launch/config/system/_system_diagnostic_monitor/vehicle.yaml +++ /dev/null @@ -1,16 +0,0 @@ -units: - - path: /autoware/vehicle - type: and - list: - - { type: link, link: /autoware/vehicle/topic_rate_check/velocity } - - { type: link, link: /autoware/vehicle/topic_rate_check/steering } - - - path: /autoware/vehicle/topic_rate_check/velocity - type: diag - node: topic_state_monitor_vehicle_status_velocity_status - name: vehicle_topic_status - - - path: /autoware/vehicle/topic_rate_check/steering - type: diag - node: topic_state_monitor_vehicle_status_steering_status - name: vehicle_topic_status