feat: add some diags to system_error_monitor (autowarefoundation#723)

Signed-off-by: tomoya.kimura <[email protected]>
maxime-clem · Jan 12, 2024 · 3b8bc60 · 3b8bc60
1 parent 40e5ac1
commit 3b8bc60
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Showing 4 changed files with 10 additions and 1 deletion.
diff --git a/autoware_launch/config/control/control_validator/control_validator.param.yaml b/autoware_launch/config/control/control_validator/control_validator.param.yaml
@@ -1,7 +1,7 @@
 /**:
   ros__parameters:
 
-    publish_diag: false  # if true, diagnostic msg is published
+    publish_diag: true  # if true, diagnostic msg is published
 
     # If the number of consecutive invalid predicted_path exceeds this threshold, the Diag will be set to ERROR.
     # (For example, threshold = 1 means, even if the predicted_path is invalid, Diag will not be ERROR if

diff --git a/autoware_launch/config/system/system_error_monitor/system_error_monitor.awsim.param.yaml b/autoware_launch/config/system/system_error_monitor/system_error_monitor.awsim.param.yaml
@@ -19,12 +19,15 @@
       autonomous_driving:
         /autoware/control/autonomous_driving/node_alive_monitoring: default
         # /autoware/control/autonomous_driving/performance_monitoring/lane_departure: default # tmp
+        /autoware/control/autonomous_driving/performance_monitoring/control_validator: default
+        /autoware/control/autonomous_driving/performance_monitoring/trajectory_deviation: default
         /autoware/control/autonomous_emergency_braking/performance_monitoring/emergency_stop: { sf_at: "none", lf_at: "warn", spf_at: "error"}
         /autoware/control/control_command_gate/node_alive_monitoring: default
         # /autoware/control/external_control/local_external_control/device_connection: default
 
         /autoware/localization/node_alive_monitoring: default
         /autoware/localization/performance_monitoring/matching_score: { sf_at: "warn", lf_at: "none", spf_at: "none" }
+        /autoware/localization/performance_monitoring/localization_stability: default
         /autoware/localization/performance_monitoring/localization_accuracy: { sf_at: "warn", lf_at: "none", spf_at: "none" }
 
         /autoware/map/node_alive_monitoring: default
@@ -35,6 +38,7 @@
         /autoware/planning/performance_monitoring/trajectory_validation: default
 
         /autoware/sensing/node_alive_monitoring: default
+        /autoware/sensing/imu/bias_monitoring/gyro_bias_validator: default
 
         /autoware/system/node_alive_monitoring: default
         /autoware/system/emergency_stop_operation: default

diff --git a/autoware_launch/config/system/system_error_monitor/system_error_monitor.param.yaml b/autoware_launch/config/system/system_error_monitor/system_error_monitor.param.yaml
@@ -19,12 +19,15 @@
       autonomous_driving:
         /autoware/control/autonomous_driving/node_alive_monitoring: default
         # /autoware/control/autonomous_driving/performance_monitoring/lane_departure: default # tmp
+        /autoware/control/autonomous_driving/performance_monitoring/control_validator: default
+        /autoware/control/autonomous_driving/performance_monitoring/trajectory_deviation: default
         /autoware/control/autonomous_emergency_braking/performance_monitoring/emergency_stop: { sf_at: "none", lf_at: "warn", spf_at: "error"}
         /autoware/control/control_command_gate/node_alive_monitoring: default
         /autoware/control/external_control/local_external_control/device_connection: default
 
         /autoware/localization/node_alive_monitoring: default
         /autoware/localization/performance_monitoring/matching_score: { sf_at: "warn", lf_at: "none", spf_at: "none" }
+        /autoware/localization/performance_monitoring/localization_stability: default
         /autoware/localization/performance_monitoring/localization_accuracy: default
         /autoware/localization/performance_monitoring/sensor_fusion_status: { sf_at: "error", lf_at: "none", spf_at: "none" }
 
@@ -36,6 +39,7 @@
         /autoware/planning/performance_monitoring/trajectory_validation: default
 
         /autoware/sensing/node_alive_monitoring: default
+        /autoware/sensing/imu/bias_monitoring/gyro_bias_validator: default
 
         /autoware/system/node_alive_monitoring: default
         /autoware/system/emergency_stop_operation: default

diff --git a/...ch/config/system/system_error_monitor/system_error_monitor.planning_simulation.param.yaml b/...ch/config/system/system_error_monitor/system_error_monitor.planning_simulation.param.yaml
@@ -19,6 +19,7 @@
       autonomous_driving:
         /autoware/control/autonomous_driving/node_alive_monitoring: default
         # /autoware/control/autonomous_driving/performance_monitoring/lane_departure: default
+        /autoware/control/autonomous_driving/performance_monitoring/control_validator: default
         /autoware/control/autonomous_driving/performance_monitoring/trajectory_deviation: default
         /autoware/control/autonomous_emergency_braking/performance_monitoring/emergency_stop: { sf_at: "none", lf_at: "warn", spf_at: "error"}
         /autoware/control/control_command_gate/node_alive_monitoring: default