From 3b8bc60a0d44829d983755887e66174efe145c70 Mon Sep 17 00:00:00 2001 From: Tomoya Kimura Date: Fri, 12 Jan 2024 18:39:12 +0900 Subject: [PATCH] feat: add some diags to system_error_monitor (#723) Signed-off-by: tomoya.kimura --- .../control/control_validator/control_validator.param.yaml | 2 +- .../system_error_monitor.awsim.param.yaml | 4 ++++ .../system_error_monitor/system_error_monitor.param.yaml | 4 ++++ .../system_error_monitor.planning_simulation.param.yaml | 1 + 4 files changed, 10 insertions(+), 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 index c51cbafba2..e4ac8942fc 100644 --- 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 index e138c9fe94..64300946fa 100644 --- 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 index e6c241af03..2679bb95d1 100644 --- 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/autoware_launch/config/system/system_error_monitor/system_error_monitor.planning_simulation.param.yaml b/autoware_launch/config/system/system_error_monitor/system_error_monitor.planning_simulation.param.yaml index 6e186caaa9..44337072b4 100644 --- a/autoware_launch/config/system/system_error_monitor/system_error_monitor.planning_simulation.param.yaml +++ b/autoware_launch/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