diff --git a/autoware_launch/config/simulator/fault_injection.param.yaml b/autoware_launch/config/simulator/fault_injection.param.yaml index 9fcdd18134..39e9a64a4c 100644 --- a/autoware_launch/config/simulator/fault_injection.param.yaml +++ b/autoware_launch/config/simulator/fault_injection.param.yaml @@ -57,10 +57,25 @@ # BIOS BIOS-001: "voltage_monitor: CMOS Battery Status" + # MOT + MOT-001: "mot: /system/mot_connection : mot heartbeat" + + # SIGNAGE + SIGNAGE-001: "signage: /system/signage_connection : signage heartbeat" + + # VOICE + VOICE-001: "vehicle_voice_alert_system: /system/voice_alert_system_connection : voice alert system heartbeat" + + # Sensing # IMU IMU-001: "imu_monitor: yaw_rate_status" + IMU-002: "topic_state_monitor_imu_data: imu_topic_status" IMU-003: "gyro_bias_estimator: gyro_bias_validator" + # GNS + GNS-001: "topic_state_monitor_gnss_pose: gnss_topic_status" + GNS-002: "septentrio_driver: Quality indicators" + # LiDAR PNDR-001/front_lower: "pandar_monitor: /sensing/lidar/front_lower: pandar_connection" PNDR-001/front_upper: "pandar_monitor: /sensing/lidar/front_upper: pandar_connection" @@ -87,6 +102,24 @@ PNDR-003/rear_lower: "pandar_monitor: /sensing/lidar/rear_lower: pandar_ptp" PNDR-003/rear_upper: "pandar_monitor: /sensing/lidar/rear_upper: pandar_ptp" + # CAMERA + LPD-001/camera0: "topic_state_monitor_camera0: camera0_topic_status" + LPD-001/camera1: "topic_state_monitor_camera1: camera1_topic_status" + LPD-001/camera2: "topic_state_monitor_camera2: camera2_topic_status" + LPD-001/camera3: "topic_state_monitor_camera3: camera3_topic_status" + LPD-001/camera4: "topic_state_monitor_camera4: camera4_topic_status" + LPD-001/camera5: "topic_state_monitor_camera5: camera5_topic_status" + LPD-001/camera6: "topic_state_monitor_camera6: camera6_topic_status" + LPD-001/camera7: "topic_state_monitor_camera7: camera7_topic_status" + + # RADAR + SENSING-001/front_center: "topic_state_monitor_radar_front_center: radar_front_center_topic_status" + SENSING-001/front_left: "topic_state_monitor_radar_front_left: radar_front_left_topic_status" + SENSING-001/front_right: "topic_state_monitor_radar_front_right: radar_front_right_topic_status" + SENSING-001/rear_center: "topic_state_monitor_radar_rear_center: radar_rear_center_topic_status" + SENSING-001/rear_left: "topic_state_monitor_radar_rear_left: radar_rear_left_topic_status" + SENSING-001/rear_right: "topic_state_monitor_radar_rear_right: radar_rear_right_topic_status" + # Software # Map MAP-001-1: "topic_state_monitor_vector_map: map_topic_status" @@ -95,14 +128,15 @@ # Localization LOCALIZATION-001-1: "topic_state_monitor_initialpose3d: localization_topic_status" LOCALIZATION-001-2: "topic_state_monitor_pose_twist_fusion_filter_pose: localization_topic_status" - LOCALIZATION-001-3: "topic_state_monitor_transform_map_to_base_link: localization_topic_status" + LOCALIZATION-002: "topic_state_monitor_transform_map_to_base_link: localization_topic_status" + LOCALIZATION-003: "ndt_scan_matcher" LOCALIZATION-004: "localization_error_monitor: localization_accuracy" - LOCALIZATION-005: "localization_error_monitor: localization_accuracy_lateral_direction" # Perception PERCEPTION-001-1: "topic_state_monitor_traffic_light_recognition_traffic_signals: perception_topic_status" PERCEPTION-001-2: "topic_state_monitor_object_recognition_objects: perception_topic_status" PERCEPTION-001-3: "topic_state_monitor_obstacle_segmentation_pointcloud: perception_topic_status" + PERCEPTION-002: "multi_object_tracker: Perception delay check from original header stamp" # Planning PLANNING-001-1: "topic_state_monitor_mission_planning_route: planning_topic_status" @@ -121,13 +155,14 @@ # Control CONTROL-001: "topic_state_monitor_control_command_control_cmd: control_topic_status" - CONTROL-002: "external_cmd_converter: remote_control_topic_status" CONTROL-003: "vehicle_cmd_gate: heartbeat" CONTROL-004: "lane_departure_checker_node: lane_departure" CONTROL-005: "lane_departure_checker_node: trajectory_deviation" + CONTROL-007: "external_cmd_converter: remote_control_topic_status" CONTROL-008: "external_cmd_selector: heartbeat" CONTROL-009: "autonomous_emergency_braking: aeb_emergency_stop" CONTROL-010: "control_validator: control_validation_max_distance_deviation" + CONTROL-011: "slip_detector: slip_status" # Vehicle VEHICLE-001-1: "topic_state_monitor_vehicle_status_velocity_status: vehicle_topic_status" @@ -138,7 +173,8 @@ # System SYSTEM-001: "topic_state_monitor_system_emergency_control_cmd: system_topic_status" SYSTEM-002: "vehicle_cmd_gate: emergency_stop_operation" - SYSTEM-003: "bagpacker_state" + SYSTEM-003: "rosbag_status" + SYSTEM-004: "disk_status" SYSTEM-005: "edge_core_internet_connection" # Others @@ -154,26 +190,4 @@ OTHERS-005/left_upper: "dual_return_filter: /sensing/lidar/left_upper: visibility_validation" OTHERS-005/right_upper: "dual_return_filter: /sensing/lidar/right_upper: visibility_validation" OTHERS-010: "emergency_vehicle_detector: emergency_vehicle" - - # Not in System_Hazard_and_Fail_Safe - debug_data_logger_disk_usage_error: "bagpacker_state/disk_usage" - slip_status: "slip_detector: slip_status" - daytime_status: "daytime_monitor: daytime_status" - perception_delay_check: "multi_object_tracker: Perception delay check from original header stamp" - imu_topic_status: "topic_state_monitor_imu_data: imu_topic_status" - gnss_topic_status: "topic_state_monitor_gnss_pose: gnss_topic_status" - septentrio_status: "septentrio_driver: Quality indicators" - /sensing/camera/0/connection: "topic_state_monitor_camera0: camera0_topic_status" - /sensing/camera/1/connection: "topic_state_monitor_camera0: camera1_topic_status" - /sensing/camera/2/connection: "topic_state_monitor_camera0: camera2_topic_status" - /sensing/camera/3/connection: "topic_state_monitor_camera0: camera3_topic_status" - /sensing/camera/4/connection: "topic_state_monitor_camera0: camera4_topic_status" - /sensing/camera/5/connection: "topic_state_monitor_camera0: camera5_topic_status" - /sensing/camera/6/connection: "topic_state_monitor_camera0: camera6_topic_status" - /sensing/camera/7/connection: "topic_state_monitor_camera0: camera7_topic_status" - /sensing/radar/front_center/connection: "topic_state_monitor_radar_front_center: radar_front_center_topic_status" - /sensing/radar/front_left/connection: "topic_state_monitor_radar_front_left: radar_front_left_topic_status" - /sensing/radar/front_right/connection: "topic_state_monitor_radar_front_right: radar_front_right_topic_status" - /sensing/radar/rear_center/connection: "topic_state_monitor_radar_rear_center: radar_rear_center_topic_status" - /sensing/radar/rear_left/connection: "topic_state_monitor_radar_rear_left: radar_rear_left_topic_status" - /sensing/radar/rear_right/connection: "topic_state_monitor_radar_rear_right: radar_rear_right_topic_status" + OTHERS-011: "daytime_monitor: daytime_status"