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feat(fault injection): update params (autowarefoundation#627)
* feat(fault_injection): update params to adapt diagnostic_graph_aggregator Signed-off-by: Keisuke Shima <[email protected]> * update event name Signed-off-by: Keisuke Shima <[email protected]> --------- Signed-off-by: Keisuke Shima <[email protected]>
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autoware_launch/config/simulator/fault_injection.param.yaml
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -1,63 +1,179 @@ | ||
| /**: | ||
| ros__parameters: | ||
| event_diag_list: | ||
| vehicle_is_out_of_lane: "lane_departure" | ||
| trajectory_deviation_is_high: "trajectory_deviation" | ||
| localization_matching_score_is_low: "ndt_scan_matcher" | ||
| localization_accuracy_is_low: "localization_accuracy" | ||
| map_version_is_different: "map_version" | ||
| trajectory_is_invalid: "trajectory_point_validation" | ||
| cpu_temperature_is_high: "CPU Temperature" | ||
| cpu_usage_is_high: "CPU Usage" | ||
| cpu_is_in_thermal_throttling: "CPU Thermal Throttling" | ||
| storage_temperature_is_high: "HDD Temperature" | ||
| storage_usage_is_high: "HDD Usage" | ||
| network_usage_is_high: "Network Usage" | ||
| clock_error_is_large: "NTP Offset" | ||
| gpu_temperature_is_high: "GPU Temperature" | ||
| gpu_usage_is_high: "GPU Usage" | ||
| gpu_memory_usage_is_high: "GPU Memory Usage" | ||
| gpu_is_in_thermal_throttling: "GPU Thermal Throttling" | ||
| driving_recorder_storage_error: "driving_recorder" | ||
| debug_data_logger_storage_error: "bagpacker" | ||
| emergency_stop_operation: "emergency_stop_operation" | ||
| vehicle_error_occurred: "vehicle_errors" | ||
| vehicle_ecu_connection_is_lost: "can_bus_connection" | ||
| obstacle_crash_sensor_is_activated: "obstacle_crash" | ||
| /control/command_gate/node_alive_monitoring: "vehicle_cmd_gate: heartbeat" | ||
| /control/autonomous_driving/node_alive_monitoring: "control_topic_status" | ||
| /control/external_command_selector/node_alive_monitoring: "external_cmd_selector: heartbeat" | ||
| /localization/node_alive_monitoring: "localization_topic_status" | ||
| /map/node_alive_monitoring: "map_topic_status" | ||
| /planning/node_alive_monitoring: "planning_topic_status" | ||
| /sensing/lidar/node_alive_monitoring: "lidar_topic_status" | ||
| /sensing/imu/node_alive_monitoring: "imu_connection" | ||
| /sensing/gnss/node_alive_monitoring: "gnss_connection" | ||
| /system/node_alive_monitoring: "system_topic_status" | ||
| /vehicle/node_alive_monitoring: "vehicle_topic_status" | ||
| cpu_frequency: "CPU Frequency" | ||
| cpu_load_average: "CPU Load Average" | ||
| gpu_frequency: "GPU Frequency" | ||
| lidar_blockage_validation: "blockage_validation" | ||
| lidar_visibility: "left_upper: visibility_validation" | ||
| memory_usage: "Memory Usage" | ||
| network_crc_error: "Network CRC Error" | ||
| network_ip_packet_reassembles_failed: "IP Packet Reassembles Failed" | ||
| network_traffic: "Network Traffic" | ||
| perception_topic_status: "perception_topic_status" | ||
| process_high_load: "High-load" | ||
| process_high_mem: "High-mem" | ||
| process_tasks_summary: "Tasks Summary" | ||
| remote_control_topic_status: "remote_control_topic_status" | ||
| sensing_topic_status: "sensing_topic_status" | ||
| storage_connection: "HDD Connection" | ||
| storage_power_on_hours: "HDD PowerOnHours" | ||
| storage_read_data_rate: "HDD ReadDataRate" | ||
| storage_read_iops: "HDD ReadIOPS" | ||
| storage_recovered_error: "HDD RecoveredError" | ||
| storage_total_data_written: "HDD TotalDataWritten" | ||
| storage_write_data_rate: "HDD WriteDataRate" | ||
| storage_write_iops: "HDD WriteIOPS" | ||
| trajectory_curvature_validation: "trajectory_curvature_validation" | ||
| trajectory_interval_validation : "trajectory_interval_validation" | ||
| trajectory_relative_angle_validation: "trajectory_relative_angle_validation" | ||
| # Hardware | ||
| # CPU | ||
| CPU-001: "cpu_monitor: CPU Temperature" | ||
| CPU-002: "cpu_monitor: CPU Usage" | ||
| CPU-003: "cpu_monitor: CPU Load Average" | ||
| CPU-004: "cpu_monitor: CPU Thermal Throttling" | ||
| CPU-005: "cpu_monitor: CPU Frequency" | ||
|
|
||
| # HDD | ||
| HDD-001: "hdd_monitor: HDD Temperature" | ||
| HDD-002: "hdd_monitor: HDD Usage" | ||
| HDD-003: "hdd_monitor: HDD Connection" | ||
| HDD-004: "hdd_monitor: HDD TotalDataWritten" | ||
| HDD-005: "hdd_monitor: HDD PowerOnHours" | ||
| HDD-006: "hdd_monitor: HDD RecoveredError" | ||
| HDD-007-1: "hdd_monitor: HDD ReadDataRate" | ||
| HDD-007-2: "hdd_monitor: HDD WriteDataRate" | ||
| HDD-007-3: "hdd_monitor: HDD ReadIOPS" | ||
| HDD-007-4: "hdd_monitor: HDD WriteIOPS" | ||
|
|
||
| # Memory | ||
| MEM-001: "mem_monitor: Memory Usage" | ||
| MEM-002: "mem_monitor: Memory ECC" | ||
|
|
||
| # Network | ||
| NET-001: "net_monitor: Network Usage" | ||
| NET-002: "net_monitor: Network Traffic" | ||
| NET-003: "net_monitor: Network CRC Error" | ||
| NET-004: "net_monitor: IP Packet Reassembles Failed" | ||
|
|
||
| # NTP | ||
| NTP-001: "ntp_monitor: NTP Offset" | ||
|
|
||
| # Process | ||
| PRO-001: "process_monitor: Tasks Summary" | ||
| PRO-002-0: "process_monitor: High-load Proc[0]" | ||
| PRO-002-1: "process_monitor: High-load Proc[1]" | ||
| PRO-002-2: "process_monitor: High-load Proc[2]" | ||
| PRO-002-3: "process_monitor: High-load Proc[3]" | ||
| PRO-002-4: "process_monitor: High-load Proc[4]" | ||
| PRO-003-0: "process_monitor: High-mem Proc[0]" | ||
| PRO-003-1: "process_monitor: High-mem Proc[1]" | ||
| PRO-003-2: "process_monitor: High-mem Proc[2]" | ||
| PRO-003-3: "process_monitor: High-mem Proc[3]" | ||
| PRO-003-4: "process_monitor: High-mem Proc[4]" | ||
|
|
||
| # GPU | ||
| GPU-001: "gpu_monitor: GPU Temperature" | ||
| GPU-002: "gpu_monitor: GPU Usage" | ||
| GPU-003: "gpu_monitor: GPU Memory Usage" | ||
| GPU-004: "gpu_monitor: GPU Thermal Throttling" | ||
| GPU-005: "gpu_monitor: GPU Frequency" | ||
|
|
||
| # BIOS | ||
| BIOS-001: "voltage_monitor: CMOS Battery Status" | ||
|
|
||
| # IMU | ||
| IMU-001: "imu_monitor: yaw_rate_status" | ||
| IMU-003: "gyro_bias_estimator: gyro_bias_validator" | ||
|
|
||
| # 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" | ||
| PNDR-001/left_lower: "pandar_monitor: /sensing/lidar/left_lower: pandar_connection" | ||
| PNDR-001/left_upper: "pandar_monitor: /sensing/lidar/left_upper: pandar_connection" | ||
| PNDR-001/right_lower: "pandar_monitor: /sensing/lidar/right_lower: pandar_connection" | ||
| PNDR-001/right_upper: "pandar_monitor: /sensing/lidar/right_upper: pandar_connection" | ||
| PNDR-001/rear_lower: "pandar_monitor: /sensing/lidar/rear_lower: pandar_connection" | ||
| PNDR-001/rear_upper: "pandar_monitor: /sensing/lidar/rear_upper: pandar_connection" | ||
| PNDR-002/front_lower: "pandar_monitor: /sensing/lidar/front_lower: pandar_temperature" | ||
| PNDR-002/front_upper: "pandar_monitor: /sensing/lidar/front_upper: pandar_temperature" | ||
| PNDR-002/left_lower: "pandar_monitor: /sensing/lidar/left_lower: pandar_temperature" | ||
| PNDR-002/left_upper: "pandar_monitor: /sensing/lidar/left_upper: pandar_temperature" | ||
| PNDR-002/right_lower: "pandar_monitor: /sensing/lidar/right_lower: pandar_temperature" | ||
| PNDR-002/right_upper: "pandar_monitor: /sensing/lidar/right_upper: pandar_temperature" | ||
| PNDR-002/rear_lower: "pandar_monitor: /sensing/lidar/rear_lower: pandar_temperature" | ||
| PNDR-002/rear_upper: "pandar_monitor: /sensing/lidar/rear_upper: pandar_temperature" | ||
| PNDR-003/front_lower: "pandar_monitor: /sensing/lidar/front_lower: pandar_ptp" | ||
| PNDR-003/front_upper: "pandar_monitor: /sensing/lidar/front_upper: pandar_ptp" | ||
| PNDR-003/left_lower: "pandar_monitor: /sensing/lidar/left_lower: pandar_ptp" | ||
| PNDR-003/left_upper: "pandar_monitor: /sensing/lidar/left_upper: pandar_ptp" | ||
| PNDR-003/right_lower: "pandar_monitor: /sensing/lidar/right_lower: pandar_ptp" | ||
| PNDR-003/right_upper: "pandar_monitor: /sensing/lidar/right_upper: pandar_ptp" | ||
| PNDR-003/rear_lower: "pandar_monitor: /sensing/lidar/rear_lower: pandar_ptp" | ||
| PNDR-003/rear_upper: "pandar_monitor: /sensing/lidar/rear_upper: pandar_ptp" | ||
|
|
||
| # Software | ||
| # Map | ||
| MAP-001-1: "topic_state_monitor_vector_map: map_topic_status" | ||
| MAP-001-2: "topic_state_monitor_pointcloud_map: map_topic_status" | ||
|
|
||
| # 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-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" | ||
|
|
||
| # Planning | ||
| PLANNING-001-1: "topic_state_monitor_mission_planning_route: planning_topic_status" | ||
| PLANNING-001-2: "topic_state_monitor_scenario_planning_trajectory: planning_topic_status" | ||
| PLANNING-003: "planning_validator: trajectory_validation_finite" | ||
| PLANNING-004: "planning_validator: trajectory_validation_interval" | ||
| PLANNING-005: "planning_validator: trajectory_validation_curvature" | ||
| PLANNING-006: "planning_validator: trajectory_validation_relative_angle" | ||
| PLANNING-007: "planning_validator: trajectory_validation_lateral_acceleration" | ||
| PLANNING-008: "planning_validator: trajectory_validation_acceleration" | ||
| PLANNING-009: "planning_validator: trajectory_validation_deceleration" | ||
| PLANNING-010: "planning_validator: trajectory_validation_steering" | ||
| PLANNING-011: "planning_validator: trajectory_validation_steering_rate" | ||
| PLANNING-012: "planning_validator: trajectory_validation_velocity_deviation" | ||
| PLANNING-013: "collision_checker: collision_check" | ||
|
|
||
| # 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-008: "external_cmd_selector: heartbeat" | ||
| CONTROL-009: "autonomous_emergency_braking: aeb_emergency_stop" | ||
| CONTROL-010: "control_validator: control_validation_max_distance_deviation" | ||
|
|
||
| # Vehicle | ||
| VEHICLE-001-1: "topic_state_monitor_vehicle_status_velocity_status: vehicle_topic_status" | ||
| VEHICLE-001-2: "topic_state_monitor_vehicle_status_steering_status: vehicle_topic_status" | ||
| VEHICLE-005: "j6_interface: vehicle_heartbeat_errors" | ||
| VEHICLE-006: "j6_interface: vehicle_errors" | ||
|
|
||
| # 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-005: "edge_core_internet_connection" | ||
|
|
||
| # Others | ||
| OTHERS-002/front_lower: "blockage_return_diag: /sensing/lidar/front_lower: blockage_validation" | ||
| OTHERS-002/front_upper: "blockage_return_diag: /sensing/lidar/front_upper: blockage_validation" | ||
| OTHERS-002/left_lower: "blockage_return_diag: /sensing/lidar/left_lower: blockage_validation" | ||
| OTHERS-002/left_upper: "blockage_return_diag: /sensing/lidar/left_upper: blockage_validation" | ||
| OTHERS-002/right_lower: "blockage_return_diag: /sensing/lidar/right_lower: blockage_validation" | ||
| OTHERS-002/right_upper: "blockage_return_diag: /sensing/lidar/right_upper: blockage_validation" | ||
| OTHERS-002/rear_lower: "blockage_return_diag: /sensing/lidar/rear_lower: blockage_validation" | ||
| OTHERS-002/rear_upper: "blockage_return_diag: /sensing/lidar/rear_upper: blockage_validation" | ||
| OTHERS-004: "concatenate_data: concat_status" | ||
| 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" |