feat(aip_x2): add dummy diag

tier4 · Apr 25, 2024 · 1516ace · 1516ace
1 parent c868afc
commit 1516ace
Showing 1 changed file with 76 additions and 10 deletions.
diff --git a/aip_x2_launch/config/dummy_diag_publisher/sensor_kit.param.yaml b/aip_x2_launch/config/dummy_diag_publisher/sensor_kit.param.yaml
@@ -13,17 +13,83 @@
   ros__parameters:
     required_diags:
       # gnss
-      gnss: default
+      ## /sensing/gnss/001-connection
+      "topic_state_monitor_gnss_pose: gnss_topic_status": default
+
+      ## /sensing/gnss/002-quality
+      "septentrio_driver: Quality indicators": default
 
       # imu
-      yaw_rate_status: default
+      ## /sensing/imu/001-monitor
+      "imu_monitor: yaw_rate_status": { is_active: "true", status: "Warn" }
+
+      ## /sensing/imu/002-connection
+      "topic_state_monitor_imu_data: imu_topic_status": default
+
+      ## /sensing/imu/003-gyro_bias
+      "gyro_bias_estimator: gyro_bias_validator": default
 
       # lidar
-      pandar_connection: default
-      pandar_temperature: default
-      pandar_ptp: default
-      "left_upper: visibility_validation": default
-      blockage_validation: default
-      concat_status: default
-
-      sensing_topic_status: default
+      ## /sensing/lidar/pndr/001-connection
+      "pandar_monitor: /sensing/lidar/front_lower: pandar_connection": default
+      "pandar_monitor: /sensing/lidar/front_upper: pandar_connection": default
+      "pandar_monitor: /sensing/lidar/left_lower: pandar_connection": default
+      "pandar_monitor: /sensing/lidar/left_upper: pandar_connection": default
+      "pandar_monitor: /sensing/lidar/right_lower: pandar_connection": default
+      "pandar_monitor: /sensing/lidar/right_upper: pandar_connection": default
+      "pandar_monitor: /sensing/lidar/rear_lower: pandar_connection": default
+      "pandar_monitor: /sensing/lidar/rear_upper: pandar_connection": default
+
+      ## /sensing/lidar/pndr/002-temperature
+      "pandar_monitor: /sensing/lidar/front_lower: pandar_temperature": default
+      "pandar_monitor: /sensing/lidar/front_upper: pandar_temperature": default
+      "pandar_monitor: /sensing/lidar/left_lower: pandar_temperature": default
+      "pandar_monitor: /sensing/lidar/left_upper: pandar_temperature": default
+      "pandar_monitor: /sensing/lidar/right_lower: pandar_temperature": default
+      "pandar_monitor: /sensing/lidar/right_upper: pandar_temperature": default
+      "pandar_monitor: /sensing/lidar/rear_lower: pandar_temperature": default
+      "pandar_monitor: /sensing/lidar/rear_upper: pandar_temperature": default
+
+      ## /sensing/lidar/pndr/003-ptp
+      "pandar_monitor: /sensing/lidar/front_lower: pandar_ptp": default
+      "pandar_monitor: /sensing/lidar/front_upper: pandar_ptp": default
+      "pandar_monitor: /sensing/lidar/left_lower: pandar_ptp": default
+      "pandar_monitor: /sensing/lidar/left_upper: pandar_ptp": default
+      "pandar_monitor: /sensing/lidar/right_lower: pandar_ptp": default
+      "pandar_monitor: /sensing/lidar/right_upper: pandar_ptp": default
+      "pandar_monitor: /sensing/lidar/rear_lower: pandar_ptp": default
+      "pandar_monitor: /sensing/lidar/rear_upper: pandar_ptp": default
+
+      ## /sensing/camera/001-connection
+      "topic_state_monitor_camera0: camera0_topic_status": default
+      "topic_state_monitor_camera1: camera1_topic_status": default
+      "topic_state_monitor_camera2: camera2_topic_status": default
+      "topic_state_monitor_camera3: camera3_topic_status": default
+      "topic_state_monitor_camera4: camera4_topic_status": default
+      "topic_state_monitor_camera5: camera5_topic_status": default
+      "topic_state_monitor_camera6: camera6_topic_status": default
+      "topic_state_monitor_camera7: camera7_topic_status": default
+
+      ## /sensing/radar/001-connection
+      "topic_state_monitor_radar_front_center: radar_front_center_topic_status": default
+      "topic_state_monitor_radar_front_left: radar_front_left_topic_status": default
+      "topic_state_monitor_radar_front_right: radar_front_right_topic_status": default
+      "topic_state_monitor_radar_rear_center: radar_rear_center_topic_status": default
+      "topic_state_monitor_radar_rear_left: radar_rear_left_topic_status": default
+      "topic_state_monitor_radar_rear_right: radar_rear_right_topic_status": default
+
+      ## /others/002-blockage_validation
+      "blockage_return_diag: /sensing/lidar/front_lower: blockage_validation": default
+      "blockage_return_diag: /sensing/lidar/front_upper: blockage_validation": default
+      "blockage_return_diag: /sensing/lidar/left_lower: blockage_validation": default
+      "blockage_return_diag: /sensing/lidar/left_upper: blockage_validation": default
+      "blockage_return_diag: /sensing/lidar/right_lower: blockage_validation": default
+      "blockage_return_diag: /sensing/lidar/right_upper: blockage_validation": default
+      "blockage_return_diag: /sensing/lidar/rear_lower: blockage_validation": default
+      "blockage_return_diag: /sensing/lidar/rear_upper: blockage_validation": default
+
+      ## /others/004-concat_status
+      "concatenate_data: concat_status": default
+
+      ## /others/005-visibility_validation/front_lower
+      "dual_return_filter: /sensing/lidar/front_lower: visibility_validation": default