feat: add gyro_bias_estimator to diagnostics_aggregator

Signed-off-by: tomoya.kimura <[email protected]>
tier4 · Dec 22, 2023 · 203cdb7 · 203cdb7
1 parent 238cd1c
commit 203cdb7
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diff --git a/aip_x1_launch/config/diagnostic_aggregator/sensor_kit.param.yaml b/aip_x1_launch/config/diagnostic_aggregator/sensor_kit.param.yaml
@@ -101,3 +101,17 @@
                     #   path: time_sync
                     #   contains: [": livox_time_sync"]
                     #   timeout: 3.0
+
+        imu:
+          type: diagnostic_aggregator/AnalyzerGroup
+          path: imu
+          analyzers:
+            bias_monitoring:
+              type: diagnostic_aggregator/AnalyzerGroup
+              path: bias_monitoring
+              analyzers:
+                gyro_bias_validator:
+                  type: diagnostic_aggregator/GenericAnalyzer
+                  path: gyro_bias_validator
+                  contains: [": gyro_bias_estimator"]
+                  timeout: 1.0
diff --git a/aip_x1_launch/config/dummy_diag_publisher/sensor_kit.param.yaml b/aip_x1_launch/config/dummy_diag_publisher/sensor_kit.param.yaml
@@ -25,3 +25,6 @@
       livox_motor_status: default
       livox_service_life: default
       livox_temperature: default
+
+      # imu
+      gyro_bias_estimator: default
diff --git a/aip_x2_launch/config/diagnostic_aggregator/sensor_kit.param.yaml b/aip_x2_launch/config/diagnostic_aggregator/sensor_kit.param.yaml
@@ -85,3 +85,16 @@
                       startswith: ["gnss"]
                       contains: [": gnss"]
                       timeout: 5.0
+        imu:
+          type: diagnostic_aggregator/AnalyzerGroup
+          path: imu
+          analyzers:
+            bias_monitoring:
+              type: diagnostic_aggregator/AnalyzerGroup
+              path: bias_monitoring
+              analyzers:
+                gyro_bias_validator:
+                  type: diagnostic_aggregator/GenericAnalyzer
+                  path: gyro_bias_validator
+                  contains: [": gyro_bias_estimator"]
+                  timeout: 1.0
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
@@ -24,3 +24,6 @@
       concat_status: default
 
       sensing_topic_status: default
+
+      # imu
+      gyro_bias_estimator: default
diff --git a/aip_xx1_launch/config/diagnostic_aggregator/sensor_kit.param.yaml b/aip_xx1_launch/config/diagnostic_aggregator/sensor_kit.param.yaml
@@ -93,3 +93,17 @@
                   path: fix_topic_status
                   contains: [": fix topic status"]
                   timeout: 3.0
+
+        imu:
+          type: diagnostic_aggregator/AnalyzerGroup
+          path: imu
+          analyzers:
+            bias_monitoring:
+              type: diagnostic_aggregator/AnalyzerGroup
+              path: bias_monitoring
+              analyzers:
+                gyro_bias_validator:
+                  type: diagnostic_aggregator/GenericAnalyzer
+                  path: gyro_bias_validator
+                  contains: [": gyro_bias_estimator"]
+                  timeout: 1.0
diff --git a/aip_xx1_launch/config/dummy_diag_publisher/sensor_kit.param.yaml b/aip_xx1_launch/config/dummy_diag_publisher/sensor_kit.param.yaml
@@ -25,3 +25,6 @@
       velodyne_connection: default
       velodyne_temperature: default
       velodyne_rpm: default
+
+      # imu
+      gyro_bias_estimator: default