update dummy publisher of sensing

Signed-off-by: Ericpotato <[email protected]>
tier4 · Oct 3, 2024 · 4d31ccd · 4d31ccd
1 parent eef37ae
commit 4d31ccd
Showing 1 changed file with 23 additions and 14 deletions.
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
@@ -12,25 +12,34 @@
 /**:
   ros__parameters:
     required_diags:
-      # node_alive_monitoring
-      "topic_status: sensing_topic_status": default
-
       # performance monitoring
-      "blockage: blockage_validation": default
+      # "blockage: blockage_validation": default
 
       # velodyne
-      "connection: velodyne_connection": default
-      "temperature: velodyne_temperature": default
-      "rpm: velodyne_rpm": default
+      "velodyne_monitor: velodyne_connection": default
+      "velodyne_monitor: velodyne_temperature": default
+      "velodyne_monitor: velodyne_rpm": default
 
       # gnss
-      "connection: gnss_connection": default
-      "data: gnss_data": default
-      "antenna: gnss_antenna": default
-      "tx_usage: gnss_tx_usage": default
-      "spoofing: gnss_spoofing": default
-      "jamming: gnss_jamming": default
-      "fix_topic_status: fix topic status": default
+      # "connection: gnss_connection": default
+      # "data: gnss_data": default
+      # "antenna: gnss_antenna": default
+      # "tx_usage: gnss_tx_usage": default
+      # "spoofing: gnss_spoofing": default
+      # "jamming: gnss_jamming": default
+      # "fix_topic_status: fix topic status": default
+      "ublox: fix topic status": default
+      "ublox: fix": default
+
+      # camera
+      "topic_state_monitor_camera0: sensing_topic_status" default
+      "topic_state_monitor_camera1: sensing_topic_status" default
+      "topic_state_monitor_camera2: sensing_topic_status" default
+      "topic_state_monitor_camera3: sensing_topic_status" default
+      "topic_state_monitor_camera4: sensing_topic_status" default
+      "topic_state_monitor_camera5: sensing_topic_status" default
+      "topic_state_monitor_camera6: sensing_topic_status" default
 
       # imu
+      "topic_state_monitor_imu: sensing_topic_status": default
       "gyro_bias_validator: gyro_bias_validator": default