From 5917988bf99f940031a0154416ef1ba8f4c893c7 Mon Sep 17 00:00:00 2001 From: Hiroki OTA Date: Wed, 8 May 2024 17:18:41 +0800 Subject: [PATCH] feat(aip_x2): add dummy diag (#236) --- .../sensor_kit.param.yaml | 86 ++++++++++++++++--- 1 file changed, 76 insertions(+), 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 index ed8141a2..67940633 100644 --- 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