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feat: add topic state monitor for sensors
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Signed-off-by: Tomohito Ando <[email protected]>
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@TomohitoAndo
TomohitoAndo committed Mar 25, 2024
1 parent a20412b commit b8bbcfd
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4 changes: 4 additions & 0 deletions aip_x2_launch/launch/sensing.launch.xml
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<arg name="output_twist_with_covariance" value="/sensing/vehicle_velocity_converter/twist_with_covariance"/>
<arg name="config_file" value="$(find-pkg-share individual_params)/config/$(var vehicle_id)/aip_x2/vehicle_velocity_converter.param.yaml" />
</include>

<!-- Component state monitor for each sensor -->
<include file="$(find-pkg-share aip_x2_launch)/launch/topic_state_monitor.launch.xml"/>

</group>

</launch>
201 changes: 201 additions & 0 deletions aip_x2_launch/launch/topic_state_monitor.launch.xml
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<launch>
<group>

<!-- GNSS topic monitor -->
<include file="$(find-pkg-share topic_state_monitor)/launch/topic_state_monitor.launch.xml">
<arg name="node_name_suffix" value="gnss_pose"/>
<arg name="topic" value="/sensing/gnss/pose"/>
<arg name="topic_type" value="geometry_msgs/msg/PoseStamped"/>
<arg name="best_effort" value="true"/>
<arg name="diag_name" value="gnss_topic_status"/>
<arg name="warn_rate" value="2.5"/>
<arg name="error_rate" value="0.5"/>
<arg name="timeout" value="5.0"/>
<arg name="window_size" value="10"/>
</include>

<!-- IMU topic monitor -->
<include file="$(find-pkg-share topic_state_monitor)/launch/topic_state_monitor.launch.xml">
<arg name="node_name_suffix" value="imu_data"/>
<arg name="topic" value="/sensing/imu/imu_data"/>
<arg name="topic_type" value="sensor_msgs/msg/Imu"/>
<arg name="best_effort" value="true"/>
<arg name="diag_name" value="imu_topic_status"/>
<arg name="warn_rate" value="5.0"/>
<arg name="error_rate" value="1.0"/>
<arg name="timeout" value="5.0"/>
<arg name="window_size" value="10"/>
</include>

<!-- Radar topic monitor -->
<include file="$(find-pkg-share topic_state_monitor)/launch/topic_state_monitor.launch.xml">
<arg name="node_name_suffix" value="radar_front_center"/>
<arg name="topic" value="/sensing/radar/front_center/objects_raw"/>
<arg name="topic_type" value="radar_msgs/msg/RadarTracks"/>
<arg name="best_effort" value="true"/>
<arg name="diag_name" value="radar_front_center_topic_status"/>
<arg name="warn_rate" value="5.0"/>
<arg name="error_rate" value="1.0"/>
<arg name="timeout" value="5.0"/>
<arg name="window_size" value="10"/>
</include>

<include file="$(find-pkg-share topic_state_monitor)/launch/topic_state_monitor.launch.xml">
<arg name="node_name_suffix" value="radar_front_left"/>
<arg name="topic" value="/sensing/radar/front_left/objects_raw"/>
<arg name="topic_type" value="radar_msgs/msg/RadarTracks"/>
<arg name="best_effort" value="true"/>
<arg name="diag_name" value="radar_front_left_topic_status"/>
<arg name="warn_rate" value="5.0"/>
<arg name="error_rate" value="1.0"/>
<arg name="timeout" value="5.0"/>
<arg name="window_size" value="10"/>
</include>

<include file="$(find-pkg-share topic_state_monitor)/launch/topic_state_monitor.launch.xml">
<arg name="node_name_suffix" value="radar_front_right"/>
<arg name="topic" value="/sensing/radar/front_right/objects_raw"/>
<arg name="topic_type" value="radar_msgs/msg/RadarTracks"/>
<arg name="best_effort" value="true"/>
<arg name="diag_name" value="radar_front_right_topic_status"/>
<arg name="warn_rate" value="5.0"/>
<arg name="error_rate" value="1.0"/>
<arg name="timeout" value="5.0"/>
<arg name="window_size" value="10"/>
</include>

<include file="$(find-pkg-share topic_state_monitor)/launch/topic_state_monitor.launch.xml">
<arg name="node_name_suffix" value="radar_rear_center"/>
<arg name="topic" value="/sensing/radar/rear_center/objects_raw"/>
<arg name="topic_type" value="radar_msgs/msg/RadarTracks"/>
<arg name="best_effort" value="true"/>
<arg name="diag_name" value="radar_rear_center_topic_status"/>
<arg name="warn_rate" value="5.0"/>
<arg name="error_rate" value="1.0"/>
<arg name="timeout" value="5.0"/>
<arg name="window_size" value="10"/>
</include>

<include file="$(find-pkg-share topic_state_monitor)/launch/topic_state_monitor.launch.xml">
<arg name="node_name_suffix" value="radar_rear_left"/>
<arg name="topic" value="/sensing/radar/rear_left/objects_raw"/>
<arg name="topic_type" value="radar_msgs/msg/RadarTracks"/>
<arg name="best_effort" value="true"/>
<arg name="diag_name" value="radar_rear_left_topic_status"/>
<arg name="warn_rate" value="5.0"/>
<arg name="error_rate" value="1.0"/>
<arg name="timeout" value="5.0"/>
<arg name="window_size" value="10"/>
</include>

<include file="$(find-pkg-share topic_state_monitor)/launch/topic_state_monitor.launch.xml">
<arg name="node_name_suffix" value="radar_rear_right"/>
<arg name="topic" value="/sensing/radar/rear_right/objects_raw"/>
<arg name="topic_type" value="radar_msgs/msg/RadarTracks"/>
<arg name="best_effort" value="true"/>
<arg name="diag_name" value="radar_rear_right_topic_status"/>
<arg name="warn_rate" value="5.0"/>
<arg name="error_rate" value="1.0"/>
<arg name="timeout" value="5.0"/>
<arg name="window_size" value="10"/>
</include>

<!-- Camera topic monitor -->
<include file="$(find-pkg-share topic_state_monitor)/launch/topic_state_monitor.launch.xml">
<arg name="node_name_suffix" value="camera0"/>
<arg name="topic" value="/sensing/camera/camera0/camera_info"/>
<arg name="topic_type" value="sensor_msgs/msg/CameraInfo"/>
<arg name="best_effort" value="true"/>
<arg name="diag_name" value="camera0_topic_status"/>
<arg name="warn_rate" value="5.0"/>
<arg name="error_rate" value="1.0"/>
<arg name="timeout" value="5.0"/>
<arg name="window_size" value="10"/>
</include>

<include file="$(find-pkg-share topic_state_monitor)/launch/topic_state_monitor.launch.xml">
<arg name="node_name_suffix" value="camera1"/>
<arg name="topic" value="/sensing/camera/camera1/camera_info"/>
<arg name="topic_type" value="sensor_msgs/msg/CameraInfo"/>
<arg name="best_effort" value="true"/>
<arg name="diag_name" value="camera1_topic_status"/>
<arg name="warn_rate" value="5.0"/>
<arg name="error_rate" value="1.0"/>
<arg name="timeout" value="5.0"/>
<arg name="window_size" value="10"/>
</include>

<include file="$(find-pkg-share topic_state_monitor)/launch/topic_state_monitor.launch.xml">
<arg name="node_name_suffix" value="camera2"/>
<arg name="topic" value="/sensing/camera/camera2/camera_info"/>
<arg name="topic_type" value="sensor_msgs/msg/CameraInfo"/>
<arg name="best_effort" value="true"/>
<arg name="diag_name" value="camera2_topic_status"/>
<arg name="warn_rate" value="5.0"/>
<arg name="error_rate" value="1.0"/>
<arg name="timeout" value="5.0"/>
<arg name="window_size" value="10"/>
</include>

<include file="$(find-pkg-share topic_state_monitor)/launch/topic_state_monitor.launch.xml">
<arg name="node_name_suffix" value="camera3"/>
<arg name="topic" value="/sensing/camera/camera3/camera_info"/>
<arg name="topic_type" value="sensor_msgs/msg/CameraInfo"/>
<arg name="best_effort" value="true"/>
<arg name="diag_name" value="camera3_topic_status"/>
<arg name="warn_rate" value="5.0"/>
<arg name="error_rate" value="1.0"/>
<arg name="timeout" value="5.0"/>
<arg name="window_size" value="10"/>
</include>

<include file="$(find-pkg-share topic_state_monitor)/launch/topic_state_monitor.launch.xml">
<arg name="node_name_suffix" value="camera4"/>
<arg name="topic" value="/sensing/camera/camera4/camera_info"/>
<arg name="topic_type" value="sensor_msgs/msg/CameraInfo"/>
<arg name="best_effort" value="true"/>
<arg name="diag_name" value="camera4_topic_status"/>
<arg name="warn_rate" value="5.0"/>
<arg name="error_rate" value="1.0"/>
<arg name="timeout" value="5.0"/>
<arg name="window_size" value="10"/>
</include>

<include file="$(find-pkg-share topic_state_monitor)/launch/topic_state_monitor.launch.xml">
<arg name="node_name_suffix" value="camera5"/>
<arg name="topic" value="/sensing/camera/camera5/camera_info"/>
<arg name="topic_type" value="sensor_msgs/msg/CameraInfo"/>
<arg name="best_effort" value="true"/>
<arg name="diag_name" value="camera5_topic_status"/>
<arg name="warn_rate" value="5.0"/>
<arg name="error_rate" value="1.0"/>
<arg name="timeout" value="5.0"/>
<arg name="window_size" value="10"/>
</include>

<include file="$(find-pkg-share topic_state_monitor)/launch/topic_state_monitor.launch.xml">
<arg name="node_name_suffix" value="camera6"/>
<arg name="topic" value="/sensing/camera/camera6/camera_info"/>
<arg name="topic_type" value="sensor_msgs/msg/CameraInfo"/>
<arg name="best_effort" value="true"/>
<arg name="diag_name" value="camera6_topic_status"/>
<arg name="warn_rate" value="5.0"/>
<arg name="error_rate" value="1.0"/>
<arg name="timeout" value="5.0"/>
<arg name="window_size" value="10"/>
</include>

<include file="$(find-pkg-share topic_state_monitor)/launch/topic_state_monitor.launch.xml">
<arg name="node_name_suffix" value="camera7"/>
<arg name="topic" value="/sensing/camera/camera7/camera_info"/>
<arg name="topic_type" value="sensor_msgs/msg/CameraInfo"/>
<arg name="best_effort" value="true"/>
<arg name="diag_name" value="camera7_topic_status"/>
<arg name="warn_rate" value="5.0"/>
<arg name="error_rate" value="1.0"/>
<arg name="timeout" value="5.0"/>
<arg name="window_size" value="10"/>
</include>

</group>
</launch>

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