From cdb212b25e26f7397cfb22dc4620e0455d988c43 Mon Sep 17 00:00:00 2001 From: Tomoya Kimura Date: Fri, 22 Dec 2023 16:20:15 +0900 Subject: [PATCH] feat: add gyro_bias_estimator to diagnostics_aggregator (#192) * feat: add gyro_bias_estimator to diagnostics_aggregator Signed-off-by: tomoya.kimura * ci(pre-commit): autofix --------- Signed-off-by: tomoya.kimura Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> --- .../diagnostic_aggregator/sensor_kit.param.yaml | 14 ++++++++++++++ .../dummy_diag_publisher/sensor_kit.param.yaml | 3 +++ .../diagnostic_aggregator/sensor_kit.param.yaml | 13 +++++++++++++ .../dummy_diag_publisher/sensor_kit.param.yaml | 3 +++ .../diagnostic_aggregator/sensor_kit.param.yaml | 14 ++++++++++++++ .../dummy_diag_publisher/sensor_kit.param.yaml | 3 +++ 6 files changed, 50 insertions(+) diff --git a/aip_x1_launch/config/diagnostic_aggregator/sensor_kit.param.yaml b/aip_x1_launch/config/diagnostic_aggregator/sensor_kit.param.yaml index 819c0b1f..5f2460c8 100644 --- 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 index 405c72a2..a10cfb8e 100644 --- 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 index 6d83d1fc..4f9fdd41 100644 --- 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 index 8865be67..02ec3b1a 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 @@ -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 index 3b1b980e..6df6325d 100644 --- 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 index 5d4e24a0..80cc7944 100644 --- 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