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feat(aip_x2): add dummy diag #236

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May 8, 2024
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feat(aip_x2): add dummy diag #236

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86 changes: 76 additions & 10 deletions aip_x2_launch/config/dummy_diag_publisher/sensor_kit.param.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -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

Check warning on line 33 in aip_x2_launch/config/dummy_diag_publisher/sensor_kit.param.yaml

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"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

Check warning on line 43 in aip_x2_launch/config/dummy_diag_publisher/sensor_kit.param.yaml

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Unknown word (pndr)
"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

Check warning on line 53 in aip_x2_launch/config/dummy_diag_publisher/sensor_kit.param.yaml

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Unknown word (pndr)
"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
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