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feat(diagnostic_graph_aggregator): add dump tool (#6427) #1189

Merged
merged 1 commit into from
Mar 13, 2024
Merged

feat(diagnostic_graph_aggregator): add dump tool (#6427) #1189

merged 1 commit into from
Mar 13, 2024

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TomohitoAndo
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@TomohitoAndo TomohitoAndo commented Mar 13, 2024 •
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Description

This PR adds the debug tool for diagnostic_graph_aggregator.

Tests performed

Run simple planning simulator and dump tool.

$ ros2 run diagnostic_graph_aggregator dump
| ----- | ----- | -------------------------------------------------------- | ----------------------------------------------------------- |
| index | level | name                                                     | links                                                       |
| ----- | ----- | -------------------------------------------------------- | ----------------------------------------------------------- |
| 0     | STALE | /sensing/lidar/rear_upper/temperature                    |                                                             |
| 1     | STALE | /sensing/lidar/rear_lower/temperature                    |                                                             |
| 2     | STALE | /sensing/lidar/right_upper/temperature                   |                                                             |
| 3     | STALE | /sensing/lidar/right_lower/temperature                   |                                                             |
| 4     | STALE | /sensing/lidar/left_upper/temperature                    |                                                             |
| 5     | STALE | /sensing/lidar/left_lower/temperature                    |                                                             |
| 6     | STALE | /sensing/lidar/front_upper/temperature                   |                                                             |
| 7     | STALE | /sensing/lidar/front_lower/temperature                   |                                                             |
| 8     | STALE | /others/004-visibility_validation/right_upper            |                                                             |
| 9     | STALE | /others/004-visibility_validation/left_upper             |                                                             |
| 10    | STALE | /others/002-blockage_validation/rear_upper               |                                                             |
| 11    | STALE | /others/002-blockage_validation/rear_lower               |                                                             |
| 12    | STALE | /others/002-blockage_validation/right_upper              |                                                             |
| 13    | STALE | /others/002-blockage_validation/right_lower              |                                                             |
| 14    | STALE | /others/002-blockage_validation/left_upper               |                                                             |
| 15    | STALE | /others/002-blockage_validation/left_lower               |                                                             |
| 16    | STALE | /others/002-blockage_validation/front_upper              |                                                             |
| 17    | STALE | /others/002-blockage_validation/front_lower              |                                                             |
| 18    | OK    | /planning/011-trajectory_velocity_deviation_validation   |                                                             |
| 19    | OK    | /planning/010-trajectory_steering_rate_validation        |                                                             |
| 20    | OK    | /planning/009-trajectory_steering_validation             |                                                             |
| 21    | OK    | /planning/008-trajectory_deceleration_validation         |                                                             |
| 22    | OK    | /planning/007-trajectory_acceleration_validation         |                                                             |
| 23    | OK    | /planning/006-trajectory_lateral_acceleration_validation |                                                             |
| 24    | OK    | /planning/005-trajectory_relative_angle_validation       |                                                             |
| 25    | OK    | /planning/004-trajectory_curvature_validation            |                                                             |
| 26    | OK    | /planning/003-trajectory_interval_validation             |                                                             |
| 27    | OK    | /planning/002-trajectory_finite_validation               |                                                             |
| 28    | OK    | /planning/001-topic_status/trajectory                    |                                                             |
| 29    | OK    | /planning/001-topic_status/route                         |                                                             |
| 30    | STALE | /localization/005-accuracy_lateral                       |                                                             |
| 31    | STALE | /localization/004-accuracy                               |                                                             |
| 32    | STALE | /localization/003-matching_score                         |                                                             |
| 33    | OK    | /localization/002-tf                                     |                                                             |
| 34    | STALE | /localization/001-topic_status/pose_twist_fusion_filter  |                                                             |
| 35    | OK    | /localization/001-topic_status/initialpose               |                                                             |
| 36    | STALE | /sensing/camera/7/connection                             |                                                             |
| 37    | STALE | /sensing/camera/6/connection                             |                                                             |
| 38    | STALE | /sensing/camera/5/connection                             |                                                             |
| 39    | STALE | /sensing/camera/4/connection                             |                                                             |
| 40    | STALE | /sensing/camera/3/connection                             |                                                             |
| 41    | STALE | /sensing/camera/2/connection                             |                                                             |
| 42    | STALE | /sensing/camera/1/connection                             |                                                             |
| 43    | STALE | /sensing/camera/0/connection                             |                                                             |
| 44    | STALE | /sensing/radar/rear_right/connection                     |                                                             |
| 45    | STALE | /sensing/radar/rear_left/connection                      |                                                             |
| 46    | STALE | /sensing/radar/rear_center/connection                    |                                                             |
| 47    | STALE | /sensing/radar/front_right/connection                    |                                                             |
| 48    | STALE | /sensing/radar/front_left/connection                     |                                                             |
| 49    | STALE | /sensing/radar/front_center/connection                   |                                                             |
| 50    | STALE | /sensing/lidar/rear_upper/ptp                            |                                                             |
| 51    | STALE | /sensing/lidar/rear_lower/ptp                            |                                                             |
| 52    | STALE | /sensing/lidar/right_upper/ptp                           |                                                             |
| 53    | STALE | /sensing/lidar/right_lower/ptp                           |                                                             |
| 54    | STALE | /sensing/lidar/left_upper/ptp                            |                                                             |
| 55    | STALE | /sensing/lidar/left_lower/ptp                            |                                                             |
| 56    | STALE | /sensing/lidar/front_upper/ptp                           |                                                             |
| 57    | STALE | /sensing/lidar/front_lower/ptp                           |                                                             |
| 58    | STALE | /sensing/lidar/rear_upper/connection                     |                                                             |
| 59    | STALE | /sensing/lidar/rear_lower/connection                     |                                                             |
| 60    | STALE | /sensing/lidar/right_upper/connection                    |                                                             |
| 61    | STALE | /sensing/lidar/right_lower/connection                    |                                                             |
| 62    | STALE | /sensing/lidar/left_upper/connection                     |                                                             |
| 63    | STALE | /sensing/lidar/left_lower/connection                     |                                                             |
| 64    | STALE | /sensing/lidar/front_upper/connection                    |                                                             |
| 65    | STALE | /sensing/lidar/front_lower/connection                    |                                                             |
| 66    | STALE | /hardware/hdd/007-load/write_iops                        |                                                             |
| 67    | STALE | /hardware/hdd/007-load/write_rate                        |                                                             |
| 68    | STALE | /hardware/hdd/007-load/read_iops                         |                                                             |
| 69    | STALE | /hardware/hdd/007-load/read_rate                         |                                                             |
| 70    | ERROR | /sensing/lidar/pndr/002-temperature                      | 7 6 5 4 3 2 1 0                                             |
| 71    | STALE | /hardware/process/003-memory/proc-7                      |                                                             |
| 72    | STALE | /hardware/process/003-memory/proc-6                      |                                                             |
| 73    | STALE | /hardware/process/003-memory/proc-5                      |                                                             |
| 74    | STALE | /hardware/process/003-memory/proc-4                      |                                                             |
| 75    | STALE | /hardware/process/003-memory/proc-3                      |                                                             |
| 76    | STALE | /hardware/process/003-memory/proc-2                      |                                                             |
| 77    | STALE | /hardware/process/003-memory/proc-1                      |                                                             |
| 78    | STALE | /hardware/process/003-memory/proc-0                      |                                                             |
| 79    | STALE | /hardware/process/002-load/proc-7                        |                                                             |
| 80    | STALE | /hardware/process/002-load/proc-6                        |                                                             |
| 81    | STALE | /hardware/process/002-load/proc-5                        |                                                             |
| 82    | STALE | /hardware/process/002-load/proc-4                        |                                                             |
| 83    | STALE | /hardware/process/002-load/proc-3                        |                                                             |
| 84    | STALE | /hardware/process/002-load/proc-2                        |                                                             |
| 85    | STALE | /hardware/process/002-load/proc-1                        |                                                             |
| 86    | STALE | /hardware/process/002-load/proc-0                        |                                                             |
| 87    | STALE | /others/009-emergency_vehicle                            |                                                             |
| 88    | ERROR | /others/004-visibility_validation                        | 9 8                                                         |
| 89    | STALE | /others/003-concat_status                                |                                                             |
| 90    | ERROR | /others/002-blockage_validation                          | 17 16 15 14 13 12 11 10                                     |
| 91    | OK    | /system/002-emergency_stop_operation                     |                                                             |
| 92    | STALE | /vehicle/006-vehicle_errors                              |                                                             |
| 93    | OK    | /vehicle/005-vehicle_heartbeat                           |                                                             |
| 94    | OK    | /vehicle/001-topic_status/steering                       |                                                             |
| 95    | OK    | /vehicle/001-topic_status/velocity                       |                                                             |
| 96    | STALE | /control/010-max_distance_deviation                      |                                                             |
| 97    | OK    | /control/005-trajectory_deviation                        |                                                             |
| 98    | OK    | /control/004-lane_departure                              |                                                             |
| 99    | ERROR | /control/001-topic_status/control_command                |                                                             |
| 100   | OK    | /control/001-topic_status/trajectory_follower            |                                                             |
| 101   | STALE | /perception/001-topic_status/pointcloud                  |                                                             |
| 102   | OK    | /perception/001-topic_status/objects                     |                                                             |
| 103   | STALE | /perception/001-topic_status/traffic_signals             |                                                             |
| 104   | STALE | /planning/routing/state                                  |                                                             |
| 105   | STALE | /localization/state                                      |                                                             |
| 106   | STALE | /map/001-topic_status/pointcloud_map                     |                                                             |
| 107   | OK    | /map/001-topic_status/vector_map                         |                                                             |
| 108   | ERROR | /sensing/camera/001-connection                           | 43 42 41 40 39 38 37 36                                     |
| 109   | ERROR | /sensing/radar/001-connection                            | 49 48 47 46 45 44                                           |
| 110   | ERROR | /sensing/lidar/pndr/003-ptp                              | 57 56 55 54 53 52 51 50                                     |
| 111   | ERROR | /sensing/lidar/pndr/001-connection                       | 65 64 63 62 61 60 59 58                                     |
| 112   | STALE | /sensing/imu/002-connection                              |                                                             |
| 113   | STALE | /sensing/imu/001-monitor                                 |                                                             |
| 114   | STALE | /hardware/gpu/005-frequency                              |                                                             |
| 115   | STALE | /hardware/gpu/004-throttling                             |                                                             |
| 116   | STALE | /hardware/gpu/003-memory                                 |                                                             |
| 117   | STALE | /hardware/gpu/002-usage                                  |                                                             |
| 118   | STALE | /hardware/gpu/001-temperature                            |                                                             |
| 119   | STALE | /hardware/network/004-packet_reassembles                 |                                                             |
| 120   | STALE | /hardware/network/003-crc                                |                                                             |
| 121   | STALE | /hardware/memory/002-ecc                                 |                                                             |
| 122   | STALE | /hardware/memory/001-usage                               |                                                             |
| 123   | ERROR | /hardware/hdd/007-load                                   | 69 68 67 66                                                 |
| 124   | STALE | /hardware/hdd/006-soft_error                             |                                                             |
| 125   | STALE | /hardware/hdd/003-connection                             |                                                             |
| 126   | STALE | /hardware/hdd/001-temperature                            |                                                             |
| 127   | STALE | /hardware/cpu/004-throttling                             |                                                             |
| 128   | STALE | /hardware/cpu/002-usage                                  |                                                             |
| 129   | STALE | /system/005-fms_connection                               |                                                             |
| 130   | ERROR | /sensing/lidar/pndr/002-temperature-warn                 | 70                                                          |
| 131   | STALE | /sensing/gnss/002-quality                                |                                                             |
| 132   | STALE | /sensing/gnss/001-connection                             |                                                             |
| 133   | STALE | /hardware/hdd/002-usage                                  |                                                             |
| 134   | STALE | /system/004-bagpacker_disk_space                         |                                                             |
| 135   | STALE | /system/003-bagpacker_status                             |                                                             |
| 136   | OK    | /control/008-external_command_selector_heartbeat         |                                                             |
| 137   | OK    | /control/007-external_command_converter_heartbeat        |                                                             |
| 138   | OK    | /control/003-gate_heartbeat                              |                                                             |
| 139   | STALE | /sensing/imu/003-gyro_bias                               |                                                             |
| 140   | STALE | /hardware/bios/001-battery                               |                                                             |
| 141   | ERROR | /hardware/process/003-memory                             | 78 77 76 75 74 73 72 71                                     |
| 142   | ERROR | /hardware/process/002-load                               | 86 85 84 83 82 81 80 79                                     |
| 143   | STALE | /hardware/process/001-summary                            |                                                             |
| 144   | STALE | /hardware/ntp/001-sync                                   |                                                             |
| 145   | STALE | /hardware/network/002-traffic                            |                                                             |
| 146   | STALE | /hardware/network/001-usage                              |                                                             |
| 147   | STALE | /hardware/hdd/005-warranty_period                        |                                                             |
| 148   | STALE | /hardware/hdd/004-total_written                          |                                                             |
| 149   | STALE | /hardware/cpu/005-frequency                              |                                                             |
| 150   | STALE | /hardware/cpu/003-load_average                           |                                                             |
| 151   | STALE | /hardware/cpu/001-temperature                            |                                                             |
| 152   | ERROR | /system/mrm_request/comfortable_stop                     | 87                                                          |
| 153   | OK    | /vehicle/mrm_request/comfortable_stop                    |                                                             |
| 154   | OK    | /control/mrm_request/comfortable_stop                    |                                                             |
| 155   | OK    | /perception/mrm_request/comfortable_stop                 |                                                             |
| 156   | OK    | /planning/mrm_request/comfortable_stop                   |                                                             |
| 157   | OK    | /localization/mrm_request/comfortable_stop               |                                                             |
| 158   | OK    | /map/mrm_request/comfortable_stop                        |                                                             |
| 159   | OK    | /sensing/mrm_request/comfortable_stop                    |                                                             |
| 160   | OK    | /hardware/mrm_request/comfortable_stop                   |                                                             |
| 161   | ERROR | /system/mrm_request/emergency_stop                       | 91 90 89 88                                                 |
| 162   | ERROR | /vehicle/mrm_request/emergency_stop                      | 95 94 93 92                                                 |
| 163   | ERROR | /control/mrm_request/emergency_stop                      | 100 99 98 97 96                                             |
| 164   | ERROR | /perception/mrm_request/emergency_stop                   | 103 102 101                                                 |
| 165   | ERROR | /planning/mrm_request/emergency_stop                     | 104 29 28 27 26 25 24 23 22 21 20 19 18                     |
| 166   | ERROR | /localization/mrm_request/emergency_stop                 | 105 35 34 33 32 31 30                                       |
| 167   | ERROR | /map/mrm_request/emergency_stop                          | 107 106                                                     |
| 168   | ERROR | /sensing/mrm_request/emergency_stop                      | 113 112 111 70 110 109 108                                  |
| 169   | ERROR | /hardware/mrm_request/emergency_stop                     | 128 127 126 125 124 123 122 121 120 119 118 117 116 115 114 |
| 170   | ERROR | /system/mrm_request/pull_over                            | 129                                                         |
| 171   | OK    | /vehicle/mrm_request/pull_over                           |                                                             |
| 172   | OK    | /control/mrm_request/pull_over                           |                                                             |
| 173   | OK    | /perception/mrm_request/pull_over                        |                                                             |
| 174   | OK    | /planning/mrm_request/pull_over                          |                                                             |
| 175   | OK    | /localization/mrm_request/pull_over                      |                                                             |
| 176   | OK    | /map/mrm_request/pull_over                               |                                                             |
| 177   | ERROR | /sensing/mrm_request/pull_over                           | 132 131 130                                                 |
| 178   | ERROR | /hardware/mrm_request/pull_over                          | 133                                                         |
| 179   | OK    | /system/001-topic_status                                 |                                                             |
| 180   | ERROR | /system/mrm_request/none                                 | 135 134                                                     |
| 181   | OK    | /vehicle/mrm_request/none                                |                                                             |
| 182   | OK    | /control/mrm_request/none                                | 138 137 136                                                 |
| 183   | OK    | /perception/mrm_request/none                             |                                                             |
| 184   | OK    | /planning/mrm_request/none                               |                                                             |
| 185   | OK    | /localization/mrm_request/none                           |                                                             |
| 186   | OK    | /map/mrm_request/none                                    |                                                             |
| 187   | ERROR | /sensing/mrm_request/none                                | 139                                                         |
| 188   | ERROR | /hardware/mrm_request/none                               | 151 150 149 148 147 146 145 144 143 142 141 140             |
| 189   | ERROR | /autoware/mrm_request/comfortable_stop                   | 160 159 158 157 156 155 154 153 152                         |
| 190   | ERROR | /autoware/mrm_request/emergency_stop                     | 169 168 167 166 165 164 163 162 161                         |
| 191   | ERROR | /autoware/mrm_request/pull_over                          | 178 177 176 175 174 173 172 171 170                         |
| 192   | OK    | /system/mrm_request/ecu_switching                        | 179                                                         |
| 193   | ERROR | /autoware/mrm_request/none                               | 188 187 186 185 184 183 182 181 180                         |
| 194   | ERROR | /autoware/modes/pull_over                                | 190 189                                                     |
| 195   | ERROR | /autoware/modes/comfortable_stop                         | 190                                                         |
| 196   | OK    | /autoware/modes/emergency_stop                           |                                                             |
| 197   | ERROR | /autoware/modes/autonomous                               | 190 189 191                                                 |
| 198   | OK    | /autoware/modes/stop                                     |                                                             |
| 199   | STALE | /autoware/modes/remote                                   |                                                             |
| 200   | STALE | /autoware/modes/local                                    |                                                             |

Effects on system behavior

Not applicable.

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@TomohitoAndo TomohitoAndo requested review from mkuri and 0x126 March 13, 2024 05:48
mkuri
mkuri approved these changes Mar 13, 2024
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LGTM

@TomohitoAndo TomohitoAndo merged commit d6aa2c7 into beta/v0.19.1 Mar 13, 2024
24 of 25 checks passed
@TomohitoAndo TomohitoAndo deleted the add-diagnostic-graph-dump-tool branch March 13, 2024 05:53
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@mkuri mkuri mkuri approved these changes

@0x126 0x126 Awaiting requested review from 0x126

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3 participants
@TomohitoAndo @mkuri @isamu-takagi