From 068a604b674bc9c7c6c069127df6d0cd8f4c52f7 Mon Sep 17 00:00:00 2001
From: Yuki TAKAGI <141538661+yuki-takagi-66@users.noreply.github.com>
Date: Thu, 14 Nov 2024 11:24:03 +0900
Subject: [PATCH] feat(psim, dummy_diag, diagnostic_graph_aggregator)!: launch
 dummy_diag_publisher (#1220)

Signed-off-by: Yuki Takagi <yuki.takagi@tier4.jp>
---
 .../autoware-psim.yaml                        |  2 --
 .../dummy_diag_publisher.param.yaml           | 21 ++++++++++++++++++-
 .../autoware-psim.yaml                        | 10 ---------
 .../launch/planning_simulator.launch.xml      |  4 ++--
 4 files changed, 22 insertions(+), 15 deletions(-)
 delete mode 100644 autoware_launch/config/system/diagnostic_graph_aggregator/autoware-psim.yaml
 delete mode 100644 autoware_launch/config/system/system_diagnostic_monitor/autoware-psim.yaml

diff --git a/autoware_launch/config/system/diagnostic_graph_aggregator/autoware-psim.yaml b/autoware_launch/config/system/diagnostic_graph_aggregator/autoware-psim.yaml
deleted file mode 100644
index 20c95af6e9..0000000000
--- a/autoware_launch/config/system/diagnostic_graph_aggregator/autoware-psim.yaml
+++ /dev/null
@@ -1,2 +0,0 @@
-files:
-  - { path: $(find-pkg-share autoware_launch)/config/system/system_diagnostic_monitor/autoware-psim.yaml }
diff --git a/autoware_launch/config/system/dummy_diag_publisher/dummy_diag_publisher.param.yaml b/autoware_launch/config/system/dummy_diag_publisher/dummy_diag_publisher.param.yaml
index 43edd109b5..0ed824d3c8 100644
--- a/autoware_launch/config/system/dummy_diag_publisher/dummy_diag_publisher.param.yaml
+++ b/autoware_launch/config/system/dummy_diag_publisher/dummy_diag_publisher.param.yaml
@@ -14,4 +14,23 @@
 /**:
   ros__parameters:
     required_diags:
-      dummy_diag_empty: default
+      # map
+      ## /autoware/map/topic_rate_check/pointcloud_map
+      "topic_state_monitor_pointcloud_map: map_topic_status": default
+
+      # localization
+      ## /autoware/localization/scan_matching_status
+      "ndt_scan_matcher: scan_matching_status": default
+
+      ## /autoware/localization/accuracy
+      "localization_error_monitor: ellipse_error_status": default
+
+      ## /autoware/localization/sensor_fusion_status
+      "localization: ekf_localizer": default
+
+      ## /autoware/localization/topic_rate_check/pose_twist_fusion
+      "topic_state_monitor_pose_twist_fusion_filter_pose: localization_topic_status": default
+
+      # perception
+      ## /autoware/perception/topic_rate_check/pointcloud
+      "topic_state_monitor_obstacle_segmentation_pointcloud: perception_topic_status": default
diff --git a/autoware_launch/config/system/system_diagnostic_monitor/autoware-psim.yaml b/autoware_launch/config/system/system_diagnostic_monitor/autoware-psim.yaml
deleted file mode 100644
index fc17c74173..0000000000
--- a/autoware_launch/config/system/system_diagnostic_monitor/autoware-psim.yaml
+++ /dev/null
@@ -1,10 +0,0 @@
-files:
-  - { path: $(dirname)/autoware-main.yaml }
-
-edits:
-  - { type: remove, path: /autoware/map/topic_rate_check/pointcloud_map }
-  - { type: remove, path: /autoware/localization/scan_matching_status }
-  - { type: remove, path: /autoware/localization/accuracy }
-  - { type: remove, path: /autoware/localization/sensor_fusion_status }
-  - { type: remove, path: /autoware/localization/topic_rate_check/pose_twist_fusion }
-  - { type: remove, path: /autoware/perception/topic_rate_check/pointcloud }
diff --git a/autoware_launch/launch/planning_simulator.launch.xml b/autoware_launch/launch/planning_simulator.launch.xml
index 798e6ec99b..bc601cb30f 100644
--- a/autoware_launch/launch/planning_simulator.launch.xml
+++ b/autoware_launch/launch/planning_simulator.launch.xml
@@ -18,7 +18,7 @@
   <!-- System -->
   <arg name="launch_dummy_doors" default="true" description="launch dummy doors simulation"/>
   <arg name="launch_system_monitor" default="false" description="launch system monitor"/>
-  <arg name="launch_dummy_diag_publisher" default="false" description="launch dummy diag publisher"/>
+  <arg name="launch_dummy_diag_publisher" default="true" description="launch dummy diag publisher"/>
   <!-- Scenario simulation -->
   <arg name="initial_engage_state" default="true" description="/vehicle/engage state after starting Autoware"/>
   <arg name="perception/enable_detection_failure" default="true" description="enable to simulate detection failure when using dummy perception"/>
@@ -68,7 +68,7 @@
       <arg name="system_run_mode" value="planning_simulation"/>
       <arg name="launch_system_monitor" value="$(var launch_system_monitor)"/>
       <arg name="launch_dummy_diag_publisher" value="$(var launch_dummy_diag_publisher)"/>
-      <arg name="diagnostic_graph_aggregator_graph_path" value="$(find-pkg-share autoware_launch)/config/system/diagnostic_graph_aggregator/autoware-psim.yaml"/>
+      <arg name="diagnostic_graph_aggregator_graph_path" value="$(find-pkg-share autoware_launch)/config/system/diagnostic_graph_aggregator/autoware-main.yaml"/>
       <!-- Map -->
       <arg name="lanelet2_map_file" value="$(var lanelet2_map_file)"/>
       <arg name="pointcloud_map_file" value="$(var pointcloud_map_file)"/>