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2 changes: 1 addition & 1 deletion
2
autoware_launch/config/planning/scenario_planning/common/common.param.yaml
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5 changes: 5 additions & 0 deletions
5
autoware_launch/config/system/tier4_diagnostics/autoware-awsim.yaml
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,5 @@ | ||
| files: | ||
| - { path: $(dirname)/autoware-main.yaml } | ||
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| edits: | ||
| - { type: remove, path: /autoware/system/duplicated_node_checker } |
70 changes: 70 additions & 0 deletions
70
autoware_launch/config/system/tier4_diagnostics/autoware-main.yaml
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,70 @@ | ||
| files: | ||
| - { path: $(dirname)/control.yaml } | ||
| - { path: $(dirname)/localization.yaml } | ||
| - { path: $(dirname)/map.yaml } | ||
| - { path: $(dirname)/perception.yaml } | ||
| - { path: $(dirname)/planning.yaml } | ||
| - { path: $(dirname)/system.yaml } | ||
| - { path: $(dirname)/vehicle.yaml } | ||
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| units: | ||
| - path: /autoware/modes/local | ||
| type: and | ||
| list: | ||
| - { type: link, link: /autoware/vehicle } | ||
| - { type: link, link: /autoware/system } | ||
| - { type: link, link: /autoware/control/local } | ||
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| - path: /autoware/modes/remote | ||
| type: and | ||
| list: | ||
| - { type: link, link: /autoware/vehicle } | ||
| - { type: link, link: /autoware/system } | ||
| - { type: link, link: /autoware/control/remote } | ||
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| - path: /autoware/modes/stop | ||
| type: ok | ||
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| - path: /autoware/modes/autonomous | ||
| type: and | ||
| list: | ||
| - { type: link, link: /autoware/map } | ||
| - { type: link, link: /autoware/localization } | ||
| - { type: link, link: /autoware/planning } | ||
| - { type: link, link: /autoware/perception } | ||
| - { type: link, link: /autoware/control } | ||
| - { type: link, link: /autoware/vehicle } | ||
| - { type: link, link: /autoware/system } | ||
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| - path: /autoware/modes/pull_over | ||
| type: and | ||
| list: | ||
| - { type: link, link: /autoware/map } | ||
| - { type: link, link: /autoware/localization } | ||
| - { type: link, link: /autoware/planning } | ||
| - { type: link, link: /autoware/perception } | ||
| - { type: link, link: /autoware/control } | ||
| - { type: link, link: /autoware/vehicle } | ||
| - { type: link, link: /autoware/system } | ||
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| - path: /autoware/modes/comfortable_stop | ||
| type: and | ||
| list: | ||
| - { type: link, link: /autoware/map } | ||
| - { type: link, link: /autoware/localization } | ||
| - { type: link, link: /autoware/planning } | ||
| - { type: link, link: /autoware/perception } | ||
| - { type: link, link: /autoware/control } | ||
| - { type: link, link: /autoware/vehicle } | ||
| - { type: link, link: /autoware/system } | ||
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| - path: /autoware/modes/emergency_stop | ||
| type: and | ||
| list: | ||
| - { type: link, link: /autoware/vehicle } | ||
| - { type: link, link: /autoware/system } | ||
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| - path: /autoware/debug/tools | ||
| type: and | ||
| list: | ||
| - { type: link, link: /autoware/system/service_log_checker } |
74 changes: 74 additions & 0 deletions
74
autoware_launch/config/system/tier4_diagnostics/control.yaml
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,74 @@ | ||
| units: | ||
| - path: /autoware/control | ||
| type: and | ||
| list: | ||
| - { type: link, link: /autoware/control/topic_rate_check/trajectory_follower } | ||
| - { type: link, link: /autoware/control/topic_rate_check/control_command } | ||
| - { type: link, link: /autoware/control/node_alive_monitoring/vehicle_cmd_gate } | ||
| - { type: link, link: /autoware/control/emergency_braking } | ||
| - { type: link, link: /autoware/control/performance_monitoring/lane_departure } | ||
| - { type: link, link: /autoware/control/performance_monitoring/trajectory_deviation } | ||
| - { type: link, link: /autoware/control/performance_monitoring/control_state } | ||
| - { type: link, link: /autoware/control/collision_detector } | ||
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| - path: /autoware/control/local | ||
| type: and | ||
| list: | ||
| - { type: link, link: /autoware/control/topic_rate_check/external_cmd_selector } | ||
| - { type: link, link: /autoware/control/topic_rate_check/external_cmd_converter } | ||
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| - path: /autoware/control/remote | ||
| type: and | ||
| list: | ||
| - { type: link, link: /autoware/control/topic_rate_check/external_cmd_selector } | ||
| - { type: link, link: /autoware/control/topic_rate_check/external_cmd_converter } | ||
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| - path: /autoware/control/topic_rate_check/trajectory_follower | ||
| type: diag | ||
| node: topic_state_monitor_trajectory_follower_control_cmd | ||
| name: control_topic_status | ||
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| - path: /autoware/control/topic_rate_check/control_command | ||
| type: diag | ||
| node: topic_state_monitor_control_command_control_cmd | ||
| name: control_topic_status | ||
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| - path: /autoware/control/node_alive_monitoring/vehicle_cmd_gate | ||
| type: diag | ||
| node: vehicle_cmd_gate | ||
| name: heartbeat | ||
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| - path: /autoware/control/emergency_braking | ||
| type: diag | ||
| node: autonomous_emergency_braking | ||
| name: aeb_emergency_stop | ||
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| - path: /autoware/control/performance_monitoring/lane_departure | ||
| type: diag | ||
| node: lane_departure_checker_node | ||
| name: lane_departure | ||
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| - path: /autoware/control/performance_monitoring/trajectory_deviation | ||
| type: diag | ||
| node: lane_departure_checker_node | ||
| name: trajectory_deviation | ||
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| - path: /autoware/control/performance_monitoring/control_state | ||
| type: diag | ||
| node: controller_node_exe | ||
| name: control_state | ||
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| - path: /autoware/control/topic_rate_check/external_cmd_selector | ||
| type: diag | ||
| node: external_cmd_selector | ||
| name: heartbeat | ||
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| - path: /autoware/control/topic_rate_check/external_cmd_converter | ||
| type: diag | ||
| node: external_cmd_converter | ||
| name: remote_control_topic_status | ||
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| - path: /autoware/control/collision_detector | ||
| type: diag | ||
| node: collision_detector | ||
| name: collision_detect |
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