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feat(diagnostic_graph_aggregator): introduce diagnostic graph aggrega…
…tor feature into beta/v0.46.0 (autowarefoundation#927) (autowarefoundation#937) * add psim setting files of diagnostic_graph_aggregator * add debug example * style(pre-commit): autofix * typo fixed * setting diagnostic config entrance for autoware.launch.xml * remove diagnostic_graph unused psim config and change logging_simulator config file to autoware.yaml * remove unused hardware.yaml file --------- Signed-off-by: Ericpotato <[email protected]> Co-authored-by: Ericpotato <[email protected]>
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autoware_launch/config/system/diagnostic_graph_aggregator/autoware-main.yaml
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autoware_launch/config/system/diagnostic_graph_aggregator/autoware-psim.yaml
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autoware_launch/config/system/diagnostic_graph_aggregator/autoware.yaml
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| Original file line number | Diff line number | Diff line change |
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| @@ -0,0 +1,70 @@ | ||
| files: | ||
| - { path: $(find-pkg-share system_diagnostic_monitor)/config/map.yaml } | ||
| - { path: $(find-pkg-share system_diagnostic_monitor)/config/localization.yaml } | ||
| - { path: $(find-pkg-share system_diagnostic_monitor)/config/planning.yaml } | ||
| - { path: $(find-pkg-share system_diagnostic_monitor)/config/perception.yaml } | ||
| - { path: $(find-pkg-share system_diagnostic_monitor)/config/control.yaml } | ||
| - { path: $(find-pkg-share system_diagnostic_monitor)/config/vehicle.yaml } | ||
| - { path: $(find-pkg-share system_diagnostic_monitor)/config/system.yaml } | ||
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| units: | ||
| - 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/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/emergency_stop | ||
| type: and | ||
| list: | ||
| - { 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/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/debug/tools | ||
| type: and | ||
| list: | ||
| - { type: link, link: /autoware/system/service_log_checker } |
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autoware_launch/config/system/diagnostic_graph_aggregator/control.yaml
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| 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 } | ||
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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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autoware_launch/config/system/diagnostic_graph_aggregator/localization.yaml
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| units: | ||
| - path: /autoware/localization | ||
| type: short-circuit-and | ||
| list: | ||
| - type: link | ||
| link: /autoware/localization/state | ||
| - type: and | ||
| list: | ||
| - { type: link, link: /autoware/localization/topic_rate_check/transform } | ||
| - { type: link, link: /autoware/localization/topic_rate_check/pose_twist_fusion } | ||
| - { type: link, link: /autoware/localization/scan_matching_status } | ||
| - { type: link, link: /autoware/localization/accuracy } | ||
| - { type: link, link: /autoware/localization/sensor_fusion_status } | ||
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| - path: /autoware/localization/state | ||
| type: diag | ||
| node: component_state_diagnostics | ||
| name: localization_state | ||
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| - path: /autoware/localization/topic_rate_check/transform | ||
| type: diag | ||
| node: topic_state_monitor_transform_map_to_base_link | ||
| name: localization_topic_status | ||
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| - path: /autoware/localization/topic_rate_check/pose_twist_fusion | ||
| type: diag | ||
| node: topic_state_monitor_pose_twist_fusion_filter_pose | ||
| name: localization_topic_status | ||
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| - path: /autoware/localization/scan_matching_status | ||
| type: diag | ||
| node: ndt_scan_matcher | ||
| name: scan_matching_status | ||
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| - path: /autoware/localization/accuracy | ||
| type: diag | ||
| node: localization | ||
| name: localization_error_monitor | ||
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| - path: /autoware/localization/sensor_fusion_status | ||
| type: diag | ||
| node: localization | ||
| name: ekf_localizer |
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autoware_launch/config/system/diagnostic_graph_aggregator/map.yaml
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,16 @@ | ||
| units: | ||
| - path: /autoware/map | ||
| type: and | ||
| list: | ||
| - { type: link, link: /autoware/map/topic_rate_check/vector_map } | ||
| - { type: link, link: /autoware/map/topic_rate_check/pointcloud_map } | ||
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| - path: /autoware/map/topic_rate_check/vector_map | ||
| type: diag | ||
| node: topic_state_monitor_vector_map | ||
| name: map_topic_status | ||
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| - path: /autoware/map/topic_rate_check/pointcloud_map | ||
| type: diag | ||
| node: topic_state_monitor_pointcloud_map | ||
| name: map_topic_status |
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autoware_launch/config/system/diagnostic_graph_aggregator/perception.yaml
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,16 @@ | ||
| units: | ||
| - path: /autoware/perception | ||
| type: and | ||
| list: | ||
| - { type: link, link: /autoware/perception/topic_rate_check/objects } | ||
| - { type: link, link: /autoware/perception/topic_rate_check/pointcloud } | ||
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| - path: /autoware/perception/topic_rate_check/objects | ||
| type: diag | ||
| node: topic_state_monitor_object_recognition_objects | ||
| name: perception_topic_status | ||
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| - path: /autoware/perception/topic_rate_check/pointcloud | ||
| type: diag | ||
| node: topic_state_monitor_obstacle_segmentation_pointcloud | ||
| name: perception_topic_status |
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autoware_launch/config/system/diagnostic_graph_aggregator/planning.yaml
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,90 @@ | ||
| units: | ||
| - path: /autoware/planning | ||
| type: short-circuit-and | ||
| list: | ||
| - type: link | ||
| link: /autoware/planning/routing/state | ||
| - type: and | ||
| list: | ||
| - { type: link, link: /autoware/planning/topic_rate_check/route } | ||
| - { type: link, link: /autoware/planning/topic_rate_check/trajectory } | ||
| - { type: link, link: /autoware/planning/trajectory_validation } | ||
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| - path: /autoware/planning/trajectory_validation | ||
| type: and | ||
| list: | ||
| - { type: link, link: /autoware/planning/trajectory_validation/finite } | ||
| - { type: link, link: /autoware/planning/trajectory_validation/interval } | ||
| - { type: link, link: /autoware/planning/trajectory_validation/curvature } | ||
| - { type: link, link: /autoware/planning/trajectory_validation/angle } | ||
| - { type: link, link: /autoware/planning/trajectory_validation/lateral_acceleration } | ||
| - { type: link, link: /autoware/planning/trajectory_validation/acceleration } | ||
| - { type: link, link: /autoware/planning/trajectory_validation/deceleration } | ||
| - { type: link, link: /autoware/planning/trajectory_validation/steering } | ||
| - { type: link, link: /autoware/planning/trajectory_validation/steering_rate } | ||
| - { type: link, link: /autoware/planning/trajectory_validation/velocity_deviation } | ||
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| - path: /autoware/planning/routing/state | ||
| type: diag | ||
| node: component_state_diagnostics | ||
| name: route_state | ||
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| - path: /autoware/planning/topic_rate_check/route | ||
| type: diag | ||
| node: topic_state_monitor_mission_planning_route | ||
| name: planning_topic_status | ||
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| - path: /autoware/planning/topic_rate_check/trajectory | ||
| type: diag | ||
| node: topic_state_monitor_scenario_planning_trajectory | ||
| name: planning_topic_status | ||
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| - path: /autoware/planning/trajectory_validation/finite | ||
| type: diag | ||
| node: planning_validator | ||
| name: trajectory_validation_finite | ||
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| - path: /autoware/planning/trajectory_validation/interval | ||
| type: diag | ||
| node: planning_validator | ||
| name: trajectory_validation_interval | ||
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| - path: /autoware/planning/trajectory_validation/curvature | ||
| type: diag | ||
| node: planning_validator | ||
| name: trajectory_validation_curvature | ||
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| - path: /autoware/planning/trajectory_validation/angle | ||
| type: diag | ||
| node: planning_validator | ||
| name: trajectory_validation_relative_angle | ||
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| - path: /autoware/planning/trajectory_validation/lateral_acceleration | ||
| type: diag | ||
| node: planning_validator | ||
| name: trajectory_validation_lateral_acceleration | ||
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| - path: /autoware/planning/trajectory_validation/acceleration | ||
| type: diag | ||
| node: planning_validator | ||
| name: trajectory_validation_acceleration | ||
|
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| - path: /autoware/planning/trajectory_validation/deceleration | ||
| type: diag | ||
| node: planning_validator | ||
| name: trajectory_validation_deceleration | ||
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| - path: /autoware/planning/trajectory_validation/steering | ||
| type: diag | ||
| node: planning_validator | ||
| name: trajectory_validation_steering | ||
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| - path: /autoware/planning/trajectory_validation/steering_rate | ||
| type: diag | ||
| node: planning_validator | ||
| name: trajectory_validation_steering_rate | ||
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| - path: /autoware/planning/trajectory_validation/velocity_deviation | ||
| type: diag | ||
| node: planning_validator | ||
| name: trajectory_validation_velocity_deviation |
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autoware_launch/config/system/diagnostic_graph_aggregator/system.yaml
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,27 @@ | ||
| units: | ||
| - path: /autoware/system | ||
| type: and | ||
| list: | ||
| - { type: link, link: /autoware/system/duplicated_node_checker } | ||
| - { type: link, link: /autoware/system/topic_rate_check/emergency_control_command } | ||
| - { type: link, link: /autoware/system/emergency_stop_operation } | ||
|
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| - path: /autoware/system/duplicated_node_checker | ||
| type: diag | ||
| node: duplicated_node_checker | ||
| name: duplicated_node_checker | ||
|
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| - path: /autoware/system/service_log_checker | ||
| type: diag | ||
| node: service_log_checker | ||
| name: response_status | ||
|
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| - path: /autoware/system/topic_rate_check/emergency_control_command | ||
| type: diag | ||
| node: topic_state_monitor_system_emergency_control_cmd | ||
| name: system_topic_status | ||
|
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| - path: /autoware/system/emergency_stop_operation | ||
| type: diag | ||
| node: vehicle_cmd_gate | ||
| name: emergency_stop_operation |
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autoware_launch/config/system/diagnostic_graph_aggregator/vehicle.yaml
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,16 @@ | ||
| units: | ||
| - path: /autoware/vehicle | ||
| type: and | ||
| list: | ||
| - { type: link, link: /autoware/vehicle/topic_rate_check/velocity } | ||
| - { type: link, link: /autoware/vehicle/topic_rate_check/steering } | ||
|
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| - path: /autoware/vehicle/topic_rate_check/velocity | ||
| type: diag | ||
| node: topic_state_monitor_vehicle_status_velocity_status | ||
| name: vehicle_topic_status | ||
|
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| - path: /autoware/vehicle/topic_rate_check/steering | ||
| type: diag | ||
| node: topic_state_monitor_vehicle_status_steering_status | ||
| name: vehicle_topic_status |
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