diff --git a/autoware_launch/config/system/tier4_diagnostics/autoware-awsim.yaml b/autoware_launch/config/system/tier4_diagnostics/autoware-awsim.yaml index 4abae34a31..5456b20c7a 100644 --- a/autoware_launch/config/system/tier4_diagnostics/autoware-awsim.yaml +++ b/autoware_launch/config/system/tier4_diagnostics/autoware-awsim.yaml @@ -1,5 +1,2 @@ files: - { path: $(dirname)/autoware-main.yaml } - -edits: - - { type: remove, path: /autoware/system/duplicated_node_checker } diff --git a/autoware_launch/config/system/tier4_diagnostics/autoware-main.yaml b/autoware_launch/config/system/tier4_diagnostics/autoware-main.yaml index fbbfe384f2..fed7797849 100644 --- a/autoware_launch/config/system/tier4_diagnostics/autoware-main.yaml +++ b/autoware_launch/config/system/tier4_diagnostics/autoware-main.yaml @@ -1,26 +1,21 @@ files: - { path: $(dirname)/control.yaml } + # - { path: $(dirname)/hardware.yaml } - { path: $(dirname)/localization.yaml } - { path: $(dirname)/map.yaml } - { path: $(dirname)/perception.yaml } - { path: $(dirname)/planning.yaml } + # - { path: $(dirname)/others.yaml } + # - { path: $(dirname)/sensing.yaml } - { path: $(dirname)/system.yaml } - { path: $(dirname)/vehicle.yaml } units: - path: /autoware/modes/local - type: and - list: - - { type: link, link: /autoware/vehicle } - - { type: link, link: /autoware/system } - - { type: link, link: /autoware/control/local } + type: stale - path: /autoware/modes/remote - type: and - list: - - { type: link, link: /autoware/vehicle } - - { type: link, link: /autoware/system } - - { type: link, link: /autoware/control/remote } + type: stale - path: /autoware/modes/stop type: ok @@ -28,43 +23,45 @@ units: - 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 } + - { type: link, link: /map/autonomous_available } + - { type: link, link: /localization/autonomous_available } + - { type: link, link: /planning/autonomous_available } + - { type: link, link: /perception/autonomous_available } + - { type: link, link: /control/autonomous_available } + - { type: link, link: /vehicle/autonomous_available } + - { type: link, link: /system/autonomous_available } - 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 } + - { type: link, link: /map/pull_over_available } + - { type: link, link: /localization/pull_over_available } + - { type: link, link: /planning/pull_over_available } + - { type: link, link: /perception/pull_over_available } + - { type: link, link: /control/pull_over_available } + - { type: link, link: /vehicle/pull_over_available } + - { type: link, link: /system/pull_over_available } - 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 } + - { type: link, link: /map/comfortable_stop_available } + - { type: link, link: /localization/comfortable_stop_available } + - { type: link, link: /planning/comfortable_stop_available } + - { type: link, link: /perception/comfortable_stop_available } + - { type: link, link: /control/comfortable_stop_available } + - { type: link, link: /vehicle/comfortable_stop_available } + - { type: link, link: /system/comfortable_stop_available } - path: /autoware/modes/emergency_stop - type: and - list: - - { type: link, link: /autoware/vehicle } - - { type: link, link: /autoware/system } + type: ok - path: /autoware/debug/tools type: and list: - { type: link, link: /autoware/system/service_log_checker } + + - path: /autoware/system/service_log_checker + type: diag + node: service_log_checker + name: response_status diff --git a/autoware_launch/config/system/tier4_diagnostics/control.yaml b/autoware_launch/config/system/tier4_diagnostics/control.yaml index 6a04ed6714..bedadc17bf 100644 --- a/autoware_launch/config/system/tier4_diagnostics/control.yaml +++ b/autoware_launch/config/system/tier4_diagnostics/control.yaml @@ -1,74 +1,129 @@ units: - - path: /autoware/control + - path: /control/autonomous_available 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 } - - - path: /autoware/control/local + - { type: link, link: /control/emergency_stop } + - { type: link, link: /control/pull_over } + - { type: link, link: /control/comfortable_stop } + + - path: /control/pull_over_available 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 } + - { type: link, link: /control/emergency_stop } + - { type: link, link: /control/comfortable_stop } - - path: /autoware/control/remote + - path: /control/comfortable_stop_available 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 } + - { type: link, link: /control/emergency_stop } - - path: /autoware/control/topic_rate_check/trajectory_follower - type: diag - node: topic_state_monitor_trajectory_follower_control_cmd - name: control_topic_status + # ******************************************************************************* + # NOTE: Please modify this section according to your environment and requirements. + # ******************************************************************************* + - path: /control/emergency_stop + type: and + list: + - { type: link, link: /control/001-topic_status/control_command-error } + - { type: link, link: /control/004-lane_departure-error } + - { type: link, link: /control/005-trajectory_deviation-error } + - { type: link, link: /control/009-aeb_emergency_stop } + # - { type: link, link: /control/010-max_distance_deviation-error } + # - { type: link, link: /control/011-slip_detection } + - { type: link, link: /control/collision_detector } + + - path: /control/comfortable_stop + type: and + + - path: /control/pull_over + type: and + + - path: /control/none + type: and + list: + - { type: link, link: /control/003-gate_heartbeat } + - { type: link, link: /control/007-external_command_converter_heartbeat } + - { type: link, link: /control/008-external_command_selector_heartbeat } + + # Intermediate paths + - path: /control/001-topic_status/control_command-error + type: warn-to-ok + item: + type: link + link: /control/001-topic_status/control_command + + - path: /control/004-lane_departure-error + type: warn-to-ok + item: + type: link + link: /control/004-lane_departure + + - path: /control/005-trajectory_deviation-error + type: warn-to-ok + item: + type: link + link: /control/005-trajectory_deviation - - path: /autoware/control/topic_rate_check/control_command + - path: /control/010-max_distance_deviation-error + type: warn-to-ok + item: + type: link + link: /control/010-max_distance_deviation + + - path: /control/001-topic_status/control_command type: diag node: topic_state_monitor_control_command_control_cmd name: control_topic_status + timeout: 1.0 - - path: /autoware/control/node_alive_monitoring/vehicle_cmd_gate + - path: /control/003-gate_heartbeat type: diag node: vehicle_cmd_gate name: heartbeat + timeout: 1.0 - - path: /autoware/control/emergency_braking - type: diag - node: autonomous_emergency_braking - name: aeb_emergency_stop - - - path: /autoware/control/performance_monitoring/lane_departure + - path: /control/004-lane_departure type: diag node: lane_departure_checker_node name: lane_departure + timeout: 1.0 - - path: /autoware/control/performance_monitoring/trajectory_deviation + - path: /control/005-trajectory_deviation type: diag node: lane_departure_checker_node name: trajectory_deviation + timeout: 1.0 - - path: /autoware/control/performance_monitoring/control_state + - path: /control/007-external_command_converter_heartbeat type: diag - node: controller_node_exe - name: control_state + node: external_cmd_converter + name: remote_control_topic_status + timeout: 1.0 - - path: /autoware/control/topic_rate_check/external_cmd_selector + - path: /control/008-external_command_selector_heartbeat type: diag node: external_cmd_selector name: heartbeat + timeout: 1.0 - - path: /autoware/control/topic_rate_check/external_cmd_converter + - path: /control/009-aeb_emergency_stop type: diag - node: external_cmd_converter - name: remote_control_topic_status + node: autonomous_emergency_braking + name: aeb_emergency_stop + timeout: 1.0 + + - path: /control/010-max_distance_deviation + type: diag + node: control_validator + name: control_validation_max_distance_deviation + timeout: 1.0 + + - path: /control/011-slip_detection + type: diag + node: slip_detector + name: slip_status + timeout: 3.0 - - path: /autoware/control/collision_detector + - path: /control/collision_detector type: diag node: collision_detector name: collision_detect diff --git a/autoware_launch/config/system/tier4_diagnostics/dummy_diag_publisher.param.yaml b/autoware_launch/config/system/tier4_diagnostics/dummy_diag_publisher.param.yaml index 0ed824d3c8..b5c168cdd0 100644 --- a/autoware_launch/config/system/tier4_diagnostics/dummy_diag_publisher.param.yaml +++ b/autoware_launch/config/system/tier4_diagnostics/dummy_diag_publisher.param.yaml @@ -14,23 +14,35 @@ /**: ros__parameters: required_diags: - # 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 + ## /localization/001-topic_status/initialpose + "topic_state_monitor_initialpose3d: localization_topic_status": default - ## /autoware/localization/accuracy - "localization_error_monitor: ellipse_error_status": default + ## /localization/001-topic_status/pose_twist_fusion_filter + "topic_state_monitor_pose_twist_fusion_filter_pose: localization_topic_status": default - ## /autoware/localization/sensor_fusion_status - "localization: ekf_localizer": default + ## /localization/002-tf + "topic_state_monitor_transform_map_to_base_link: localization_topic_status": default - ## /autoware/localization/topic_rate_check/pose_twist_fusion - "topic_state_monitor_pose_twist_fusion_filter_pose: localization_topic_status": default + ## /localization/003-matching_score + "ndt_scan_matcher: scan_matching_status": default + + ## /localization/004-accuracy + "localization: localization_error_monitor": default + + # map + ## /map/001-topic_status/pointcloud_map + "topic_state_monitor_pointcloud_map: map_topic_status": default # perception - ## /autoware/perception/topic_rate_check/pointcloud + ## /perception/001-topic_status/traffic_signals + "topic_state_monitor_traffic_light_recognition_traffic_signals: perception_topic_status": default + + ## /perception/001-topic_status/objects + "topic_state_monitor_object_recognition_objects: perception_topic_status": default + + ## /perception/001-topic_status/pointcloud "topic_state_monitor_obstacle_segmentation_pointcloud: perception_topic_status": default + + ## /perception/002-detection_delay + "multi_object_tracker: Perception delay check from original header stamp": default diff --git a/autoware_launch/config/system/tier4_diagnostics/localization.yaml b/autoware_launch/config/system/tier4_diagnostics/localization.yaml index 1100f2edac..45adcac68e 100644 --- a/autoware_launch/config/system/tier4_diagnostics/localization.yaml +++ b/autoware_launch/config/system/tier4_diagnostics/localization.yaml @@ -1,43 +1,99 @@ units: - - path: /autoware/localization - type: short-circuit-and + - path: /localization/autonomous_available + type: 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 } - - - path: /autoware/localization/state - type: diag - node: component_state_diagnostics - name: localization_state + - { type: link, link: /localization/emergency_stop } + - { type: link, link: /localization/pull_over } + - { type: link, link: /localization/comfortable_stop } + + - path: /localization/pull_over_available + type: and + list: + - { type: link, link: /localization/emergency_stop } + - { type: link, link: /localization/comfortable_stop } + + - path: /localization/comfortable_stop_available + type: and + list: + - { type: link, link: /localization/emergency_stop } + + # ******************************************************************************* + # NOTE: Please modify this section according to your environment and requirements. + # ******************************************************************************* + - path: /localization/emergency_stop + type: and + list: + - { type: link, link: /localization/001-topic_status/initialpose-error } + - { type: link, link: /localization/001-topic_status/pose_twist_fusion_filter-error } + - { type: link, link: /localization/002-tf-error } + - { type: link, link: /localization/003-matching_score-error } + - { type: link, link: /localization/004-accuracy-error } + + - path: /localization/comfortable_stop + type: and + + - path: /localization/pull_over + type: and + + - path: /localization/none + type: and + + - path: /localization/001-topic_status/initialpose-error + type: warn-to-ok + item: + type: link + link: /localization/001-topic_status/initialpose - - path: /autoware/localization/topic_rate_check/transform + - path: /localization/001-topic_status/pose_twist_fusion_filter-error + type: warn-to-ok + item: + type: link + link: /localization/001-topic_status/pose_twist_fusion_filter + + - path: /localization/002-tf-error + type: warn-to-ok + item: + type: link + link: /localization/002-tf + + - path: /localization/003-matching_score-error + type: warn-to-ok + item: + type: link + link: /localization/003-matching_score + + - path: /localization/004-accuracy-error + type: warn-to-ok + item: + type: link + link: /localization/004-accuracy + + - path: /localization/001-topic_status/initialpose type: diag - node: topic_state_monitor_transform_map_to_base_link + node: topic_state_monitor_initialpose3d name: localization_topic_status + timeout: 1.0 - - path: /autoware/localization/topic_rate_check/pose_twist_fusion + - path: /localization/001-topic_status/pose_twist_fusion_filter type: diag node: topic_state_monitor_pose_twist_fusion_filter_pose name: localization_topic_status + timeout: 1.0 - - path: /autoware/localization/scan_matching_status + - path: /localization/002-tf type: diag - node: ndt_scan_matcher - name: scan_matching_status + node: topic_state_monitor_transform_map_to_base_link + name: localization_topic_status + timeout: 1.0 - - path: /autoware/localization/accuracy + - path: /localization/003-matching_score type: diag - node: localization_error_monitor - name: ellipse_error_status + node: ndt_scan_matcher + name: scan_matching_status + timeout: 1.0 - - path: /autoware/localization/sensor_fusion_status + - path: /localization/004-accuracy type: diag node: localization - name: ekf_localizer + name: localization_error_monitor + timeout: 1.0 diff --git a/autoware_launch/config/system/tier4_diagnostics/map.yaml b/autoware_launch/config/system/tier4_diagnostics/map.yaml index 231ac6eb5f..685956f160 100644 --- a/autoware_launch/config/system/tier4_diagnostics/map.yaml +++ b/autoware_launch/config/system/tier4_diagnostics/map.yaml @@ -1,16 +1,60 @@ units: - - path: /autoware/map + - path: /map/autonomous_available type: and list: - - { type: link, link: /autoware/map/topic_rate_check/vector_map } - - { type: link, link: /autoware/map/topic_rate_check/pointcloud_map } + - { type: link, link: /map/emergency_stop } + - { type: link, link: /map/pull_over } + - { type: link, link: /map/comfortable_stop } - - path: /autoware/map/topic_rate_check/vector_map + - path: /map/pull_over_available + type: and + list: + - { type: link, link: /map/emergency_stop } + - { type: link, link: /map/comfortable_stop } + + - path: /map/comfortable_stop_available + type: and + list: + - { type: link, link: /map/emergency_stop } + + # ******************************************************************************* + # NOTE: Please modify this section according to your environment and requirements. + # ******************************************************************************* + - path: /map/emergency_stop + type: and + list: + - { type: link, link: /map/001-topic_status/vector_map-error } + - { type: link, link: /map/001-topic_status/pointcloud_map-error } + + - path: /map/comfortable_stop + type: and + + - path: /map/pull_over + type: and + + - path: /map/none + type: and + + - path: /map/001-topic_status/vector_map-error + type: warn-to-ok + item: + type: link + link: /map/001-topic_status/vector_map + + - path: /map/001-topic_status/pointcloud_map-error + type: warn-to-ok + item: + type: link + link: /map/001-topic_status/pointcloud_map + + - path: /map/001-topic_status/vector_map type: diag node: topic_state_monitor_vector_map name: map_topic_status + timeout: 1.0 - - path: /autoware/map/topic_rate_check/pointcloud_map + - path: /map/001-topic_status/pointcloud_map type: diag node: topic_state_monitor_pointcloud_map name: map_topic_status + timeout: 1.0 diff --git a/autoware_launch/config/system/tier4_diagnostics/perception.yaml b/autoware_launch/config/system/tier4_diagnostics/perception.yaml index 24e3c4eed5..273e7ada84 100644 --- a/autoware_launch/config/system/tier4_diagnostics/perception.yaml +++ b/autoware_launch/config/system/tier4_diagnostics/perception.yaml @@ -1,16 +1,86 @@ units: - - path: /autoware/perception + - path: /perception/autonomous_available type: and list: - - { type: link, link: /autoware/perception/topic_rate_check/objects } - - { type: link, link: /autoware/perception/topic_rate_check/pointcloud } + - { type: link, link: /perception/emergency_stop } + - { type: link, link: /perception/pull_over } + - { type: link, link: /perception/comfortable_stop } - - path: /autoware/perception/topic_rate_check/objects + - path: /perception/pull_over_available + type: and + list: + - { type: link, link: /perception/emergency_stop } + - { type: link, link: /perception/comfortable_stop } + + - path: /perception/comfortable_stop_available + type: and + list: + - { type: link, link: /perception/emergency_stop } + + # ******************************************************************************* + # NOTE: Please modify this section according to your environment and requirements. + # ******************************************************************************* + - path: /perception/emergency_stop + type: and + list: + - { type: link, link: /perception/001-topic_status/traffic_signals-error } + - { type: link, link: /perception/001-topic_status/objects-error } + - { type: link, link: /perception/001-topic_status/pointcloud-error } + - { type: link, link: /perception/002-detection_delay-error } + + - path: /perception/comfortable_stop + type: and + + - path: /perception/pull_over + type: and + + - path: /perception/none + type: and + + - path: /perception/001-topic_status/traffic_signals-error + type: warn-to-ok + item: + type: link + link: /perception/001-topic_status/traffic_signals + + - path: /perception/001-topic_status/objects-error + type: warn-to-ok + item: + type: link + link: /perception/001-topic_status/objects + + - path: /perception/001-topic_status/pointcloud-error + type: warn-to-ok + item: + type: link + link: /perception/001-topic_status/pointcloud + + - path: /perception/002-detection_delay-error + type: warn-to-ok + item: + type: link + link: /perception/002-detection_delay + + - path: /perception/001-topic_status/traffic_signals + type: diag + node: topic_state_monitor_traffic_light_recognition_traffic_signals + name: perception_topic_status + timeout: 1.0 + + - path: /perception/001-topic_status/objects type: diag node: topic_state_monitor_object_recognition_objects name: perception_topic_status + timeout: 1.0 - - path: /autoware/perception/topic_rate_check/pointcloud + - path: /perception/001-topic_status/pointcloud type: diag node: topic_state_monitor_obstacle_segmentation_pointcloud name: perception_topic_status + timeout: 1.0 + + - path: /perception/002-detection_delay + type: diag + node: multi_object_tracker + name: Perception delay check from original header stamp + timeout: 1.0 diff --git a/autoware_launch/config/system/tier4_diagnostics/planning.yaml b/autoware_launch/config/system/tier4_diagnostics/planning.yaml index c403fec237..3a8240aedd 100644 --- a/autoware_launch/config/system/tier4_diagnostics/planning.yaml +++ b/autoware_launch/config/system/tier4_diagnostics/planning.yaml @@ -1,90 +1,203 @@ units: - - path: /autoware/planning - type: short-circuit-and + - path: /planning/autonomous_available + type: 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 } - - - path: /autoware/planning/trajectory_validation + - { type: link, link: /planning/emergency_stop } + - { type: link, link: /planning/pull_over } + - { type: link, link: /planning/comfortable_stop } + + - path: /planning/pull_over_available 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 } - - - path: /autoware/planning/routing/state - type: diag - node: component_state_diagnostics - name: route_state + - { type: link, link: /planning/emergency_stop } + - { type: link, link: /planning/comfortable_stop } + + - path: /planning/comfortable_stop_available + type: and + list: + - { type: link, link: /planning/emergency_stop } + + # ******************************************************************************* + # NOTE: Please modify this section according to your environment and requirements. + # ******************************************************************************* + - path: /planning/emergency_stop + type: and + list: + - { type: link, link: /planning/001-topic_status/route-error } + - { type: link, link: /planning/001-topic_status/trajectory-error } + - { type: link, link: /planning/003-trajectory_finite_validation-error } + - { type: link, link: /planning/004-trajectory_interval_validation-error } + - { type: link, link: /planning/005-trajectory_curvature_validation-error } + - { type: link, link: /planning/006-trajectory_relative_angle_validation-error } + - { type: link, link: /planning/007-trajectory_lateral_acceleration_validation-error } + - { type: link, link: /planning/008-trajectory_acceleration_validation-error } + - { type: link, link: /planning/009-trajectory_deceleration_validation-error } + - { type: link, link: /planning/010-trajectory_steering_validation-error } + - { type: link, link: /planning/011-trajectory_steering_rate_validation-error } + - { type: link, link: /planning/012-trajectory_velocity_deviation_validation-error } + # - { type: link, link: /planning/013-collision_checker-error } + + - path: /planning/comfortable_stop + type: and + + - path: /planning/pull_over + type: and + + - path: /planning/none + type: and - - path: /autoware/planning/topic_rate_check/route + - path: /planning/001-topic_status/route-error + type: warn-to-ok + item: + type: link + link: /planning/001-topic_status/route + + - path: /planning/001-topic_status/trajectory-error + type: warn-to-ok + item: + type: link + link: /planning/001-topic_status/trajectory + + - path: /planning/003-trajectory_finite_validation-error + type: warn-to-ok + item: + type: link + link: /planning/003-trajectory_finite_validation + + - path: /planning/004-trajectory_interval_validation-error + type: warn-to-ok + item: + type: link + link: /planning/004-trajectory_interval_validation + + - path: /planning/005-trajectory_curvature_validation-error + type: warn-to-ok + item: + type: link + link: /planning/005-trajectory_curvature_validation + + - path: /planning/006-trajectory_relative_angle_validation-error + type: warn-to-ok + item: + type: link + link: /planning/006-trajectory_relative_angle_validation + + - path: /planning/007-trajectory_lateral_acceleration_validation-error + type: warn-to-ok + item: + type: link + link: /planning/007-trajectory_lateral_acceleration_validation + + - path: /planning/008-trajectory_acceleration_validation-error + type: warn-to-ok + item: + type: link + link: /planning/008-trajectory_acceleration_validation + + - path: /planning/009-trajectory_deceleration_validation-error + type: warn-to-ok + item: + type: link + link: /planning/009-trajectory_deceleration_validation + + - path: /planning/010-trajectory_steering_validation-error + type: warn-to-ok + item: + type: link + link: /planning/010-trajectory_steering_validation + + - path: /planning/011-trajectory_steering_rate_validation-error + type: warn-to-ok + item: + type: link + link: /planning/011-trajectory_steering_rate_validation + + - path: /planning/012-trajectory_velocity_deviation_validation-error + type: warn-to-ok + item: + type: link + link: /planning/012-trajectory_velocity_deviation_validation + + - path: /planning/013-collision_checker-error + type: warn-to-ok + item: + type: link + link: /planning/013-collision_checker + + - path: /planning/001-topic_status/route type: diag node: topic_state_monitor_mission_planning_route name: planning_topic_status + timeout: 1.0 - - path: /autoware/planning/topic_rate_check/trajectory + - path: /planning/001-topic_status/trajectory type: diag node: topic_state_monitor_scenario_planning_trajectory name: planning_topic_status + timeout: 1.0 - - path: /autoware/planning/trajectory_validation/finite + - path: /planning/003-trajectory_finite_validation type: diag node: planning_validator name: trajectory_validation_finite + timeout: 1.0 - - path: /autoware/planning/trajectory_validation/interval + - path: /planning/004-trajectory_interval_validation type: diag node: planning_validator name: trajectory_validation_interval + timeout: 1.0 - - path: /autoware/planning/trajectory_validation/curvature + - path: /planning/005-trajectory_curvature_validation type: diag node: planning_validator name: trajectory_validation_curvature + timeout: 1.0 - - path: /autoware/planning/trajectory_validation/angle + - path: /planning/006-trajectory_relative_angle_validation type: diag node: planning_validator name: trajectory_validation_relative_angle + timeout: 1.0 - - path: /autoware/planning/trajectory_validation/lateral_acceleration + - path: /planning/007-trajectory_lateral_acceleration_validation type: diag node: planning_validator name: trajectory_validation_lateral_acceleration + timeout: 1.0 - - path: /autoware/planning/trajectory_validation/acceleration + - path: /planning/008-trajectory_acceleration_validation type: diag node: planning_validator name: trajectory_validation_acceleration + timeout: 1.0 - - path: /autoware/planning/trajectory_validation/deceleration + - path: /planning/009-trajectory_deceleration_validation type: diag node: planning_validator name: trajectory_validation_deceleration + timeout: 1.0 - - path: /autoware/planning/trajectory_validation/steering + - path: /planning/010-trajectory_steering_validation type: diag node: planning_validator name: trajectory_validation_steering + timeout: 1.0 - - path: /autoware/planning/trajectory_validation/steering_rate + - path: /planning/011-trajectory_steering_rate_validation type: diag node: planning_validator name: trajectory_validation_steering_rate + timeout: 1.0 - - path: /autoware/planning/trajectory_validation/velocity_deviation + - path: /planning/012-trajectory_velocity_deviation_validation type: diag node: planning_validator name: trajectory_validation_velocity_deviation + timeout: 1.0 + + - path: /planning/013-collision_checker + type: diag + node: collision_checker + name: collision_check + timeout: 1.0 diff --git a/autoware_launch/config/system/tier4_diagnostics/sensing.yaml b/autoware_launch/config/system/tier4_diagnostics/sensing.yaml new file mode 100644 index 0000000000..a253858f7f --- /dev/null +++ b/autoware_launch/config/system/tier4_diagnostics/sensing.yaml @@ -0,0 +1,35 @@ +units: + - path: /sensing/autonomous_available + type: and + list: + - { type: link, link: /sensing/emergency_stop } + - { type: link, link: /sensing/pull_over } + - { type: link, link: /sensing/comfortable_stop } + + - path: /sensing/pull_over_available + type: and + list: + - { type: link, link: /sensing/emergency_stop } + - { type: link, link: /sensing/comfortable_stop } + + - path: /sensing/comfortable_stop_available + type: and + list: + - { type: link, link: /sensing/emergency_stop } + + # ******************************************************************************* + # NOTE: Please modify this section according to your environment and requirements. + # ******************************************************************************* + - path: /sensing/emergency_stop + type: + and + # - { type: link, link: /sensing/radar/001-connection } + + - path: /sensing/pull_over + type: and + + - path: /sensing/comfortable_stop + type: and + + - path: /sensing/none + type: and diff --git a/autoware_launch/config/system/tier4_diagnostics/system.yaml b/autoware_launch/config/system/tier4_diagnostics/system.yaml index cb96c2cd7f..8735ba5a98 100644 --- a/autoware_launch/config/system/tier4_diagnostics/system.yaml +++ b/autoware_launch/config/system/tier4_diagnostics/system.yaml @@ -1,27 +1,60 @@ units: - - path: /autoware/system + - path: /system/autonomous_available 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 } + - { type: link, link: /system/emergency_stop } + - { type: link, link: /system/pull_over } + - { type: link, link: /system/comfortable_stop } - - path: /autoware/system/duplicated_node_checker - type: diag - node: duplicated_node_checker - name: duplicated_node_checker + - path: /system/pull_over_available + type: and + list: + - { type: link, link: /system/emergency_stop } + - { type: link, link: /system/comfortable_stop } - - path: /autoware/system/service_log_checker - type: diag - node: service_log_checker - name: response_status + - path: /system/comfortable_stop_available + type: and + list: + - { type: link, link: /system/emergency_stop } + + # ******************************************************************************* + # NOTE: Please modify this section according to your environment and requirements. + # ******************************************************************************* + - path: /system/emergency_stop + type: and + list: + - { type: link, link: /system/001-topic_status-error } + - { type: link, link: /system/002-emergency_stop_operation-error } + + - path: /system/comfortable_stop + type: and + + - path: /system/pull_over + type: and + + - path: /system/none + type: and + + - path: /system/001-topic_status-error + type: warn-to-ok + item: + type: link + link: /system/001-topic_status + + - path: /system/002-emergency_stop_operation-error + type: warn-to-ok + item: + type: link + link: /system/002-emergency_stop_operation - - path: /autoware/system/topic_rate_check/emergency_control_command + - path: /system/001-topic_status type: diag node: topic_state_monitor_system_emergency_control_cmd name: system_topic_status + timeout: 1.0 - - path: /autoware/system/emergency_stop_operation + - path: /system/002-emergency_stop_operation type: diag node: vehicle_cmd_gate name: emergency_stop_operation + timeout: 1.0 diff --git a/autoware_launch/config/system/tier4_diagnostics/vehicle.yaml b/autoware_launch/config/system/tier4_diagnostics/vehicle.yaml index e040e3c3c3..0034709dbc 100644 --- a/autoware_launch/config/system/tier4_diagnostics/vehicle.yaml +++ b/autoware_launch/config/system/tier4_diagnostics/vehicle.yaml @@ -1,16 +1,88 @@ units: - - path: /autoware/vehicle + - path: /vehicle/autonomous_available type: and list: - - { type: link, link: /autoware/vehicle/topic_rate_check/velocity } - - { type: link, link: /autoware/vehicle/topic_rate_check/steering } + - { type: link, link: /vehicle/emergency_stop } + - { type: link, link: /vehicle/pull_over } + - { type: link, link: /vehicle/comfortable_stop } - - path: /autoware/vehicle/topic_rate_check/velocity + - path: /vehicle/pull_over_available + type: and + list: + - { type: link, link: /vehicle/emergency_stop } + - { type: link, link: /vehicle/comfortable_stop } + + - path: /vehicle/comfortable_stop_available + type: and + list: + - { type: link, link: /vehicle/emergency_stop } + + # ******************************************************************************* + # NOTE: Please modify this section according to your environment and requirements. + # ******************************************************************************* + - path: /vehicle/emergency_stop + type: and + list: + - { type: link, link: /vehicle/001-topic_status/velocity-error } + - { type: link, link: /vehicle/001-topic_status/steering-error } + # - { type: link, link: /vehicle/005-vehicle_heartbeat-error } + # - { type: link, link: /vehicle/006-vehicle_errors-error } + + - path: /vehicle/comfortable_stop + type: and + # list: + # - { type: link, link: /vehicle/006-vehicle_errors } + + - path: /vehicle/pull_over + type: and + + - path: /vehicle/none + type: and + + - path: /vehicle/001-topic_status/velocity-error + type: warn-to-ok + item: + type: link + link: /vehicle/001-topic_status/velocity + + - path: /vehicle/001-topic_status/steering-error + type: warn-to-ok + item: + type: link + link: /vehicle/001-topic_status/steering + + # - path: /vehicle/005-vehicle_heartbeat-error + # type: warn-to-ok + # item: + # type: link + # link: /vehicle/005-vehicle_heartbeat + + # - path: /vehicle/006-vehicle_errors-error + # type: warn-to-ok + # item: + # type: link + # link: /vehicle/006-vehicle_errors + + - path: /vehicle/001-topic_status/velocity type: diag node: topic_state_monitor_vehicle_status_velocity_status name: vehicle_topic_status + timeout: 1.0 - - path: /autoware/vehicle/topic_rate_check/steering + - path: /vehicle/001-topic_status/steering type: diag node: topic_state_monitor_vehicle_status_steering_status name: vehicle_topic_status + timeout: 1.0 + + # - path: /vehicle/005-vehicle_heartbeat + # type: diag + # node: + # name: vehicle_heartbeat_errors + # timeout: 1.0 + + # - path: /vehicle/006-vehicle_errors + # type: diag + # node: + # name: vehicle_errors + # timeout: 1.0