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feat(diagnostic_graph_aggregator): add graph config files (#593)
* feat(diagnostic_graph_aggregator): add graph config files Signed-off-by: Tomohito Ando <[email protected]> * fix pre-commit error Signed-off-by: Tomohito Ando <[email protected]> --------- Signed-off-by: Tomohito Ando <[email protected]>
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47
autoware_launch/config/system/diagnostic_graph_aggregator/autoware.planning_simulator.yaml
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,47 @@ | ||
| files: | ||
| - { path: $(dirname)/map.yaml } | ||
| - { path: $(dirname)/planning.yaml } | ||
| - { path: $(dirname)/control.yaml } | ||
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| # Exclude paths that does not need on planning simulator | ||
| edits: | ||
| - path: /map/001-topic_status/pointcloud_map-error | ||
| type: remove | ||
| - path: /map/001-topic_status/pointcloud_map | ||
| type: remove | ||
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| nodes: | ||
| - path: /autoware/modes/local | ||
| type: stale | ||
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| - path: /autoware/modes/remote | ||
| type: stale | ||
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| # Stop is always available | ||
| - path: /autoware/modes/stop | ||
| type: ok | ||
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| - path: /autoware/modes/autonomous | ||
| type: and | ||
| list: | ||
| - { type: link, link: /map/autonomous_available } | ||
| - { type: link, link: /planning/autonomous_available } | ||
| - { type: link, link: /control/autonomous_available } | ||
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| - path: /autoware/modes/pull_over | ||
| type: and | ||
| list: | ||
| - { type: link, link: /map/pull_over_available } | ||
| - { type: link, link: /planning/pull_over_available } | ||
| - { type: link, link: /control/pull_over_available } | ||
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| - path: /autoware/modes/comfortable_stop | ||
| type: and | ||
| list: | ||
| - { type: link, link: /map/comfortable_stop_available } | ||
| - { type: link, link: /planning/comfortable_stop_available } | ||
| - { type: link, link: /control/comfortable_stop_available } | ||
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| # Emergency stop is always available | ||
| - path: /autoware/modes/emergency_stop | ||
| type: ok |
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68
autoware_launch/config/system/diagnostic_graph_aggregator/autoware.yaml
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,68 @@ | ||
| files: | ||
| - { path: $(dirname)/hardware.yaml } | ||
| - { path: $(dirname)/sensing.yaml } | ||
| - { path: $(dirname)/map.yaml } | ||
| - { path: $(dirname)/localization.yaml } | ||
| - { path: $(dirname)/planning.yaml } | ||
| - { path: $(dirname)/perception.yaml } | ||
| - { path: $(dirname)/control.yaml } | ||
| - { path: $(dirname)/vehicle.yaml } | ||
| - { path: $(dirname)/system.yaml } | ||
| - { path: $(dirname)/others.yaml } | ||
|
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| nodes: | ||
| - path: /autoware/modes/local | ||
| type: stale | ||
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| - path: /autoware/modes/remote | ||
| type: stale | ||
|
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| # Stop is always available | ||
| - path: /autoware/modes/stop | ||
| type: ok | ||
|
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| - path: /autoware/modes/autonomous | ||
| type: and | ||
| list: | ||
| - { type: link, link: /hardware/autonomous_available } | ||
| - { type: link, link: /sensing/autonomous_available } | ||
| - { 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 } | ||
| - { type: link, link: /others/autonomous_available } | ||
|
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| - path: /autoware/modes/pull_over | ||
| type: and | ||
| list: | ||
| - { type: link, link: /hardware/pull_over_available } | ||
| - { type: link, link: /sensing/pull_over_available } | ||
| - { 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 } | ||
| - { type: link, link: /others/pull_over_available } | ||
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| - path: /autoware/modes/comfortable_stop | ||
| type: and | ||
| list: | ||
| - { type: link, link: /hardware/comfortable_stop_available } | ||
| - { type: link, link: /sensing/comfortable_stop_available } | ||
| - { 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 } | ||
| - { type: link, link: /others/comfortable_stop_available } | ||
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| # Emergency stop is always available | ||
| - path: /autoware/modes/emergency_stop | ||
| type: ok |
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96
autoware_launch/config/system/diagnostic_graph_aggregator/control.yaml
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|---|---|---|
| @@ -0,0 +1,96 @@ | ||
| nodes: | ||
| - path: /control/autonomous_available | ||
| type: and | ||
| list: | ||
| - { type: link, link: /control/emergency_stop } | ||
| - { type: link, link: /control/pull_over } | ||
| - { type: link, link: /control/comfortable_stop } | ||
|
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| - path: /control/pull_over_available | ||
| type: and | ||
| list: | ||
| - { type: link, link: /control/emergency_stop } | ||
| - { type: link, link: /control/comfortable_stop } | ||
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| - path: /control/comfortable_stop_available | ||
| type: and | ||
| list: | ||
| - { type: link, link: /control/emergency_stop } | ||
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| # ******************************************************************************* | ||
| # 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/010-max_distance_deviation-error } | ||
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| - path: /control/comfortable_stop | ||
| type: and | ||
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| - path: /control/pull_over | ||
| type: and | ||
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| - 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 } | ||
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| # Intermediate paths | ||
| - path: /control/001-topic_status/control_command-error | ||
| type: warn-to-ok | ||
| list: | ||
| - { type: link, link: /control/001-topic_status/control_command } | ||
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| - path: /control/004-lane_departure-error | ||
| type: warn-to-ok | ||
| list: | ||
| - { type: link, link: /control/004-lane_departure } | ||
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| - path: /control/005-trajectory_deviation-error | ||
| type: warn-to-ok | ||
| list: | ||
| - { type: link, link: /control/005-trajectory_deviation } | ||
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| - path: /control/010-max_distance_deviation-error | ||
| type: warn-to-ok | ||
| list: | ||
| - { type: link, link: /control/010-max_distance_deviation } | ||
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| # Diagnostics paths | ||
| - path: /control/001-topic_status/control_command | ||
| diag: "topic_state_monitor_control_command_control_cmd: control_topic_status" | ||
| type: diag | ||
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| - path: /control/003-gate_heartbeat | ||
| diag: "vehicle_cmd_gate: heartbeat" | ||
| type: diag | ||
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| - path: /control/004-lane_departure | ||
| diag: "lane_departure_checker_node: lane_departure" | ||
| type: diag | ||
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| - path: /control/005-trajectory_deviation | ||
| diag: "lane_departure_checker_node: trajectory_deviation" | ||
| type: diag | ||
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| - path: /control/007-external_command_converter_heartbeat | ||
| diag: "external_cmd_converter: remote_control_topic_status" | ||
| type: diag | ||
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| - path: /control/008-external_command_selector_heartbeat | ||
| diag: "external_cmd_selector: heartbeat" | ||
| type: diag | ||
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| - path: /control/010-max_distance_deviation | ||
| diag: "control_validator: control_validation_max_distance_deviation" | ||
| type: diag | ||
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| # - path: /control/011-slip_detection | ||
| # diag: "slip_detection: " | ||
| # type: diag |
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