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chore: update fault injection params (#634)
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* chore: update fault injection params

* Update fault_injection.param.yaml

diag側にtypoがあるため、そちらに合わせてtypo

* Update fault_injection.param.yaml

元にしているdiagのtypoが修正されていたので、こちらも修正
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@TakahiroNISHIOKA @saka1-s
TakahiroNISHIOKA authored and saka1-s committed Jun 25, 2024
1 parent d421e59 commit c23ea59
Showing 1 changed file with 41 additions and 27 deletions.
68 changes: 41 additions & 27 deletions autoware_launch/config/simulator/fault_injection.param.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -57,10 +57,25 @@
# BIOS
BIOS-001: "voltage_monitor: CMOS Battery Status"

# MOT
MOT-001: "mot: /system/mot_connection : mot heartbeat"

# SIGNAGE
SIGNAGE-001: "signage: /system/signage_connection : signage heartbeat"

# VOICE
VOICE-001: "vehicle_voice_alert_system: /system/voice_alert_system_connection : voice alert system heartbeat"

# Sensing
# IMU
IMU-001: "imu_monitor: yaw_rate_status"
IMU-002: "topic_state_monitor_imu_data: imu_topic_status"
IMU-003: "gyro_bias_estimator: gyro_bias_validator"

# GNS
GNS-001: "topic_state_monitor_gnss_pose: gnss_topic_status"
GNS-002: "septentrio_driver: Quality indicators"

# LiDAR
PNDR-001/front_lower: "pandar_monitor: /sensing/lidar/front_lower: pandar_connection"
PNDR-001/front_upper: "pandar_monitor: /sensing/lidar/front_upper: pandar_connection"
Expand All @@ -87,6 +102,24 @@
PNDR-003/rear_lower: "pandar_monitor: /sensing/lidar/rear_lower: pandar_ptp"
PNDR-003/rear_upper: "pandar_monitor: /sensing/lidar/rear_upper: pandar_ptp"

# CAMERA
LPD-001/camera0: "topic_state_monitor_camera0: camera0_topic_status"
LPD-001/camera1: "topic_state_monitor_camera1: camera1_topic_status"
LPD-001/camera2: "topic_state_monitor_camera2: camera2_topic_status"
LPD-001/camera3: "topic_state_monitor_camera3: camera3_topic_status"
LPD-001/camera4: "topic_state_monitor_camera4: camera4_topic_status"
LPD-001/camera5: "topic_state_monitor_camera5: camera5_topic_status"
LPD-001/camera6: "topic_state_monitor_camera6: camera6_topic_status"
LPD-001/camera7: "topic_state_monitor_camera7: camera7_topic_status"

# RADAR
SENSING-001/front_center: "topic_state_monitor_radar_front_center: radar_front_center_topic_status"
SENSING-001/front_left: "topic_state_monitor_radar_front_left: radar_front_left_topic_status"
SENSING-001/front_right: "topic_state_monitor_radar_front_right: radar_front_right_topic_status"
SENSING-001/rear_center: "topic_state_monitor_radar_rear_center: radar_rear_center_topic_status"
SENSING-001/rear_left: "topic_state_monitor_radar_rear_left: radar_rear_left_topic_status"
SENSING-001/rear_right: "topic_state_monitor_radar_rear_right: radar_rear_right_topic_status"

# Software
# Map
MAP-001-1: "topic_state_monitor_vector_map: map_topic_status"
Expand All @@ -95,14 +128,15 @@
# Localization
LOCALIZATION-001-1: "topic_state_monitor_initialpose3d: localization_topic_status"
LOCALIZATION-001-2: "topic_state_monitor_pose_twist_fusion_filter_pose: localization_topic_status"
LOCALIZATION-001-3: "topic_state_monitor_transform_map_to_base_link: localization_topic_status"
LOCALIZATION-002: "topic_state_monitor_transform_map_to_base_link: localization_topic_status"
LOCALIZATION-003: "ndt_scan_matcher"
LOCALIZATION-004: "localization_error_monitor: localization_accuracy"
LOCALIZATION-005: "localization_error_monitor: localization_accuracy_lateral_direction"

# Perception
PERCEPTION-001-1: "topic_state_monitor_traffic_light_recognition_traffic_signals: perception_topic_status"
PERCEPTION-001-2: "topic_state_monitor_object_recognition_objects: perception_topic_status"
PERCEPTION-001-3: "topic_state_monitor_obstacle_segmentation_pointcloud: perception_topic_status"
PERCEPTION-002: "multi_object_tracker: Perception delay check from original header stamp"

# Planning
PLANNING-001-1: "topic_state_monitor_mission_planning_route: planning_topic_status"
Expand All @@ -121,13 +155,14 @@

# Control
CONTROL-001: "topic_state_monitor_control_command_control_cmd: control_topic_status"
CONTROL-002: "external_cmd_converter: remote_control_topic_status"
CONTROL-003: "vehicle_cmd_gate: heartbeat"
CONTROL-004: "lane_departure_checker_node: lane_departure"
CONTROL-005: "lane_departure_checker_node: trajectory_deviation"
CONTROL-007: "external_cmd_converter: remote_control_topic_status"
CONTROL-008: "external_cmd_selector: heartbeat"
CONTROL-009: "autonomous_emergency_braking: aeb_emergency_stop"
CONTROL-010: "control_validator: control_validation_max_distance_deviation"
CONTROL-011: "slip_detector: slip_status"

# Vehicle
VEHICLE-001-1: "topic_state_monitor_vehicle_status_velocity_status: vehicle_topic_status"
Expand All @@ -138,7 +173,8 @@
# System
SYSTEM-001: "topic_state_monitor_system_emergency_control_cmd: system_topic_status"
SYSTEM-002: "vehicle_cmd_gate: emergency_stop_operation"
SYSTEM-003: "bagpacker_state"
SYSTEM-003: "rosbag_status"
SYSTEM-004: "disk_status"
SYSTEM-005: "edge_core_internet_connection"

# Others
Expand All @@ -154,26 +190,4 @@
OTHERS-005/left_upper: "dual_return_filter: /sensing/lidar/left_upper: visibility_validation"
OTHERS-005/right_upper: "dual_return_filter: /sensing/lidar/right_upper: visibility_validation"
OTHERS-010: "emergency_vehicle_detector: emergency_vehicle"

# Not in System_Hazard_and_Fail_Safe
debug_data_logger_disk_usage_error: "bagpacker_state/disk_usage"
slip_status: "slip_detector: slip_status"
daytime_status: "daytime_monitor: daytime_status"
perception_delay_check: "multi_object_tracker: Perception delay check from original header stamp"
imu_topic_status: "topic_state_monitor_imu_data: imu_topic_status"
gnss_topic_status: "topic_state_monitor_gnss_pose: gnss_topic_status"
septentrio_status: "septentrio_driver: Quality indicators"
/sensing/camera/0/connection: "topic_state_monitor_camera0: camera0_topic_status"
/sensing/camera/1/connection: "topic_state_monitor_camera0: camera1_topic_status"
/sensing/camera/2/connection: "topic_state_monitor_camera0: camera2_topic_status"
/sensing/camera/3/connection: "topic_state_monitor_camera0: camera3_topic_status"
/sensing/camera/4/connection: "topic_state_monitor_camera0: camera4_topic_status"
/sensing/camera/5/connection: "topic_state_monitor_camera0: camera5_topic_status"
/sensing/camera/6/connection: "topic_state_monitor_camera0: camera6_topic_status"
/sensing/camera/7/connection: "topic_state_monitor_camera0: camera7_topic_status"
/sensing/radar/front_center/connection: "topic_state_monitor_radar_front_center: radar_front_center_topic_status"
/sensing/radar/front_left/connection: "topic_state_monitor_radar_front_left: radar_front_left_topic_status"
/sensing/radar/front_right/connection: "topic_state_monitor_radar_front_right: radar_front_right_topic_status"
/sensing/radar/rear_center/connection: "topic_state_monitor_radar_rear_center: radar_rear_center_topic_status"
/sensing/radar/rear_left/connection: "topic_state_monitor_radar_rear_left: radar_rear_left_topic_status"
/sensing/radar/rear_right/connection: "topic_state_monitor_radar_rear_right: radar_rear_right_topic_status"
OTHERS-011: "daytime_monitor: daytime_status"

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