From e2e54aa13606e5a314094328b0f2bca8701c7c31 Mon Sep 17 00:00:00 2001
From: Takamasa Horibe <horibe.takamasa@gmail.com>
Date: Thu, 20 Jun 2024 15:16:34 +0900
Subject: [PATCH] feat(diagnostic_graph_utils): launch logging node for
 diagnostic_graph

Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com>
---
 .../launch/components/tier4_system_component.launch.xml    | 7 +++++++
 1 file changed, 7 insertions(+)

diff --git a/autoware_launch/launch/components/tier4_system_component.launch.xml b/autoware_launch/launch/components/tier4_system_component.launch.xml
index d5082a91e8..6fda11ac7a 100644
--- a/autoware_launch/launch/components/tier4_system_component.launch.xml
+++ b/autoware_launch/launch/components/tier4_system_component.launch.xml
@@ -34,4 +34,11 @@
     <arg name="diagnostic_graph_aggregator_param_path" value="$(var diagnostic_graph_aggregator_param_path)"/>
     <arg name="diagnostic_graph_aggregator_graph_path" value="$(var diagnostic_graph_aggregator_graph_path)"/>
   </include>
+
+  <!-- For logging of diagnostics_graph error -->
+  <include file="$(find-pkg-share diagnostic_graph_utils)/launch/logging.launch.xml">
+    <arg name="root_path" value="/autoware/modes/autonomous"/>
+    <arg name="max_depth" value="3"/>
+    <arg name="show_rate" value="0.2"/>
+  </include>
 </launch>