feat(diag): build tier4 diag settings

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 }

autoware_launch/config/system/tier4_diagnostics/autoware-main.yaml

@@ -1,70 +1,67 @@
 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
 
   - 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

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

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