From 8e5d34a97db53a3c44970cef1e028dccae2fe007 Mon Sep 17 00:00:00 2001 From: mitsudome-r Date: Wed, 14 Dec 2022 00:01:41 +0900 Subject: [PATCH] feat: add system monitor configuration guide Signed-off-by: mitsudome-r --- .../configuring-system-error-monitor.md | 41 +++++++++++++++++++ 1 file changed, 41 insertions(+) create mode 100644 docs/how-to-guides/configuring-system-error-monitor.md diff --git a/docs/how-to-guides/configuring-system-error-monitor.md b/docs/how-to-guides/configuring-system-error-monitor.md new file mode 100644 index 00000000000..4c63c9ff217 --- /dev/null +++ b/docs/how-to-guides/configuring-system-error-monitor.md @@ -0,0 +1,41 @@ +# Configuring System Error Monitor + +## Overview +Although Autoware repository has CI tests to do integration testing, there are always unkown error causing function failure. +This may include: +* Nodes terminates abnormally +* Nodes freezes without crashing and stops publishing message or causes drop in publish rate of message. +* Nodes functioning beyond it's designed state (e.g., losing its localization pose, large deviation from planned trajectory, etc) + +In order to detect such failure and trigger minimum risk manuever, we have system monitoring module. +This page explains how users can configure `system_error_monitor` for Autoware for their use case. + +## Configuring Parameters + +### Turning on Emergency Handler function +By default, Contorl module will ignore any emergency control sent from System Monitor Module. +This is because it is not always safe to make a sudden stop at node failure, and we would like the user to be aware of the function when it is turned on. + +In order to turn on its function, modify `use_emergency_handling` parameter to true in [vehicle_cmd_gate](https://github.com/autowarefoundation/autoware.universe/tree/main/control/vehicle_cmd_gate) package. +For example, if you are using autoware.launch.xml to launch Autoware, modify the parameter in this [file](https://github.com/autowarefoundation/autoware_launch/blob/main/autoware_launch/config/control/vehicle_cmd_gate/vehicle_cmd_gate.param.yaml). + +### Adding new topic monitoring +By default, only few of the topics are monitored as default. +You can add new topic monitor by modifying `topics.yaml` file passed to [component_state_monitor](https://github.com/autowarefoundation/autoware.universe/tree/main/system/component_state_monitor) launch file. + +For example, if you are using autoware.launch.xml to launch Autoware, modify the parameter in this [file](https://github.com/autowarefoundation/autoware_launch/blob/main/autoware_launch/config/system/component_state_monitor/topics.yaml) to add the new topic `/planning/scenario_planning/lane_driving/behavior_planning/path` as monitoring target: + +``` +- module: planning + mode: [online, planning_simulation] + type: autonomous + args: + node_name_suffix: scenario_planning_path + topic: /planning/scenario_planning/lane_driving/behavior_planning/path + topic_type: autoware_auto_planning_msgs/msg/Path + best_effort: false + transient_local: false + warn_rate: 5.0 + error_rate: 1.0 + timeout: 1.0 +```