From 1ab1b8c229138db42472d00d048e7cdb82276958 Mon Sep 17 00:00:00 2001 From: Kento Yabuuchi Date: Wed, 6 Dec 2023 17:57:36 +0900 Subject: [PATCH 1/3] add note for non-NDT user Signed-off-by: Kento Yabuuchi --- .../launch-autoware/localization/index.md | 12 ++++++++++++ 1 file changed, 12 insertions(+) diff --git a/docs/how-to-guides/integrating-autoware/launch-autoware/localization/index.md b/docs/how-to-guides/integrating-autoware/launch-autoware/localization/index.md index bb4f980da08..b4e7fba0711 100644 --- a/docs/how-to-guides/integrating-autoware/launch-autoware/localization/index.md +++ b/docs/how-to-guides/integrating-autoware/launch-autoware/localization/index.md @@ -96,3 +96,15 @@ you can add this argument on `tier4_localization_component.launch.xml` launch fi **Note:** Gyro odometer input topic provided from velocity converter package. This package will be launched at sensor_kit. For more information, please check [velocity converter package](https://github.com/autowarefoundation/autoware.universe/tree/main/sensing/vehicle_velocity_converter). + +## Note when using non NDT pose estiamtor + +!!! note + Since NDT is currently the most often used pose_estiamtor, the NDT diagnostics are registered for monitoring by default. + When using a pose_estimator othen than NDT, NDT diagnostics will always be marked as stale, causing the system to enter a safe_fault state. + Depending on the parameters of emergencies, this could escalate to a full emergency, preventing autonomous driving. + +To work around this, please modify the configuration file of the system_error_monitor. +In the [system_error_monitor.param.yaml](https://github.com/autowarefoundation/autoware.universe/blob/main/system/system_error_monitor/config/system_error_monitor.param.yaml) file, `/autoware/localization/performance_monitoring/matching_score` represents the aggregated diagnostics for NDT. +To prevent emergencies even when NDT is not launched, remove this entry from the configuration. +Note that the module name `/performance_monitoring/matching_score` is specified in [diagnostics_aggregator/localization.param.yaml](https://github.com/autowarefoundation/autoware.universe/blob/main/system/system_error_monitor/config/diagnostic_aggregator/localization.param.yaml). From 9e8b251791f5bf7d89f7223268a6e4ea87530b7b Mon Sep 17 00:00:00 2001 From: "pre-commit-ci[bot]" <66853113+pre-commit-ci[bot]@users.noreply.github.com> Date: Wed, 6 Dec 2023 09:00:09 +0000 Subject: [PATCH 2/3] style(pre-commit): autofix --- .../launch-autoware/localization/index.md | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/docs/how-to-guides/integrating-autoware/launch-autoware/localization/index.md b/docs/how-to-guides/integrating-autoware/launch-autoware/localization/index.md index b4e7fba0711..a9b917a3c63 100644 --- a/docs/how-to-guides/integrating-autoware/launch-autoware/localization/index.md +++ b/docs/how-to-guides/integrating-autoware/launch-autoware/localization/index.md @@ -100,9 +100,9 @@ please check [velocity converter package](https://github.com/autowarefoundation/ ## Note when using non NDT pose estiamtor !!! note - Since NDT is currently the most often used pose_estiamtor, the NDT diagnostics are registered for monitoring by default. - When using a pose_estimator othen than NDT, NDT diagnostics will always be marked as stale, causing the system to enter a safe_fault state. - Depending on the parameters of emergencies, this could escalate to a full emergency, preventing autonomous driving. +Since NDT is currently the most often used pose_estiamtor, the NDT diagnostics are registered for monitoring by default. +When using a pose_estimator othen than NDT, NDT diagnostics will always be marked as stale, causing the system to enter a safe_fault state. +Depending on the parameters of emergencies, this could escalate to a full emergency, preventing autonomous driving. To work around this, please modify the configuration file of the system_error_monitor. In the [system_error_monitor.param.yaml](https://github.com/autowarefoundation/autoware.universe/blob/main/system/system_error_monitor/config/system_error_monitor.param.yaml) file, `/autoware/localization/performance_monitoring/matching_score` represents the aggregated diagnostics for NDT. From 70b9fa92fd6ab4732775fa38a1f264878169bcf3 Mon Sep 17 00:00:00 2001 From: Kento Yabuuchi Date: Wed, 6 Dec 2023 18:08:41 +0900 Subject: [PATCH 3/3] fix typo Signed-off-by: Kento Yabuuchi --- .../launch-autoware/localization/index.md | 9 +++++---- 1 file changed, 5 insertions(+), 4 deletions(-) diff --git a/docs/how-to-guides/integrating-autoware/launch-autoware/localization/index.md b/docs/how-to-guides/integrating-autoware/launch-autoware/localization/index.md index a9b917a3c63..255c2ba280f 100644 --- a/docs/how-to-guides/integrating-autoware/launch-autoware/localization/index.md +++ b/docs/how-to-guides/integrating-autoware/launch-autoware/localization/index.md @@ -97,12 +97,13 @@ you can add this argument on `tier4_localization_component.launch.xml` launch fi **Note:** Gyro odometer input topic provided from velocity converter package. This package will be launched at sensor_kit. For more information, please check [velocity converter package](https://github.com/autowarefoundation/autoware.universe/tree/main/sensing/vehicle_velocity_converter). -## Note when using non NDT pose estiamtor +## Note when using non NDT pose estimator !!! note -Since NDT is currently the most often used pose_estiamtor, the NDT diagnostics are registered for monitoring by default. -When using a pose_estimator othen than NDT, NDT diagnostics will always be marked as stale, causing the system to enter a safe_fault state. -Depending on the parameters of emergencies, this could escalate to a full emergency, preventing autonomous driving. + + Since NDT is currently the most often used pose_estimator , the NDT diagnostics are registered for monitoring by default. + When using a pose_estimator other than NDT, NDT diagnostics will always be marked as stale, causing the system to enter a safe_fault state. + Depending on the parameters of emergencies, this could escalate to a full emergency, preventing autonomous driving. To work around this, please modify the configuration file of the system_error_monitor. In the [system_error_monitor.param.yaml](https://github.com/autowarefoundation/autoware.universe/blob/main/system/system_error_monitor/config/system_error_monitor.param.yaml) file, `/autoware/localization/performance_monitoring/matching_score` represents the aggregated diagnostics for NDT.