From 72e96fccc7b293a362a7b635036570052406c086 Mon Sep 17 00:00:00 2001 From: kminoda <44218668+kminoda@users.noreply.github.com> Date: Tue, 7 Nov 2023 09:38:50 +0900 Subject: [PATCH] feat(ekf_localizer, system_error_monitor): system_error_monitor handles ekf diags (#5467) * fix(ekf_localizer): change default parameter for no update count Signed-off-by: kminoda * add ekf in system_error_monitor Signed-off-by: kminoda * style(pre-commit): autofix --------- Signed-off-by: kminoda Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> --- .../ekf_localizer/config/ekf_localizer.param.yaml | 4 ++-- .../diagnostic_aggregator/localization.param.yaml | 10 ++++++++++ 2 files changed, 12 insertions(+), 2 deletions(-) diff --git a/localization/ekf_localizer/config/ekf_localizer.param.yaml b/localization/ekf_localizer/config/ekf_localizer.param.yaml index 667217d2591dc..1c16624605907 100644 --- a/localization/ekf_localizer/config/ekf_localizer.param.yaml +++ b/localization/ekf_localizer/config/ekf_localizer.param.yaml @@ -24,9 +24,9 @@ # for diagnostics pose_no_update_count_threshold_warn: 50 - pose_no_update_count_threshold_error: 250 + pose_no_update_count_threshold_error: 100 twist_no_update_count_threshold_warn: 50 - twist_no_update_count_threshold_error: 250 + twist_no_update_count_threshold_error: 100 # for velocity measurement limitation (Set 0.0 if you want to ignore) threshold_observable_velocity_mps: 0.0 # [m/s] diff --git a/system/system_error_monitor/config/diagnostic_aggregator/localization.param.yaml b/system/system_error_monitor/config/diagnostic_aggregator/localization.param.yaml index f82f7d732f5dc..a0b13a899a6ba 100644 --- a/system/system_error_monitor/config/diagnostic_aggregator/localization.param.yaml +++ b/system/system_error_monitor/config/diagnostic_aggregator/localization.param.yaml @@ -29,3 +29,13 @@ path: localization_accuracy contains: ["localization: localization_error_monitor"] timeout: 1.0 + + # This diagnostic should ideally be avoided in terms of Fault Tree Analysis (FTA) compatibility. + # However, we may need this since the localization accuracy is still not reliable enough and may produce + # false positives. Thus, NOTE that this diagnostic should be removed in the future when the localization accuracy + # is reliable enough. + sensor_fusion_status: + type: diagnostic_aggregator/GenericAnalyzer + path: sensor_fusion_status + contains: ["localization: ekf_localizer"] + timeout: 1.0