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feat(ekf_localizer, system_error_monitor): system_error_monitor handles ekf diags (#5467) #1004

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feat(ekf_localizer, system_error_monitor): system_error_monitor handles ekf diags (#5467) #1004

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4 changes: 2 additions & 2 deletions localization/ekf_localizer/config/ekf_localizer.param.yaml
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Expand Up @@ -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]
10 changes: 10 additions & 0 deletions system/system_error_monitor/config/diagnostic_aggregator/localization.param.yaml
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Expand Up @@ -29,3 +29,13 @@
path: localization_accuracy
contains: [": localization_accuracy"]
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