diff --git a/autoware_launch/config/system/diagnostic_graph_aggregator/autoware-awsim.yaml b/autoware_launch/config/system/diagnostic_graph_aggregator/autoware-awsim.yaml index 7f002b1380..9950acbc7e 100644 --- a/autoware_launch/config/system/diagnostic_graph_aggregator/autoware-awsim.yaml +++ b/autoware_launch/config/system/diagnostic_graph_aggregator/autoware-awsim.yaml @@ -3,4 +3,3 @@ files: edits: - { type: remove, path: /autoware/system/duplicated_node_checker } - - { type: remove, path: /autoware/control/emergency_braking } diff --git a/autoware_launch/config/system/diagnostic_graph_aggregator/autoware-main.yaml b/autoware_launch/config/system/diagnostic_graph_aggregator/autoware-main.yaml index f35f219df6..f79f17398b 100644 --- a/autoware_launch/config/system/diagnostic_graph_aggregator/autoware-main.yaml +++ b/autoware_launch/config/system/diagnostic_graph_aggregator/autoware-main.yaml @@ -1,5 +1,4 @@ files: - - { path: $(find-pkg-share system_diagnostic_monitor)/config/autoware-main.yaml } - -edits: - - { type: remove, path: /autoware/control/emergency_braking } + - { + path: $(find-pkg-share autoware_launch)/config/system/system_diagnostic_monitor/autoware-main.yaml, + } diff --git a/autoware_launch/config/system/diagnostic_graph_aggregator/autoware-psim.yaml b/autoware_launch/config/system/diagnostic_graph_aggregator/autoware-psim.yaml index e11f391606..f7e89443a8 100644 --- a/autoware_launch/config/system/diagnostic_graph_aggregator/autoware-psim.yaml +++ b/autoware_launch/config/system/diagnostic_graph_aggregator/autoware-psim.yaml @@ -1,5 +1,4 @@ files: - - { path: $(find-pkg-share system_diagnostic_monitor)/config/autoware-psim.yaml } - -edits: - - { type: remove, path: /autoware/control/emergency_braking } + - { + path: $(find-pkg-share autoware_launch)/config/system/system_diagnostic_monitor/autoware-psim.yaml, + } diff --git a/autoware_launch/config/system/diagnostic_graph_aggregator/others.yaml b/autoware_launch/config/system/diagnostic_graph_aggregator/others.yaml deleted file mode 100644 index e47df545e5..0000000000 --- a/autoware_launch/config/system/diagnostic_graph_aggregator/others.yaml +++ /dev/null @@ -1,140 +0,0 @@ -nodes: - - path: /others/autonomous_available - type: and - list: - - { type: link, link: /others/emergency_stop } - - { type: link, link: /others/pull_over } - - { type: link, link: /others/comfortable_stop } - - - path: /others/pull_over_available - type: and - list: - - { type: link, link: /others/emergency_stop } - - { type: link, link: /others/comfortable_stop } - - - path: /others/comfortable_stop_available - type: and - list: - - { type: link, link: /others/emergency_stop } - - # ******************************************************************************* - # NOTE: Please modify this section according to your environment and requirements. - # ******************************************************************************* - - path: /others/emergency_stop - type: and - list: - - { type: link, link: /others/002-blockage_validation-error } - - { type: link, link: /others/004-concat_status } - - { type: link, link: /others/005-visibility_validation-error } - - { type: link, link: /others/012-vehicle_stuck_checker } - - - path: /others/comfortable_stop - type: and - list: - - { type: link, link: /others/010-emergency_vehicle-error } - - - path: /others/pull_over - type: and - list: - - { type: link, link: /others/011-daytime_monitor } - - - path: /others/none - type: and - - # Intermediate paths - - path: /others/002-blockage_validation - type: and - list: - - { type: link, link: /others/002-blockage_validation/front_lower } - - { type: link, link: /others/002-blockage_validation/front_upper } - - { type: link, link: /others/002-blockage_validation/left_lower } - - { type: link, link: /others/002-blockage_validation/left_upper } - - { type: link, link: /others/002-blockage_validation/right_lower } - - { type: link, link: /others/002-blockage_validation/right_upper } - - { type: link, link: /others/002-blockage_validation/rear_lower } - - { type: link, link: /others/002-blockage_validation/rear_upper } - - - path: /others/005-visibility_validation - type: and - list: - - { type: link, link: /others/005-visibility_validation/front_lower } - - { type: link, link: /others/005-visibility_validation/left_upper } - - - path: /others/002-blockage_validation-error - type: warn-to-ok - list: - - { type: link, link: /others/002-blockage_validation } - - - path: /others/005-visibility_validation-error - type: warn-to-ok - list: - - { type: link, link: /others/005-visibility_validation } - - - path: /others/010-emergency_vehicle-error - type: warn-to-ok - list: - - { type: link, link: /others/010-emergency_vehicle } - - # Diagnostics paths - - path: /others/002-blockage_validation/front_lower - diag: "blockage_return_diag: /sensing/lidar/front_lower: blockage_validation" - type: diag - timeout: 1.0 - - path: /others/002-blockage_validation/front_upper - diag: "blockage_return_diag: /sensing/lidar/front_upper: blockage_validation" - type: diag - timeout: 1.0 - - path: /others/002-blockage_validation/left_lower - diag: "blockage_return_diag: /sensing/lidar/left_lower: blockage_validation" - type: diag - timeout: 1.0 - - path: /others/002-blockage_validation/left_upper - diag: "blockage_return_diag: /sensing/lidar/left_upper: blockage_validation" - type: diag - timeout: 1.0 - - path: /others/002-blockage_validation/right_lower - diag: "blockage_return_diag: /sensing/lidar/right_lower: blockage_validation" - type: diag - timeout: 1.0 - - path: /others/002-blockage_validation/right_upper - diag: "blockage_return_diag: /sensing/lidar/right_upper: blockage_validation" - type: diag - timeout: 1.0 - - path: /others/002-blockage_validation/rear_lower - diag: "blockage_return_diag: /sensing/lidar/rear_lower: blockage_validation" - type: diag - timeout: 1.0 - - path: /others/002-blockage_validation/rear_upper - diag: "blockage_return_diag: /sensing/lidar/rear_upper: blockage_validation" - type: diag - timeout: 1.0 - - - path: /others/004-concat_status - diag: "concatenate_data: concat_status" - type: diag - timeout: 1.0 - - - path: /others/005-visibility_validation/front_lower - diag: "dual_return_filter: /sensing/lidar/front_lower: visibility_validation" - type: diag - timeout: 1.0 - - - path: /others/005-visibility_validation/left_upper - diag: "dual_return_filter: /sensing/lidar/left_upper: visibility_validation" - type: diag - timeout: 1.0 - - - path: /others/010-emergency_vehicle - diag: "emergency_vehicle_detector: emergency_vehicle" - type: diag - timeout: 3.0 - - - path: /others/011-daytime_monitor - diag: "daytime_monitor: daytime_status" - type: diag - timeout: 3.0 - - - path: /others/012-vehicle_stuck_checker - diag: "vehicle_stuck_checker: vehicle_stuck_check" - type: diag - timeout: 3.0 diff --git a/autoware_launch/config/system/diagnostic_graph_aggregator/sensing.yaml b/autoware_launch/config/system/diagnostic_graph_aggregator/sensing.yaml deleted file mode 100644 index 67ad0d43d8..0000000000 --- a/autoware_launch/config/system/diagnostic_graph_aggregator/sensing.yaml +++ /dev/null @@ -1,296 +0,0 @@ -nodes: - - path: /sensing/autonomous_available - type: and - list: - - { type: link, link: /sensing/emergency_stop } - - { type: link, link: /sensing/pull_over } - - { type: link, link: /sensing/comfortable_stop } - - - path: /sensing/pull_over_available - type: and - list: - - { type: link, link: /sensing/emergency_stop } - - { type: link, link: /sensing/comfortable_stop } - - - path: /sensing/comfortable_stop_available - type: and - list: - - { type: link, link: /sensing/emergency_stop } - - # ******************************************************************************* - # NOTE: Please modify this section according to your environment and requirements. - # ******************************************************************************* - - path: /sensing/emergency_stop - type: and - list: - - { type: link, link: /sensing/imu/001-monitor-error } - - { type: link, link: /sensing/imu/002-connection } - - { type: link, link: /sensing/lidar/pndr/001-connection } - - { type: link, link: /sensing/lidar/pndr/002-temperature-error } - - { type: link, link: /sensing/lidar/pndr/003-ptp } - - { type: link, link: /sensing/camera/001-connection } - - { type: link, link: /sensing/radar/001-connection } - - - path: /sensing/pull_over - type: and - list: - - { type: link, link: /sensing/lidar/pndr/002-temperature } - - { type: link, link: /sensing/gnss/001-connection-error } - - - path: /sensing/comfortable_stop - type: and - - - path: /sensing/none - type: and - list: - - { type: link, link: /sensing/imu/003-gyro_bias } - - { type: link, link: /sensing/gnss/002-quality } - - # Intermediate paths - - path: /sensing/lidar/pndr/002-temperature-error - type: warn-to-ok - list: - - { type: link, link: /sensing/lidar/pndr/002-temperature } - - - path: /sensing/imu/001-monitor-error - type: warn-to-ok - list: - - { type: link, link: /sensing/imu/001-monitor } - - - path: /sensing/gnss/001-connection-error - type: warn-to-ok - list: - - { type: link, link: /sensing/gnss/001-connection } - - - path: /sensing/lidar/pndr/001-connection - type: and - list: - - { type: link, link: /sensing/lidar/front_lower/connection } - - { type: link, link: /sensing/lidar/front_upper/connection } - - { type: link, link: /sensing/lidar/left_lower/connection } - - { type: link, link: /sensing/lidar/left_upper/connection } - - { type: link, link: /sensing/lidar/right_lower/connection } - - { type: link, link: /sensing/lidar/right_upper/connection } - - { type: link, link: /sensing/lidar/rear_lower/connection } - - { type: link, link: /sensing/lidar/rear_upper/connection } - - - path: /sensing/lidar/pndr/002-temperature - type: and - list: - - { type: link, link: /sensing/lidar/front_lower/temperature } - - { type: link, link: /sensing/lidar/front_upper/temperature } - - { type: link, link: /sensing/lidar/left_lower/temperature } - - { type: link, link: /sensing/lidar/left_upper/temperature } - - { type: link, link: /sensing/lidar/right_lower/temperature } - - { type: link, link: /sensing/lidar/right_upper/temperature } - - { type: link, link: /sensing/lidar/rear_lower/temperature } - - { type: link, link: /sensing/lidar/rear_upper/temperature } - - - path: /sensing/lidar/pndr/003-ptp - type: and - list: - - { type: link, link: /sensing/lidar/front_lower/ptp } - - { type: link, link: /sensing/lidar/front_upper/ptp } - - { type: link, link: /sensing/lidar/left_lower/ptp } - - { type: link, link: /sensing/lidar/left_upper/ptp } - - { type: link, link: /sensing/lidar/right_lower/ptp } - - { type: link, link: /sensing/lidar/right_upper/ptp } - - { type: link, link: /sensing/lidar/rear_lower/ptp } - - { type: link, link: /sensing/lidar/rear_upper/ptp } - - - path: /sensing/camera/001-connection - type: and - list: - - { type: link, link: /sensing/camera/0/connection } - - { type: link, link: /sensing/camera/1/connection } - - { type: link, link: /sensing/camera/2/connection } - - { type: link, link: /sensing/camera/3/connection } - - { type: link, link: /sensing/camera/4/connection } - - { type: link, link: /sensing/camera/5/connection } - - - path: /sensing/radar/001-connection - type: and - list: - - { type: link, link: /sensing/radar/front_center/connection } - - { type: link, link: /sensing/radar/front_left/connection } - - { type: link, link: /sensing/radar/front_right/connection } - - { type: link, link: /sensing/radar/rear_center/connection } - - { type: link, link: /sensing/radar/rear_left/connection } - - { type: link, link: /sensing/radar/rear_right/connection } - - # Diagnostics paths - - path: /sensing/imu/001-monitor - diag: "imu_monitor: yaw_rate_status" - type: diag - timeout: 5.0 - - path: /sensing/imu/002-connection - diag: "topic_state_monitor_imu_data: imu_topic_status" - type: diag - timeout: 1.0 - - path: /sensing/imu/003-gyro_bias - diag: "gyro_bias_estimator: gyro_bias_validator" - type: diag - timeout: 1.0 - - - path: /sensing/gnss/001-connection - diag: "topic_state_monitor_gnss_pose: gnss_topic_status" - type: diag - timeout: 5.0 - - path: /sensing/gnss/002-quality - diag: "septentrio_driver: Quality indicators" - type: diag - timeout: 5.0 - - - path: /sensing/lidar/front_lower/connection - diag: "pandar_monitor: /sensing/lidar/front_lower: pandar_connection" - type: diag - timeout: 5.0 - - path: /sensing/lidar/front_lower/ptp - diag: "pandar_monitor: /sensing/lidar/front_lower: pandar_ptp" - type: diag - timeout: 5.0 - - path: /sensing/lidar/front_lower/temperature - diag: "pandar_monitor: /sensing/lidar/front_lower: pandar_temperature" - type: diag - timeout: 5.0 - - - path: /sensing/lidar/front_upper/connection - diag: "pandar_monitor: /sensing/lidar/front_upper: pandar_connection" - type: diag - timeout: 5.0 - - path: /sensing/lidar/front_upper/ptp - diag: "pandar_monitor: /sensing/lidar/front_upper: pandar_ptp" - type: diag - timeout: 5.0 - - path: /sensing/lidar/front_upper/temperature - diag: "pandar_monitor: /sensing/lidar/front_upper: pandar_temperature" - type: diag - timeout: 5.0 - - - path: /sensing/lidar/left_lower/connection - diag: "pandar_monitor: /sensing/lidar/left_lower: pandar_connection" - type: diag - timeout: 5.0 - - path: /sensing/lidar/left_lower/ptp - diag: "pandar_monitor: /sensing/lidar/left_lower: pandar_ptp" - type: diag - timeout: 5.0 - - path: /sensing/lidar/left_lower/temperature - diag: "pandar_monitor: /sensing/lidar/left_lower: pandar_temperature" - type: diag - timeout: 5.0 - - - path: /sensing/lidar/left_upper/connection - diag: "pandar_monitor: /sensing/lidar/left_upper: pandar_connection" - type: diag - timeout: 5.0 - - path: /sensing/lidar/left_upper/ptp - diag: "pandar_monitor: /sensing/lidar/left_upper: pandar_ptp" - type: diag - timeout: 5.0 - - path: /sensing/lidar/left_upper/temperature - diag: "pandar_monitor: /sensing/lidar/left_upper: pandar_temperature" - type: diag - timeout: 5.0 - - - path: /sensing/lidar/right_lower/connection - diag: "pandar_monitor: /sensing/lidar/right_lower: pandar_connection" - type: diag - timeout: 5.0 - - path: /sensing/lidar/right_lower/ptp - diag: "pandar_monitor: /sensing/lidar/right_lower: pandar_ptp" - type: diag - timeout: 5.0 - - path: /sensing/lidar/right_lower/temperature - diag: "pandar_monitor: /sensing/lidar/right_lower: pandar_temperature" - type: diag - timeout: 5.0 - - - path: /sensing/lidar/right_upper/connection - diag: "pandar_monitor: /sensing/lidar/right_upper: pandar_connection" - type: diag - timeout: 5.0 - - path: /sensing/lidar/right_upper/ptp - diag: "pandar_monitor: /sensing/lidar/right_upper: pandar_ptp" - type: diag - timeout: 5.0 - - path: /sensing/lidar/right_upper/temperature - diag: "pandar_monitor: /sensing/lidar/right_upper: pandar_temperature" - type: diag - timeout: 5.0 - - - path: /sensing/lidar/rear_lower/connection - diag: "pandar_monitor: /sensing/lidar/rear_lower: pandar_connection" - type: diag - timeout: 5.0 - - path: /sensing/lidar/rear_lower/ptp - diag: "pandar_monitor: /sensing/lidar/rear_lower: pandar_ptp" - type: diag - timeout: 5.0 - - path: /sensing/lidar/rear_lower/temperature - diag: "pandar_monitor: /sensing/lidar/rear_lower: pandar_temperature" - type: diag - timeout: 5.0 - - - path: /sensing/lidar/rear_upper/connection - diag: "pandar_monitor: /sensing/lidar/rear_upper: pandar_connection" - type: diag - timeout: 5.0 - - path: /sensing/lidar/rear_upper/ptp - diag: "pandar_monitor: /sensing/lidar/rear_upper: pandar_ptp" - type: diag - timeout: 5.0 - - path: /sensing/lidar/rear_upper/temperature - diag: "pandar_monitor: /sensing/lidar/rear_upper: pandar_temperature" - type: diag - timeout: 5.0 - - - path: /sensing/camera/0/connection - diag: "v4l2_camera_camera0: capture_status" - type: diag - timeout: 1.0 - - path: /sensing/camera/1/connection - diag: "v4l2_camera_camera1: capture_status" - type: diag - timeout: 1.0 - - path: /sensing/camera/2/connection - diag: "v4l2_camera_camera2: capture_status" - type: diag - timeout: 1.0 - - path: /sensing/camera/3/connection - diag: "v4l2_camera_camera3: capture_status" - type: diag - timeout: 1.0 - - path: /sensing/camera/4/connection - diag: "v4l2_camera_camera4: capture_status" - type: diag - timeout: 1.0 - - path: /sensing/camera/5/connection - diag: "v4l2_camera_camera5: capture_status" - type: diag - timeout: 1.0 - - - path: /sensing/radar/front_center/connection - diag: "topic_state_monitor_radar_front_center: radar_front_center_topic_status" - type: diag - timeout: 1.0 - - path: /sensing/radar/front_left/connection - diag: "topic_state_monitor_radar_front_left: radar_front_left_topic_status" - type: diag - timeout: 1.0 - - path: /sensing/radar/front_right/connection - diag: "topic_state_monitor_radar_front_right: radar_front_right_topic_status" - type: diag - timeout: 1.0 - - path: /sensing/radar/rear_center/connection - diag: "topic_state_monitor_radar_rear_center: radar_rear_center_topic_status" - type: diag - timeout: 1.0 - - path: /sensing/radar/rear_left/connection - diag: "topic_state_monitor_radar_rear_left: radar_rear_left_topic_status" - type: diag - timeout: 1.0 - - path: /sensing/radar/rear_right/connection - diag: "topic_state_monitor_radar_rear_right: radar_rear_right_topic_status" - type: diag - timeout: 1.0 diff --git a/autoware_launch/config/system/diagnostic_graph_aggregator/autoware.yaml b/autoware_launch/config/system/system_diagnostic_monitor/autoware-main.yaml similarity index 89% rename from autoware_launch/config/system/diagnostic_graph_aggregator/autoware.yaml rename to autoware_launch/config/system/system_diagnostic_monitor/autoware-main.yaml index ee16bc9819..371b866497 100644 --- a/autoware_launch/config/system/diagnostic_graph_aggregator/autoware.yaml +++ b/autoware_launch/config/system/system_diagnostic_monitor/autoware-main.yaml @@ -1,68 +1,66 @@ files: + - { path: $(dirname)/control.yaml } - { path: $(dirname)/hardware.yaml } - - { path: $(dirname)/sensing.yaml } - - { path: $(dirname)/map.yaml } - { path: $(dirname)/localization.yaml } - - { path: $(dirname)/planning.yaml } + - { path: $(dirname)/map.yaml } - { path: $(dirname)/perception.yaml } - - { path: $(dirname)/control.yaml } - - { path: $(dirname)/vehicle.yaml } - - { path: $(dirname)/system.yaml } + - { path: $(dirname)/planning.yaml } - { path: $(dirname)/others.yaml } + # - { path: $(dirname)/sensing.yaml } + - { path: $(dirname)/system.yaml } + - { path: $(dirname)/vehicle.yaml } -nodes: +units: - path: /autoware/modes/local type: stale - path: /autoware/modes/remote type: stale - # Stop is always available - path: /autoware/modes/stop type: ok - path: /autoware/modes/autonomous type: and list: + - { type: link, link: /control/autonomous_available } - { type: link, link: /hardware/autonomous_available } - - { type: link, link: /sensing/autonomous_available } - - { type: link, link: /map/autonomous_available } - { type: link, link: /localization/autonomous_available } - - { type: link, link: /planning/autonomous_available } + - { type: link, link: /map/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 } + - { type: link, link: /planning/autonomous_available } - { type: link, link: /others/autonomous_available } + # - { type: link, link: /sensing/autonomous_available } + - { type: link, link: /system/autonomous_available } + - { type: link, link: /vehicle/autonomous_available } - path: /autoware/modes/pull_over type: and list: + - { type: link, link: /control/pull_over_available } - { type: link, link: /hardware/pull_over_available } - - { type: link, link: /sensing/pull_over_available } - - { type: link, link: /map/pull_over_available } - { type: link, link: /localization/pull_over_available } - - { type: link, link: /planning/pull_over_available } + - { type: link, link: /map/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 } + - { type: link, link: /planning/pull_over_available } - { type: link, link: /others/pull_over_available } + # - { type: link, link: /sensing/pull_over_available } + - { type: link, link: /system/pull_over_available } + - { type: link, link: /vehicle/pull_over_available } - path: /autoware/modes/comfortable_stop type: and list: + - { type: link, link: /control/comfortable_stop_available } - { type: link, link: /hardware/comfortable_stop_available } - - { type: link, link: /sensing/comfortable_stop_available } - - { type: link, link: /map/comfortable_stop_available } - { type: link, link: /localization/comfortable_stop_available } - - { type: link, link: /planning/comfortable_stop_available } + - { type: link, link: /map/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 } + - { type: link, link: /planning/comfortable_stop_available } - { type: link, link: /others/comfortable_stop_available } + # - { type: link, link: /sensing/comfortable_stop_available } + - { type: link, link: /system/comfortable_stop_available } + - { type: link, link: /vehicle/comfortable_stop_available } - # Emergency stop is always available - path: /autoware/modes/emergency_stop type: ok diff --git a/autoware_launch/config/system/diagnostic_graph_aggregator/autoware.planning_simulator.yaml b/autoware_launch/config/system/system_diagnostic_monitor/autoware-psim.yaml similarity index 78% rename from autoware_launch/config/system/diagnostic_graph_aggregator/autoware.planning_simulator.yaml rename to autoware_launch/config/system/system_diagnostic_monitor/autoware-psim.yaml index c212f19ede..9a86156f65 100644 --- a/autoware_launch/config/system/diagnostic_graph_aggregator/autoware.planning_simulator.yaml +++ b/autoware_launch/config/system/system_diagnostic_monitor/autoware-psim.yaml @@ -6,20 +6,14 @@ files: # Exclude paths that does not need on planning simulator edits: - - path: /map/001-topic_status/pointcloud_map-error - type: remove - - path: /map/001-topic_status/pointcloud_map - type: remove - - path: /system/003-bagpacker_status - type: remove - - path: /system/004-bagpacker_disk_space - type: remove - - path: /system/005-fms_connection - type: remove - - path: /system/005-fms_connection-error - type: remove - -nodes: + - { type: remove, path: /map/001-topic_status/pointcloud_map-error } + - { type: remove, path: /map/001-topic_status/pointcloud_map } + # - { type: remove, path: /system/003-bagpacker_status } + # - { type: remove, path: /system/004-bagpacker_disk_space } + # - { type: remove, path: /system/005-fms_connection } + # - { type: remove, path: /system/005-fms_connection-error } + +units: - path: /autoware/modes/local type: stale diff --git a/autoware_launch/config/system/diagnostic_graph_aggregator/control.yaml b/autoware_launch/config/system/system_diagnostic_monitor/control.yaml similarity index 70% rename from autoware_launch/config/system/diagnostic_graph_aggregator/control.yaml rename to autoware_launch/config/system/system_diagnostic_monitor/control.yaml index 432781f0ba..92bde38413 100644 --- a/autoware_launch/config/system/diagnostic_graph_aggregator/control.yaml +++ b/autoware_launch/config/system/system_diagnostic_monitor/control.yaml @@ -1,4 +1,4 @@ -nodes: +units: - path: /control/autonomous_available type: and list: @@ -26,7 +26,7 @@ nodes: - { 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/009-aeb_emergency_stop } - { type: link, link: /control/010-max_distance_deviation-error } - { type: link, link: /control/011-slip_detection } @@ -46,66 +46,78 @@ nodes: # Intermediate paths - path: /control/001-topic_status/control_command-error type: warn-to-ok - list: - - { type: link, link: /control/001-topic_status/control_command } + item: + type: link + link: /control/001-topic_status/control_command - path: /control/004-lane_departure-error type: warn-to-ok - list: - - { type: link, link: /control/004-lane_departure } + item: + type: link + link: /control/004-lane_departure - path: /control/005-trajectory_deviation-error type: warn-to-ok - list: - - { type: link, link: /control/005-trajectory_deviation } + item: + type: link + link: /control/005-trajectory_deviation - path: /control/010-max_distance_deviation-error type: warn-to-ok - list: - - { type: link, link: /control/010-max_distance_deviation } + item: + type: link + link: /control/010-max_distance_deviation - # Diagnostics paths - path: /control/001-topic_status/control_command - diag: "topic_state_monitor_control_command_control_cmd: control_topic_status" type: diag + node: topic_state_monitor_control_command_control_cmd + name: control_topic_status timeout: 1.0 - path: /control/003-gate_heartbeat - diag: "vehicle_cmd_gate: heartbeat" type: diag + node: vehicle_cmd_gate + name: heartbeat timeout: 1.0 - path: /control/004-lane_departure - diag: "lane_departure_checker_node: lane_departure" type: diag + node: lane_departure_checker_node + name: lane_departure timeout: 1.0 - path: /control/005-trajectory_deviation - diag: "lane_departure_checker_node: trajectory_deviation" type: diag + node: lane_departure_checker_node + name: trajectory_deviation timeout: 1.0 - path: /control/007-external_command_converter_heartbeat - diag: "external_cmd_converter: remote_control_topic_status" type: diag + node: external_cmd_converter + name: remote_control_topic_status timeout: 1.0 - path: /control/008-external_command_selector_heartbeat - diag: "external_cmd_selector: heartbeat" type: diag + node: external_cmd_selector + name: heartbeat timeout: 1.0 - - path: /control/009-aeb_emergency_stop - diag: "autonomous_emergency_braking: aeb_emergency_stop" - type: diag - timeout: 1.0 + # - path: /control/009-aeb_emergency_stop + # type: diag + # node: autonomous_emergency_braking + # name: aeb_emergency_stop + # timeout: 1.0 - path: /control/010-max_distance_deviation - diag: "control_validator: control_validation_max_distance_deviation" type: diag + node: control_validator + name: control_validation_max_distance_deviation timeout: 1.0 - path: /control/011-slip_detection - diag: "slip_detector: slip_status" type: diag + node: slip_detector + name: slip_status timeout: 3.0 diff --git a/autoware_launch/config/system/diagnostic_graph_aggregator/hardware.yaml b/autoware_launch/config/system/system_diagnostic_monitor/hardware.yaml similarity index 68% rename from autoware_launch/config/system/diagnostic_graph_aggregator/hardware.yaml rename to autoware_launch/config/system/system_diagnostic_monitor/hardware.yaml index 54e909c426..20a3b069af 100644 --- a/autoware_launch/config/system/diagnostic_graph_aggregator/hardware.yaml +++ b/autoware_launch/config/system/system_diagnostic_monitor/hardware.yaml @@ -1,4 +1,4 @@ -nodes: +units: - path: /hardware/autonomous_available type: and list: @@ -43,9 +43,6 @@ nodes: type: and list: - { type: link, link: /hardware/hdd/002-usage-error } - - { type: link, link: /hardware/mot/001-connection } - - { type: link, link: /hardware/signage/001-connection } - - { type: link, link: /hardware/voice/001-connection } - path: /hardware/comfortable_stop type: and @@ -65,291 +62,304 @@ nodes: - { type: link, link: /hardware/process/002-load } - { type: link, link: /hardware/process/003-memory } - { type: link, link: /hardware/bios/001-battery } + - path: /hardware/hdd/007-load + type: and + list: + - { type: link, link: /hardware/hdd/007-load/read_rate } + - { type: link, link: /hardware/hdd/007-load/read_iops } + - { type: link, link: /hardware/hdd/007-load/write_rate } + - { type: link, link: /hardware/hdd/007-load/write_iops } - # Intermediate paths - - path: /hardware/cpu/002-usage-error - type: warn-to-ok + - path: /hardware/process/002-load + type: and list: - - { type: link, link: /hardware/cpu/002-usage } + - { type: link, link: /hardware/process/002-load/proc-0 } + - { type: link, link: /hardware/process/002-load/proc-1 } + - { type: link, link: /hardware/process/002-load/proc-2 } + - { type: link, link: /hardware/process/002-load/proc-3 } + - { type: link, link: /hardware/process/002-load/proc-4 } - - path: /hardware/cpu/004-throttling-error - type: warn-to-ok + - path: /hardware/process/003-memory + type: and list: - - { type: link, link: /hardware/cpu/004-throttling } + - { type: link, link: /hardware/process/003-memory/proc-0 } + - { type: link, link: /hardware/process/003-memory/proc-1 } + - { type: link, link: /hardware/process/003-memory/proc-2 } + - { type: link, link: /hardware/process/003-memory/proc-3 } + - { type: link, link: /hardware/process/003-memory/proc-4 } + - path: /hardware/cpu/002-usage-error + type: warn-to-ok + item: + type: link + link: /hardware/cpu/002-usage + - path: /hardware/cpu/004-throttling-error + type: warn-to-ok + item: + type: link + link: /hardware/cpu/004-throttling - path: /hardware/hdd/001-temperature-error type: warn-to-ok - list: - - { type: link, link: /hardware/hdd/001-temperature } - + item: + type: link + link: /hardware/hdd/001-temperature - path: /hardware/hdd/002-usage-error type: warn-to-ok - list: - - { type: link, link: /hardware/hdd/002-usage } - + item: + type: link + link: /hardware/hdd/002-usage - path: /hardware/hdd/003-connection-error type: warn-to-ok - list: - - { type: link, link: /hardware/hdd/003-connection } - + item: + type: link + link: /hardware/hdd/003-connection - path: /hardware/hdd/006-soft_error-error type: warn-to-ok - list: - - { type: link, link: /hardware/hdd/006-soft_error } - + item: + type: link + link: /hardware/hdd/006-soft_error - path: /hardware/hdd/007-load-error type: warn-to-ok - list: - - { type: link, link: /hardware/hdd/007-load } - + item: + type: link + link: /hardware/hdd/007-load - path: /hardware/memory/001-usage-error type: warn-to-ok - list: - - { type: link, link: /hardware/memory/001-usage } - + item: + type: link + link: /hardware/memory/001-usage - path: /hardware/memory/002-ecc-error type: warn-to-ok - list: - - { type: link, link: /hardware/memory/002-ecc } - + item: + type: link + link: /hardware/memory/002-ecc - path: /hardware/network/003-crc-error type: warn-to-ok - list: - - { type: link, link: /hardware/network/003-crc } - + item: + type: link + link: /hardware/network/003-crc - path: /hardware/gpu/001-temperature-error type: warn-to-ok - list: - - { type: link, link: /hardware/gpu/001-temperature } - + item: + type: link + link: /hardware/gpu/001-temperature - path: /hardware/gpu/002-usage-error type: warn-to-ok - list: - - { type: link, link: /hardware/gpu/002-usage } - + item: + type: link + link: /hardware/gpu/002-usage - path: /hardware/gpu/003-memory-error type: warn-to-ok - list: - - { type: link, link: /hardware/gpu/003-memory } - + item: + type: link + link: /hardware/gpu/003-memory - path: /hardware/gpu/004-throttling-error type: warn-to-ok - list: - - { type: link, link: /hardware/gpu/004-throttling } - + item: + type: link + link: /hardware/gpu/004-throttling - path: /hardware/gpu/005-frequency-error type: warn-to-ok - list: - - { type: link, link: /hardware/gpu/005-frequency } - + item: + type: link + link: /hardware/gpu/005-frequency - path: /hardware/network/004-packet_reassembles-error type: warn-to-ok - list: - - { type: link, link: /hardware/network/004-packet_reassembles } - - - path: /hardware/hdd/007-load - type: and - list: - - { type: link, link: /hardware/hdd/007-load/read_rate } - - { type: link, link: /hardware/hdd/007-load/read_iops } - - { type: link, link: /hardware/hdd/007-load/write_rate } - - { type: link, link: /hardware/hdd/007-load/write_iops } - - - path: /hardware/process/002-load - type: and - list: - - { type: link, link: /hardware/process/002-load/proc-0 } - - { type: link, link: /hardware/process/002-load/proc-1 } - - { type: link, link: /hardware/process/002-load/proc-2 } - - { type: link, link: /hardware/process/002-load/proc-3 } - - { type: link, link: /hardware/process/002-load/proc-4 } - - - path: /hardware/process/003-memory - type: and - list: - - { type: link, link: /hardware/process/003-memory/proc-0 } - - { type: link, link: /hardware/process/003-memory/proc-1 } - - { type: link, link: /hardware/process/003-memory/proc-2 } - - { type: link, link: /hardware/process/003-memory/proc-3 } - - { type: link, link: /hardware/process/003-memory/proc-4 } - - # Diagnostics paths + item: + type: link + link: /hardware/network/004-packet_reassembles - path: /hardware/cpu/001-temperature - diag: "cpu_monitor: CPU Temperature" type: diag + node: cpu_monitor + name: CPU Temperature timeout: 3.0 - path: /hardware/cpu/002-usage - diag: "cpu_monitor: CPU Usage" type: diag + node: cpu_monitor + name: CPU Usage timeout: 3.0 - path: /hardware/cpu/003-load_average - diag: "cpu_monitor: CPU Load Average" type: diag + node: cpu_monitor + name: CPU Load Average timeout: 3.0 - path: /hardware/cpu/004-throttling - diag: "cpu_monitor: CPU Thermal Throttling" type: diag + node: cpu_monitor + name: CPU Thermal Throttling timeout: 3.0 - path: /hardware/cpu/005-frequency - diag: "cpu_monitor: CPU Frequency" type: diag + node: cpu_monitor + name: CPU Frequency timeout: 3.0 - - path: /hardware/hdd/001-temperature - diag: "hdd_monitor: HDD Temperature" type: diag + node: hdd_monitor + name: HDD Temperature timeout: 3.0 - path: /hardware/hdd/002-usage - diag: "hdd_monitor: HDD Usage" type: diag + node: hdd_monitor + name: HDD Usage timeout: 3.0 - path: /hardware/hdd/003-connection - diag: "hdd_monitor: HDD Connection" type: diag + node: hdd_monitor + name: HDD Connection timeout: 3.0 - path: /hardware/hdd/004-total_written - diag: "hdd_monitor: HDD TotalDataWritten" type: diag + node: hdd_monitor + name: HDD TotalDataWritten timeout: 3.0 - path: /hardware/hdd/005-warranty_period - diag: "hdd_monitor: HDD PowerOnHours" type: diag + node: hdd_monitor + name: HDD PowerOnHours timeout: 3.0 - path: /hardware/hdd/006-soft_error - diag: "hdd_monitor: HDD RecoveredError" type: diag + node: hdd_monitor + name: HDD RecoveredError timeout: 3.0 - path: /hardware/hdd/007-load/read_rate - diag: "hdd_monitor: HDD ReadDataRate" type: diag + node: hdd_monitor + name: HDD ReadDataRate timeout: 3.0 - path: /hardware/hdd/007-load/write_rate - diag: "hdd_monitor: HDD WriteDataRate" type: diag + node: hdd_monitor + name: HDD WriteDataRate timeout: 3.0 - path: /hardware/hdd/007-load/read_iops - diag: "hdd_monitor: HDD ReadIOPS" type: diag + node: hdd_monitor + name: HDD ReadIOPS timeout: 3.0 - path: /hardware/hdd/007-load/write_iops - diag: "hdd_monitor: HDD WriteIOPS" type: diag + node: hdd_monitor + name: HDD WriteIOPS timeout: 3.0 - - path: /hardware/memory/001-usage - diag: "mem_monitor: Memory Usage" type: diag + node: mem_monitor + name: Memory Usage timeout: 3.0 - path: /hardware/memory/002-ecc - diag: "mem_monitor: Memory ECC" type: diag + node: mem_monitor + name: Memory ECC timeout: 3.0 - - path: /hardware/network/001-usage - diag: "net_monitor: Network Usage" type: diag + node: net_monitor + name: Network Usage timeout: 3.0 - path: /hardware/network/002-traffic - diag: "net_monitor: Network Traffic" type: diag + node: net_monitor + name: Network Traffic timeout: 3.0 - path: /hardware/network/003-crc - diag: "net_monitor: Network CRC Error" type: diag + node: net_monitor + name: Network CRC Error timeout: 3.0 - path: /hardware/network/004-packet_reassembles - diag: "net_monitor: IP Packet Reassembles Failed" type: diag + node: net_monitor + name: IP Packet Reassembles Failed timeout: 3.0 - - path: /hardware/ntp/001-sync - diag: "ntp_monitor: NTP Offset" type: diag + node: ntp_monitor + name: NTP Offset timeout: 10.0 - - path: /hardware/process/001-summary - diag: "process_monitor: Tasks Summary" type: diag + node: process_monitor + name: Tasks Summary timeout: 3.0 - path: /hardware/process/002-load/proc-0 - diag: "process_monitor: High-load Proc[0]" type: diag + node: process_monitor + name: High-load Proc[0] timeout: 3.0 - path: /hardware/process/002-load/proc-1 - diag: "process_monitor: High-load Proc[1]" type: diag + node: process_monitor + name: High-load Proc[1] timeout: 3.0 - path: /hardware/process/002-load/proc-2 - diag: "process_monitor: High-load Proc[2]" type: diag + node: process_monitor + name: High-load Proc[2] timeout: 3.0 - path: /hardware/process/002-load/proc-3 - diag: "process_monitor: High-load Proc[3]" type: diag + node: process_monitor + name: High-load Proc[3] timeout: 3.0 - path: /hardware/process/002-load/proc-4 - diag: "process_monitor: High-load Proc[4]" type: diag + node: process_monitor + name: High-load Proc[4] timeout: 3.0 - path: /hardware/process/003-memory/proc-0 - diag: "process_monitor: High-mem Proc[0]" type: diag + node: process_monitor + name: High-mem Proc[0] timeout: 3.0 - path: /hardware/process/003-memory/proc-1 - diag: "process_monitor: High-mem Proc[1]" type: diag + node: process_monitor + name: High-mem Proc[1] timeout: 3.0 - path: /hardware/process/003-memory/proc-2 - diag: "process_monitor: High-mem Proc[2]" type: diag + node: process_monitor + name: High-mem Proc[2] timeout: 3.0 - path: /hardware/process/003-memory/proc-3 - diag: "process_monitor: High-mem Proc[3]" type: diag + node: process_monitor + name: High-mem Proc[3] timeout: 3.0 - path: /hardware/process/003-memory/proc-4 - diag: "process_monitor: High-mem Proc[4]" type: diag + node: process_monitor + name: High-mem Proc[4] timeout: 3.0 - - path: /hardware/gpu/001-temperature - diag: "gpu_monitor: GPU Temperature" type: diag + node: gpu_monitor + name: GPU Temperature timeout: 3.0 - path: /hardware/gpu/002-usage - diag: "gpu_monitor: GPU Usage" type: diag + node: gpu_monitor + name: GPU Usage timeout: 3.0 - path: /hardware/gpu/003-memory - diag: "gpu_monitor: GPU Memory Usage" type: diag + node: gpu_monitor + name: GPU Memory Usage timeout: 3.0 - path: /hardware/gpu/004-throttling - diag: "gpu_monitor: GPU Thermal Throttling" type: diag + node: gpu_monitor + name: GPU Thermal Throttling timeout: 3.0 - path: /hardware/gpu/005-frequency - diag: "gpu_monitor: GPU Frequency" type: diag + node: gpu_monitor + name: GPU Frequency timeout: 3.0 - - path: /hardware/bios/001-battery - diag: "voltage_monitor: CMOS Battery Status" type: diag + node: voltage_monitor + name: CMOS Battery Status timeout: 3.0 - - # We assume these diagnostics become only OK or STALE - - path: /hardware/mot/001-connection - diag: "mot: /system/mot_connection : mot heartbeat" - type: diag - timeout: 5.0 - - - path: /hardware/signage/001-connection - diag: "signage: /system/signage_connection : signage heartbeat" - type: diag - timeout: 5.0 - - - path: /hardware/voice/001-connection - diag: "vehicle_voice_alert_system: /system/voice_alert_system_connection : voice alert system heartbeat" - type: diag - timeout: 5.0 diff --git a/autoware_launch/config/system/diagnostic_graph_aggregator/localization.yaml b/autoware_launch/config/system/system_diagnostic_monitor/localization.yaml similarity index 73% rename from autoware_launch/config/system/diagnostic_graph_aggregator/localization.yaml rename to autoware_launch/config/system/system_diagnostic_monitor/localization.yaml index fd3c75c85f..45adcac68e 100644 --- a/autoware_launch/config/system/diagnostic_graph_aggregator/localization.yaml +++ b/autoware_launch/config/system/system_diagnostic_monitor/localization.yaml @@ -1,4 +1,4 @@ -nodes: +units: - path: /localization/autonomous_available type: and list: @@ -38,54 +38,62 @@ nodes: - path: /localization/none type: and - # Intermediate paths - path: /localization/001-topic_status/initialpose-error type: warn-to-ok - list: - - { type: link, link: /localization/001-topic_status/initialpose } + item: + type: link + link: /localization/001-topic_status/initialpose - path: /localization/001-topic_status/pose_twist_fusion_filter-error type: warn-to-ok - list: - - { type: link, link: /localization/001-topic_status/pose_twist_fusion_filter } + item: + type: link + link: /localization/001-topic_status/pose_twist_fusion_filter - path: /localization/002-tf-error type: warn-to-ok - list: - - { type: link, link: /localization/002-tf } + item: + type: link + link: /localization/002-tf - path: /localization/003-matching_score-error type: warn-to-ok - list: - - { type: link, link: /localization/003-matching_score } + item: + type: link + link: /localization/003-matching_score - path: /localization/004-accuracy-error type: warn-to-ok - list: - - { type: link, link: /localization/004-accuracy } + item: + type: link + link: /localization/004-accuracy - # Diagnostics paths - path: /localization/001-topic_status/initialpose - diag: "topic_state_monitor_initialpose3d: localization_topic_status" type: diag + node: topic_state_monitor_initialpose3d + name: localization_topic_status timeout: 1.0 - path: /localization/001-topic_status/pose_twist_fusion_filter - diag: "topic_state_monitor_pose_twist_fusion_filter_pose: localization_topic_status" type: diag + node: topic_state_monitor_pose_twist_fusion_filter_pose + name: localization_topic_status timeout: 1.0 - path: /localization/002-tf - diag: "topic_state_monitor_transform_map_to_base_link: localization_topic_status" type: diag + node: topic_state_monitor_transform_map_to_base_link + name: localization_topic_status timeout: 1.0 - path: /localization/003-matching_score - diag: ndt_scan_matcher type: diag + node: ndt_scan_matcher + name: scan_matching_status timeout: 1.0 - path: /localization/004-accuracy - diag: "localization: localization_error_monitor" type: diag + node: localization + name: localization_error_monitor timeout: 1.0 diff --git a/autoware_launch/config/system/diagnostic_graph_aggregator/map.yaml b/autoware_launch/config/system/system_diagnostic_monitor/map.yaml similarity index 80% rename from autoware_launch/config/system/diagnostic_graph_aggregator/map.yaml rename to autoware_launch/config/system/system_diagnostic_monitor/map.yaml index 4c2aa69c0e..685956f160 100644 --- a/autoware_launch/config/system/diagnostic_graph_aggregator/map.yaml +++ b/autoware_launch/config/system/system_diagnostic_monitor/map.yaml @@ -1,4 +1,4 @@ -nodes: +units: - path: /map/autonomous_available type: and list: @@ -35,24 +35,26 @@ nodes: - path: /map/none type: and - # Intermediate paths - path: /map/001-topic_status/vector_map-error type: warn-to-ok - list: - - { type: link, link: /map/001-topic_status/vector_map } + item: + type: link + link: /map/001-topic_status/vector_map - path: /map/001-topic_status/pointcloud_map-error type: warn-to-ok - list: - - { type: link, link: /map/001-topic_status/pointcloud_map } + item: + type: link + link: /map/001-topic_status/pointcloud_map - # Diagnostics paths - path: /map/001-topic_status/vector_map - diag: "topic_state_monitor_vector_map: map_topic_status" type: diag + node: topic_state_monitor_vector_map + name: map_topic_status timeout: 1.0 - path: /map/001-topic_status/pointcloud_map - diag: "topic_state_monitor_pointcloud_map: map_topic_status" type: diag + node: topic_state_monitor_pointcloud_map + name: map_topic_status timeout: 1.0 diff --git a/autoware_launch/config/system/system_diagnostic_monitor/others.yaml b/autoware_launch/config/system/system_diagnostic_monitor/others.yaml new file mode 100644 index 0000000000..56599c8434 --- /dev/null +++ b/autoware_launch/config/system/system_diagnostic_monitor/others.yaml @@ -0,0 +1,163 @@ +units: + - path: /others/autonomous_available + type: and + list: + - { type: link, link: /others/emergency_stop } + - { type: link, link: /others/pull_over } + - { type: link, link: /others/comfortable_stop } + + - path: /others/pull_over_available + type: and + list: + - { type: link, link: /others/emergency_stop } + - { type: link, link: /others/comfortable_stop } + + - path: /others/comfortable_stop_available + type: and + list: + - { type: link, link: /others/emergency_stop } + + # ******************************************************************************* + # NOTE: Please modify this section according to your environment and requirements. + # ******************************************************************************* + - path: /others/emergency_stop + type: and + list: + # - { type: link, link: /others/002-blockage_validation-error } + - { type: link, link: /others/004-concat_status } + # - { type: link, link: /others/005-visibility_validation-error } + - { type: link, link: /others/012-vehicle_stuck_checker } + + - path: /others/comfortable_stop + type: and + # list: + # - { type: link, link: /others/010-emergency_vehicle-error } + + - path: /others/pull_over + type: and + list: + - { type: link, link: /others/011-daytime_monitor } + + - path: /others/none + type: and + + # - path: /others/010-emergency_vehicle-error + # type: warn-to-ok + # item: + # type: link + # link: /others/010-emergency_vehicle + + # # Intermediate paths + # - path: /others/002-blockage_validation-error + # type: warn-to-ok + # item: + # type: link + # link: /others/002-blockage_validation + + # - path: /others/002-blockage_validation + # type: and + # list: + # - { type: link, link: /others/002-blockage_validation/front_lower } + # - { type: link, link: /others/002-blockage_validation/front_upper } + # - { type: link, link: /others/002-blockage_validation/left_lower } + # - { type: link, link: /others/002-blockage_validation/left_upper } + # - { type: link, link: /others/002-blockage_validation/right_lower } + # - { type: link, link: /others/002-blockage_validation/right_upper } + # - { type: link, link: /others/002-blockage_validation/rear_lower } + # - { type: link, link: /others/002-blockage_validation/rear_upper } + + # - path: /others/005-visibility_validation + # type: and + # list: + # - { type: link, link: /others/005-visibility_validation/front_lower } + # - { type: link, link: /others/005-visibility_validation/left_upper } + + # - path: /others/005-visibility_validation-error + # type: warn-to-ok + # item: + # type: link + # link: /others/005-visibility_validation + + # - path: /others/002-blockage_validation/front_lower + # type: diag + # node: "blockage_return_diag: /sensing/lidar/front_lower" + # name: blockage_validation + # timeout: 1.0 + + # - path: /others/002-blockage_validation/front_upper + # type: diag + # node: "blockage_return_diag: /sensing/lidar/front_upper" + # name: blockage_validation + # timeout: 1.0 + + # - path: /others/002-blockage_validation/left_lower + # type: diag + # node: "blockage_return_diag: /sensing/lidar/left_lower" + # name: blockage_validation + # timeout: 1.0 + + # - path: /others/002-blockage_validation/left_upper + # type: diag + # node: "blockage_return_diag: /sensing/lidar/left_upper" + # name: blockage_validation + # timeout: 1.0 + + # - path: /others/002-blockage_validation/right_lower + # type: diag + # node: "blockage_return_diag: /sensing/lidar/right_lower" + # name: blockage_validation + # timeout: 1.0 + + # - path: /others/002-blockage_validation/right_upper + # type: diag + # node: "blockage_return_diag: /sensing/lidar/right_upper" + # name: blockage_validation + # timeout: 1.0 + + # - path: /others/002-blockage_validation/rear_lower + # type: diag + # node: "blockage_return_diag: /sensing/lidar/rear_lower" + # name: blockage_validation + # timeout: 1.0 + + # - path: /others/002-blockage_validation/rear_upper + # type: diag + # node: "blockage_return_diag: /sensing/lidar/rear_upper" + # name: blockage_validation + # timeout: 1.0 + + - path: /others/004-concat_status + type: diag + node: concatenate_data + name: concat_status + timeout: 1.0 + + # - path: /others/005-visibility_validation/front_lower + # type: diag + # node: "dual_return_filter: /sensing/lidar/front_lower" + # name: visibility_validation + # timeout: 1.0 + + # - path: /others/005-visibility_validation/left_upper + # type: diag + # node: "dual_return_filter: /sensing/lidar/left_upper" + # name: visibility_validation + # timeout: 1.0 + + # - path: /others/010-emergency_vehicle + # type: diag + # node: emergency_vehicle_detector + # name: emergency_vehicle + # timeout: 3.0 + + - path: /others/011-daytime_monitor + type: diag + node: daytime_monitor + name: daytime_status + timeout: 3.0 + + - path: /others/012-vehicle_stuck_checker + type: diag + node: vehicle_stuck_checker + name: vehicle_stuck_check + timeout: 3.0 diff --git a/autoware_launch/config/system/diagnostic_graph_aggregator/perception.yaml b/autoware_launch/config/system/system_diagnostic_monitor/perception.yaml similarity index 72% rename from autoware_launch/config/system/diagnostic_graph_aggregator/perception.yaml rename to autoware_launch/config/system/system_diagnostic_monitor/perception.yaml index 425cb97e17..273e7ada84 100644 --- a/autoware_launch/config/system/diagnostic_graph_aggregator/perception.yaml +++ b/autoware_launch/config/system/system_diagnostic_monitor/perception.yaml @@ -1,4 +1,4 @@ -nodes: +units: - path: /perception/autonomous_available type: and list: @@ -37,44 +37,50 @@ nodes: - path: /perception/none type: and - # Intermediate paths - path: /perception/001-topic_status/traffic_signals-error type: warn-to-ok - list: - - { type: link, link: /perception/001-topic_status/traffic_signals } + item: + type: link + link: /perception/001-topic_status/traffic_signals - path: /perception/001-topic_status/objects-error type: warn-to-ok - list: - - { type: link, link: /perception/001-topic_status/objects } + item: + type: link + link: /perception/001-topic_status/objects - path: /perception/001-topic_status/pointcloud-error type: warn-to-ok - list: - - { type: link, link: /perception/001-topic_status/pointcloud } + item: + type: link + link: /perception/001-topic_status/pointcloud - path: /perception/002-detection_delay-error type: warn-to-ok - list: - - { type: link, link: /perception/002-detection_delay } + item: + type: link + link: /perception/002-detection_delay - # Diagnostics paths - path: /perception/001-topic_status/traffic_signals - diag: "topic_state_monitor_traffic_light_recognition_traffic_signals: perception_topic_status" type: diag + node: topic_state_monitor_traffic_light_recognition_traffic_signals + name: perception_topic_status timeout: 1.0 - path: /perception/001-topic_status/objects - diag: "topic_state_monitor_object_recognition_objects: perception_topic_status" type: diag + node: topic_state_monitor_object_recognition_objects + name: perception_topic_status timeout: 1.0 - path: /perception/001-topic_status/pointcloud - diag: "topic_state_monitor_obstacle_segmentation_pointcloud: perception_topic_status" type: diag + node: topic_state_monitor_obstacle_segmentation_pointcloud + name: perception_topic_status timeout: 1.0 - path: /perception/002-detection_delay - diag: "multi_object_tracker: Perception delay check from original header stamp" type: diag + node: multi_object_tracker + name: Perception delay check from original header stamp timeout: 1.0 diff --git a/autoware_launch/config/system/diagnostic_graph_aggregator/planning.yaml b/autoware_launch/config/system/system_diagnostic_monitor/planning.yaml similarity index 66% rename from autoware_launch/config/system/diagnostic_graph_aggregator/planning.yaml rename to autoware_launch/config/system/system_diagnostic_monitor/planning.yaml index 16aab65635..e983c9e799 100644 --- a/autoware_launch/config/system/diagnostic_graph_aggregator/planning.yaml +++ b/autoware_launch/config/system/system_diagnostic_monitor/planning.yaml @@ -1,4 +1,4 @@ -nodes: +units: - path: /planning/autonomous_available type: and list: @@ -46,139 +46,158 @@ nodes: - path: /planning/none type: and - # Intermediate paths - path: /planning/001-topic_status/route-error type: warn-to-ok - list: - - { type: link, link: /planning/001-topic_status/route } + item: + type: link + link: /planning/001-topic_status/route - path: /planning/001-topic_status/trajectory-error type: warn-to-ok - list: - - { type: link, link: /planning/001-topic_status/trajectory } + item: + type: link + link: /planning/001-topic_status/trajectory - path: /planning/003-trajectory_finite_validation-error type: warn-to-ok - list: - - { type: link, link: /planning/003-trajectory_finite_validation } + item: + type: link + link: /planning/003-trajectory_finite_validation - path: /planning/004-trajectory_interval_validation-error type: warn-to-ok - list: - - { type: link, link: /planning/004-trajectory_interval_validation } + item: + type: link + link: /planning/004-trajectory_interval_validation - path: /planning/005-trajectory_curvature_validation-error type: warn-to-ok - list: - - { type: link, link: /planning/005-trajectory_curvature_validation } + item: + type: link + link: /planning/005-trajectory_curvature_validation - path: /planning/006-trajectory_relative_angle_validation-error type: warn-to-ok - list: - - { type: link, link: /planning/006-trajectory_relative_angle_validation } + item: + type: link + link: /planning/006-trajectory_relative_angle_validation - path: /planning/007-trajectory_lateral_acceleration_validation-error type: warn-to-ok - list: - - { type: link, link: /planning/007-trajectory_lateral_acceleration_validation } + item: + type: link + link: /planning/007-trajectory_lateral_acceleration_validation - path: /planning/008-trajectory_acceleration_validation-error type: warn-to-ok - list: - - { type: link, link: /planning/008-trajectory_acceleration_validation } + item: + type: link + link: /planning/008-trajectory_acceleration_validation - path: /planning/009-trajectory_deceleration_validation-error type: warn-to-ok - list: - - { type: link, link: /planning/009-trajectory_deceleration_validation } + item: + type: link + link: /planning/009-trajectory_deceleration_validation - path: /planning/010-trajectory_steering_validation-error type: warn-to-ok - list: - - { type: link, link: /planning/010-trajectory_steering_validation } + item: + type: link + link: /planning/010-trajectory_steering_validation - path: /planning/011-trajectory_steering_rate_validation-error type: warn-to-ok - list: - - { type: link, link: /planning/011-trajectory_steering_rate_validation } + item: + type: link + link: /planning/011-trajectory_steering_rate_validation - path: /planning/012-trajectory_velocity_deviation_validation-error type: warn-to-ok - list: - - { type: link, link: /planning/012-trajectory_velocity_deviation_validation } + item: + type: link + link: /planning/012-trajectory_velocity_deviation_validation - path: /planning/013-collision_checker-error type: warn-to-ok - list: - - { type: link, link: /planning/013-collision_checker } + item: + type: link + link: /planning/013-collision_checker - # Diagnostics paths - path: /planning/001-topic_status/route - diag: "topic_state_monitor_mission_planning_route: planning_topic_status" type: diag + node: topic_state_monitor_mission_planning_route + name: planning_topic_status timeout: 1.0 - path: /planning/001-topic_status/trajectory - diag: "topic_state_monitor_scenario_planning_trajectory: planning_topic_status" type: diag + node: topic_state_monitor_scenario_planning_trajectory + name: planning_topic_status timeout: 1.0 - # Not implemented - # - path: /planning/002-trajectory_size_validation - # diag: "planning_validator: trajectory_validation_size" - # type: diag - - path: /planning/003-trajectory_finite_validation - diag: "planning_validator: trajectory_validation_finite" type: diag + node: planning_validator + name: trajectory_validation_finite timeout: 1.0 - path: /planning/004-trajectory_interval_validation - diag: "planning_validator: trajectory_validation_interval" type: diag + node: planning_validator + name: trajectory_validation_interval timeout: 1.0 - path: /planning/005-trajectory_curvature_validation - diag: "planning_validator: trajectory_validation_curvature" type: diag + node: planning_validator + name: trajectory_validation_curvature timeout: 1.0 - path: /planning/006-trajectory_relative_angle_validation - diag: "planning_validator: trajectory_validation_relative_angle" type: diag + node: planning_validator + name: trajectory_validation_relative_angle timeout: 1.0 - path: /planning/007-trajectory_lateral_acceleration_validation - diag: "planning_validator: trajectory_validation_lateral_acceleration" type: diag + node: planning_validator + name: trajectory_validation_lateral_acceleration timeout: 1.0 - path: /planning/008-trajectory_acceleration_validation - diag: "planning_validator: trajectory_validation_acceleration" type: diag + node: planning_validator + name: trajectory_validation_acceleration timeout: 1.0 - path: /planning/009-trajectory_deceleration_validation - diag: "planning_validator: trajectory_validation_deceleration" type: diag + node: planning_validator + name: trajectory_validation_deceleration timeout: 1.0 - path: /planning/010-trajectory_steering_validation - diag: "planning_validator: trajectory_validation_steering" type: diag + node: planning_validator + name: trajectory_validation_steering timeout: 1.0 - path: /planning/011-trajectory_steering_rate_validation - diag: "planning_validator: trajectory_validation_steering_rate" type: diag + node: planning_validator + name: trajectory_validation_steering_rate timeout: 1.0 - path: /planning/012-trajectory_velocity_deviation_validation - diag: "planning_validator: trajectory_validation_velocity_deviation" type: diag + node: planning_validator + name: trajectory_validation_velocity_deviation timeout: 1.0 - path: /planning/013-collision_checker - diag: "collision_checker: collision_check" type: diag + node: collision_checker + name: collision_check timeout: 1.0 diff --git a/autoware_launch/config/system/system_diagnostic_monitor/sensing.yaml b/autoware_launch/config/system/system_diagnostic_monitor/sensing.yaml new file mode 100644 index 0000000000..748d9f4e42 --- /dev/null +++ b/autoware_launch/config/system/system_diagnostic_monitor/sensing.yaml @@ -0,0 +1,209 @@ +units: + - path: /sensing/autonomous_available + type: and + list: + - { type: link, link: /sensing/emergency_stop } + - { type: link, link: /sensing/pull_over } + - { type: link, link: /sensing/comfortable_stop } + + - path: /sensing/pull_over_available + type: and + list: + - { type: link, link: /sensing/emergency_stop } + - { type: link, link: /sensing/comfortable_stop } + + - path: /sensing/comfortable_stop_available + type: and + list: + - { type: link, link: /sensing/emergency_stop } + + # ******************************************************************************* + # NOTE: Please modify this section according to your environment and requirements. + # ******************************************************************************* + - path: /sensing/emergency_stop + type: and + list: + # - { type: link, link: /sensing/imu/001-monitor-error } + # - { type: link, link: /sensing/imu/002-connection } + # - { type: link, link: /sensing/lidar/pndr/001-connection } + # - { type: link, link: /sensing/lidar/pndr/002-temperature-error } + # - { type: link, link: /sensing/lidar/pndr/003-ptp } + - { type: link, link: /sensing/camera/001-connection } + - { type: link, link: /sensing/radar/001-connection } + + - path: /sensing/pull_over + type: and + list: + # - { type: link, link: /sensing/lidar/pndr/002-temperature } + - { type: link, link: /sensing/gnss/001-connection-error } + + - path: /sensing/comfortable_stop + type: and + + - path: /sensing/none + type: and + list: + - { type: link, link: /sensing/imu/003-gyro_bias } + - { type: link, link: /sensing/gnss/002-quality } + + # Intermediate paths + # - path: /sensing/lidar/pndr/002-temperature-error + # type: warn-to-ok + # list: + # - { type: link, link: /sensing/lidar/pndr/002-temperature } + + # - path: /sensing/imu/001-monitor-error + # type: warn-to-ok + # item: + # type: link + # link: /sensing/imu/001-monitor + + - path: /sensing/gnss/001-connection-error + type: warn-to-ok + item: + type: link + link: /sensing/gnss/001-connection + + # - path: /sensing/lidar/pndr/001-connection + # type: and + # list: + # - { type: link, link: /sensing/lidar/front_lower/connection } + # - { type: link, link: /sensing/lidar/front_upper/connection } + # - { type: link, link: /sensing/lidar/left_lower/connection } + # - { type: link, link: /sensing/lidar/left_upper/connection } + # - { type: link, link: /sensing/lidar/right_lower/connection } + # - { type: link, link: /sensing/lidar/right_upper/connection } + # - { type: link, link: /sensing/lidar/rear_lower/connection } + # - { type: link, link: /sensing/lidar/rear_upper/connection } + + # - path: /sensing/lidar/pndr/002-temperature + # type: and + # list: + # - { type: link, link: /sensing/lidar/front_lower/temperature } + # - { type: link, link: /sensing/lidar/front_upper/temperature } + # - { type: link, link: /sensing/lidar/left_lower/temperature } + # - { type: link, link: /sensing/lidar/left_upper/temperature } + # - { type: link, link: /sensing/lidar/right_lower/temperature } + # - { type: link, link: /sensing/lidar/right_upper/temperature } + # - { type: link, link: /sensing/lidar/rear_lower/temperature } + # - { type: link, link: /sensing/lidar/rear_upper/temperature } + + # - path: /sensing/lidar/pndr/003-ptp + # type: and + # list: + # - { type: link, link: /sensing/lidar/front_lower/ptp } + # - { type: link, link: /sensing/lidar/front_upper/ptp } + # - { type: link, link: /sensing/lidar/left_lower/ptp } + # - { type: link, link: /sensing/lidar/left_upper/ptp } + # - { type: link, link: /sensing/lidar/right_lower/ptp } + # - { type: link, link: /sensing/lidar/right_upper/ptp } + # - { type: link, link: /sensing/lidar/rear_lower/ptp } + # - { type: link, link: /sensing/lidar/rear_upper/ptp } + + - path: /sensing/camera/001-connection + type: and + list: + - { type: link, link: /sensing/camera/0/connection } + - { type: link, link: /sensing/camera/1/connection } + - { type: link, link: /sensing/camera/2/connection } + - { type: link, link: /sensing/camera/3/connection } + - { type: link, link: /sensing/camera/4/connection } + - { type: link, link: /sensing/camera/5/connection } + + - path: /sensing/radar/001-connection + type: and + list: + - { type: link, link: /sensing/radar/front_center/connection } + - { type: link, link: /sensing/radar/front_left/connection } + - { type: link, link: /sensing/radar/front_right/connection } + - { type: link, link: /sensing/radar/rear_center/connection } + - { type: link, link: /sensing/radar/rear_left/connection } + - { type: link, link: /sensing/radar/rear_right/connection } + + # Diagnostics paths + # - path: /sensing/imu/001-monitor + # type: diag + # node: imu_monitor + # name: yaw_rate_status + # type: diag + # timeout: 5.0 + # - path: /sensing/imu/002-connection + # type: diag + # node: topic_state_monitor_imu_data + # name: imu_topic_status + # timeout: 1.0 + - path: /sensing/imu/003-gyro_bias + type: diag + node: gyro_bias_estimator + name: gyro_bias_validator + timeout: 1.0 + - path: /sensing/gnss/001-connection + type: diag + node: topic_state_monitor_gnss_pose + name: gnss_topic_status + timeout: 5.0 + - path: /sensing/gnss/002-quality + type: diag + node: septentrio_driver + name: Quality indicators + timeout: 5.0 + - path: /sensing/camera/0/connection + type: diag + node: v4l2_camera_camera0 + name: capture_status + timeout: 1.0 + - path: /sensing/camera/1/connection + type: diag + node: v4l2_camera_camera1 + name: capture_status + timeout: 1.0 + - path: /sensing/camera/2/connection + type: diag + node: v4l2_camera_camera2 + name: capture_status + timeout: 1.0 + - path: /sensing/camera/3/connection + type: diag + node: v4l2_camera_camera3 + name: capture_status + timeout: 1.0 + - path: /sensing/camera/4/connection + type: diag + node: v4l2_camera_camera4 + name: capture_status + timeout: 1.0 + - path: /sensing/camera/5/connection + type: diag + node: v4l2_camera_camera5 + name: capture_status + timeout: 1.0 + - path: /sensing/radar/front_center/connection + type: diag + node: topic_state_monitor_radar_front_center + name: radar_front_center_topic_status + timeout: 1.0 + - path: /sensing/radar/front_left/connection + type: diag + node: topic_state_monitor_radar_front_left + name: radar_front_left_topic_status + timeout: 1.0 + - path: /sensing/radar/front_right/connection + type: diag + node: topic_state_monitor_radar_front_right + name: radar_front_right_topic_status + timeout: 1.0 + - path: /sensing/radar/rear_center/connection + type: diag + node: topic_state_monitor_radar_rear_center + name: radar_rear_center_topic_status + timeout: 1.0 + - path: /sensing/radar/rear_left/connection + type: diag + node: topic_state_monitor_radar_rear_left + name: radar_rear_left_topic_status + timeout: 1.0 + - path: /sensing/radar/rear_right/connection + type: diag + node: topic_state_monitor_radar_rear_right + name: radar_rear_right_topic_status + timeout: 1.0 diff --git a/autoware_launch/config/system/diagnostic_graph_aggregator/system.yaml b/autoware_launch/config/system/system_diagnostic_monitor/system.yaml similarity index 55% rename from autoware_launch/config/system/diagnostic_graph_aggregator/system.yaml rename to autoware_launch/config/system/system_diagnostic_monitor/system.yaml index f1405b1f36..7b41213c44 100644 --- a/autoware_launch/config/system/diagnostic_graph_aggregator/system.yaml +++ b/autoware_launch/config/system/system_diagnostic_monitor/system.yaml @@ -1,4 +1,4 @@ -nodes: +units: - path: /system/autonomous_available type: and list: @@ -31,53 +31,59 @@ nodes: - path: /system/pull_over type: and - list: - - { type: link, link: /system/005-fms_connection-error } + # list: + # - { type: link, link: /system/005-fms_connection-error } - - path: /system/none - type: and - list: - - { type: link, link: /system/003-bagpacker_status } - - { type: link, link: /system/004-bagpacker_disk_space } + # - path: /system/none + # type: and + # list: + # - { type: link, link: /system/003-bagpacker_status } + # - { type: link, link: /system/004-bagpacker_disk_space } - # Intermediate paths - path: /system/001-topic_status-error type: warn-to-ok - list: - - { type: link, link: /system/001-topic_status } + item: + type: link + link: /system/001-topic_status - path: /system/002-emergency_stop_operation-error type: warn-to-ok - list: - - { type: link, link: /system/002-emergency_stop_operation } + item: + type: link + link: /system/002-emergency_stop_operation - - path: /system/005-fms_connection-error - type: warn-to-ok - list: - - { type: link, link: /system/005-fms_connection } + # - path: /system/005-fms_connection-error + # type: warn-to-ok + # item: + # type: link + # link: /system/005-fms_connection - # Diagnostics paths - path: /system/001-topic_status - diag: "topic_state_monitor_system_emergency_control_cmd: system_topic_status" type: diag + node: topic_state_monitor_system_emergency_control_cmd + name: system_topic_status timeout: 1.0 - path: /system/002-emergency_stop_operation - diag: "vehicle_cmd_gate: emergency_stop_operation" type: diag + node: vehicle_cmd_gate + name: emergency_stop_operation timeout: 1.0 - - path: /system/003-bagpacker_status - diag: rosbag_status - type: diag - timeout: 3.0 + # - path: /system/003-bagpacker_status + # type: diag + # node: system + # name: rosbag_status + # timeout: 3.0 - - path: /system/004-bagpacker_disk_space - diag: disk_status - type: diag - timeout: 3.0 + # - path: /system/004-bagpacker_disk_space + # type: diag + # node: system + # name: disk_status + # timeout: 3.0 - - path: /system/005-fms_connection - diag: edge_core_internet_connection - type: diag - timeout: 10.0 + # - path: /system/005-fms_connection + # type: diag + # node: system + # name: edge_core_internet_connection + # timeout: 10.0 diff --git a/autoware_launch/config/system/diagnostic_graph_aggregator/vehicle.yaml b/autoware_launch/config/system/system_diagnostic_monitor/vehicle.yaml similarity index 75% rename from autoware_launch/config/system/diagnostic_graph_aggregator/vehicle.yaml rename to autoware_launch/config/system/system_diagnostic_monitor/vehicle.yaml index 19f34ac02e..48c0ac97b4 100644 --- a/autoware_launch/config/system/diagnostic_graph_aggregator/vehicle.yaml +++ b/autoware_launch/config/system/system_diagnostic_monitor/vehicle.yaml @@ -1,4 +1,4 @@ -nodes: +units: - path: /vehicle/autonomous_available type: and list: @@ -39,44 +39,50 @@ nodes: - path: /vehicle/none type: and - # Intermediate paths - path: /vehicle/001-topic_status/velocity-error type: warn-to-ok - list: - - { type: link, link: /vehicle/001-topic_status/velocity } + item: + type: link + link: /vehicle/001-topic_status/velocity - path: /vehicle/001-topic_status/steering-error type: warn-to-ok - list: - - { type: link, link: /vehicle/001-topic_status/steering } + item: + type: link + link: /vehicle/001-topic_status/steering - path: /vehicle/005-vehicle_heartbeat-error type: warn-to-ok - list: - - { type: link, link: /vehicle/005-vehicle_heartbeat } + item: + type: link + link: /vehicle/005-vehicle_heartbeat - path: /vehicle/006-vehicle_errors-error type: warn-to-ok - list: - - { type: link, link: /vehicle/006-vehicle_errors } + item: + type: link + link: /vehicle/006-vehicle_errors - # Diagnostics paths - path: /vehicle/001-topic_status/velocity - diag: "topic_state_monitor_vehicle_status_velocity_status: vehicle_topic_status" type: diag + node: topic_state_monitor_vehicle_status_velocity_status + name: vehicle_topic_status timeout: 1.0 - path: /vehicle/001-topic_status/steering - diag: "topic_state_monitor_vehicle_status_steering_status: vehicle_topic_status" type: diag + node: topic_state_monitor_vehicle_status_steering_status + name: vehicle_topic_status timeout: 1.0 - path: /vehicle/005-vehicle_heartbeat - diag: "j6_interface: vehicle_heartbeat_errors" type: diag + node: j6_interface + name: vehicle_heartbeat_errors timeout: 1.0 - path: /vehicle/006-vehicle_errors - diag: "j6_interface: vehicle_errors" type: diag + node: j6_interface + name: vehicle_errors timeout: 1.0