From af26983d897bd1ad5864b5b5b506aaf2e05c7105 Mon Sep 17 00:00:00 2001 From: "shohei.sakai" Date: Tue, 9 Jul 2024 13:01:24 +0900 Subject: [PATCH 01/11] add system_diagnotic_monitor config --- .../autoware-main.yaml | 70 ++++++++++ .../autoware-psim.yaml | 11 ++ .../system_diagnostic_monitor/control.yaml | 73 +++++++++++ .../system_diagnostic_monitor/hardware.yaml | 121 ++++++++++++++++++ .../localization.yaml | 43 +++++++ .../system/system_diagnostic_monitor/map.yaml | 16 +++ .../system_diagnostic_monitor/perception.yaml | 16 +++ .../system_diagnostic_monitor/planning.yaml | 90 +++++++++++++ .../system_diagnostic_monitor/system.yaml | 27 ++++ .../system_diagnostic_monitor/vehicle.yaml | 16 +++ 10 files changed, 483 insertions(+) create mode 100644 autoware_launch/config/system/system_diagnostic_monitor/autoware-main.yaml create mode 100644 autoware_launch/config/system/system_diagnostic_monitor/autoware-psim.yaml create mode 100644 autoware_launch/config/system/system_diagnostic_monitor/control.yaml create mode 100644 autoware_launch/config/system/system_diagnostic_monitor/hardware.yaml create mode 100644 autoware_launch/config/system/system_diagnostic_monitor/localization.yaml create mode 100644 autoware_launch/config/system/system_diagnostic_monitor/map.yaml create mode 100644 autoware_launch/config/system/system_diagnostic_monitor/perception.yaml create mode 100644 autoware_launch/config/system/system_diagnostic_monitor/planning.yaml create mode 100644 autoware_launch/config/system/system_diagnostic_monitor/system.yaml create mode 100644 autoware_launch/config/system/system_diagnostic_monitor/vehicle.yaml diff --git a/autoware_launch/config/system/system_diagnostic_monitor/autoware-main.yaml b/autoware_launch/config/system/system_diagnostic_monitor/autoware-main.yaml new file mode 100644 index 0000000000..30b6ce9bad --- /dev/null +++ b/autoware_launch/config/system/system_diagnostic_monitor/autoware-main.yaml @@ -0,0 +1,70 @@ +files: + - { path: $(dirname)/map.yaml } + - { path: $(dirname)/localization.yaml } + - { path: $(dirname)/planning.yaml } + - { path: $(dirname)/perception.yaml } + - { path: $(dirname)/control.yaml } + - { path: $(dirname)/vehicle.yaml } + - { path: $(dirname)/system.yaml } + +units: + - path: /autoware/modes/stop + type: ok + + - path: /autoware/modes/autonomous + type: and + list: + - { type: link, link: /autoware/map } + - { type: link, link: /autoware/localization } + - { type: link, link: /autoware/planning } + - { type: link, link: /autoware/perception } + - { type: link, link: /autoware/control } + - { type: link, link: /autoware/vehicle } + - { type: link, link: /autoware/system } + + - path: /autoware/modes/local + type: and + list: + - { type: link, link: /autoware/vehicle } + - { type: link, link: /autoware/system } + - { type: link, link: /autoware/control/local } + + - path: /autoware/modes/remote + type: and + list: + - { type: link, link: /autoware/vehicle } + - { type: link, link: /autoware/system } + - { type: link, link: /autoware/control/remote } + + - path: /autoware/modes/emergency_stop + type: and + list: + - { type: link, link: /autoware/vehicle } + - { type: link, link: /autoware/system } + + - path: /autoware/modes/comfortable_stop + type: and + list: + - { type: link, link: /autoware/map } + - { type: link, link: /autoware/localization } + - { type: link, link: /autoware/planning } + - { type: link, link: /autoware/perception } + - { type: link, link: /autoware/control } + - { type: link, link: /autoware/vehicle } + - { type: link, link: /autoware/system } + + - path: /autoware/modes/pull_over + type: and + list: + - { type: link, link: /autoware/map } + - { type: link, link: /autoware/localization } + - { type: link, link: /autoware/planning } + - { type: link, link: /autoware/perception } + - { type: link, link: /autoware/control } + - { type: link, link: /autoware/vehicle } + - { type: link, link: /autoware/system } + + - path: /autoware/debug/tools + type: and + list: + - { type: link, link: /autoware/system/service_log_checker } diff --git a/autoware_launch/config/system/system_diagnostic_monitor/autoware-psim.yaml b/autoware_launch/config/system/system_diagnostic_monitor/autoware-psim.yaml new file mode 100644 index 0000000000..3d55079229 --- /dev/null +++ b/autoware_launch/config/system/system_diagnostic_monitor/autoware-psim.yaml @@ -0,0 +1,11 @@ +files: + - { path: $(find-pkg-share system_diagnostic_monitor)/config/autoware-main.yaml } + +edits: + - { type: remove, path: /autoware/map/topic_rate_check/pointcloud_map } + - { type: remove, path: /autoware/localization/scan_matching_status } + - { type: remove, path: /autoware/localization/accuracy } + - { type: remove, path: /autoware/localization/sensor_fusion_status } + - { type: remove, path: /autoware/localization/topic_rate_check/pose_twist_fusion } + - { type: remove, path: /autoware/perception/topic_rate_check/pointcloud } + - { type: remove, path: /autoware/control/emergency_braking } diff --git a/autoware_launch/config/system/system_diagnostic_monitor/control.yaml b/autoware_launch/config/system/system_diagnostic_monitor/control.yaml new file mode 100644 index 0000000000..57bf1b86c2 --- /dev/null +++ b/autoware_launch/config/system/system_diagnostic_monitor/control.yaml @@ -0,0 +1,73 @@ +units: + - path: /autoware/control + type: and + list: + - { type: link, link: /autoware/control/topic_rate_check/trajectory_follower } + - { type: link, link: /autoware/control/topic_rate_check/control_command } + - { type: link, link: /autoware/control/node_alive_monitoring/vehicle_cmd_gate } + - { type: link, link: /autoware/control/emergency_braking } + - { type: link, link: /autoware/control/performance_monitoring/lane_departure } + - { type: link, link: /autoware/control/performance_monitoring/trajectory_deviation } + - { type: link, link: /autoware/control/performance_monitoring/control_state } + + - path: /autoware/control/local + type: and + list: + - { type: link, link: /autoware/control/topic_rate_check/selector } + - { type: link, link: /autoware/control/topic_rate_check/local } + + - path: /autoware/control/remote + type: and + list: + - { type: link, link: /autoware/control/topic_rate_check/selector } + - { type: link, link: /autoware/control/topic_rate_check/remote } + + - path: /autoware/control/topic_rate_check/trajectory_follower + type: diag + node: topic_state_monitor_trajectory_follower_control_cmd + name: control_topic_status + + - path: /autoware/control/topic_rate_check/control_command + type: diag + node: topic_state_monitor_control_command_control_cmd + name: control_topic_status + + - path: /autoware/control/node_alive_monitoring/vehicle_cmd_gate + type: diag + node: vehicle_cmd_gate + name: heartbeat + + - path: /autoware/control/emergency_braking + type: diag + node: autonomous_emergency_braking + name: aeb_emergency_stop + + - path: /autoware/control/performance_monitoring/lane_departure + type: diag + node: lane_departure_checker_node + name: lane_departure + + - path: /autoware/control/performance_monitoring/trajectory_deviation + type: diag + node: lane_departure_checker_node + name: trajectory_deviation + + - path: /autoware/control/performance_monitoring/control_state + type: diag + node: controller_node_exe + name: control_state + + - path: /autoware/control/topic_rate_check/selector + type: diag + node: external_cmd_selector + name: heartbeat + + - path: /autoware/control/topic_rate_check/local + type: diag + node: joy_controller + name: joy_controller_connection + + - path: /autoware/control/topic_rate_check/remote + type: diag + node: external_cmd_converter + name: remote_control_topic_status diff --git a/autoware_launch/config/system/system_diagnostic_monitor/hardware.yaml b/autoware_launch/config/system/system_diagnostic_monitor/hardware.yaml new file mode 100644 index 0000000000..d73f723670 --- /dev/null +++ b/autoware_launch/config/system/system_diagnostic_monitor/hardware.yaml @@ -0,0 +1,121 @@ +# TODO(Takagi, Isamu): This file is under construction. +units: + - path: /autoware/system/resources/clock/offset + diag: ": NTP Offset" + timeout: 10.0 + + - path: /autoware/system/resources/cpu/offset + diag: ": CPU Temperature" + timeout: 3.0 + + - path: /autoware/system/resources/cpu/usage + diag: ": CPU Usage" + timeout: 3.0 + + - path: /autoware/system/resources/cpu/thermal_throttling + diag: ": CPU Thermal Throttling" + timeout: 3.0 + + - path: /autoware/system/resources/cpu/frequency + diag: ": CPU Frequency" + timeout: 3.0 + + - path: /autoware/system/resources/cpu/load_average + diag: ": CPU Load Average" + timeout: 3.0 + + - path: /autoware/system/resources/gpu/temperature + diag: ": GPU Temperature" + timeout: 3.0 + + - path: /autoware/system/resources/gpu/usage + diag: ": GPU Usage" + timeout: 3.0 + + - path: /autoware/system/resources/gpu/memory_usage + diag: ": GPU Memory Usage" + timeout: 3.0 + + - path: /autoware/system/resources/gpu/thermal_throttling + diag: ": GPU Thermal Throttling" + timeout: 3.0 + + - path: /autoware/system/resources/gpu/frequency + diag: ": GPU Frequency" + timeout: 3.0 + + - path: /autoware/system/resources/memory/usage + diag: ": Memory Usage" + timeout: 3.0 + + - path: /autoware/system/resources/network/usage + diag: ": Network Usage" + timeout: 3.0 + + - path: /autoware/system/resources/network/traffic + diag: ": Network Traffic" + timeout: 3.0 + + - path: /autoware/system/resources/network/crc + diag: ": Network CRC Error" + timeout: 3.0 + + - path: /autoware/system/resources/network/packet_reassembles + diag: ": IP Packet Reassembles Failed" + timeout: 3.0 + + - path: /autoware/system/resources/storage/temperature + diag: ": HDD Temperature" + timeout: 3.0 + + - path: /autoware/system/resources/storage/recovered_error + diag: ": HDD RecoveredError" + timeout: 3.0 + + - path: /autoware/system/resources/storage/read_data_rate + diag: ": HDD ReadDataRate" + timeout: 3.0 + + - path: /autoware/system/resources/storage/write_data_rate + diag: ": HDD WriteDataRate" + timeout: 3.0 + + - path: /autoware/system/resources/storage/read_iops + diag: ": HDD ReadIOPS" + timeout: 3.0 + + - path: /autoware/system/resources/storage/write_iops + diag: ": HDD WriteIOPS" + timeout: 3.0 + + - path: /autoware/system/resources/storage/usage + diag: ": HDD Usage" + timeout: 3.0 + + - path: /autoware/system/resources/storage/power_on_hours + diag: ": HDD PowerOnHours" + timeout: 3.0 + + - path: /autoware/system/resources/storage/total_data_written + diag: ": HDD TotalDataWritten" + timeout: 3.0 + + - path: /autoware/system/resources/storage/connection + diag: ": HDD Connection" + timeout: 3.0 + + - path: /autoware/system/resources/process/high_load + diag: ": High-load" + timeout: 3.0 + + - path: /autoware/system/resources/process/high_mem + diag: ": High-mem" + timeout: 3.0 + + - path: /autoware/system/resources/process/tasks_summary + diag: ": Tasks Summary" + timeout: 3.0 + + - path: /autoware/system/resources/voltage/battery + diag: ": CMOS Battery Status" + timeout: 3.0 diff --git a/autoware_launch/config/system/system_diagnostic_monitor/localization.yaml b/autoware_launch/config/system/system_diagnostic_monitor/localization.yaml new file mode 100644 index 0000000000..62bf17775c --- /dev/null +++ b/autoware_launch/config/system/system_diagnostic_monitor/localization.yaml @@ -0,0 +1,43 @@ +units: + - path: /autoware/localization + type: short-circuit-and + list: + - type: link + link: /autoware/localization/state + - type: and + list: + - { type: link, link: /autoware/localization/topic_rate_check/transform } + - { type: link, link: /autoware/localization/topic_rate_check/pose_twist_fusion } + - { type: link, link: /autoware/localization/scan_matching_status } + - { type: link, link: /autoware/localization/accuracy } + - { type: link, link: /autoware/localization/sensor_fusion_status } + + - path: /autoware/localization/state + type: diag + node: component_state_diagnostics + name: localization_state + + - path: /autoware/localization/topic_rate_check/transform + type: diag + node: topic_state_monitor_transform_map_to_base_link + name: localization_topic_status + + - path: /autoware/localization/topic_rate_check/pose_twist_fusion + type: diag + node: topic_state_monitor_pose_twist_fusion_filter_pose + name: localization_topic_status + + - path: /autoware/localization/scan_matching_status + type: diag + node: ndt_scan_matcher + name: scan_matching_status + + - path: /autoware/localization/accuracy + type: diag + node: localization + name: localization_error_monitor + + - path: /autoware/localization/sensor_fusion_status + type: diag + node: localization + name: ekf_localizer diff --git a/autoware_launch/config/system/system_diagnostic_monitor/map.yaml b/autoware_launch/config/system/system_diagnostic_monitor/map.yaml new file mode 100644 index 0000000000..231ac6eb5f --- /dev/null +++ b/autoware_launch/config/system/system_diagnostic_monitor/map.yaml @@ -0,0 +1,16 @@ +units: + - path: /autoware/map + type: and + list: + - { type: link, link: /autoware/map/topic_rate_check/vector_map } + - { type: link, link: /autoware/map/topic_rate_check/pointcloud_map } + + - path: /autoware/map/topic_rate_check/vector_map + type: diag + node: topic_state_monitor_vector_map + name: map_topic_status + + - path: /autoware/map/topic_rate_check/pointcloud_map + type: diag + node: topic_state_monitor_pointcloud_map + name: map_topic_status diff --git a/autoware_launch/config/system/system_diagnostic_monitor/perception.yaml b/autoware_launch/config/system/system_diagnostic_monitor/perception.yaml new file mode 100644 index 0000000000..24e3c4eed5 --- /dev/null +++ b/autoware_launch/config/system/system_diagnostic_monitor/perception.yaml @@ -0,0 +1,16 @@ +units: + - path: /autoware/perception + type: and + list: + - { type: link, link: /autoware/perception/topic_rate_check/objects } + - { type: link, link: /autoware/perception/topic_rate_check/pointcloud } + + - path: /autoware/perception/topic_rate_check/objects + type: diag + node: topic_state_monitor_object_recognition_objects + name: perception_topic_status + + - path: /autoware/perception/topic_rate_check/pointcloud + type: diag + node: topic_state_monitor_obstacle_segmentation_pointcloud + name: perception_topic_status diff --git a/autoware_launch/config/system/system_diagnostic_monitor/planning.yaml b/autoware_launch/config/system/system_diagnostic_monitor/planning.yaml new file mode 100644 index 0000000000..c403fec237 --- /dev/null +++ b/autoware_launch/config/system/system_diagnostic_monitor/planning.yaml @@ -0,0 +1,90 @@ +units: + - path: /autoware/planning + type: short-circuit-and + list: + - type: link + link: /autoware/planning/routing/state + - type: and + list: + - { type: link, link: /autoware/planning/topic_rate_check/route } + - { type: link, link: /autoware/planning/topic_rate_check/trajectory } + - { type: link, link: /autoware/planning/trajectory_validation } + + - path: /autoware/planning/trajectory_validation + type: and + list: + - { type: link, link: /autoware/planning/trajectory_validation/finite } + - { type: link, link: /autoware/planning/trajectory_validation/interval } + - { type: link, link: /autoware/planning/trajectory_validation/curvature } + - { type: link, link: /autoware/planning/trajectory_validation/angle } + - { type: link, link: /autoware/planning/trajectory_validation/lateral_acceleration } + - { type: link, link: /autoware/planning/trajectory_validation/acceleration } + - { type: link, link: /autoware/planning/trajectory_validation/deceleration } + - { type: link, link: /autoware/planning/trajectory_validation/steering } + - { type: link, link: /autoware/planning/trajectory_validation/steering_rate } + - { type: link, link: /autoware/planning/trajectory_validation/velocity_deviation } + + - path: /autoware/planning/routing/state + type: diag + node: component_state_diagnostics + name: route_state + + - path: /autoware/planning/topic_rate_check/route + type: diag + node: topic_state_monitor_mission_planning_route + name: planning_topic_status + + - path: /autoware/planning/topic_rate_check/trajectory + type: diag + node: topic_state_monitor_scenario_planning_trajectory + name: planning_topic_status + + - path: /autoware/planning/trajectory_validation/finite + type: diag + node: planning_validator + name: trajectory_validation_finite + + - path: /autoware/planning/trajectory_validation/interval + type: diag + node: planning_validator + name: trajectory_validation_interval + + - path: /autoware/planning/trajectory_validation/curvature + type: diag + node: planning_validator + name: trajectory_validation_curvature + + - path: /autoware/planning/trajectory_validation/angle + type: diag + node: planning_validator + name: trajectory_validation_relative_angle + + - path: /autoware/planning/trajectory_validation/lateral_acceleration + type: diag + node: planning_validator + name: trajectory_validation_lateral_acceleration + + - path: /autoware/planning/trajectory_validation/acceleration + type: diag + node: planning_validator + name: trajectory_validation_acceleration + + - path: /autoware/planning/trajectory_validation/deceleration + type: diag + node: planning_validator + name: trajectory_validation_deceleration + + - path: /autoware/planning/trajectory_validation/steering + type: diag + node: planning_validator + name: trajectory_validation_steering + + - path: /autoware/planning/trajectory_validation/steering_rate + type: diag + node: planning_validator + name: trajectory_validation_steering_rate + + - path: /autoware/planning/trajectory_validation/velocity_deviation + type: diag + node: planning_validator + name: trajectory_validation_velocity_deviation diff --git a/autoware_launch/config/system/system_diagnostic_monitor/system.yaml b/autoware_launch/config/system/system_diagnostic_monitor/system.yaml new file mode 100644 index 0000000000..cb96c2cd7f --- /dev/null +++ b/autoware_launch/config/system/system_diagnostic_monitor/system.yaml @@ -0,0 +1,27 @@ +units: + - path: /autoware/system + type: and + list: + - { type: link, link: /autoware/system/duplicated_node_checker } + - { type: link, link: /autoware/system/topic_rate_check/emergency_control_command } + - { type: link, link: /autoware/system/emergency_stop_operation } + + - path: /autoware/system/duplicated_node_checker + type: diag + node: duplicated_node_checker + name: duplicated_node_checker + + - path: /autoware/system/service_log_checker + type: diag + node: service_log_checker + name: response_status + + - path: /autoware/system/topic_rate_check/emergency_control_command + type: diag + node: topic_state_monitor_system_emergency_control_cmd + name: system_topic_status + + - path: /autoware/system/emergency_stop_operation + type: diag + node: vehicle_cmd_gate + name: emergency_stop_operation diff --git a/autoware_launch/config/system/system_diagnostic_monitor/vehicle.yaml b/autoware_launch/config/system/system_diagnostic_monitor/vehicle.yaml new file mode 100644 index 0000000000..e040e3c3c3 --- /dev/null +++ b/autoware_launch/config/system/system_diagnostic_monitor/vehicle.yaml @@ -0,0 +1,16 @@ +units: + - path: /autoware/vehicle + type: and + list: + - { type: link, link: /autoware/vehicle/topic_rate_check/velocity } + - { type: link, link: /autoware/vehicle/topic_rate_check/steering } + + - path: /autoware/vehicle/topic_rate_check/velocity + type: diag + node: topic_state_monitor_vehicle_status_velocity_status + name: vehicle_topic_status + + - path: /autoware/vehicle/topic_rate_check/steering + type: diag + node: topic_state_monitor_vehicle_status_steering_status + name: vehicle_topic_status From cec8faa17678a61729fa046ae3343b7b20ab8396 Mon Sep 17 00:00:00 2001 From: "shohei.sakai" Date: Wed, 10 Jul 2024 00:39:39 +0900 Subject: [PATCH 02/11] update system diagnostic monitor config --- .../autoware-main.yaml | 91 ++-- .../system_diagnostic_monitor/control.yaml | 126 ++++-- .../system_diagnostic_monitor/hardware.yaml | 424 ++++++++++++++---- .../localization.yaml | 108 +++-- .../system/system_diagnostic_monitor/map.yaml | 54 ++- .../system_diagnostic_monitor/others.yaml | 162 +++++++ .../system_diagnostic_monitor/perception.yaml | 80 +++- .../system_diagnostic_monitor/planning.yaml | 189 ++++++-- .../system_diagnostic_monitor/system.yaml | 90 +++- .../system_diagnostic_monitor/vehicle.yaml | 82 +++- 10 files changed, 1136 insertions(+), 270 deletions(-) create mode 100644 autoware_launch/config/system/system_diagnostic_monitor/others.yaml diff --git a/autoware_launch/config/system/system_diagnostic_monitor/autoware-main.yaml b/autoware_launch/config/system/system_diagnostic_monitor/autoware-main.yaml index 30b6ce9bad..3f3b855640 100644 --- a/autoware_launch/config/system/system_diagnostic_monitor/autoware-main.yaml +++ b/autoware_launch/config/system/system_diagnostic_monitor/autoware-main.yaml @@ -1,70 +1,63 @@ files: - - { path: $(dirname)/map.yaml } + - { path: $(dirname)/control.yaml } + - { path: $(dirname)/hardware.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)/planning.yaml } + - { path: $(dirname)/others.yaml } - { path: $(dirname)/system.yaml } + - { path: $(dirname)/vehicle.yaml } units: + - path: /autoware/modes/local + type: stale + + - path: /autoware/modes/remote + type: stale + - path: /autoware/modes/stop type: ok - path: /autoware/modes/autonomous type: and list: - - { type: link, link: /autoware/map } - - { type: link, link: /autoware/localization } - - { type: link, link: /autoware/planning } - - { type: link, link: /autoware/perception } - - { type: link, link: /autoware/control } - - { type: link, link: /autoware/vehicle } - - { type: link, link: /autoware/system } + - { type: link, link: /control/autonomous_available } + - { type: link, link: /hardware/autonomous_available } + - { type: link, link: /localization/autonomous_available } + - { type: link, link: /map/autonomous_available } + - { type: link, link: /perception/autonomous_available } + - { type: link, link: /planning/autonomous_available } + - { type: link, link: /others/autonomous_available } + - { type: link, link: /system/autonomous_available } + - { type: link, link: /vehicle/autonomous_available } - - path: /autoware/modes/local - type: and - list: - - { type: link, link: /autoware/vehicle } - - { type: link, link: /autoware/system } - - { type: link, link: /autoware/control/local } - - - path: /autoware/modes/remote - type: and - list: - - { type: link, link: /autoware/vehicle } - - { type: link, link: /autoware/system } - - { type: link, link: /autoware/control/remote } - - - path: /autoware/modes/emergency_stop + - path: /autoware/modes/pull_over type: and list: - - { type: link, link: /autoware/vehicle } - - { type: link, link: /autoware/system } + - { type: link, link: /control/pull_over_available } + - { type: link, link: /hardware/pull_over_available } + - { type: link, link: /localization/pull_over_available } + - { type: link, link: /map/pull_over_available } + - { type: link, link: /perception/pull_over_available } + - { type: link, link: /planning/pull_over_available } + - { type: link, link: /others/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: /autoware/map } - - { type: link, link: /autoware/localization } - - { type: link, link: /autoware/planning } - - { type: link, link: /autoware/perception } - - { type: link, link: /autoware/control } - - { type: link, link: /autoware/vehicle } - - { type: link, link: /autoware/system } + - { type: link, link: /control/comfortable_stop_available } + - { type: link, link: /hardware/comfortable_stop_available } + - { type: link, link: /localization/comfortable_stop_available } + - { type: link, link: /map/comfortable_stop_available } + - { type: link, link: /perception/comfortable_stop_available } + - { type: link, link: /planning/comfortable_stop_available } + - { type: link, link: /others/comfortable_stop_available } + - { type: link, link: /system/comfortable_stop_available } + - { type: link, link: /vehicle/comfortable_stop_available } - - path: /autoware/modes/pull_over - type: and - list: - - { type: link, link: /autoware/map } - - { type: link, link: /autoware/localization } - - { type: link, link: /autoware/planning } - - { type: link, link: /autoware/perception } - - { type: link, link: /autoware/control } - - { type: link, link: /autoware/vehicle } - - { type: link, link: /autoware/system } + - path: /autoware/modes/emergency_stop + type: ok - - path: /autoware/debug/tools - type: and - list: - - { type: link, link: /autoware/system/service_log_checker } diff --git a/autoware_launch/config/system/system_diagnostic_monitor/control.yaml b/autoware_launch/config/system/system_diagnostic_monitor/control.yaml index 57bf1b86c2..3fb89182fa 100644 --- a/autoware_launch/config/system/system_diagnostic_monitor/control.yaml +++ b/autoware_launch/config/system/system_diagnostic_monitor/control.yaml @@ -1,73 +1,123 @@ units: - - path: /autoware/control + - path: /control/autonomous_available type: and list: - - { type: link, link: /autoware/control/topic_rate_check/trajectory_follower } - - { type: link, link: /autoware/control/topic_rate_check/control_command } - - { type: link, link: /autoware/control/node_alive_monitoring/vehicle_cmd_gate } - - { type: link, link: /autoware/control/emergency_braking } - - { type: link, link: /autoware/control/performance_monitoring/lane_departure } - - { type: link, link: /autoware/control/performance_monitoring/trajectory_deviation } - - { type: link, link: /autoware/control/performance_monitoring/control_state } - - - path: /autoware/control/local + - { type: link, link: /control/emergency_stop } + - { type: link, link: /control/pull_over } + - { type: link, link: /control/comfortable_stop } + + - path: /control/pull_over_available type: and list: - - { type: link, link: /autoware/control/topic_rate_check/selector } - - { type: link, link: /autoware/control/topic_rate_check/local } + - { type: link, link: /control/emergency_stop } + - { type: link, link: /control/comfortable_stop } - - path: /autoware/control/remote + - path: /control/comfortable_stop_available type: and list: - - { type: link, link: /autoware/control/topic_rate_check/selector } - - { type: link, link: /autoware/control/topic_rate_check/remote } + - { type: link, link: /control/emergency_stop } - - path: /autoware/control/topic_rate_check/trajectory_follower - type: diag - node: topic_state_monitor_trajectory_follower_control_cmd - name: control_topic_status + # ******************************************************************************* + # NOTE: Please modify this section according to your environment and requirements. + # ******************************************************************************* + - path: /control/emergency_stop + type: and + list: + - { 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/010-max_distance_deviation-error } + - { type: link, link: /control/011-slip_detection } + + - path: /control/comfortable_stop + type: and + + - path: /control/pull_over + type: and + + - path: /control/none + type: and + list: + - { type: link, link: /control/003-gate_heartbeat } + - { type: link, link: /control/007-external_command_converter_heartbeat } + - { type: link, link: /control/008-external_command_selector_heartbeat } + + # Intermediate paths + - path: /control/001-topic_status/control_command-error + type: warn-to-ok + item: + type: link + link: /control/001-topic_status/control_command + + - path: /control/004-lane_departure-error + type: warn-to-ok + item: + type: link + link: /control/004-lane_departure - - path: /autoware/control/topic_rate_check/control_command + - path: /control/005-trajectory_deviation-error + type: warn-to-ok + item: + type: link + link: /control/005-trajectory_deviation + + - path: /control/010-max_distance_deviation-error + type: warn-to-ok + item: + type: link + link: /control/010-max_distance_deviation + + - path: /control/001-topic_status/control_command type: diag node: topic_state_monitor_control_command_control_cmd name: control_topic_status + timeout: 1.0 - - path: /autoware/control/node_alive_monitoring/vehicle_cmd_gate + - path: /control/003-gate_heartbeat type: diag node: vehicle_cmd_gate name: heartbeat + timeout: 1.0 - - path: /autoware/control/emergency_braking - type: diag - node: autonomous_emergency_braking - name: aeb_emergency_stop - - - path: /autoware/control/performance_monitoring/lane_departure + - path: /control/004-lane_departure type: diag node: lane_departure_checker_node name: lane_departure + timeout: 1.0 - - path: /autoware/control/performance_monitoring/trajectory_deviation + - path: /control/005-trajectory_deviation type: diag node: lane_departure_checker_node name: trajectory_deviation + timeout: 1.0 - - path: /autoware/control/performance_monitoring/control_state + - path: /control/007-external_command_converter_heartbeat type: diag - node: controller_node_exe - name: control_state + node: external_cmd_converter + name: remote_control_topic_status + timeout: 1.0 - - path: /autoware/control/topic_rate_check/selector + - path: /control/008-external_command_selector_heartbeat type: diag node: external_cmd_selector name: heartbeat + timeout: 1.0 - - path: /autoware/control/topic_rate_check/local + - path: /control/009-aeb_emergency_stop type: diag - node: joy_controller - name: joy_controller_connection + node: autonomous_emergency_braking + name: aeb_emergency_stop + timeout: 1.0 - - path: /autoware/control/topic_rate_check/remote + - path: /control/010-max_distance_deviation type: diag - node: external_cmd_converter - name: remote_control_topic_status + node: control_validator + name: control_validation_max_distance_deviation + timeout: 1.0 + + - path: /control/011-slip_detection + type: diag + node: slip_detector + name: slip_status + timeout: 3.0 \ No newline at end of file diff --git a/autoware_launch/config/system/system_diagnostic_monitor/hardware.yaml b/autoware_launch/config/system/system_diagnostic_monitor/hardware.yaml index d73f723670..241d90bd30 100644 --- a/autoware_launch/config/system/system_diagnostic_monitor/hardware.yaml +++ b/autoware_launch/config/system/system_diagnostic_monitor/hardware.yaml @@ -1,121 +1,365 @@ -# TODO(Takagi, Isamu): This file is under construction. units: - - path: /autoware/system/resources/clock/offset - diag: ": NTP Offset" - timeout: 10.0 + - path: /hardware/autonomous_available + type: and + list: + - { type: link, link: /hardware/emergency_stop } + - { type: link, link: /hardware/pull_over } + - { type: link, link: /hardware/comfortable_stop } - - path: /autoware/system/resources/cpu/offset - diag: ": CPU Temperature" - timeout: 3.0 + - path: /hardware/pull_over_available + type: and + list: + - { type: link, link: /hardware/emergency_stop } + - { type: link, link: /hardware/comfortable_stop } - - path: /autoware/system/resources/cpu/usage - diag: ": CPU Usage" - timeout: 3.0 + - path: /hardware/comfortable_stop_available + type: and + list: + - { type: link, link: /hardware/emergency_stop } - - path: /autoware/system/resources/cpu/thermal_throttling - diag: ": CPU Thermal Throttling" - timeout: 3.0 + # ******************************************************************************* + # NOTE: Please modify this section according to your environment and requirements. + # ******************************************************************************* + - path: /hardware/emergency_stop + type: and + list: + - { type: link, link: /hardware/cpu/002-usage-error } + - { type: link, link: /hardware/cpu/004-throttling-error } + - { type: link, link: /hardware/hdd/001-temperature-error } + - { type: link, link: /hardware/hdd/003-connection-error } + - { type: link, link: /hardware/hdd/006-soft_error-error } + - { type: link, link: /hardware/hdd/007-load-error } + - { type: link, link: /hardware/memory/001-usage-error } + - { type: link, link: /hardware/memory/002-ecc-error } + - { type: link, link: /hardware/network/003-crc-error } + - { type: link, link: /hardware/network/004-packet_reassembles-error } + - { type: link, link: /hardware/gpu/001-temperature-error } + - { type: link, link: /hardware/gpu/002-usage-error } + - { type: link, link: /hardware/gpu/003-memory-error } + - { type: link, link: /hardware/gpu/004-throttling-error } + - { type: link, link: /hardware/gpu/005-frequency-error } - - path: /autoware/system/resources/cpu/frequency - diag: ": CPU Frequency" - timeout: 3.0 + - path: /hardware/pull_over + type: and + list: + - { type: link, link: /hardware/hdd/002-usage-error } - - path: /autoware/system/resources/cpu/load_average - diag: ": CPU Load Average" - timeout: 3.0 + - path: /hardware/comfortable_stop + type: and - - path: /autoware/system/resources/gpu/temperature - diag: ": GPU Temperature" - timeout: 3.0 + - path: /hardware/none + type: and + list: + - { type: link, link: /hardware/cpu/001-temperature } + - { type: link, link: /hardware/cpu/003-load_average } + - { type: link, link: /hardware/cpu/005-frequency } + - { type: link, link: /hardware/hdd/004-total_written } + - { type: link, link: /hardware/hdd/005-warranty_period } + - { type: link, link: /hardware/network/001-usage } + - { type: link, link: /hardware/network/002-traffic } + - { type: link, link: /hardware/ntp/001-sync } + - { type: link, link: /hardware/process/001-summary } + - { 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 } - - path: /autoware/system/resources/gpu/usage - diag: ": GPU Usage" - timeout: 3.0 + - 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: /autoware/system/resources/gpu/memory_usage - diag: ": GPU Memory Usage" - timeout: 3.0 + - 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 } - - path: /autoware/system/resources/gpu/thermal_throttling - diag: ": GPU Thermal Throttling" + - 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 + item: + type: link + link: /hardware/hdd/001-temperature + - path: /hardware/hdd/002-usage-error + type: warn-to-ok + item: + type: link + link: /hardware/hdd/002-usage + - path: /hardware/hdd/003-connection-error + type: warn-to-ok + item: + type: link + link: /hardware/hdd/003-connection + - path: /hardware/hdd/006-soft_error-error + type: warn-to-ok + item: + type: link + link: /hardware/hdd/006-soft_error + - path: /hardware/hdd/007-load-error + type: warn-to-ok + item: + type: link + link: /hardware/hdd/007-load + - path: /hardware/memory/001-usage-error + type: warn-to-ok + item: + type: link + link: /hardware/memory/001-usage + - path: /hardware/memory/002-ecc-error + type: warn-to-ok + item: + type: link + link: /hardware/memory/002-ecc + - path: /hardware/network/003-crc-error + type: warn-to-ok + item: + type: link + link: /hardware/network/003-crc + - path: /hardware/gpu/001-temperature-error + type: warn-to-ok + item: + type: link + link: /hardware/gpu/001-temperature + - path: /hardware/gpu/002-usage-error + type: warn-to-ok + item: + type: link + link: /hardware/gpu/002-usage + - path: /hardware/gpu/003-memory-error + type: warn-to-ok + item: + type: link + link: /hardware/gpu/003-memory + - path: /hardware/gpu/004-throttling-error + type: warn-to-ok + item: + type: link + link: /hardware/gpu/004-throttling + - path: /hardware/gpu/005-frequency-error + type: warn-to-ok + item: + type: link + link: /hardware/gpu/005-frequency + - path: /hardware/network/004-packet_reassembles-error + type: warn-to-ok + item: + type: link + link: /hardware/network/004-packet_reassembles + - path: /hardware/cpu/001-temperature + type: diag + node: cpu_monitor + name: CPU Temperature timeout: 3.0 - - - path: /autoware/system/resources/gpu/frequency - diag: ": GPU Frequency" + - path: /hardware/cpu/002-usage + type: diag + node: cpu_monitor + name: CPU Usage timeout: 3.0 - - - path: /autoware/system/resources/memory/usage - diag: ": Memory Usage" + - path: /hardware/cpu/003-load_average + type: diag + node: cpu_monitor + name: CPU Load Average timeout: 3.0 - - - path: /autoware/system/resources/network/usage - diag: ": Network Usage" + - path: /hardware/cpu/004-throttling + type: diag + node: cpu_monitor + name: CPU Thermal Throttling timeout: 3.0 - - - path: /autoware/system/resources/network/traffic - diag: ": Network Traffic" + - path: /hardware/cpu/005-frequency + type: diag + node: cpu_monitor + name: CPU Frequency timeout: 3.0 - - - path: /autoware/system/resources/network/crc - diag: ": Network CRC Error" + - path: /hardware/hdd/001-temperature + type: diag + node: hdd_monitor + name: HDD Temperature timeout: 3.0 - - - path: /autoware/system/resources/network/packet_reassembles - diag: ": IP Packet Reassembles Failed" + - path: /hardware/hdd/002-usage + type: diag + node: hdd_monitor + name: HDD Usage timeout: 3.0 - - - path: /autoware/system/resources/storage/temperature - diag: ": HDD Temperature" + - path: /hardware/hdd/003-connection + type: diag + node: hdd_monitor + name: HDD Connection timeout: 3.0 - - - path: /autoware/system/resources/storage/recovered_error - diag: ": HDD RecoveredError" + - path: /hardware/hdd/004-total_written + type: diag + node: hdd_monitor + name: HDD TotalDataWritten timeout: 3.0 - - - path: /autoware/system/resources/storage/read_data_rate - diag: ": HDD ReadDataRate" + - path: /hardware/hdd/005-warranty_period + type: diag + node: hdd_monitor + name: HDD PowerOnHours timeout: 3.0 - - - path: /autoware/system/resources/storage/write_data_rate - diag: ": HDD WriteDataRate" + - path: /hardware/hdd/006-soft_error + type: diag + node: hdd_monitor + name: HDD RecoveredError timeout: 3.0 - - - path: /autoware/system/resources/storage/read_iops - diag: ": HDD ReadIOPS" + - path: /hardware/hdd/007-load/read_rate + type: diag + node: hdd_monitor + name: HDD ReadDataRate timeout: 3.0 - - - path: /autoware/system/resources/storage/write_iops - diag: ": HDD WriteIOPS" + - path: /hardware/hdd/007-load/write_rate + type: diag + node: hdd_monitor + name: HDD WriteDataRate timeout: 3.0 - - - path: /autoware/system/resources/storage/usage - diag: ": HDD Usage" + - path: /hardware/hdd/007-load/read_iops + type: diag + node: hdd_monitor + name: HDD ReadIOPS timeout: 3.0 - - - path: /autoware/system/resources/storage/power_on_hours - diag: ": HDD PowerOnHours" + - path: /hardware/hdd/007-load/write_iops + type: diag + node: hdd_monitor + name: HDD WriteIOPS timeout: 3.0 - - - path: /autoware/system/resources/storage/total_data_written - diag: ": HDD TotalDataWritten" + - path: /hardware/memory/001-usage + type: diag + node: mem_monitor + name: Memory Usage timeout: 3.0 - - - path: /autoware/system/resources/storage/connection - diag: ": HDD Connection" + - path: /hardware/memory/002-ecc + type: diag + node: mem_monitor + name: Memory ECC timeout: 3.0 - - - path: /autoware/system/resources/process/high_load - diag: ": High-load" + - path: /hardware/network/001-usage + type: diag + node: net_monitor + name: Network Usage timeout: 3.0 - - - path: /autoware/system/resources/process/high_mem - diag: ": High-mem" + - path: /hardware/network/002-traffic + type: diag + node: net_monitor + name: Network Traffic timeout: 3.0 - - - path: /autoware/system/resources/process/tasks_summary - diag: ": Tasks Summary" + - path: /hardware/network/003-crc + type: diag + node: net_monitor + name: Network CRC Error timeout: 3.0 - - - path: /autoware/system/resources/voltage/battery - diag: ": CMOS Battery Status" + - path: /hardware/network/004-packet_reassembles + type: diag + node: net_monitor + name: IP Packet Reassembles Failed + timeout: 3.0 + - path: /hardware/ntp/001-sync + type: diag + node: ntp_monitor + name: NTP Offset + timeout: 10.0 + - path: /hardware/process/001-summary + type: diag + node: process_monitor + name: Tasks Summary + timeout: 3.0 + - path: /hardware/process/002-load/proc-0 + type: diag + node: process_monitor + name: High-load Proc[0] + timeout: 3.0 + - path: /hardware/process/002-load/proc-1 + type: diag + node: process_monitor + name: High-load Proc[1] + timeout: 3.0 + - path: /hardware/process/002-load/proc-2 + type: diag + node: process_monitor + name: High-load Proc[2] + timeout: 3.0 + - path: /hardware/process/002-load/proc-3 + type: diag + node: process_monitor + name: High-load Proc[3] + timeout: 3.0 + - path: /hardware/process/002-load/proc-4 + type: diag + node: process_monitor + name: High-load Proc[4] + timeout: 3.0 + - path: /hardware/process/003-memory/proc-0 + type: diag + node: process_monitor + name: High-mem Proc[0] + timeout: 3.0 + - path: /hardware/process/003-memory/proc-1 + type: diag + node: process_monitor + name: High-mem Proc[1] + timeout: 3.0 + - path: /hardware/process/003-memory/proc-2 + type: diag + node: process_monitor + name: High-mem Proc[2] + timeout: 3.0 + - path: /hardware/process/003-memory/proc-3 + type: diag + node: process_monitor + name: High-mem Proc[3] + timeout: 3.0 + - path: /hardware/process/003-memory/proc-4 + type: diag + node: process_monitor + name: High-mem Proc[4] + timeout: 3.0 + - path: /hardware/gpu/001-temperature + type: diag + node: gpu_monitor + name: GPU Temperature + timeout: 3.0 + - path: /hardware/gpu/002-usage + type: diag + node: gpu_monitor + name: GPU Usage + timeout: 3.0 + - path: /hardware/gpu/003-memory + type: diag + node: gpu_monitor + name: GPU Memory Usage + timeout: 3.0 + - path: /hardware/gpu/004-throttling + type: diag + node: gpu_monitor + name: GPU Thermal Throttling + timeout: 3.0 + - path: /hardware/gpu/005-frequency + type: diag + node: gpu_monitor + name: GPU Frequency timeout: 3.0 + - path: /hardware/bios/001-battery + type: diag + node: voltage_monitor + name: CMOS Battery Status + timeout: 3.0 \ No newline at end of file diff --git a/autoware_launch/config/system/system_diagnostic_monitor/localization.yaml b/autoware_launch/config/system/system_diagnostic_monitor/localization.yaml index 62bf17775c..0cb725167f 100644 --- a/autoware_launch/config/system/system_diagnostic_monitor/localization.yaml +++ b/autoware_launch/config/system/system_diagnostic_monitor/localization.yaml @@ -1,43 +1,99 @@ units: - - path: /autoware/localization - type: short-circuit-and + - path: /localization/autonomous_available + type: and list: - - type: link - link: /autoware/localization/state - - type: and - list: - - { type: link, link: /autoware/localization/topic_rate_check/transform } - - { type: link, link: /autoware/localization/topic_rate_check/pose_twist_fusion } - - { type: link, link: /autoware/localization/scan_matching_status } - - { type: link, link: /autoware/localization/accuracy } - - { type: link, link: /autoware/localization/sensor_fusion_status } - - - path: /autoware/localization/state - type: diag - node: component_state_diagnostics - name: localization_state + - { type: link, link: /localization/emergency_stop } + - { type: link, link: /localization/pull_over } + - { type: link, link: /localization/comfortable_stop } + + - path: /localization/pull_over_available + type: and + list: + - { type: link, link: /localization/emergency_stop } + - { type: link, link: /localization/comfortable_stop } + + - path: /localization/comfortable_stop_available + type: and + list: + - { type: link, link: /localization/emergency_stop } + + # ******************************************************************************* + # NOTE: Please modify this section according to your environment and requirements. + # ******************************************************************************* + - path: /localization/emergency_stop + type: and + list: + - { type: link, link: /localization/001-topic_status/initialpose-error } + - { type: link, link: /localization/001-topic_status/pose_twist_fusion_filter-error } + - { type: link, link: /localization/002-tf-error } + - { type: link, link: /localization/003-matching_score-error } + - { type: link, link: /localization/004-accuracy-error } + + - path: /localization/comfortable_stop + type: and + + - path: /localization/pull_over + type: and + + - path: /localization/none + type: and - - path: /autoware/localization/topic_rate_check/transform + - path: /localization/001-topic_status/initialpose-error + type: warn-to-ok + item: + type: link + link: /localization/001-topic_status/initialpose + + - path: /localization/001-topic_status/pose_twist_fusion_filter-error + type: warn-to-ok + item: + type: link + link: /localization/001-topic_status/pose_twist_fusion_filter + + - path: /localization/002-tf-error + type: warn-to-ok + item: + type: link + link: /localization/002-tf + + - path: /localization/003-matching_score-error + type: warn-to-ok + item: + type: link + link: /localization/003-matching_score + + - path: /localization/004-accuracy-error + type: warn-to-ok + item: + type: link + link: /localization/004-accuracy + + - path: /localization/001-topic_status/initialpose type: diag - node: topic_state_monitor_transform_map_to_base_link + node: topic_state_monitor_initialpose3d name: localization_topic_status + timeout: 1.0 - - path: /autoware/localization/topic_rate_check/pose_twist_fusion + - path: /localization/001-topic_status/pose_twist_fusion_filter type: diag node: topic_state_monitor_pose_twist_fusion_filter_pose name: localization_topic_status + timeout: 1.0 - - path: /autoware/localization/scan_matching_status + - path: /localization/002-tf type: diag - node: ndt_scan_matcher - name: scan_matching_status + node: topic_state_monitor_transform_map_to_base_link + name: localization_topic_status + timeout: 1.0 - - path: /autoware/localization/accuracy + - path: /localization/003-matching_score type: diag node: localization - name: localization_error_monitor + name: ndt_scan_matcher + timeout: 1.0 - - path: /autoware/localization/sensor_fusion_status + - path: /localization/004-accuracy type: diag node: localization - name: ekf_localizer + name: localization_error_monitor + timeout: 1.0 \ No newline at end of file diff --git a/autoware_launch/config/system/system_diagnostic_monitor/map.yaml b/autoware_launch/config/system/system_diagnostic_monitor/map.yaml index 231ac6eb5f..69e7638b65 100644 --- a/autoware_launch/config/system/system_diagnostic_monitor/map.yaml +++ b/autoware_launch/config/system/system_diagnostic_monitor/map.yaml @@ -1,16 +1,60 @@ units: - - path: /autoware/map + - path: /map/autonomous_available type: and list: - - { type: link, link: /autoware/map/topic_rate_check/vector_map } - - { type: link, link: /autoware/map/topic_rate_check/pointcloud_map } + - { type: link, link: /map/emergency_stop } + - { type: link, link: /map/pull_over } + - { type: link, link: /map/comfortable_stop } - - path: /autoware/map/topic_rate_check/vector_map + - path: /map/pull_over_available + type: and + list: + - { type: link, link: /map/emergency_stop } + - { type: link, link: /map/comfortable_stop } + + - path: /map/comfortable_stop_available + type: and + list: + - { type: link, link: /map/emergency_stop } + + # ******************************************************************************* + # NOTE: Please modify this section according to your environment and requirements. + # ******************************************************************************* + - path: /map/emergency_stop + type: and + list: + - { type: link, link: /map/001-topic_status/vector_map-error } + - { type: link, link: /map/001-topic_status/pointcloud_map-error } + + - path: /map/comfortable_stop + type: and + + - path: /map/pull_over + type: and + + - path: /map/none + type: and + + - path: /map/001-topic_status/vector_map-error + type: warn-to-ok + item: + type: link + link: /map/001-topic_status/vector_map + + - path: /map/001-topic_status/pointcloud_map-error + type: warn-to-ok + item: + type: link + link: /map/001-topic_status/pointcloud_map + + - path: /map/001-topic_status/vector_map type: diag node: topic_state_monitor_vector_map name: map_topic_status + timeout: 1.0 - - path: /autoware/map/topic_rate_check/pointcloud_map + - path: /map/001-topic_status/pointcloud_map type: diag node: topic_state_monitor_pointcloud_map name: map_topic_status + timeout: 1.0 \ No newline at end of file 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..632d27c924 --- /dev/null +++ b/autoware_launch/config/system/system_diagnostic_monitor/others.yaml @@ -0,0 +1,162 @@ +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 + + # 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 + item: + type: link + link: /others/002-blockage_validation + + - path: /others/005-visibility_validation-error + type: warn-to-ok + item: + type: link + link: /others/005-visibility_validation + - path: /others/010-emergency_vehicle-error + type: warn-to-ok + item: + type: link + link: /others/010-emergency_vehicle + + - 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 \ No newline at end of file diff --git a/autoware_launch/config/system/system_diagnostic_monitor/perception.yaml b/autoware_launch/config/system/system_diagnostic_monitor/perception.yaml index 24e3c4eed5..5614d115c7 100644 --- a/autoware_launch/config/system/system_diagnostic_monitor/perception.yaml +++ b/autoware_launch/config/system/system_diagnostic_monitor/perception.yaml @@ -1,16 +1,86 @@ units: - - path: /autoware/perception + - path: /perception/autonomous_available type: and list: - - { type: link, link: /autoware/perception/topic_rate_check/objects } - - { type: link, link: /autoware/perception/topic_rate_check/pointcloud } + - { type: link, link: /perception/emergency_stop } + - { type: link, link: /perception/pull_over } + - { type: link, link: /perception/comfortable_stop } - - path: /autoware/perception/topic_rate_check/objects + - path: /perception/pull_over_available + type: and + list: + - { type: link, link: /perception/emergency_stop } + - { type: link, link: /perception/comfortable_stop } + + - path: /perception/comfortable_stop_available + type: and + list: + - { type: link, link: /perception/emergency_stop } + + # ******************************************************************************* + # NOTE: Please modify this section according to your environment and requirements. + # ******************************************************************************* + - path: /perception/emergency_stop + type: and + list: + - { type: link, link: /perception/001-topic_status/traffic_signals-error } + - { type: link, link: /perception/001-topic_status/objects-error } + - { type: link, link: /perception/001-topic_status/pointcloud-error } + - { type: link, link: /perception/002-detection_delay-error } + + - path: /perception/comfortable_stop + type: and + + - path: /perception/pull_over + type: and + + - path: /perception/none + type: and + + - path: /perception/001-topic_status/traffic_signals-error + type: warn-to-ok + item: + type: link + link: /perception/001-topic_status/traffic_signals + + - path: /perception/001-topic_status/objects-error + type: warn-to-ok + item: + type: link + link: /perception/001-topic_status/objects + + - path: /perception/001-topic_status/pointcloud-error + type: warn-to-ok + item: + type: link + link: /perception/001-topic_status/pointcloud + + - path: /perception/002-detection_delay-error + type: warn-to-ok + item: + type: link + link: /perception/002-detection_delay + + - path: /perception/001-topic_status/traffic_signals + type: diag + node: topic_state_monitor_traffic_light_recognition_traffic_signals + name: perception_topic_status + timeout: 1.0 + + - path: /perception/001-topic_status/objects type: diag node: topic_state_monitor_object_recognition_objects name: perception_topic_status + timeout: 1.0 - - path: /autoware/perception/topic_rate_check/pointcloud + - path: /perception/001-topic_status/pointcloud type: diag node: topic_state_monitor_obstacle_segmentation_pointcloud name: perception_topic_status + timeout: 1.0 + + - path: /perception/002-detection_delay + type: diag + node: multi_object_tracker + name: Perception delay check from original header stamp + timeout: 1.0 \ No newline at end of file diff --git a/autoware_launch/config/system/system_diagnostic_monitor/planning.yaml b/autoware_launch/config/system/system_diagnostic_monitor/planning.yaml index c403fec237..9487fee709 100644 --- a/autoware_launch/config/system/system_diagnostic_monitor/planning.yaml +++ b/autoware_launch/config/system/system_diagnostic_monitor/planning.yaml @@ -1,90 +1,203 @@ units: - - path: /autoware/planning - type: short-circuit-and + - path: /planning/autonomous_available + type: and list: - - type: link - link: /autoware/planning/routing/state - - type: and - list: - - { type: link, link: /autoware/planning/topic_rate_check/route } - - { type: link, link: /autoware/planning/topic_rate_check/trajectory } - - { type: link, link: /autoware/planning/trajectory_validation } - - - path: /autoware/planning/trajectory_validation + - { type: link, link: /planning/emergency_stop } + - { type: link, link: /planning/pull_over } + - { type: link, link: /planning/comfortable_stop } + + - path: /planning/pull_over_available type: and list: - - { type: link, link: /autoware/planning/trajectory_validation/finite } - - { type: link, link: /autoware/planning/trajectory_validation/interval } - - { type: link, link: /autoware/planning/trajectory_validation/curvature } - - { type: link, link: /autoware/planning/trajectory_validation/angle } - - { type: link, link: /autoware/planning/trajectory_validation/lateral_acceleration } - - { type: link, link: /autoware/planning/trajectory_validation/acceleration } - - { type: link, link: /autoware/planning/trajectory_validation/deceleration } - - { type: link, link: /autoware/planning/trajectory_validation/steering } - - { type: link, link: /autoware/planning/trajectory_validation/steering_rate } - - { type: link, link: /autoware/planning/trajectory_validation/velocity_deviation } - - - path: /autoware/planning/routing/state - type: diag - node: component_state_diagnostics - name: route_state + - { type: link, link: /planning/emergency_stop } + - { type: link, link: /planning/comfortable_stop } + + - path: /planning/comfortable_stop_available + type: and + list: + - { type: link, link: /planning/emergency_stop } + + # ******************************************************************************* + # NOTE: Please modify this section according to your environment and requirements. + # ******************************************************************************* + - path: /planning/emergency_stop + type: and + list: + - { type: link, link: /planning/001-topic_status/route-error } + - { type: link, link: /planning/001-topic_status/trajectory-error } + - { type: link, link: /planning/003-trajectory_finite_validation-error } + - { type: link, link: /planning/004-trajectory_interval_validation-error } + - { type: link, link: /planning/005-trajectory_curvature_validation-error } + - { type: link, link: /planning/006-trajectory_relative_angle_validation-error } + - { type: link, link: /planning/007-trajectory_lateral_acceleration_validation-error } + - { type: link, link: /planning/008-trajectory_acceleration_validation-error } + - { type: link, link: /planning/009-trajectory_deceleration_validation-error } + - { type: link, link: /planning/010-trajectory_steering_validation-error } + - { type: link, link: /planning/011-trajectory_steering_rate_validation-error } + - { type: link, link: /planning/012-trajectory_velocity_deviation_validation-error } + - { type: link, link: /planning/013-collision_checker-error } + + - path: /planning/comfortable_stop + type: and + + - path: /planning/pull_over + type: and + + - path: /planning/none + type: and + + - path: /planning/001-topic_status/route-error + type: warn-to-ok + item: + type: link + link: /planning/001-topic_status/route - - path: /autoware/planning/topic_rate_check/route + - path: /planning/001-topic_status/trajectory-error + type: warn-to-ok + item: + type: link + link: /planning/001-topic_status/trajectory + + - path: /planning/003-trajectory_finite_validation-error + type: warn-to-ok + item: + type: link + link: /planning/003-trajectory_finite_validation + + - path: /planning/004-trajectory_interval_validation-error + type: warn-to-ok + item: + type: link + link: /planning/004-trajectory_interval_validation + + - path: /planning/005-trajectory_curvature_validation-error + type: warn-to-ok + item: + type: link + link: /planning/005-trajectory_curvature_validation + + - path: /planning/006-trajectory_relative_angle_validation-error + type: warn-to-ok + item: + type: link + link: /planning/006-trajectory_relative_angle_validation + + - path: /planning/007-trajectory_lateral_acceleration_validation-error + type: warn-to-ok + item: + type: link + link: /planning/007-trajectory_lateral_acceleration_validation + + - path: /planning/008-trajectory_acceleration_validation-error + type: warn-to-ok + item: + type: link + link: /planning/008-trajectory_acceleration_validation + + - path: /planning/009-trajectory_deceleration_validation-error + type: warn-to-ok + item: + type: link + link: /planning/009-trajectory_deceleration_validation + + - path: /planning/010-trajectory_steering_validation-error + type: warn-to-ok + item: + type: link + link: /planning/010-trajectory_steering_validation + + - path: /planning/011-trajectory_steering_rate_validation-error + type: warn-to-ok + item: + type: link + link: /planning/011-trajectory_steering_rate_validation + + - path: /planning/012-trajectory_velocity_deviation_validation-error + type: warn-to-ok + item: + type: link + link: /planning/012-trajectory_velocity_deviation_validation + + - path: /planning/013-collision_checker-error + type: warn-to-ok + item: + type: link + link: /planning/013-collision_checker + + - path: /planning/001-topic_status/route type: diag node: topic_state_monitor_mission_planning_route name: planning_topic_status + timeout: 1.0 - - path: /autoware/planning/topic_rate_check/trajectory + - path: /planning/001-topic_status/trajectory type: diag node: topic_state_monitor_scenario_planning_trajectory name: planning_topic_status + timeout: 1.0 - - path: /autoware/planning/trajectory_validation/finite + - path: /planning/003-trajectory_finite_validation type: diag node: planning_validator name: trajectory_validation_finite + timeout: 1.0 - - path: /autoware/planning/trajectory_validation/interval + - path: /planning/004-trajectory_interval_validation type: diag node: planning_validator name: trajectory_validation_interval + timeout: 1.0 - - path: /autoware/planning/trajectory_validation/curvature + - path: /planning/005-trajectory_curvature_validation type: diag node: planning_validator name: trajectory_validation_curvature + timeout: 1.0 - - path: /autoware/planning/trajectory_validation/angle + - path: /planning/006-trajectory_relative_angle_validation type: diag node: planning_validator name: trajectory_validation_relative_angle + timeout: 1.0 - - path: /autoware/planning/trajectory_validation/lateral_acceleration + - path: /planning/007-trajectory_lateral_acceleration_validation type: diag node: planning_validator name: trajectory_validation_lateral_acceleration + timeout: 1.0 - - path: /autoware/planning/trajectory_validation/acceleration + - path: /planning/008-trajectory_acceleration_validation type: diag node: planning_validator name: trajectory_validation_acceleration + timeout: 1.0 - - path: /autoware/planning/trajectory_validation/deceleration + - path: /planning/009-trajectory_deceleration_validation type: diag node: planning_validator name: trajectory_validation_deceleration + timeout: 1.0 - - path: /autoware/planning/trajectory_validation/steering + - path: /planning/010-trajectory_steering_validation type: diag node: planning_validator name: trajectory_validation_steering + timeout: 1.0 - - path: /autoware/planning/trajectory_validation/steering_rate + - path: /planning/011-trajectory_steering_rate_validation type: diag node: planning_validator name: trajectory_validation_steering_rate + timeout: 1.0 - - path: /autoware/planning/trajectory_validation/velocity_deviation + - path: /planning/012-trajectory_velocity_deviation_validation type: diag node: planning_validator name: trajectory_validation_velocity_deviation + timeout: 1.0 + + - path: /planning/013-collision_checker + type: diag + node: collision_checker + name: collision_check + timeout: 1.0 \ No newline at end of file diff --git a/autoware_launch/config/system/system_diagnostic_monitor/system.yaml b/autoware_launch/config/system/system_diagnostic_monitor/system.yaml index cb96c2cd7f..2d652d1de0 100644 --- a/autoware_launch/config/system/system_diagnostic_monitor/system.yaml +++ b/autoware_launch/config/system/system_diagnostic_monitor/system.yaml @@ -1,27 +1,89 @@ units: - - path: /autoware/system + - path: /system/autonomous_available type: and list: - - { type: link, link: /autoware/system/duplicated_node_checker } - - { type: link, link: /autoware/system/topic_rate_check/emergency_control_command } - - { type: link, link: /autoware/system/emergency_stop_operation } + - { type: link, link: /system/emergency_stop } + - { type: link, link: /system/pull_over } + - { type: link, link: /system/comfortable_stop } - - path: /autoware/system/duplicated_node_checker - type: diag - node: duplicated_node_checker - name: duplicated_node_checker + - path: /system/pull_over_available + type: and + list: + - { type: link, link: /system/emergency_stop } + - { type: link, link: /system/comfortable_stop } - - path: /autoware/system/service_log_checker - type: diag - node: service_log_checker - name: response_status + - path: /system/comfortable_stop_available + type: and + list: + - { type: link, link: /system/emergency_stop } + + # ******************************************************************************* + # NOTE: Please modify this section according to your environment and requirements. + # ******************************************************************************* + - path: /system/emergency_stop + type: and + list: + - { type: link, link: /system/001-topic_status-error } + - { type: link, link: /system/002-emergency_stop_operation-error } + + - path: /system/comfortable_stop + type: and + + - path: /system/pull_over + type: and + 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/001-topic_status-error + type: warn-to-ok + item: + type: link + link: /system/001-topic_status + + - path: /system/002-emergency_stop_operation-error + type: warn-to-ok + item: + type: link + link: /system/002-emergency_stop_operation + + - path: /system/005-fms_connection-error + type: warn-to-ok + item: + type: link + link: /system/005-fms_connection - - path: /autoware/system/topic_rate_check/emergency_control_command + - path: /system/001-topic_status type: diag node: topic_state_monitor_system_emergency_control_cmd name: system_topic_status + timeout: 1.0 - - path: /autoware/system/emergency_stop_operation + - path: /system/002-emergency_stop_operation type: diag node: vehicle_cmd_gate name: emergency_stop_operation + timeout: 1.0 + + - path: /system/003-bagpacker_status + type: diag + node: system + name: rosbag_status + timeout: 3.0 + + - path: /system/004-bagpacker_disk_space + type: diag + node: system + name: disk_status + timeout: 3.0 + + - path: /system/005-fms_connection + type: diag + node: system + name: edge_core_internet_connection + timeout: 10.0 diff --git a/autoware_launch/config/system/system_diagnostic_monitor/vehicle.yaml b/autoware_launch/config/system/system_diagnostic_monitor/vehicle.yaml index e040e3c3c3..69bd1e2ba0 100644 --- a/autoware_launch/config/system/system_diagnostic_monitor/vehicle.yaml +++ b/autoware_launch/config/system/system_diagnostic_monitor/vehicle.yaml @@ -1,16 +1,88 @@ units: - - path: /autoware/vehicle + - path: /vehicle/autonomous_available type: and list: - - { type: link, link: /autoware/vehicle/topic_rate_check/velocity } - - { type: link, link: /autoware/vehicle/topic_rate_check/steering } + - { type: link, link: /vehicle/emergency_stop } + - { type: link, link: /vehicle/pull_over } + - { type: link, link: /vehicle/comfortable_stop } - - path: /autoware/vehicle/topic_rate_check/velocity + - path: /vehicle/pull_over_available + type: and + list: + - { type: link, link: /vehicle/emergency_stop } + - { type: link, link: /vehicle/comfortable_stop } + + - path: /vehicle/comfortable_stop_available + type: and + list: + - { type: link, link: /vehicle/emergency_stop } + + # ******************************************************************************* + # NOTE: Please modify this section according to your environment and requirements. + # ******************************************************************************* + - path: /vehicle/emergency_stop + type: and + list: + - { type: link, link: /vehicle/001-topic_status/velocity-error } + - { type: link, link: /vehicle/001-topic_status/steering-error } + - { type: link, link: /vehicle/005-vehicle_heartbeat-error } + - { type: link, link: /vehicle/006-vehicle_errors-error } + + - path: /vehicle/comfortable_stop + type: and + list: + - { type: link, link: /vehicle/006-vehicle_errors } + + - path: /vehicle/pull_over + type: and + + - path: /vehicle/none + type: and + + - path: /vehicle/001-topic_status/velocity-error + type: warn-to-ok + item: + type: link + link: /vehicle/001-topic_status/velocity + + - path: /vehicle/001-topic_status/steering-error + type: warn-to-ok + item: + type: link + link: /vehicle/001-topic_status/steering + + - path: /vehicle/005-vehicle_heartbeat-error + type: warn-to-ok + item: + type: link + link: /vehicle/005-vehicle_heartbeat + + - path: /vehicle/006-vehicle_errors-error + type: warn-to-ok + item: + type: link + link: /vehicle/006-vehicle_errors + + - path: /vehicle/001-topic_status/velocity type: diag node: topic_state_monitor_vehicle_status_velocity_status name: vehicle_topic_status + timeout: 1.0 - - path: /autoware/vehicle/topic_rate_check/steering + - path: /vehicle/001-topic_status/steering type: diag node: topic_state_monitor_vehicle_status_steering_status name: vehicle_topic_status + timeout: 1.0 + + - path: /vehicle/005-vehicle_heartbeat + type: diag + node: j6_interface + name: vehicle_heartbeat_errors + timeout: 1.0 + + - path: /vehicle/006-vehicle_errors + type: diag + node: j6_interface + name: vehicle_errors + timeout: 1.0 \ No newline at end of file From dc2ec2c5ef323166270f09fd79acc5ca9b681226 Mon Sep 17 00:00:00 2001 From: "shohei.sakai" Date: Wed, 10 Jul 2024 22:10:33 +0900 Subject: [PATCH 03/11] remove not working diag --- .../autoware-main.yaml | 5 +- .../localization.yaml | 4 +- .../system_diagnostic_monitor/others.yaml | 159 +++++++++--------- .../system_diagnostic_monitor/system.yaml | 54 +++--- 4 files changed, 110 insertions(+), 112 deletions(-) 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..c5f2a033fe 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 +1,2 @@ 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 } \ No newline at end of file diff --git a/autoware_launch/config/system/system_diagnostic_monitor/localization.yaml b/autoware_launch/config/system/system_diagnostic_monitor/localization.yaml index 0cb725167f..4e47de5621 100644 --- a/autoware_launch/config/system/system_diagnostic_monitor/localization.yaml +++ b/autoware_launch/config/system/system_diagnostic_monitor/localization.yaml @@ -88,8 +88,8 @@ units: - path: /localization/003-matching_score type: diag - node: localization - name: ndt_scan_matcher + node: ndt_scan_matcher + name: scan_matching_status timeout: 1.0 - path: /localization/004-accuracy diff --git a/autoware_launch/config/system/system_diagnostic_monitor/others.yaml b/autoware_launch/config/system/system_diagnostic_monitor/others.yaml index 632d27c924..42b46d8186 100644 --- a/autoware_launch/config/system/system_diagnostic_monitor/others.yaml +++ b/autoware_launch/config/system/system_diagnostic_monitor/others.yaml @@ -23,9 +23,9 @@ units: - path: /others/emergency_stop type: and list: - - { type: link, link: /others/002-blockage_validation-error } + # - { 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/005-visibility_validation-error } - { type: link, link: /others/012-vehicle_stuck_checker } - path: /others/comfortable_stop @@ -41,89 +41,90 @@ units: - 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 - item: - type: link - link: /others/002-blockage_validation - - - path: /others/005-visibility_validation-error - type: warn-to-ok - item: - type: link - link: /others/005-visibility_validation - path: /others/010-emergency_vehicle-error type: warn-to-ok item: type: link link: /others/010-emergency_vehicle - - 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 + # # 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 diff --git a/autoware_launch/config/system/system_diagnostic_monitor/system.yaml b/autoware_launch/config/system/system_diagnostic_monitor/system.yaml index 2d652d1de0..0e15251542 100644 --- a/autoware_launch/config/system/system_diagnostic_monitor/system.yaml +++ b/autoware_launch/config/system/system_diagnostic_monitor/system.yaml @@ -31,14 +31,14 @@ units: - 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 } - path: /system/001-topic_status-error type: warn-to-ok @@ -52,11 +52,11 @@ units: type: link link: /system/002-emergency_stop_operation - - path: /system/005-fms_connection-error - type: warn-to-ok - item: - 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 - path: /system/001-topic_status type: diag @@ -70,20 +70,20 @@ units: name: emergency_stop_operation timeout: 1.0 - - path: /system/003-bagpacker_status - type: diag - node: system - name: rosbag_status - timeout: 3.0 + # - path: /system/003-bagpacker_status + # type: diag + # node: system + # name: rosbag_status + # timeout: 3.0 - - path: /system/004-bagpacker_disk_space - type: diag - node: system - name: disk_status - timeout: 3.0 + # - path: /system/004-bagpacker_disk_space + # type: diag + # node: system + # name: disk_status + # timeout: 3.0 - - path: /system/005-fms_connection - type: diag - node: system - name: edge_core_internet_connection - timeout: 10.0 + # - path: /system/005-fms_connection + # type: diag + # node: system + # name: edge_core_internet_connection + # timeout: 10.0 From bd151bb5f1a05d40a3a689e6f788577690962b50 Mon Sep 17 00:00:00 2001 From: "shohei.sakai" Date: Thu, 11 Jul 2024 18:44:23 +0900 Subject: [PATCH 04/11] remove unsupported diag --- .../system_diagnostic_monitor/control.yaml | 12 ++--- .../system_diagnostic_monitor/others.yaml | 44 +++++++++---------- 2 files changed, 28 insertions(+), 28 deletions(-) diff --git a/autoware_launch/config/system/system_diagnostic_monitor/control.yaml b/autoware_launch/config/system/system_diagnostic_monitor/control.yaml index 3fb89182fa..06a3f77863 100644 --- a/autoware_launch/config/system/system_diagnostic_monitor/control.yaml +++ b/autoware_launch/config/system/system_diagnostic_monitor/control.yaml @@ -26,7 +26,7 @@ units: - { 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 } @@ -104,11 +104,11 @@ units: name: heartbeat timeout: 1.0 - - path: /control/009-aeb_emergency_stop - type: diag - node: autonomous_emergency_braking - name: aeb_emergency_stop - 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 type: diag diff --git a/autoware_launch/config/system/system_diagnostic_monitor/others.yaml b/autoware_launch/config/system/system_diagnostic_monitor/others.yaml index 42b46d8186..a54272fca2 100644 --- a/autoware_launch/config/system/system_diagnostic_monitor/others.yaml +++ b/autoware_launch/config/system/system_diagnostic_monitor/others.yaml @@ -30,8 +30,8 @@ units: - path: /others/comfortable_stop type: and - list: - - { type: link, link: /others/010-emergency_vehicle-error } + # list: + # - { type: link, link: /others/010-emergency_vehicle-error } - path: /others/pull_over type: and @@ -41,11 +41,11 @@ units: - path: /others/none type: and - - path: /others/010-emergency_vehicle-error - type: warn-to-ok - item: - type: link - link: /others/010-emergency_vehicle + # - 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 @@ -132,23 +132,23 @@ units: 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/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/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/010-emergency_vehicle + # type: diag + # node: emergency_vehicle_detector + # name: emergency_vehicle + # timeout: 3.0 - path: /others/011-daytime_monitor type: diag From 848f042dd158a2c0b4b105f8d8d091646086a69e Mon Sep 17 00:00:00 2001 From: Shohei Sakai Date: Fri, 12 Jul 2024 14:05:11 +0900 Subject: [PATCH 05/11] remove unused parameter file in diagnostic_graph_aggregator --- .../autoware-awsim.yaml | 1 - .../autoware-psim.yaml | 5 +- .../autoware.planning_simulator.yaml | 59 --- .../diagnostic_graph_aggregator/autoware.yaml | 68 ---- .../diagnostic_graph_aggregator/control.yaml | 111 ------ .../diagnostic_graph_aggregator/hardware.yaml | 355 ------------------ .../localization.yaml | 91 ----- .../diagnostic_graph_aggregator/map.yaml | 58 --- .../diagnostic_graph_aggregator/others.yaml | 140 ------- .../perception.yaml | 80 ---- .../diagnostic_graph_aggregator/planning.yaml | 184 --------- .../diagnostic_graph_aggregator/sensing.yaml | 296 --------------- .../diagnostic_graph_aggregator/system.yaml | 83 ---- .../diagnostic_graph_aggregator/vehicle.yaml | 82 ---- .../launch/planning_simulator.launch.xml | 2 +- 15 files changed, 2 insertions(+), 1613 deletions(-) delete mode 100644 autoware_launch/config/system/diagnostic_graph_aggregator/autoware.planning_simulator.yaml delete mode 100644 autoware_launch/config/system/diagnostic_graph_aggregator/autoware.yaml delete mode 100644 autoware_launch/config/system/diagnostic_graph_aggregator/control.yaml delete mode 100644 autoware_launch/config/system/diagnostic_graph_aggregator/hardware.yaml delete mode 100644 autoware_launch/config/system/diagnostic_graph_aggregator/localization.yaml delete mode 100644 autoware_launch/config/system/diagnostic_graph_aggregator/map.yaml delete mode 100644 autoware_launch/config/system/diagnostic_graph_aggregator/others.yaml delete mode 100644 autoware_launch/config/system/diagnostic_graph_aggregator/perception.yaml delete mode 100644 autoware_launch/config/system/diagnostic_graph_aggregator/planning.yaml delete mode 100644 autoware_launch/config/system/diagnostic_graph_aggregator/sensing.yaml delete mode 100644 autoware_launch/config/system/diagnostic_graph_aggregator/system.yaml delete mode 100644 autoware_launch/config/system/diagnostic_graph_aggregator/vehicle.yaml 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-psim.yaml b/autoware_launch/config/system/diagnostic_graph_aggregator/autoware-psim.yaml index e11f391606..1b6060f84c 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 +1,2 @@ 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 } \ No newline at end of file diff --git a/autoware_launch/config/system/diagnostic_graph_aggregator/autoware.planning_simulator.yaml b/autoware_launch/config/system/diagnostic_graph_aggregator/autoware.planning_simulator.yaml deleted file mode 100644 index c212f19ede..0000000000 --- a/autoware_launch/config/system/diagnostic_graph_aggregator/autoware.planning_simulator.yaml +++ /dev/null @@ -1,59 +0,0 @@ -files: - - { path: $(dirname)/map.yaml } - - { path: $(dirname)/planning.yaml } - - { path: $(dirname)/control.yaml } - - { path: $(dirname)/system.yaml } - -# 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: - - 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: /map/autonomous_available } - - { type: link, link: /planning/autonomous_available } - - { type: link, link: /control/autonomous_available } - - { type: link, link: /system/autonomous_available } - - - path: /autoware/modes/pull_over - type: and - list: - - { type: link, link: /map/pull_over_available } - - { type: link, link: /planning/pull_over_available } - - { type: link, link: /control/pull_over_available } - - { type: link, link: /system/pull_over_available } - - - path: /autoware/modes/comfortable_stop - type: and - list: - - { type: link, link: /map/comfortable_stop_available } - - { type: link, link: /planning/comfortable_stop_available } - - { type: link, link: /control/comfortable_stop_available } - - { type: link, link: /system/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.yaml b/autoware_launch/config/system/diagnostic_graph_aggregator/autoware.yaml deleted file mode 100644 index ee16bc9819..0000000000 --- a/autoware_launch/config/system/diagnostic_graph_aggregator/autoware.yaml +++ /dev/null @@ -1,68 +0,0 @@ -files: - - { path: $(dirname)/hardware.yaml } - - { path: $(dirname)/sensing.yaml } - - { path: $(dirname)/map.yaml } - - { path: $(dirname)/localization.yaml } - - { path: $(dirname)/planning.yaml } - - { path: $(dirname)/perception.yaml } - - { path: $(dirname)/control.yaml } - - { path: $(dirname)/vehicle.yaml } - - { path: $(dirname)/system.yaml } - - { path: $(dirname)/others.yaml } - -nodes: - - 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: /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: /perception/autonomous_available } - - { type: link, link: /control/autonomous_available } - - { type: link, link: /vehicle/autonomous_available } - - { type: link, link: /system/autonomous_available } - - { type: link, link: /others/autonomous_available } - - - path: /autoware/modes/pull_over - type: and - list: - - { 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: /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: /others/pull_over_available } - - - path: /autoware/modes/comfortable_stop - type: and - list: - - { 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: /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: /others/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/control.yaml b/autoware_launch/config/system/diagnostic_graph_aggregator/control.yaml deleted file mode 100644 index 432781f0ba..0000000000 --- a/autoware_launch/config/system/diagnostic_graph_aggregator/control.yaml +++ /dev/null @@ -1,111 +0,0 @@ -nodes: - - path: /control/autonomous_available - type: and - list: - - { type: link, link: /control/emergency_stop } - - { type: link, link: /control/pull_over } - - { type: link, link: /control/comfortable_stop } - - - path: /control/pull_over_available - type: and - list: - - { type: link, link: /control/emergency_stop } - - { type: link, link: /control/comfortable_stop } - - - path: /control/comfortable_stop_available - type: and - list: - - { type: link, link: /control/emergency_stop } - - # ******************************************************************************* - # NOTE: Please modify this section according to your environment and requirements. - # ******************************************************************************* - - path: /control/emergency_stop - type: and - list: - - { 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/010-max_distance_deviation-error } - - { type: link, link: /control/011-slip_detection } - - - path: /control/comfortable_stop - type: and - - - path: /control/pull_over - type: and - - - path: /control/none - type: and - list: - - { type: link, link: /control/003-gate_heartbeat } - - { type: link, link: /control/007-external_command_converter_heartbeat } - - { type: link, link: /control/008-external_command_selector_heartbeat } - - # Intermediate paths - - path: /control/001-topic_status/control_command-error - type: warn-to-ok - list: - - { 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 } - - - path: /control/005-trajectory_deviation-error - type: warn-to-ok - list: - - { 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 } - - # Diagnostics paths - - path: /control/001-topic_status/control_command - diag: "topic_state_monitor_control_command_control_cmd: control_topic_status" - type: diag - timeout: 1.0 - - - path: /control/003-gate_heartbeat - diag: "vehicle_cmd_gate: heartbeat" - type: diag - timeout: 1.0 - - - path: /control/004-lane_departure - diag: "lane_departure_checker_node: lane_departure" - type: diag - timeout: 1.0 - - - path: /control/005-trajectory_deviation - diag: "lane_departure_checker_node: trajectory_deviation" - type: diag - timeout: 1.0 - - - path: /control/007-external_command_converter_heartbeat - diag: "external_cmd_converter: remote_control_topic_status" - type: diag - timeout: 1.0 - - - path: /control/008-external_command_selector_heartbeat - diag: "external_cmd_selector: heartbeat" - type: diag - timeout: 1.0 - - - path: /control/009-aeb_emergency_stop - diag: "autonomous_emergency_braking: aeb_emergency_stop" - type: diag - timeout: 1.0 - - - path: /control/010-max_distance_deviation - diag: "control_validator: control_validation_max_distance_deviation" - type: diag - timeout: 1.0 - - - path: /control/011-slip_detection - diag: "slip_detector: slip_status" - type: diag - timeout: 3.0 diff --git a/autoware_launch/config/system/diagnostic_graph_aggregator/hardware.yaml b/autoware_launch/config/system/diagnostic_graph_aggregator/hardware.yaml deleted file mode 100644 index 54e909c426..0000000000 --- a/autoware_launch/config/system/diagnostic_graph_aggregator/hardware.yaml +++ /dev/null @@ -1,355 +0,0 @@ -nodes: - - path: /hardware/autonomous_available - type: and - list: - - { type: link, link: /hardware/emergency_stop } - - { type: link, link: /hardware/pull_over } - - { type: link, link: /hardware/comfortable_stop } - - - path: /hardware/pull_over_available - type: and - list: - - { type: link, link: /hardware/emergency_stop } - - { type: link, link: /hardware/comfortable_stop } - - - path: /hardware/comfortable_stop_available - type: and - list: - - { type: link, link: /hardware/emergency_stop } - - # ******************************************************************************* - # NOTE: Please modify this section according to your environment and requirements. - # ******************************************************************************* - - path: /hardware/emergency_stop - type: and - list: - - { type: link, link: /hardware/cpu/002-usage-error } - - { type: link, link: /hardware/cpu/004-throttling-error } - - { type: link, link: /hardware/hdd/001-temperature-error } - - { type: link, link: /hardware/hdd/003-connection-error } - - { type: link, link: /hardware/hdd/006-soft_error-error } - - { type: link, link: /hardware/hdd/007-load-error } - - { type: link, link: /hardware/memory/001-usage-error } - - { type: link, link: /hardware/memory/002-ecc-error } - - { type: link, link: /hardware/network/003-crc-error } - - { type: link, link: /hardware/network/004-packet_reassembles-error } - - { type: link, link: /hardware/gpu/001-temperature-error } - - { type: link, link: /hardware/gpu/002-usage-error } - - { type: link, link: /hardware/gpu/003-memory-error } - - { type: link, link: /hardware/gpu/004-throttling-error } - - { type: link, link: /hardware/gpu/005-frequency-error } - - - path: /hardware/pull_over - 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 - - - path: /hardware/none - type: and - list: - - { type: link, link: /hardware/cpu/001-temperature } - - { type: link, link: /hardware/cpu/003-load_average } - - { type: link, link: /hardware/cpu/005-frequency } - - { type: link, link: /hardware/hdd/004-total_written } - - { type: link, link: /hardware/hdd/005-warranty_period } - - { type: link, link: /hardware/network/001-usage } - - { type: link, link: /hardware/network/002-traffic } - - { type: link, link: /hardware/ntp/001-sync } - - { type: link, link: /hardware/process/001-summary } - - { type: link, link: /hardware/process/002-load } - - { type: link, link: /hardware/process/003-memory } - - { type: link, link: /hardware/bios/001-battery } - - # Intermediate paths - - path: /hardware/cpu/002-usage-error - type: warn-to-ok - list: - - { type: link, link: /hardware/cpu/002-usage } - - - path: /hardware/cpu/004-throttling-error - type: warn-to-ok - list: - - { 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 } - - - path: /hardware/hdd/002-usage-error - type: warn-to-ok - list: - - { 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 } - - - path: /hardware/hdd/006-soft_error-error - type: warn-to-ok - list: - - { 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 } - - - path: /hardware/memory/001-usage-error - type: warn-to-ok - list: - - { 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 } - - - path: /hardware/network/003-crc-error - type: warn-to-ok - list: - - { 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 } - - - path: /hardware/gpu/002-usage-error - type: warn-to-ok - list: - - { 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 } - - - path: /hardware/gpu/004-throttling-error - type: warn-to-ok - list: - - { 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 } - - - 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 - - path: /hardware/cpu/001-temperature - diag: "cpu_monitor: CPU Temperature" - type: diag - timeout: 3.0 - - path: /hardware/cpu/002-usage - diag: "cpu_monitor: CPU Usage" - type: diag - timeout: 3.0 - - path: /hardware/cpu/003-load_average - diag: "cpu_monitor: CPU Load Average" - type: diag - timeout: 3.0 - - path: /hardware/cpu/004-throttling - diag: "cpu_monitor: CPU Thermal Throttling" - type: diag - timeout: 3.0 - - path: /hardware/cpu/005-frequency - diag: "cpu_monitor: CPU Frequency" - type: diag - timeout: 3.0 - - - path: /hardware/hdd/001-temperature - diag: "hdd_monitor: HDD Temperature" - type: diag - timeout: 3.0 - - path: /hardware/hdd/002-usage - diag: "hdd_monitor: HDD Usage" - type: diag - timeout: 3.0 - - path: /hardware/hdd/003-connection - diag: "hdd_monitor: HDD Connection" - type: diag - timeout: 3.0 - - path: /hardware/hdd/004-total_written - diag: "hdd_monitor: HDD TotalDataWritten" - type: diag - timeout: 3.0 - - path: /hardware/hdd/005-warranty_period - diag: "hdd_monitor: HDD PowerOnHours" - type: diag - timeout: 3.0 - - path: /hardware/hdd/006-soft_error - diag: "hdd_monitor: HDD RecoveredError" - type: diag - timeout: 3.0 - - path: /hardware/hdd/007-load/read_rate - diag: "hdd_monitor: HDD ReadDataRate" - type: diag - timeout: 3.0 - - path: /hardware/hdd/007-load/write_rate - diag: "hdd_monitor: HDD WriteDataRate" - type: diag - timeout: 3.0 - - path: /hardware/hdd/007-load/read_iops - diag: "hdd_monitor: HDD ReadIOPS" - type: diag - timeout: 3.0 - - path: /hardware/hdd/007-load/write_iops - diag: "hdd_monitor: HDD WriteIOPS" - type: diag - timeout: 3.0 - - - path: /hardware/memory/001-usage - diag: "mem_monitor: Memory Usage" - type: diag - timeout: 3.0 - - path: /hardware/memory/002-ecc - diag: "mem_monitor: Memory ECC" - type: diag - timeout: 3.0 - - - path: /hardware/network/001-usage - diag: "net_monitor: Network Usage" - type: diag - timeout: 3.0 - - path: /hardware/network/002-traffic - diag: "net_monitor: Network Traffic" - type: diag - timeout: 3.0 - - path: /hardware/network/003-crc - diag: "net_monitor: Network CRC Error" - type: diag - timeout: 3.0 - - path: /hardware/network/004-packet_reassembles - diag: "net_monitor: IP Packet Reassembles Failed" - type: diag - timeout: 3.0 - - - path: /hardware/ntp/001-sync - diag: "ntp_monitor: NTP Offset" - type: diag - timeout: 10.0 - - - path: /hardware/process/001-summary - diag: "process_monitor: Tasks Summary" - type: diag - timeout: 3.0 - - path: /hardware/process/002-load/proc-0 - diag: "process_monitor: High-load Proc[0]" - type: diag - timeout: 3.0 - - path: /hardware/process/002-load/proc-1 - diag: "process_monitor: High-load Proc[1]" - type: diag - timeout: 3.0 - - path: /hardware/process/002-load/proc-2 - diag: "process_monitor: High-load Proc[2]" - type: diag - timeout: 3.0 - - path: /hardware/process/002-load/proc-3 - diag: "process_monitor: High-load Proc[3]" - type: diag - timeout: 3.0 - - path: /hardware/process/002-load/proc-4 - diag: "process_monitor: High-load Proc[4]" - type: diag - timeout: 3.0 - - path: /hardware/process/003-memory/proc-0 - diag: "process_monitor: High-mem Proc[0]" - type: diag - timeout: 3.0 - - path: /hardware/process/003-memory/proc-1 - diag: "process_monitor: High-mem Proc[1]" - type: diag - timeout: 3.0 - - path: /hardware/process/003-memory/proc-2 - diag: "process_monitor: High-mem Proc[2]" - type: diag - timeout: 3.0 - - path: /hardware/process/003-memory/proc-3 - diag: "process_monitor: High-mem Proc[3]" - type: diag - timeout: 3.0 - - path: /hardware/process/003-memory/proc-4 - diag: "process_monitor: High-mem Proc[4]" - type: diag - timeout: 3.0 - - - path: /hardware/gpu/001-temperature - diag: "gpu_monitor: GPU Temperature" - type: diag - timeout: 3.0 - - path: /hardware/gpu/002-usage - diag: "gpu_monitor: GPU Usage" - type: diag - timeout: 3.0 - - path: /hardware/gpu/003-memory - diag: "gpu_monitor: GPU Memory Usage" - type: diag - timeout: 3.0 - - path: /hardware/gpu/004-throttling - diag: "gpu_monitor: GPU Thermal Throttling" - type: diag - timeout: 3.0 - - path: /hardware/gpu/005-frequency - diag: "gpu_monitor: GPU Frequency" - type: diag - timeout: 3.0 - - - path: /hardware/bios/001-battery - diag: "voltage_monitor: CMOS Battery Status" - type: diag - 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/diagnostic_graph_aggregator/localization.yaml deleted file mode 100644 index fd3c75c85f..0000000000 --- a/autoware_launch/config/system/diagnostic_graph_aggregator/localization.yaml +++ /dev/null @@ -1,91 +0,0 @@ -nodes: - - path: /localization/autonomous_available - type: and - list: - - { type: link, link: /localization/emergency_stop } - - { type: link, link: /localization/pull_over } - - { type: link, link: /localization/comfortable_stop } - - - path: /localization/pull_over_available - type: and - list: - - { type: link, link: /localization/emergency_stop } - - { type: link, link: /localization/comfortable_stop } - - - path: /localization/comfortable_stop_available - type: and - list: - - { type: link, link: /localization/emergency_stop } - - # ******************************************************************************* - # NOTE: Please modify this section according to your environment and requirements. - # ******************************************************************************* - - path: /localization/emergency_stop - type: and - list: - - { type: link, link: /localization/001-topic_status/initialpose-error } - - { type: link, link: /localization/001-topic_status/pose_twist_fusion_filter-error } - - { type: link, link: /localization/002-tf-error } - - { type: link, link: /localization/003-matching_score-error } - - { type: link, link: /localization/004-accuracy-error } - - - path: /localization/comfortable_stop - type: and - - - path: /localization/pull_over - type: and - - - 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 } - - - 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 } - - - path: /localization/002-tf-error - type: warn-to-ok - list: - - { type: link, link: /localization/002-tf } - - - path: /localization/003-matching_score-error - type: warn-to-ok - list: - - { type: link, link: /localization/003-matching_score } - - - path: /localization/004-accuracy-error - type: warn-to-ok - list: - - { type: link, link: /localization/004-accuracy } - - # Diagnostics paths - - path: /localization/001-topic_status/initialpose - diag: "topic_state_monitor_initialpose3d: localization_topic_status" - type: diag - 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 - timeout: 1.0 - - - path: /localization/002-tf - diag: "topic_state_monitor_transform_map_to_base_link: localization_topic_status" - type: diag - timeout: 1.0 - - - path: /localization/003-matching_score - diag: ndt_scan_matcher - type: diag - timeout: 1.0 - - - path: /localization/004-accuracy - diag: "localization: localization_error_monitor" - type: diag - timeout: 1.0 diff --git a/autoware_launch/config/system/diagnostic_graph_aggregator/map.yaml b/autoware_launch/config/system/diagnostic_graph_aggregator/map.yaml deleted file mode 100644 index 4c2aa69c0e..0000000000 --- a/autoware_launch/config/system/diagnostic_graph_aggregator/map.yaml +++ /dev/null @@ -1,58 +0,0 @@ -nodes: - - path: /map/autonomous_available - type: and - list: - - { type: link, link: /map/emergency_stop } - - { type: link, link: /map/pull_over } - - { type: link, link: /map/comfortable_stop } - - - path: /map/pull_over_available - type: and - list: - - { type: link, link: /map/emergency_stop } - - { type: link, link: /map/comfortable_stop } - - - path: /map/comfortable_stop_available - type: and - list: - - { type: link, link: /map/emergency_stop } - - # ******************************************************************************* - # NOTE: Please modify this section according to your environment and requirements. - # ******************************************************************************* - - path: /map/emergency_stop - type: and - list: - - { type: link, link: /map/001-topic_status/vector_map-error } - - { type: link, link: /map/001-topic_status/pointcloud_map-error } - - - path: /map/comfortable_stop - type: and - - - path: /map/pull_over - type: and - - - 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 } - - - path: /map/001-topic_status/pointcloud_map-error - type: warn-to-ok - list: - - { 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 - timeout: 1.0 - - - path: /map/001-topic_status/pointcloud_map - diag: "topic_state_monitor_pointcloud_map: map_topic_status" - type: diag - timeout: 1.0 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/perception.yaml b/autoware_launch/config/system/diagnostic_graph_aggregator/perception.yaml deleted file mode 100644 index 425cb97e17..0000000000 --- a/autoware_launch/config/system/diagnostic_graph_aggregator/perception.yaml +++ /dev/null @@ -1,80 +0,0 @@ -nodes: - - path: /perception/autonomous_available - type: and - list: - - { type: link, link: /perception/emergency_stop } - - { type: link, link: /perception/pull_over } - - { type: link, link: /perception/comfortable_stop } - - - path: /perception/pull_over_available - type: and - list: - - { type: link, link: /perception/emergency_stop } - - { type: link, link: /perception/comfortable_stop } - - - path: /perception/comfortable_stop_available - type: and - list: - - { type: link, link: /perception/emergency_stop } - - # ******************************************************************************* - # NOTE: Please modify this section according to your environment and requirements. - # ******************************************************************************* - - path: /perception/emergency_stop - type: and - list: - - { type: link, link: /perception/001-topic_status/traffic_signals-error } - - { type: link, link: /perception/001-topic_status/objects-error } - - { type: link, link: /perception/001-topic_status/pointcloud-error } - - { type: link, link: /perception/002-detection_delay-error } - - - path: /perception/comfortable_stop - type: and - - - path: /perception/pull_over - type: and - - - 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 } - - - path: /perception/001-topic_status/objects-error - type: warn-to-ok - list: - - { 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 } - - - path: /perception/002-detection_delay-error - type: warn-to-ok - list: - - { 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 - timeout: 1.0 - - - path: /perception/001-topic_status/objects - diag: "topic_state_monitor_object_recognition_objects: perception_topic_status" - type: diag - timeout: 1.0 - - - path: /perception/001-topic_status/pointcloud - diag: "topic_state_monitor_obstacle_segmentation_pointcloud: perception_topic_status" - type: diag - timeout: 1.0 - - - path: /perception/002-detection_delay - diag: "multi_object_tracker: Perception delay check from original header stamp" - type: diag - timeout: 1.0 diff --git a/autoware_launch/config/system/diagnostic_graph_aggregator/planning.yaml b/autoware_launch/config/system/diagnostic_graph_aggregator/planning.yaml deleted file mode 100644 index 16aab65635..0000000000 --- a/autoware_launch/config/system/diagnostic_graph_aggregator/planning.yaml +++ /dev/null @@ -1,184 +0,0 @@ -nodes: - - path: /planning/autonomous_available - type: and - list: - - { type: link, link: /planning/emergency_stop } - - { type: link, link: /planning/pull_over } - - { type: link, link: /planning/comfortable_stop } - - - path: /planning/pull_over_available - type: and - list: - - { type: link, link: /planning/emergency_stop } - - { type: link, link: /planning/comfortable_stop } - - - path: /planning/comfortable_stop_available - type: and - list: - - { type: link, link: /planning/emergency_stop } - - # ******************************************************************************* - # NOTE: Please modify this section according to your environment and requirements. - # ******************************************************************************* - - path: /planning/emergency_stop - type: and - list: - - { type: link, link: /planning/001-topic_status/route-error } - - { type: link, link: /planning/001-topic_status/trajectory-error } - - { type: link, link: /planning/003-trajectory_finite_validation-error } - - { type: link, link: /planning/004-trajectory_interval_validation-error } - - { type: link, link: /planning/005-trajectory_curvature_validation-error } - - { type: link, link: /planning/006-trajectory_relative_angle_validation-error } - - { type: link, link: /planning/007-trajectory_lateral_acceleration_validation-error } - - { type: link, link: /planning/008-trajectory_acceleration_validation-error } - - { type: link, link: /planning/009-trajectory_deceleration_validation-error } - - { type: link, link: /planning/010-trajectory_steering_validation-error } - - { type: link, link: /planning/011-trajectory_steering_rate_validation-error } - - { type: link, link: /planning/012-trajectory_velocity_deviation_validation-error } - - { type: link, link: /planning/013-collision_checker-error } - - - path: /planning/comfortable_stop - type: and - - - path: /planning/pull_over - type: and - - - 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 } - - - path: /planning/001-topic_status/trajectory-error - type: warn-to-ok - list: - - { 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 } - - - path: /planning/004-trajectory_interval_validation-error - type: warn-to-ok - list: - - { 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 } - - - path: /planning/006-trajectory_relative_angle_validation-error - type: warn-to-ok - list: - - { 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 } - - - path: /planning/008-trajectory_acceleration_validation-error - type: warn-to-ok - list: - - { 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 } - - - path: /planning/010-trajectory_steering_validation-error - type: warn-to-ok - list: - - { 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 } - - - path: /planning/012-trajectory_velocity_deviation_validation-error - type: warn-to-ok - list: - - { 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 } - - # Diagnostics paths - - path: /planning/001-topic_status/route - diag: "topic_state_monitor_mission_planning_route: planning_topic_status" - type: diag - timeout: 1.0 - - - path: /planning/001-topic_status/trajectory - diag: "topic_state_monitor_scenario_planning_trajectory: planning_topic_status" - type: diag - 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 - timeout: 1.0 - - - path: /planning/004-trajectory_interval_validation - diag: "planning_validator: trajectory_validation_interval" - type: diag - timeout: 1.0 - - - path: /planning/005-trajectory_curvature_validation - diag: "planning_validator: trajectory_validation_curvature" - type: diag - timeout: 1.0 - - - path: /planning/006-trajectory_relative_angle_validation - diag: "planning_validator: trajectory_validation_relative_angle" - type: diag - timeout: 1.0 - - - path: /planning/007-trajectory_lateral_acceleration_validation - diag: "planning_validator: trajectory_validation_lateral_acceleration" - type: diag - timeout: 1.0 - - - path: /planning/008-trajectory_acceleration_validation - diag: "planning_validator: trajectory_validation_acceleration" - type: diag - timeout: 1.0 - - - path: /planning/009-trajectory_deceleration_validation - diag: "planning_validator: trajectory_validation_deceleration" - type: diag - timeout: 1.0 - - - path: /planning/010-trajectory_steering_validation - diag: "planning_validator: trajectory_validation_steering" - type: diag - timeout: 1.0 - - - path: /planning/011-trajectory_steering_rate_validation - diag: "planning_validator: trajectory_validation_steering_rate" - type: diag - timeout: 1.0 - - - path: /planning/012-trajectory_velocity_deviation_validation - diag: "planning_validator: trajectory_validation_velocity_deviation" - type: diag - timeout: 1.0 - - - path: /planning/013-collision_checker - diag: "collision_checker: collision_check" - type: diag - timeout: 1.0 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/system.yaml b/autoware_launch/config/system/diagnostic_graph_aggregator/system.yaml deleted file mode 100644 index f1405b1f36..0000000000 --- a/autoware_launch/config/system/diagnostic_graph_aggregator/system.yaml +++ /dev/null @@ -1,83 +0,0 @@ -nodes: - - path: /system/autonomous_available - type: and - list: - - { type: link, link: /system/emergency_stop } - - { type: link, link: /system/pull_over } - - { type: link, link: /system/comfortable_stop } - - - path: /system/pull_over_available - type: and - list: - - { type: link, link: /system/emergency_stop } - - { type: link, link: /system/comfortable_stop } - - - path: /system/comfortable_stop_available - type: and - list: - - { type: link, link: /system/emergency_stop } - - # ******************************************************************************* - # NOTE: Please modify this section according to your environment and requirements. - # ******************************************************************************* - - path: /system/emergency_stop - type: and - list: - - { type: link, link: /system/001-topic_status-error } - - { type: link, link: /system/002-emergency_stop_operation-error } - - - path: /system/comfortable_stop - type: and - - - path: /system/pull_over - type: and - 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 } - - # Intermediate paths - - path: /system/001-topic_status-error - type: warn-to-ok - list: - - { 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 } - - - path: /system/005-fms_connection-error - type: warn-to-ok - list: - - { 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 - timeout: 1.0 - - - path: /system/002-emergency_stop_operation - diag: "vehicle_cmd_gate: emergency_stop_operation" - type: diag - timeout: 1.0 - - - path: /system/003-bagpacker_status - diag: rosbag_status - type: diag - timeout: 3.0 - - - path: /system/004-bagpacker_disk_space - diag: disk_status - type: diag - timeout: 3.0 - - - path: /system/005-fms_connection - diag: edge_core_internet_connection - type: diag - timeout: 10.0 diff --git a/autoware_launch/config/system/diagnostic_graph_aggregator/vehicle.yaml b/autoware_launch/config/system/diagnostic_graph_aggregator/vehicle.yaml deleted file mode 100644 index 19f34ac02e..0000000000 --- a/autoware_launch/config/system/diagnostic_graph_aggregator/vehicle.yaml +++ /dev/null @@ -1,82 +0,0 @@ -nodes: - - path: /vehicle/autonomous_available - type: and - list: - - { type: link, link: /vehicle/emergency_stop } - - { type: link, link: /vehicle/pull_over } - - { type: link, link: /vehicle/comfortable_stop } - - - path: /vehicle/pull_over_available - type: and - list: - - { type: link, link: /vehicle/emergency_stop } - - { type: link, link: /vehicle/comfortable_stop } - - - path: /vehicle/comfortable_stop_available - type: and - list: - - { type: link, link: /vehicle/emergency_stop } - - # ******************************************************************************* - # NOTE: Please modify this section according to your environment and requirements. - # ******************************************************************************* - - path: /vehicle/emergency_stop - type: and - list: - - { type: link, link: /vehicle/001-topic_status/velocity-error } - - { type: link, link: /vehicle/001-topic_status/steering-error } - - { type: link, link: /vehicle/005-vehicle_heartbeat-error } - - { type: link, link: /vehicle/006-vehicle_errors-error } - - - path: /vehicle/comfortable_stop - type: and - list: - - { type: link, link: /vehicle/006-vehicle_errors } - - - path: /vehicle/pull_over - type: and - - - 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 } - - - path: /vehicle/001-topic_status/steering-error - type: warn-to-ok - list: - - { 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 } - - - path: /vehicle/006-vehicle_errors-error - type: warn-to-ok - list: - - { 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 - timeout: 1.0 - - - path: /vehicle/001-topic_status/steering - diag: "topic_state_monitor_vehicle_status_steering_status: vehicle_topic_status" - type: diag - timeout: 1.0 - - - path: /vehicle/005-vehicle_heartbeat - diag: "j6_interface: vehicle_heartbeat_errors" - type: diag - timeout: 1.0 - - - path: /vehicle/006-vehicle_errors - diag: "j6_interface: vehicle_errors" - type: diag - timeout: 1.0 diff --git a/autoware_launch/launch/planning_simulator.launch.xml b/autoware_launch/launch/planning_simulator.launch.xml index 88712916b1..8aad52f2b7 100644 --- a/autoware_launch/launch/planning_simulator.launch.xml +++ b/autoware_launch/launch/planning_simulator.launch.xml @@ -61,7 +61,7 @@ - + From 7918ffdfe1a2a69a101c16eb12c1297790060a4f Mon Sep 17 00:00:00 2001 From: Shohei Sakai Date: Fri, 12 Jul 2024 15:14:41 +0900 Subject: [PATCH 06/11] add sensing componet diag to system diagnostic monitor --- .../autoware-main.yaml | 4 + .../system_diagnostic_monitor/sensing.yaml | 209 ++++++++++++++++++ 2 files changed, 213 insertions(+) create mode 100644 autoware_launch/config/system/system_diagnostic_monitor/sensing.yaml diff --git a/autoware_launch/config/system/system_diagnostic_monitor/autoware-main.yaml b/autoware_launch/config/system/system_diagnostic_monitor/autoware-main.yaml index 3f3b855640..773338c8db 100644 --- a/autoware_launch/config/system/system_diagnostic_monitor/autoware-main.yaml +++ b/autoware_launch/config/system/system_diagnostic_monitor/autoware-main.yaml @@ -6,6 +6,7 @@ files: - { path: $(dirname)/perception.yaml } - { path: $(dirname)/planning.yaml } - { path: $(dirname)/others.yaml } + - { path: $(dirname)/sensing.yaml } - { path: $(dirname)/system.yaml } - { path: $(dirname)/vehicle.yaml } @@ -29,6 +30,7 @@ units: - { type: link, link: /perception/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 } @@ -42,6 +44,7 @@ units: - { type: link, link: /perception/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 } @@ -55,6 +58,7 @@ units: - { type: link, link: /perception/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 } 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..ace203202e --- /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 \ No newline at end of file From aa08228a3712de0604aeee0fd1f2da5a64ddaacc Mon Sep 17 00:00:00 2001 From: saka1-s Date: Fri, 12 Jul 2024 06:17:07 +0000 Subject: [PATCH 07/11] style(pre-commit): autofix --- .../system/diagnostic_graph_aggregator/autoware-main.yaml | 4 +++- .../system/diagnostic_graph_aggregator/autoware-psim.yaml | 4 +++- .../system/system_diagnostic_monitor/autoware-main.yaml | 1 - .../config/system/system_diagnostic_monitor/control.yaml | 2 +- .../config/system/system_diagnostic_monitor/hardware.yaml | 2 +- .../config/system/system_diagnostic_monitor/localization.yaml | 2 +- .../config/system/system_diagnostic_monitor/map.yaml | 2 +- .../config/system/system_diagnostic_monitor/others.yaml | 4 ++-- .../config/system/system_diagnostic_monitor/perception.yaml | 2 +- .../config/system/system_diagnostic_monitor/planning.yaml | 4 ++-- .../config/system/system_diagnostic_monitor/sensing.yaml | 2 +- .../config/system/system_diagnostic_monitor/system.yaml | 2 +- .../config/system/system_diagnostic_monitor/vehicle.yaml | 2 +- 13 files changed, 18 insertions(+), 15 deletions(-) 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 c5f2a033fe..f79f17398b 100644 --- a/autoware_launch/config/system/diagnostic_graph_aggregator/autoware-main.yaml +++ b/autoware_launch/config/system/diagnostic_graph_aggregator/autoware-main.yaml @@ -1,2 +1,4 @@ files: - - { path: $(find-pkg-share autoware_launch)/config/system/system_diagnostic_monitor/autoware-main.yaml } \ No newline at end of file + - { + 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 1b6060f84c..f7e89443a8 100644 --- a/autoware_launch/config/system/diagnostic_graph_aggregator/autoware-psim.yaml +++ b/autoware_launch/config/system/diagnostic_graph_aggregator/autoware-psim.yaml @@ -1,2 +1,4 @@ files: - - { path: $(find-pkg-share autoware_launch)/config/system/system_diagnostic_monitor/autoware-psim.yaml } \ No newline at end of file + - { + path: $(find-pkg-share autoware_launch)/config/system/system_diagnostic_monitor/autoware-psim.yaml, + } diff --git a/autoware_launch/config/system/system_diagnostic_monitor/autoware-main.yaml b/autoware_launch/config/system/system_diagnostic_monitor/autoware-main.yaml index 773338c8db..29ab9d11b0 100644 --- a/autoware_launch/config/system/system_diagnostic_monitor/autoware-main.yaml +++ b/autoware_launch/config/system/system_diagnostic_monitor/autoware-main.yaml @@ -64,4 +64,3 @@ units: - path: /autoware/modes/emergency_stop type: ok - diff --git a/autoware_launch/config/system/system_diagnostic_monitor/control.yaml b/autoware_launch/config/system/system_diagnostic_monitor/control.yaml index 06a3f77863..92bde38413 100644 --- a/autoware_launch/config/system/system_diagnostic_monitor/control.yaml +++ b/autoware_launch/config/system/system_diagnostic_monitor/control.yaml @@ -120,4 +120,4 @@ units: type: diag node: slip_detector name: slip_status - timeout: 3.0 \ No newline at end of file + timeout: 3.0 diff --git a/autoware_launch/config/system/system_diagnostic_monitor/hardware.yaml b/autoware_launch/config/system/system_diagnostic_monitor/hardware.yaml index 241d90bd30..20a3b069af 100644 --- a/autoware_launch/config/system/system_diagnostic_monitor/hardware.yaml +++ b/autoware_launch/config/system/system_diagnostic_monitor/hardware.yaml @@ -362,4 +362,4 @@ units: type: diag node: voltage_monitor name: CMOS Battery Status - timeout: 3.0 \ No newline at end of file + timeout: 3.0 diff --git a/autoware_launch/config/system/system_diagnostic_monitor/localization.yaml b/autoware_launch/config/system/system_diagnostic_monitor/localization.yaml index 4e47de5621..45adcac68e 100644 --- a/autoware_launch/config/system/system_diagnostic_monitor/localization.yaml +++ b/autoware_launch/config/system/system_diagnostic_monitor/localization.yaml @@ -96,4 +96,4 @@ units: type: diag node: localization name: localization_error_monitor - timeout: 1.0 \ No newline at end of file + timeout: 1.0 diff --git a/autoware_launch/config/system/system_diagnostic_monitor/map.yaml b/autoware_launch/config/system/system_diagnostic_monitor/map.yaml index 69e7638b65..685956f160 100644 --- a/autoware_launch/config/system/system_diagnostic_monitor/map.yaml +++ b/autoware_launch/config/system/system_diagnostic_monitor/map.yaml @@ -57,4 +57,4 @@ units: type: diag node: topic_state_monitor_pointcloud_map name: map_topic_status - timeout: 1.0 \ No newline at end of file + 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 index a54272fca2..56599c8434 100644 --- a/autoware_launch/config/system/system_diagnostic_monitor/others.yaml +++ b/autoware_launch/config/system/system_diagnostic_monitor/others.yaml @@ -31,7 +31,7 @@ units: - path: /others/comfortable_stop type: and # list: - # - { type: link, link: /others/010-emergency_vehicle-error } + # - { type: link, link: /others/010-emergency_vehicle-error } - path: /others/pull_over type: and @@ -160,4 +160,4 @@ units: type: diag node: vehicle_stuck_checker name: vehicle_stuck_check - timeout: 3.0 \ No newline at end of file + timeout: 3.0 diff --git a/autoware_launch/config/system/system_diagnostic_monitor/perception.yaml b/autoware_launch/config/system/system_diagnostic_monitor/perception.yaml index 5614d115c7..273e7ada84 100644 --- a/autoware_launch/config/system/system_diagnostic_monitor/perception.yaml +++ b/autoware_launch/config/system/system_diagnostic_monitor/perception.yaml @@ -83,4 +83,4 @@ units: type: diag node: multi_object_tracker name: Perception delay check from original header stamp - timeout: 1.0 \ No newline at end of file + timeout: 1.0 diff --git a/autoware_launch/config/system/system_diagnostic_monitor/planning.yaml b/autoware_launch/config/system/system_diagnostic_monitor/planning.yaml index 9487fee709..e983c9e799 100644 --- a/autoware_launch/config/system/system_diagnostic_monitor/planning.yaml +++ b/autoware_launch/config/system/system_diagnostic_monitor/planning.yaml @@ -45,7 +45,7 @@ units: - path: /planning/none type: and - + - path: /planning/001-topic_status/route-error type: warn-to-ok item: @@ -200,4 +200,4 @@ units: type: diag node: collision_checker name: collision_check - timeout: 1.0 \ No newline at end of file + 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 index ace203202e..1570f86de9 100644 --- a/autoware_launch/config/system/system_diagnostic_monitor/sensing.yaml +++ b/autoware_launch/config/system/system_diagnostic_monitor/sensing.yaml @@ -206,4 +206,4 @@ units: type: diag node: topic_state_monitor_radar_rear_right name: radar_rear_right_topic_status - timeout: 1.0 \ No newline at end of file + timeout: 1.0 diff --git a/autoware_launch/config/system/system_diagnostic_monitor/system.yaml b/autoware_launch/config/system/system_diagnostic_monitor/system.yaml index 0e15251542..7b41213c44 100644 --- a/autoware_launch/config/system/system_diagnostic_monitor/system.yaml +++ b/autoware_launch/config/system/system_diagnostic_monitor/system.yaml @@ -32,7 +32,7 @@ units: - path: /system/pull_over type: and # list: - # - { type: link, link: /system/005-fms_connection-error } + # - { type: link, link: /system/005-fms_connection-error } # - path: /system/none # type: and diff --git a/autoware_launch/config/system/system_diagnostic_monitor/vehicle.yaml b/autoware_launch/config/system/system_diagnostic_monitor/vehicle.yaml index 69bd1e2ba0..48c0ac97b4 100644 --- a/autoware_launch/config/system/system_diagnostic_monitor/vehicle.yaml +++ b/autoware_launch/config/system/system_diagnostic_monitor/vehicle.yaml @@ -85,4 +85,4 @@ units: type: diag node: j6_interface name: vehicle_errors - timeout: 1.0 \ No newline at end of file + timeout: 1.0 From 5e235b68639bfedbfcc1f28fd06fb70c7559f9f9 Mon Sep 17 00:00:00 2001 From: Shohei Sakai Date: Fri, 12 Jul 2024 15:59:38 +0900 Subject: [PATCH 08/11] remove imu_monitor from system_diagnostic_monitor --- .../system_diagnostic_monitor/sensing.yaml | 36 +++++++++---------- 1 file changed, 18 insertions(+), 18 deletions(-) diff --git a/autoware_launch/config/system/system_diagnostic_monitor/sensing.yaml b/autoware_launch/config/system/system_diagnostic_monitor/sensing.yaml index 1570f86de9..748d9f4e42 100644 --- a/autoware_launch/config/system/system_diagnostic_monitor/sensing.yaml +++ b/autoware_launch/config/system/system_diagnostic_monitor/sensing.yaml @@ -23,8 +23,8 @@ units: - 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/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 } @@ -52,11 +52,11 @@ units: # 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/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 @@ -121,17 +121,17 @@ units: - { 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/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 From 0a94ddc38fb3180159dd65f5412743d66f11d34b Mon Sep 17 00:00:00 2001 From: Shohei Sakai Date: Fri, 12 Jul 2024 16:08:49 +0900 Subject: [PATCH 09/11] disable sensing diag until aip_launcher fixed --- .../system/system_diagnostic_monitor/autoware-main.yaml | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/autoware_launch/config/system/system_diagnostic_monitor/autoware-main.yaml b/autoware_launch/config/system/system_diagnostic_monitor/autoware-main.yaml index 29ab9d11b0..371b866497 100644 --- a/autoware_launch/config/system/system_diagnostic_monitor/autoware-main.yaml +++ b/autoware_launch/config/system/system_diagnostic_monitor/autoware-main.yaml @@ -6,7 +6,7 @@ files: - { path: $(dirname)/perception.yaml } - { path: $(dirname)/planning.yaml } - { path: $(dirname)/others.yaml } - - { path: $(dirname)/sensing.yaml } + # - { path: $(dirname)/sensing.yaml } - { path: $(dirname)/system.yaml } - { path: $(dirname)/vehicle.yaml } @@ -30,7 +30,7 @@ units: - { type: link, link: /perception/autonomous_available } - { type: link, link: /planning/autonomous_available } - { type: link, link: /others/autonomous_available } - - { type: link, link: /sensing/autonomous_available } + # - { type: link, link: /sensing/autonomous_available } - { type: link, link: /system/autonomous_available } - { type: link, link: /vehicle/autonomous_available } @@ -44,7 +44,7 @@ units: - { type: link, link: /perception/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: /sensing/pull_over_available } - { type: link, link: /system/pull_over_available } - { type: link, link: /vehicle/pull_over_available } @@ -58,7 +58,7 @@ units: - { type: link, link: /perception/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: /sensing/comfortable_stop_available } - { type: link, link: /system/comfortable_stop_available } - { type: link, link: /vehicle/comfortable_stop_available } From 7ab712e859e08c6eba358b8459408ad8f7db8677 Mon Sep 17 00:00:00 2001 From: Shohei Sakai Date: Fri, 12 Jul 2024 18:23:43 +0900 Subject: [PATCH 10/11] prepare diag configuration for planning simulation --- .../autoware-psim.yaml | 58 ++++++++++++++++--- .../launch/planning_simulator.launch.xml | 2 +- 2 files changed, 51 insertions(+), 9 deletions(-) diff --git a/autoware_launch/config/system/system_diagnostic_monitor/autoware-psim.yaml b/autoware_launch/config/system/system_diagnostic_monitor/autoware-psim.yaml index 3d55079229..673b1911b0 100644 --- a/autoware_launch/config/system/system_diagnostic_monitor/autoware-psim.yaml +++ b/autoware_launch/config/system/system_diagnostic_monitor/autoware-psim.yaml @@ -1,11 +1,53 @@ files: - - { path: $(find-pkg-share system_diagnostic_monitor)/config/autoware-main.yaml } + - { path: $(dirname)/map.yaml } + - { path: $(dirname)/planning.yaml } + - { path: $(dirname)/control.yaml } + - { path: $(dirname)/system.yaml } +# Exclude paths that does not need on planning simulator edits: - - { type: remove, path: /autoware/map/topic_rate_check/pointcloud_map } - - { type: remove, path: /autoware/localization/scan_matching_status } - - { type: remove, path: /autoware/localization/accuracy } - - { type: remove, path: /autoware/localization/sensor_fusion_status } - - { type: remove, path: /autoware/localization/topic_rate_check/pose_twist_fusion } - - { type: remove, path: /autoware/perception/topic_rate_check/pointcloud } - - { type: remove, path: /autoware/control/emergency_braking } + - { 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 + + - 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: /map/autonomous_available } + - { type: link, link: /planning/autonomous_available } + - { type: link, link: /control/autonomous_available } + - { type: link, link: /system/autonomous_available } + + - path: /autoware/modes/pull_over + type: and + list: + - { type: link, link: /map/pull_over_available } + - { type: link, link: /planning/pull_over_available } + - { type: link, link: /control/pull_over_available } + - { type: link, link: /system/pull_over_available } + + - path: /autoware/modes/comfortable_stop + type: and + list: + - { type: link, link: /map/comfortable_stop_available } + - { type: link, link: /planning/comfortable_stop_available } + - { type: link, link: /control/comfortable_stop_available } + - { type: link, link: /system/comfortable_stop_available } + + # Emergency stop is always available + - path: /autoware/modes/emergency_stop + type: ok \ No newline at end of file diff --git a/autoware_launch/launch/planning_simulator.launch.xml b/autoware_launch/launch/planning_simulator.launch.xml index 8aad52f2b7..88712916b1 100644 --- a/autoware_launch/launch/planning_simulator.launch.xml +++ b/autoware_launch/launch/planning_simulator.launch.xml @@ -61,7 +61,7 @@ - + From 04b703502c2d77422bb37de3238c222704078684 Mon Sep 17 00:00:00 2001 From: saka1-s Date: Fri, 12 Jul 2024 09:25:22 +0000 Subject: [PATCH 11/11] style(pre-commit): autofix --- .../config/system/system_diagnostic_monitor/autoware-psim.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/autoware_launch/config/system/system_diagnostic_monitor/autoware-psim.yaml b/autoware_launch/config/system/system_diagnostic_monitor/autoware-psim.yaml index 673b1911b0..9a86156f65 100644 --- a/autoware_launch/config/system/system_diagnostic_monitor/autoware-psim.yaml +++ b/autoware_launch/config/system/system_diagnostic_monitor/autoware-psim.yaml @@ -50,4 +50,4 @@ units: # Emergency stop is always available - path: /autoware/modes/emergency_stop - type: ok \ No newline at end of file + type: ok