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feat(psim, dummy_diag, diagnostic_graph_aggregator)!: launch dummy_diag_publisher #1220

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Nov 14, 2024
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feat(psim, dummy_diag, diagnostic_graph_aggregator)!: launch dummy_diag_publisher #1220

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b414e58
po
yuki-takagi-66 Nov 11, 2024
3147f3f
delete unused files
yuki-takagi-66 Nov 13, 2024
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4 changes: 2 additions & 2 deletions autoware_launch/config/system/diagnostic_graph_aggregator/autoware-psim.yaml
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Original file line number Diff line number Diff line change
@@ -1,2 +1,2 @@
files:
- { path: $(find-pkg-share autoware_launch)/config/system/system_diagnostic_monitor/autoware-psim.yaml }
# files:
# - { path: $(find-pkg-share autoware_launch)/config/system/system_diagnostic_monitor/autoware-psim.yaml }
21 changes: 20 additions & 1 deletion autoware_launch/config/system/dummy_diag_publisher/dummy_diag_publisher.param.yaml
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Expand Up @@ -14,4 +14,23 @@
/**:
ros__parameters:
required_diags:
dummy_diag_empty: default
# map
## /autoware/map/topic_rate_check/pointcloud_map
"topic_state_monitor_pointcloud_map: map_topic_status": default

# localization
## /autoware/localization/scan_matching_status
"ndt_scan_matcher: scan_matching_status": default

## /autoware/localization/accuracy
"localization_error_monitor: ellipse_error_status": default

## /autoware/localization/sensor_fusion_status
"localization: ekf_localizer": default

## /autoware/localization/topic_rate_check/pose_twist_fusion
"topic_state_monitor_pose_twist_fusion_filter_pose: localization_topic_status": default

# perception
## /autoware/perception/topic_rate_check/pointcloud
"topic_state_monitor_obstacle_segmentation_pointcloud: perception_topic_status": default
18 changes: 9 additions & 9 deletions autoware_launch/config/system/system_diagnostic_monitor/autoware-psim.yaml
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@@ -1,10 +1,10 @@
files:
- { path: $(dirname)/autoware-main.yaml }
# files:
# - { path: $(dirname)/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 }
# 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 }
4 changes: 2 additions & 2 deletions autoware_launch/launch/planning_simulator.launch.xml
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Expand Up @@ -18,7 +18,7 @@
<!-- System -->
<arg name="launch_dummy_doors" default="true" description="launch dummy doors simulation"/>
<arg name="launch_system_monitor" default="false" description="launch system monitor"/>
<arg name="launch_dummy_diag_publisher" default="false" description="launch dummy diag publisher"/>
<arg name="launch_dummy_diag_publisher" default="true" description="launch dummy diag publisher"/>
<!-- Scenario simulation -->
<arg name="initial_engage_state" default="true" description="/vehicle/engage state after starting Autoware"/>
<arg name="perception/enable_detection_failure" default="true" description="enable to simulate detection failure when using dummy perception"/>
Expand Down Expand Up @@ -68,7 +68,7 @@
<arg name="system_run_mode" value="planning_simulation"/>
<arg name="launch_system_monitor" value="$(var launch_system_monitor)"/>
<arg name="launch_dummy_diag_publisher" value="$(var launch_dummy_diag_publisher)"/>
<arg name="diagnostic_graph_aggregator_graph_path" value="$(find-pkg-share autoware_launch)/config/system/diagnostic_graph_aggregator/autoware-psim.yaml"/>
<arg name="diagnostic_graph_aggregator_graph_path" value="$(find-pkg-share autoware_launch)/config/system/diagnostic_graph_aggregator/autoware-main.yaml"/>
<!-- Map -->
<arg name="lanelet2_map_file" value="$(var lanelet2_map_file)"/>
<arg name="pointcloud_map_file" value="$(var pointcloud_map_file)"/>
Expand Down
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