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feat(diagnostic_graph_aggregator): add config files for gen2 (autowarefoundation#1144)
* create sensing and hardware diagnostic config files for gen2 Signed-off-by: Ericpotato <[email protected]> * set sensing diagnostic config for gen2 Signed-off-by: Ericpotato <[email protected]> * style(pre-commit): autofix * change pndr abbreviation to full name pandar Signed-off-by: Ericpotato <[email protected]> * change diagnostic_graph_aggregator entrance for gen2 Signed-off-by: Ericpotato <[email protected]> * style(pre-commit): autofix * fix typo Signed-off-by: Ericpotato <[email protected]> * style(pre-commit): autofix * fix typo, fix diagnostic_graph_aggregator entrance Signed-off-by: Ericpotato <[email protected]> * fix lsim diagnostic_graph_aggregator entrance Signed-off-by: Ericpotato <[email protected]> * fix gyro_bias node and name, comment out cameras on addon ECU Signed-off-by: Ericpotato <[email protected]> * fix comments Signed-off-by: Ericpotato <[email protected]> * change lsim diagnostic_graph_aggregator config path Signed-off-by: Ericpotato <[email protected]> * style(pre-commit): autofix --------- Signed-off-by: Ericpotato <[email protected]>
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‎autoware_launch/config/system/tier4_diagnostics/autoware-main_gen2.yaml

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files:
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- { path: $(dirname)/control.yaml }
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- { path: $(dirname)/hardware.yaml }
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- { path: $(dirname)/localization.yaml }
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- { path: $(dirname)/map.yaml }
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- { path: $(dirname)/perception.yaml }
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- { path: $(dirname)/planning.yaml }
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# - { path: $(dirname)/others.yaml }
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- { path: $(dirname)/sensing_gen2.yaml }
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- { path: $(dirname)/system.yaml }
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- { path: $(dirname)/vehicle.yaml }
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units:
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- path: /autoware/modes/local
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type: ok
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- path: /autoware/modes/remote
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type: ok
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- path: /autoware/modes/stop
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type: ok
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- path: /autoware/modes/autonomous
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type: and
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list:
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- { type: link, link: /control/autonomous_available }
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- { type: link, link: /hardware/autonomous_available }
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- { type: link, link: /localization/autonomous_available }
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- { type: link, link: /map/autonomous_available }
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- { type: link, link: /perception/autonomous_available }
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- { type: link, link: /planning/autonomous_available }
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- { type: link, link: /sensing/autonomous_available }
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- { type: link, link: /system/autonomous_available }
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- { type: link, link: /vehicle/autonomous_available }
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- path: /autoware/modes/pull_over
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type: and
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list:
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- { type: link, link: /control/pull_over_available }
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- { type: link, link: /hardware/pull_over_available }
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- { type: link, link: /localization/pull_over_available }
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- { type: link, link: /map/pull_over_available }
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- { type: link, link: /perception/pull_over_available }
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- { type: link, link: /planning/pull_over_available }
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- { type: link, link: /sensing/pull_over_available }
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- { type: link, link: /system/pull_over_available }
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- { type: link, link: /vehicle/pull_over_available }
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- path: /autoware/modes/comfortable_stop
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type: and
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list:
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- { type: link, link: /control/comfortable_stop_available }
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- { type: link, link: /hardware/comfortable_stop_available }
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- { type: link, link: /localization/comfortable_stop_available }
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- { type: link, link: /map/comfortable_stop_available }
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- { type: link, link: /perception/comfortable_stop_available }
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- { type: link, link: /planning/comfortable_stop_available }
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- { type: link, link: /sensing/comfortable_stop_available }
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- { type: link, link: /system/comfortable_stop_available }
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- { type: link, link: /vehicle/comfortable_stop_available }
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- path: /autoware/modes/emergency_stop
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type: ok
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- path: /autoware/debug/tools
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type: and
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list:
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- { type: link, link: /autoware/system/service_log_checker }
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- path: /autoware/system/service_log_checker
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type: diag
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node: service_log_checker
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name: response_status

‎autoware_launch/config/system/tier4_diagnostics/sensing_gen2.yaml

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units:
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- path: /sensing/autonomous_available
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type: and
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list:
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- { type: link, link: /sensing/emergency_stop }
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- { type: link, link: /sensing/pull_over }
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- { type: link, link: /sensing/comfortable_stop }
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- path: /sensing/pull_over_available
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type: and
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list:
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- { type: link, link: /sensing/emergency_stop }
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- { type: link, link: /sensing/comfortable_stop }
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- path: /sensing/comfortable_stop_available
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type: and
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list:
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- { type: link, link: /sensing/emergency_stop }
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# ***************************************************
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- path: /sensing/emergency_stop
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type: and
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list:
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- { type: link, link: /sensing/imu/002-connection }
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- { type: link, link: /sensing/lidar/concat/001-status }
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- { type: link, link: /sensing/lidar/pandar/001-connection }
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- { type: link, link: /sensing/lidar/pandar/002-temperature }
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- { type: link, link: /sensing/lidar/pandar/003-ptp }
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# - { type: link, link: /sensing/lidar/pandar/004-rpm } # Not in use
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# - { type: link, link: /sensing/lidar/pandar/005-voltage } # Not in use
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- { type: link, link: /sensing/camera/001-connection }
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- path: /sensing/pull_over
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type: and
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- path: /sensing/comfortable_stop
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type: and
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list:
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- { type: link, link: /sensing/lidar/pandar/002-temperature }
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- path: /sensing/none
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type: and
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list:
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- { type: link, link: /sensing/imu/003-gyro_bias }
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# ***************************************************
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# Intermediate paths
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# camera 1, 7 and 8 on the addon ECU are not in use
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- path: /sensing/camera/001-connection
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type: and
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list:
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- { type: link, link: /sensing/camera/0/connection }
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# - { type: link, link: /sensing/camera/1/connection }
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- { type: link, link: /sensing/camera/2/connection }
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- { type: link, link: /sensing/camera/3/connection }
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- { type: link, link: /sensing/camera/4/connection }
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- { type: link, link: /sensing/camera/5/connection }
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- { type: link, link: /sensing/camera/6/connection }
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# - { type: link, link: /sensing/camera/7/connection }
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# - { type: link, link: /sensing/camera/8/connection }
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- { type: link, link: /sensing/camera/9/connection }
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- { type: link, link: /sensing/camera/10/connection }
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- path: /sensing/lidar/pandar/001-connection
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type: and
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list:
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- { type: link, link: /sensing/lidar/front_left/connection }
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- { type: link, link: /sensing/lidar/front_right/connection }
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- { type: link, link: /sensing/lidar/side_left/connection }
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- { type: link, link: /sensing/lidar/side_right/connection }
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- { type: link, link: /sensing/lidar/top/connection }
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# - { type: link, link: /sensing/lidar/rear/connection }
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- path: /sensing/lidar/pandar/002-temperature
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type: and
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list:
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- { type: link, link: /sensing/lidar/front_left/temperature }
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- { type: link, link: /sensing/lidar/front_right/temperature }
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- { type: link, link: /sensing/lidar/side_left/temperature }
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- { type: link, link: /sensing/lidar/side_right/temperature }
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- { type: link, link: /sensing/lidar/top/temperature }
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# - { type: link, link: /sensing/lidar/rear/temperature }
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- path: /sensing/lidar/pandar/003-ptp
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type: and
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list:
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- { type: link, link: /sensing/lidar/front_left/ptp }
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- { type: link, link: /sensing/lidar/front_right/ptp }
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- { type: link, link: /sensing/lidar/side_left/ptp }
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- { type: link, link: /sensing/lidar/side_right/ptp }
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- { type: link, link: /sensing/lidar/top/ptp }
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# - { type: link, link: /sensing/lidar/rear/ptp }
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# ***************************************************
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# Diagnostics paths
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# The error code 001-connection simply follows pilot-auo vanilla's convention
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# xx1 does not estimate yaw_rate_status
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# - path: /sensing/imu/001-monitor
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# type: diag
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# node: imu_monitor
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# name: yaw_rate_status
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# timeout: 5.0
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- path: /sensing/imu/002-connection
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type: diag
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node: topic_state_monitor_imu
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name: sensing_topic_status
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timeout: 1.0
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- path: /sensing/imu/003-gyro_bias
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type: diag
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node: gyro_bias_validator
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name: gyro_bias_validator
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timeout: 1.0
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- path: /sensing/camera/0/connection
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type: diag
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node: topic_state_monitor_camera0
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name: sensing_topic_status
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timeout: 1.0
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# # camera 1, 7 and 8 on the addon ECU are not in use
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# - path: /sensing/camera/1/connection
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# type: diag
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# node: topic_state_monitor_camera1
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# name: sensing_topic_status
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# timeout: 1.0
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- path: /sensing/camera/2/connection
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type: diag
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node: topic_state_monitor_camera2
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name: sensing_topic_status
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timeout: 1.0
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- path: /sensing/camera/3/connection
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type: diag
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node: topic_state_monitor_camera3
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name: sensing_topic_status
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timeout: 1.0
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- path: /sensing/camera/4/connection
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type: diag
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node: topic_state_monitor_camera4
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name: sensing_topic_status
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timeout: 1.0
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- path: /sensing/camera/5/connection
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type: diag
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node: topic_state_monitor_camera5
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name: sensing_topic_status
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timeout: 1.0
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- path: /sensing/camera/6/connection
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type: diag
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node: topic_state_monitor_camera6
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name: sensing_topic_status
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timeout: 1.0
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# camera 1, 7 and 8 on the addon ECU are not in use
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# - path: /sensing/camera/7/connection
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# type: diag
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# node: topic_state_monitor_camera7
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# name: sensing_topic_status
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# timeout: 1.0
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# - path: /sensing/camera/8/connection
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# type: diag
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# node: topic_state_monitor_camera8
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# name: sensing_topic_status
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# timeout: 1.0
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- path: /sensing/camera/9/connection
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type: diag
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node: topic_state_monitor_camera9
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name: sensing_topic_status
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timeout: 1.0
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- path: /sensing/camera/10/connection
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type: diag
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node: topic_state_monitor_camera10
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name: sensing_topic_status
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timeout: 1.0
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- path: /sensing/lidar/concat/001-status
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type: diag
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node: concatenate_data
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name: concat_status
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timeout: 1.0
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- path: /sensing/lidar/side_left/connection
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type: diag
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node: /sensing/lidar/side_left/hesai_ros_wrapper_node
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name: hesai_status
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timeout: 5.0
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- path: /sensing/lidar/side_left/ptp
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type: diag
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node: /sensing/lidar/side_left/hesai_ros_wrapper_node
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name: hesai_ptp
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timeout: 5.0
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- path: /sensing/lidar/side_left/temperature
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type: diag
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node: /sensing/lidar/side_left/hesai_ros_wrapper_node
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name: hesai_temperature
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timeout: 5.0
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- path: /sensing/lidar/side_right/connection
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type: diag
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node: /sensing/lidar/side_right/hesai_ros_wrapper_node
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name: hesai_status
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timeout: 5.0
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- path: /sensing/lidar/side_right/ptp
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type: diag
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node: /sensing/lidar/side_right/hesai_ros_wrapper_node
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name: hesai_ptp
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timeout: 5.0
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- path: /sensing/lidar/side_right/temperature
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type: diag
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node: /sensing/lidar/side_right/hesai_ros_wrapper_node
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name: hesai_temperature
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timeout: 5.0
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- path: /sensing/lidar/front_left/connection
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type: diag
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node: /sensing/lidar/front_left/hesai_ros_wrapper_node
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name: hesai_status
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timeout: 5.0
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- path: /sensing/lidar/front_left/ptp
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type: diag
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node: /sensing/lidar/front_left/hesai_ros_wrapper_node
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name: hesai_ptp
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timeout: 5.0
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- path: /sensing/lidar/front_left/temperature
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type: diag
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node: /sensing/lidar/front_left/hesai_ros_wrapper_node
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name: hesai_temperature
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timeout: 5.0
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- path: /sensing/lidar/front_right/connection
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type: diag
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node: /sensing/lidar/front_right/hesai_ros_wrapper_node
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name: hesai_status
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timeout: 5.0
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- path: /sensing/lidar/front_right/ptp
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type: diag
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node: /sensing/lidar/front_right/hesai_ros_wrapper_node
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name: hesai_ptp
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timeout: 5.0
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- path: /sensing/lidar/front_right/temperature
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type: diag
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node: /sensing/lidar/front_right/hesai_ros_wrapper_node
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name: hesai_temperature
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timeout: 5.0
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- path: /sensing/lidar/top/connection
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type: diag
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node: /sensing/lidar/top/hesai_ros_wrapper_node
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name: hesai_status
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timeout: 5.0
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- path: /sensing/lidar/top/ptp
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type: diag
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node: /sensing/lidar/top/hesai_ros_wrapper_node
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name: hesai_ptp
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timeout: 5.0
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- path: /sensing/lidar/top/temperature
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type: diag
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node: /sensing/lidar/top/hesai_ros_wrapper_node
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name: hesai_temperature
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timeout: 5.0
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# - path: /sensing/lidar/rear/connection
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# type: diag
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# node: /sensing/lidar/rear/hesai_ros_wrapper_node
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# name: hesai_status
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# timeout: 5.0
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# - path: /sensing/lidar/rear/ptp
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# type: diag
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# node: /sensing/lidar/rear/hesai_ros_wrapper_node
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# name: hesai_ptp
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# timeout: 5.0
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# - path: /sensing/lidar/rear/temperature
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# type: diag
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# node: /sensing/lidar/rear/hesai_ros_wrapper_node
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# name: hesai_temperature
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# timeout: 5.0

‎autoware_launch/launch/autoware.launch.xml

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<arg name="system_run_mode" default="online" description="run mode in system"/>
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<arg name="launch_system_monitor" default="true" description="launch system monitor"/>
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<arg name="launch_dummy_diag_publisher" default="false" description="launch dummy diag publisher"/>
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<arg name="diagnostic_graph_aggregator_graph_path" default="$(find-pkg-share autoware_launch)/config/system/tier4_diagnostics/autoware-main.yaml" description="diagnostic graph config"/>
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<let
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name="diagnostic_graph_aggregator_graph_path"
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value="$(find-pkg-share autoware_launch)/config/system/tier4_diagnostics/autoware-main_gen2.yaml"
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if="$(eval &quot;'aip_xx1_gen2' == '$(var sensor_model)'&quot;)"
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/>
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<let
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name="diagnostic_graph_aggregator_graph_path"
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value="$(find-pkg-share autoware_launch)/config/system/tier4_diagnostics/autoware-main.yaml"
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unless="$(eval &quot;'aip_xx1_gen2' == '$(var sensor_model)'&quot;)"
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/>
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<!-- Tools -->
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<arg name="rviz" default="true" description="launch rviz"/>
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<arg name="rviz_config_name" default="autoware.rviz" description="rviz config name"/>

‎autoware_launch/launch/components/tier4_system_component.launch.xml

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<?xml version="1.0"?>
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<launch>
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<arg name="diagnostic_graph_aggregator_param_path" default="$(find-pkg-share autoware_diagnostic_graph_aggregator)/config/default.param.yaml"/>
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<arg name="diagnostic_graph_aggregator_graph_path" default="$(find-pkg-share autoware_launch)/config/system/tier4_diagnostics/autoware-main.yaml"/>
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<arg
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name="diagnostic_graph_aggregator_graph_path"
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default="$(find-pkg-share autoware_launch)/config/system/tier4_diagnostics/autoware-main_gen2.yaml"
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if="$(eval &quot;'aip_xx1_gen2' == '$(var sensor_model)'&quot;)"
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/>
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<arg
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name="diagnostic_graph_aggregator_graph_path"
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default="$(find-pkg-share autoware_launch)/config/system/tier4_diagnostics/autoware-main.yaml"
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unless="$(eval &quot;'aip_xx1_gen2' == '$(var sensor_model)'&quot;)"
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/>
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<!-- Depending on the sensor_model, different topics should be monitored -->
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<let name="state_monitor_topic_yaml" value="topics_gen2.yaml" if="$(eval &quot;'aip_xx1_gen2' == '$(var sensor_model)'&quot;)"/>

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