Skip to content

Commit e8f3650

Browse files
isamu-takagiisamu-takagi
committed
update launch files
Signed-off-by: Takagi, Isamu <isamu.takagi@tier4.jp>
1 parent 7107486 commit e8f3650

File tree

2 files changed

+39
-35
lines changed

2 files changed

+39
-35
lines changed

‎launch/tier4_system_launch/launch/system.launch.xml

+37-35
Original file line numberDiff line numberDiff line change
@@ -25,11 +25,12 @@
2525
<arg name="run_mode" default="online" description="options: online, logging_simulation, planning_simulation"/>
2626
<arg name="sensor_model" description="sensor model name"/>
2727

28-
<arg name="use_diagnostic_graph" default="false" description="use diagnostic graph packages"/>
29-
<arg name="mrm_handler_param_path" if="$(var use_diagnostic_graph)"/>
30-
<arg name="diagnostic_graph_aggregator_param_path" if="$(var use_diagnostic_graph)"/>
31-
<arg name="diagnostic_graph_aggregator_graph_path_main" if="$(var use_diagnostic_graph)"/>
32-
<arg name="diagnostic_graph_aggregator_graph_path_psim" if="$(var use_diagnostic_graph)"/>
28+
<!-- Emergency handler will be replaced by MRM handler. -->
29+
<arg name="use_emergency_handler" default="true" description="use emergency handler packages"/>
30+
<arg name="mrm_handler_param_path"/>
31+
<arg name="diagnostic_graph_aggregator_param_path"/>
32+
<arg name="diagnostic_graph_aggregator_graph_path_main"/>
33+
<arg name="diagnostic_graph_aggregator_graph_path_psim"/>
3334

3435
<let name="sensor_launch_pkg" value="$(find-pkg-share $(var sensor_model)_launch)"/>
3536

@@ -57,6 +58,13 @@
5758
</include>
5859
</group>
5960

61+
<!-- Duplicated Node Checker -->
62+
<group>
63+
<include file="$(find-pkg-share duplicated_node_checker)/launch/duplicated_node_checker.launch.xml">
64+
<arg name="config_file" value="$(var duplicated_node_checker_param_path)"/>
65+
</include>
66+
</group>
67+
6068
<!-- Service Log Checker -->
6169
<group>
6270
<include file="$(find-pkg-share component_interface_tools)/launch/service_log_checker.launch.xml"/>
@@ -70,8 +78,20 @@
7078
</include>
7179
</group>
7280

81+
<!-- MRM Operator -->
82+
<group>
83+
<include file="$(find-pkg-share mrm_comfortable_stop_operator)/launch/mrm_comfortable_stop_operator.launch.py">
84+
<arg name="config_file" value="$(var mrm_comfortable_stop_operator_param_path)"/>
85+
</include>
86+
</group>
87+
<group>
88+
<include file="$(find-pkg-share mrm_emergency_stop_operator)/launch/mrm_emergency_stop_operator.launch.py">
89+
<arg name="config_file" value="$(var mrm_emergency_stop_operator_param_path)"/>
90+
</include>
91+
</group>
92+
7393
<!-- Error Monitor -->
74-
<group unless="$(var use_diagnostic_graph)">
94+
<group if="$(var use_emergency_handler)">
7595
<let name="config_file" value="$(var system_error_monitor_param_path)" if="$(eval &quot;'$(var run_mode)'=='online'&quot;)"/>
7696
<let name="config_file" value="$(var system_error_monitor_param_path)" if="$(eval &quot;'$(var run_mode)'=='logging_simulation'&quot;)"/>
7797
<let name="config_file" value="$(var system_error_monitor_planning_simulator_param_path)" if="$(eval &quot;'$(var run_mode)'=='planning_simulation'&quot;)"/>
@@ -85,52 +105,34 @@
85105
</group>
86106

87107
<!-- Emergency Handler -->
88-
<group unless="$(var use_diagnostic_graph)">
108+
<group if="$(var use_emergency_handler)">
89109
<include file="$(find-pkg-share emergency_handler)/launch/emergency_handler.launch.xml">
90110
<arg name="config_file" value="$(var emergency_handler_param_path)"/>
91111
</include>
92112
</group>
93113

94-
<group>
95-
<include file="$(find-pkg-share duplicated_node_checker)/launch/duplicated_node_checker.launch.xml">
96-
<arg name="config_file" value="$(var duplicated_node_checker_param_path)"/>
97-
</include>
98-
</group>
99-
100-
<!-- MRM Operator -->
101-
<group>
102-
<include file="$(find-pkg-share mrm_comfortable_stop_operator)/launch/mrm_comfortable_stop_operator.launch.py">
103-
<arg name="config_file" value="$(var mrm_comfortable_stop_operator_param_path)"/>
104-
</include>
105-
</group>
106-
<group>
107-
<include file="$(find-pkg-share mrm_emergency_stop_operator)/launch/mrm_emergency_stop_operator.launch.py">
108-
<arg name="config_file" value="$(var mrm_emergency_stop_operator_param_path)"/>
109-
</include>
110-
</group>
111-
112-
<!-- MRM Handler -->
113-
<group if="$(var use_diagnostic_graph)">
114-
<include file="$(find-pkg-share mrm_handler)/launch/mrm_handler.launch.xml">
115-
<arg name="config_file" value="$(var mrm_handler_param_path)"/>
116-
</include>
117-
</group>
118-
119114
<!-- Diagnostic Graph Aggregator -->
120-
<group if="$(var use_diagnostic_graph)">
115+
<group>
121116
<let name="diagnostic_graph_aggregator_graph_path" value="$(var diagnostic_graph_aggregator_graph_path_main)" if="$(eval &quot;'$(var run_mode)'=='online'&quot;)"/>
122117
<let name="diagnostic_graph_aggregator_graph_path" value="$(var diagnostic_graph_aggregator_graph_path_main)" if="$(eval &quot;'$(var run_mode)'=='logging_simulation'&quot;)"/>
123118
<let name="diagnostic_graph_aggregator_graph_path" value="$(var diagnostic_graph_aggregator_graph_path_psim)" if="$(eval &quot;'$(var run_mode)'=='planning_simulation'&quot;)"/>
124-
<include file="$(find-pkg-share diagnostic_graph_aggregator)/launch/aggregator.launch.xml">
119+
<include file="$(find-pkg-share system_diagnostic_monitor)/launch/system_diagnostic_monitor.launch.xml">
125120
<arg name="param_file" value="$(var diagnostic_graph_aggregator_param_path)"/>
126121
<arg name="graph_file" value="$(var diagnostic_graph_aggregator_graph_path)"/>
127122
</include>
128123
</group>
129124

130125
<!-- Hazard Status Converter -->
131-
<group if="$(var use_diagnostic_graph)">
126+
<group unless="$(var use_emergency_handler)">
132127
<include file="$(find-pkg-share hazard_status_converter)/launch/hazard_status_converter.launch.xml"/>
133128
</group>
129+
130+
<!-- MRM Handler -->
131+
<group unless="$(var use_emergency_handler)">
132+
<include file="$(find-pkg-share mrm_handler)/launch/mrm_handler.launch.xml">
133+
<arg name="config_file" value="$(var mrm_handler_param_path)"/>
134+
</include>
135+
</group>
134136
</group>
135137

136138
<!-- Dummy Diag Publisher -->

‎system/system_diagnostic_monitor/launch/system_diagnostic_monitor.launch.xml

+2
Original file line numberDiff line numberDiff line change
@@ -1,6 +1,8 @@
11
<launch>
2+
<arg name="param_file" default="$(find-pkg-share diagnostic_graph_aggregator)/config/default.param.yaml"/>
23
<arg name="graph_file" default="$(find-pkg-share system_diagnostic_monitor)/config/autoware-main.yaml"/>
34
<include file="$(find-pkg-share diagnostic_graph_aggregator)/launch/aggregator.launch.xml">
5+
<arg name="param_file" value="$(var param_file)"/>
46
<arg name="graph_file" value="$(var graph_file)"/>
57
</include>
68
<node pkg="system_diagnostic_monitor" exec="component_state_diagnostics" name="component_state_diagnostics"/>

0 commit comments

Comments
 (0)