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feat(system_diagnostic_monitor): add mrm recoverable option (autowarefoundation#847)
* feat: add mrm recoverable option Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * feat: add fatal_error path to implement MRM auto-recover Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> * set vehicle-emergency-button as fatal error Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp> --------- Signed-off-by: Tomohito Ando <tomohito.ando@tier4.jp>
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9 files changed

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‎autoware_launch/config/system/mrm_handler/mrm_handler.param.yaml

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@@ -11,6 +11,8 @@
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use_parking_after_stopped: false
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use_pull_over: false
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use_comfortable_stop: true
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is_mrm_recoverable: false
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use_pull_over_after_stopped: false
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# setting whether to turn hazard lamp on for each situation
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turning_hazard_on:

‎autoware_launch/config/system/system_diagnostic_monitor/autoware-main.yaml

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@@ -33,6 +33,7 @@ units:
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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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- { type: link, link: /autoware/fatal_error/autonomous_available }
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- path: /autoware/modes/pull_over
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type: and
@@ -47,6 +48,7 @@ units:
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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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- { type: link, link: /autoware/fatal_error/pull_over_available }
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- path: /autoware/modes/comfortable_stop
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type: and
@@ -61,6 +63,37 @@ units:
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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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- { type: link, link: /autoware/fatal_error/comfortable_stop_available }
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- path: /autoware/fatal_error/autonomous_available
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type: and
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list:
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- { type: link, link: /hardware/fatal_error/autonomous_available }
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- { type: link, link: /planning/fatal_error/autonomous_available }
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- { type: link, link: /control/fatal_error/autonomous_available }
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- { type: link, link: /vehicle/fatal_error/autonomous_available }
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- { type: link, link: /system/fatal_error/autonomous_available }
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- { type: link, link: /others/fatal_error/autonomous_available }
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- path: /autoware/fatal_error/pull_over_available
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type: and
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list:
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- { type: link, link: /hardware/fatal_error/pull_over_available }
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- { type: link, link: /planning/fatal_error/pull_over_available }
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- { type: link, link: /control/fatal_error/pull_over_available }
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- { type: link, link: /vehicle/fatal_error/pull_over_available }
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- { type: link, link: /system/fatal_error/pull_over_available }
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- { type: link, link: /others/fatal_error/pull_over_available }
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- path: /autoware/fatal_error/comfortable_stop_available
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type: and
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list:
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- { type: link, link: /hardware/fatal_error/comfortable_stop_available }
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- { type: link, link: /planning/fatal_error/comfortable_stop_available }
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- { type: link, link: /control/fatal_error/comfortable_stop_available }
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- { type: link, link: /vehicle/fatal_error/comfortable_stop_available }
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- { type: link, link: /system/fatal_error/comfortable_stop_available }
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- { type: link, link: /others/fatal_error/comfortable_stop_available }
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- path: /autoware/modes/emergency_stop
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type: ok

‎autoware_launch/config/system/system_diagnostic_monitor/control.yaml

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@@ -17,6 +17,24 @@ units:
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list:
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- { type: link, link: /control/emergency_stop }
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- path: /control/fatal_error/autonomous_available
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type: and
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list:
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- { type: link, link: /control/fatal_error/emergency_stop }
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- { type: link, link: /control/fatal_error/pull_over }
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- { type: link, link: /control/fatal_error/comfortable_stop }
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- path: /control/fatal_error/pull_over_available
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type: and
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list:
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- { type: link, link: /control/fatal_error/emergency_stop }
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- { type: link, link: /control/fatal_error/comfortable_stop }
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- path: /control/fatal_error/comfortable_stop_available
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type: and
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list:
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- { type: link, link: /control/fatal_error/emergency_stop }
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# *******************************************************************************
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# NOTE: Please modify this section according to your environment and requirements.
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# *******************************************************************************
@@ -30,12 +48,21 @@ units:
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# - { type: link, link: /control/010-max_distance_deviation-error }
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- { type: link, link: /control/011-slip_detection }
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- path: /control/fatal_error/emergency_stop
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type: and
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- path: /control/comfortable_stop
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type: and
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- path: /control/fatal_error/comfortable_stop
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type: and
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- path: /control/pull_over
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type: and
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- path: /control/fatal_error/pull_over
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type: and
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- path: /control/none
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type: and
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list:

‎autoware_launch/config/system/system_diagnostic_monitor/hardware.yaml

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@@ -17,6 +17,24 @@ units:
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list:
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- { type: link, link: /hardware/emergency_stop }
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- path: /hardware/fatal_error/autonomous_available
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type: and
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list:
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- { type: link, link: /hardware/fatal_error/emergency_stop }
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- { type: link, link: /hardware/fatal_error/pull_over }
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- { type: link, link: /hardware/fatal_error/comfortable_stop }
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- path: /hardware/fatal_error/pull_over_available
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type: and
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list:
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- { type: link, link: /hardware/fatal_error/emergency_stop }
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- { type: link, link: /hardware/fatal_error/comfortable_stop }
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- path: /hardware/fatal_error/comfortable_stop_available
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type: and
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list:
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- { type: link, link: /hardware/fatal_error/emergency_stop }
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# *******************************************************************************
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# NOTE: Please modify this section according to your environment and requirements.
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# *******************************************************************************
@@ -40,14 +58,23 @@ units:
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# - { type: link, link: /hardware/gpu/004-throttling-error }
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# - { type: link, link: /hardware/gpu/005-frequency-error }
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- path: /hardware/fatal_error/emergency_stop
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type: and
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- path: /hardware/pull_over
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type: and
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list:
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- { type: link, link: /hardware/hdd/002-usage-error }
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- path: /hardware/fatal_error/pull_over
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type: and
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- path: /hardware/comfortable_stop
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type: and
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- path: /hardware/fatal_error/comfortable_stop
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type: and
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- path: /hardware/none
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type: and
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list:

‎autoware_launch/config/system/system_diagnostic_monitor/others.yaml

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@@ -17,6 +17,24 @@ units:
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list:
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- { type: link, link: /others/emergency_stop }
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- path: /others/fatal_error/autonomous_available
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type: and
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list:
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- { type: link, link: /others/fatal_error/emergency_stop }
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- { type: link, link: /others/fatal_error/pull_over }
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- { type: link, link: /others/fatal_error/comfortable_stop }
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- path: /others/fatal_error/pull_over_available
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type: and
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list:
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- { type: link, link: /others/fatal_error/emergency_stop }
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- { type: link, link: /others/fatal_error/comfortable_stop }
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- path: /others/fatal_error/comfortable_stop_available
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type: and
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list:
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- { type: link, link: /others/fatal_error/emergency_stop }
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# *******************************************************************************
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# NOTE: Please modify this section according to your environment and requirements.
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# *******************************************************************************
@@ -28,16 +46,25 @@ units:
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# - { type: link, link: /others/005-visibility_validation-error }
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# - { type: link, link: /others/012-vehicle_stuck_checker }
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- path: /others/fatal_error/emergency_stop
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type: and
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- path: /others/comfortable_stop
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type: and
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# list:
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# - { type: link, link: /others/010-emergency_vehicle-error }
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- path: /others/fatal_error/comfortable_stop
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type: and
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- path: /others/pull_over
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type: and
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list:
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- { type: link, link: /others/011-daytime_monitor }
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- path: /others/fatal_error/pull_over
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type: and
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- path: /others/none
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type: and
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‎autoware_launch/config/system/system_diagnostic_monitor/planning.yaml

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@@ -17,6 +17,24 @@ units:
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list:
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- { type: link, link: /planning/emergency_stop }
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- path: /planning/fatal_error/autonomous_available
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type: and
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list:
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- { type: link, link: /planning/fatal_error/emergency_stop }
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- { type: link, link: /planning/fatal_error/pull_over }
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- { type: link, link: /planning/fatal_error/comfortable_stop }
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- path: /planning/fatal_error/pull_over_available
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type: and
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list:
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- { type: link, link: /planning/fatal_error/emergency_stop }
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- { type: link, link: /planning/fatal_error/comfortable_stop }
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- path: /planning/fatal_error/comfortable_stop_available
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type: and
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list:
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- { type: link, link: /planning/fatal_error/emergency_stop }
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# *******************************************************************************
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# NOTE: Please modify this section according to your environment and requirements.
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# *******************************************************************************
@@ -37,12 +55,21 @@ units:
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- { type: link, link: /planning/012-trajectory_velocity_deviation_validation-error }
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# - { type: link, link: /planning/013-collision_checker-error }
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- path: /planning/fatal_error/emergency_stop
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type: and
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- path: /planning/comfortable_stop
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type: and
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- path: /planning/fatal_error/comfortable_stop
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type: and
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- path: /planning/pull_over
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type: and
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- path: /planning/fatal_error/pull_over
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type: and
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- path: /planning/none
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type: and
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‎autoware_launch/config/system/system_diagnostic_monitor/system.yaml

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list:
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- { type: link, link: /system/emergency_stop }
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- path: /system/fatal_error/autonomous_available
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type: and
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list:
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- { type: link, link: /system/fatal_error/emergency_stop }
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- { type: link, link: /system/fatal_error/pull_over }
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- { type: link, link: /system/fatal_error/comfortable_stop }
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- path: /system/fatal_error/pull_over_available
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type: and
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list:
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- { type: link, link: /system/fatal_error/emergency_stop }
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- { type: link, link: /system/fatal_error/comfortable_stop }
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- path: /system/fatal_error/comfortable_stop_available
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type: and
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list:
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- { type: link, link: /system/fatal_error/emergency_stop }
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# *******************************************************************************
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# NOTE: Please modify this section according to your environment and requirements.
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# *******************************************************************************
@@ -26,14 +44,23 @@ units:
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- { type: link, link: /system/001-topic_status-error }
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- { type: link, link: /system/002-emergency_stop_operation-error }
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- path: /system/fatal_error/emergency_stop
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type: and
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- path: /system/comfortable_stop
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type: and
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- path: /system/fatal_error/comfortable_stop
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type: and
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- path: /system/pull_over
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type: and
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list:
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- { type: link, link: /system/005-fms_connection-error }
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- path: /system/fatal_error/pull_over
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type: and
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- path: /system/none
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type: and
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list:

‎autoware_launch/config/system/system_diagnostic_monitor/vehicle.yaml

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list:
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- { type: link, link: /vehicle/emergency_stop }
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- path: /vehicle/fatal_error/autonomous_available
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type: and
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list:
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- { type: link, link: /vehicle/fatal_error/emergency_stop }
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- { type: link, link: /vehicle/fatal_error/pull_over }
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- { type: link, link: /vehicle/fatal_error/comfortable_stop }
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- path: /vehicle/fatal_error/pull_over_available
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type: and
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list:
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- { type: link, link: /vehicle/fatal_error/emergency_stop }
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- { type: link, link: /vehicle/fatal_error/comfortable_stop }
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- path: /vehicle/fatal_error/comfortable_stop_available
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type: and
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list:
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- { type: link, link: /vehicle/fatal_error/emergency_stop }
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# *******************************************************************************
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# NOTE: Please modify this section according to your environment and requirements.
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# *******************************************************************************
@@ -28,15 +46,25 @@ units:
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- { type: link, link: /vehicle/005-vehicle_heartbeat-error }
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- { type: link, link: /vehicle/006-vehicle_errors-error }
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- path: /vehicle/fatal_error/emergency_stop
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type: and
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- path: /vehicle/comfortable_stop
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type: and
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list:
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- { type: link, link: /vehicle/006-vehicle_errors }
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- path: /vehicle/fatal_error/comfortable_stop
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type: and
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list:
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- { type: link, link: /vehicle/007-vehicle-emergency-button }
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- path: /vehicle/pull_over
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type: and
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- path: /vehicle/fatal_error/pull_over
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type: and
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- path: /vehicle/none
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type: and
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‎autoware_launch/launch/components/tier4_system_component.launch.xml

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@@ -34,6 +34,8 @@
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<arg name="diagnostic_graph_aggregator_param_path" value="$(var diagnostic_graph_aggregator_param_path)"/>
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<arg name="diagnostic_graph_aggregator_graph_path" value="$(var diagnostic_graph_aggregator_graph_path)"/>
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<arg name="diagnostic_graph_aggregator_planning_simulator_graph_path" value="$(find-pkg-share autoware_launch)/config/system/diagnostic_graph_aggregator/autoware.yaml"/>
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<arg name="launch_system_recover_operator" value="true"/>
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</include>
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<!-- For logging of diagnostics_graph error -->

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