Skip to content

Commit 7f10766

Browse files
yuki-takagi-66yuki-takagi-66
authored
chore(diagnostic_graph_aggregator, system_diagnostic_monitor)!: change the config file directories from universe to autoware_launch (autowarefoundation#1201)
* prepare dir * copy files from universe Signed-off-by: Yuki Takagi <yuki.takagi@tier4.jp>
1 parent 642eb3e commit 7f10766

14 files changed

+481
-3
lines changed

‎.prettierignore

+1
Original file line numberDiff line numberDiff line change
@@ -1,2 +1,3 @@
11
*.param.yaml
22
*.rviz
3+
**/diagnostic_graph_aggregator/

‎autoware_launch/config/system/diagnostic_graph_aggregator/autoware-awsim.yaml

+1-1
Original file line numberDiff line numberDiff line change
@@ -1,5 +1,5 @@
11
files:
2-
- { path: $(find-pkg-share system_diagnostic_monitor)/config/autoware-main.yaml }
2+
- { path: $(find-pkg-share autoware_launch)/config/system/system_diagnostic_monitor/autoware-main.yaml }
33

44
edits:
55
- { type: remove, path: /autoware/system/duplicated_node_checker }

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

+1-1
Original file line numberDiff line numberDiff line change
@@ -1,2 +1,2 @@
11
files:
2-
- { path: $(find-pkg-share system_diagnostic_monitor)/config/autoware-main.yaml }
2+
- { path: $(find-pkg-share autoware_launch)/config/system/system_diagnostic_monitor/autoware-main.yaml }

‎autoware_launch/config/system/diagnostic_graph_aggregator/autoware-psim.yaml

+1-1
Original file line numberDiff line numberDiff line change
@@ -1,2 +1,2 @@
11
files:
2-
- { path: $(find-pkg-share system_diagnostic_monitor)/config/autoware-psim.yaml }
2+
- { path: $(find-pkg-share autoware_launch)/config/system/system_diagnostic_monitor/autoware-psim.yaml }

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

+70
Original file line numberDiff line numberDiff line change
@@ -0,0 +1,70 @@
1+
files:
2+
- { path: $(dirname)/map.yaml }
3+
- { path: $(dirname)/localization.yaml }
4+
- { path: $(dirname)/planning.yaml }
5+
- { path: $(dirname)/perception.yaml }
6+
- { path: $(dirname)/control.yaml }
7+
- { path: $(dirname)/vehicle.yaml }
8+
- { path: $(dirname)/system.yaml }
9+
10+
units:
11+
- path: /autoware/modes/stop
12+
type: ok
13+
14+
- path: /autoware/modes/autonomous
15+
type: and
16+
list:
17+
- { type: link, link: /autoware/map }
18+
- { type: link, link: /autoware/localization }
19+
- { type: link, link: /autoware/planning }
20+
- { type: link, link: /autoware/perception }
21+
- { type: link, link: /autoware/control }
22+
- { type: link, link: /autoware/vehicle }
23+
- { type: link, link: /autoware/system }
24+
25+
- path: /autoware/modes/local
26+
type: and
27+
list:
28+
- { type: link, link: /autoware/vehicle }
29+
- { type: link, link: /autoware/system }
30+
- { type: link, link: /autoware/control/local }
31+
32+
- path: /autoware/modes/remote
33+
type: and
34+
list:
35+
- { type: link, link: /autoware/vehicle }
36+
- { type: link, link: /autoware/system }
37+
- { type: link, link: /autoware/control/remote }
38+
39+
- path: /autoware/modes/emergency_stop
40+
type: and
41+
list:
42+
- { type: link, link: /autoware/vehicle }
43+
- { type: link, link: /autoware/system }
44+
45+
- path: /autoware/modes/comfortable_stop
46+
type: and
47+
list:
48+
- { type: link, link: /autoware/map }
49+
- { type: link, link: /autoware/localization }
50+
- { type: link, link: /autoware/planning }
51+
- { type: link, link: /autoware/perception }
52+
- { type: link, link: /autoware/control }
53+
- { type: link, link: /autoware/vehicle }
54+
- { type: link, link: /autoware/system }
55+
56+
- path: /autoware/modes/pull_over
57+
type: and
58+
list:
59+
- { type: link, link: /autoware/map }
60+
- { type: link, link: /autoware/localization }
61+
- { type: link, link: /autoware/planning }
62+
- { type: link, link: /autoware/perception }
63+
- { type: link, link: /autoware/control }
64+
- { type: link, link: /autoware/vehicle }
65+
- { type: link, link: /autoware/system }
66+
67+
- path: /autoware/debug/tools
68+
type: and
69+
list:
70+
- { type: link, link: /autoware/system/service_log_checker }

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

+10
Original file line numberDiff line numberDiff line change
@@ -0,0 +1,10 @@
1+
files:
2+
- { path: $(dirname)/autoware-main.yaml }
3+
4+
edits:
5+
- { type: remove, path: /autoware/map/topic_rate_check/pointcloud_map }
6+
- { type: remove, path: /autoware/localization/scan_matching_status }
7+
- { type: remove, path: /autoware/localization/accuracy }
8+
- { type: remove, path: /autoware/localization/sensor_fusion_status }
9+
- { type: remove, path: /autoware/localization/topic_rate_check/pose_twist_fusion }
10+
- { type: remove, path: /autoware/perception/topic_rate_check/pointcloud }

‎autoware_launch/config/system/system_diagnostic_monitor/control.yaml

+68
Original file line numberDiff line numberDiff line change
@@ -0,0 +1,68 @@
1+
units:
2+
- path: /autoware/control
3+
type: and
4+
list:
5+
- { type: link, link: /autoware/control/topic_rate_check/trajectory_follower }
6+
- { type: link, link: /autoware/control/topic_rate_check/control_command }
7+
- { type: link, link: /autoware/control/node_alive_monitoring/vehicle_cmd_gate }
8+
- { type: link, link: /autoware/control/emergency_braking }
9+
- { type: link, link: /autoware/control/performance_monitoring/lane_departure }
10+
- { type: link, link: /autoware/control/performance_monitoring/trajectory_deviation }
11+
- { type: link, link: /autoware/control/performance_monitoring/control_state }
12+
13+
- path: /autoware/control/local
14+
type: and
15+
list:
16+
- { type: link, link: /autoware/control/topic_rate_check/external_cmd_selector }
17+
- { type: link, link: /autoware/control/topic_rate_check/external_cmd_converter }
18+
19+
- path: /autoware/control/remote
20+
type: and
21+
list:
22+
- { type: link, link: /autoware/control/topic_rate_check/external_cmd_selector }
23+
- { type: link, link: /autoware/control/topic_rate_check/external_cmd_converter }
24+
25+
- path: /autoware/control/topic_rate_check/trajectory_follower
26+
type: diag
27+
node: topic_state_monitor_trajectory_follower_control_cmd
28+
name: control_topic_status
29+
30+
- path: /autoware/control/topic_rate_check/control_command
31+
type: diag
32+
node: topic_state_monitor_control_command_control_cmd
33+
name: control_topic_status
34+
35+
- path: /autoware/control/node_alive_monitoring/vehicle_cmd_gate
36+
type: diag
37+
node: vehicle_cmd_gate
38+
name: heartbeat
39+
40+
- path: /autoware/control/emergency_braking
41+
type: diag
42+
node: autonomous_emergency_braking
43+
name: aeb_emergency_stop
44+
45+
- path: /autoware/control/performance_monitoring/lane_departure
46+
type: diag
47+
node: lane_departure_checker_node
48+
name: lane_departure
49+
50+
- path: /autoware/control/performance_monitoring/trajectory_deviation
51+
type: diag
52+
node: lane_departure_checker_node
53+
name: trajectory_deviation
54+
55+
- path: /autoware/control/performance_monitoring/control_state
56+
type: diag
57+
node: controller_node_exe
58+
name: control_state
59+
60+
- path: /autoware/control/topic_rate_check/external_cmd_selector
61+
type: diag
62+
node: external_cmd_selector
63+
name: heartbeat
64+
65+
- path: /autoware/control/topic_rate_check/external_cmd_converter
66+
type: diag
67+
node: external_cmd_converter
68+
name: remote_control_topic_status

‎autoware_launch/config/system/system_diagnostic_monitor/hardware.yaml

+121
Original file line numberDiff line numberDiff line change
@@ -0,0 +1,121 @@
1+
# TODO(Takagi, Isamu): This file is under construction.
2+
units:
3+
- path: /autoware/system/resources/clock/offset
4+
diag: ": NTP Offset"
5+
timeout: 10.0
6+
7+
- path: /autoware/system/resources/cpu/offset
8+
diag: ": CPU Temperature"
9+
timeout: 3.0
10+
11+
- path: /autoware/system/resources/cpu/usage
12+
diag: ": CPU Usage"
13+
timeout: 3.0
14+
15+
- path: /autoware/system/resources/cpu/thermal_throttling
16+
diag: ": CPU Thermal Throttling"
17+
timeout: 3.0
18+
19+
- path: /autoware/system/resources/cpu/frequency
20+
diag: ": CPU Frequency"
21+
timeout: 3.0
22+
23+
- path: /autoware/system/resources/cpu/load_average
24+
diag: ": CPU Load Average"
25+
timeout: 3.0
26+
27+
- path: /autoware/system/resources/gpu/temperature
28+
diag: ": GPU Temperature"
29+
timeout: 3.0
30+
31+
- path: /autoware/system/resources/gpu/usage
32+
diag: ": GPU Usage"
33+
timeout: 3.0
34+
35+
- path: /autoware/system/resources/gpu/memory_usage
36+
diag: ": GPU Memory Usage"
37+
timeout: 3.0
38+
39+
- path: /autoware/system/resources/gpu/thermal_throttling
40+
diag: ": GPU Thermal Throttling"
41+
timeout: 3.0
42+
43+
- path: /autoware/system/resources/gpu/frequency
44+
diag: ": GPU Frequency"
45+
timeout: 3.0
46+
47+
- path: /autoware/system/resources/memory/usage
48+
diag: ": Memory Usage"
49+
timeout: 3.0
50+
51+
- path: /autoware/system/resources/network/usage
52+
diag: ": Network Usage"
53+
timeout: 3.0
54+
55+
- path: /autoware/system/resources/network/traffic
56+
diag: ": Network Traffic"
57+
timeout: 3.0
58+
59+
- path: /autoware/system/resources/network/crc
60+
diag: ": Network CRC Error"
61+
timeout: 3.0
62+
63+
- path: /autoware/system/resources/network/packet_reassembles
64+
diag: ": IP Packet Reassembles Failed"
65+
timeout: 3.0
66+
67+
- path: /autoware/system/resources/storage/temperature
68+
diag: ": HDD Temperature"
69+
timeout: 3.0
70+
71+
- path: /autoware/system/resources/storage/recovered_error
72+
diag: ": HDD RecoveredError"
73+
timeout: 3.0
74+
75+
- path: /autoware/system/resources/storage/read_data_rate
76+
diag: ": HDD ReadDataRate"
77+
timeout: 3.0
78+
79+
- path: /autoware/system/resources/storage/write_data_rate
80+
diag: ": HDD WriteDataRate"
81+
timeout: 3.0
82+
83+
- path: /autoware/system/resources/storage/read_iops
84+
diag: ": HDD ReadIOPS"
85+
timeout: 3.0
86+
87+
- path: /autoware/system/resources/storage/write_iops
88+
diag: ": HDD WriteIOPS"
89+
timeout: 3.0
90+
91+
- path: /autoware/system/resources/storage/usage
92+
diag: ": HDD Usage"
93+
timeout: 3.0
94+
95+
- path: /autoware/system/resources/storage/power_on_hours
96+
diag: ": HDD PowerOnHours"
97+
timeout: 3.0
98+
99+
- path: /autoware/system/resources/storage/total_data_written
100+
diag: ": HDD TotalDataWritten"
101+
timeout: 3.0
102+
103+
- path: /autoware/system/resources/storage/connection
104+
diag: ": HDD Connection"
105+
timeout: 3.0
106+
107+
- path: /autoware/system/resources/process/high_load
108+
diag: ": High-load"
109+
timeout: 3.0
110+
111+
- path: /autoware/system/resources/process/high_mem
112+
diag: ": High-mem"
113+
timeout: 3.0
114+
115+
- path: /autoware/system/resources/process/tasks_summary
116+
diag: ": Tasks Summary"
117+
timeout: 3.0
118+
119+
- path: /autoware/system/resources/voltage/battery
120+
diag: ": CMOS Battery Status"
121+
timeout: 3.0

‎autoware_launch/config/system/system_diagnostic_monitor/localization.yaml

+43
Original file line numberDiff line numberDiff line change
@@ -0,0 +1,43 @@
1+
units:
2+
- path: /autoware/localization
3+
type: short-circuit-and
4+
list:
5+
- type: link
6+
link: /autoware/localization/state
7+
- type: and
8+
list:
9+
- { type: link, link: /autoware/localization/topic_rate_check/transform }
10+
- { type: link, link: /autoware/localization/topic_rate_check/pose_twist_fusion }
11+
- { type: link, link: /autoware/localization/scan_matching_status }
12+
- { type: link, link: /autoware/localization/accuracy }
13+
- { type: link, link: /autoware/localization/sensor_fusion_status }
14+
15+
- path: /autoware/localization/state
16+
type: diag
17+
node: component_state_diagnostics
18+
name: localization_state
19+
20+
- path: /autoware/localization/topic_rate_check/transform
21+
type: diag
22+
node: topic_state_monitor_transform_map_to_base_link
23+
name: localization_topic_status
24+
25+
- path: /autoware/localization/topic_rate_check/pose_twist_fusion
26+
type: diag
27+
node: topic_state_monitor_pose_twist_fusion_filter_pose
28+
name: localization_topic_status
29+
30+
- path: /autoware/localization/scan_matching_status
31+
type: diag
32+
node: ndt_scan_matcher
33+
name: scan_matching_status
34+
35+
- path: /autoware/localization/accuracy
36+
type: diag
37+
node: localization_error_monitor
38+
name: ellipse_error_status
39+
40+
- path: /autoware/localization/sensor_fusion_status
41+
type: diag
42+
node: localization
43+
name: ekf_localizer

‎autoware_launch/config/system/system_diagnostic_monitor/map.yaml

+16
Original file line numberDiff line numberDiff line change
@@ -0,0 +1,16 @@
1+
units:
2+
- path: /autoware/map
3+
type: and
4+
list:
5+
- { type: link, link: /autoware/map/topic_rate_check/vector_map }
6+
- { type: link, link: /autoware/map/topic_rate_check/pointcloud_map }
7+
8+
- path: /autoware/map/topic_rate_check/vector_map
9+
type: diag
10+
node: topic_state_monitor_vector_map
11+
name: map_topic_status
12+
13+
- path: /autoware/map/topic_rate_check/pointcloud_map
14+
type: diag
15+
node: topic_state_monitor_pointcloud_map
16+
name: map_topic_status

‎autoware_launch/config/system/system_diagnostic_monitor/perception.yaml

+16
Original file line numberDiff line numberDiff line change
@@ -0,0 +1,16 @@
1+
units:
2+
- path: /autoware/perception
3+
type: and
4+
list:
5+
- { type: link, link: /autoware/perception/topic_rate_check/objects }
6+
- { type: link, link: /autoware/perception/topic_rate_check/pointcloud }
7+
8+
- path: /autoware/perception/topic_rate_check/objects
9+
type: diag
10+
node: topic_state_monitor_object_recognition_objects
11+
name: perception_topic_status
12+
13+
- path: /autoware/perception/topic_rate_check/pointcloud
14+
type: diag
15+
node: topic_state_monitor_obstacle_segmentation_pointcloud
16+
name: perception_topic_status

0 commit comments

Comments
 (0)