feat(diagnostic_graph_aggregator): add hardware and sensing settings (a…

…utowarefoundation#973) * add hardware and sensing settings for diagnostic_graph_aggregator to replace system_error_monitoring Signed-off-by: Ericpotato <[email protected]> * typo fixed Signed-off-by: Ericpotato <[email protected]> * style(pre-commit): autofix * typo fixed Signed-off-by: Ericpotato <[email protected]> * change config file name to autoware-main to sync Signed-off-by: Ericpotato <[email protected]> * change diagnostic_graph_aggregator config file name to autoware-main Signed-off-by: Ericpotato <[email protected]> * update autoware-psim setting Signed-off-by: Ericpotato <[email protected]> * style(pre-commit): autofix * customize diagnostic_graph_aggregator config to target to autoware-main_xx1 Signed-off-by: Ericpotato <[email protected]> * fix reference path of autoware-psim Signed-off-by: Ericpotato <[email protected]> * use default config files name, remove files with _xx1 suffix Signed-off-by: Ericpotato <[email protected]> * style(pre-commit): autofix --------- Signed-off-by: Ericpotato <[email protected]> Co-authored-by: Ericpotato <[email protected]>
tier4 · Oct 10, 2024 · 27ec23b · 27ec23b
1 parent 168d125
commit 27ec23b
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Showing 9 changed files with 604 additions and 110 deletions.
diff --git a/autoware_launch/config/system/diagnostic_graph_aggregator/autoware-awsim.yaml b/autoware_launch/config/system/diagnostic_graph_aggregator/autoware-awsim.yaml
@@ -3,4 +3,3 @@ files:
 
 edits:
   - { type: remove, path: /autoware/system/duplicated_node_checker }
-  - { type: remove, path: /autoware/control/emergency_braking }
diff --git a/autoware_launch/config/system/diagnostic_graph_aggregator/autoware-main.yaml b/autoware_launch/config/system/diagnostic_graph_aggregator/autoware-main.yaml
@@ -1,7 +1,75 @@
-# This is the default setting file of diagnostic_graph_aggregator for vehicle usage
-# We will use autoware.yaml to replace this file for vehicle test in the future
 files:
-  - { path: $(find-pkg-share system_diagnostic_monitor)/config/autoware-main.yaml }
+  - { path: $(dirname)/map.yaml }
+  - { path: $(dirname)/localization.yaml }
+  - { path: $(dirname)/planning.yaml }
+  - { path: $(dirname)/perception.yaml }
+  - { path: $(dirname)/control.yaml }
+  - { path: $(dirname)/vehicle.yaml }
+  - { path: $(dirname)/system.yaml }
+  - { path: $(dirname)/sensing.yaml }
+  - { path: $(dirname)/hardware.yaml }
 
-edits:
-  - { type: remove, path: /autoware/control/emergency_braking }
+units:
+  - path: /autoware/modes/stop
+    type: ok
+
+  - path: /autoware/modes/autonomous
+    type: and
+    list:
+      - { type: link, link: /autoware/map }
+      - { type: link, link: /autoware/localization }
+      - { type: link, link: /autoware/planning }
+      - { type: link, link: /autoware/perception }
+      - { type: link, link: /autoware/control }
+      - { type: link, link: /autoware/vehicle }
+      - { type: link, link: /autoware/system }
+      - { type: link, link: /autoware/sensing/autonomous_available }
+      - { type: link, link: /autoware/hardware/autonomous_available }
+
+  - path: /autoware/modes/local
+    type: and
+    list:
+      - { type: link, link: /autoware/vehicle }
+      - { type: link, link: /autoware/system }
+      - { type: link, link: /autoware/control/local }
+
+  - path: /autoware/modes/remote
+    type: and
+    list:
+      - { type: link, link: /autoware/vehicle }
+      - { type: link, link: /autoware/system }
+      - { type: link, link: /autoware/control/remote }
+
+  - path: /autoware/modes/emergency_stop
+    type: ok
+
+  - path: /autoware/modes/comfortable_stop
+    type: and
+    list:
+      - { type: link, link: /autoware/map }
+      - { type: link, link: /autoware/localization }
+      - { type: link, link: /autoware/planning }
+      - { type: link, link: /autoware/perception }
+      - { type: link, link: /autoware/control }
+      - { type: link, link: /autoware/vehicle }
+      - { type: link, link: /autoware/system }
+      - { type: link, link: /autoware/sensing/comfortable_stop_available }
+      - { type: link, link: /autoware/hardware/comfortable_stop_available }
+
+  - path: /autoware/modes/pull_over
+    type: and
+    list:
+      - { type: link, link: /autoware/map }
+      - { type: link, link: /autoware/localization }
+      - { type: link, link: /autoware/planning }
+      - { type: link, link: /autoware/perception }
+      - { type: link, link: /autoware/control }
+      - { type: link, link: /autoware/vehicle }
+      - { type: link, link: /autoware/system }
+      - { type: link, link: /autoware/sensing/pull_over_available }
+      - { type: link, link: /autoware/hardware/pull_over_available }
+
+  - path: /autoware/debug/tools
+    type: and
+    list:
+      - { type: link, link: /autoware/system/service_log_checker }
diff --git a/autoware_launch/config/system/diagnostic_graph_aggregator/autoware-psim.yaml b/autoware_launch/config/system/diagnostic_graph_aggregator/autoware-psim.yaml
@@ -1,6 +1,6 @@
 files:
   # prettier-ignore
-  - { path: $(find-pkg-share autoware_launch)/config/system/diagnostic_graph_aggregator/autoware.yaml }
+  - { path: $(find-pkg-share autoware_launch)/config/system/diagnostic_graph_aggregator/autoware-main.yaml }
 
 edits:
   - { type: remove, path: /autoware/map/topic_rate_check/pointcloud_map }

diff --git a/autoware_launch/config/system/diagnostic_graph_aggregator/autoware.yaml b/autoware_launch/config/system/diagnostic_graph_aggregator/autoware.yaml
Original file line number	Diff line number	Diff line change
Expand Up		@@ -3,4 +3,3 @@ files:

		edits:
		- { type: remove, path: /autoware/system/duplicated_node_checker }
		- { type: remove, path: /autoware/control/emergency_braking }