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Signed-off-by: Yuki Takagi <[email protected]>
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80 changes: 75 additions & 5 deletions
80
autoware_launch/config/system/system_diagnostic_monitor/perception.yaml
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -1,16 +1,86 @@ | ||
| units: | ||
| - path: /autoware/perception | ||
| - path: /perception/autonomous_available | ||
| type: and | ||
| list: | ||
| - { type: link, link: /autoware/perception/topic_rate_check/objects } | ||
| - { type: link, link: /autoware/perception/topic_rate_check/pointcloud } | ||
| - { type: link, link: /perception/emergency_stop } | ||
| - { type: link, link: /perception/pull_over } | ||
| - { type: link, link: /perception/comfortable_stop } | ||
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| - path: /autoware/perception/topic_rate_check/objects | ||
| - path: /perception/pull_over_available | ||
| type: and | ||
| list: | ||
| - { type: link, link: /perception/emergency_stop } | ||
| - { type: link, link: /perception/comfortable_stop } | ||
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| - path: /perception/comfortable_stop_available | ||
| type: and | ||
| list: | ||
| - { type: link, link: /perception/emergency_stop } | ||
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| # ******************************************************************************* | ||
| # NOTE: Please modify this section according to your environment and requirements. | ||
| # ******************************************************************************* | ||
| - path: /perception/emergency_stop | ||
| type: and | ||
| list: | ||
| - { type: link, link: /perception/001-topic_status/traffic_signals-error } | ||
| - { type: link, link: /perception/001-topic_status/objects-error } | ||
| - { type: link, link: /perception/001-topic_status/pointcloud-error } | ||
| - { type: link, link: /perception/002-detection_delay-error } | ||
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| - path: /perception/comfortable_stop | ||
| type: and | ||
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| - path: /perception/pull_over | ||
| type: and | ||
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| - path: /perception/none | ||
| type: and | ||
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| - path: /perception/001-topic_status/traffic_signals-error | ||
| type: warn-to-ok | ||
| item: | ||
| type: link | ||
| link: /perception/001-topic_status/traffic_signals | ||
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| - path: /perception/001-topic_status/objects-error | ||
| type: warn-to-ok | ||
| item: | ||
| type: link | ||
| link: /perception/001-topic_status/objects | ||
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| - path: /perception/001-topic_status/pointcloud-error | ||
| type: warn-to-ok | ||
| item: | ||
| type: link | ||
| link: /perception/001-topic_status/pointcloud | ||
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| - path: /perception/002-detection_delay-error | ||
| type: warn-to-ok | ||
| item: | ||
| type: link | ||
| link: /perception/002-detection_delay | ||
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| - path: /perception/001-topic_status/traffic_signals | ||
| type: diag | ||
| node: topic_state_monitor_traffic_light_recognition_traffic_signals | ||
| name: perception_topic_status | ||
| timeout: 1.0 | ||
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| - path: /perception/001-topic_status/objects | ||
| type: diag | ||
| node: topic_state_monitor_object_recognition_objects | ||
| name: perception_topic_status | ||
| timeout: 1.0 | ||
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| - path: /autoware/perception/topic_rate_check/pointcloud | ||
| - path: /perception/001-topic_status/pointcloud | ||
| type: diag | ||
| node: topic_state_monitor_obstacle_segmentation_pointcloud | ||
| name: perception_topic_status | ||
| timeout: 1.0 | ||
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| - path: /perception/002-detection_delay | ||
| type: diag | ||
| node: multi_object_tracker | ||
| name: Perception delay check from original header stamp | ||
| timeout: 1.0 |
35 changes: 35 additions & 0 deletions
35
autoware_launch/config/system/system_diagnostic_monitor/sensing.yaml
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,35 @@ | ||
| units: | ||
| - path: /sensing/autonomous_available | ||
| type: and | ||
| list: | ||
| - { type: link, link: /sensing/emergency_stop } | ||
| - { type: link, link: /sensing/pull_over } | ||
| - { type: link, link: /sensing/comfortable_stop } | ||
|
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| - path: /sensing/pull_over_available | ||
| type: and | ||
| list: | ||
| - { type: link, link: /sensing/emergency_stop } | ||
| - { type: link, link: /sensing/comfortable_stop } | ||
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| - path: /sensing/comfortable_stop_available | ||
| type: and | ||
| list: | ||
| - { type: link, link: /sensing/emergency_stop } | ||
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| # ******************************************************************************* | ||
| # NOTE: Please modify this section according to your environment and requirements. | ||
| # ******************************************************************************* | ||
| - path: /sensing/emergency_stop | ||
| type: and | ||
| # - { type: link, link: /sensing/radar/001-connection } | ||
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| - path: /sensing/pull_over | ||
| type: and | ||
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| - path: /sensing/comfortable_stop | ||
| type: and | ||
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| - path: /sensing/none | ||
| type: and | ||
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|