Merge branch 'tier4/proposal' into 1-add-sensing-launch

autowarefoundation · Dec 14, 2021 · 0b33bac · 0b33bac
2 parents 6c07aca + 3653645
commit 0b33bac
Show file tree

Hide file tree

Showing 15 changed files with 576 additions and 4 deletions.
diff --git a/launch/system_launch/CMakeLists.txt b/launch/system_launch/CMakeLists.txt
@@ -0,0 +1,20 @@
+cmake_minimum_required(VERSION 3.5)
+project(system_launch)
+
+find_package(ament_cmake_auto REQUIRED)
+ament_auto_find_build_dependencies()
+
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  ament_lint_auto_find_test_dependencies()
+endif()
+
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  ament_lint_auto_find_test_dependencies()
+endif()
+
+ament_auto_package(INSTALL_TO_SHARE
+  launch
+  config
+)
diff --git a/launch/system_launch/README.md b/launch/system_launch/README.md
@@ -0,0 +1,20 @@
+# system_launch
+
+## Structure
+
+![system_launch](./system_launch.drawio.svg)
+
+## Package Dependencies
+
+Please see `<exec_depend>` in `package.xml`.
+
+## Usage
+
+```xml
+  <include file="$(find-pkg-share system_launch)/launch/system.launch.xml">
+    <arg name="run_mode" value="online"/>
+    <arg name="sensor_model" value="SENSOR_MODEL"/>
+  </include>
+```
+
+The sensing configuration parameters used in autoware_error_monitor are loaded from "config/diagnostic_aggregator/sensor_kit.param.yaml" in the "`SENSOR_MODEL`\_description" package.
diff --git a/launch/system_launch/config/diagnostic_aggregator/vehicle.param.yaml b/launch/system_launch/config/diagnostic_aggregator/vehicle.param.yaml
@@ -0,0 +1,11 @@
+/**:
+  ros__parameters:
+    vehicle:
+      type: diagnostic_aggregator/AnalyzerGroup
+      path: vehicle
+      analyzers:
+        vehicle_errors:
+          type: diagnostic_aggregator/GenericAnalyzer
+          path: vehicle_errors
+          contains: [": vehicle_errors"]
+          timeout: 1.0
diff --git a/launch/system_launch/config/system_monitor/cpu_monitor.param.yaml b/launch/system_launch/config/system_monitor/cpu_monitor.param.yaml
@@ -0,0 +1,7 @@
+/**:
+  ros__parameters:
+    usage_warn: 0.96
+    usage_error: 1.00
+    usage_count: 2
+    usage_avg: true
+    msr_reader_port: 7634
diff --git a/launch/system_launch/config/system_monitor/gpu_monitor.param.yaml b/launch/system_launch/config/system_monitor/gpu_monitor.param.yaml
@@ -0,0 +1,8 @@
+/**:
+  ros__parameters:
+    temp_warn: 90.0
+    temp_error: 95.0
+    gpu_usage_warn: 0.90
+    gpu_usage_error: 1.00
+    memory_usage_warn: 0.95
+    memory_usage_error: 0.99
diff --git a/launch/system_launch/config/system_monitor/hdd_monitor.param.yaml b/launch/system_launch/config/system_monitor/hdd_monitor.param.yaml
@@ -0,0 +1,11 @@
+/**:
+  ros__parameters:
+    hdd_reader_port: 7635
+    num_disks: 1
+    disks: # Until multi type lists are allowed, name N the disks as disk0...disk{N-1}
+      disk0:
+        name: /dev/sda3
+        temp_warn: 55.0
+        temp_error: 70.0
+        free_warn: 5120 # MB(8hour)
+        free_error: 100 # MB(last 1 minute)
diff --git a/launch/system_launch/config/system_monitor/mem_monitor.param.yaml b/launch/system_launch/config/system_monitor/mem_monitor.param.yaml
@@ -0,0 +1,3 @@
+/**:
+  ros__parameters:
+    available_size: 1024 # MB
diff --git a/launch/system_launch/config/system_monitor/net_monitor.param.yaml b/launch/system_launch/config/system_monitor/net_monitor.param.yaml
@@ -0,0 +1,5 @@
+/**:
+  ros__parameters:
+      devices: ["*"]
+      traffic_reader_port: 7636
+      monitor_program: "greengrass"
diff --git a/launch/system_launch/config/system_monitor/ntp_monitor.param.yaml b/launch/system_launch/config/system_monitor/ntp_monitor.param.yaml
@@ -0,0 +1,5 @@
+/**:
+  ros__parameters:
+    server: ntp.nict.jp
+    offset_warn: 0.1
+    offset_error: 5.0
diff --git a/launch/system_launch/config/system_monitor/process_monitor.param.yaml b/launch/system_launch/config/system_monitor/process_monitor.param.yaml
@@ -0,0 +1,3 @@
+/**:
+  ros__parameters:
+    num_of_procs: 5
diff --git a/launch/system_launch/launch/system.launch.xml b/launch/system_launch/launch/system.launch.xml
@@ -0,0 +1,48 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<launch>
+  <arg name="run_mode" default="online" description="options: online, planning_simulation"/>
+  <arg name="sensor_model" description="sensor model name"/>
+
+  <let name="sensor_launch_pkg" value="$(find-pkg-share $(var sensor_model)_launch)"/>
+
+  <group>
+    <push-ros-namespace namespace="/system"/>
+
+    <!-- System Monitor -->
+    <group>
+      <push-ros-namespace namespace="system_monitor"/>
+      <include file="$(find-pkg-share system_monitor)/launch/system_monitor.launch.py">
+        <arg name="cpu_monitor_config_file" value="$(find-pkg-share system_launch)/config/system_monitor/cpu_monitor.param.yaml"/>
+        <arg name="hdd_monitor_config_file" value="$(find-pkg-share system_launch)/config/system_monitor/hdd_monitor.param.yaml"/>
+        <arg name="mem_monitor_config_file" value="$(find-pkg-share system_launch)/config/system_monitor/mem_monitor.param.yaml"/>
+        <arg name="net_monitor_config_file" value="$(find-pkg-share system_launch)/config/system_monitor/net_monitor.param.yaml"/>
+        <arg name="ntp_monitor_config_file" value="$(find-pkg-share system_launch)/config/system_monitor/ntp_monitor.param.yaml"/>
+        <arg name="process_monitor_config_file" value="$(find-pkg-share system_launch)/config/system_monitor/process_monitor.param.yaml"/>
+        <arg name="gpu_monitor_config_file" value="$(find-pkg-share system_launch)/config/system_monitor/gpu_monitor.param.yaml"/>
+      </include>
+    </group>
+
+    <!-- State Monitor -->
+    <let name="config_file" value="$(find-pkg-share autoware_state_monitor)/config/autoware_state_monitor.param.yaml" if="$(eval &quot;'$(var run_mode)'=='online'&quot;)"/>
+    <let name="config_file" value="$(find-pkg-share autoware_state_monitor)/config/autoware_state_monitor.planning_simulation.param.yaml" if="$(eval &quot;'$(var run_mode)'=='planning_simulation'&quot;)"/>
+    <include file="$(find-pkg-share autoware_state_monitor)/launch/autoware_state_monitor.launch.xml">
+      <arg name="config_file" value="$(var config_file)" />
+    </include>
+
+    <!-- Error Monitor -->
+    <let name="config_file" value="$(find-pkg-share autoware_error_monitor)/config/autoware_error_monitor.param.yaml" if="$(eval &quot;'$(var run_mode)'=='online'&quot;)"/>
+    <let name="config_file" value="$(find-pkg-share autoware_error_monitor)/config/autoware_error_monitor.planning_simulation.param.yaml" if="$(eval &quot;'$(var run_mode)'=='planning_simulation'&quot;)"/>
+    <include file="$(find-pkg-share autoware_error_monitor)/launch/autoware_error_monitor.launch.xml">
+      <arg name="config_file" value="$(var config_file)" />
+      <arg name="extra_agg_config_file_sensing" value="$(var sensor_launch_pkg)/config/diagnostic_aggregator/sensor_kit.param.yaml" />
+      <arg name="extra_agg_config_file_vehicle" value="$(find-pkg-share system_launch)/config/diagnostic_aggregator/vehicle.param.yaml" />
+      <arg name="use_emergency_hold" value="false" />
+    </include>
+
+    <!-- Emergency Handler -->
+    <include file="$(find-pkg-share emergency_handler)/launch/emergency_handler.launch.xml">
+      <arg name="config_file" value="$(find-pkg-share emergency_handler)/config/emergency_handler.param.yaml" />
+    </include>
+
+  </group>
+</launch>
diff --git a/launch/system_launch/package.xml b/launch/system_launch/package.xml
@@ -0,0 +1,24 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>system_launch</name>
+  <version>0.1.0</version>
+  <description>The system_launch package</description>
+
+  <maintainer email="[email protected]">Kenji Miyake</maintainer>
+  <license>Apache License 2.0</license>
+
+  <buildtool_depend>ament_cmake_auto</buildtool_depend>
+
+  <exec_depend>autoware_error_monitor</exec_depend>
+  <exec_depend>autoware_state_monitor</exec_depend>
+  <exec_depend>emergency_handler</exec_depend>
+  <exec_depend>system_monitor</exec_depend>
+
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>autoware_lint_common</test_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>