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fix(dummy diag publisher): change diag name specification method to YAML #2745
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# Description: |
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@asana17 Thank you for the PR!
In addition to this PR, we also need to update tier4/autoware_launch. Would you do that to see if this new dummy_diag_publisher
actually works?
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@kminoda I made new PRs updating tier4/autoware_launch and tier4/aip_launcher. I add test details to this PR (#2745 (comment)).
Codecov ReportBase: 11.52% // Head: 12.38% // Increases project coverage by
Additional details and impacted files@@ Coverage Diff @@
## main #2745 +/- ##
==========================================
+ Coverage 11.52% 12.38% +0.86%
==========================================
Files 1305 1220 -85
Lines 91225 86213 -5012
Branches 24172 24382 +210
==========================================
+ Hits 10510 10677 +167
+ Misses 69720 64385 -5335
- Partials 10995 11151 +156
*This pull request uses carry forward flags. Click here to find out more.
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I sign-offed by mistake, so I closed this PR. |
Signed-off-by: asana17 [email protected]
Description
diag_name
parameter of the ROS nodedummy_diag_publisher
is configured in the node launch file.dummy_diag_publisher
can take only onediag name
parameter and the ROS node is launched for each diagnostic. This causes differences in the launch files among projects.I changed to publish diagnostic messages in one ROS node and multiple
diag_name
parameters can be configured in the parameter YAML file.status
andis_active
parameters of each diagnostic can be reconfigured from the command line.I also changed the launch files to update tier4/autoware_launch. Please see the related links below for more details about the launch files.
Changes
Related links
TIER IV INTERNAL LINK TO SLACK
https://github.com/tier4/autoware_launch/pull/762
tier4/aip_launcher#101
Tests performed
dummy_diag_publisher
The config YAML file is
system/dummy_diag_publisher/config/dummy_diag_publisher.param.yaml
2. Change the parameter from the command line.
launch files
I used tier4/pilot-auto for the tests. I replaced universe , launcher, and aip_launcher.
terminal 1
terminal 2
terminal 1
terminal 2
In each case, I compared the rqt_runtime_monitor results, the node list results, and the topic list results and confirmed no difference other than points below.
Notes for reviewers
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Post-review checklist for the PR author
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After all checkboxes are checked, anyone who has write access can merge the PR.