fix(dummy diag publisher): change diag name specification method to YAML

[asana17]

Signed-off-by: asana17 [email protected]

Description

diag_name parameter of the ROS node dummy_diag_publisher is configured in the node launch file. dummy_diag_publisher can take only one diag 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 and is_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

1. Use parameters in the YAML file as the name of diagnostics instead of the parameter in the launch file.
2. Use new parameters to read from the YAML file and enable parameter reconfiguration for each diagnostic.
3. Multiple diagnostics messages are published from one ROS node.

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

1. Run dummy_diag_pubilsher and rqt_runtime_monitor.
   The config YAML file is system/dummy_diag_publisher/config/dummy_diag_publisher.param.yaml

ros2 launch dummy_diag_publisher dummy_diag_publisher.launch.xml

2. Change the parameter from the command line.

ros2 param set /dummy_diag_publisher velodyne_temperature.status "Error"

ros2 param set /dummy_diag_publisher obstacle_crash.is_active false

launch files

I used tier4/pilot-auto for the tests. I replaced universe , launcher, and aip_launcher.

1. Launch planning simulation. (x1, xx1)

terminal 1

source ~/pilot-auto/install/setup.zsh
ros2 launch autoware_launch planning_simulator.launch.xml map_path:=/home/asana/autoware_map/sample-map-planning 
vehicle_model:=lexus sensor_model:=aip_xx1

terminal 2

ros2 run rqt_runtime_monitor rqt_runtime_monitor

ros2 node list

ros2 topic list

2. Launch system component (x1, xx1, x2)

terminal 1

ros2 launch autoware_launch tier4_system_component.launch.xml run_mode:=online launch_system_monitor:=true sensor_model:=aip_x2

ros2 launch autoware_launch tier4_system_component.launch.xml run_mode:=planning_simulation launch_system_monitor:=false sensor_model:=aip_x2

terminal 2

ros2 run rqt_runtime_monitor rqt_runtime_monitor

ros2 node list

ros2 topic list

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.

• service_log_checker is launched in tier4_system_launch, but is not launched in the previous system_launch.
• The changes of dummy_diag_publisher nodes: all dummy diags are published by one dummy_diag_publisher node, and the diag names, Hardware IDs are changed as the screenshots.
  
  

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[kminoda]

@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?

[asana17]

@kminoda I made new PRs updating tier4/autoware_launch and tier4/aip_launcher. I add test details to this PR (#2745 (comment)).

[codecov]

Codecov Report

Base: 11.52% // Head: 12.38% // Increases project coverage by +0.86% 🎉

Coverage data is based on head (f96d5e5) compared to base (b7b0188).
Patch coverage: 9.42% of modified lines in pull request are covered.

❗ Current head f96d5e5 differs from pull request most recent head 78c9f59. Consider uploading reports for the commit 78c9f59 to get more accurate results

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     

Flag	Coverage Δ		*Carryforward flag
differential	0.00% <0.00%> (?)
total	12.40% <10.35%> (+0.88%)	⬆️	Carriedforward from 73c36fe

*This pull request uses carry forward flags. Click here to find out more.

Impacted Files	Coverage Δ
...include/object_detection/object_polygon_detail.hpp	0.00% <ø> (ø)
...e/object_detection/object_polygon_display_base.hpp	0.00% <0.00%> (ø)
...gin/src/object_detection/object_polygon_detail.cpp	0.00% <0.00%> (ø)
...manager_rviz_plugin/src/bag_time_manager_panel.cpp	0.00% <0.00%> (ø)
...ion/include/interpolation/spline_interpolation.hpp	28.57% <ø> (ø)
...e/interpolation/spline_interpolation_points_2d.hpp	83.33% <ø> (ø)
...terpolation/test/src/test_spline_interpolation.cpp	28.37% <0.00%> (ø)
...ils/include/motion_utils/trajectory/trajectory.hpp	75.12% <ø> (ø)
common/motion_utils/src/marker/marker_helper.cpp	15.00% <0.00%> (-9.33%)	⬇️
.../rtc_manager_rviz_plugin/src/rtc_manager_panel.cpp	0.00% <0.00%> (ø)
... and 274 more

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[asana17]

I sign-offed by mistake, so I closed this PR.