From 0902742c9e9375cd9f2ef2454debc8ae9af5c2fb Mon Sep 17 00:00:00 2001 From: Tomoya Kimura Date: Tue, 14 Dec 2021 10:58:59 +0900 Subject: [PATCH] feat: add system_launch package (#167) * release v0.4.0 * removed ROS1 package Signed-off-by: mitsudome-r * Revert "removed ROS1 package" This reverts commit e002b78f1e1ddf980ee7c4010918f1c117ff4be1. * add COLCON_IGNORE file to all ROS1 packages Signed-off-by: mitsudome-r * rename *.launch files to *.launch.xml Signed-off-by: mitsudome-r * Port to ROS 2 * Fix params file paths * Re-add autoware_state_monitor * Update system_launch/launch/system.launch.xml Co-authored-by: Takamasa Horibe * Add linters and missing pakcages dependencies (#37) * V0.8 system launch (#51) * tmp rename launch file Signed-off-by: Kosuke Murakami * Add system_monitor to system.launch (#72) * Add system_monitor to system.launch Signed-off-by: Kenji Miyake * Fix typo Signed-off-by: Kenji Miyake * Add config file of system_monitor (#115) Signed-off-by: Kenji Miyake * Add config of diagnostic_aggregator (#128) Signed-off-by: Kenji Miyake * Add vehicle cmd gate config (#136) * Add config_file of vehicle_cmd_gate Signed-off-by: Kenji Miyake * Add use_emergency_stop Signed-off-by: Kenji Miyake * Rename emergency_stop to external_emergency_stop Signed-off-by: Kenji Miyake * Fix command_gate diag Signed-off-by: Kenji Miyake * Add use_emergency_hold arg (#142) Signed-off-by: Kenji Miyake * Fix system.launch (#161) Signed-off-by: Kenji Miyake * Revert "tmp rename launch file" This reverts commit d1bb989eac90f43bab2af6669b00638fd2147eeb. * fix launch file Signed-off-by: Kosuke Murakami * fix minor bug Signed-off-by: Kosuke Murakami * rename .yaml -> .param.yaml Signed-off-by: Kosuke Murakami * fix invalid way to use eval Signed-off-by: Kosuke Murakami * Add new line in yaml * add num_disks Signed-off-by: Kosuke Murakami * rename .yaml to .param.yaml Signed-off-by: Kosuke Murakami Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> * Rename ROS-related .yaml to .param.yaml (#65) * Rename ROS-related .yaml to .param.yaml Signed-off-by: Kenji Miyake * Add missing '--' Signed-off-by: Kenji Miyake * Rename vehicle_info.yaml to vehicle_info.param.yaml Signed-off-by: Kenji Miyake * Fix livox param name Signed-off-by: Kenji Miyake * add clock_publisher and autoware_version (#79) * add clock_publisher and autoware_version Signed-off-by: mitsudome-r * update package.xml Signed-off-by: mitsudome-r * update build_depends.repos Signed-off-by: mitsudome-r * fix CI Signed-off-by: mitsudome-r * Split system_monitor config (#98) Signed-off-by: Kenji Miyake * add use_sim-time option (#99) * Replace doc by description (#182) Signed-off-by: Kenji Miyake * Use set_parameter for use_sim_time (#198) * Use set_parameter for use_sim_time Signed-off-by: wep21 * Add default parameter for scenario simulator Signed-off-by: wep21 * change system_monitor.launch.xml to launch.py (#203) * add README.md and svg files (#328) * add md and svg * fix typo * fix typo * fix word * fix typo * add lack of things * Update README * fix depending packages * fix word * Fix pre-commit (#407) * Fix pre-commit errors Signed-off-by: Kenji Miyake * Fix package.xml Signed-off-by: Kenji Miyake * Update system.launch.xml (#411) * Feature/autoware api autoware versions (#438) * Add package version API * Fix message type * Modify api name * use let variable in system_launch (#473) * Add sensor_model to system_launch (#480) Signed-off-by: Kenji Miyake * Change formatter to black (#488) * Update pre-commit settings * Apply Black * Replace ament_lint_common with autoware_lint_common * Update build_depends.repos * Fix build_depends * Fix diagnostic_aggregator config path (#118) * update param Signed-off-by: tomoya.kimura * update readme Signed-off-by: tomoya.kimura * ci(pre-commit): autofix Co-authored-by: mitsudome-r Co-authored-by: Esteve Fernandez Co-authored-by: Takamasa Horibe Co-authored-by: Jilada Eccleston Co-authored-by: Kosuke Murakami Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> Co-authored-by: Ryohsuke Mitsudome <43976834+mitsudome-r@users.noreply.github.com> Co-authored-by: Daisuke Nishimatsu <42202095+wep21@users.noreply.github.com> Co-authored-by: Taichi Higashide Co-authored-by: Hiroki OTA Co-authored-by: Takagi, Isamu <43976882+isamu-takagi@users.noreply.github.com> Co-authored-by: Keisuke Shima <19993104+KeisukeShima@users.noreply.github.com> Co-authored-by: Kenji Miyake Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: taikitanaka3 <65527974+taikitanaka3@users.noreply.github.com> --- launch/system_launch/CMakeLists.txt | 20 + launch/system_launch/README.md | 20 + .../diagnostic_aggregator/vehicle.param.yaml | 11 + .../system_monitor/cpu_monitor.param.yaml | 7 + .../system_monitor/gpu_monitor.param.yaml | 8 + .../system_monitor/hdd_monitor.param.yaml | 11 + .../system_monitor/mem_monitor.param.yaml | 3 + .../system_monitor/net_monitor.param.yaml | 5 + .../system_monitor/ntp_monitor.param.yaml | 5 + .../system_monitor/process_monitor.param.yaml | 3 + launch/system_launch/launch/system.launch.xml | 48 +++ launch/system_launch/package.xml | 24 ++ launch/system_launch/system_launch.drawio.svg | 408 ++++++++++++++++++ 13 files changed, 573 insertions(+) create mode 100644 launch/system_launch/CMakeLists.txt create mode 100644 launch/system_launch/README.md create mode 100644 launch/system_launch/config/diagnostic_aggregator/vehicle.param.yaml create mode 100644 launch/system_launch/config/system_monitor/cpu_monitor.param.yaml create mode 100644 launch/system_launch/config/system_monitor/gpu_monitor.param.yaml create mode 100644 launch/system_launch/config/system_monitor/hdd_monitor.param.yaml create mode 100644 launch/system_launch/config/system_monitor/mem_monitor.param.yaml create mode 100644 launch/system_launch/config/system_monitor/net_monitor.param.yaml create mode 100644 launch/system_launch/config/system_monitor/ntp_monitor.param.yaml create mode 100644 launch/system_launch/config/system_monitor/process_monitor.param.yaml create mode 100644 launch/system_launch/launch/system.launch.xml create mode 100644 launch/system_launch/package.xml create mode 100644 launch/system_launch/system_launch.drawio.svg diff --git a/launch/system_launch/CMakeLists.txt b/launch/system_launch/CMakeLists.txt new file mode 100644 index 0000000000000..656e60c6d0093 --- /dev/null +++ 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 new file mode 100644 index 0000000000000..ae95bb8a937f4 --- /dev/null +++ b/launch/system_launch/README.md @@ -0,0 +1,20 @@ +# system_launch + +## Structure + +![system_launch](./system_launch.drawio.svg) + +## Package Dependencies + +Please see `` in `package.xml`. + +## Usage + +```xml + + + + +``` + +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 new file mode 100644 index 0000000000000..e96e3b3b05934 --- /dev/null +++ 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 new file mode 100644 index 0000000000000..2f049519aa17d --- /dev/null +++ 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 new file mode 100644 index 0000000000000..d96b9f24640b2 --- /dev/null +++ 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 new file mode 100644 index 0000000000000..32d3a425b1898 --- /dev/null +++ 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 new file mode 100644 index 0000000000000..f2da3972be91a --- /dev/null +++ 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 new file mode 100644 index 0000000000000..f8dc832d7b2f2 --- /dev/null +++ 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 new file mode 100644 index 0000000000000..db54f70d1ce59 --- /dev/null +++ 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 new file mode 100644 index 0000000000000..3d6d82fae5ce2 --- /dev/null +++ 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 new file mode 100644 index 0000000000000..8ae917f3082fb --- /dev/null +++ b/launch/system_launch/launch/system.launch.xml @@ -0,0 +1,48 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/launch/system_launch/package.xml b/launch/system_launch/package.xml new file mode 100644 index 0000000000000..b2150348efb06 --- /dev/null +++ b/launch/system_launch/package.xml @@ -0,0 +1,24 @@ + + + + system_launch + 0.1.0 + The system_launch package + + Kenji Miyake + Apache License 2.0 + + ament_cmake_auto + + autoware_error_monitor + autoware_state_monitor + emergency_handler + system_monitor + + ament_lint_auto + autoware_lint_common + + + ament_cmake + + diff --git a/launch/system_launch/system_launch.drawio.svg b/launch/system_launch/system_launch.drawio.svg new file mode 100644 index 0000000000000..b22f005948a02 --- /dev/null +++ b/launch/system_launch/system_launch.drawio.svg @@ -0,0 +1,408 @@ + + + + + + + +
+
+
+ system.launch.xml +
+
+
+ + package: system_launch + +
+
+
+
+ + + system.launch.xml... + + + + + + + +
+
+
+ system_monitor.launch.py +
+
+
+ package: system_monitor +
+
+
+
+ + + system_monitor.launch.py... + + + + + + + + + + + + +
+
+
+ online +
+
+
+ + + online + + + + + + + + +
+
+
+ planning_simulation +
+
+
+ + + planning_simulation + + + + + + + +
+
+
+ $(var run_mode) +
+
+
+ + + $(var run_mode) + + + + + + + +
+
+
+ launch name +
+
+
+ + package: package name + +
+
+
+
+ + + launch name... + + + + + + + +
+
+
+ ex: +
+
+
+ + + ex: + + + + + + + +
+
+
+ node name +
+
+
+ + package: package name + +
+
+
+
+ + + node name... + + + + + + + +
+
+
+ other name +
+
+
+ + package: package name + +
+
+
+
+ + + other name... + + + + + + + +
+
+
+ autoware_state_monitor.launch.xml +
+
+
+ package: autoware_state_monitor +
+
+
+
+
+ args: config_file = + + autoware_state_monitor.param.yaml + +
+
+
+
+ + + autoware_state_monitor.launch.xml... + + + + + + + +
+
+
+ autoware_state_monitor.launch.xml +
+
+
+ package: autoware_state_monitor +
+
+
+
+
+ args: config_file = + + autoware_state_monitor.planning_simulation.param.yaml + +
+
+
+
+ + + autoware_state_monitor.launch.xml... + + + + + + + + + + +
+
+
+ online +
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+
+ + + online + + + + + + + + +
+
+
+ planning_simulation +
+
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+ + + planning_simulation + + + + + + + +
+
+
+ $(var run_mode) +
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+
+ + + $(var run_mode) + + + + + + + +
+
+
+ autoware_error_monitor.launch.xml +
+
+
+ package: autoware_error_monitor +
+
+
+
+
+ args: config_file = + + autoware_error_monitor.param.yaml + +
+
+
+
+ + + autoware_error_monitor.launch.xml... + + + + + + + +
+
+
+ autoware_error_monitor.launch.xml +
+
+
+ package: autoware_error_monitor +
+
+
+
+
+ args: config_file = + + autoware_error_monitor.planning_simulation.param.yaml + +
+
+
+
+ + + autoware_error_monitor.launch.xml... + + + + + + + +
+
+
+ emergency_handler.launch.xml +
+
+
+ package: emergency_handler +
+
+
+
+ + + emergency_handler.launch.xml... + + + + + + + + + + + Viewer does not support full SVG 1.1 + + + + \ No newline at end of file