Merge pull request tier4#187 from tier4/sync-upstream

chore: sync upstream
kazuki527 · Apr 21, 2022 · b39d940 · b39d940
2 parents b5934c2 + afc2240
commit b39d940
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Showing 7 changed files with 130 additions and 55 deletions.
diff --git a/system_launch/config/system_error_monitor.param.yaml b/system_launch/config/system_error_monitor.param.yaml
@@ -40,7 +40,7 @@
         /autoware/system/debug_data_logger/storage_error: default
 
         /autoware/vehicle/node_alive_monitoring: default
-        /autoware/vehicle/roboteq: { auto_recovery: "false" }
+        # /autoware/vehicle/roboteq: { auto_recovery: "false" }
 
       external_control:
         /autoware/control/control_command_gate/node_alive_monitoring: default
@@ -52,4 +52,4 @@
         /autoware/system/debug_data_logger/storage_error: default
 
         /autoware/vehicle/node_alive_monitoring: default
-        /autoware/vehicle/roboteq: default
+        # /autoware/vehicle/roboteq: default
diff --git a/system_launch/config/system_error_monitor.planning_simulation.param.yaml b/system_launch/config/system_error_monitor.planning_simulation.param.yaml
diff --git a/system_launch/launch/dummy_diag_publisher/control.launch.xml b/system_launch/launch/dummy_diag_publisher/control.launch.xml
@@ -0,0 +1,7 @@
+<launch>
+
+  <include file="$(find-pkg-share dummy_diag_publisher)/launch/dummy_diag_publisher_node.launch.xml">
+    <arg name="diag_name" value="joy_controller_connection"/>
+  </include>
+
+</launch>
diff --git a/system_launch/launch/dummy_diag_publisher/localization.launch.xml b/system_launch/launch/dummy_diag_publisher/localization.launch.xml
@@ -0,0 +1,11 @@
+<launch>
+
+  <include file="$(find-pkg-share dummy_diag_publisher)/launch/dummy_diag_publisher_node.launch.xml">
+    <arg name="diag_name" value="localization_accuracy"/>
+  </include>
+
+  <include file="$(find-pkg-share dummy_diag_publisher)/launch/dummy_diag_publisher_node.launch.xml">
+    <arg name="diag_name" value="ndt_scan_matcher"/>
+  </include>
+
+</launch>
diff --git a/system_launch/launch/dummy_diag_publisher/system.launch.xml b/system_launch/launch/dummy_diag_publisher/system.launch.xml
@@ -0,0 +1,91 @@
+<launch>
+
+  <include file="$(find-pkg-share dummy_diag_publisher)/launch/dummy_diag_publisher_node.launch.xml">
+    <arg name="diag_name" value="bagpacker"/>
+  </include>
+
+  <include file="$(find-pkg-share dummy_diag_publisher)/launch/dummy_diag_publisher_node.launch.xml">
+    <arg name="diag_name" value="NTP Offset"/>
+  </include>
+
+  <include file="$(find-pkg-share dummy_diag_publisher)/launch/dummy_diag_publisher_node.launch.xml">
+    <arg name="diag_name" value="CPU Temperature"/>
+  </include>
+
+  <include file="$(find-pkg-share dummy_diag_publisher)/launch/dummy_diag_publisher_node.launch.xml">
+    <arg name="diag_name" value="CPU Usage"/>
+  </include>
+
+  <include file="$(find-pkg-share dummy_diag_publisher)/launch/dummy_diag_publisher_node.launch.xml">
+    <arg name="diag_name" value="CPU Thermal Throttling"/>
+  </include>
+
+  <include file="$(find-pkg-share dummy_diag_publisher)/launch/dummy_diag_publisher_node.launch.xml">
+    <arg name="diag_name" value="CPU Frequency"/>
+  </include>
+
+  <include file="$(find-pkg-share dummy_diag_publisher)/launch/dummy_diag_publisher_node.launch.xml">
+    <arg name="diag_name" value="CPU Load Average"/>
+  </include>
+
+  <include file="$(find-pkg-share dummy_diag_publisher)/launch/dummy_diag_publisher_node.launch.xml">
+    <arg name="diag_name" value="GPU Temperature"/>
+  </include>
+
+  <include file="$(find-pkg-share dummy_diag_publisher)/launch/dummy_diag_publisher_node.launch.xml">
+    <arg name="diag_name" value="GPU Usage"/>
+  </include>
+
+  <include file="$(find-pkg-share dummy_diag_publisher)/launch/dummy_diag_publisher_node.launch.xml">
+    <arg name="diag_name" value="GPU Memory Usage"/>
+  </include>
+
+  <include file="$(find-pkg-share dummy_diag_publisher)/launch/dummy_diag_publisher_node.launch.xml">
+    <arg name="diag_name" value="GPU Thermal Throttling"/>
+  </include>
+
+  <include file="$(find-pkg-share dummy_diag_publisher)/launch/dummy_diag_publisher_node.launch.xml">
+    <arg name="diag_name" value="Memory Usage"/>
+  </include>
+
+  <include file="$(find-pkg-share dummy_diag_publisher)/launch/dummy_diag_publisher_node.launch.xml">
+    <arg name="diag_name" value="Network Usage"/>
+  </include>
+
+  <include file="$(find-pkg-share dummy_diag_publisher)/launch/dummy_diag_publisher_node.launch.xml">
+    <arg name="diag_name" value="Network Traffic"/>
+  </include>
+
+  <include file="$(find-pkg-share dummy_diag_publisher)/launch/dummy_diag_publisher_node.launch.xml">
+    <arg name="diag_name" value="HDD Temperature"/>
+  </include>
+
+  <include file="$(find-pkg-share dummy_diag_publisher)/launch/dummy_diag_publisher_node.launch.xml">
+    <arg name="diag_name" value="Network Traffic"/>
+  </include>
+
+  <include file="$(find-pkg-share dummy_diag_publisher)/launch/dummy_diag_publisher_node.launch.xml">
+    <arg name="diag_name" value="HDD Usage"/>
+  </include>
+
+  <include file="$(find-pkg-share dummy_diag_publisher)/launch/dummy_diag_publisher_node.launch.xml">
+    <arg name="diag_name" value="HDD PowerOnHours"/>
+  </include>
+
+  <include file="$(find-pkg-share dummy_diag_publisher)/launch/dummy_diag_publisher_node.launch.xml">
+    <arg name="diag_name" value="HDD TotalDataWritten"/>
+  </include>
+
+  <include file="$(find-pkg-share dummy_diag_publisher)/launch/dummy_diag_publisher_node.launch.xml">
+    <arg name="diag_name" value="High-load"/>
+  </include>
+
+  <include file="$(find-pkg-share dummy_diag_publisher)/launch/dummy_diag_publisher_node.launch.xml">
+    <arg name="diag_name" value="High-mem"/>
+  </include>
+
+  <include file="$(find-pkg-share dummy_diag_publisher)/launch/dummy_diag_publisher_node.launch.xml">
+    <arg name="diag_name" value="Tasks Summary"/>
+  </include>
+
+</launch>
diff --git a/system_launch/launch/dummy_diag_publisher/vehicle.launch.xml b/system_launch/launch/dummy_diag_publisher/vehicle.launch.xml
@@ -0,0 +1,7 @@
+<launch>
+
+  <include file="$(find-pkg-share dummy_diag_publisher)/launch/dummy_diag_publisher_node.launch.xml">
+    <arg name="diag_name" value="vehicle_errors"/>
+  </include>
+
+</launch>
diff --git a/system_launch/launch/system.launch.xml b/system_launch/launch/system.launch.xml
@@ -10,7 +10,7 @@
     <push-ros-namespace namespace="/system"/>
 
     <!-- System Monitor -->
-    <group>
+    <group if="$(eval &quot;'$(var run_mode)'=='online'&quot;)">
       <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"/>
@@ -31,8 +31,7 @@
     </include>
 
     <!-- Error Monitor -->
-    <let name="config_file" value="$(find-pkg-share system_launch)/config/system_error_monitor.param.yaml" if="$(eval &quot;'$(var run_mode)'=='online'&quot;)"/>
-    <let name="config_file" value="$(find-pkg-share system_launch)/config/system_error_monitor.planning_simulation.param.yaml" if="$(eval &quot;'$(var run_mode)'=='planning_simulation'&quot;)"/>
+    <let name="config_file" value="$(find-pkg-share system_launch)/config/system_error_monitor.param.yaml"/>
     <include file="$(find-pkg-share system_error_monitor)/launch/system_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" />
@@ -47,6 +46,16 @@
       <arg name="config_file" value="$(find-pkg-share emergency_handler)/config/emergency_handler.param.yaml" />
     </include>
 
+    <!-- Dummy Diag Publisher -->
+    <group if="$(eval &quot;'$(var run_mode)'=='planning_simulation'&quot;)">
+      <push-ros-namespace namespace="dummy_diag_publisher"/>
+      <include file="$(find-pkg-share system_launch)/launch/dummy_diag_publisher/control.launch.xml"/>
+      <include file="$(find-pkg-share system_launch)/launch/dummy_diag_publisher/localization.launch.xml"/>
+      <include file="$(find-pkg-share system_launch)/launch/dummy_diag_publisher/system.launch.xml"/>
+      <include file="$(find-pkg-share system_launch)/launch/dummy_diag_publisher/vehicle.launch.xml"/>
+      <include file="$(var sensor_launch_pkg)/launch/dummy_diag_publisher/sensing.launch.xml"/>
+    </group>
+
     <!-- Topic State Monitor -->
     <include file="$(find-pkg-share system_launch)/launch/topic_state_monitor.launch.py" />