feat(autoware_launch): move config from autoware.universe for system (a…

…utowarefoundation#130) * feat(autoware_launch): move config to autoware_launch for system Signed-off-by: kminoda <[email protected]> * fix Signed-off-by: kminoda <[email protected]> Signed-off-by: kminoda <[email protected]>
keiota · Dec 21, 2022 · a4b7ccb · a4b7ccb
1 parent d748556
commit a4b7ccb
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Showing 18 changed files with 416 additions and 1 deletion.
diff --git a/autoware_launch/CMakeLists.txt b/autoware_launch/CMakeLists.txt
@@ -13,4 +13,5 @@ ament_auto_package(
   INSTALL_TO_SHARE
   launch
   rviz
+  config
 )
diff --git a/autoware_launch/config/system/component_state_monitor/topics.yaml b/autoware_launch/config/system/component_state_monitor/topics.yaml
@@ -0,0 +1,182 @@
+- module: map
+  mode: [online, planning_simulation]
+  type: launch
+  args:
+    node_name_suffix: vector_map
+    topic: /map/vector_map
+    topic_type: autoware_auto_mapping_msgs/msg/HADMapBin
+    best_effort: false
+    transient_local: true
+    warn_rate: 0.0
+    error_rate: 0.0
+    timeout: 0.0
+
+- module: map
+  mode: [online]
+  type: launch
+  args:
+    node_name_suffix: pointcloud_map
+    topic: /map/pointcloud_map
+    topic_type: sensor_msgs/msg/PointCloud2
+    best_effort: false
+    transient_local: true
+    warn_rate: 0.0
+    error_rate: 0.0
+    timeout: 0.0
+
+- module: localization
+  mode: [online, planning_simulation]
+  type: autonomous
+  args:
+    node_name_suffix: initialpose3d
+    topic: /initialpose3d
+    topic_type: geometry_msgs/msg/PoseWithCovarianceStamped
+    best_effort: false
+    transient_local: false
+    warn_rate: 0.0
+    error_rate: 0.0
+    timeout: 0.0
+
+- module: localization
+  mode: [online]
+  type: autonomous
+  args:
+    node_name_suffix: pose_twist_fusion_filter_pose
+    topic: /localization/pose_twist_fusion_filter/pose
+    topic_type: geometry_msgs/msg/PoseStamped
+    best_effort: false
+    transient_local: false
+    warn_rate: 5.0
+    error_rate: 1.0
+    timeout: 1.0
+
+- module: perception
+  mode: [online]
+  type: launch
+  args:
+    node_name_suffix: obstacle_segmentation_pointcloud
+    topic: /perception/obstacle_segmentation/pointcloud
+    topic_type: sensor_msgs/msg/PointCloud2
+    best_effort: true
+    transient_local: false
+    warn_rate: 5.0
+    error_rate: 1.0
+    timeout: 1.0
+
+- module: perception
+  mode: [online, planning_simulation]
+  type: autonomous
+  args:
+    node_name_suffix: object_recognition_objects
+    topic: /perception/object_recognition/objects
+    topic_type: autoware_auto_perception_msgs/msg/PredictedObjects
+    best_effort: false
+    transient_local: false
+    warn_rate: 5.0
+    error_rate: 1.0
+    timeout: 1.0
+
+- module: planning
+  mode: [online, planning_simulation]
+  type: autonomous
+  args:
+    node_name_suffix: mission_planning_route
+    topic: /planning/mission_planning/route
+    topic_type: autoware_planning_msgs/msg/LaneletRoute
+    best_effort: false
+    transient_local: true
+    warn_rate: 0.0
+    error_rate: 0.0
+    timeout: 0.0
+
+- module: planning
+  mode: [online, planning_simulation]
+  type: autonomous
+  args:
+    node_name_suffix: scenario_planning_trajectory
+    topic: /planning/scenario_planning/trajectory
+    topic_type: autoware_auto_planning_msgs/msg/Trajectory
+    best_effort: false
+    transient_local: false
+    warn_rate: 5.0
+    error_rate: 1.0
+    timeout: 1.0
+
+- module: control
+  mode: [online, planning_simulation]
+  type: autonomous
+  args:
+    node_name_suffix: trajectory_follower_control_cmd
+    topic: /control/trajectory_follower/control_cmd
+    topic_type: autoware_auto_control_msgs/msg/AckermannControlCommand
+    best_effort: false
+    transient_local: false
+    warn_rate: 5.0
+    error_rate: 1.0
+    timeout: 1.0
+
+- module: control
+  mode: [online, planning_simulation]
+  type: autonomous
+  args:
+    node_name_suffix: control_command_control_cmd
+    topic: /control/command/control_cmd
+    topic_type: autoware_auto_control_msgs/msg/AckermannControlCommand
+    best_effort: false
+    transient_local: false
+    warn_rate: 5.0
+    error_rate: 1.0
+    timeout: 1.0
+
+- module: vehicle
+  mode: [online, planning_simulation]
+  type: autonomous
+  args:
+    node_name_suffix: vehicle_status_velocity_status
+    topic: /vehicle/status/velocity_status
+    topic_type: autoware_auto_vehicle_msgs/msg/VelocityReport
+    best_effort: false
+    transient_local: false
+    warn_rate: 5.0
+    error_rate: 1.0
+    timeout: 1.0
+
+- module: vehicle
+  mode: [online, planning_simulation]
+  type: autonomous
+  args:
+    node_name_suffix: vehicle_status_steering_status
+    topic: /vehicle/status/steering_status
+    topic_type: autoware_auto_vehicle_msgs/msg/SteeringReport
+    best_effort: false
+    transient_local: false
+    warn_rate: 5.0
+    error_rate: 1.0
+    timeout: 1.0
+
+- module: system
+  mode: [online, planning_simulation]
+  type: launch
+  args:
+    node_name_suffix: system_emergency_control_cmd
+    topic: /system/emergency/control_cmd
+    topic_type: autoware_auto_control_msgs/msg/AckermannControlCommand
+    best_effort: false
+    transient_local: false
+    warn_rate: 5.0
+    error_rate: 1.0
+    timeout: 1.0
+
+- module: localization
+  mode: [online, planning_simulation]
+  type: autonomous
+  args:
+    node_name_suffix: transform_map_to_base_link
+    topic: /tf
+    frame_id: map
+    child_frame_id: base_link
+    best_effort: false
+    transient_local: false
+    warn_rate: 5.0
+    error_rate: 1.0
+    timeout: 1.0
diff --git a/autoware_launch/config/system/emergency_handler/emergency_handler.param.yaml b/autoware_launch/config/system/emergency_handler/emergency_handler.param.yaml
@@ -0,0 +1,14 @@
+# Default configuration for emergency handler
+---
+/**:
+  ros__parameters:
+    update_rate: 10
+    timeout_hazard_status: 0.5
+    timeout_takeover_request: 10.0
+    use_takeover_request: false
+    use_parking_after_stopped: false
+    use_comfortable_stop: false
+
+    # setting whether to turn hazard lamp on for each situation
+    turning_hazard_on:
+      emergency: true
diff --git a/...unch/config/system/mrm_comfortable_stop_operator/mrm_comfortable_stop_operator.param.yaml b/...unch/config/system/mrm_comfortable_stop_operator/mrm_comfortable_stop_operator.param.yaml
@@ -0,0 +1,6 @@
+/**:
+  ros__parameters:
+    update_rate: 10
+    min_acceleration: -1.0
+    max_jerk: 0.3
+    min_jerk: -0.3
diff --git a/...e_launch/config/system/mrm_emergency_stop_operator/mrm_emergency_stop_operator.param.yaml b/...e_launch/config/system/mrm_emergency_stop_operator/mrm_emergency_stop_operator.param.yaml
@@ -0,0 +1,5 @@
+/**:
+  ros__parameters:
+    update_rate: 30
+    target_acceleration: -2.5
+    target_jerk: -1.5
diff --git a/autoware_launch/config/system/system_error_monitor/diagnostic_aggregator/vehicle.param.yaml b/autoware_launch/config/system/system_error_monitor/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/autoware_launch/config/system/system_error_monitor/system_error_monitor.param.yaml b/autoware_launch/config/system/system_error_monitor/system_error_monitor.param.yaml
@@ -0,0 +1,52 @@
+# Description:
+#   name: diag name
+#   sf_at: diag level where it becomes Safe Fault
+#   lf_at: diag level where it becomes Latent Fault
+#   spf_at: diag level where it becomes Single Point Fault
+#   auto_recovery: Determines whether the system will automatically recover when it recovers from an error.
+#
+# Note:
+# empty-value for sf_at, lf_at and spf_at is "none"
+# default values are:
+#   sf_at: "none"
+#   lf_at: "warn"
+#   spf_at: "error"
+#   auto_recovery: "true"
+---
+/**:
+  ros__parameters:
+    required_modules:
+      autonomous_driving:
+        /autoware/control/autonomous_driving/node_alive_monitoring: default
+        /autoware/control/autonomous_driving/performance_monitoring/lane_departure: default
+        /autoware/control/control_command_gate/node_alive_monitoring: default
+
+        /autoware/localization/node_alive_monitoring: default
+        /autoware/localization/performance_monitoring/matching_score: { sf_at: "warn", lf_at: "none", spf_at: "none" }
+        /autoware/localization/performance_monitoring/localization_accuracy: default
+
+        /autoware/map/node_alive_monitoring: default
+
+        /autoware/perception/node_alive_monitoring: default
+
+        /autoware/planning/node_alive_monitoring: default
+        /autoware/planning/performance_monitoring/trajectory_validation: default
+
+        # /autoware/sensing/node_alive_monitoring: default
+
+        /autoware/system/node_alive_monitoring: default
+        /autoware/system/emergency_stop_operation: default
+        /autoware/system/service_log_checker: { sf_at: "warn", lf_at: "none", spf_at: "none" }
+        /autoware/system/resource_monitoring: { sf_at: "warn", lf_at: "none", spf_at: "none" }
+
+        /autoware/vehicle/node_alive_monitoring: default
+
+      external_control:
+        /autoware/control/control_command_gate/node_alive_monitoring: default
+        /autoware/control/external_control/external_command_selector/node_alive_monitoring: default
+
+        /autoware/system/node_alive_monitoring: default
+        /autoware/system/emergency_stop_operation: default
+        /autoware/system/service_log_checker: { sf_at: "warn", lf_at: "none", spf_at: "none" }
+
+        /autoware/vehicle/node_alive_monitoring: default
diff --git a/...ch/config/system/system_error_monitor/system_error_monitor.planning_simulation.param.yaml b/...ch/config/system/system_error_monitor/system_error_monitor.planning_simulation.param.yaml
@@ -0,0 +1,52 @@
+# Description:
+#   name: diag name
+#   sf_at: diag level where it becomes Safe Fault
+#   lf_at: diag level where it becomes Latent Fault
+#   spf_at: diag level where it becomes Single Point Fault
+#   auto_recovery: Determines whether the system will automatically recover when it recovers from an error.
+#
+# Note:
+# empty-value for sf_at, lf_at and spf_at is "none"
+# default values are:
+#   sf_at: "none"
+#   lf_at: "warn"
+#   spf_at: "error"
+#   auto_recovery: "true"
+---
+/**:
+  ros__parameters:
+    required_modules:
+      autonomous_driving:
+        /autoware/control/autonomous_driving/node_alive_monitoring: default
+        /autoware/control/autonomous_driving/performance_monitoring/lane_departure: default
+        /autoware/control/control_command_gate/node_alive_monitoring: default
+
+        /autoware/localization/node_alive_monitoring: default
+        # /autoware/localization/performance_monitoring/matching_score: { sf_at: "warn", lf_at: "none", spf_at: "none" }
+        # /autoware/localization/performance_monitoring/localization_accuracy: default
+
+        /autoware/map/node_alive_monitoring: default
+
+        /autoware/perception/node_alive_monitoring: default
+
+        /autoware/planning/node_alive_monitoring: default
+        /autoware/planning/performance_monitoring/trajectory_validation: default
+
+        # /autoware/sensing/node_alive_monitoring: default
+
+        /autoware/system/node_alive_monitoring: default
+        /autoware/system/emergency_stop_operation: default
+        /autoware/system/service_log_checker: { sf_at: "warn", lf_at: "none", spf_at: "none" }
+        # /autoware/system/resource_monitoring: { sf_at: "warn", lf_at: "error", spf_at: "none" }
+
+        /autoware/vehicle/node_alive_monitoring: default
+
+      external_control:
+        /autoware/control/control_command_gate/node_alive_monitoring: default
+        /autoware/control/external_control/external_command_selector/node_alive_monitoring: default
+
+        /autoware/system/node_alive_monitoring: default
+        /autoware/system/emergency_stop_operation: default
+        /autoware/system/service_log_checker: { sf_at: "warn", lf_at: "none", spf_at: "none" }
+
+        /autoware/vehicle/node_alive_monitoring: default
diff --git a/autoware_launch/config/system/system_monitor/cpu_monitor.param.yaml b/autoware_launch/config/system/system_monitor/cpu_monitor.param.yaml
@@ -0,0 +1,8 @@
+/**:
+  ros__parameters:
+    usage_warn: 0.96
+    usage_error: 0.96
+    usage_warn_count: 1
+    usage_error_count: 2
+    usage_avg: true
+    msr_reader_port: 7634
diff --git a/autoware_launch/config/system/system_monitor/gpu_monitor.param.yaml b/autoware_launch/config/system/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/autoware_launch/config/system/system_monitor/hdd_monitor.param.yaml b/autoware_launch/config/system/system_monitor/hdd_monitor.param.yaml
@@ -0,0 +1,23 @@
+/**:
+  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: /
+        temp_attribute_id: 0xC2
+        temp_warn: 55.0
+        temp_error: 70.0
+        power_on_hours_attribute_id: 0x09
+        power_on_hours_warn: 3000000
+        total_data_written_attribute_id: 0xF1
+        total_data_written_warn: 4915200   # =150TB (1unit=32MB)
+        total_data_written_safety_factor: 0.05
+        recovered_error_attribute_id: 0xC3
+        recovered_error_warn: 1
+        free_warn: 5120 # MB(8hour)
+        free_error: 100 # MB(last 1 minute)
+        read_data_rate_warn: 360.0 # MB/s
+        write_data_rate_warn: 103.5 # MB/s
+        read_iops_warn: 63360.0 # IOPS
+        write_iops_warn: 24120.0 # IOPS
diff --git a/autoware_launch/config/system/system_monitor/mem_monitor.param.yaml b/autoware_launch/config/system/system_monitor/mem_monitor.param.yaml
@@ -0,0 +1,3 @@
+/**:
+  ros__parameters:
+    available_size: 1024 # MB
diff --git a/autoware_launch/config/system/system_monitor/net_monitor.param.yaml b/autoware_launch/config/system/system_monitor/net_monitor.param.yaml
@@ -0,0 +1,9 @@
+/**:
+  ros__parameters:
+      devices: ["*"]
+      traffic_reader_port: 7636
+      monitor_program: "greengrass"
+      crc_error_check_duration: 1
+      crc_error_count_threshold: 1
+      reassembles_failed_check_duration: 1
+      reassembles_failed_check_count: 1
diff --git a/autoware_launch/config/system/system_monitor/ntp_monitor.param.yaml b/autoware_launch/config/system/system_monitor/ntp_monitor.param.yaml
@@ -0,0 +1,5 @@
+/**:
+  ros__parameters:
+    server: ntp.nict.jp
+    offset_warn: 0.1
+    offset_error: 5.0