feat: use same param file for Error Monitor

[0x126]

PR Type

• New Feature

Related Links

Description

Change system_launch so that system_error_monitor uses the same configuration file for both the real car and the simulator.

Background

• In present, system_error_monitor uses different configuration for the real car(autoware.launch) and for the simulator(planning_simulator.launch)
• It also changes the behavior upon receiving ERROR and WARN.
• It is not good when you want to test the emergency behavior on a simulator by performing fault injections, etc.

This PR

• Using ignore_missing_diagnostics flag of system_error_monitor, unify configuration file for both the real car and the simulator.
• Set the flag to true during simulation to make system_error_monitor ignore halt instead of treating them as errors.
• Disable system_monitor during simulation
  • Let diagnostics of system_monitor be halt instead of error and make system_error_monitor ignore it.

Cocern

• Ignoring halt status, real halts of diagnostics cannot be detected on the simulator

Review Procedure

• Run planning_simultor, then check diagnostics and behaviours.

Remarks

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• Code follows coding guidelines
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• Commits are properly organized and messages are according to the guideline
• Code follows coding guidelines
• (Optional) Unit tests have been written for new behavior
• PR title describes the changes

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PR Author should check the checkboxes below before merging.

• All open points are addressed and tracked via issues or tickets
• Write release notes

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[kenji-miyake]

👍

[h-ohta]

@0x126

Run planning_simultor, then check diagnostics and behaviours.

Could you tell me what items I have to check in detail ?

[0x126]

I'm a little mistaken and this PR doesn't work, so I'm going to close it.