From 7bb5e380401f1b50fd1f577fe9cd0be050aa1c7a Mon Sep 17 00:00:00 2001
From: Shohei Sakai <saka1s.jp@gmail.com>
Date: Tue, 16 Jul 2024 18:51:56 +0900
Subject: [PATCH 1/2] enable misc system diag

---
 .../system_diagnostic_monitor/system.yaml     | 54 +++++++++----------
 1 file changed, 27 insertions(+), 27 deletions(-)

diff --git a/autoware_launch/config/system/system_diagnostic_monitor/system.yaml b/autoware_launch/config/system/system_diagnostic_monitor/system.yaml
index 7b41213c44..02fa87326f 100644
--- a/autoware_launch/config/system/system_diagnostic_monitor/system.yaml
+++ b/autoware_launch/config/system/system_diagnostic_monitor/system.yaml
@@ -31,14 +31,14 @@ units:
 
   - path: /system/pull_over
     type: and
-    # list:
-    # - { type: link, link: /system/005-fms_connection-error }
+    list:
+      - { type: link, link: /system/005-fms_connection-error }
 
-  # - path: /system/none
-  #   type: and
-  #   list:
-  #     - { type: link, link: /system/003-bagpacker_status }
-  #     - { type: link, link: /system/004-bagpacker_disk_space }
+  - path: /system/none
+    type: and
+    list:
+      - { type: link, link: /system/003-bagpacker_status }
+      - { type: link, link: /system/004-bagpacker_disk_space }
 
   - path: /system/001-topic_status-error
     type: warn-to-ok
@@ -52,11 +52,11 @@ units:
       type: link
       link: /system/002-emergency_stop_operation
 
-  # - path: /system/005-fms_connection-error
-  #   type: warn-to-ok
-  #   item:
-  #     type: link
-  #     link: /system/005-fms_connection
+  - path: /system/005-fms_connection-error
+    type: warn-to-ok
+    item:
+      type: link
+      link: /system/005-fms_connection
 
   - path: /system/001-topic_status
     type: diag
@@ -70,20 +70,20 @@ units:
     name: emergency_stop_operation
     timeout: 1.0
 
-  # - path: /system/003-bagpacker_status
-  #   type: diag
-  #   node: system
-  #   name: rosbag_status
-  #   timeout: 3.0
+  - path: /system/003-bagpacker_status
+    type: diag
+    node: ""
+    name: rosbag_status
+    timeout: 3.0
 
-  # - path: /system/004-bagpacker_disk_space
-  #   type: diag
-  #   node: system
-  #   name: disk_status
-  #   timeout: 3.0
+  - path: /system/004-bagpacker_disk_space
+    type: diag
+    node: ""
+    name: disk_status
+    timeout: 3.0
 
-  # - path: /system/005-fms_connection
-  #   type: diag
-  #   node: system
-  #   name: edge_core_internet_connection
-  #   timeout: 10.0
+  - path: /system/005-fms_connection
+    type: diag
+    node: ""
+    name: edge_core_internet_connection
+    timeout: 10.0

From a8d926fc32b4fe1ed83c1dfaf72ffd5b0c8ff4ef Mon Sep 17 00:00:00 2001
From: Shohei Sakai <saka1s.jp@gmail.com>
Date: Tue, 16 Jul 2024 18:52:42 +0900
Subject: [PATCH 2/2] use dummy diag publisher

---
 .../system/dummy_diag_publisher/dummy_diag_publisher.param.yaml | 2 +-
 autoware_launch/launch/planning_simulator.launch.xml            | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/autoware_launch/config/system/dummy_diag_publisher/dummy_diag_publisher.param.yaml b/autoware_launch/config/system/dummy_diag_publisher/dummy_diag_publisher.param.yaml
index 02c6d305eb..bb97229163 100644
--- a/autoware_launch/config/system/dummy_diag_publisher/dummy_diag_publisher.param.yaml
+++ b/autoware_launch/config/system/dummy_diag_publisher/dummy_diag_publisher.param.yaml
@@ -131,7 +131,7 @@
       "topic_state_monitor_transform_map_to_base_link: localization_topic_status": default
 
       ## /localization/003-matching_score
-      ndt_scan_matcher: default
+      "ndt_scan_matcher: scan_matching_status": default
 
       ## /localization/004-accuracy
       "localization: localization_error_monitor": default
diff --git a/autoware_launch/launch/planning_simulator.launch.xml b/autoware_launch/launch/planning_simulator.launch.xml
index 88712916b1..8aad52f2b7 100644
--- a/autoware_launch/launch/planning_simulator.launch.xml
+++ b/autoware_launch/launch/planning_simulator.launch.xml
@@ -61,7 +61,7 @@
       <arg name="system_run_mode" value="planning_simulation"/>
       <arg name="launch_system_monitor" value="$(var launch_system_monitor)"/>
       <arg name="launch_dummy_diag_publisher" value="$(var launch_dummy_diag_publisher)"/>
-      <arg name="diagnostic_graph_aggregator_graph_path" value="$(find-pkg-share autoware_launch)/config/system/diagnostic_graph_aggregator/autoware-psim.yaml"/>
+      <arg name="diagnostic_graph_aggregator_graph_path" value="$(find-pkg-share autoware_launch)/config/system/diagnostic_graph_aggregator/autoware-main.yaml"/>
       <!-- Map -->
       <arg name="lanelet2_map_file" value="$(var lanelet2_map_file)"/>
       <arg name="pointcloud_map_file" value="$(var pointcloud_map_file)"/>