add sensing.param.yaml (autowarefoundation#46)

system_launch/config/sensing.param.yaml

@@ -0,0 +1,105 @@
+/**:
+  ros__parameters:
+    sensing:
+      type: diagnostic_aggregator/AnalyzerGroup
+      path: sensing
+      analyzers:
+        alive_monitoring:
+          type: diagnostic_aggregator/AnalyzerGroup
+          path: alive_monitoring
+          analyzers:
+            topic_status:
+              type: diagnostic_aggregator/GenericAnalyzer
+              path: topic_status
+              contains: [": sensing_topic_status"]
+              timeout: 1.0
+              num_items: 0
+
+        lidar:
+          type: diagnostic_aggregator/AnalyzerGroup
+          path: lidar
+          analyzers:
+            performance_monitoring:
+              type: diagnostic_aggregator/AnalyzerGroup
+              path: performance_monitoring
+              analyzers:
+                visibility:
+                  type: diagnostic_aggregator/GenericAnalyzer
+                  path: visibility
+                  contains: ["right_upper: visibility_validation"]
+                  timeout: 0.0
+
+        camera:
+          type: diagnostic_aggregator/AnalyzerGroup
+          path: camera
+          analyzers:
+            connection:
+              type: diagnostic_aggregator/GenericAnalyzer
+              path: connection
+              contains: [": camera_connection"]
+              timeout: 3.0
+              num_items: 0
+
+        imu:
+          type: diagnostic_aggregator/AnalyzerGroup
+          path: imu
+          analyzers:
+            connection:
+              type: diagnostic_aggregator/GenericAnalyzer
+              path: connection
+              contains: [": imu_connection"]
+              timeout: 3.0
+              num_items: 0
+            data:
+              type: diagnostic_aggregator/GenericAnalyzer
+              path: data
+              contains: [": imu_data"]
+              timeout: 3.0
+              num_items: 0
+
+        gnss:
+          type: diagnostic_aggregator/AnalyzerGroup
+          path: gnss
+          analyzers:
+            connection:
+              type: diagnostic_aggregator/GenericAnalyzer
+              path: connection
+              contains: [": gnss_connection"]
+              timeout: 3.0
+              num_items: 0
+            data:
+              type: diagnostic_aggregator/GenericAnalyzer
+              path: data
+              contains: [": gnss_data"]
+              timeout: 3.0
+              num_items: 0
+            antenna:
+              type: diagnostic_aggregator/GenericAnalyzer
+              path: antenna
+              contains: [": gnss_antenna"]
+              timeout: 3.0
+              num_items: 0
+            tx_usage:
+              type: diagnostic_aggregator/GenericAnalyzer
+              path: tx_usage
+              contains: [": gnss_tx_usage"]
+              timeout: 3.0
+              num_items: 0
+            spoofing:
+              type: diagnostic_aggregator/GenericAnalyzer
+              path: spoofing
+              contains: [": gnss_spoofing"]
+              timeout: 3.0
+              num_items: 0
+            jamming:
+              type: diagnostic_aggregator/GenericAnalyzer
+              path: jamming
+              contains: [": gnss_jamming"]
+              timeout: 3.0
+              num_items: 0
+            fix_topic_status:
+              type: diagnostic_aggregator/GenericAnalyzer
+              path: fix_topic_status
+              contains: [": fix topic status"]
+              timeout: 3.0
+              num_items: 0

system_launch/launch/system.launch.xml

@@ -35,12 +35,14 @@
     <group if="$(eval &quot;'$(var run_mode)'=='online'&quot;)">
       <include file="$(find-pkg-share autoware_error_monitor)/launch/autoware_error_monitor.launch.xml">
         <arg name="config_file" value="$(find-pkg-share system_launch)/config/autoware_error_monitor.param.yaml" />
+        <arg name="agg_config_file_sensing" value="$(find-pkg-share system_launch)/config/sensing.param.yaml" />
         <arg name="use_emergency_hold" value="false" />
       </include>
     </group>
     <group if="$(eval &quot;'$(var run_mode)'=='planning_simulation'&quot;)">
       <include file="$(find-pkg-share autoware_error_monitor)/launch/autoware_error_monitor.launch.xml">
         <arg name="config_file" value="$(find-pkg-share system_launch)/config/autoware_error_monitor.planning_simulation.param.yaml" />
+        <arg name="agg_config_file_sensing" value="$(find-pkg-share system_launch)/config/sensing.param.yaml" />
         <arg name="use_emergency_hold" value="false" />
       </include>
     </group>