From c7746ae59aad504af4d176139ccb13a66bb74e9e Mon Sep 17 00:00:00 2001
From: Takeshi Miura <57553950+1222-takeshi@users.noreply.github.com>
Date: Thu, 28 Oct 2021 13:12:20 +0900
Subject: [PATCH] add sensing.param.yaml (#46)
---
system_launch/config/sensing.param.yaml | 105 ++++++++++++++++++++++++
system_launch/launch/system.launch.xml | 2 +
2 files changed, 107 insertions(+)
create mode 100644 system_launch/config/sensing.param.yaml
diff --git a/system_launch/config/sensing.param.yaml b/system_launch/config/sensing.param.yaml
new file mode 100644
index 0000000000000..ed44a400bfa1b
--- /dev/null
+++ b/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
diff --git a/system_launch/launch/system.launch.xml b/system_launch/launch/system.launch.xml
index ba5127d856e2b..8e17ef13e4dfb 100644
--- a/system_launch/launch/system.launch.xml
+++ b/system_launch/launch/system.launch.xml
@@ -35,12 +35,14 @@
+
+