From ca554454434451a495baa22e80e51f2adfd46477 Mon Sep 17 00:00:00 2001
From: Keisuke Shima <19993104+KeisukeShima@users.noreply.github.com>
Date: Wed, 20 Apr 2022 18:02:44 +0900
Subject: [PATCH] feat(simulator_launch): add fault_injection config (#286)

Signed-off-by: Keisuke Shima <19993104+KeisukeShima@users.noreply.github.com>
---
 simulator_launch/CMakeLists.txt               |  1 +
 .../config/fault_injection.param.yaml         | 37 +++++++++++++++++++
 simulator_launch/launch/simulator.launch.xml  |  4 +-
 3 files changed, 41 insertions(+), 1 deletion(-)
 create mode 100644 simulator_launch/config/fault_injection.param.yaml

diff --git a/simulator_launch/CMakeLists.txt b/simulator_launch/CMakeLists.txt
index bbabec7ab1e8d..05e5c27e2bd44 100644
--- a/simulator_launch/CMakeLists.txt
+++ b/simulator_launch/CMakeLists.txt
@@ -11,4 +11,5 @@ endif()
 
 ament_auto_package(INSTALL_TO_SHARE
   launch
+  config
 )
diff --git a/simulator_launch/config/fault_injection.param.yaml b/simulator_launch/config/fault_injection.param.yaml
new file mode 100644
index 0000000000000..1a57b852f7361
--- /dev/null
+++ b/simulator_launch/config/fault_injection.param.yaml
@@ -0,0 +1,37 @@
+/**:
+  ros__parameters:
+    event_diag_list:
+      vehicle_is_out_of_lane: "lane_departure"
+      trajectory_deviation_is_high: "trajectory_deviation"
+      localization_matching_score_is_low: "ndt_scan_matcher"
+      localization_accuracy_is_low: "localization_accuracy"
+      map_version_is_different: "map_version"
+      trajectory_is_invalid: "trajectory_point_validation"
+      cpu_temperature_is_high: "CPU Temperature"
+      cpu_usage_is_high: "CPU Usage"
+      cpu_is_in_thermal_throttling: "CPU Thermal Throttling"
+      storage_temperature_is_high: "HDD Temperature"
+      storage_usage_is_high: "HDD Usage"
+      network_usage_is_high: "Network Usage"
+      clock_error_is_large: "NTP Offset"
+      gpu_temperature_is_high: "GPU Temperature"
+      gpu_usage_is_high: "GPU Usage"
+      gpu_memory_usage_is_high: "GPU Memory Usage"
+      gpu_is_in_thermal_throttling: "GPU Thermal Throttling"
+      driving_recorder_storage_error: "driving_recorder"
+      debug_data_logger_storage_error: "bagpacker"
+      emergency_stop_operation: "emergency_stop_operation"
+      vehicle_error_occurred: "vehicle_errors"
+      vehicle_ecu_connection_is_lost: "can_bus_connection"
+      obstacle_crash_sensor_is_activated: "obstacle_crash"
+      /control/command_gate/node_alive_monitoring: "vehicle_cmd_gate: heartbeat"
+      /control/autonomous_driving/node_alive_monitoring: "control_topic_status"
+      /control/external_command_selector/node_alive_monitoring: "external_cmd_selector: heartbeat"
+      /localization/node_alive_monitoring: "localization_topic_status"
+      /map/node_alive_monitoring: "map_topic_status"
+      /planning/node_alive_monitoring: "planning_topic_status"
+      /sensing/lidar/node_alive_monitoring: "lidar_topic_status"
+      /sensing/imu/node_alive_monitoring: "imu_connection"
+      /sensing/gnss/node_alive_monitoring: "gnss_connection"
+      /system/node_alive_monitoring: "system_topic_status"
+      /vehicle/node_alive_monitoring: "vehicle_topic_status"
diff --git a/simulator_launch/launch/simulator.launch.xml b/simulator_launch/launch/simulator.launch.xml
index aba24c3087763..8a0950b90a516 100644
--- a/simulator_launch/launch/simulator.launch.xml
+++ b/simulator_launch/launch/simulator.launch.xml
@@ -13,7 +13,9 @@
   <let name="vehicle_model_pkg" value="$(find-pkg-share $(var vehicle_model)_description)"/>
 
   <group if="$(var scenario_simulation)">
-    <include file="$(find-pkg-share fault_injection)/launch/fault_injection.launch.xml"/>
+    <include file="$(find-pkg-share fault_injection)/launch/fault_injection.launch.xml">
+      <arg name="config_file" value="$(find-pkg-share simulator_launch)/config/fault_injection.param.yaml"/>
+    </include>
   </group>
 
   <!-- Dummy Perception -->