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feat(diagnostic_aggregator): add localization_tf_status to /autoware/localization/node_alive_monitoring/tf_status #544

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feat(diagnostic_aggregator): add localization_tf_status to /autoware/localization/node_alive_monitoring/tf_status #544

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6 changes: 6 additions & 0 deletions system/system_error_monitor/config/diagnostic_aggregator/localization.param.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -14,6 +14,12 @@
contains: [": localization_topic_status"]
timeout: 1.0

tf_status:
type: diagnostic_aggregator/GenericAnalyzer
path: tf_status
contains: [": localization_tf_status"]
timeout: 1.0

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Actually, I've removed this since we don't use this anymore. There is the pose(vehicle_kinematic_state) topic instead.
What is your motivation for adding it?

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What is your motivation for adding it?

Now, ad_service_state_monitor publishes it, so I'm sure it is used in autoware.

There is the pose(vehicle_kinematic_state) topic instead.

Could you tell me where it is written?

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Here.

autoware.universe/system/ad_service_state_monitor/config/ad_service_state_monitor.param.yaml

Lines 68 to 72 in d9460e5

/localization/pose_twist_fusion_filter/pose:
module: "localization"
timeout: 1.0
warn_rate: 5.0
type: "geometry_msgs/msg/PoseStamped"

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Thank you for your information. I confirmed it.
So, as next action, two choices are suggested.

  • delete tf diag since this is not used.
  • merge this PR to check tf. Because tf and topic are different.

Do you have any ideas?

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I think you can delete this diag, but before that, I think we should discuss the use case and consider what to check.

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I got it. I'll make issue to discuss it. I'll change to draft.

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I made autowarefoundation/autoware#107

performance_monitoring:
type: diagnostic_aggregator/AnalyzerGroup
path: performance_monitoring
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