chore(system_error_monitor): update diag (autowarefoundation#334)

* chore(system_error_monitor): update diag * style(pre-commit): autofix --------- Co-authored-by: 0x126 <0x126@users.noreply.github.com>
maxime-clem · Aug 7, 2023 · 2a5add8 · 2a5add8
1 parent 5c4f01f
commit 2a5add8
Show file tree

Hide file tree

Showing 2 changed files with 21 additions and 0 deletions.
diff --git a/autoware_launch/config/system/system_error_monitor/diagnostic_aggregator/system.param.yaml b/autoware_launch/config/system/system_error_monitor/diagnostic_aggregator/system.param.yaml
@@ -13,3 +13,12 @@
               path: storage_error
               contains: ["bagpacker"]
               timeout: 3.0
+        fms_connection:
+          type: diagnostic_aggregator/AnalyzerGroup
+          path: fms_connection
+          analyzers:
+            connection_error:
+              type: diagnostic_aggregator/GenericAnalyzer
+              path: connection_error
+              contains: ["edge_core_internet_connection"]
+              timeout: 10.0
diff --git a/autoware_launch/config/system/system_error_monitor/system_error_monitor.param.yaml b/autoware_launch/config/system/system_error_monitor/system_error_monitor.param.yaml
@@ -17,28 +17,40 @@
   ros__parameters:
     required_modules:
       autonomous_driving:
+        # Control (from control.param.yaml)
         /autoware/control/autonomous_driving/node_alive_monitoring: default
         # /autoware/control/autonomous_driving/performance_monitoring/lane_departure: default # temporarily until logic is improved
         /autoware/control/control_command_gate/node_alive_monitoring: default
 
+        # Localization (from localization.param.yaml)
         /autoware/localization/node_alive_monitoring: default
         /autoware/localization/performance_monitoring/matching_score: { sf_at: "warn", lf_at: "none", spf_at: "none" }
         /autoware/localization/performance_monitoring/localization_accuracy: default
 
+        # Map (from map.param.yaml)
         /autoware/map/node_alive_monitoring: default
 
+        # Perception (from perception.param.yaml)
         /autoware/perception/node_alive_monitoring: default
 
+        # Planning (from planning.param.yaml)
         /autoware/planning/node_alive_monitoring: default
         /autoware/planning/performance_monitoring/trajectory_validation: default
 
+        # Sensors (from sensor_kit.param.yaml)
         # /autoware/sensing/node_alive_monitoring: default
+        /autoware/sensing/lidar/pandar/health_monitoring/connection: { sf_at: "none", lf_at: "none", spf_at: "error", auto_recovery: "true"}
+        /autoware/sensing/lidar/pandar/health_monitoring/temperature: { sf_at: "warn", lf_at: "error", spf_at: "none", auto_recovery: "true"}
+        /autoware/sensing/lidar/pandar/health_monitoring/ptp: { sf_at: "none", lf_at: "none", spf_at: "warn", auto_recovery: "true"}
 
+        # System (from system.param.yaml in universe and system.param.yaml in system_launch)
         /autoware/system/node_alive_monitoring: default
         /autoware/system/emergency_stop_operation: default
         /autoware/system/service_log_checker: { sf_at: "warn", lf_at: "none", spf_at: "none" }
         /autoware/system/resource_monitoring: { sf_at: "warn", lf_at: "none", spf_at: "none" }
+        /autoware/system/fms_connection: { sf_at: "warn", lf_at: "none", spf_at: "none" }
 
+        # Vehicle (from vehicle.param.yaml in universe and vehicle.param.yaml in system_launch)
         /autoware/vehicle/node_alive_monitoring: default
 
       external_control: