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Revert "feat(ad_service_state_monitor)!: remove ad_service_state_moni…
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…tor (autowarefoundation#2311)"

This reverts commit 8a2015f.

reverting HADMapRoute to LaneletRoute

Signed-off-by: Mamoru Sobue <mamoru.sobue@tier4.jp>
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@soblin
soblin committed Dec 5, 2022
1 parent 8e13ced commit 59f7dc9
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Showing 33 changed files with 2,562 additions and 385 deletions.
1 change: 1 addition & 0 deletions .github/CODEOWNERS
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Expand Up @@ -143,6 +143,7 @@ sensing/vehicle_velocity_converter/** ryu.yamamoto@tier4.jp @autowarefoundation/
simulator/dummy_perception_publisher/** yukihiro.saito@tier4.jp @autowarefoundation/autoware-global-codeowners
simulator/fault_injection/** keisuke.shima@tier4.jp @autowarefoundation/autoware-global-codeowners
simulator/simple_planning_simulator/** takamasa.horibe@tier4.jp @autowarefoundation/autoware-global-codeowners
system/ad_service_state_monitor/** kenji.miyake@tier4.jp @autowarefoundation/autoware-global-codeowners
system/bluetooth_monitor/** fumihito.ito@tier4.jp @autowarefoundation/autoware-global-codeowners
system/component_state_monitor/** isamu.takagi@tier4.jp kahhooi.tan@tier4.jp kenji.miyake@tier4.jp makoto.yabuta@tier4.jp @autowarefoundation/autoware-global-codeowners
system/default_ad_api/** isamu.takagi@tier4.jp kahhooi.tan@tier4.jp kenji.miyake@tier4.jp makoto.yabuta@tier4.jp @autowarefoundation/autoware-global-codeowners
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155 changes: 155 additions & 0 deletions ...h/tier4_system_launch/config/ad_service_state_monitor/ad_service_state_monitor.param.yaml
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# AD Service State Monitor Parameters
/**:
ros__parameters:
# modules_names: string array
module_names: [
"map",
"sensing",
"perception",
"localization",
"planning",
"control",
"vehicle",
"system"
]

# Topic Config
## names: string array
## configs: top level
### names used to declare parameter group
#### module: string
#### timeout[s]: double (0: none)
#### warn_rate[hz]: double (0: none)
topic_configs:
names: [
"/map/vector_map",
"/map/pointcloud_map",
"/perception/obstacle_segmentation/pointcloud",
"/perception/object_recognition/objects",
"/initialpose3d",
"/localization/pose_twist_fusion_filter/pose",
"/planning/mission_planning/route",
"/planning/scenario_planning/trajectory",
"/control/trajectory_follower/control_cmd",
"/control/command/control_cmd",
"/vehicle/status/velocity_status",
"/vehicle/status/steering_status",
"/system/emergency/control_cmd"
]

configs:
/map/vector_map:
module: "map"
timeout: 0.0
warn_rate: 0.0
type: "autoware_auto_mapping_msgs/msg/HADMapBin"
transient_local: True

/map/pointcloud_map:
module: "map"
timeout: 0.0
warn_rate: 0.0
type: "sensor_msgs/msg/PointCloud2"
transient_local: True

/perception/obstacle_segmentation/pointcloud:
module: "sensing"
timeout: 1.0
warn_rate: 5.0
type: "sensor_msgs/msg/PointCloud2"
best_effort: True

/initialpose3d:
module: "localization"
timeout: 0.0
warn_rate: 0.0
type: "geometry_msgs/msg/PoseWithCovarianceStamped"

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

# Can be both with feature array or without
# In prediction.launch.xml this is set to without
/perception/object_recognition/objects:
module: "perception"
timeout: 1.0
warn_rate: 5.0
type: "autoware_auto_perception_msgs/msg/PredictedObjects"
# This topic could have two different types depending on the launch flags used.
# The implementation of subscriptions in ROS2 does not allow for multiple types
# to be defined for a topic. By default this is set to not use have features.
# type: ["tier4_perception_msgs/msg/DynamicObjectArray", "tier4_perception_msgs/msg/DynamicObjectWithFeatureArray"]

/planning/mission_planning/route:
module: "planning"
timeout: 0.0
warn_rate: 0.0
type: "autoware_planning_msgs/msg/LaneletRoute"
transient_local: True

/planning/scenario_planning/trajectory:
module: "planning"
timeout: 1.0
warn_rate: 5.0
type: "autoware_auto_planning_msgs/msg/Trajectory"

/control/trajectory_follower/control_cmd:
module: "control"
timeout: 1.0
warn_rate: 5.0
type: "autoware_auto_control_msgs/msg/AckermannControlCommand"

/control/command/control_cmd:
module: "control"
timeout: 1.0
warn_rate: 5.0
type: "autoware_auto_control_msgs/msg/AckermannControlCommand"

/vehicle/status/velocity_status:
module: "vehicle"
timeout: 1.0
warn_rate: 5.0
type: "autoware_auto_vehicle_msgs/msg/VelocityReport"

/vehicle/status/steering_status:
module: "vehicle"
timeout: 1.0
warn_rate: 5.0
type: "autoware_auto_vehicle_msgs/msg/SteeringReport"

/system/emergency/control_cmd:
module: "system"
timeout: 1.0
warn_rate: 5.0
type: "autoware_auto_control_msgs/msg/AckermannControlCommand"

# Param Config
## names: string array
## configs: top level
### names used to declare parameter group
#### module: string
# param_configs:
# names: ["/vehicle_info"]
# configs:
# /vehicle_info:
# module: "vehicle"

# TF Config
## names: string array
## configs: top level
### names used to declare parameter group
#### module: string
#### from: string
#### to: string
#### timeout[s]: double (0: none)
tf_configs:
names: ["map_to_base_link"]
configs:
map_to_base_link:
module: "localization"
from: "map"
to: "base_link"
timeout: 1.0
126 changes: 126 additions & 0 deletions ...h/config/ad_service_state_monitor/ad_service_state_monitor.planning_simulation.param.yaml
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# AD Service State Monitor: Planning Simulator Parameters
/**:
ros__parameters:
# modules_names: string array
module_names: [
"map",
"sensing",
"perception",
"localization",
"planning",
"control",
"vehicle",
"system"
]

# Topic Config
## names: string array
## configs: top level
### names used to declare parameter group
#### module: string
#### timeout[s]: double (0: none)
#### warn_rate[hz]: double (0: none)
topic_configs:
names: [
"/map/vector_map",
"/perception/object_recognition/objects",
"/initialpose3d",
"/planning/mission_planning/route",
"/planning/scenario_planning/trajectory",
"/control/trajectory_follower/control_cmd",
"/control/command/control_cmd",
"/vehicle/status/velocity_status",
"/vehicle/status/steering_status",
"/system/emergency/control_cmd"
]

configs:
/map/vector_map:
module: "map"
timeout: 0.0
warn_rate: 0.0
type: "autoware_auto_mapping_msgs/msg/HADMapBin"
transient_local: True

/perception/object_recognition/objects:
module: "perception"
timeout: 1.0
warn_rate: 5.0
type: "autoware_auto_perception_msgs/msg/PredictedObjects"

/initialpose3d:
module: "localization"
timeout: 0.0
warn_rate: 0.0
type: "geometry_msgs/msg/PoseWithCovarianceStamped"

/planning/mission_planning/route:
module: "planning"
timeout: 0.0
warn_rate: 0.0
type: "autoware_planning_msgs/msg/LaneletRoute"
transient_local: True

/planning/scenario_planning/trajectory:
module: "planning"
timeout: 1.0
warn_rate: 5.0
type: "autoware_auto_planning_msgs/msg/Trajectory"

/control/trajectory_follower/control_cmd:
module: "control"
timeout: 1.0
warn_rate: 5.0
type: "autoware_auto_control_msgs/msg/AckermannControlCommand"

/control/command/control_cmd:
module: "control"
timeout: 1.0
warn_rate: 5.0
type: "autoware_auto_control_msgs/msg/AckermannControlCommand"

/vehicle/status/velocity_status:
module: "vehicle"
timeout: 1.0
warn_rate: 5.0
type: "autoware_auto_vehicle_msgs/msg/VelocityReport"

/vehicle/status/steering_status:
module: "vehicle"
timeout: 1.0
warn_rate: 5.0
type: "autoware_auto_vehicle_msgs/msg/SteeringReport"

/system/emergency/control_cmd:
module: "system"
timeout: 1.0
warn_rate: 5.0
type: "autoware_auto_control_msgs/msg/AckermannControlCommand"

# Param Config
## names: string array
## configs: top level
### names used to declare parameter group
#### module: string
# param_configs:
# names: ["/vehicle_info"]
# configs:
# /vehicle_info:
# module: "vehicle"

# TF Config
## names: string array
## configs: top level
### names used to declare parameter group
#### module: string
#### from: string
#### to: string
#### timeout[s]: double (0: none)
tf_configs:
names: ["map_to_base_link"]
configs:
map_to_base_link:
module: "localization"
from: "map"
to: "base_link"
timeout: 1.0
2 changes: 1 addition & 1 deletion launch/tier4_system_launch/config/system_error_monitor/system_error_monitor.param.yaml
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Expand Up @@ -32,7 +32,7 @@
/autoware/planning/node_alive_monitoring: default
/autoware/planning/performance_monitoring/trajectory_validation: default

# /autoware/sensing/node_alive_monitoring: default
/autoware/sensing/node_alive_monitoring: default

/autoware/system/node_alive_monitoring: default
/autoware/system/emergency_stop_operation: default
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2 changes: 1 addition & 1 deletion ...em_launch/config/system_error_monitor/system_error_monitor.planning_simulation.param.yaml
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Expand Up @@ -32,7 +32,7 @@
/autoware/planning/node_alive_monitoring: default
/autoware/planning/performance_monitoring/trajectory_validation: default

# /autoware/sensing/node_alive_monitoring: default
/autoware/sensing/node_alive_monitoring: default

/autoware/system/node_alive_monitoring: default
/autoware/system/emergency_stop_operation: default
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15 changes: 14 additions & 1 deletion launch/tier4_system_launch/launch/system.launch.xml
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Expand Up @@ -24,11 +24,24 @@
</include>
</group>

<!-- State Monitor -->
<group>
<let name="config_file" value="$(var tier4_system_launch_param_path)/ad_service_state_monitor/ad_service_state_monitor.param.yaml" if="$(eval &quot;'$(var run_mode)'=='online'&quot;)"/>
<let
name="config_file"
value="$(var tier4_system_launch_param_path)/ad_service_state_monitor/ad_service_state_monitor.planning_simulation.param.yaml"
if="$(eval &quot;'$(var run_mode)'=='planning_simulation'&quot;)"
/>
<include file="$(find-pkg-share ad_service_state_monitor)/launch/ad_service_state_monitor.launch.xml">
<arg name="config_file" value="$(var config_file)"/>
</include>
</group>

<!-- Component State Monitor -->
<group>
<include file="$(find-pkg-share component_state_monitor)/launch/component_state_monitor.launch.py">
<arg name="mode" value="$(var run_mode)"/>
<arg name="file" value="$(var tier4_system_launch_param_path)/component_state_monitor/topics.yaml"/>
<arg name="file" value="$(find-pkg-share component_state_monitor)/config/topics.yaml"/>
</include>
</group>

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2 changes: 1 addition & 1 deletion launch/tier4_system_launch/package.xml
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Expand Up @@ -12,7 +12,7 @@

<build_depend>autoware_cmake</build_depend>

<exec_depend>component_state_monitor</exec_depend>
<exec_depend>ad_service_state_monitor</exec_depend>
<exec_depend>emergency_handler</exec_depend>
<exec_depend>system_error_monitor</exec_depend>
<exec_depend>system_monitor</exec_depend>
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