Revert "feat(ad_service_state_monitor)!: remove ad_service_state_moni…

…tor (autowarefoundation#2311)"

This reverts commit 8a2015f.

.github/CODEOWNERS

@@ -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

launch/tier4_system_launch/config/ad_service_state_monitor/ad_service_state_monitor.param.yaml

@@ -0,0 +1,155 @@
+# 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_auto_planning_msgs/msg/HADMapRoute"
+          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

launch/tier4_system_launch/config/ad_service_state_monitor/ad_service_state_monitor.planning_simulation.param.yaml

@@ -0,0 +1,126 @@
+# 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_auto_planning_msgs/msg/HADMapRoute"
+          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

launch/tier4_system_launch/config/system_error_monitor/system_error_monitor.param.yaml

@@ -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

launch/tier4_system_launch/config/system_error_monitor/system_error_monitor.planning_simulation.param.yaml

@@ -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

launch/tier4_system_launch/launch/system.launch.xml

@@ -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>
 

launch/tier4_system_launch/package.xml

@@ -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>