From 123e419d0279efd8f3ae38aafeb59a9210a5ef70 Mon Sep 17 00:00:00 2001 From: asana17 Date: Fri, 3 Feb 2023 13:21:33 +0900 Subject: [PATCH 01/14] move system_launch to autoware_launch --- .../component_state_monitor/topics.yaml | 0 .../diagnostic_aggregator/system.param.yaml | 0 .../diagnostic_aggregator/vehicle.param.yaml | 0 .../dummy_diag_publisher.param.yaml | 49 +++++++++++ .../emergency_handler.param.yaml | 0 .../mrm_comfortable_stop_operator.param.yaml | 0 .../mrm_emergency_stop_operator.param.yaml | 0 .../system_error_monitor.param.yaml | 0 ...ror_monitor.planning_simulation.param.yaml | 0 .../system_monitor/cpu_monitor.param.yaml | 0 .../system_monitor/gpu_monitor.param.yaml | 0 .../system_monitor/hdd_monitor.param.yaml | 0 .../system_monitor/mem_monitor.param.yaml | 0 .../system_monitor/net_monitor.param.yaml | 0 .../system_monitor/ntp_monitor.param.yaml | 0 .../system_monitor/process_monitor.param.yaml | 0 .../system_monitor/voltage_monitor.param.yaml | 0 autoware_launch/launch/autoware.launch.xml | 2 +- .../tier4_system_component.launch.xml | 29 +++++++ autoware_launch/package.xml | 7 +- .../system_launch.drawio.svg | 0 system_launch/CMakeLists.txt | 20 ----- system_launch/README.md | 17 ---- .../config/system_error_monitor.param.yaml | 52 ----------- .../dummy_diag_publisher/control.launch.xml | 7 -- .../localization.launch.xml | 11 --- .../dummy_diag_publisher/system.launch.xml | 87 ------------------- .../dummy_diag_publisher/vehicle.launch.xml | 7 -- system_launch/launch/system.launch.xml | 84 ------------------ system_launch/package.xml | 24 ----- 30 files changed, 85 insertions(+), 311 deletions(-) rename {system_launch/config => autoware_launch/config/system}/component_state_monitor/topics.yaml (100%) rename {system_launch/config => autoware_launch/config/system}/diagnostic_aggregator/system.param.yaml (100%) rename {system_launch/config => autoware_launch/config/system}/diagnostic_aggregator/vehicle.param.yaml (100%) create mode 100644 autoware_launch/config/system/dummy_diag_publisher/dummy_diag_publisher.param.yaml rename {system_launch/config => autoware_launch/config/system}/emergency_handler/emergency_handler.param.yaml (100%) rename {system_launch/config => autoware_launch/config/system}/mrm_comfortable_stop_operator/mrm_comfortable_stop_operator.param.yaml (100%) rename {system_launch/config => autoware_launch/config/system}/mrm_emergency_stop_operator/mrm_emergency_stop_operator.param.yaml (100%) rename {system_launch/config => autoware_launch/config/system}/system_error_monitor/system_error_monitor.param.yaml (100%) rename {system_launch/config => autoware_launch/config/system}/system_error_monitor/system_error_monitor.planning_simulation.param.yaml (100%) rename {system_launch/config => autoware_launch/config/system}/system_monitor/cpu_monitor.param.yaml (100%) rename {system_launch/config => autoware_launch/config/system}/system_monitor/gpu_monitor.param.yaml (100%) rename {system_launch/config => autoware_launch/config/system}/system_monitor/hdd_monitor.param.yaml (100%) rename {system_launch/config => autoware_launch/config/system}/system_monitor/mem_monitor.param.yaml (100%) rename {system_launch/config => autoware_launch/config/system}/system_monitor/net_monitor.param.yaml (100%) rename {system_launch/config => autoware_launch/config/system}/system_monitor/ntp_monitor.param.yaml (100%) rename {system_launch/config => autoware_launch/config/system}/system_monitor/process_monitor.param.yaml (100%) rename {system_launch/config => autoware_launch/config/system}/system_monitor/voltage_monitor.param.yaml (100%) create mode 100644 autoware_launch/launch/components/tier4_system_component.launch.xml rename {system_launch => autoware_launch}/system_launch.drawio.svg (100%) delete mode 100644 system_launch/CMakeLists.txt delete mode 100644 system_launch/README.md delete mode 100644 system_launch/config/system_error_monitor.param.yaml delete mode 100644 system_launch/launch/dummy_diag_publisher/control.launch.xml delete mode 100644 system_launch/launch/dummy_diag_publisher/localization.launch.xml delete mode 100644 system_launch/launch/dummy_diag_publisher/system.launch.xml delete mode 100644 system_launch/launch/dummy_diag_publisher/vehicle.launch.xml delete mode 100644 system_launch/launch/system.launch.xml delete mode 100644 system_launch/package.xml diff --git a/system_launch/config/component_state_monitor/topics.yaml b/autoware_launch/config/system/component_state_monitor/topics.yaml similarity index 100% rename from system_launch/config/component_state_monitor/topics.yaml rename to autoware_launch/config/system/component_state_monitor/topics.yaml diff --git a/system_launch/config/diagnostic_aggregator/system.param.yaml b/autoware_launch/config/system/diagnostic_aggregator/system.param.yaml similarity index 100% rename from system_launch/config/diagnostic_aggregator/system.param.yaml rename to autoware_launch/config/system/diagnostic_aggregator/system.param.yaml diff --git a/system_launch/config/diagnostic_aggregator/vehicle.param.yaml b/autoware_launch/config/system/diagnostic_aggregator/vehicle.param.yaml similarity index 100% rename from system_launch/config/diagnostic_aggregator/vehicle.param.yaml rename to autoware_launch/config/system/diagnostic_aggregator/vehicle.param.yaml diff --git a/autoware_launch/config/system/dummy_diag_publisher/dummy_diag_publisher.param.yaml b/autoware_launch/config/system/dummy_diag_publisher/dummy_diag_publisher.param.yaml new file mode 100644 index 0000000000..480615d762 --- /dev/null +++ b/autoware_launch/config/system/dummy_diag_publisher/dummy_diag_publisher.param.yaml @@ -0,0 +1,49 @@ +# Description: +# required_diags: +# : {is_active: , status: } +# name: diag name +# is_active: Force update or not +# status: diag status set by dummy diag publisher "OK, Warn, Error, Stale" +# +# Note: +# +# default values are: +# is_active: "true" +# status: "OK" +--- +/**: + ros__parameters: + required_diags: + + # control + joy_controller_connection: default + + # locallization + localization_accuracy: default + ndt_scan_matcher: default + + # system + bagpacker: default + NTP Offset: default + CPU Temperature: default + CPU Usage: default + CPU Thermal Throttling: default + CPU Frequency: default + CPU Load Average: default + GPU Temperature: default + GPU Usage: default + GPU Memory Usage: default + GPU Thermal Throttling: default + Memory Usage: default + Network Usage: default + Network Traffic: default + HDD Temperature: default + HDD Usage: default + HDD PowerOnHours: default + HDD TotalDataWritten: default + High-load: default + High-mem: default + Tasks Summary: default + + #vehicle + vehicle_errors: default diff --git a/system_launch/config/emergency_handler/emergency_handler.param.yaml b/autoware_launch/config/system/emergency_handler/emergency_handler.param.yaml similarity index 100% rename from system_launch/config/emergency_handler/emergency_handler.param.yaml rename to autoware_launch/config/system/emergency_handler/emergency_handler.param.yaml diff --git a/system_launch/config/mrm_comfortable_stop_operator/mrm_comfortable_stop_operator.param.yaml b/autoware_launch/config/system/mrm_comfortable_stop_operator/mrm_comfortable_stop_operator.param.yaml similarity index 100% rename from system_launch/config/mrm_comfortable_stop_operator/mrm_comfortable_stop_operator.param.yaml rename to autoware_launch/config/system/mrm_comfortable_stop_operator/mrm_comfortable_stop_operator.param.yaml diff --git a/system_launch/config/mrm_emergency_stop_operator/mrm_emergency_stop_operator.param.yaml b/autoware_launch/config/system/mrm_emergency_stop_operator/mrm_emergency_stop_operator.param.yaml similarity index 100% rename from system_launch/config/mrm_emergency_stop_operator/mrm_emergency_stop_operator.param.yaml rename to autoware_launch/config/system/mrm_emergency_stop_operator/mrm_emergency_stop_operator.param.yaml diff --git a/system_launch/config/system_error_monitor/system_error_monitor.param.yaml b/autoware_launch/config/system/system_error_monitor/system_error_monitor.param.yaml similarity index 100% rename from system_launch/config/system_error_monitor/system_error_monitor.param.yaml rename to autoware_launch/config/system/system_error_monitor/system_error_monitor.param.yaml diff --git a/system_launch/config/system_error_monitor/system_error_monitor.planning_simulation.param.yaml b/autoware_launch/config/system/system_error_monitor/system_error_monitor.planning_simulation.param.yaml similarity index 100% rename from system_launch/config/system_error_monitor/system_error_monitor.planning_simulation.param.yaml rename to autoware_launch/config/system/system_error_monitor/system_error_monitor.planning_simulation.param.yaml diff --git a/system_launch/config/system_monitor/cpu_monitor.param.yaml b/autoware_launch/config/system/system_monitor/cpu_monitor.param.yaml similarity index 100% rename from system_launch/config/system_monitor/cpu_monitor.param.yaml rename to autoware_launch/config/system/system_monitor/cpu_monitor.param.yaml diff --git a/system_launch/config/system_monitor/gpu_monitor.param.yaml b/autoware_launch/config/system/system_monitor/gpu_monitor.param.yaml similarity index 100% rename from system_launch/config/system_monitor/gpu_monitor.param.yaml rename to autoware_launch/config/system/system_monitor/gpu_monitor.param.yaml diff --git a/system_launch/config/system_monitor/hdd_monitor.param.yaml b/autoware_launch/config/system/system_monitor/hdd_monitor.param.yaml similarity index 100% rename from system_launch/config/system_monitor/hdd_monitor.param.yaml rename to autoware_launch/config/system/system_monitor/hdd_monitor.param.yaml diff --git a/system_launch/config/system_monitor/mem_monitor.param.yaml b/autoware_launch/config/system/system_monitor/mem_monitor.param.yaml similarity index 100% rename from system_launch/config/system_monitor/mem_monitor.param.yaml rename to autoware_launch/config/system/system_monitor/mem_monitor.param.yaml diff --git a/system_launch/config/system_monitor/net_monitor.param.yaml b/autoware_launch/config/system/system_monitor/net_monitor.param.yaml similarity index 100% rename from system_launch/config/system_monitor/net_monitor.param.yaml rename to autoware_launch/config/system/system_monitor/net_monitor.param.yaml diff --git a/system_launch/config/system_monitor/ntp_monitor.param.yaml b/autoware_launch/config/system/system_monitor/ntp_monitor.param.yaml similarity index 100% rename from system_launch/config/system_monitor/ntp_monitor.param.yaml rename to autoware_launch/config/system/system_monitor/ntp_monitor.param.yaml diff --git a/system_launch/config/system_monitor/process_monitor.param.yaml b/autoware_launch/config/system/system_monitor/process_monitor.param.yaml similarity index 100% rename from system_launch/config/system_monitor/process_monitor.param.yaml rename to autoware_launch/config/system/system_monitor/process_monitor.param.yaml diff --git a/system_launch/config/system_monitor/voltage_monitor.param.yaml b/autoware_launch/config/system/system_monitor/voltage_monitor.param.yaml similarity index 100% rename from system_launch/config/system_monitor/voltage_monitor.param.yaml rename to autoware_launch/config/system/system_monitor/voltage_monitor.param.yaml diff --git a/autoware_launch/launch/autoware.launch.xml b/autoware_launch/launch/autoware.launch.xml index 45155cfe86..a1662d0de5 100644 --- a/autoware_launch/launch/autoware.launch.xml +++ b/autoware_launch/launch/autoware.launch.xml @@ -65,7 +65,7 @@ - + diff --git a/autoware_launch/launch/components/tier4_system_component.launch.xml b/autoware_launch/launch/components/tier4_system_component.launch.xml new file mode 100644 index 0000000000..214b10ea0a --- /dev/null +++ b/autoware_launch/launch/components/tier4_system_component.launch.xml @@ -0,0 +1,29 @@ + + + + + + + + . + + + + + + + + + + + + + + + + + + + + + diff --git a/autoware_launch/package.xml b/autoware_launch/package.xml index 4cc04cc4f4..94d27c5e29 100644 --- a/autoware_launch/package.xml +++ b/autoware_launch/package.xml @@ -6,16 +6,20 @@ Yukihiro Saito Takagi, Isamu + Akihiro Sakurai Apache License 2.0 ament_cmake_auto ad_api_adaptors + component_state_monitor + emergency_handler global_parameter_loader python3-bson python3-tornado + system_error_monitor + system_monitor rviz2 - system_launch tier4_autoware_api_launch tier4_control_launch tier4_localization_launch @@ -24,6 +28,7 @@ tier4_planning_launch tier4_sensing_launch tier4_simulator_launch + tier4_system_launch tier4_vehicle_launch ament_lint_auto diff --git a/system_launch/system_launch.drawio.svg b/autoware_launch/system_launch.drawio.svg similarity index 100% rename from system_launch/system_launch.drawio.svg rename to autoware_launch/system_launch.drawio.svg diff --git a/system_launch/CMakeLists.txt b/system_launch/CMakeLists.txt deleted file mode 100644 index 656e60c6d0..0000000000 --- a/system_launch/CMakeLists.txt +++ /dev/null @@ -1,20 +0,0 @@ -cmake_minimum_required(VERSION 3.5) -project(system_launch) - -find_package(ament_cmake_auto REQUIRED) -ament_auto_find_build_dependencies() - -if(BUILD_TESTING) - find_package(ament_lint_auto REQUIRED) - ament_lint_auto_find_test_dependencies() -endif() - -if(BUILD_TESTING) - find_package(ament_lint_auto REQUIRED) - ament_lint_auto_find_test_dependencies() -endif() - -ament_auto_package(INSTALL_TO_SHARE - launch - config -) diff --git a/system_launch/README.md b/system_launch/README.md deleted file mode 100644 index 793c045fc9..0000000000 --- a/system_launch/README.md +++ /dev/null @@ -1,17 +0,0 @@ -# system_launch - -## Structure - -![system_launch](./system_launch.drawio.svg) - -## Package Dependencies - -Please see `` in `package.xml`. - -## Usage - -```xml - - - -``` diff --git a/system_launch/config/system_error_monitor.param.yaml b/system_launch/config/system_error_monitor.param.yaml deleted file mode 100644 index 71dc2ac600..0000000000 --- a/system_launch/config/system_error_monitor.param.yaml +++ /dev/null @@ -1,52 +0,0 @@ -# Description: -# name: diag name -# sf_at: diag level where it becomes Safe Fault -# lf_at: diag level where it becomes Latent Fault -# spf_at: diag level where it becomes Single Point Fault -# auto_recovery: Determines whether the system will automatically recover when it recovers from an error. -# -# Note: -# empty-value for sf_at, lf_at and spf_at is "none" -# default values are: -# sf_at: "none" -# lf_at: "warn" -# spf_at: "error" -# auto_recovery: "true" ---- -/**: - ros__parameters: - required_modules: - autonomous_driving: - /autoware/control/autonomous_driving/node_alive_monitoring: default - /autoware/control/autonomous_driving/performance_monitoring/lane_departure: default - /autoware/control/control_command_gate/node_alive_monitoring: default - - /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 - - /autoware/map/node_alive_monitoring: default - - /autoware/perception/node_alive_monitoring: default - - /autoware/planning/node_alive_monitoring: default - /autoware/planning/performance_monitoring/trajectory_validation: default - - # /autoware/sensing/node_alive_monitoring: default - - /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/vehicle/node_alive_monitoring: default - - external_control: - /autoware/control/control_command_gate/node_alive_monitoring: default - /autoware/control/external_control/external_command_selector/node_alive_monitoring: default - - /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/vehicle/node_alive_monitoring: default diff --git a/system_launch/launch/dummy_diag_publisher/control.launch.xml b/system_launch/launch/dummy_diag_publisher/control.launch.xml deleted file mode 100644 index b93a93d927..0000000000 --- a/system_launch/launch/dummy_diag_publisher/control.launch.xml +++ /dev/null @@ -1,7 +0,0 @@ - - - - - - - diff --git a/system_launch/launch/dummy_diag_publisher/localization.launch.xml b/system_launch/launch/dummy_diag_publisher/localization.launch.xml deleted file mode 100644 index 19f70a723d..0000000000 --- a/system_launch/launch/dummy_diag_publisher/localization.launch.xml +++ /dev/null @@ -1,11 +0,0 @@ - - - - - - - - - - - diff --git a/system_launch/launch/dummy_diag_publisher/system.launch.xml b/system_launch/launch/dummy_diag_publisher/system.launch.xml deleted file mode 100644 index e56227a7a4..0000000000 --- a/system_launch/launch/dummy_diag_publisher/system.launch.xml +++ /dev/null @@ -1,87 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/system_launch/launch/dummy_diag_publisher/vehicle.launch.xml b/system_launch/launch/dummy_diag_publisher/vehicle.launch.xml deleted file mode 100644 index 3848c9e7e9..0000000000 --- a/system_launch/launch/dummy_diag_publisher/vehicle.launch.xml +++ /dev/null @@ -1,7 +0,0 @@ - - - - - - - diff --git a/system_launch/launch/system.launch.xml b/system_launch/launch/system.launch.xml deleted file mode 100644 index 7360aadb0a..0000000000 --- a/system_launch/launch/system.launch.xml +++ /dev/null @@ -1,84 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/system_launch/package.xml b/system_launch/package.xml deleted file mode 100644 index 9d3e90ad2d..0000000000 --- a/system_launch/package.xml +++ /dev/null @@ -1,24 +0,0 @@ - - - - system_launch - 0.1.0 - The system_launch package - - Kenji Miyake - Apache License 2.0 - - ament_cmake_auto - - component_state_monitor - emergency_handler - system_error_monitor - system_monitor - - ament_lint_auto - autoware_lint_common - - - ament_cmake - - From 36123bf252ece9ba2931c3c83407f9e822325dd6 Mon Sep 17 00:00:00 2001 From: asana17 Date: Mon, 6 Feb 2023 21:52:19 +0900 Subject: [PATCH 02/14] modify file name --- .../launch/components/tier4_system_component.launch.xml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/autoware_launch/launch/components/tier4_system_component.launch.xml b/autoware_launch/launch/components/tier4_system_component.launch.xml index 214b10ea0a..a7ce52d3cf 100644 --- a/autoware_launch/launch/components/tier4_system_component.launch.xml +++ b/autoware_launch/launch/components/tier4_system_component.launch.xml @@ -13,7 +13,7 @@ - + From 2ab3dd1c6b90b7ee34ad0f51b60e5e9cf4685911 Mon Sep 17 00:00:00 2001 From: asana17 Date: Tue, 7 Feb 2023 10:24:05 +0900 Subject: [PATCH 03/14] modified launch_system_monitor param modified launch_system_monitor param modified launch_system_monitor_param --- autoware_launch/launch/autoware.launch.xml | 2 ++ .../launch/components/tier4_system_component.launch.xml | 2 ++ autoware_launch/launch/planning_simulator.launch.xml | 3 +++ 3 files changed, 7 insertions(+) diff --git a/autoware_launch/launch/autoware.launch.xml b/autoware_launch/launch/autoware.launch.xml index a1662d0de5..98540feaa1 100644 --- a/autoware_launch/launch/autoware.launch.xml +++ b/autoware_launch/launch/autoware.launch.xml @@ -29,6 +29,7 @@ + @@ -67,6 +68,7 @@ + diff --git a/autoware_launch/launch/components/tier4_system_component.launch.xml b/autoware_launch/launch/components/tier4_system_component.launch.xml index a7ce52d3cf..d2381a6be6 100644 --- a/autoware_launch/launch/components/tier4_system_component.launch.xml +++ b/autoware_launch/launch/components/tier4_system_component.launch.xml @@ -2,11 +2,13 @@ + . + diff --git a/autoware_launch/launch/planning_simulator.launch.xml b/autoware_launch/launch/planning_simulator.launch.xml index 62fc034a6e..388b0952b2 100644 --- a/autoware_launch/launch/planning_simulator.launch.xml +++ b/autoware_launch/launch/planning_simulator.launch.xml @@ -9,6 +9,8 @@ + + @@ -41,6 +43,7 @@ + From 22fe720a3d868a0959ec5926433817e5d282673e Mon Sep 17 00:00:00 2001 From: "pre-commit-ci[bot]" <66853113+pre-commit-ci[bot]@users.noreply.github.com> Date: Tue, 7 Feb 2023 07:33:59 +0000 Subject: [PATCH 04/14] ci(pre-commit): autofix --- .../system/dummy_diag_publisher/dummy_diag_publisher.param.yaml | 2 +- autoware_launch/package.xml | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/autoware_launch/config/system/dummy_diag_publisher/dummy_diag_publisher.param.yaml b/autoware_launch/config/system/dummy_diag_publisher/dummy_diag_publisher.param.yaml index 480615d762..5f975fafd7 100644 --- a/autoware_launch/config/system/dummy_diag_publisher/dummy_diag_publisher.param.yaml +++ b/autoware_launch/config/system/dummy_diag_publisher/dummy_diag_publisher.param.yaml @@ -14,7 +14,7 @@ /**: ros__parameters: required_diags: - + # control joy_controller_connection: default diff --git a/autoware_launch/package.xml b/autoware_launch/package.xml index 94d27c5e29..d3f305192f 100644 --- a/autoware_launch/package.xml +++ b/autoware_launch/package.xml @@ -17,9 +17,9 @@ global_parameter_loader python3-bson python3-tornado + rviz2 system_error_monitor system_monitor - rviz2 tier4_autoware_api_launch tier4_control_launch tier4_localization_launch From 1a89cb82e5379039b8c767b194cdbf0dbcea2280 Mon Sep 17 00:00:00 2001 From: asana17 Date: Tue, 7 Feb 2023 16:55:31 +0900 Subject: [PATCH 05/14] fix typo --- .../system/dummy_diag_publisher/dummy_diag_publisher.param.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/autoware_launch/config/system/dummy_diag_publisher/dummy_diag_publisher.param.yaml b/autoware_launch/config/system/dummy_diag_publisher/dummy_diag_publisher.param.yaml index 5f975fafd7..198aa0cfab 100644 --- a/autoware_launch/config/system/dummy_diag_publisher/dummy_diag_publisher.param.yaml +++ b/autoware_launch/config/system/dummy_diag_publisher/dummy_diag_publisher.param.yaml @@ -18,7 +18,7 @@ # control joy_controller_connection: default - # locallization + # localization localization_accuracy: default ndt_scan_matcher: default From fc88cb37800f796e856dbcc9ef690a165e708382 Mon Sep 17 00:00:00 2001 From: asana17 Date: Tue, 7 Feb 2023 17:04:45 +0900 Subject: [PATCH 06/14] modified package.xml --- autoware_launch/package.xml | 1 + 1 file changed, 1 insertion(+) diff --git a/autoware_launch/package.xml b/autoware_launch/package.xml index d3f305192f..1974c80d21 100644 --- a/autoware_launch/package.xml +++ b/autoware_launch/package.xml @@ -13,6 +13,7 @@ ad_api_adaptors component_state_monitor + dummy_diag_publisher emergency_handler global_parameter_loader python3-bson From 2a3bdbb2fa51fb2da621e89f10f4fb539deb0e51 Mon Sep 17 00:00:00 2001 From: asana17 Date: Wed, 8 Feb 2023 14:38:02 +0900 Subject: [PATCH 07/14] Signed-off-by: asana17 removed unnecessary dependencies --- autoware_launch/package.xml | 5 ----- 1 file changed, 5 deletions(-) diff --git a/autoware_launch/package.xml b/autoware_launch/package.xml index 1974c80d21..08c5b12a8f 100644 --- a/autoware_launch/package.xml +++ b/autoware_launch/package.xml @@ -12,15 +12,10 @@ ament_cmake_auto ad_api_adaptors - component_state_monitor - dummy_diag_publisher - emergency_handler global_parameter_loader python3-bson python3-tornado rviz2 - system_error_monitor - system_monitor tier4_autoware_api_launch tier4_control_launch tier4_localization_launch From 6ca70cfc1a334dd0145ed9d0a4641e69b723dc3a Mon Sep 17 00:00:00 2001 From: Ahmed Ebrahim <36835765+ahmeddesokyebrahim@users.noreply.github.com> Date: Wed, 15 Feb 2023 14:07:08 +0200 Subject: [PATCH 08/14] fix(obstacle_avoidance_planner.param.yaml): add a margin for vehicle to stop before the end of drivable area boundary (#192) * fix: add margin for vehicle stop before the end of drivable area boundary Signed-off-by: AhmedEbrahim Adding ros parameter for vehicle stop margin for obstacle avoidance planner * style(pre-commit): autofix --------- Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> --- .../obstacle_avoidance_planner.param.yaml | 3 +++ 1 file changed, 3 insertions(+) diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_avoidance_planner/obstacle_avoidance_planner.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_avoidance_planner/obstacle_avoidance_planner.param.yaml index 78e123ded7..c2aab909e8 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_avoidance_planner/obstacle_avoidance_planner.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_avoidance_planner/obstacle_avoidance_planner.param.yaml @@ -43,6 +43,9 @@ enable_clipping_fixed_traj: false non_fixed_trajectory_length: 5.0 # length of the trajectory merging optimized mpt trajectory to original(not optimized) trajectory + vehicle_stop_margin_outside_drivable_area: 1.5 # vehicle stop margin to let the vehicle stop before the calculated stop point if it is calculated outside the drivable area [m] . + # This margin will be realized with delta_arc_length_for_mpt_points m precision. + object: # avoiding object max_avoiding_objects_velocity_ms: 0.5 # maximum velocity for avoiding objects [m/s] max_avoiding_ego_velocity_ms: 6.0 # maximum ego velocity when avoiding objects [m/s] From 96857078e3de3b564f4a5c4900eda00fb13700b0 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?=C5=81ukasz=20Chojnacki?= Date: Wed, 15 Feb 2023 15:05:25 +0100 Subject: [PATCH 09/14] fix(autoware_launch): add z_axis_filtering params for obstacle_stop_planner node (#150) MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: Łukasz Chojnacki --- .../obstacle_stop_planner/obstacle_stop_planner.param.yaml | 2 ++ 1 file changed, 2 insertions(+) diff --git a/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_stop_planner/obstacle_stop_planner.param.yaml b/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_stop_planner/obstacle_stop_planner.param.yaml index d707a73bce..6924435ebc 100644 --- a/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_stop_planner/obstacle_stop_planner.param.yaml +++ b/autoware_launch/config/planning/scenario_planning/lane_driving/motion_planning/obstacle_stop_planner/obstacle_stop_planner.param.yaml @@ -4,6 +4,8 @@ lowpass_gain: 0.9 # gain parameter for low pass filter [-] max_velocity: 20.0 # max velocity [m/s] enable_slow_down: False # whether to use slow down planner [-] + enable_z_axis_obstacle_filtering: True # filter obstacles in z axis (height) [-] + z_axis_filtering_buffer: 0.0 # additional buffer for z axis filtering [m] voxel_grid_x: 0.05 # voxel grid x parameter for filtering pointcloud [m] voxel_grid_y: 0.05 # voxel grid y parameter for filtering pointcloud [m] voxel_grid_z: 100000.0 # voxel grid z parameter for filtering pointcloud [m] From 10663f3a0b041f9409c1550fb795c13c72071ea9 Mon Sep 17 00:00:00 2001 From: asana17 Date: Thu, 16 Feb 2023 14:17:58 +0900 Subject: [PATCH 10/14] add launch_dummy_diag_publisher param Signed-off-by: asana17 --- autoware_launch/launch/autoware.launch.xml | 2 ++ .../launch/components/tier4_system_component.launch.xml | 2 ++ autoware_launch/launch/e2e_simulator.launch.xml | 2 ++ autoware_launch/launch/planning_simulator.launch.xml | 2 ++ 4 files changed, 8 insertions(+) diff --git a/autoware_launch/launch/autoware.launch.xml b/autoware_launch/launch/autoware.launch.xml index 98540feaa1..46413a95f2 100644 --- a/autoware_launch/launch/autoware.launch.xml +++ b/autoware_launch/launch/autoware.launch.xml @@ -30,6 +30,7 @@ + @@ -69,6 +70,7 @@ + diff --git a/autoware_launch/launch/components/tier4_system_component.launch.xml b/autoware_launch/launch/components/tier4_system_component.launch.xml index d2381a6be6..94db9bf58c 100644 --- a/autoware_launch/launch/components/tier4_system_component.launch.xml +++ b/autoware_launch/launch/components/tier4_system_component.launch.xml @@ -3,12 +3,14 @@ + . + diff --git a/autoware_launch/launch/e2e_simulator.launch.xml b/autoware_launch/launch/e2e_simulator.launch.xml index 317decda57..2ebf8bb50b 100644 --- a/autoware_launch/launch/e2e_simulator.launch.xml +++ b/autoware_launch/launch/e2e_simulator.launch.xml @@ -24,6 +24,7 @@ + @@ -53,6 +54,7 @@ + diff --git a/autoware_launch/launch/planning_simulator.launch.xml b/autoware_launch/launch/planning_simulator.launch.xml index 388b0952b2..5a5dd5981b 100644 --- a/autoware_launch/launch/planning_simulator.launch.xml +++ b/autoware_launch/launch/planning_simulator.launch.xml @@ -11,6 +11,7 @@ + @@ -44,6 +45,7 @@ + From c5acbe3a6fdecf1cbcebf2a8255abaf490cc6620 Mon Sep 17 00:00:00 2001 From: Takayuki Murooka Date: Thu, 16 Feb 2023 14:25:45 +0900 Subject: [PATCH 11/14] fix(autoware_launch): fix the planning param (#208) Signed-off-by: Takayuki Murooka --- .../launch/components/tier4_planning_component.launch.xml | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/autoware_launch/launch/components/tier4_planning_component.launch.xml b/autoware_launch/launch/components/tier4_planning_component.launch.xml index be60d018e8..1780207230 100644 --- a/autoware_launch/launch/components/tier4_planning_component.launch.xml +++ b/autoware_launch/launch/components/tier4_planning_component.launch.xml @@ -54,7 +54,7 @@ /> - + - + From c224b8a10663257f8ffd7bdfc9fe8c9ab5cb96bd Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?M=2E=20Fatih=20C=C4=B1r=C4=B1t?= Date: Thu, 16 Feb 2023 09:20:20 +0300 Subject: [PATCH 12/14] fix: revert "chore: sync param files (#161)" (#209) This reverts commit 6fe7144c4d8e7909b58c5abbccd59c8c200e0618. Co-authored-by: awf-autoware-bot[bot] <94889083+awf-autoware-bot[bot]@users.noreply.github.com> --- .../drivable_area_expansion.param.yaml | 26 ---------------- .../rtc_auto_mode_manager.param.yaml | 31 ------------------- 2 files changed, 57 deletions(-) delete mode 100644 autoware_launch/config/tier4_planning_launch/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/drivable_area_expansion.param.yaml delete mode 100644 autoware_launch/config/tier4_planning_launch/scenario_planning/lane_driving/behavior_planning/rtc_auto_mode_manager/rtc_auto_mode_manager.param.yaml diff --git a/autoware_launch/config/tier4_planning_launch/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/drivable_area_expansion.param.yaml b/autoware_launch/config/tier4_planning_launch/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/drivable_area_expansion.param.yaml deleted file mode 100644 index 29d577a7ad..0000000000 --- a/autoware_launch/config/tier4_planning_launch/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/drivable_area_expansion.param.yaml +++ /dev/null @@ -1,26 +0,0 @@ -/**: - ros__parameters: - avoidance: - drivable_area_right_bound_offset: 0.0 - drivable_area_left_bound_offset: 0.0 - drivable_area_types_to_skip: [road_border] - lane_change: - drivable_area_right_bound_offset: 0.0 - drivable_area_left_bound_offset: 0.0 - drivable_area_types_to_skip: [road_border] - lane_following: - drivable_area_right_bound_offset: 0.0 - drivable_area_left_bound_offset: 0.0 - drivable_area_types_to_skip: [road_border] - pull_out: - drivable_area_right_bound_offset: 0.0 - drivable_area_left_bound_offset: 0.0 - drivable_area_types_to_skip: [road_border] - pull_over: - drivable_area_right_bound_offset: 0.0 - drivable_area_left_bound_offset: 0.0 - drivable_area_types_to_skip: [road_border] - side_shift: - drivable_area_right_bound_offset: 0.0 - drivable_area_left_bound_offset: 0.0 - drivable_area_types_to_skip: [road_border] diff --git a/autoware_launch/config/tier4_planning_launch/scenario_planning/lane_driving/behavior_planning/rtc_auto_mode_manager/rtc_auto_mode_manager.param.yaml b/autoware_launch/config/tier4_planning_launch/scenario_planning/lane_driving/behavior_planning/rtc_auto_mode_manager/rtc_auto_mode_manager.param.yaml deleted file mode 100644 index 0e3391e69e..0000000000 --- a/autoware_launch/config/tier4_planning_launch/scenario_planning/lane_driving/behavior_planning/rtc_auto_mode_manager/rtc_auto_mode_manager.param.yaml +++ /dev/null @@ -1,31 +0,0 @@ -/**: - ros__parameters: - module_list: - - "blind_spot" - - "crosswalk" - - "detection_area" - - "intersection" - - "no_stopping_area" - - "traffic_light" - - "ext_request_lane_change_left" - - "ext_request_lane_change_right" - - "lane_change_left" - - "lane_change_right" - - "avoidance_left" - - "avoidance_right" - - "pull_over" - - "pull_out" - - default_enable_list: - - "blind_spot" - - "crosswalk" - - "detection_area" - - "intersection" - - "no_stopping_area" - - "traffic_light" - - "lane_change_left" - - "lane_change_right" - - "avoidance_left" - - "avoidance_right" - - "pull_over" - - "pull_out" From 98f3e5b6a966e6a6cc32ae411436de580b1226fa Mon Sep 17 00:00:00 2001 From: Takayuki Murooka Date: Thu, 16 Feb 2023 15:28:13 +0900 Subject: [PATCH 13/14] refactor(autoware_launch): clean up component launch (#207) * refactor(autoware_launch): clean up component launch Signed-off-by: Takayuki Murooka * fix Signed-off-by: Takayuki Murooka * Update autoware_launch/launch/components/tier4_map_component.launch.xml Co-authored-by: kminoda <44218668+kminoda@users.noreply.github.com> --------- Signed-off-by: Takayuki Murooka Co-authored-by: kminoda <44218668+kminoda@users.noreply.github.com> --- autoware_launch/launch/autoware.launch.xml | 33 +++---------------- .../tier4_localization_component.launch.xml | 3 -- .../components/tier4_map_component.launch.xml | 7 ++-- .../tier4_perception_component.launch.xml | 10 ++---- .../tier4_sensing_component.launch.xml | 11 +++++++ .../tier4_system_component.launch.xml | 6 +--- 6 files changed, 21 insertions(+), 49 deletions(-) create mode 100644 autoware_launch/launch/components/tier4_sensing_component.launch.xml diff --git a/autoware_launch/launch/autoware.launch.xml b/autoware_launch/launch/autoware.launch.xml index 77dbf2eb3f..3380c50b11 100644 --- a/autoware_launch/launch/autoware.launch.xml +++ b/autoware_launch/launch/autoware.launch.xml @@ -63,50 +63,27 @@ - - - - - + - - - - + - - - - - - - - + - - - - + - - - - - - - + diff --git a/autoware_launch/launch/components/tier4_localization_component.launch.xml b/autoware_launch/launch/components/tier4_localization_component.launch.xml index e028751072..242ec17642 100644 --- a/autoware_launch/launch/components/tier4_localization_component.launch.xml +++ b/autoware_launch/launch/components/tier4_localization_component.launch.xml @@ -1,8 +1,5 @@ - - - diff --git a/autoware_launch/launch/components/tier4_map_component.launch.xml b/autoware_launch/launch/components/tier4_map_component.launch.xml index cc015ebbed..3062a6cedd 100644 --- a/autoware_launch/launch/components/tier4_map_component.launch.xml +++ b/autoware_launch/launch/components/tier4_map_component.launch.xml @@ -1,11 +1,8 @@ - - - - - + + diff --git a/autoware_launch/launch/components/tier4_perception_component.launch.xml b/autoware_launch/launch/components/tier4_perception_component.launch.xml index 9d963a0c3d..4425492824 100644 --- a/autoware_launch/launch/components/tier4_perception_component.launch.xml +++ b/autoware_launch/launch/components/tier4_perception_component.launch.xml @@ -1,14 +1,8 @@ - - - - - - - - + + diff --git a/autoware_launch/launch/components/tier4_sensing_component.launch.xml b/autoware_launch/launch/components/tier4_sensing_component.launch.xml new file mode 100644 index 0000000000..fe520e1fdc --- /dev/null +++ b/autoware_launch/launch/components/tier4_sensing_component.launch.xml @@ -0,0 +1,11 @@ + + + + + + + + + + + diff --git a/autoware_launch/launch/components/tier4_system_component.launch.xml b/autoware_launch/launch/components/tier4_system_component.launch.xml index 7ee6712175..49f0f7588a 100644 --- a/autoware_launch/launch/components/tier4_system_component.launch.xml +++ b/autoware_launch/launch/components/tier4_system_component.launch.xml @@ -1,11 +1,7 @@ - - - - - + From b8f5103ed4d15237d56e5d3f16b4bf63bf65cf99 Mon Sep 17 00:00:00 2001 From: asana17 <62983821+asana17@users.noreply.github.com> Date: Thu, 16 Feb 2023 17:17:54 +0900 Subject: [PATCH 14/14] feat(system_component_launch): add config param for dummy diag publisher (#206) * add config param for dummy diag publisher Signed-off-by: asana17 * fixed dummy_diag_publisher param yaml (add empty diag) Signed-off-by: asana17 * launch dummy diag publisher by launch_dummy_diag_publisher param Signed-off-by: asana17 --------- Signed-off-by: asana17 --- .../dummy_diag_publisher.param.yaml | 17 +++++++++++++++++ .../diagnostic_aggregator/system.param.yaml | 0 autoware_launch/launch/autoware.launch.xml | 1 + .../tier4_system_component.launch.xml | 3 +++ autoware_launch/launch/e2e_simulator.launch.xml | 2 ++ .../launch/logging_simulator.launch.xml | 2 ++ .../launch/planning_simulator.launch.xml | 2 ++ 7 files changed, 27 insertions(+) create mode 100644 autoware_launch/config/system/dummy_diag_publisher/dummy_diag_publisher.param.yaml create mode 100644 autoware_launch/config/system/system_error_monitor/diagnostic_aggregator/system.param.yaml diff --git a/autoware_launch/config/system/dummy_diag_publisher/dummy_diag_publisher.param.yaml b/autoware_launch/config/system/dummy_diag_publisher/dummy_diag_publisher.param.yaml new file mode 100644 index 0000000000..43edd109b5 --- /dev/null +++ b/autoware_launch/config/system/dummy_diag_publisher/dummy_diag_publisher.param.yaml @@ -0,0 +1,17 @@ +# Description: +# required_diags: +# : {is_active: , status: } +# name: diag name +# is_active: Force update or not +# status: diag status set by dummy diag publisher "OK, Warn, Error, Stale" +# +# Note: +# +# default values are: +# is_active: "true" +# status: "OK" +--- +/**: + ros__parameters: + required_diags: + dummy_diag_empty: default 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 new file mode 100644 index 0000000000..e69de29bb2 diff --git a/autoware_launch/launch/autoware.launch.xml b/autoware_launch/launch/autoware.launch.xml index 3380c50b11..6db34a4560 100644 --- a/autoware_launch/launch/autoware.launch.xml +++ b/autoware_launch/launch/autoware.launch.xml @@ -29,6 +29,7 @@ + diff --git a/autoware_launch/launch/components/tier4_system_component.launch.xml b/autoware_launch/launch/components/tier4_system_component.launch.xml index 49f0f7588a..ec3e199f91 100644 --- a/autoware_launch/launch/components/tier4_system_component.launch.xml +++ b/autoware_launch/launch/components/tier4_system_component.launch.xml @@ -3,6 +3,7 @@ + @@ -11,7 +12,9 @@ + + diff --git a/autoware_launch/launch/e2e_simulator.launch.xml b/autoware_launch/launch/e2e_simulator.launch.xml index d159be8e5b..a089da6397 100644 --- a/autoware_launch/launch/e2e_simulator.launch.xml +++ b/autoware_launch/launch/e2e_simulator.launch.xml @@ -23,6 +23,7 @@ + @@ -50,6 +51,7 @@ + diff --git a/autoware_launch/launch/logging_simulator.launch.xml b/autoware_launch/launch/logging_simulator.launch.xml index 8349476f64..bb4031d806 100644 --- a/autoware_launch/launch/logging_simulator.launch.xml +++ b/autoware_launch/launch/logging_simulator.launch.xml @@ -26,6 +26,7 @@ + @@ -57,6 +58,7 @@ + diff --git a/autoware_launch/launch/planning_simulator.launch.xml b/autoware_launch/launch/planning_simulator.launch.xml index 388b0952b2..4a47e4d0b7 100644 --- a/autoware_launch/launch/planning_simulator.launch.xml +++ b/autoware_launch/launch/planning_simulator.launch.xml @@ -11,6 +11,7 @@ + @@ -44,6 +45,7 @@ +