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chore: cherry pick #164

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merged 1 commit into from
Aug 7, 2023
Merged

chore: cherry pick #164

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84 changes: 43 additions & 41 deletions aip_x2_launch/config/diagnostic_aggregator/sensor_kit.param.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -22,58 +22,60 @@
type: diagnostic_aggregator/AnalyzerGroup
path: performance_monitoring
analyzers:
blockage:
type: diagnostic_aggregator/GenericAnalyzer
path: blockage
contains: [": blockage_validation"]
timeout: 1.0
visibility:
type: diagnostic_aggregator/GenericAnalyzer
path: visibility
contains: ["left_upper: visibility_validation"]
timeout: 1.0

blockage:
concat_status:
type: diagnostic_aggregator/GenericAnalyzer
path: blockage
contains: [": blockage_validation"]
path: concat_status
contains: [": concat_status"]
timeout: 1.0
pandar:
type: diagnostic_aggregator/AnalyzerGroup
path: pandar
analyzers:
health_monitoring:
type: diagnostic_aggregator/AnalyzerGroup
path: health_monitoring
analyzers:
connection:
type: diagnostic_aggregator/GenericAnalyzer
path: connection
contains: [": pandar_connection"]
timeout: 5.0
temperature:
type: diagnostic_aggregator/GenericAnalyzer
path: temperature
contains: [": pandar_temperature"]
timeout: 5.0
ptp:
type: diagnostic_aggregator/GenericAnalyzer
path: ptp
contains: [": pandar_ptp"]
timeout: 5.0

gnss:
type: diagnostic_aggregator/AnalyzerGroup
path: gnss
analyzers:
health_monitoring:
septentrio:
type: diagnostic_aggregator/AnalyzerGroup
path: health_monitoring
path: septentrio
analyzers:
data:
type: diagnostic_aggregator/GenericAnalyzer
path: data
contains: [": gnss_data"]
timeout: 3.0

antenna:
type: diagnostic_aggregator/GenericAnalyzer
path: antenna
contains: [": gnss_antenna"]
timeout: 3.0

tx_usage:
type: diagnostic_aggregator/GenericAnalyzer
path: tx_usage
contains: [": gnss_tx_usage"]
timeout: 3.0

spoofing:
type: diagnostic_aggregator/GenericAnalyzer
path: spoofing
contains: [": gnss_spoofing"]
timeout: 3.0

jamming:
type: diagnostic_aggregator/GenericAnalyzer
path: jamming
contains: [": gnss_jamming"]
timeout: 3.0

fix_topic_status:
type: diagnostic_aggregator/GenericAnalyzer
path: fix_topic_status
contains: [": fix topic status"]
timeout: 3.0
health_monitoring:
type: diagnostic_aggregator/AnalyzerGroup
path: health_monitoring
analyzers:
gnss:
type: diagnostic_aggregator/GenericAnalyzer
path: gnss
startswith: ["gnss"]

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contains: [": gnss"]
timeout: 5.0
16 changes: 7 additions & 9 deletions aip_x2_launch/config/dummy_diag_publisher/sensor_kit.param.yaml
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Expand Up @@ -13,16 +13,14 @@
ros__parameters:
required_diags:
# gnss
gnss_connection: default
gnss_data: default
gnss_antenna: default
gnss_tx_usage: default
gnss_spoofing: default
gnss_jamming: default
fix topic status: default
gnss: default

# lidar
#"left_upper: visibility_validation": default
#blockage_validation: default
pandar_connection: default
pandar_temperature: default
pandar_ptp: default
"left_upper: visibility_validation": default
blockage_validation: default
concat_status: default

sensing_topic_status: default
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