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feat: add gyro_bias_estimator to diagnostics_aggregator #192

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merged 2 commits into from
Dec 22, 2023
Merged

feat: add gyro_bias_estimator to diagnostics_aggregator #192

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feat: add gyro_bias_estimator to diagnostics_aggregator
tkimura4 Dec 22, 2023
f218b5a
ci(pre-commit): autofix
pre-commit-ci[bot] Dec 22, 2023
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14 changes: 14 additions & 0 deletions aip_x1_launch/config/diagnostic_aggregator/sensor_kit.param.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -101,3 +101,17 @@
# path: time_sync
# contains: [": livox_time_sync"]
# timeout: 3.0

imu:
type: diagnostic_aggregator/AnalyzerGroup
path: imu
analyzers:
bias_monitoring:
type: diagnostic_aggregator/AnalyzerGroup
path: bias_monitoring
analyzers:
gyro_bias_validator:
type: diagnostic_aggregator/GenericAnalyzer
path: gyro_bias_validator
contains: [": gyro_bias_estimator"]
timeout: 1.0
3 changes: 3 additions & 0 deletions aip_x1_launch/config/dummy_diag_publisher/sensor_kit.param.yaml
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Expand Up @@ -25,3 +25,6 @@
livox_motor_status: default
livox_service_life: default
livox_temperature: default

# imu
gyro_bias_estimator: default
13 changes: 13 additions & 0 deletions aip_x2_launch/config/diagnostic_aggregator/sensor_kit.param.yaml
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Expand Up @@ -82,6 +82,19 @@
gnss:
type: diagnostic_aggregator/GenericAnalyzer
path: gnss
startswith: ["gnss"]

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Unknown word (startswith)
contains: [": gnss"]
timeout: 5.0
imu:
type: diagnostic_aggregator/AnalyzerGroup
path: imu
analyzers:
bias_monitoring:
type: diagnostic_aggregator/AnalyzerGroup
path: bias_monitoring
analyzers:
gyro_bias_validator:
type: diagnostic_aggregator/GenericAnalyzer
path: gyro_bias_validator
contains: [": gyro_bias_estimator"]
timeout: 1.0
3 changes: 3 additions & 0 deletions aip_x2_launch/config/dummy_diag_publisher/sensor_kit.param.yaml
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Expand Up @@ -24,3 +24,6 @@
concat_status: default

sensing_topic_status: default

# imu
gyro_bias_estimator: default
14 changes: 14 additions & 0 deletions aip_xx1_launch/config/diagnostic_aggregator/sensor_kit.param.yaml
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Expand Up @@ -93,3 +93,17 @@
path: fix_topic_status
contains: [": fix topic status"]
timeout: 3.0

imu:
type: diagnostic_aggregator/AnalyzerGroup
path: imu
analyzers:
bias_monitoring:
type: diagnostic_aggregator/AnalyzerGroup
path: bias_monitoring
analyzers:
gyro_bias_validator:
type: diagnostic_aggregator/GenericAnalyzer
path: gyro_bias_validator
contains: [": gyro_bias_estimator"]
timeout: 1.0
3 changes: 3 additions & 0 deletions aip_xx1_launch/config/dummy_diag_publisher/sensor_kit.param.yaml
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Expand Up @@ -25,3 +25,6 @@
velodyne_connection: default
velodyne_temperature: default
velodyne_rpm: default

# imu
gyro_bias_estimator: default
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