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feat(aip_x2_launch): add topic state monitor for sensing diags #288

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Aug 27, 2024
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feat(aip_x2_launch): add topic state monitor for sensing diags #288

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1a9b241
feat(aip_x2_launch): add topic state monitor for camera, radar, gnss …
TomohitoAndo Mar 26, 2024
cc534b2
remove topic_state_monitor for camera
kotaro-hihara Aug 27, 2024
c5348b5
feat: add imu_monitor and dummy diag (#212)
h-ohta Feb 16, 2024
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3 changes: 3 additions & 0 deletions aip_x2_launch/config/dummy_diag_publisher/sensor_kit.param.yaml
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Expand Up @@ -15,6 +15,9 @@
# gnss
gnss: default

# imu
yaw_rate_status: default

# lidar
pandar_connection: default
pandar_temperature: default
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4 changes: 4 additions & 0 deletions aip_x2_launch/launch/imu.launch.xml
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Expand Up @@ -36,6 +36,10 @@
<arg name="imu_corrector_param_file" value="$(var imu_corrector_param_file)"/>
<arg name="gyro_bias_estimator_param_file" value="$(var gyro_bias_estimator_param_file)"/>
</include>

<include file="$(find-pkg-share imu_monitor)/launch/imu_monitor.launch.xml">
<arg name="config_file" value="$(find-pkg-share imu_monitor)/config/imu_monitor.param.yaml"/>
</include>
</group>

</launch>
4 changes: 4 additions & 0 deletions aip_x2_launch/launch/sensing.launch.xml
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Expand Up @@ -35,6 +35,10 @@
<arg name="output_twist_with_covariance" value="/sensing/vehicle_velocity_converter/twist_with_covariance"/>
<arg name="config_file" value="$(find-pkg-share individual_params)/config/$(var vehicle_id)/aip_x2/vehicle_velocity_converter.param.yaml" />
</include>

<!-- Topic state monitor for each sensor -->
<include file="$(find-pkg-share aip_x2_launch)/launch/topic_state_monitor.launch.py"/>

</group>

</launch>
195 changes: 195 additions & 0 deletions aip_x2_launch/launch/topic_state_monitor.launch.py
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@@ -0,0 +1,195 @@
# Copyright 2024 Tier IV, Inc. All rights reserved.
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
# http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.

from launch import LaunchDescription
from launch_ros.actions import ComposableNodeContainer
from launch_ros.descriptions import ComposableNode


def generate_launch_description():
# GNSS topic monitor
gnss_topic_monitor = ComposableNode(
package="topic_state_monitor",
plugin="topic_state_monitor::TopicStateMonitorNode",
name="topic_state_monitor_gnss_pose",
parameters=[
{
"topic": "/sensing/gnss/pose",
"topic_type": "geometry_msgs/msg/PoseStamped",
"best_effort": True,
"diag_name": "gnss_topic_status",
"warn_rate": 2.5,
"error_rate": 0.5,
"timeout": 5.0,
"window_size": 10,
}
],
extra_arguments=[{"use_intra_process_comms": True}],
)

# IMU topic monitor
imu_topic_monitor = ComposableNode(
package="topic_state_monitor",
plugin="topic_state_monitor::TopicStateMonitorNode",
name="topic_state_monitor_imu_data",
parameters=[
{
"topic": "/sensing/imu/imu_data",
"topic_type": "sensor_msgs/msg/Imu",
"best_effort": True,
"diag_name": "imu_topic_status",
"warn_rate": 5.0,
"error_rate": 1.0,
"timeout": 5.0,
"window_size": 10,
}
],
extra_arguments=[{"use_intra_process_comms": True}],
)

# Radar topic monitors
radar_front_center_monitor = ComposableNode(
package="topic_state_monitor",
plugin="topic_state_monitor::TopicStateMonitorNode",
name="topic_state_monitor_radar_front_center",
parameters=[
{
"topic": "/sensing/radar/front_center/objects_raw",
"topic_type": "radar_msgs/msg/RadarTracks",
"best_effort": True,
"diag_name": "radar_front_center_topic_status",
"warn_rate": 5.0,
"error_rate": 1.0,
"timeout": 5.0,
"window_size": 10,
}
],
extra_arguments=[{"use_intra_process_comms": True}],
)

radar_front_left_monitor = ComposableNode(
package="topic_state_monitor",
plugin="topic_state_monitor::TopicStateMonitorNode",
name="topic_state_monitor_radar_front_left",
parameters=[
{
"topic": "/sensing/radar/front_left/objects_raw",
"topic_type": "radar_msgs/msg/RadarTracks",
"best_effort": True,
"diag_name": "radar_front_left_topic_status",
"warn_rate": 5.0,
"error_rate": 1.0,
"timeout": 5.0,
"window_size": 10,
}
],
extra_arguments=[{"use_intra_process_comms": True}],
)

radar_front_right_monitor = ComposableNode(
package="topic_state_monitor",
plugin="topic_state_monitor::TopicStateMonitorNode",
name="topic_state_monitor_radar_front_right",
parameters=[
{
"topic": "/sensing/radar/front_right/objects_raw",
"topic_type": "radar_msgs/msg/RadarTracks",
"best_effort": True,
"diag_name": "radar_front_right_topic_status",
"warn_rate": 5.0,
"error_rate": 1.0,
"timeout": 5.0,
"window_size": 10,
}
],
extra_arguments=[{"use_intra_process_comms": True}],
)

radar_rear_center_monitor = ComposableNode(
package="topic_state_monitor",
plugin="topic_state_monitor::TopicStateMonitorNode",
name="topic_state_monitor_radar_rear_center",
parameters=[
{
"topic": "/sensing/radar/rear_center/objects_raw",
"topic_type": "radar_msgs/msg/RadarTracks",
"best_effort": True,
"diag_name": "radar_rear_center_topic_status",
"warn_rate": 5.0,
"error_rate": 1.0,
"timeout": 5.0,
"window_size": 10,
}
],
extra_arguments=[{"use_intra_process_comms": True}],
)

radar_rear_left_monitor = ComposableNode(
package="topic_state_monitor",
plugin="topic_state_monitor::TopicStateMonitorNode",
name="topic_state_monitor_radar_rear_left",
parameters=[
{
"topic": "/sensing/radar/rear_left/objects_raw",
"topic_type": "radar_msgs/msg/RadarTracks",
"best_effort": True,
"diag_name": "radar_rear_left_topic_status",
"warn_rate": 5.0,
"error_rate": 1.0,
"timeout": 5.0,
"window_size": 10,
}
],
extra_arguments=[{"use_intra_process_comms": True}],
)

radar_rear_right_monitor = ComposableNode(
package="topic_state_monitor",
plugin="topic_state_monitor::TopicStateMonitorNode",
name="topic_state_monitor_radar_rear_right",
parameters=[
{
"topic": "/sensing/radar/rear_right/objects_raw",
"topic_type": "radar_msgs/msg/RadarTracks",
"best_effort": True,
"diag_name": "radar_rear_right_topic_status",
"warn_rate": 5.0,
"error_rate": 1.0,
"timeout": 5.0,
"window_size": 10,
}
],
extra_arguments=[{"use_intra_process_comms": True}],
)

# ComposableNodeContainer to run all ComposableNodes
container = ComposableNodeContainer(
name="topic_state_monitor_container",
namespace="topic_state_monitor",
package="rclcpp_components",
executable="component_container",
composable_node_descriptions=[
gnss_topic_monitor,
imu_topic_monitor,
radar_front_center_monitor,
radar_front_left_monitor,
radar_front_right_monitor,
radar_rear_center_monitor,
radar_rear_left_monitor,
radar_rear_right_monitor,
],
output="screen",
)

return LaunchDescription([container])
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