feat: update diag settings for control_command_gate

autoware_launch/config/system/diagnostics/control.yaml

@@ -4,7 +4,7 @@ units:
     list:
       - { type: link, link: /autoware/control/topic_rate_check/trajectory_follower }
       - { type: link, link: /autoware/control/topic_rate_check/control_command }
-      - { type: link, link: /autoware/control/node_alive_monitoring/vehicle_cmd_gate }
+      - { type: link, link: /autoware/control/node_alive_monitoring/control_command_gate }
       - { type: link, link: /autoware/control/emergency_braking }
       - { type: link, link: /autoware/control/performance_monitoring/lane_departure }
       - { type: link, link: /autoware/control/performance_monitoring/trajectory_deviation }
@@ -32,10 +32,10 @@ units:
     node: topic_state_monitor_control_command_control_cmd
     name: control_topic_status
 
-  - path: /autoware/control/node_alive_monitoring/vehicle_cmd_gate
+  - path: /autoware/control/node_alive_monitoring/control_command_gate
     type: diag
-    node: vehicle_cmd_gate
-    name: heartbeat
+    node: control_command_gate
+    name: timeout_output
 
   - path: /autoware/control/emergency_braking
     type: diag

autoware_launch/config/system/diagnostics/control_command_gate/autoware-main.yaml

@@ -0,0 +1,70 @@
+files:
+  - { path: $(dirname)/control.yaml }
+  - { path: $(dirname)/../localization.yaml }
+  - { path: $(dirname)/../map.yaml }
+  - { path: $(dirname)/../perception.yaml }
+  - { path: $(dirname)/../planning.yaml }
+  - { path: $(dirname)/system.yaml }
+  - { path: $(dirname)/../vehicle.yaml }
+
+units:
+  - path: /autoware/modes/local
+    type: and
+    list:
+      - { type: link, link: /autoware/vehicle }
+      - { type: link, link: /autoware/system }
+      - { type: link, link: /autoware/control/local }
+
+  - path: /autoware/modes/remote
+    type: and
+    list:
+      - { type: link, link: /autoware/vehicle }
+      - { type: link, link: /autoware/system }
+      - { type: link, link: /autoware/control/remote }
+
+  - path: /autoware/modes/stop
+    type: ok
+
+  - path: /autoware/modes/autonomous
+    type: and
+    list:
+      - { type: link, link: /autoware/map }
+      - { type: link, link: /autoware/localization }
+      - { type: link, link: /autoware/planning }
+      - { type: link, link: /autoware/perception }
+      - { type: link, link: /autoware/control }
+      - { type: link, link: /autoware/vehicle }
+      - { type: link, link: /autoware/system }
+
+  - path: /autoware/modes/pull_over
+    type: and
+    list:
+      - { type: link, link: /autoware/map }
+      - { type: link, link: /autoware/localization }
+      - { type: link, link: /autoware/planning }
+      - { type: link, link: /autoware/perception }
+      - { type: link, link: /autoware/control }
+      - { type: link, link: /autoware/vehicle }
+      - { type: link, link: /autoware/system }
+
+  - path: /autoware/modes/comfortable_stop
+    type: and
+    list:
+      - { type: link, link: /autoware/map }
+      - { type: link, link: /autoware/localization }
+      - { type: link, link: /autoware/planning }
+      - { type: link, link: /autoware/perception }
+      - { type: link, link: /autoware/control }
+      - { type: link, link: /autoware/vehicle }
+      - { type: link, link: /autoware/system }
+
+  - path: /autoware/modes/emergency_stop
+    type: and
+    list:
+      - { type: link, link: /autoware/vehicle }
+      - { type: link, link: /autoware/system }
+
+  - path: /autoware/debug/tools
+    type: and
+    list:
+      - { type: link, link: /autoware/system/service_log_checker }

autoware_launch/config/system/diagnostics/control_command_gate/control.yaml

@@ -0,0 +1,68 @@
+units:
+  - path: /autoware/control
+    type: and
+    list:
+      - { type: link, link: /autoware/control/topic_rate_check/trajectory_follower }
+      - { type: link, link: /autoware/control/topic_rate_check/control_command }
+      - { type: link, link: /autoware/control/node_alive_monitoring/control_command_gate }
+      - { type: link, link: /autoware/control/emergency_braking }
+      - { type: link, link: /autoware/control/performance_monitoring/lane_departure }
+      - { type: link, link: /autoware/control/performance_monitoring/trajectory_deviation }
+      - { type: link, link: /autoware/control/performance_monitoring/control_state }
+
+  - path: /autoware/control/local
+    type: and
+    list:
+      - { type: link, link: /autoware/control/topic_rate_check/external_cmd_selector }
+      - { type: link, link: /autoware/control/topic_rate_check/external_cmd_converter }
+
+  - path: /autoware/control/remote
+    type: and
+    list:
+      - { type: link, link: /autoware/control/topic_rate_check/external_cmd_selector }
+      - { type: link, link: /autoware/control/topic_rate_check/external_cmd_converter }
+
+  - path: /autoware/control/topic_rate_check/trajectory_follower
+    type: diag
+    node: topic_state_monitor_trajectory_follower_control_cmd
+    name: control_topic_status
+
+  - path: /autoware/control/topic_rate_check/control_command
+    type: diag
+    node: topic_state_monitor_control_command_control_cmd
+    name: control_topic_status
+
+  - path: /autoware/control/node_alive_monitoring/control_command_gate
+    type: diag
+    node: control_command_gate
+    name: timeout_output
+
+  - path: /autoware/control/emergency_braking
+    type: diag
+    node: autonomous_emergency_braking
+    name: aeb_emergency_stop
+
+  - path: /autoware/control/performance_monitoring/lane_departure
+    type: diag
+    node: lane_departure_checker_node
+    name: lane_departure
+
+  - path: /autoware/control/performance_monitoring/trajectory_deviation
+    type: diag
+    node: lane_departure_checker_node
+    name: trajectory_deviation
+
+  - path: /autoware/control/performance_monitoring/control_state
+    type: diag
+    node: controller_node_exe
+    name: control_state
+
+  - path: /autoware/control/topic_rate_check/external_cmd_selector
+    type: diag
+    node: external_cmd_selector
+    name: heartbeat
+
+  - path: /autoware/control/topic_rate_check/external_cmd_converter
+    type: diag
+    node: external_cmd_converter
+    name: remote_control_topic_status

autoware_launch/config/system/diagnostics/control_command_gate/system.yaml

@@ -0,0 +1,27 @@
+units:
+  - path: /autoware/system
+    type: and
+    list:
+      - { type: link, link: /autoware/system/duplicated_node_checker }
+      - { type: link, link: /autoware/system/topic_rate_check/emergency_control_command }
+      - { type: link, link: /autoware/system/emergency_stop_operation }
+
+  - path: /autoware/system/duplicated_node_checker
+    type: diag
+    node: duplicated_node_checker
+    name: duplicated_node_checker
+
+  - path: /autoware/system/service_log_checker
+    type: diag
+    node: service_log_checker
+    name: response_status
+
+  - path: /autoware/system/topic_rate_check/emergency_control_command
+    type: diag
+    node: topic_state_monitor_system_emergency_control_cmd
+    name: system_topic_status
+
+  - path: /autoware/system/emergency_stop_operation
+    type: diag
+    node: control_command_gate
+    name: timeout_builtin

autoware_launch/config/system/diagnostics/system.yaml

@@ -23,5 +23,5 @@ units:
 
   - path: /autoware/system/emergency_stop_operation
     type: diag
-    node: vehicle_cmd_gate
-    name: emergency_stop_operation
+    node: control_command_gate
+    name: timeout_builtin

autoware_launch/launch/components/tier4_system_component.launch.xml

@@ -3,6 +3,10 @@
   <arg name="diagnostic_graph_aggregator_param_path" default="$(find-pkg-share autoware_diagnostic_graph_aggregator)/config/default.param.yaml"/>
   <arg name="diagnostic_graph_aggregator_graph_path" default="$(find-pkg-share autoware_launch)/config/system/diagnostics/autoware-main.yaml"/>
 
+  <!-- temporary: control_command_gate migration -->
+  <arg name="use_control_command_gate" default="false"/>
+  <let name="diagnostic_graph_aggregator_graph_path" value="$(find-pkg-share autoware_launch)/config/system/diagnostics/control_command_gate/autoware-main.yaml" if="$(var use_control_command_gate)"/>
+
   <include file="$(find-pkg-share tier4_system_launch)/launch/system.launch.xml">
     <arg name="run_mode" value="$(var system_run_mode)"/>
     <arg name="launch_system_monitor" value="$(var launch_system_monitor)"/>