From 5af30a836ee71d94c9de542c2bbb47c2b2a4db4b Mon Sep 17 00:00:00 2001 From: Arjun Jagdish Ram Date: Mon, 17 Mar 2025 14:15:10 +0900 Subject: [PATCH 1/3] MRM when MPT fails Signed-off-by: Arjun Jagdish Ram --- .../system/diagnostics/autoware-main.yaml | 3 ++- .../config/system/diagnostics/planning.yaml | 20 ++++++++++++++++++- 2 files changed, 21 insertions(+), 2 deletions(-) diff --git a/autoware_launch/config/system/diagnostics/autoware-main.yaml b/autoware_launch/config/system/diagnostics/autoware-main.yaml index fbbfe384f2..fc7e2453f1 100644 --- a/autoware_launch/config/system/diagnostics/autoware-main.yaml +++ b/autoware_launch/config/system/diagnostics/autoware-main.yaml @@ -61,8 +61,9 @@ units: - path: /autoware/modes/emergency_stop type: and list: - - { type: link, link: /autoware/vehicle } + - { type: link, link: /autoware/planning } - { type: link, link: /autoware/system } + - { type: link, link: /autoware/vehicle } - path: /autoware/debug/tools type: and diff --git a/autoware_launch/config/system/diagnostics/planning.yaml b/autoware_launch/config/system/diagnostics/planning.yaml index c403fec237..d85b367f3b 100644 --- a/autoware_launch/config/system/diagnostics/planning.yaml +++ b/autoware_launch/config/system/diagnostics/planning.yaml @@ -8,7 +8,8 @@ units: list: - { type: link, link: /autoware/planning/topic_rate_check/route } - { type: link, link: /autoware/planning/topic_rate_check/trajectory } - - { type: link, link: /autoware/planning/trajectory_validation } + - { type: link, link: /autoware/planning/trajectory_validation } # This line references the path defined below for /autoware/planning/trajectory_validation + - { type: link, link: /autoware/planning/emergency_stop } # This line references the path defined below for /autoware/planning/emergency_stop - path: /autoware/planning/trajectory_validation type: and @@ -24,6 +25,11 @@ units: - { type: link, link: /autoware/planning/trajectory_validation/steering_rate } - { type: link, link: /autoware/planning/trajectory_validation/velocity_deviation } + - path: /autoware/planning/emergency_stop + type: and + list: + - { type: link, link: /planning/path_optimizer_emergency_stop-error } + - path: /autoware/planning/routing/state type: diag node: component_state_diagnostics @@ -88,3 +94,15 @@ units: type: diag node: planning_validator name: trajectory_validation_velocity_deviation + + - path: /planning/path_optimizer_emergency_stop-error + type: warn-to-ok + item: + type: link + link: /planning/path_optimizer_emergency_stop + + - path: /planning/path_optimizer_emergency_stop + type: diag + node: path_optimizer + name: path_optimizer_emergency_stop + timeout: 1.0 \ No newline at end of file From 81e15587213fc632f86e704624ac96eb0d07805d Mon Sep 17 00:00:00 2001 From: "pre-commit-ci[bot]" <66853113+pre-commit-ci[bot]@users.noreply.github.com> Date: Mon, 17 Mar 2025 08:59:55 +0000 Subject: [PATCH 2/3] style(pre-commit): autofix --- autoware_launch/config/system/diagnostics/planning.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/autoware_launch/config/system/diagnostics/planning.yaml b/autoware_launch/config/system/diagnostics/planning.yaml index d85b367f3b..85c10933de 100644 --- a/autoware_launch/config/system/diagnostics/planning.yaml +++ b/autoware_launch/config/system/diagnostics/planning.yaml @@ -105,4 +105,4 @@ units: type: diag node: path_optimizer name: path_optimizer_emergency_stop - timeout: 1.0 \ No newline at end of file + timeout: 1.0 From 89a839b872fe8bec3e77eb89bf5fff4e0700b4d9 Mon Sep 17 00:00:00 2001 From: Arjun Jagdish Ram Date: Tue, 18 Mar 2025 10:52:19 +0900 Subject: [PATCH 3/3] removed unnecessary changes Signed-off-by: Arjun Jagdish Ram --- .../config/system/diagnostics/autoware-main.yaml | 4 ++-- .../config/system/diagnostics/planning.yaml | 11 +++-------- 2 files changed, 5 insertions(+), 10 deletions(-) diff --git a/autoware_launch/config/system/diagnostics/autoware-main.yaml b/autoware_launch/config/system/diagnostics/autoware-main.yaml index fc7e2453f1..706ad87012 100644 --- a/autoware_launch/config/system/diagnostics/autoware-main.yaml +++ b/autoware_launch/config/system/diagnostics/autoware-main.yaml @@ -61,9 +61,9 @@ units: - path: /autoware/modes/emergency_stop type: and list: - - { type: link, link: /autoware/planning } - - { type: link, link: /autoware/system } - { type: link, link: /autoware/vehicle } + - { type: link, link: /autoware/system } + - { type: link, link: /autoware/planning } - path: /autoware/debug/tools type: and diff --git a/autoware_launch/config/system/diagnostics/planning.yaml b/autoware_launch/config/system/diagnostics/planning.yaml index 85c10933de..f8a99063d6 100644 --- a/autoware_launch/config/system/diagnostics/planning.yaml +++ b/autoware_launch/config/system/diagnostics/planning.yaml @@ -8,8 +8,8 @@ units: list: - { type: link, link: /autoware/planning/topic_rate_check/route } - { type: link, link: /autoware/planning/topic_rate_check/trajectory } - - { type: link, link: /autoware/planning/trajectory_validation } # This line references the path defined below for /autoware/planning/trajectory_validation - - { type: link, link: /autoware/planning/emergency_stop } # This line references the path defined below for /autoware/planning/emergency_stop + - { type: link, link: /autoware/planning/trajectory_validation } + - { type: link, link: /autoware/planning/emergency_stop } - path: /autoware/planning/trajectory_validation type: and @@ -25,11 +25,6 @@ units: - { type: link, link: /autoware/planning/trajectory_validation/steering_rate } - { type: link, link: /autoware/planning/trajectory_validation/velocity_deviation } - - path: /autoware/planning/emergency_stop - type: and - list: - - { type: link, link: /planning/path_optimizer_emergency_stop-error } - - path: /autoware/planning/routing/state type: diag node: component_state_diagnostics @@ -95,7 +90,7 @@ units: node: planning_validator name: trajectory_validation_velocity_deviation - - path: /planning/path_optimizer_emergency_stop-error + - path: /autoware/planning/emergency_stop type: warn-to-ok item: type: link