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feat(obstacle_avoidance_planner): param changes for additional failure logging and failure mode handling #1905 #1361

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feat(obstacle_avoidance_planner): param changes for additional failure logging and failure mode handling #1905 #1361

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5af30a8
MRM when MPT fails
PanConChicharron Mar 17, 2025
81e1558
style(pre-commit): autofix
pre-commit-ci[bot] Mar 17, 2025
89a839b
removed unnecessary changes
PanConChicharron Mar 18, 2025
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3 changes: 2 additions & 1 deletion autoware_launch/config/system/diagnostics/autoware-main.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -61,8 +61,9 @@ units:
- path: /autoware/modes/emergency_stop
type: and
list:
- { type: link, link: /autoware/vehicle }
- { type: link, link: /autoware/planning }
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This PR modifies the diagnostics/ directory.
But it seems that TIER IV internally uses tier4_diagnostics directory, so please update it instead of this directory.

- { type: link, link: /autoware/system }
- { type: link, link: /autoware/vehicle }
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If there is no reason, the changes should be minimized by not re-ordering the existing lines.

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Reverted.


- path: /autoware/debug/tools
type: and
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20 changes: 19 additions & 1 deletion autoware_launch/config/system/diagnostics/planning.yaml
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Expand Up @@ -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
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I don't think the comment is necessary since the path is referred to in this file as well.

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Reverted.


- path: /autoware/planning/trajectory_validation
type: and
Expand All @@ -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 }

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The path name sounds too general, and we don't have to write this block IMO.

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Done.

- path: /autoware/planning/routing/state
type: diag
node: component_state_diagnostics
Expand Down Expand Up @@ -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
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