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system.launch.xml
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<?xml version="1.0" encoding="UTF-8"?>
<launch>
<!-- Parameter files -->
<arg name="component_state_monitor_topic_path"/>
<arg name="emergency_handler_param_path"/>
<arg name="duplicated_node_checker_param_path"/>
<arg name="mrm_comfortable_stop_operator_param_path"/>
<arg name="mrm_emergency_stop_operator_param_path"/>
<arg name="system_error_monitor_param_path"/>
<arg name="system_error_monitor_planning_simulator_param_path"/>
<arg name="diagnostic_aggregator_system_param_path"/>
<arg name="diagnostic_aggregator_vehicle_param_path"/>
<arg name="dummy_diag_publisher_param_path"/>
<arg name="system_monitor_cpu_monitor_param_path"/>
<arg name="system_monitor_gpu_monitor_param_path"/>
<arg name="system_monitor_hdd_monitor_param_path"/>
<arg name="system_monitor_mem_monitor_param_path"/>
<arg name="system_monitor_net_monitor_param_path"/>
<arg name="system_monitor_ntp_monitor_param_path"/>
<arg name="system_monitor_process_monitor_param_path"/>
<arg name="system_monitor_voltage_monitor_param_path"/>
<arg name="launch_system_monitor" default="true" description="launch system monitor"/>
<arg name="launch_dummy_diag_publisher" description="launch dummy diag publisher"/>
<arg name="run_mode" default="online" description="options: online, logging_simulation, planning_simulation"/>
<arg name="sensor_model" description="sensor model name"/>
<!-- Emergency handler will be replaced by MRM handler. -->
<arg name="use_emergency_handler" default="true" description="use emergency handler packages"/>
<arg name="mrm_handler_param_path"/>
<arg name="diagnostic_graph_aggregator_param_path"/>
<arg name="diagnostic_graph_aggregator_graph_path"/>
<let name="sensor_launch_pkg" value="$(find-pkg-share $(var sensor_model)_launch)"/>
<!-- Dummy Diag Publisher -->
<arg name="launch_rqt_reconfigure" default="false"/>
<arg name="launch_rqt_runtime_monitor" default="false"/>
<arg name="launch_rqt_robot_monitor" default="false"/>
<arg name="launch_rqt_runtime_monitor_err" default="false"/>
<!-- Hazard Status Converter -->
<arg name="report_only_diag" default="false"/>
<group>
<push-ros-namespace namespace="/system"/>
<!-- System Monitor -->
<group if="$(var launch_system_monitor)">
<push-ros-namespace namespace="system_monitor"/>
<include file="$(find-pkg-share system_monitor)/launch/system_monitor.launch.xml">
<arg name="cpu_monitor_config_file" value="$(var system_monitor_cpu_monitor_param_path)"/>
<arg name="gpu_monitor_config_file" value="$(var system_monitor_gpu_monitor_param_path)"/>
<arg name="hdd_monitor_config_file" value="$(var system_monitor_hdd_monitor_param_path)"/>
<arg name="mem_monitor_config_file" value="$(var system_monitor_mem_monitor_param_path)"/>
<arg name="net_monitor_config_file" value="$(var system_monitor_net_monitor_param_path)"/>
<arg name="ntp_monitor_config_file" value="$(var system_monitor_ntp_monitor_param_path)"/>
<arg name="process_monitor_config_file" value="$(var system_monitor_process_monitor_param_path)"/>
<arg name="voltage_monitor_config_file" value="$(var system_monitor_voltage_monitor_param_path)"/>
</include>
</group>
<!-- Duplicated Node Checker -->
<group>
<include file="$(find-pkg-share duplicated_node_checker)/launch/duplicated_node_checker.launch.xml">
<arg name="config_file" value="$(var duplicated_node_checker_param_path)"/>
</include>
</group>
<!-- Service Log Checker -->
<group>
<include file="$(find-pkg-share component_interface_tools)/launch/service_log_checker.launch.xml"/>
</group>
<!-- Component State Monitor -->
<group>
<include file="$(find-pkg-share component_state_monitor)/launch/component_state_monitor.launch.py">
<arg name="mode" value="$(var run_mode)"/>
<arg name="file" value="$(var component_state_monitor_topic_path)"/>
</include>
</group>
<!-- MRM Operator -->
<group>
<include file="$(find-pkg-share mrm_comfortable_stop_operator)/launch/mrm_comfortable_stop_operator.launch.py">
<arg name="config_file" value="$(var mrm_comfortable_stop_operator_param_path)"/>
</include>
</group>
<group>
<include file="$(find-pkg-share mrm_emergency_stop_operator)/launch/mrm_emergency_stop_operator.launch.py">
<arg name="config_file" value="$(var mrm_emergency_stop_operator_param_path)"/>
</include>
</group>
<!-- Error Monitor -->
<group if="$(var use_emergency_handler)">
<let name="config_file" value="$(var system_error_monitor_param_path)" if="$(eval "'$(var run_mode)'=='online'")"/>
<let name="config_file" value="$(var system_error_monitor_param_path)" if="$(eval "'$(var run_mode)'=='logging_simulation'")"/>
<let name="config_file" value="$(var system_error_monitor_planning_simulator_param_path)" if="$(eval "'$(var run_mode)'=='planning_simulation'")"/>
<include file="$(find-pkg-share system_error_monitor)/launch/system_error_monitor.launch.xml">
<arg name="config_file" value="$(var config_file)"/>
<arg name="extra_agg_config_file_sensing" value="$(var sensor_launch_pkg)/config/diagnostic_aggregator/sensor_kit.param.yaml"/>
<arg name="extra_agg_config_file_system" value="$(var diagnostic_aggregator_system_param_path)"/>
<arg name="extra_agg_config_file_vehicle" value="$(var diagnostic_aggregator_vehicle_param_path)"/>
<arg name="use_emergency_hold" value="false"/>
</include>
</group>
<!-- Emergency Handler -->
<group if="$(var use_emergency_handler)">
<include file="$(find-pkg-share emergency_handler)/launch/emergency_handler.launch.xml">
<arg name="config_file" value="$(var emergency_handler_param_path)"/>
</include>
</group>
<!-- Diagnostic Graph Aggregator -->
<group>
<include file="$(find-pkg-share system_diagnostic_monitor)/launch/system_diagnostic_monitor.launch.xml">
<arg name="param_file" value="$(var diagnostic_graph_aggregator_param_path)"/>
<arg name="graph_file" value="$(var diagnostic_graph_aggregator_graph_path)"/>
</include>
</group>
<!-- Hazard Status Converter -->
<group unless="$(var use_emergency_handler)">
<include file="$(find-pkg-share hazard_status_converter)/launch/hazard_status_converter.launch.xml">
<arg name="report_only_diag" value="$(var report_only_diag)"/>
</include>
</group>
<!-- MRM Handler -->
<group unless="$(var use_emergency_handler)">
<include file="$(find-pkg-share mrm_handler)/launch/mrm_handler.launch.xml">
<arg name="config_file" value="$(var mrm_handler_param_path)"/>
</include>
</group>
</group>
<!-- Dummy Diag Publisher -->
<group if="$(var launch_dummy_diag_publisher)">
<include file="$(find-pkg-share dummy_diag_publisher)/launch/dummy_diag_publisher.launch.xml">
<arg name="config_file" value="$(var dummy_diag_publisher_param_path)"/>
<arg name="extra_config_file_sensor" value="$(var sensor_launch_pkg)/config/dummy_diag_publisher/sensor_kit.param.yaml"/>
<arg name="launch_rqt_reconfigure" value="$(var launch_rqt_reconfigure)"/>
<arg name="launch_rqt_runtime_monitor" value="$(var launch_rqt_runtime_monitor)"/>
<arg name="launch_rqt_robot_monitor" value="$(var launch_rqt_robot_monitor)"/>
<arg name="launch_rqt_runtime_monitor_err" value="$(var launch_rqt_runtime_monitor_err)"/>
</include>
</group>
</launch>