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chore: sync config files in gen1 to gen2
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Signed-off-by: Tomohito ANDO <tomohito.ando@tier4.jp>
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@TomohitoAndo
TomohitoAndo committed Aug 31, 2024
1 parent ed51c5c commit d218811
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Showing 5 changed files with 21 additions and 163 deletions.
13 changes: 13 additions & 0 deletions aip_x2_gen2_launch/config/diagnostic_aggregator/sensor_kit.param.yaml
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Expand Up @@ -85,3 +85,16 @@
startswith: ["gnss"]

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Unknown word (startswith)
contains: [": gnss"]
timeout: 5.0
imu:
type: diagnostic_aggregator/AnalyzerGroup
path: imu
analyzers:
bias_monitoring:
type: diagnostic_aggregator/AnalyzerGroup
path: bias_monitoring
analyzers:
gyro_bias_validator:
type: diagnostic_aggregator/GenericAnalyzer
path: gyro_bias_validator
contains: [": gyro_bias_validator"]
timeout: 1.0
2 changes: 1 addition & 1 deletion aip_x2_gen2_launch/config/dual_return_filter.param.yaml
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Expand Up @@ -4,7 +4,7 @@
weak_first_local_noise_threshold: 2 # description="for No_ROI roi_mode, recommended value is 10" />
visibility_error_threshold: 0.95
visibility_warn_threshold: 0.97
max_distance: 5.0
max_distance: 10.0
x_max: 18.0
x_min: -12.0
y_max: 2.0
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2 changes: 1 addition & 1 deletion aip_x2_gen2_launch/config/dummy_diag_publisher/sensor_kit.param.yaml
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Expand Up @@ -38,7 +38,7 @@
"pandar_monitor: /sensing/lidar/right_lower: pandar_ptp": default
"pandar_monitor: /sensing/lidar/right_upper: pandar_ptp": default
"pandar_monitor: /sensing/lidar/rear_lower: pandar_ptp": default
"pandar_monitor: /sensing/lidar/rear_upper: pandar_ptp": defaultlt
"pandar_monitor: /sensing/lidar/rear_upper: pandar_ptp": default

"pandar_monitor: /sensing/lidar/front_lower: pandar_temperature": default
"pandar_monitor: /sensing/lidar/front_upper: pandar_temperature": default
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6 changes: 6 additions & 0 deletions aip_x2_gen2_launch/config/gyro_bias_estimator.param.yaml
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@@ -0,0 +1,6 @@
/**:
ros__parameters:
gyro_bias_threshold: 0.008 # [rad/s]
timer_callback_interval_sec: 0.5 # [sec]
diagnostics_updater_interval_sec: 0.5 # [sec]
straight_motion_ang_vel_upper_limit: 0.015 # [rad/s]
161 changes: 0 additions & 161 deletions aip_x2_gen2_launch/launch/topic_state_monitor.launch.py
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Expand Up @@ -173,159 +173,6 @@ def generate_launch_description():
extra_arguments=[{"use_intra_process_comms": True}],
)

# Camera topic monitors
camera0_topic_monitor = ComposableNode(
package="topic_state_monitor",
plugin="topic_state_monitor::TopicStateMonitorNode",
name="topic_state_monitor_camera0",
parameters=[
{
"topic": "/sensing/camera/camera0/camera_info",
"topic_type": "sensor_msgs/msg/CameraInfo",
"best_effort": True,
"diag_name": "camera0_topic_status",
"warn_rate": 5.0,
"error_rate": 1.0,
"timeout": 5.0,
"window_size": 1,
}
],
extra_arguments=[{"use_intra_process_comms": True}],
)

camera1_topic_monitor = ComposableNode(
package="topic_state_monitor",
plugin="topic_state_monitor::TopicStateMonitorNode",
name="topic_state_monitor_camera1",
parameters=[
{
"topic": "/sensing/camera/camera1/camera_info",
"topic_type": "sensor_msgs/msg/CameraInfo",
"best_effort": True,
"diag_name": "camera1_topic_status",
"warn_rate": 5.0,
"error_rate": 1.0,
"timeout": 5.0,
"window_size": 1,
}
],
extra_arguments=[{"use_intra_process_comms": True}],
)

camera2_topic_monitor = ComposableNode(
package="topic_state_monitor",
plugin="topic_state_monitor::TopicStateMonitorNode",
name="topic_state_monitor_camera2",
parameters=[
{
"topic": "/sensing/camera/camera2/camera_info",
"topic_type": "sensor_msgs/msg/CameraInfo",
"best_effort": True,
"diag_name": "camera2_topic_status",
"warn_rate": 5.0,
"error_rate": 1.0,
"timeout": 5.0,
"window_size": 1,
}
],
extra_arguments=[{"use_intra_process_comms": True}],
)

camera3_topic_monitor = ComposableNode(
package="topic_state_monitor",
plugin="topic_state_monitor::TopicStateMonitorNode",
name="topic_state_monitor_camera3",
parameters=[
{
"topic": "/sensing/camera/camera3/camera_info",
"topic_type": "sensor_msgs/msg/CameraInfo",
"best_effort": True,
"diag_name": "camera3_topic_status",
"warn_rate": 5.0,
"error_rate": 1.0,
"timeout": 5.0,
"window_size": 1,
}
],
extra_arguments=[{"use_intra_process_comms": True}],
)

camera4_topic_monitor = ComposableNode(
package="topic_state_monitor",
plugin="topic_state_monitor::TopicStateMonitorNode",
name="topic_state_monitor_camera4",
parameters=[
{
"topic": "/sensing/camera/camera4/camera_info",
"topic_type": "sensor_msgs/msg/CameraInfo",
"best_effort": True,
"diag_name": "camera4_topic_status",
"warn_rate": 5.0,
"error_rate": 1.0,
"timeout": 5.0,
"window_size": 1,
}
],
extra_arguments=[{"use_intra_process_comms": True}],
)

camera5_topic_monitor = ComposableNode(
package="topic_state_monitor",
plugin="topic_state_monitor::TopicStateMonitorNode",
name="topic_state_monitor_camera5",
parameters=[
{
"topic": "/sensing/camera/camera5/camera_info",
"topic_type": "sensor_msgs/msg/CameraInfo",
"best_effort": True,
"diag_name": "camera5_topic_status",
"warn_rate": 5.0,
"error_rate": 1.0,
"timeout": 5.0,
"window_size": 1,
}
],
extra_arguments=[{"use_intra_process_comms": True}],
)

camera6_topic_monitor = ComposableNode(
package="topic_state_monitor",
plugin="topic_state_monitor::TopicStateMonitorNode",
name="topic_state_monitor_camera6",
parameters=[
{
"topic": "/sensing/camera/camera6/camera_info",
"topic_type": "sensor_msgs/msg/CameraInfo",
"best_effort": True,
"diag_name": "camera6_topic_status",
"warn_rate": 5.0,
"error_rate": 1.0,
"timeout": 5.0,
"window_size": 1,
}
],
extra_arguments=[{"use_intra_process_comms": True}],
)

camera7_topic_monitor = ComposableNode(
package="topic_state_monitor",
plugin="topic_state_monitor::TopicStateMonitorNode",
name="topic_state_monitor_camera7",
parameters=[
{
"topic": "/sensing/camera/camera7/camera_info",
"topic_type": "sensor_msgs/msg/CameraInfo",
"best_effort": True,
"diag_name": "camera7_topic_status",
"warn_rate": 5.0,
"error_rate": 1.0,
"timeout": 5.0,
"window_size": 1,
}
],
extra_arguments=[{"use_intra_process_comms": True}],
)

# ComposableNodeContainer to run all ComposableNodes
container = ComposableNodeContainer(
name="topic_state_monitor_container",
Expand All @@ -341,14 +188,6 @@ def generate_launch_description():
radar_rear_center_monitor,
radar_rear_left_monitor,
radar_rear_right_monitor,
camera0_topic_monitor,
camera1_topic_monitor,
camera2_topic_monitor,
camera3_topic_monitor,
camera4_topic_monitor,
camera5_topic_monitor,
camera6_topic_monitor,
camera7_topic_monitor,
],
output="screen",
)
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