ROS Index
Package Summary
| Tags | No category tags. |
| Version | 0.44.0 |
| License | Apache License 2.0 |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Description | |
| Checkout URI | https://github.com/autowarefoundation/autoware_universe.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2025-04-25 |
| Dev Status | UNKNOWN |
| CI status | No Continuous Integration |
| Released | UNRELEASED |
| Tags | planner ros calibration self-driving-car autonomous-driving autonomous-vehicles ros2 3d-map autoware |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Additional Links
Maintainers
- Takagi, Isamu
- Junya Sasaki
Authors
autoware_diagnostic_graph_aggregator
Overview
The diagnostic graph aggregator node subscribes to diagnostic array and publishes aggregated diagnostic graph. As shown in the diagram below, this node introduces extra diagnostic status for intermediate functional units.
Diagnostic graph structures
The diagnostic graph is actually a set of fault tree analysis (FTA) for each operation mode of Autoware. Since the status of the same node may be referenced by multiple nodes, the overall structure is a directed acyclic graph (DAG). Each node in the diagnostic graph represents the diagnostic status of a specific functional unit, including the input diagnostics. So we define this as “unit”, and call the unit corresponding to the input diagnosis “diag unit” and the others “node unit”.
Every unit has an error level that is the same as DiagnosticStatus, a unit type, and optionally a unit path. In addition, every diag unit has a message, a hardware_id, and values that are the same as DiagnosticStatus. The unit type represents how the unit status is calculated, such as AND or OR. The unit path is any unique string that represents the functionality of the unit.
NOTE: This feature is currently under development. The diagnostic graph also supports “link” because there are cases where connections between units have additional status. For example, it is natural that many functional units will have an error status until initialization is complete.
Operation mode availability
For MRM, this node publishes the status of the top-level functional units in the dedicated message. Therefore, the diagnostic graph must contain functional units with the following names. This feature breaks the generality of the graph and may be changed to a plugin or another node in the future.
- /autoware/operation/stop
- /autoware/operation/autonomous
- /autoware/operation/local
- /autoware/operation/remote
- /autoware/operation/emergency-stop
- /autoware/operation/comfortable-stop
- /autoware/operation/pull-over
Interfaces
| Interface Type | Interface Name | Data Type | Description |
|---|---|---|---|
| subscription | /diagnostics |
diagnostic_msgs/msg/DiagnosticArray |
Diagnostics input. |
| publisher | /diagnostics_graph/unknowns |
diagnostic_msgs/msg/DiagnosticArray |
Diagnostics not included in graph. |
| publisher | /diagnostics_graph/struct |
tier4_system_msgs/msg/DiagGraphStruct |
Diagnostic graph (static part). |
| publisher | /diagnostics_graph/status |
tier4_system_msgs/msg/DiagGraphStatus |
Diagnostic graph (dynamic part). |
| publisher | /system/operation_mode/availability |
tier4_system_msgs/msg/OperationModeAvailability |
Operation mode availability. |
Parameters
| Parameter Name | Data Type | Description |
|---|---|---|
graph_file |
string |
Path of the config file. |
rate |
double |
Rate of aggregation and topic publication. |
input_qos_depth |
uint |
QoS depth of input array topic. |
graph_qos_depth |
uint |
QoS depth of output graph topic. |
use_operation_mode_availability |
bool |
Use operation mode availability publisher. |
Examples
This is an example of a diagnostic graph configuration. The configuration can be split into multiple files.
ros2 launch autoware_diagnostic_graph_aggregator example-main.launch.xml
If you want to share the same settings with a configuration that is missing some diagnostics due to differences in variations, we recommend that you unify the diagnostics by using dummy_diag_publisher, etc.
Debug tools
Graph file format
Changelog for package autoware_diagnostic_graph_aggregator
0.44.0 (2025-04-18)
0.43.0 (2025-03-21)
- Merge remote-tracking branch 'origin/main' into chore/bump-version-0.43
- chore: rename from [autoware.universe]{.title-ref} to [autoware_universe]{.title-ref} (#10306)
- docs(diagnostic_graph_aggregator): update document (#10199)
- Contributors: Hayato Mizushima, Mamoru Sobue, Yutaka Kondo
0.42.0 (2025-03-03)
- Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base
- feat(diagnostic_graph_aggregator): remove edit feature (#10062) Co-authored-by: Junya Sasaki <<junya.sasaki@tier4.jp>>
- Contributors: Fumiya Watanabe, Takagi, Isamu
0.41.2 (2025-02-19)
- chore: bump version to 0.41.1 (#10088)
- Contributors: Ryohsuke Mitsudome
0.41.1 (2025-02-10)
0.41.0 (2025-01-29)
- Merge remote-tracking branch 'origin/main' into tmp/bot/bump_version_base
- feat: apply [autoware]{.title-ref} prefix for [component_state_monitor]{.title-ref} and its dependencies (#9961)
- Contributors: Fumiya Watanabe, Junya Sasaki
0.40.0 (2024-12-12)
- Merge branch 'main' into release-0.40.0
- Revert "chore(package.xml): bump version to 0.39.0 (#9587)" This reverts commit c9f0f2688c57b0f657f5c1f28f036a970682e7f5.
- fix: fix ticket links in CHANGELOG.rst (#9588)
- chore(package.xml): bump version to 0.39.0
(#9587)
- chore(package.xml): bump version to 0.39.0
- fix: fix ticket links in CHANGELOG.rst
* fix: remove unnecessary diff ---------Co-authored-by: Yutaka Kondo <<yutaka.kondo@youtalk.jp>>
- fix: fix ticket links in CHANGELOG.rst (#9588)
- fix(cpplint): include what you use - system (#9573)
- 0.39.0
- update changelog
- Merge commit '6a1ddbd08bd' into release-0.39.0
- fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (#9304)
- fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (#9304)
- feat(diagnostic_graph_aggregator): implement diagnostic graph dump functionality (#9261)
- chore(package.xml): bump version to 0.38.0
(#9266)
(#9284)
- unify package.xml version to 0.37.0
- remove system_monitor/CHANGELOG.rst
- add changelog
* 0.38.0
- Contributors: Esteve Fernandez, Fumiya Watanabe, M. Fatih Cırıt, Ryohsuke Mitsudome, Yutaka Kondo
0.39.0 (2024-11-25)
- Merge commit '6a1ddbd08bd' into release-0.39.0
- fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (#9304)
- fix: fix ticket links to point to https://github.com/autowarefoundation/autoware_universe (#9304)
- feat(diagnostic_graph_aggregator): implement diagnostic graph dump functionality (#9261)
- chore(package.xml): bump version to 0.38.0
(#9266)
(#9284)
- unify package.xml version to 0.37.0
- remove system_monitor/CHANGELOG.rst
- add changelog
* 0.38.0
- Contributors: Esteve Fernandez, Yutaka Kondo
0.38.0 (2024-11-08)
- unify package.xml version to 0.37.0
- fix(diagnostic_graph_aggregator): fix unusedFunction (#8580) fix: unusedFunction Co-authored-by: kobayu858 <<129580202+kobayu858@users.noreply.github.com>>
- fix(diagnostic_graph_aggregator): fix noConstructor (#8508) fix:noConstructor
- fix(diagnostic_graph_aggregator): fix cppcheck warning of
functionStatic
(#8266)
- fix: deal with functionStatic warning
* suppress warning by comment ---------
- fix(diagnostic_graph_aggregator): fix uninitMemberVar
(#8313)
- fix:funinitMemberVar
- fix:funinitMemberVar
- fix:uninitMemberVar
* fix:clang format ---------
- fix(diagnostic_graph_aggregator): fix functionConst
(#8279)
- fix:functionConst
- fix:functionConst
* fix:clang format ---------
- fix(diagnostic_graph_aggregator): fix constParameterReference (#8054) fix:constParameterReference
- fix(diagnostic_graph_aggregator): fix constVariableReference
(#8062)
- fix:constVariableReference
- fix:constVariableReference
- fix:constVariableReference
* fix:constVariableReference ---------
- fix(diagnostic_graph_aggregator): fix shadowFunction
(#7838)
- fix(diagnostic_graph_aggregator): fix shadowFunction
* feat: modify variable name ---------Co-authored-by: Takagi, Isamu <<isamu.takagi@tier4.jp>>
- fix(diagnostic_graph_aggregator): fix uselessOverride warning
(#7768)
- fix(diagnostic_graph_aggregator): fix uselessOverride warning
- restore and suppress inline
* style(pre-commit): autofix ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]\@users.noreply.github.com>
- fix(diagnostic_graph_aggregator): fix shadowArgument warning in create_unit_config (#7664)
- feat(diagnostic_graph_aggregator): componentize node (#7025)
- fix(diagnostic_graph_aggregator): fix a bug where unit links were incorrectly updated (#6932) fix(diagnostic_graph_aggregator): fix unit link filter
- feat: remake diagnostic graph packages (#6715)
- Contributors: Hayate TOBA, Koichi98, Ryuta Kambe, Takagi, Isamu, Yutaka Kondo, kobayu858, taisa1
0.26.0 (2024-04-03)
- feat(diagnostic_graph_aggregator): update tools (#6614)
- docs(diagnostic_graph_aggregator): update documents (#6613)
- feat(diagnostic_graph_aggregator): add dump tool (#6427)
- feat(diagnostic_graph_aggregator): change default publish rate (#5872)
- feat(diagnostic_graph_aggregator): rename system_diagnostic_graph package (#5827)
- Contributors: Takagi, Isamu
Wiki Tutorials
Package Dependencies
| Deps | Name |
|---|---|
| ament_cmake_auto | |
| autoware_cmake | |
| ament_cmake_gtest | |
| ament_lint_auto | |
| autoware_lint_common | |
| diagnostic_msgs | |
| rclcpp | |
| rclcpp_components | |
| tier4_system_msgs | |
| yaml_cpp_vendor |
System Dependencies
Dependant Packages
| Name | Deps |
|---|---|
| autoware_system_diagnostic_monitor |
Launch files
- launch/aggregator.launch.xml
-
- param_file [default: $(find-pkg-share autoware_diagnostic_graph_aggregator)/config/default.param.yaml]
- graph_file
- example/example-main.launch.xml