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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
The autoware_topic_state_monitor package
Additional Links
No additional links.
Maintainers
- Ryohsuke Mitsudome
- Junya Sasaki
Authors
No additional authors.
autoware_topic_state_monitor
Purpose
This node monitors input topic for abnormalities such as timeout and low frequency. The result of topic status is published as diagnostics.
Inner-workings / Algorithms
The types of topic status and corresponding diagnostic status are following.
| Topic status | Diagnostic status | Description |
|---|---|---|
OK |
OK | The topic has no abnormalities |
NotReceived |
ERROR | The topic has not been received yet |
WarnRate |
WARN | The frequency of the topic is dropped |
ErrorRate |
ERROR | The frequency of the topic is significantly dropped |
Timeout |
ERROR | The topic subscription is stopped for a certain time |
Inputs / Outputs
Input
| Name | Type | Description |
|---|---|---|
| any name | any type | Subscribe target topic to monitor |
Output
| Name | Type | Description |
|---|---|---|
/diagnostics |
diagnostic_msgs/DiagnosticArray |
Diagnostics outputs |
Parameters
Node Parameters
| Name | Type | Default Value | Description |
|---|---|---|---|
topic |
string | - | Name of target topic |
topic_type |
string | - | Type of target topic (used if the topic is not transform) |
frame_id |
string | - | Frame ID of transform parent (used if the topic is transform) |
child_frame_id |
string | - | Frame ID of transform child (used if the topic is transform) |
transient_local |
bool | false | QoS policy of topic subscription (Transient Local/Volatile) |
best_effort |
bool | false | QoS policy of topic subscription (Best Effort/Reliable) |
diag_name |
string | - | Name used for the diagnostics to publish |
update_rate |
double | 10.0 | Timer callback period [Hz] |
Core Parameters
| Name | Type | Default Value | Description |
|---|---|---|---|
warn_rate |
double | 0.5 | If the topic rate is lower than this value, the topic status becomes WarnRate
|
error_rate |
double | 0.1 | If the topic rate is lower than this value, the topic status becomes ErrorRate
|
timeout |
double | 1.0 | If the topic subscription is stopped for more than this time [s], the topic status becomes Timeout
|
window_size |
int | 10 | Window size of target topic for calculating frequency |
Assumptions / Known limits
TBD.
CHANGELOG
Changelog for package autoware_topic_state_monitor
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)
- Contributors: Hayato Mizushima, Yutaka Kondo
0.42.0 (2025-03-03)
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)
- 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)
- 0.39.0
- update changelog
- 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)
- 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, Ryohsuke Mitsudome, Yutaka Kondo
0.39.0 (2024-11-25)
- 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)
- 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
- chore(topic_state_monitor): enrich error log message (#7236)
- Contributors: Takamasa Horibe, Yutaka Kondo
0.26.0 (2024-04-03)
- refactor(topic_state_monitor): add state log message
(#5378)
- refactor(topic_state_monitor): add state log message
* add debug print ---------
- docs(topic_state_monitor): rename readme to README (#4225)
- chore: update maintainer (#4140) Co-authored-by: Ryohsuke Mitsudome <<43976834+mitsudome-r@users.noreply.github.com>>
- build: mark autoware_cmake as <buildtool_depend>
(#3616)
* build: mark autoware_cmake as <buildtool_depend> with
<build_depend>, autoware_cmake is automatically exported with
ament_target_dependencies() (unecessary)
- style(pre-commit): autofix
* chore: fix pre-commit errors ---------Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]\@users.noreply.github.com> Co-authored-by: Kenji Miyake <<kenji.miyake@tier4.jp>>
- chore: sync files
(#3227)
- chore: sync files
* style(pre-commit): autofix ---------Co-authored-by: kenji-miyake <<kenji-miyake@users.noreply.github.com>> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]\@users.noreply.github.com>
- feat(topic_state_monitor): support transform topic check (#1586)
- refactor(topic_state_monitor): move the parameter group to match implementation (#1909)
- chore: upgrade cmake_minimum_required to 3.14 (#856)
- refactor: use autoware cmake
(#849)
- remove autoware_auto_cmake
- add build_depend of autoware_cmake
- use autoware_cmake in CMakeLists.txt
- fix bugs
- fix cmake lint errors
- style: fix format of package.xml (#844)
- ci(pre-commit): update pre-commit-hooks-ros
(#625)
- ci(pre-commit): update pre-commit-hooks-ros
* ci(pre-commit): autofix Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]\@users.noreply.github.com>
- chore: replace legacy timer
(#329)
- chore(goal_distance_calculator): replace legacy timer
- chore(path_distance_calculator): replace legacy timer
- chore(control_performance_analysis): replace legacy timer
- chore(external_cmd_selector): replace legacy timer
- chore(joy_controller): replace legacy timer
- chore(lane_departure_checker): replace legacy timer
- chore(obstacle_collision_checker): replace legacy timer
- chore(pure_pursuit): replace legacy timer
- chore(shift_decider): replace legacy timer
- chore(trajectory_follower_nodes): replace legacy timer
- chore(vehicle_cmd_gate): replace legacy timer
- chore(ekf_localizer): replace legacy timer
- chore(localization_error_monitor): replace legacy timer
- chore(multi_object_tracker): replace legacy timer
- chore(tensorrt_yolo): replace legacy timer
- chore(traffic_light_classifier): replace legacy timer
- chore(traffic_light_ssd_fine_detector): replace legacy timer
- chore(traffic_light_visualization): replace legacy timer
- chore(behavior_path_planner): replace legacy timer
- chore(costmap_generator): replace legacy timer
- chore(freespace_planner): replace legacy timer
- chore(planning_error_monitor): replace legacy timer
- chore(scenario_selector): replace legacy timer
- chore(pointcloud_preprocessor): replace legacy timer
- chore(dummy_perception_publisher): replace legacy timer
- chore(ad_service_state_monitor): replace legacy timer
- chore(dummy_diag_publisher): replace legacy timer
- chore(emergency_handler): replace legacy timer
- chore(system_error_monitor): replace legacy timer
- chore(topic_state_monitor): replace legacy timer
- chore(accel_brake_map_calibrator): replace legacy timer
- chore(external_cmd_converter): replace legacy timer
- chore(pacmod_interface): replace legacy timer
- chore(lint): apply pre-commit
- feat: add topic_state_monitor package
(#15)
- Ros2 v0.8.0 topic state monitor (#283)
- Add node_name_suffix to topic_state_monitor.launch (#1157) (#370)
- fix launch file (#411)
- add transient local option to topic state monitor (#410)
- add transient local option to topic state monitor
- sort parameters
- sort parameter
* [topic_state_monitor]: Add best effort option (#430) Co-authored-by: autoware <<autoware@example.com>>
- add use_sim-time option (#454)
- Fix for rolling (#1226)
- Replace doc by description
- Replace ns by push-ros-namespace
- change to composable node (#1233)
- Unify Apache-2.0 license name (#1242)
- Remove use_sim_time for set_parameter (#1260)
- Fix lint errors (#1378)
- Fix lint errors
- Fix variable names
- Use integrated generic subscription (#1342)
- suppress warnings for declare parameters (#1724)
- fix for lanelet2_extension
- fix for traffic light ssd fine detector
- fix for topic_state_monitor
- fix for dummy diag publisher
- fix for remote cmd converter
- fix for vehicle_info_util
- fix for multi object tracker
- fix for freespace planner
- fix for autoware_error_monitor
- add Werror for multi object tracker
- fix for multi object tracker
- add Werror for liraffic light ssd fine detector
- add Werror for topic state monitor
- add Werror
- add Werror
- add Werror
- add Werror
- fix style
- Fix -Wunused-parameter (#1836)
- Fix -Wunused-parameter
- Fix mistake
- fix spell
- Fix lint issues
* Ignore flake8 warnings Co-authored-by: Hiroki OTA <<hiroki.ota@tier4.jp>>
- Change formatter to clang-format and black (#2332)
* Revert "Temporarily comment out pre-commit hooks" This reverts commit 748e9cdb145ce12f8b520bcbd97f5ff899fc28a3.
- Replace ament_lint_common with autoware_lint_common
- Remove ament_cmake_uncrustify and ament_clang_format
- Apply Black
- Apply clang-format
- Fix build errors
- Fix for cpplint
- Fix include double quotes to angle brackets
- Apply clang-format
- Fix build errors
- Add COLCON_IGNORE (#500)
- remove COLCON_IGNORE in system_packages and map_tf_generator (#532)
- [topic_state_monitor]add readme (#565)
- add readme
* Update system/topic_state_monitor/Readme.md Co-authored-by: Kazuki Miyahara <<kmiya@outlook.com>> * Update system/topic_state_monitor/Readme.md Co-authored-by: Kazuki Miyahara <<kmiya@outlook.com>> * Update system/topic_state_monitor/Readme.md Co-authored-by: Kazuki Miyahara <<kmiya@outlook.com>> * Update system/topic_state_monitor/Readme.md Co-authored-by: Kazuki Miyahara <<kmiya@outlook.com>> * Update system/topic_state_monitor/Readme.md Co-authored-by: Kazuki Miyahara <<kmiya@outlook.com>> Co-authored-by: Kazuki Miyahara <<kmiya@outlook.com>> Co-authored-by: Daisuke Nishimatsu <<42202095+wep21@users.noreply.github.com>> Co-authored-by: Ryohsuke Mitsudome <<43976834+mitsudome-r@users.noreply.github.com>> Co-authored-by: autoware <<autoware@example.com>> Co-authored-by: Kenji Miyake <<31987104+kenji-miyake@users.noreply.github.com>> Co-authored-by: Taichi Higashide <<taichi.higashide@tier4.jp>> Co-authored-by: Kazuki Miyahara <<kmiya@outlook.com>> Co-authored-by: Hiroki OTA <<hiroki.ota@tier4.jp>> Co-authored-by: Takeshi Miura <<57553950+1222-takeshi@users.noreply.github.com>> Co-authored-by: taikitanaka3 <<65527974+taikitanaka3@users.noreply.github.com>>
- Contributors: Daisuke Nishimatsu, Kenji Miyake, Takagi, Isamu, Takamasa Horibe, Tomoya Kimura, Vincent Richard, awf-autoware-bot[bot]
Wiki Tutorials
This package does not provide any links to tutorials in it's rosindex metadata.
You can check on the ROS Wiki Tutorials page for the package.
Package Dependencies
| Deps | Name |
|---|---|
| ament_cmake_auto | |
| autoware_cmake | |
| ament_lint_auto | |
| autoware_lint_common | |
| ament_index_cpp | |
| diagnostic_updater | |
| rclcpp | |
| rclcpp_components | |
| tf2_msgs |
System Dependencies
No direct system dependencies.
Dependant Packages
| Name | Deps |
|---|---|
| autoware_component_state_monitor |
Launch files
- launch/topic_state_monitor.launch.xml
-
- node_name_suffix
- topic
- topic_type
- transient_local [default: false]
- best_effort [default: false]
- diag_name
- warn_rate
- error_rate
- timeout
- window_size [default: 10]
- launch/topic_state_monitor_tf.launch.xml
-
- node_name_suffix
- topic
- frame_id
- child_frame_id
- transient_local [default: false]
- best_effort [default: false]
- diag_name
- warn_rate
- error_rate
- timeout
- window_size [default: 10]
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
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