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Package Summary
| Tags | No category tags. |
| Version | 0.1.0 |
| License | Apache License 2.0 |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/ieiauto/autodrrt.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2024-09-19 |
| Dev Status | UNMAINTAINED |
| CI status | No Continuous Integration |
| Released | UNRELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
The diagnostic_graph_aggregator package
Additional Links
No additional links.
Maintainers
- Takagi, Isamu
Authors
No additional authors.
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 unit. Diagnostic status dependencies will be directed acyclic graph (DAG).
Diagnostics graph message
The diagnostics graph that this node outputs is a combination of diagnostic status and connections between them. This graph consists of an array of diagnostic nodes, and each node has a status and links. This link contains an index indicating the position of the node in the graph. Therefore, the graph can be reconstructed from the array of nodes using links. The following is an example of a message representing the graph in the overview section.
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 |
tier4_system_msgs/msg/DiagnosticGraph |
Diagnostics graph. |
| publisher | /system/operation_mode/availability |
tier4_system_msgs/msg/OperationModeAvailability |
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. |
use_debug_mode |
bool |
Use debug output to stdout. |
Examples
ros2 launch diagnostic_graph_aggregator example.launch.xml
Graph file format
CHANGELOG
No CHANGELOG found.
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_cmake_gtest | |
| ament_lint_auto | |
| autoware_lint_common | |
| diagnostic_msgs | |
| rclcpp | |
| tier4_system_msgs | |
| yaml_cpp_vendor |
System Dependencies
No direct system dependencies.
Dependant Packages
No known dependants.
Launch files
- launch/diagnostic_graph_aggregator.launch.xml
-
- param_file [default: $(find-pkg-share diagnostic_graph_aggregator)/config/default.param.yaml]
- graph_file
- example/example.launch.xml
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged diagnostic_graph_aggregator at Robotics Stack Exchange
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