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Package Summary
| Tags | No category tags. |
| Version | 0.1.1 |
| 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 system_error_monitor package in ROS 2
Additional Links
No additional links.
Maintainers
- Fumihito Ito
Authors
No additional authors.
system_error_monitor
Purpose
Autoware Error Monitor has two main functions.
- It is to judge the system hazard level from the aggregated diagnostic information of each module of Autoware.
- It enables automatic recovery from the emergency state.
Inner-workings / Algorithms
State Transition
@startuml
hide empty description
state "Not Emergency" as N
state "Emergency" as E
[*] --> N
N -down-> E : found critical errors
E -up-> N : emergency status is cleared
note right of E
If the emergency hold is enabled, a service call is required to clear the emergency status.
If not, the emergency status will automatically clear when errors recover.
end note
@enduml
updateEmergencyHoldingCondition Flow Chart
@startuml
title updateEmergencyHoldingCondition Flow Chart
(*) --> "Check emergency holding condition"
note right : emergency_holding is initialized with false
if "" then
-->[false] "emergency is not held"
else
-->[true] "Check use emergency hold condition"
endif
if "" then
-->[true] "emergency is held"
else
-->[false] "Check emergency condition"
endif
if "" then
-->[false] "emergency is not held"
else
-->[true] "Check auto recovery setting"
endif
if "" then
-->[not approved auto recovery] "emergency is held"
else
-->[approved auto recovery] "Check Emergency Duration"
endif
if "" then
-->[within recovery timeout] "emergency is not held"
else
-->[over recovery timeout] "Check Control Mode"
endif
if "" then
-->[autonomous driving] "emergency is held"
else
-->[manual driving] "Check use emergency hold in manual driving condition"
endif
if "" then
-->[true] "emergency is held"
else
-->[false] "emergency is not held"
endif
@enduml
Inputs / Outputs
Input
| Name | Type | Description |
|---|---|---|
/diagnostics_agg |
diagnostic_msgs::msg::DiagnosticArray |
Diagnostic information aggregated based diagnostic_aggregator setting is used to |
/autoware/state |
autoware_auto_system_msgs::msg::AutowareState |
Required to ignore error during Route, Planning and Finalizing. |
/control/current_gate_mode |
tier4_control_msgs::msg::GateMode |
Required to select the appropriate module from autonomous_driving or external_control
|
/vehicle/control_mode |
autoware_auto_vehicle_msgs::msg::ControlModeReport |
Required to not hold emergency during manual driving |
Output
| Name | Type | Description |
|---|---|---|
/system/emergency/hazard_status |
autoware_auto_system_msgs::msg::HazardStatusStamped |
HazardStatus contains system hazard level, emergency hold status and failure details |
/diagnostics_err |
diagnostic_msgs::msg::DiagnosticArray |
This has the same contents as HazardStatus. This is used for visualization |
Parameters
Node Parameters
| Name | Type | Default Value | Explanation |
|---|---|---|---|
ignore_missing_diagnostics |
bool | false |
If this parameter is turned off, it will be ignored if required modules have not been received. |
add_leaf_diagnostics |
bool | true |
Required to use children diagnostics. |
diag_timeout_sec |
double |
1.0 (sec) |
If required diagnostic is not received for a diag_timeout_sec, the diagnostic state become STALE state. |
data_ready_timeout |
double | 30.0 |
If input topics required for system_error_monitor are not available for data_ready_timeout seconds, autoware_state will translate to emergency state. |
data_heartbeat_timeout |
double | 1.0 |
If input topics required for system_error_monitor are not no longer subscribed for data_heartbeat_timeout seconds, autoware_state will translate to emergency state. |
Core Parameters
| Name | Type | Default Value | Explanation |
|---|---|---|---|
hazard_recovery_timeout |
double | 5.0 |
The vehicle can recovery to normal driving if emergencies disappear during hazard_recovery_timeout. |
use_emergency_hold |
bool | false |
If it is false, the vehicle will return to normal as soon as emergencies disappear. |
use_emergency_hold_in_manual_driving |
bool | false |
If this parameter is turned off, emergencies will be ignored during manual driving. |
emergency_hazard_level |
int | 2 |
If hazard_level is more than emergency_hazard_level, autoware state will translate to emergency state |
YAML format for system_error_monitor
The parameter key should be filled with the hierarchical diagnostics output by diagnostic_aggregator. Parameters prefixed with required_modules.autonomous_driving are for autonomous driving. Parameters with the required_modules.remote_control prefix are for remote control. If the value is default, the default value will be set.
| Key | Type | Default Value | Explanation |
|---|---|---|---|
required_modules.autonomous_driving.DIAGNOSTIC_NAME.sf_at |
string | "none" |
Diagnostic level where it becomes Safe Fault. Available options are "none", "warn", "error". |
required_modules.autonomous_driving.DIAGNOSTIC_NAME.lf_at |
string | "warn" |
Diagnostic level where it becomes Latent Fault. Available options are "none", "warn", "error". |
required_modules.autonomous_driving.DIAGNOSTIC_NAME.spf_at |
string | "error" |
Diagnostic level where it becomes Single Point Fault. Available options are "none", "warn", "error". |
required_modules.autonomous_driving.DIAGNOSTIC_NAME.auto_recovery |
string | "true" |
Determines whether the system will automatically recover when it recovers from an error. |
required_modules.remote_control.DIAGNOSTIC_NAME.sf_at |
string | "none" |
Diagnostic level where it becomes Safe Fault. Available options are "none", "warn", "error". |
required_modules.remote_control.DIAGNOSTIC_NAME.lf_at |
string | "warn" |
Diagnostic level where it becomes Latent Fault. Available options are "none", "warn", "error". |
required_modules.remote_control.DIAGNOSTIC_NAME.spf_at |
string | "error" |
Diagnostic level where it becomes Single Point Fault. Available options are "none", "warn", "error". |
required_modules.remote_control.DIAGNOSTIC_NAME.auto_recovery |
string | "true" |
Determines whether the system will automatically recover when it recovers from an error. |
Assumptions / Known limits
TBD.
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
System Dependencies
| Name |
|---|
| fmt |
Dependant Packages
Launch files
- launch/system_error_monitor.launch.xml
-
- config_file [default: $(find-pkg-share system_error_monitor)/config/system_error_monitor.param.yaml]
- ignore_missing_diagnostics [default: false]
- add_leaf_diagnostics [default: true]
- data_ready_timeout [default: 30.0]
- data_heartbeat_timeout [default: 1.0]
- diag_timeout_sec [default: 1.0]
- hazard_recovery_timeout [default: 5.0]
- use_emergency_hold [default: false]
- use_emergency_hold_in_manual_driving [default: false]
- agg_config_file_control [default: $(find-pkg-share system_error_monitor)/config/diagnostic_aggregator/control.param.yaml]
- agg_config_file_localization [default: $(find-pkg-share system_error_monitor)/config/diagnostic_aggregator/localization.param.yaml]
- agg_config_file_map [default: $(find-pkg-share system_error_monitor)/config/diagnostic_aggregator/map.param.yaml]
- agg_config_file_perception [default: $(find-pkg-share system_error_monitor)/config/diagnostic_aggregator/perception.param.yaml]
- agg_config_file_planning [default: $(find-pkg-share system_error_monitor)/config/diagnostic_aggregator/planning.param.yaml]
- agg_config_file_sensing [default: $(find-pkg-share system_error_monitor)/config/diagnostic_aggregator/sensing.param.yaml]
- agg_config_file_system [default: $(find-pkg-share system_error_monitor)/config/diagnostic_aggregator/system.param.yaml]
- agg_config_file_vehicle [default: $(find-pkg-share system_error_monitor)/config/diagnostic_aggregator/vehicle.param.yaml]
- extra_agg_config_file_sensing [default: $(find-pkg-share system_error_monitor)/config/diagnostic_aggregator/_empty.param.yaml]
- extra_agg_config_file_system [default: $(find-pkg-share system_error_monitor)/config/diagnostic_aggregator/_empty.param.yaml]
- extra_agg_config_file_vehicle [default: $(find-pkg-share system_error_monitor)/config/diagnostic_aggregator/_empty.param.yaml]
- launch/system_error_monitor_node.launch.xml
-
- config_file [default: $(find-pkg-share system_error_monitor)/config/system_error_monitor.param.yaml]
- ignore_missing_diagnostics
- add_leaf_diagnostics
- data_ready_timeout
- data_heartbeat_timeout
- diag_timeout_sec
- hazard_recovery_timeout
- use_emergency_hold
- use_emergency_hold_in_manual_driving
- emergency_hazard_level [default: 2]
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged system_error_monitor at Robotics Stack Exchange
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