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add system_monitor settings (autowarefoundation#13)
* add system_monitor settings * change temp_warn/error
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,81 @@ | ||
| # Description: | ||
| # name: diag name | ||
| # sf_at: diag level where it becomes Safe Fault | ||
| # lf_at: diag level where it becomes Latent Fault | ||
| # spf_at: diag level where it becomes Single Point Fault | ||
| # | ||
| # Note: | ||
| # empty-value for sf_at, lf_at and spf_at is "none" | ||
| # default values are: | ||
| # sf_at: "none" | ||
| # lf_at: "warn" | ||
| # spf_at: "error" | ||
| --- | ||
| /**: | ||
| ros__parameters: | ||
| required_modules: | ||
| autonomous_driving: | ||
| names: [ | ||
| "/autoware/control/autonomous_driving/alive_monitoring", | ||
| # "/autoware/control/autonomous_driving/lane_departure", | ||
| # '/autoware/control/autonomous_driving/trajectory_deviation', # Unstable | ||
| "/autoware/control/command_gate/alive_monitoring", | ||
| "/autoware/localization/alive_monitoring", | ||
| "/autoware/localization/matching_score", | ||
| "/autoware/localization/localization_accuracy", | ||
| "/autoware/map/alive_monitoring", | ||
| "/autoware/map/map_version", | ||
| "/autoware/perception/alive_monitoring", | ||
| "/autoware/planning/alive_monitoring", | ||
| "/autoware/sensing/alive_monitoring", | ||
| # "/autoware/sensing/camera", | ||
| "/autoware/sensing/gnss", | ||
| "/autoware/sensing/imu", | ||
| "/autoware/sensing/lidar", | ||
| "/autoware/system/alive_monitoring", | ||
| "/autoware/system/emergency_stop_operation", | ||
| "/autoware/system/logging", | ||
| "/autoware/system/resource_monitoring/cpu_temperature", | ||
| "/autoware/system/resource_monitoring/cpu_usage", | ||
| "/autoware/system/resource_monitoring/cpu_thermal_throttling", | ||
| "/autoware/system/resource_monitoring/hdd_temperature", | ||
| "/autoware/system/resource_monitoring/hdd_usage", | ||
| "/autoware/system/resource_monitoring/memory_usage", | ||
| "/autoware/system/resource_monitoring/network_usage", | ||
| "/autoware/system/resource_monitoring/ntp_offset", | ||
| "/autoware/system/resource_monitoring/gpu_temperature", | ||
| "/autoware/system/resource_monitoring/gpu_usage", | ||
| "/autoware/system/resource_monitoring/gpu_memory_usage", | ||
| "/autoware/system/resource_monitoring/gpu_thermal_throttling", | ||
| "/autoware/vehicle/alive_monitoring", | ||
| "/autoware/vehicle/vehicle_errors", | ||
| "/autoware/vehicle/obstacle_crush", | ||
| ] | ||
| diag_level: | ||
| /autoware/localization/matching_score: { sf_at: "warn", lf_at: "error", spf_at: "none" } | ||
| /autoware/sensing/gnss: { sf_at: "warn", lf_at: "error", spf_at: "none" } | ||
| /autoware/system/logging: { sf_at: "warn", lf_at: "none", spf_at: "none" } | ||
| /autoware/system/resource_monitoring/cpu_temperature: { sf_at: "warn", lf_at: "error", spf_at: "none" } | ||
| /autoware/system/resource_monitoring/cpu_usage: { sf_at: "warn", lf_at: "error", spf_at: "none" } | ||
| /autoware/system/resource_monitoring/cpu_thermal_throttling: { sf_at: "warn", lf_at: "error", spf_at: "none" } | ||
| /autoware/system/resource_monitoring/hdd_temperature: { sf_at: "warn", lf_at: "error", spf_at: "none" } | ||
| /autoware/system/resource_monitoring/hdd_usage: { sf_at: "warn", lf_at: "error", spf_at: "none" } | ||
| /autoware/system/resource_monitoring/memory_usage: { sf_at: "warn", lf_at: "error", spf_at: "none" } | ||
| /autoware/system/resource_monitoring/network_usage: { sf_at: "warn", lf_at: "error", spf_at: "none" } | ||
| /autoware/system/resource_monitoring/ntp_offset: { sf_at: "warn", lf_at: "none", spf_at: "none" } | ||
| /autoware/system/resource_monitoring/gpu_temperature: { sf_at: "warn", lf_at: "error", spf_at: "none" } | ||
| /autoware/system/resource_monitoring/gpu_usage: { sf_at: "warn", lf_at: "error", spf_at: "none" } | ||
| /autoware/system/resource_monitoring/gpu_memory_usage: { sf_at: "warn", lf_at: "error", spf_at: "none" } | ||
| /autoware/system/resource_monitoring/gpu_thermal_throttling: { sf_at: "warn", lf_at: "error", spf_at: "none" } | ||
|
|
||
| remote_control: | ||
| names: | ||
| [ | ||
| "/autoware/control/command_gate/alive_monitoring", | ||
| "/autoware/control/remote_control/alive_monitoring", | ||
| "/autoware/system/alive_monitoring", | ||
| "/autoware/system/emergency_stop_operation", | ||
| "/autoware/vehicle/alive_monitoring", | ||
| "/autoware/vehicle/vehicle_errors", | ||
| "/autoware/vehicle/obstacle_crush", | ||
| ] |
81 changes: 81 additions & 0 deletions
81
system_launch/config/autoware_error_monitor.planning_simulation.param.yaml
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,81 @@ | ||
| # Description: | ||
| # name: diag name | ||
| # sf_at: diag level where it becomes Safe Fault | ||
| # lf_at: diag level where it becomes Latent Fault | ||
| # spf_at: diag level where it becomes Single Point Fault | ||
| # | ||
| # Note: | ||
| # empty-value for sf_at, lf_at and spf_at is "none" | ||
| # default values are: | ||
| # sf_at: "none" | ||
| # lf_at: "warn" | ||
| # spf_at: "error" | ||
| --- | ||
| /**: | ||
| ros__parameters: | ||
| required_modules: | ||
| autonomous_driving: | ||
| names: [ | ||
| "/autoware/control/autonomous_driving/alive_monitoring", | ||
| "/autoware/control/autonomous_driving/lane_departure", | ||
| # '/autoware/control/autonomous_driving/trajectory_deviation', # Unstable | ||
| "/autoware/control/command_gate/alive_monitoring", | ||
| "/autoware/localization/alive_monitoring", | ||
| "/autoware/localization/matching_score", | ||
| "/autoware/localization/localization_accuracy", | ||
| "/autoware/map/alive_monitoring", | ||
| "/autoware/map/map_version", | ||
| "/autoware/perception/alive_monitoring", | ||
| "/autoware/planning/alive_monitoring", | ||
| "/autoware/sensing/alive_monitoring", | ||
| "/autoware/sensing/camera", | ||
| # "/autoware/sensing/gnss", | ||
| "/autoware/sensing/imu", | ||
| "/autoware/sensing/lidar", | ||
| "/autoware/system/alive_monitoring", | ||
| "/autoware/system/emergency_stop_operation", | ||
| "/autoware/system/logging", | ||
| # '/autoware/system/resource_monitoring/cpu_temperature', # Not working in containers | ||
| # '/autoware/system/resource_monitoring/cpu_usage', # No need to watch in simulation | ||
| # '/autoware/system/resource_monitoring/cpu_thermal_throttling', # Require setup | ||
| # '/autoware/system/resource_monitoring/hdd_temperature', # Require setup | ||
| # '/autoware/system/resource_monitoring/hdd_usage', # Not working in containers | ||
| # '/autoware/system/resource_monitoring/memory_usage', # No need to watch in simulation | ||
| # '/autoware/system/resource_monitoring/network_usage', # No need to watch in simulation | ||
| # '/autoware/system/resource_monitoring/ntp_offset', # No need to watch in simulation | ||
| # '/autoware/system/resource_monitoring/gpu_temperature', # Require GPU | ||
| # '/autoware/system/resource_monitoring/gpu_usage', # Require GPU | ||
| # '/autoware/system/resource_monitoring/gpu_memory_usage', # Require GPU | ||
| # '/autoware/system/resource_monitoring/gpu_thermal_throttling', # Require GPU | ||
| "/autoware/vehicle/alive_monitoring", | ||
| "/autoware/vehicle/vehicle_errors", | ||
| "/autoware/vehicle/obstacle_crush", | ||
| ] | ||
| diag_level: | ||
| /autoware/localization/matching_score: { sf_at: "warn", lf_at: "error", spf_at: "none" } | ||
| /autoware/sensing/gnss: { sf_at: "warn", lf_at: "error", spf_at: "none" } | ||
| /autoware/system/logging: { sf_at: "warn", lf_at: "none", spf_at: "none" } | ||
| # /autoware/system/resource_monitoring/cpu_temperature: { sf_at: "warn", lf_at: "error", spf_at: "none" } # Not working in VMs | ||
| # /autoware/system/resource_monitoring/cpu_usage: { sf_at: "warn", lf_at: "error", spf_at: "none" } # No need to watch in simulation | ||
| # /autoware/system/resource_monitoring/cpu_thermal_throttling: { sf_at: "warn", lf_at: "error", spf_at: "none" } # No need to watch in simulation | ||
| # /autoware/system/resource_monitoring/hdd_temperature: { sf_at: "warn", lf_at: "error", spf_at: "none" } # No need to watch in simulation | ||
| # /autoware/system/resource_monitoring/hdd_usage: { sf_at: "warn", lf_at: "error", spf_at: "none" } # No need to watch in simulation | ||
| # /autoware/system/resource_monitoring/memory_usage: { sf_at: "warn", lf_at: "error", spf_at: "none" } # No need to watch in simulation | ||
| # /autoware/system/resource_monitoring/network_usage: { sf_at: "warn", lf_at: "error", spf_at: "none" } # No need to watch in simulation | ||
| # /autoware/system/resource_monitoring/ntp_offset: { sf_at: "warn", lf_at: "none", spf_at: "none" } # No need to watch in simulation | ||
| # /autoware/system/resource_monitoring/gpu_temperature: { sf_at: "warn", lf_at: "error", spf_at: "none" } # No need to watch in simulation | ||
| # /autoware/system/resource_monitoring/gpu_usage: { sf_at: "warn", lf_at: "error", spf_at: "none" } # No need to watch in simulation | ||
| # /autoware/system/resource_monitoring/gpu_memory_usage: { sf_at: "warn", lf_at: "error", spf_at: "none" } # No need to watch in simulation | ||
| # /autoware/system/resource_monitoring/gpu_thermal_throttling: { sf_at: "warn", lf_at: "error", spf_at: "none" } # No need to watch in simulation | ||
|
|
||
| remote_control: | ||
| names: | ||
| [ | ||
| "/autoware/control/command_gate/alive_monitoring", | ||
| "/autoware/control/remote_control/alive_monitoring", | ||
| "/autoware/system/alive_monitoring", | ||
| "/autoware/system/emergency_stop_operation", | ||
| "/autoware/vehicle/alive_monitoring", | ||
| "/autoware/vehicle/vehicle_errors", | ||
| "/autoware/vehicle/obstacle_crush", | ||
| ] |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -1,4 +1,4 @@ | ||
| /**: | ||
| ros__parameters: | ||
| devices: ["*"] | ||
| devices: ["enp2s0f1"] | ||
| usage_warn: 0.95 |
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