feat: add system_launch package (autowarefoundation#167)

* release v0.4.0 * removed ROS1 package Signed-off-by: mitsudome-r <ryohsuke.mitsudome@tier4.jp> * Revert "removed ROS1 package" This reverts commit e002b78f1e1ddf980ee7c4010918f1c117ff4be1. * add COLCON_IGNORE file to all ROS1 packages Signed-off-by: mitsudome-r <ryohsuke.mitsudome@tier4.jp> * rename *.launch files to *.launch.xml Signed-off-by: mitsudome-r <ryohsuke.mitsudome@tier4.jp> * Port to ROS 2 * Fix params file paths * Re-add autoware_state_monitor * Update system_launch/launch/system.launch.xml Co-authored-by: Takamasa Horibe <horibe.takamasa@gmail.com> * Add linters and missing pakcages dependencies (autowarefoundation#37) * V0.8 system launch (autowarefoundation#51) * tmp rename launch file Signed-off-by: Kosuke Murakami <kosuke.murakami@tier4.jp> * Add system_monitor to system.launch (autowarefoundation#72) * Add system_monitor to system.launch Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Fix typo Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Add config file of system_monitor (autowarefoundation#115) Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Add config of diagnostic_aggregator (autowarefoundation#128) Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Add vehicle cmd gate config (autowarefoundation#136) * Add config_file of vehicle_cmd_gate Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Add use_emergency_stop Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Rename emergency_stop to external_emergency_stop Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Fix command_gate diag Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Add use_emergency_hold arg (autowarefoundation#142) Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Fix system.launch (autowarefoundation#161) Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Revert "tmp rename launch file" This reverts commit d1bb989eac90f43bab2af6669b00638fd2147eeb. * fix launch file Signed-off-by: Kosuke Murakami <kosuke.murakami@tier4.jp> * fix minor bug Signed-off-by: Kosuke Murakami <kosuke.murakami@tier4.jp> * rename .yaml -> .param.yaml Signed-off-by: Kosuke Murakami <kosuke.murakami@tier4.jp> * fix invalid way to use eval Signed-off-by: Kosuke Murakami <kosuke.murakami@tier4.jp> * Add new line in yaml * add num_disks Signed-off-by: Kosuke Murakami <kosuke.murakami@tier4.jp> * rename .yaml to .param.yaml Signed-off-by: Kosuke Murakami <kosuke.murakami@tier4.jp> Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> * Rename ROS-related .yaml to .param.yaml (autowarefoundation#65) * Rename ROS-related .yaml to .param.yaml Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Add missing '--' Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Rename vehicle_info.yaml to vehicle_info.param.yaml Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Fix livox param name Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * add clock_publisher and autoware_version (autowarefoundation#79) * add clock_publisher and autoware_version Signed-off-by: mitsudome-r <ryohsuke.mitsudome@tier4.jp> * update package.xml Signed-off-by: mitsudome-r <ryohsuke.mitsudome@tier4.jp> * update build_depends.repos Signed-off-by: mitsudome-r <ryohsuke.mitsudome@tier4.jp> * fix CI Signed-off-by: mitsudome-r <ryohsuke.mitsudome@tier4.jp> * Split system_monitor config (autowarefoundation#98) Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * add use_sim-time option (autowarefoundation#99) * Replace doc by description (autowarefoundation#182) Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Use set_parameter for use_sim_time (autowarefoundation#198) * Use set_parameter for use_sim_time Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * Add default parameter for scenario simulator Signed-off-by: wep21 <border_goldenmarket@yahoo.co.jp> * change system_monitor.launch.xml to launch.py (autowarefoundation#203) * add README.md and svg files (autowarefoundation#328) * add md and svg * fix typo * fix typo * fix word * fix typo * add lack of things * Update README * fix depending packages * fix word * Fix pre-commit (autowarefoundation#407) * Fix pre-commit errors Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Fix package.xml Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Update system.launch.xml (autowarefoundation#411) * Feature/autoware api autoware versions (autowarefoundation#438) * Add package version API * Fix message type * Modify api name * use let variable in system_launch (autowarefoundation#473) * Add sensor_model to system_launch (autowarefoundation#480) Signed-off-by: Kenji Miyake <kenji.miyake@tier4.jp> * Change formatter to black (autowarefoundation#488) * Update pre-commit settings * Apply Black * Replace ament_lint_common with autoware_lint_common * Update build_depends.repos * Fix build_depends * Fix diagnostic_aggregator config path (autowarefoundation#118) * update param Signed-off-by: tomoya.kimura <tomoya.kimura@tier4.jp> * update readme Signed-off-by: tomoya.kimura <tomoya.kimura@tier4.jp> * ci(pre-commit): autofix Co-authored-by: mitsudome-r <ryohsuke.mitsudome@tier4.jp> Co-authored-by: Esteve Fernandez <esteve@apache.org> Co-authored-by: Takamasa Horibe <horibe.takamasa@gmail.com> Co-authored-by: Jilada Eccleston <jilada.eccleston@tier4.jp> Co-authored-by: Kosuke Murakami <kosuke.murakami@tier4.jp> Co-authored-by: Kenji Miyake <31987104+kenji-miyake@users.noreply.github.com> Co-authored-by: Ryohsuke Mitsudome <43976834+mitsudome-r@users.noreply.github.com> Co-authored-by: Daisuke Nishimatsu <42202095+wep21@users.noreply.github.com> Co-authored-by: Taichi Higashide <taichi.higashide@tier4.jp> Co-authored-by: Hiroki OTA <hiroki.ota@tier4.jp> Co-authored-by: Takagi, Isamu <43976882+isamu-takagi@users.noreply.github.com> Co-authored-by: Keisuke Shima <19993104+KeisukeShima@users.noreply.github.com> Co-authored-by: Kenji Miyake <kenji.miyake@tier4.jp> Co-authored-by: pre-commit-ci[bot] <66853113+pre-commit-ci[bot]@users.noreply.github.com> Co-authored-by: taikitanaka3 <65527974+taikitanaka3@users.noreply.github.com>
badai-nguyen · Dec 14, 2021 · 0902742 · 0902742
1 parent 20b4152
commit 0902742
Show file tree

Hide file tree

Showing 13 changed files with 573 additions and 0 deletions.
diff --git a/launch/system_launch/CMakeLists.txt b/launch/system_launch/CMakeLists.txt
@@ -0,0 +1,20 @@
+cmake_minimum_required(VERSION 3.5)
+project(system_launch)
+
+find_package(ament_cmake_auto REQUIRED)
+ament_auto_find_build_dependencies()
+
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  ament_lint_auto_find_test_dependencies()
+endif()
+
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  ament_lint_auto_find_test_dependencies()
+endif()
+
+ament_auto_package(INSTALL_TO_SHARE
+  launch
+  config
+)
diff --git a/launch/system_launch/README.md b/launch/system_launch/README.md
@@ -0,0 +1,20 @@
+# system_launch
+
+## Structure
+
+![system_launch](./system_launch.drawio.svg)
+
+## Package Dependencies
+
+Please see `<exec_depend>` in `package.xml`.
+
+## Usage
+
+```xml
+  <include file="$(find-pkg-share system_launch)/launch/system.launch.xml">
+    <arg name="run_mode" value="online"/>
+    <arg name="sensor_model" value="SENSOR_MODEL"/>
+  </include>
+```
+
+The sensing configuration parameters used in autoware_error_monitor are loaded from "config/diagnostic_aggregator/sensor_kit.param.yaml" in the "`SENSOR_MODEL`\_description" package.
diff --git a/launch/system_launch/config/diagnostic_aggregator/vehicle.param.yaml b/launch/system_launch/config/diagnostic_aggregator/vehicle.param.yaml
@@ -0,0 +1,11 @@
+/**:
+  ros__parameters:
+    vehicle:
+      type: diagnostic_aggregator/AnalyzerGroup
+      path: vehicle
+      analyzers:
+        vehicle_errors:
+          type: diagnostic_aggregator/GenericAnalyzer
+          path: vehicle_errors
+          contains: [": vehicle_errors"]
+          timeout: 1.0
diff --git a/launch/system_launch/config/system_monitor/cpu_monitor.param.yaml b/launch/system_launch/config/system_monitor/cpu_monitor.param.yaml
@@ -0,0 +1,7 @@
+/**:
+  ros__parameters:
+    usage_warn: 0.96
+    usage_error: 1.00
+    usage_count: 2
+    usage_avg: true
+    msr_reader_port: 7634
diff --git a/launch/system_launch/config/system_monitor/gpu_monitor.param.yaml b/launch/system_launch/config/system_monitor/gpu_monitor.param.yaml
@@ -0,0 +1,8 @@
+/**:
+  ros__parameters:
+    temp_warn: 90.0
+    temp_error: 95.0
+    gpu_usage_warn: 0.90
+    gpu_usage_error: 1.00
+    memory_usage_warn: 0.95
+    memory_usage_error: 0.99
diff --git a/launch/system_launch/config/system_monitor/hdd_monitor.param.yaml b/launch/system_launch/config/system_monitor/hdd_monitor.param.yaml
@@ -0,0 +1,11 @@
+/**:
+  ros__parameters:
+    hdd_reader_port: 7635
+    num_disks: 1
+    disks: # Until multi type lists are allowed, name N the disks as disk0...disk{N-1}
+      disk0:
+        name: /dev/sda3
+        temp_warn: 55.0
+        temp_error: 70.0
+        free_warn: 5120 # MB(8hour)
+        free_error: 100 # MB(last 1 minute)
diff --git a/launch/system_launch/config/system_monitor/mem_monitor.param.yaml b/launch/system_launch/config/system_monitor/mem_monitor.param.yaml
@@ -0,0 +1,3 @@
+/**:
+  ros__parameters:
+    available_size: 1024 # MB
diff --git a/launch/system_launch/config/system_monitor/net_monitor.param.yaml b/launch/system_launch/config/system_monitor/net_monitor.param.yaml
@@ -0,0 +1,5 @@
+/**:
+  ros__parameters:
+      devices: ["*"]
+      traffic_reader_port: 7636
+      monitor_program: "greengrass"
diff --git a/launch/system_launch/config/system_monitor/ntp_monitor.param.yaml b/launch/system_launch/config/system_monitor/ntp_monitor.param.yaml
@@ -0,0 +1,5 @@
+/**:
+  ros__parameters:
+    server: ntp.nict.jp
+    offset_warn: 0.1
+    offset_error: 5.0
diff --git a/launch/system_launch/config/system_monitor/process_monitor.param.yaml b/launch/system_launch/config/system_monitor/process_monitor.param.yaml
@@ -0,0 +1,3 @@
+/**:
+  ros__parameters:
+    num_of_procs: 5
diff --git a/launch/system_launch/launch/system.launch.xml b/launch/system_launch/launch/system.launch.xml
@@ -0,0 +1,48 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<launch>
+  <arg name="run_mode" default="online" description="options: online, planning_simulation"/>
+  <arg name="sensor_model" description="sensor model name"/>
+
+  <let name="sensor_launch_pkg" value="$(find-pkg-share $(var sensor_model)_launch)"/>
+
+  <group>
+    <push-ros-namespace namespace="/system"/>
+
+    <!-- System Monitor -->
+    <group>
+      <push-ros-namespace namespace="system_monitor"/>
+      <include file="$(find-pkg-share system_monitor)/launch/system_monitor.launch.py">
+        <arg name="cpu_monitor_config_file" value="$(find-pkg-share system_launch)/config/system_monitor/cpu_monitor.param.yaml"/>
+        <arg name="hdd_monitor_config_file" value="$(find-pkg-share system_launch)/config/system_monitor/hdd_monitor.param.yaml"/>
+        <arg name="mem_monitor_config_file" value="$(find-pkg-share system_launch)/config/system_monitor/mem_monitor.param.yaml"/>
+        <arg name="net_monitor_config_file" value="$(find-pkg-share system_launch)/config/system_monitor/net_monitor.param.yaml"/>
+        <arg name="ntp_monitor_config_file" value="$(find-pkg-share system_launch)/config/system_monitor/ntp_monitor.param.yaml"/>
+        <arg name="process_monitor_config_file" value="$(find-pkg-share system_launch)/config/system_monitor/process_monitor.param.yaml"/>
+        <arg name="gpu_monitor_config_file" value="$(find-pkg-share system_launch)/config/system_monitor/gpu_monitor.param.yaml"/>
+      </include>
+    </group>
+
+    <!-- State Monitor -->
+    <let name="config_file" value="$(find-pkg-share autoware_state_monitor)/config/autoware_state_monitor.param.yaml" if="$(eval &quot;'$(var run_mode)'=='online'&quot;)"/>
+    <let name="config_file" value="$(find-pkg-share autoware_state_monitor)/config/autoware_state_monitor.planning_simulation.param.yaml" if="$(eval &quot;'$(var run_mode)'=='planning_simulation'&quot;)"/>
+    <include file="$(find-pkg-share autoware_state_monitor)/launch/autoware_state_monitor.launch.xml">
+      <arg name="config_file" value="$(var config_file)" />
+    </include>
+
+    <!-- Error Monitor -->
+    <let name="config_file" value="$(find-pkg-share autoware_error_monitor)/config/autoware_error_monitor.param.yaml" if="$(eval &quot;'$(var run_mode)'=='online'&quot;)"/>
+    <let name="config_file" value="$(find-pkg-share autoware_error_monitor)/config/autoware_error_monitor.planning_simulation.param.yaml" if="$(eval &quot;'$(var run_mode)'=='planning_simulation'&quot;)"/>
+    <include file="$(find-pkg-share autoware_error_monitor)/launch/autoware_error_monitor.launch.xml">
+      <arg name="config_file" value="$(var config_file)" />
+      <arg name="extra_agg_config_file_sensing" value="$(var sensor_launch_pkg)/config/diagnostic_aggregator/sensor_kit.param.yaml" />
+      <arg name="extra_agg_config_file_vehicle" value="$(find-pkg-share system_launch)/config/diagnostic_aggregator/vehicle.param.yaml" />
+      <arg name="use_emergency_hold" value="false" />
+    </include>
+
+    <!-- Emergency Handler -->
+    <include file="$(find-pkg-share emergency_handler)/launch/emergency_handler.launch.xml">
+      <arg name="config_file" value="$(find-pkg-share emergency_handler)/config/emergency_handler.param.yaml" />
+    </include>
+
+  </group>
+</launch>
diff --git a/launch/system_launch/package.xml b/launch/system_launch/package.xml
@@ -0,0 +1,24 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>system_launch</name>
+  <version>0.1.0</version>
+  <description>The system_launch package</description>
+
+  <maintainer email="kenji.miyake@tier4.jp">Kenji Miyake</maintainer>
+  <license>Apache License 2.0</license>
+
+  <buildtool_depend>ament_cmake_auto</buildtool_depend>
+
+  <exec_depend>autoware_error_monitor</exec_depend>
+  <exec_depend>autoware_state_monitor</exec_depend>
+  <exec_depend>emergency_handler</exec_depend>
+  <exec_depend>system_monitor</exec_depend>
+
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>autoware_lint_common</test_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>